version: 66.12
glider: 141
mission: 23
dive: 319
start: 10 28 115 14 6 15
data:
$ID,141
$MISSION,23
$DIVE,319
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,281015,135845,757.8081,8153.8364,109,4.6,149,-2.3,0.8,302.1,4,54.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-72.1
$GPS2,281015,140540,757.8155,8153.7344,14,1.3,54,-2.3,0.9,261.7,8,10.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,322.6,19291,-14.9,-10.000,-18.74,2959
$D_GRID,2497
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,11,2671,756,893,0.0,0.0,0,127,0.00,0.00,-96.68,0.000,16386,0.000,0.000,9,2672,3589,3665,3514,0,0,0,0,0,0,14.90,28.83,14.93
$GC,133,-0.62,-194.6,9,2672,3665,3515,7.5,-9.2,10,160,12.07,2.28,-4.00,0.000,18692,0.405,0.090,2499,4033,3925,4003,3848,0,0,0,0,0,0,14.20,13.24,14.46
$GC,275,-0.62,-194.6,2498,4034,4002,3852,64.7,-28.6,38,279,0.00,2.20,0.00,0.000,1030,0.000,0.037,2498,2638,3927,4002,3852,0,0,0,0,0,0,14.77,14.69,14.79
$GC,598,-0.62,-194.6,2498,2636,4003,3855,134.0,-13.9,57,604,0.00,2.20,0.00,0.000,516,0.000,0.050,2499,1244,3929,4003,3855,0,0,0,0,0,0,15.07,14.69,15.11
$GC,619,-0.62,-194.6,2498,1245,4003,3855,136.9,-14.1,61,625,0.00,2.22,0.00,0.000,1030,0.000,0.053,2488,2642,3929,4003,3855,0,0,0,0,0,0,14.74,14.69,14.78
$GC,939,-0.62,-194.6,2488,2642,4002,3859,180.3,-11.4,80,945,0.00,2.30,0.00,0.000,260,0.000,0.079,2478,4030,3931,4003,3859,0,0,0,0,0,0,15.11,14.65,15.14
$GC,989,-0.62,-194.6,2477,4030,4003,3859,186.3,-12.5,90,994,0.15,2.15,0.00,0.000,3078,0.233,0.031,2514,2632,3931,4003,3859,0,0,0,0,0,0,14.54,14.82,14.79
$GC,1306,-0.62,-194.6,2513,2632,4002,3859,218.8,-9.9,107,1312,0.00,2.15,0.00,0.000,516,0.000,0.050,2514,1262,3930,4001,3859,0,0,0,0,0,0,15.11,14.73,15.14
$GC,1330,-0.62,-194.6,2514,1262,4001,3859,221.5,-10.5,112,1336,0.00,2.22,0.00,0.000,1030,0.000,0.053,2509,2654,3930,4001,3860,0,0,0,0,0,0,14.86,14.76,14.89
$GC,1666,-0.62,-194.6,2509,2654,3996,3859,256.2,-10.2,129,1672,0.00,2.30,0.00,0.000,260,0.000,0.080,2498,4033,3927,3995,3859,0,0,0,0,0,0,15.13,14.66,15.16
$GC,1727,-0.62,-194.6,2498,4033,3995,3859,262.6,-10.0,141,1733,0.00,2.12,0.00,0.000,1030,0.000,0.031,2499,2644,3927,3995,3859,0,0,0,0,0,0,14.83,14.79,14.85
$GC,2088,-0.62,-194.6,2498,2644,3988,3860,298.9,-10.0,158,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2645,3924,3989,3859,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2388,-0.62,-194.6,2498,2645,3982,3859,328.7,-9.9,163,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2644,3920,3982,3859,0,0,0,0,0,0,15.15,15.19,15.18
$GC,2687,-0.62,-194.6,2498,2644,3977,3859,358.9,-10.1,168,2692,0.00,2.20,0.00,0.000,516,0.000,0.052,2499,1256,3917,3976,3859,0,0,0,0,0,0,15.15,14.71,15.19
$GC,2722,-0.62,-194.6,2498,1256,3976,3859,362.4,-10.2,175,2727,0.00,2.22,0.00,0.000,1030,0.000,0.054,2490,2643,3917,3975,3859,0,0,0,0,0,0,14.76,14.70,14.81
$GC,3047,-0.62,-194.6,2490,2643,3973,3857,396.2,-10.5,185,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2642,3915,3973,3857,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3348,-0.62,-194.6,2490,2642,3966,3854,425.2,-9.6,190,3352,0.00,2.38,0.00,0.000,260,0.000,0.083,2479,4046,3911,3968,3854,0,0,0,0,0,0,15.15,14.66,15.18
$GC,3386,-0.62,-194.6,2478,4046,3968,3853,429.3,-10.7,197,3393,0.15,2.17,0.00,0.000,3078,0.221,0.034,2516,2644,3910,3967,3853,0,0,0,0,0,0,14.52,14.81,14.74
