version: 66.09
glider: 181
mission: 6
dive: 639
start: 10 12 111 8 47 50
data:
$ID,181
$MISSION,6
$DIVE,639
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41396.715
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,121011,084137,2158.150,12016.778,27,0.9,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-66.8
$GPS2,121011,084725,2158.100,12016.883,13,1.1,13,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,19.5,35528,-16.5,-10.312
$D_GRID,977
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.49,-170.3,0.0,0.0,0,87,0.00,0.00,-68.75,0.000,2,0.000,0.000,170,2587,2385,0,0,0,0,0,0
$GC,91,-0.49,-170.3,3.6,-3.4,11,135,8.27,1.12,-25.98,0.000,4,0.222,0.064,2131,3301,3567,0,0,0,0,0,0
$GC,200,-0.49,-170.3,40.8,-44.9,29,208,0.00,1.05,0.00,0.000,6,0.000,0.026,2131,2591,3567,0,0,0,0,0,0
$GC,343,-0.49,-170.3,91.5,-35.0,54,350,0.00,1.08,0.00,0.000,4,0.000,0.035,2126,3301,3564,0,0,0,0,0,0
$GC,358,-0.49,-170.3,96.9,-36.2,56,365,0.00,1.05,0.00,0.000,6,0.000,0.024,2126,2565,3564,0,0,0,0,0,0
$GC,500,-0.49,-170.3,133.9,-21.2,81,507,0.00,0.93,0.00,0.000,4,0.000,0.024,2126,1878,3563,0,0,0,0,0,0
$GC,537,-0.49,-170.3,140.6,-18.3,87,543,0.00,1.10,0.00,0.000,6,0.000,0.034,2120,2605,3563,0,0,0,0,0,0
$GC,681,-0.49,-170.3,166.3,-16.4,112,687,0.00,1.02,0.00,0.000,4,0.000,0.037,2115,3292,3563,0,0,0,0,0,0
$GC,777,-0.49,-170.3,184.0,-17.6,129,785,0.00,1.00,0.00,0.000,6,0.000,0.023,2115,2586,3563,0,0,0,0,0,0
$GC,924,-0.49,-170.3,208.9,-16.6,150,928,0.00,0.95,0.00,0.000,4,0.000,0.024,2115,1877,3563,0,0,0,0,0,0
$GC,982,-0.49,-170.3,218.7,-16.4,155,986,0.08,1.08,0.00,0.000,6,0.144,0.034,2135,2585,3562,0,0,0,0,0,0
$GC,1314,-0.49,-170.3,264.4,-11.8,186,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2585,3562,0,0,0,0,0,0
$GC,1632,-0.49,-170.3,303.5,-11.6,216,1636,0.00,1.08,0.00,0.000,4,0.000,0.039,2132,3297,3560,0,0,0,0,0,0
$GC,1681,-0.49,-170.3,309.9,-11.7,220,1688,0.00,1.00,0.00,0.000,6,0.000,0.024,2132,2589,3559,0,0,0,0,0,0
$GC,2007,-0.49,-170.3,346.6,-11.1,251,2010,0.00,0.95,0.00,0.000,4,0.000,0.025,2132,1883,3557,0,0,0,0,0,0
$GC,2120,-0.49,-170.3,358.8,-11.1,261,2123,0.00,1.08,0.00,0.000,6,0.000,0.035,2127,2590,3556,0,0,0,0,0,0
$GC,2450,-0.49,-170.3,399.2,-13.1,292,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2590,3553,0,0,0,0,0,0
$GC,2773,-0.49,-170.3,441.4,-12.9,322,2776,0.00,1.10,0.00,0.000,4,0.000,0.042,2121,3293,3550,0,0,0,0,0,0
