version: 66.07
glider: 542
mission: 6
dive: 24
start: 12 13 112 12 58 14
data:
$ID,542
$MISSION,6
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52846
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,3
$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,-10348.233
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.034508
$PRESSURE_SLOPE,0.00011816985
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,131212,123934,-4700.154,400.100,23,1.0,23,-23.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-30.0
$GPS2,131212,125712,-4700.284,400.225,19,2.0,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093,0.279
$KALMAN_X,-2627.7,585.6,-194.7,-18974.5,-1886.2
$KALMAN_Y,23724.3,-627.7,101.7,-39874.9,18.4
$MHEAD_RNG_PITCHd_Wd,41.7,56087,-15.0,-10.010
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-193.6,0.0,0.0,0,179,0.00,0.00,-150.10,0.000,2,0.000,0.000,55,2949,3495,0,0,0,0,0,0
$GC,186,-0.64,-194.7,3.5,-3.4,19,204,6.55,1.52,-2.60,0.000,4,0.251,0.073,1648,3892,3615,0,0,0,0,0,0
$GC,264,-0.64,-194.7,25.9,-13.5,30,273,0.00,1.55,0.00,0.000,6,0.000,0.041,1648,2910,3616,0,0,0,0,0,0
$GC,352,-0.64,-194.7,36.7,-12.1,43,359,0.00,2.17,0.00,0.000,4,0.000,0.046,1648,1524,3616,0,0,0,0,0,0
$GC,408,-0.64,-194.7,43.3,-10.1,51,415,0.00,2.28,0.00,0.000,6,0.000,0.061,1637,2908,3616,0,0,0,0,0,0
$GC,651,-0.64,-194.7,76.6,-13.6,92,658,0.00,2.17,0.00,0.000,4,0.000,0.046,1637,1524,3616,0,0,0,0,0,0
$GC,697,-0.64,-194.7,81.6,-10.3,99,705,0.10,2.33,0.00,0.000,6,0.156,0.062,1658,2924,3616,0,0,0,0,0,0
$GC,1047,-0.64,-194.7,115.9,-10.2,142,1051,0.00,2.17,0.00,0.000,4,0.000,0.044,1658,1521,3616,0,0,0,0,0,0
$GC,1063,-0.64,-194.7,117.3,-10.5,143,1068,0.00,2.30,0.00,0.000,6,0.000,0.060,1650,2938,3616,0,0,0,0,0,0
$GC,1392,-0.64,-194.7,151.5,-10.6,164,1396,0.00,2.17,0.00,0.000,4,0.000,0.044,1650,1527,3617,0,0,0,0,0,0
$GC,1416,-0.64,-194.7,154.5,-10.9,165,1423,0.00,2.25,0.00,0.000,6,0.000,0.059,1640,2922,3616,0,0,0,0,0,0
$GC,1739,-0.64,-194.7,190.8,-11.3,186,1743,0.00,2.17,0.00,0.000,4,0.000,0.044,1640,1525,3617,0,0,0,0,0,0
$GC,1790,-0.64,-194.7,196.2,-10.0,189,1794,0.12,2.28,0.00,0.000,6,0.178,0.060,1663,2934,3617,0,0,0,0,0,0
$GC,2123,-0.64,-194.7,226.7,-8.9,210,2127,0.00,2.20,0.00,0.000,4,0.000,0.044,1663,1519,3617,0,0,0,0,0,0
$GC,2147,-0.64,-194.7,229.5,-8.9,211,2154,0.00,2.28,0.00,0.000,6,0.000,0.060,1655,2935,3617,0,0,0,0,0,0
$GC,2480,-0.64,-194.7,261.1,-9.8,231,2484,0.00,2.17,0.00,0.000,4,0.000,0.044,1654,1524,3617,0,0,0,0,0,0
$GC,2516,-0.64,-194.7,264.9,-9.2,232,2520,0.00,2.25,0.00,0.000,6,0.000,0.060,1646,2927,3617,0,0,0,0,0,0
