version: 66.12
glider: 196
mission: 7
dive: 143
start: 8 15 114 13 54 3
data:
$ID,196
$MISSION,7
$DIVE,143
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5191.8501
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,150814,134724,7237.590,-14412.256,61,0.8,81,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.7
$GPS2,150814,135348,7237.545,-14412.443,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,340.4,23106,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,180,2755,442,540,0.0,0.0,0,89,0.00,0.00,-72.32,0.000,16386,0.000,0.000,179,2755,2323,2331,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,180,2756,2333,2318,3.7,-4.1,7,135,11.95,1.83,-27.50,0.000,18692,0.395,0.123,2662,3792,3854,3914,3794,0,0,0,0,0,0,14.07,14.26,14.54
$GC,359,-0.69,-145.9,2663,3793,3916,3800,82.7,-23.5,61,364,0.00,1.73,0.00,0.000,1030,0.000,0.056,2662,2757,3855,3912,3799,0,0,0,0,0,0,28.83,14.42,28.83
$GC,669,-0.69,-145.9,2662,2757,3916,3799,146.5,-19.5,93,674,0.00,1.85,0.00,0.000,260,0.000,0.103,2653,3787,3857,3915,3799,0,0,0,0,0,0,28.83,14.42,28.83
$GC,799,-0.69,-145.9,2654,3785,3916,3804,173.4,-19.4,119,804,0.00,1.70,0.00,0.000,1030,0.000,0.057,2654,2760,3857,3915,3799,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1109,-0.69,-145.9,2654,2761,3916,3800,227.0,-15.6,151,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2759,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1409,-0.69,-145.9,2654,2761,3916,3800,272.9,-14.9,171,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-0.69,-145.9,2654,2761,3915,3800,316.1,-14.1,181,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-0.69,-145.9,2654,2760,3911,3799,357.4,-13.7,191,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2760,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2309,-0.69,-145.9,2654,2760,3916,3799,398.3,-13.6,201,2314,0.00,2.35,0.00,0.000,516,0.000,0.071,2653,1370,3857,3915,3799,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2364,-0.69,-145.9,2653,1371,3916,3799,405.4,-12.7,212,2371,0.00,2.45,0.00,0.000,1030,0.000,0.101,2643,2746,3856,3914,3798,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2669,-0.69,-145.9,2643,2753,3916,3805,448.4,-14.0,223,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2746,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,-0.69,-145.9,2644,2752,3915,3800,490.0,-13.8,233,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2746,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3269,-0.69,-145.9,2644,2747,3916,3800,531.3,-13.6,243,3274,0.00,2.35,0.00,0.000,516,0.000,0.070,2643,1366,3857,3915,3799,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3289,-0.69,-145.9,2644,1366,3915,3800,534.0,-13.9,247,3295,0.12,2.47,0.00,0.000,3078,0.233,0.099,2666,2758,3856,3914,3799,0,0,0,0,0,0,14.50,14.59,28.83
$GC,3600,-0.69,-145.9,2666,2758,3915,3800,571.4,-12.0,259,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2755,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3899,-0.69,-145.9,2666,2758,3916,3799,607.3,-12.0,269,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3854,3915,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4199,-0.69,-145.9,2665,2758,3916,3799,642.9,-11.8,279,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3857,3915,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4499,-0.69,-145.9,2666,2759,3916,3800,678.1,-11.6,289,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