$GC,3716,-0.62,-194.6,2515,2645,3963,3853,456.1,-8.1,207,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2645,3907,3964,3851,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4013,-0.62,-194.6,2515,2645,3960,3851,481.2,-8.3,212,4018,0.00,2.20,0.00,0.000,516,0.000,0.055,2516,1262,3904,3958,3851,0,0,0,0,0,0,15.15,14.66,15.18
$GC,4047,-0.62,-194.6,2516,1262,3959,3851,484.3,-8.8,219,4053,0.00,2.25,0.00,0.000,1030,0.000,0.056,2513,2653,3905,3959,3851,0,0,0,0,0,0,14.73,14.67,14.77
$GC,4373,-0.62,-194.6,2512,2653,3958,3848,510.8,-8.2,229,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2653,3903,3958,3849,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4674,-0.62,-194.6,2512,2653,3955,3847,534.4,-7.8,234,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2652,3901,3956,3847,0,0,0,0,0,0,15.14,15.19,15.18
$GC,4973,-0.62,-194.6,2512,2651,3952,3846,556.2,-7.1,239,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2652,3899,3952,3846,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5274,-0.62,-194.6,2512,2653,3950,3845,577.3,-7.0,244,5279,0.00,2.25,0.00,0.000,516,0.000,0.057,2513,1257,3897,3949,3845,0,0,0,0,0,0,15.14,14.62,15.18
$GC,5297,-0.62,-194.6,2512,1257,3949,3845,579.2,-8.1,249,5304,0.00,2.30,0.00,0.000,1030,0.000,0.058,2512,2660,3897,3949,3845,0,0,0,0,0,0,14.79,14.67,14.83
$GC,5634,-0.62,-194.6,2511,2660,3948,3843,602.5,-6.9,261,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2660,3895,3948,3843,0,0,0,0,0,0,15.14,15.19,15.18
$GC,5935,-0.62,-194.6,2511,2659,3946,3842,621.4,-6.3,266,5939,0.00,2.35,0.00,0.000,260,0.000,0.089,2501,4039,3894,3946,3842,0,0,0,0,0,0,15.14,14.57,15.17
$GC,5958,-0.62,-194.6,2501,4038,3946,3841,623.0,-6.3,270,5963,0.00,2.17,0.00,0.000,1030,0.000,0.037,2501,2656,3893,3946,3841,0,0,0,0,0,0,14.83,14.76,14.85
$GC,6307,-0.62,-194.6,2500,2656,3944,3840,644.9,-6.3,283,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2656,3892,3944,3840,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6603,-0.62,-194.6,2501,2656,3942,3838,665.2,-6.8,288,6608,0.00,2.25,0.00,0.000,516,0.000,0.058,2501,1259,3890,3941,3839,0,0,0,0,0,0,15.15,14.57,15.18
$GC,6647,-0.62,-194.6,2501,1259,3942,3839,668.6,-7.7,297,6654,0.00,2.30,0.00,0.000,1030,0.000,0.061,2494,2647,3890,3942,3839,0,0,0,0,0,0,14.71,14.62,14.74
$GC,6967,-0.62,-194.6,2494,2648,3941,3837,693.9,-8.1,305,6974,0.00,2.40,0.00,0.000,260,0.000,0.090,2484,4042,3889,3941,3837,0,0,0,0,0,0,15.11,14.46,15.14
$GC,6998,-0.62,-194.6,2483,4042,3941,3836,696.9,-9.1,311,7004,0.10,2.20,0.00,0.000,3078,0.182,0.038,2515,2651,3888,3940,3836,0,0,0,0,0,0,14.38,14.72,14.50
$GC,7329,-0.62,-194.6,2514,2651,3940,3836,723.6,-8.0,320,7334,0.00,2.28,0.00,0.000,516,0.000,0.060,2515,1252,3887,3939,3836,0,0,0,0,0,0,15.14,14.54,15.16
$GC,7364,-0.62,-194.6,2514,1251,3939,3836,726.7,-8.3,327,7369,0.00,2.30,0.00,0.000,1030,0.000,0.063,2513,2640,3887,3939,3836,0,0,0,0,0,0,14.61,14.54,14.66
$GC,8049,-0.62,-194.6,2513,2640,3937,3834,783.7,-8.4,349,8055,0.00,2.38,0.00,0.000,260,0.000,0.093,2502,4029,3885,3936,3834,0,0,0,0,0,0,15.14,14.41,15.16
$GC,8123,-0.62,-194.6,2502,4029,3936,3833,790.7,-9.4,364,8129,0.00,2.20,0.00,0.000,1030,0.000,0.040,2502,2648,3884,3936,3833,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8773,-0.62,-194.6,2502,2648,3934,3832,842.5,-7.8,378,8778,0.00,2.30,0.00,0.000,516,0.000,0.063,2502,1248,3882,3933,3832,0,0,0,0,0,0,15.10,14.57,15.14
$GC,8851,-0.62,-194.6,2502,1248,3933,3832,848.5,-7.3,393,8858,0.00,2.35,0.00,0.000,1030,0.000,0.065,2496,2652,3882,3932,3832,0,0,0,0,0,0,14.69,14.56,14.74