$GC,2840,-0.64,-194.7,299.3,-10.8,248,2843,0.00,2.17,0.00,0.000,4,0.000,0.045,1646,1523,3617,0,0,0,0,0,0
$GC,2862,-0.64,-194.7,301.4,-10.6,249,2866,0.00,2.25,0.00,0.000,6,0.000,0.060,1636,2923,3617,0,0,0,0,0,0
$GC,3193,-0.64,-194.7,338.1,-10.9,265,3197,0.00,2.17,0.00,0.000,4,0.000,0.045,1636,1522,3617,0,0,0,0,0,0
$GC,3215,-0.64,-194.7,340.6,-10.7,266,3219,0.12,2.25,0.00,0.000,6,0.181,0.060,1659,2924,3617,0,0,0,0,0,0
$GC,3545,-0.64,-194.7,368.9,-8.6,282,3549,0.00,2.17,0.00,0.000,4,0.000,0.046,1659,1522,3617,0,0,0,0,0,0
$GC,3570,-0.64,-194.7,371.1,-8.3,283,3574,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2924,3617,0,0,0,0,0,0
$GC,3896,-0.64,-194.7,400.1,-8.8,299,3900,0.00,2.15,0.00,0.000,4,0.000,0.044,1652,1518,3617,0,0,0,0,0,0
$GC,3927,-0.64,-194.7,403.1,-8.8,300,3932,0.00,2.25,0.00,0.000,6,0.000,0.060,1643,2935,3617,0,0,0,0,0,0
$GC,4265,-0.64,-194.7,434.4,-9.3,311,4269,0.00,2.15,0.00,0.000,4,0.000,0.045,1643,1526,3616,0,0,0,0,0,0
$GC,4289,-0.64,-194.7,436.9,-9.5,311,4296,0.00,2.22,0.00,0.000,6,0.000,0.059,1635,2924,3616,0,0,0,0,0,0
$GC,4604,-0.64,-194.7,468.3,-10.0,322,4608,0.00,2.15,0.00,0.000,4,0.000,0.045,1635,1519,3616,0,0,0,0,0,0
$GC,4622,-0.64,-194.7,470.2,-10.3,322,4627,0.12,2.25,0.00,0.000,6,0.184,0.060,1657,2933,3616,0,0,0,0,0,0
$GC,4944,-0.64,-194.7,496.2,-8.1,333,4948,0.00,2.17,0.00,0.000,4,0.000,0.046,1657,1523,3616,0,0,0,0,0,0
$GC,4974,-0.64,-194.7,498.8,-8.2,333,4981,0.00,2.25,0.00,0.000,6,0.000,0.061,1650,2933,3616,0,0,0,0,0,0
$GC,5289,-0.64,-194.7,527.0,-9.3,344,5293,0.00,2.17,0.00,0.000,4,0.000,0.045,1650,1522,3616,0,0,0,0,0,0
$GC,5336,-0.64,-194.7,531.5,-8.8,345,5340,0.00,2.25,0.00,0.000,6,0.000,0.060,1641,2926,3616,0,0,0,0,0,0
$GC,5657,-0.64,-194.7,563.1,-9.8,356,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,3615,0,0,0,0,0,0
$GC,5963,-0.64,-194.7,592.6,-9.4,366,5967,0.00,2.17,0.00,0.000,4,0.000,0.046,1641,1518,3615,0,0,0,0,0,0
$GC,6009,-0.64,-194.7,597.1,-8.9,367,6014,0.10,2.25,0.00,0.000,6,0.194,0.060,1656,2932,3615,0,0,0,0,0,0
$GC,6344,-0.64,-194.7,623.7,-8.0,378,6348,0.00,2.17,0.00,0.000,4,0.000,0.046,1656,1523,3615,0,0,0,0,0,0
$GC,6390,-0.64,-194.7,627.5,-7.0,379,6394,0.00,2.25,0.00,0.000,6,0.000,0.061,1649,2924,3615,0,0,0,0,0,0
$GC,6711,-0.64,-194.7,653.2,-8.0,390,6715,0.00,2.15,0.00,0.000,4,0.000,0.045,1649,1517,3615,0,0,0,0,0,0
$GC,6743,-0.64,-194.7,655.8,-8.2,391,6747,0.00,2.25,0.00,0.000,6,0.000,0.060,1640,2923,3615,0,0,0,0,0,0
$GC,7081,-0.64,-194.7,685.7,-8.9,402,7085,0.00,2.17,0.00,0.000,4,0.000,0.046,1640,1525,3615,0,0,0,0,0,0
