version: 66.07.10.p01
glider: 574
mission: 4
dive: 527
start: 1 27 113 12 23 0
data:
$ID,574
$MISSION,4
$DIVE,527
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,10800
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,160
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-9895.4414
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1735
$C_ROLL_CLIMB,1685
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,506
$GPS1,270113,121123,-4109.072,-408.039,41,1.1,41,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-75.2
$GPS2,270113,122235,-4109.166,-407.979,33,1.5,33,-22.6
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4103.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,107.8,137319,-11.7,-5.287
$D_GRID,920
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.65,-107.0,0.0,0.0,0,40,0.00,0.00,-12.40,0.000,2,0.000,0.000,70,1675,1546,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,124,12.35,1.52,-61.95,0.000,4,0.259,0.079,2754,790,3266,0,0,0,0,0,0
$GC,214,-0.65,-107.0,14.7,-10.5,16,218,0.00,1.48,0.00,0.000,6,0.000,0.039,2754,1717,3267,0,0,0,0,0,0
$GC,335,-0.65,-107.0,26.6,-9.6,27,338,0.00,0.65,0.00,0.000,4,0.000,0.054,2754,1318,3267,0,0,0,0,0,0
$GC,430,-0.65,-107.0,35.4,-9.6,33,433,0.00,0.68,0.00,0.000,6,0.000,0.041,2754,1754,3267,0,0,0,0,0,0
$GC,885,-0.65,-107.0,76.2,-9.0,51,889,0.00,2.22,0.00,0.000,4,0.000,0.051,2755,3131,3268,0,0,0,0,0,0
$GC,957,-0.65,-107.0,84.0,-10.7,52,961,0.00,2.25,0.00,0.000,6,0.000,0.043,2754,1727,3268,0,0,0,0,0,0
$GC,1678,-0.65,-107.0,154.2,-10.2,66,1682,0.00,2.28,0.00,0.000,4,0.000,0.047,2754,3132,3268,0,0,0,0,0,0
$GC,1800,-0.65,-107.0,168.2,-11.7,67,1805,0.00,2.28,0.00,0.000,6,0.000,0.044,2754,1729,3268,0,0,0,0,0,0
$GC,2534,-0.65,-107.0,243.6,-9.6,80,2538,0.00,1.48,0.00,0.000,4,0.000,0.044,2754,2658,3269,0,0,0,0,0,0
$GC,2583,-0.65,-107.0,248.1,-9.1,80,2588,0.00,1.50,0.00,0.000,6,0.000,0.044,2754,1728,3269,0,0,0,0,0,0
$GC,3329,-0.65,-107.0,310.2,-9.1,93,3333,0.00,1.92,0.00,0.000,4,0.000,0.046,2754,2940,3269,0,0,0,0,0,0
$GC,3397,-0.65,-107.0,317.3,-10.2,94,3401,0.00,1.95,0.00,0.000,6,0.000,0.043,2754,1733,3269,0,0,0,0,0,0
$GC,4132,-0.65,-107.0,395.2,-10.4,106,4136,0.00,1.70,0.00,0.000,4,0.000,0.057,2754,704,3269,0,0,0,0,0,0
$GC,4227,-0.65,-107.0,404.9,-9.8,107,4231,0.00,1.60,0.00,0.000,6,0.000,0.034,2754,1727,3269,0,0,0,0,0,0
$GC,4995,-0.65,-107.0,474.0,-8.9,120,4998,0.00,1.52,0.00,0.000,4,0.000,0.055,2754,811,3269,0,0,0,0,0,0
$GC,5134,-0.65,-107.0,487.6,-9.4,122,5139,0.00,1.45,0.00,0.000,6,0.000,0.035,2754,1735,3269,0,0,0,0,0,0