$GC,2797,-0.49,-170.3,445.0,-13.1,324,2801,0.00,1.00,0.00,0.000,6,0.000,0.025,2121,2600,3549,0,0,0,0,0,0
$GC,3128,-0.49,-170.3,487.9,-12.5,355,3132,0.00,1.00,0.00,0.000,4,0.000,0.025,2121,1877,3547,0,0,0,0,0,0
$GC,3175,-0.49,-170.3,493.5,-11.8,359,3179,0.00,1.10,0.00,0.000,6,0.000,0.037,2116,2590,3546,0,0,0,0,0,0
$GC,3497,-0.49,-170.3,528.9,-10.5,377,3501,0.00,1.02,0.00,0.000,4,0.000,0.028,2116,1882,3543,0,0,0,0,0,0
$GC,3570,-0.49,-170.3,535.8,-9.4,380,3574,0.00,1.10,0.00,0.000,6,0.000,0.037,2112,2587,3542,0,0,0,0,0,0
$GC,3898,-0.49,-170.3,570.0,-11.1,396,3902,0.12,1.02,0.00,0.000,4,0.171,0.028,2144,1888,3539,0,0,0,0,0,0
$GC,3936,-0.49,-170.3,574.2,-10.4,397,3944,0.00,1.08,0.00,0.000,6,0.000,0.037,2141,2589,3539,0,0,0,0,0,0
$GC,4254,-0.49,-170.3,601.8,-8.9,413,4257,0.00,1.00,0.00,0.000,4,0.000,0.027,2141,1888,3536,0,0,0,0,0,0
$GC,4322,-0.49,-170.3,609.5,-11.1,416,4326,0.00,1.10,0.00,0.000,6,0.000,0.039,2138,2592,3536,0,0,0,0,0,0
$GC,4654,-0.49,-170.3,652.2,-13.2,432,4658,0.00,1.00,0.00,0.000,4,0.000,0.028,2139,1894,3533,0,0,0,0,0,0
$GC,4702,-0.49,-170.3,658.8,-14.1,434,4706,0.00,1.08,0.00,0.000,6,0.000,0.041,2138,2581,3533,0,0,0,0,0,0
$GC,5035,-0.49,-170.3,701.9,-13.1,450,5039,0.00,1.00,0.00,0.000,4,0.000,0.028,2138,1888,3531,0,0,0,0,0,0
$GC,5062,-0.49,-170.3,706.2,-14.3,451,5066,0.00,1.10,0.00,0.000,6,0.000,0.041,2138,2585,3530,0,0,0,0,0,0
$GC,5391,-0.49,-170.3,743.9,-12.0,467,5394,0.00,1.10,0.00,0.000,4,0.000,0.045,2133,3293,3527,0,0,0,0,0,0
$GC,5452,-0.49,-170.3,751.8,-11.8,469,5460,0.00,1.02,0.00,0.000,6,0.000,0.027,2133,2585,3527,0,0,0,0,0,0
$GC,5769,-0.49,-170.3,785.6,-10.2,485,5773,0.00,0.98,0.00,0.000,4,0.000,0.028,2133,1893,3525,0,0,0,0,0,0
$GC,5906,-0.49,-170.3,797.6,-8.8,491,5909,0.00,1.10,0.00,0.000,6,0.000,0.041,2128,2593,3525,0,0,0,0,0,0
$GC,6239,-0.49,-170.3,827.5,-9.0,507,6242,0.00,1.00,0.00,0.000,4,0.000,0.027,2128,1894,3523,0,0,0,0,0,0
$GC,6296,-0.49,-170.3,832.4,-8.4,509,6300,0.00,1.10,0.00,0.000,6,0.000,0.040,2125,2591,3522,0,0,0,0,0,0
$GC,6618,-0.49,-170.3,861.5,-9.4,525,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2591,3520,0,0,0,0,0,0
$GC,6928,-0.49,-170.3,888.5,-8.4,540,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2591,3519,0,0,0,0,0,0
$GC,7236,-0.49,-170.3,921.0,-11.3,555,7239,0.00,1.00,0.00,0.000,4,0.000,0.028,2125,1900,3517,0,0,0,0,0,0
$GC,7319,-0.49,-170.3,931.0,-12.7,558,7326,0.00,1.10,0.00,0.000,6,0.000,0.043,2125,2592,3516,0,0,0,0,0,0