$GC,7099,-0.64,-194.7,687.6,-9.0,402,7104,0.12,2.22,0.00,0.000,6,0.181,0.060,1663,2928,3615,0,0,0,0,0,0
$GC,7421,-0.64,-194.7,709.6,-6.9,413,7425,0.00,2.17,0.00,0.000,4,0.000,0.047,1663,1516,3615,0,0,0,0,0,0
$GC,7462,-0.64,-194.7,712.5,-6.3,414,7466,0.00,2.25,0.00,0.000,6,0.000,0.062,1655,2927,3615,0,0,0,0,0,0
$GC,7801,-0.64,-194.7,737.0,-7.2,425,7805,0.00,2.17,0.00,0.000,4,0.000,0.045,1655,1516,3615,0,0,0,0,0,0
$GC,7837,-0.64,-194.7,740.1,-7.5,426,7841,0.00,2.28,0.00,0.000,6,0.000,0.061,1647,2934,3615,0,0,0,0,0,0
$GC,8169,-0.64,-194.7,766.8,-8.2,437,8173,0.00,2.15,0.00,0.000,4,0.000,0.046,1646,1524,3615,0,0,0,0,0,0
$GC,8204,-0.64,-194.7,770.0,-8.5,438,8209,0.00,2.25,0.00,0.000,6,0.000,0.060,1636,2929,3615,0,0,0,0,0,0
$GC,8537,-0.64,-194.7,798.1,-8.6,449,8541,0.00,2.15,0.00,0.000,4,0.000,0.047,1636,1522,3615,0,0,0,0,0,0
$GC,8561,-0.64,-194.7,800.3,-8.7,449,8568,0.12,2.25,0.00,0.000,6,0.183,0.060,1660,2932,3615,0,0,0,0,0,0
$GC,8878,-0.64,-194.7,822.5,-7.3,460,8882,0.00,2.17,0.00,0.000,4,0.000,0.047,1660,1520,3614,0,0,0,0,0,0
$GC,8914,-0.64,-194.7,825.5,-7.1,461,8918,0.00,2.22,0.00,0.000,6,0.000,0.062,1652,2923,3615,0,0,0,0,0,0
$GC,9246,-0.64,-194.7,851.5,-8.0,472,9250,0.00,2.12,0.00,0.000,4,0.000,0.046,1652,1524,3615,0,0,0,0,0,0
$GC,9278,-0.64,-194.7,854.2,-9.0,473,9282,0.00,2.25,0.00,0.000,6,0.000,0.062,1645,2929,3614,0,0,0,0,0,0
$GC,9616,-0.64,-194.7,883.1,-8.6,484,9620,0.00,2.15,0.00,0.000,4,0.000,0.046,1645,1519,3614,0,0,0,0,0,0
$GC,9656,-0.64,-194.7,886.7,-7.8,485,9660,0.00,2.22,0.00,0.000,6,0.000,0.061,1636,2924,3614,0,0,0,0,0,0
$GC,9983,-0.64,-194.7,916.2,-9.0,496,9987,0.00,2.15,0.00,0.000,4,0.000,0.047,1636,1517,3614,0,0,0,0,0,0
$GC,10018,-0.64,-194.7,919.5,-8.9,497,10023,0.12,2.25,0.00,0.000,6,0.181,0.061,1660,2924,3614,0,0,0,0,0,0
$GC,10351,-0.64,-194.7,941.1,-6.3,508,10355,0.00,1.55,0.00,0.000,4,0.000,0.070,1653,3897,3614,0,0,0,0,0,0
$GC,10369,-0.64,-194.7,942.3,-6.3,508,10373,0.00,1.50,0.00,0.000,6,0.000,0.044,1653,2924,3614,0,0,0,0,0,0
$STATE,10446,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10446,begin apogee
$GC,10456,-0.19,0.0,947.4,6.3,511,10659,0.47,0.00,197.95,1.178,6,0.143,0.000,1802,2732,2815,0,0,0,0,0,0
$STATE,10661,end apogee,CONTROL_FINISHED_OK
$STATE,10661,begin climb
$GC,10666,0.64,194.7,953.7,0.0,518,10867,0.77,2.58,186.18,1.739,4,0.070,0.056,2088,1336,2029,0,0,0,0,1,0
$GC,11099,0.64,194.7,859.0,26.3,531,11104,0.00,2.40,0.00,0.000,6,0.000,0.060,2088,2737,2024,0,0,0,0,0,0
$GC,11437,0.64,194.7,761.6,28.7,542,11441,0.00,2.33,0.00,0.000,4,0.000,0.055,2098,1333,2022,0,0,0,0,0,0