$GC,5864,-0.65,-107.0,561.3,-10.6,134,5868,0.00,1.08,0.00,0.000,4,0.000,0.055,2754,1088,3268,0,0,0,0,0,0
$GC,5970,-0.65,-107.0,572.8,-10.6,135,5974,0.00,1.00,0.00,0.000,6,0.000,0.037,2754,1731,3268,0,0,0,0,0,0
$GC,6727,-0.65,-107.0,651.3,-10.4,148,6731,0.00,2.25,0.00,0.000,4,0.000,0.049,2754,3139,3268,0,0,0,0,0,0
$GC,6826,-0.65,-107.0,662.2,-10.9,149,6830,0.00,2.25,0.00,0.000,6,0.000,0.041,2754,1735,3268,0,0,0,0,0,0
$GC,7583,-0.65,-107.0,734.1,-8.8,162,7587,0.00,2.25,0.00,0.000,4,0.000,0.047,2754,3131,3267,0,0,0,0,0,0
$GC,7706,-0.65,-107.0,745.4,-9.3,163,7710,0.00,2.20,0.00,0.000,6,0.000,0.040,2754,1728,3267,0,0,0,0,0,0
$GC,8446,-0.65,-107.0,810.7,-9.4,176,8449,0.00,0.80,0.00,0.000,4,0.000,0.043,2754,2250,3267,0,0,0,0,0,0
$GC,8495,-0.65,-107.0,815.9,-10.1,176,8499,0.00,0.82,0.00,0.000,6,0.000,0.045,2754,1729,3267,0,0,0,0,0,0
$GC,9241,-0.65,-107.0,901.3,-12.2,189,9245,0.00,2.33,0.00,0.000,4,0.000,0.058,2754,331,3266,0,0,0,0,0,0
$GC,9363,-0.65,-107.0,917.1,-13.4,190,9367,0.00,2.22,0.00,0.000,6,0.000,0.035,2754,1727,3267,0,0,0,0,0,0
$STATE,9434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9434,begin apogee
$GC,9439,-0.28,0.0,925.4,11.7,192,9537,0.43,0.00,95.25,1.432,6,0.091,0.000,2894,1730,2827,0,0,0,0,0,0
$STATE,9538,end apogee,CONTROL_FINISHED_OK
$STATE,9538,begin loiter
$GC,10224,-0.27,222.2,995.1,-7.4,205,10429,0.00,0.90,197.55,1.457,4,0.000,0.040,2894,2248,1920,0,0,0,0,0,0
$GC,10682,-0.27,222.2,991.6,4.5,212,10686,0.00,0.90,0.00,0.000,6,0.000,0.048,2894,1691,1912,0,0,0,0,0,0
$GC,11406,-0.27,222.2,970.7,1.7,224,11410,0.00,1.23,0.00,0.000,4,0.000,0.041,2891,2471,1909,0,0,0,0,0,0
$GC,11664,-0.27,222.2,969.8,0.0,227,11668,0.00,1.25,0.00,0.000,6,0.000,0.047,2891,1693,1909,0,0,0,0,0,0
$GC,12404,-0.27,234.3,972.9,-0.4,240,12419,0.00,2.28,10.23,1.258,4,0.000,0.045,2891,3096,1871,0,0,0,0,0,0
$GC,12626,-0.27,234.3,971.3,1.1,243,12630,0.00,2.28,0.00,0.000,6,0.000,0.044,2891,1691,1870,0,0,0,0,0,0
$GC,13394,-0.27,234.3,957.6,2.3,256,13398,0.00,2.38,0.00,0.000,4,0.000,0.061,2891,274,1869,0,0,0,0,0,0
$GC,13652,-0.27,234.3,952.1,2.0,259,13657,0.00,2.25,0.00,0.000,6,0.000,0.035,2891,1688,1868,0,0,0,0,0,0
$GC,14386,-0.27,234.3,939.9,1.4,272,14390,0.00,2.25,0.00,0.000,4,0.000,0.047,2891,3092,1868,0,0,0,0,0,0
$GC,14643,-0.27,234.3,936.9,1.0,275,14647,0.00,2.30,0.00,0.000,6,0.000,0.044,2891,1686,1868,0,0,0,0,0,0
$GC,15383,-0.27,234.3,930.9,0.9,288,15387,0.00,2.38,0.00,0.000,4,0.000,0.062,2891,275,1868,0,0,0,0,0,0