$GC,7637,-0.49,-170.3,959.3,-7.8,574,7642,0.00,1.10,0.00,0.000,4,0.000,0.047,2120,3290,3515,0,0,0,0,0,0
$GC,7694,-0.49,-170.3,963.7,-7.7,576,7697,0.00,1.02,0.00,0.000,6,0.000,0.025,2119,2596,3515,0,0,0,0,0,0
$STATE,7868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7868,begin apogee
$GC,7876,-0.13,0.0,977.1,7.3,585,8011,0.43,0.00,128.95,1.050,6,0.127,0.000,2254,2155,2869,0,0,0,0,0,0
$STATE,8012,end apogee,CONTROL_FINISHED_OK
$STATE,8012,begin climb
$GC,8015,0.49,170.3,976.8,0.0,591,8161,0.57,1.10,137.98,1.029,4,0.079,0.034,2462,1475,2173,0,0,0,0,0,0
$GC,8297,0.57,236.8,956.8,7.6,604,8356,0.00,1.10,54.00,1.002,6,0.000,0.031,2462,2184,1903,0,0,0,0,0,0
$GC,8667,0.62,280.3,923.4,8.5,621,8712,0.10,1.10,35.33,0.980,4,0.100,0.040,2514,2858,1725,0,0,0,0,0,0
$GC,8825,0.62,280.3,904.4,14.4,628,8828,0.00,1.05,0.00,0.000,6,0.000,0.028,2518,2161,1725,0,0,0,0,0,0
$GC,9158,0.66,313.6,873.8,9.0,644,9190,0.00,1.15,28.15,0.951,4,0.000,0.037,2519,2860,1590,0,0,0,0,0,0
$GC,9230,0.70,348.9,867.0,8.9,647,9264,0.00,1.05,29.42,0.933,6,0.000,0.026,2523,2164,1446,0,0,0,0,0,0
$GC,9573,0.70,348.9,833.6,10.9,664,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2164,1445,0,0,0,0,0,0
$GC,9881,0.70,348.9,800.5,10.5,679,9885,0.00,1.02,0.00,0.000,4,0.000,0.034,2529,1476,1445,0,0,0,0,0,0
$GC,9915,0.71,354.1,796.8,10.1,680,9927,0.00,1.05,5.68,0.718,6,0.000,0.031,2529,2162,1425,0,0,0,0,0,0
$GC,10236,0.75,384.2,765.2,9.1,696,10266,0.00,1.12,25.20,0.887,4,0.000,0.039,2529,2868,1301,0,0,0,0,0,0
$GC,10406,0.75,384.2,748.1,10.4,703,10413,0.00,1.05,0.00,0.000,6,0.000,0.027,2532,2169,1300,0,0,0,0,0,0
$GC,10722,0.75,384.2,715.8,10.6,719,10725,0.00,1.02,0.00,0.000,4,0.000,0.034,2537,1479,1300,0,0,0,0,0,0
$GC,10772,0.75,384.2,709.9,11.6,721,10776,0.00,1.05,0.00,0.000,6,0.000,0.031,2537,2167,1300,0,0,0,0,0,0
$GC,11100,0.75,384.2,673.8,11.1,737,11103,0.00,1.05,0.00,0.000,4,0.000,0.038,2537,2860,1300,0,0,0,0,0,0
$GC,11229,0.75,384.2,658.2,11.8,742,11236,0.00,1.05,0.00,0.000,6,0.000,0.027,2541,2160,1299,0,0,0,0,0,0
$GC,11546,0.76,396.7,625.1,9.8,758,11561,0.00,1.02,11.25,0.762,4,0.000,0.031,2546,1467,1250,0,0,0,0,0,0
$GC,11589,0.78,412.8,620.6,9.7,759,11606,0.00,1.08,13.82,0.754,6,0.000,0.031,2546,2169,1185,0,0,0,0,0,0
$GC,11918,0.80,427.2,586.7,9.7,775,11940,0.00,1.08,14.62,0.754,4,0.000,0.038,2546,2853,1126,0,0,0,0,0,0
$GC,12055,0.82,443.0,573.0,9.7,781,12079,0.00,1.02,14.07,0.732,6,0.000,0.028,2550,2172,1062,0,0,0,0,0,0