$GC,11472,0.64,194.7,751.5,25.6,543,11476,0.00,2.38,0.00,0.000,6,0.000,0.060,2098,2739,2022,0,0,0,0,0,0
$GC,11804,0.64,194.7,656.4,29.0,554,11808,0.00,2.28,0.00,0.000,4,0.000,0.055,2109,1332,2022,0,0,0,0,0,0
$GC,11836,0.64,194.7,647.5,27.0,555,11840,0.12,2.33,0.00,0.000,6,0.266,0.059,2085,2745,2022,0,0,0,0,0,0
$GC,12174,0.64,194.7,556.7,27.2,566,12178,0.00,2.30,0.00,0.000,4,0.000,0.055,2094,1326,2020,0,0,0,0,0,0
$GC,12220,0.64,194.7,544.1,24.6,567,12224,0.00,2.33,0.00,0.000,6,0.000,0.059,2094,2738,2021,0,0,0,0,0,0
$GC,12541,0.64,194.7,457.7,27.1,578,12545,0.00,2.25,0.00,0.000,4,0.000,0.055,2104,1330,2020,0,0,0,0,0,0
$GC,12587,0.64,194.7,445.0,25.2,579,12591,0.00,2.30,0.00,0.000,6,0.000,0.058,2105,2734,2020,0,0,0,0,0,0
$GC,12921,0.64,194.7,352.7,28.4,593,12925,0.00,2.28,0.00,0.000,4,0.000,0.057,2115,1332,2020,0,0,0,0,0,0
$GC,12947,0.64,194.7,345.0,27.3,594,12952,0.15,2.30,0.00,0.000,6,0.266,0.059,2084,2742,2020,0,0,0,0,0,0
$GC,13278,0.64,194.7,260.0,25.3,610,13281,0.00,2.25,0.00,0.000,4,0.000,0.055,2094,1331,2020,0,0,0,0,0,0
$GC,13307,0.64,194.7,252.2,25.5,611,13311,0.00,2.28,0.00,0.000,6,0.000,0.058,2093,2733,2020,0,0,0,0,0,0
$GC,13634,0.64,194.7,166.8,25.9,632,13638,0.00,2.25,0.00,0.000,4,0.000,0.056,2104,1326,2020,0,0,0,0,0,0
$GC,13672,0.64,194.7,156.8,25.7,634,13677,0.00,2.28,0.00,0.000,6,0.000,0.058,2104,2733,2020,0,0,0,0,0,0
$GC,14004,0.64,194.7,70.8,24.0,666,14013,0.00,2.25,0.00,0.000,4,0.000,0.054,2114,1333,2020,0,0,0,0,0,0
$GC,14067,0.64,194.7,56.6,25.3,675,14074,0.15,2.28,0.00,0.000,6,0.252,0.059,2082,2738,2020,0,0,0,0,0,0
$STATE,14299,end climb,SURFACE_DEPTH_REACHED
$STATE,14299,begin surface coast
$FINISH,0.3,1.026281
$STATE,14313,end surface coast,CONTROL_FINISHED_OK
$STATE,14313,begin surface
$SM_CCo,14336,166.60,0.772,1,0,517,564.18
$SM_GC,0.65,0.00,0.00,166.60,0.000,0.000,0.772,63,2957,517,-5.65,0.99,564.18
$IRIDIUM_FIX,-4644.93,403.34,131212,121213
$TT8_MAMPS,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.3,6.375
$10V_AH,10.2,2.504
$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,14.825,167.675,384.125,166.600,0.000,157.253,374.643,96.662,0.000,0.000,21.558,1839.121,9757.924,709.345,2631.241,629.697,33.354,1623.123,0.000,1896.765,0.000,1.008,0.000
$DEVICE_MAMPS,266.220,72.675,1738.845,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.030,1411.365,752.595,276.735,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,50425,715
$CAP_FILE_SIZE,135265,0
$CFSIZE,259252224,226394112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,131212,170128,-4658.565,400.010,39,0.8,39,-23.3