3854,3910,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4799,-0.69,-145.9,2664,2758,3918,3799,712.7,-11.4,299,4804,0.00,2.30,0.00,0.000,516,0.000,0.068,2665,1367,3857,3915,3799,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4849,-0.69,-145.9,2665,1367,3916,3800,718.3,-11.1,309,4854,0.00,2.47,0.00,0.000,1030,0.000,0.099,2662,2762,3857,3915,3799,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5131,-0.13,0.0,2663,2763,3915,3800,750.5,-11.6,320,5258,0.68,0.00,124.90,1.958,10244,0.226,0.000,2850,2762,3257,3274,3241,0,0,0,0,0,0,14.55,28.83,13.19
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5261,0.69,145.9,2846,2763,3270,3238,753.6,0.0,324,5391,0.88,0.00,123.38,1.798,11270,0.135,0.000,3108,2762,2659,2665,2653,0,0,0,0,0,0,13.81,28.83,12.86
$GC,5700,0.69,145.9,3108,2762,2665,2644,706.2,13.3,364,5705,0.00,1.88,0.00,0.000,260,0.000,0.099,3108,3781,2654,2664,2644,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5735,0.69,145.9,3109,3781,2664,2645,701.0,15.0,371,5740,0.00,1.77,0.00,0.000,1030,0.000,0.052,3114,2738,2654,2664,2644,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6061,0.69,145.9,3115,2739,2665,2645,657.5,13.3,386,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6360,0.69,145.9,3114,2738,2666,2644,617.6,13.3,396,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6660,0.69,145.9,3115,2739,2665,2645,578.5,13.0,406,6665,0.00,1.88,0.00,0.000,260,0.000,0.101,3114,3785,2654,2665,2644,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6695,0.69,145.9,3115,3786,2665,2644,573.3,14.9,413,6700,0.00,1.73,0.00,0.000,1030,0.000,0.054,3122,2741,2652,2660,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7021,0.69,145.9,3122,2740,2665,2644,530.2,13.3,428,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7320,0.69,145.9,3123,2740,2665,2643,490.8,13.1,438,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2740,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,0.69,145.9,3123,2738,2665,2649,451.7,13.0,448,7625,0.00,1.83,0.00,0.000,260,0.000,0.103,3122,3787,2653,2664,2643,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7665,0.69,145.9,3123,3788,2665,2644,445.1,15.1,457,7670,0.00,1.73,0.00,0.000,1030,0.000,0.054,3125,2744,2654,2666,2642,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7980,0.69,145.9,3127,2745,2665,2644,403.8,12.9,470,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2744,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8280,0.69,145.9,3126,2745,2665,2644,365.0,13.0,480,8285,0.00,1.88,0.00,0.000,260,0.000,0.099,3125,3788,2653,2664,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8325,0.69,145.9,3126,3788,2665,2644,358.4,14.9,489,8330,0.00,1.75,0.00,0.000,1030,0.000,0.054,3133,2735,2654,2665,2643,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8640,0.69,145.9,3133,2736,2665,2644,317.4,12.9,502,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2735,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8940,0.69,145.9,3133,2735,2666,2641,279.8,12.3,512,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2735,2651,2660,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,0.69,149.0,3133,2735,2665,2643,244.4,11.5,524,9245,0.00,1.83,0.00,0.000,260,0.000,0.101,3133,3788,2653,2664,2643,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9305,0.69,149.0,3133,3788,2664,2643,236.0,13.0,537,9311,0.00,1.73,0.00,0.000,1030,0.000,0.054,3141,2742,2653,2664,2643,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9610,0.72,186.4,3142,2743,2666,2644,204.5,9.6,568,9645,0.00,0.00,33.45,1.227,8198,0.000,0.000,3140,2742,2496,2501,2492,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9941,0.76,246.2,3142,2743,2497,2482,172.0,8.4,601,9996,0.00,1.90,49.72,1.253,8452,0.000,0.103,3141,3790,2248,2250,2247,0,0,0,0,0,0,28.83,14.13,13.61