$GC,12388,0.85,469.7,543.6,9.2,797,12414,0.00,1.05,22.55,0.750,4,0.000,0.033,2550,2865,954,0,0,0,0,0,0
$GC,12471,0.85,470.1,534.9,10.3,800,12478,0.00,1.08,0.00,0.000,6,0.000,0.028,2554,2164,953,0,0,0,0,0,0
$GC,12787,0.87,486.4,503.9,9.6,816,12810,0.00,1.08,14.52,0.705,4,0.000,0.036,2554,1469,885,0,0,0,0,0,0
$GC,12883,0.90,507.1,494.5,9.5,822,12905,0.08,1.08,17.65,0.698,6,0.063,0.031,2603,2172,801,0,0,0,0,0,0
$GC,13226,0.90,507.1,456.4,11.7,854,13230,0.00,1.05,0.00,0.000,4,0.000,0.037,2602,2862,802,0,0,0,0,0,0
$GC,13301,0.90,507.1,446.8,13.3,860,13308,0.00,1.08,0.00,0.000,6,0.000,0.028,2607,2153,802,0,0,0,0,0,0
$GC,13627,0.90,507.1,405.2,12.8,891,13630,0.00,1.10,0.00,0.000,4,0.000,0.034,2607,2868,802,0,0,0,0,0,0
$GC,13688,0.90,507.1,397.3,12.5,896,13695,0.00,1.08,0.00,0.000,6,0.000,0.029,2612,2161,802,0,0,0,0,0,0
$GC,14014,0.90,507.1,358.9,11.5,927,14017,0.00,1.08,0.00,0.000,4,0.000,0.035,2611,2862,802,0,0,0,0,0,0
$GC,14109,0.90,507.1,347.0,12.8,935,14116,0.00,1.05,0.00,0.000,6,0.000,0.028,2616,2160,802,0,0,0,0,0,0
$GC,14435,0.90,507.1,309.0,11.1,966,14439,0.00,1.02,0.00,0.000,4,0.000,0.034,2621,1468,802,0,0,0,0,0,0
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$GC,15277,0.91,515.1,213.9,10.0,1044,15290,0.00,1.10,8.70,0.571,4,0.000,0.037,2594,2861,768,0,0,0,0,0,0
$GC,15398,0.94,540.9,203.0,9.3,1054,15427,0.00,1.05,20.95,0.550,6,0.000,0.027,2596,2161,662,0,0,0,0,0,0
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$STATE,17249,end climb,SURFACE_DEPTH_REACHED
$STATE,17249,begin surface coast
$FINISH,0.7,1.010427
$STATE,17273,end surface coast,CONTROL_FINISHED_OK
$STATE,17273,begin surface
$SM_CCo,17351,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2148.09,12011.21,121011,040447
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.85
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,23.6,106.715
$10V_AH,9.8,79.735
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.150,85.625,638.025,0.000,0.000,31.302,41.893,132.779,1.000,0.000,15.989,3504.382,10283.794,728.156,2763.302,410.664,0.000,2144.391,0.000,2532.130,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,64.260,1049.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,953.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,80462,1376
$CAP_FILE_SIZE,182461,0
$CFSIZE,260165632,193228800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,184.1,1
$GPS,121011,133807,2158.954,12017.586,28,1.3,28,-2.7