$GC,9499,-0.62,-194.6,2496,2652,3931,3830,895.8,-7.3,407,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2652,3880,3931,3830,0,0,0,0,0,0,15.12,15.16,15.15
$GC,10098,-0.62,-194.6,2496,2652,3930,3829,938.1,-7.0,412,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2652,3879,3930,3829,0,0,0,0,0,0,15.13,15.16,15.16
$GC,10698,-0.62,-194.6,2496,2652,3928,3829,983.6,-7.6,417,10705,0.00,2.40,0.00,0.000,260,0.000,0.098,2486,4032,3878,3927,3829,0,0,0,0,0,0,15.12,14.35,15.16
$GC,10723,-0.62,-194.6,2485,4032,3927,3828,985.9,-9.7,422,10729,0.12,2.25,0.00,0.000,3078,0.220,0.044,2515,2650,3878,3928,3828,0,0,0,0,0,0,14.35,14.63,14.57
$STATE,10773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10773,begin apogee
$GC,10783,-0.20,0.0,2515,2461,3928,3829,990.0,-7.1,432,10944,0.45,0.00,157.65,2.197,10246,0.170,0.000,2647,2461,3126,3058,3194,0,0,0,0,0,0,14.34,14.04,13.08
$STATE,10946,end apogee,CONTROL_FINISHED_OK
$STATE,10946,begin climb
$GC,10950,0.62,194.6,2647,2461,3058,3189,995.1,0.0,433,11126,0.80,2.47,165.27,2.143,10756,0.116,0.077,2918,1089,2329,2240,2419,0,0,0,0,0,0,14.05,13.74,12.81
$GC,11150,0.62,197.7,2918,1089,2243,2412,983.8,9.9,483,11156,0.00,2.42,0.00,0.000,1030,0.000,0.065,2918,2462,2327,2243,2412,0,0,0,0,0,0,13.94,13.88,13.97
$GC,11860,0.62,197.7,2918,2462,2250,2399,897.4,12.6,510,11865,0.00,2.45,0.00,0.000,260,0.000,0.095,2918,3881,2324,2250,2399,0,0,0,0,0,0,14.95,14.52,14.98
$GC,11958,0.62,197.7,2918,3882,2258,2389,882.8,14.3,529,11965,0.00,2.30,0.00,0.000,1030,0.000,0.055,2928,2493,2323,2258,2389,0,0,0,0,0,0,14.73,14.64,14.76
$GC,12585,0.62,197.7,2928,2493,2259,2388,790.6,14.9,539,12590,0.00,2.38,0.00,0.000,516,0.000,0.078,2939,1067,2323,2259,2388,0,0,0,0,0,0,15.04,14.54,15.07
$GC,12613,0.62,197.7,2938,1067,2260,2386,785.7,15.4,545,12620,0.00,2.38,0.00,0.000,1030,0.000,0.067,2939,2480,2323,2260,2386,0,0,0,0,0,0,14.75,14.62,14.78
$GC,13305,0.62,197.7,2938,2479,2260,2385,686.1,14.0,568,13310,0.00,2.40,0.00,0.000,260,0.000,0.097,2939,3879,2322,2260,2385,0,0,0,0,0,0,15.08,14.48,15.11
$GC,13373,0.62,197.7,2938,3879,2263,2379,675.9,14.8,582,13378,0.15,2.33,0.00,0.000,5126,0.286,0.056,2918,2467,2321,2263,2379,0,0,0,0,0,0,14.30,14.68,14.61
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$GC,16763,0.62,197.7,2920,2474,2272,2373,264.5,11.8,757,16769,0.00,2.33,0.00,0.000,516,0.000,0.074,2929,1072,2323,2273,2373,0,0,0,0,0,0,15.11,14.45,15.14
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$STATE,19499,end climb,SURFACE_DEPTH_REACHED
$STATE,19499,begin surface coast
$STATE,19517,end surface coast,CONTROL_FINISHED_OK
$STATE,19517,begin surface
$SM_CCo,19603,0.00,0.000,0,0,799,571.06
$SM_GC,3.59,7.97,2.62,0.00,0.048,0.054,0.000,42,2644,799,-8.28,-1.07,571.06,0,0,0,0,0,0,14.68,14.64,14.76
$IRIDIUM_FIX,751.63,8157.12,281015,083450
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.09
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,12.81,103.602
$10V_AH,12.65,0.000
$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,22.450,162.700,590.025,0.000,0.000,0.000,0.000,243.725,0.500,0.000,56.804,668.604,15923.066,617.330,2199.850,603.348,0.000,1882.388,0.000,1501.046,0.000,0.544,0.000
$DEVICE_MAMPS,405.450,97.920,2197.080,0.000,0.000,0.000,0.000,234.855,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271720
$DATA_FILE_SIZE,46737,1045
$CAP_FILE_SIZE,165714,0
$CFSIZE,260034560,227713024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,149.82,0x23402a,0,24
$CURRENT,0.282,161.53,1
$GPS,281015,193514,757.042,8152.962,53,4.2,93,-2.3,0.7,272.5,5,36.2