$GC,10180,0.76,246.2,3140,3791,2247,2242,144.3,11.8,649,10186,0.00,1.75,0.00,0.000,1030,0.000,0.054,3149,2746,2243,2246,2241,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10491,0.79,282.9,3149,2745,2247,2239,113.2,9.7,681,10527,0.00,2.45,28.20,1.158,8708,0.000,0.071,3160,1353,2097,2100,2094,0,0,0,0,0,0,28.83,14.26,13.73
$GC,10556,0.81,323.6,3161,1353,2099,2091,106.9,9.5,692,10593,0.00,2.50,32.33,1.144,9222,0.000,0.095,3160,2751,1934,1930,1939,0,0,0,0,0,0,28.83,14.25,13.61
$GC,10891,0.83,352.6,3160,2752,1928,1922,69.5,10.1,729,10903,0.00,0.00,11.25,0.394,8198,0.000,0.000,3160,2752,1821,1819,1824,0,0,0,0,0,0,28.83,28.83,14.09
$GC,11201,0.90,446.4,3160,2752,1833,1822,44.0,6.6,760,11245,0.00,0.00,42.20,0.319,8198,0.000,0.000,3160,2751,1436,1446,1427,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11542,0.97,544.2,3161,2752,1450,1417,17.9,6.4,794,11593,0.15,2.45,43.05,0.251,10756,0.119,0.071,3221,1350,1038,1039,1037,0,0,0,0,0,0,14.45,14.34,14.20
$FREEZE,8.88,1.709,-1.433,2,1,0
$FREEZE,8.78,1.787,-1.434,2,1,0
$FREEZE,8.27,1.787,-1.433,2,1,0
$FREEZE,7.96,1.691,-1.439,2,1,0
$FREEZE,7.56,1.691,-1.439,2,1,0
$FREEZE,7.35,1.680,-1.439,2,1,0
$FREEZE,6.87,1.680,-1.439,2,1,0
$FREEZE,6.48,1.667,-1.440,2,1,0
$FREEZE,5.94,1.667,-1.439,2,1,0
$FREEZE,5.51,1.634,-1.439,2,1,0
$GC,11677,1.06,671.7,3221,1353,1041,1035,8.9,4.8,821,11742,0.00,2.47,56.65,0.219,9222,0.000,0.094,3221,2749,516,473,559,0,0,0,0,0,0,28.83,14.36,14.21
$FREEZE,4.38,1.625,-1.438,2,1,0
$FREEZE,3.59,1.635,-1.438,2,1,0
$FREEZE,2.98,1.636,-1.437,2,1,0
$FREEZE,2.27,1.667,-1.437,2,1,0
$FREEZE,1.51,1.674,-1.436,2,1,0
$STATE,11786,end climb,SURFACE_DEPTH_REACHED
$STATE,11786,begin surface coast
$FREEZE,0.85,1.686,-1.435,2,1,0
$FREEZE,0.80,1.489,-1.442,2,1,0
$FINISH,0.8,1.021186
$STATE,11806,end surface coast,CONTROL_FINISHED_OK
$STATE,11807,begin surface
$SM_CCo,11822,1.35,0.257,0,0,500,676.54
$SM_GC,2.51,9.25,0.00,1.35,0.082,0.000,0.257,197,2749,500,-8.37,-0.31,676.54,0,0,0,0,0,0,14.39,28.83,14.26
$RAFOS_CLK,213
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7200.11,-14422.72,150814,102229
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.11
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,6
$SC_FREEKB,3874592
$24V_AH,12.86,43.092
$10V_AH,12.88,0.000
$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,23.025,53.000,545.125,1.350,0.000,0.000,0.000,226.100,1.500,0.000,25.939,0.000,9511.445,633.208,1929.130,127.713,0.000,1539.562,0.000,1245.812,1499.000,0.540,0.000
$DEVICE_MAMPS,394.740,123.165,1957.635,257.040,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11844.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.699,0.000,0.000,0.000
$MEM,280752
$DATA_FILE_SIZE,29979,838
$CAP_FILE_SIZE,132700,0
$CFSIZE,2097872896,2063728640
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12476.10,0x2378b6,7,5
$INTR,1,52.97,0x234484,0,24
$INTR,2,5129.53,0x2378b6,2,5
$INTR,3,11810.53,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,150814,171224,7238.695,-14412.913,29,0.8,49,22.9