$GC,15640,-0.27,234.3,926.3,2.2,291,15646,0.00,2.25,0.00,0.000,6,0.000,0.035,2890,1688,1868,0,0,0,0,0,0
$GC,16374,-0.27,234.3,909.9,2.3,304,16378,0.00,2.40,0.00,0.000,4,0.000,0.061,2891,279,1868,0,0,0,0,0,0
$GC,16632,-0.27,234.3,904.9,1.8,307,16637,0.00,2.25,0.00,0.000,6,0.000,0.036,2891,1683,1868,0,0,0,0,0,0
$GC,17366,-0.27,244.9,901.8,-0.4,320,17382,0.00,2.35,10.95,1.251,4,0.000,0.060,2891,279,1829,0,0,0,0,0,0
$GC,17544,-0.27,244.9,901.8,0.6,322,17549,0.00,2.25,0.00,0.000,6,0.000,0.036,2891,1687,1829,0,0,0,0,0,0
$GC,18290,-0.27,244.9,896.6,1.3,335,18294,0.00,2.28,0.00,0.000,4,0.000,0.048,2890,3097,1828,0,0,0,0,0,0
$GC,18479,-0.27,244.9,893.0,3.1,337,18485,0.00,2.30,0.00,0.000,6,0.000,0.044,2890,1691,1828,0,0,0,0,0,0
$GC,19214,-0.27,244.9,872.0,3.3,350,19218,0.00,2.40,0.00,0.000,4,0.000,0.061,2889,268,1828,0,0,0,0,0,0
$GC,19240,-0.27,244.9,871.2,2.6,350,19244,0.00,2.28,0.00,0.000,6,0.000,0.037,2889,1685,1828,0,0,0,0,0,0
$GC,20008,-0.27,244.9,854.4,1.6,363,20012,0.00,1.35,0.00,0.000,4,0.000,0.044,2885,2542,1828,0,0,0,0,0,0
$GC,20266,-0.27,244.9,850.4,1.8,366,20270,0.00,1.40,0.00,0.000,6,0.000,0.047,2885,1682,1828,0,0,0,0,0,0
$STATE,20337,end loiter,LOITER_COMPLETE
$STATE,20337,begin climb
$GC,20339,0.65,107.0,849.3,0.0,368,20345,0.93,2.33,0.00,0.000,4,0.106,0.046,3177,3084,1828,0,0,0,0,0,0
$GC,20598,0.36,198.1,844.2,2.2,371,20603,0.35,2.28,0.00,0.000,6,0.190,0.046,3103,1683,1828,0,0,0,0,0,0
$GC,21332,0.36,286.0,829.9,2.4,384,21376,0.00,1.10,40.42,1.368,4,0.000,0.057,3105,1019,1660,0,0,0,0,0,0
$GC,21629,0.36,288.6,816.1,5.2,388,21633,0.00,1.05,0.00,0.000,6,0.000,0.040,3105,1691,1656,0,0,0,0,0,0
$GC,22392,0.36,306.7,777.9,4.7,401,22416,0.00,2.08,19.55,1.284,4,0.000,0.063,3105,461,1576,0,0,0,0,0,0
$GC,22669,0.36,329.9,764.9,4.5,405,22698,0.00,1.92,22.60,1.286,6,0.000,0.037,3105,1684,1481,0,0,0,0,0,0
$GC,23451,0.36,383.5,734.8,3.5,418,23506,0.00,1.73,50.60,1.317,4,0.000,0.044,3105,2749,1263,0,0,0,0,0,0
$GC,23613,0.37,405.1,727.4,4.6,419,23639,0.00,1.75,21.50,1.252,6,0.000,0.050,3105,1682,1174,0,0,0,0,0,0
$GC,24367,0.37,405.1,678.7,7.4,432,24371,0.00,2.35,0.00,0.000,4,0.000,0.065,3106,274,1166,0,0,0,0,0,0
$GC,24624,0.37,405.1,657.0,8.8,435,24628,0.00,2.25,0.00,0.000,6,0.000,0.038,3105,1677,1163,0,0,0,0,0,0
$GC,25364,0.37,405.1,599.1,7.3,448,25368,0.00,1.83,0.00,0.000,4,0.000,0.063,3105,608,1163,0,0,0,0,0,0
$GC,25621,0.37,405.1,581.2,6.3,451,25625,0.00,1.73,0.00,0.000,6,0.000,0.037,3105,1689,1161,0,0,0,0,0,0
$GC,26361,0.37,405.1,530.8,7.3,464,26364,0.00,1.05,0.00,0.000,4,0.000,0.060,3105,1066,1162,0,0,0,0,0,0
$GC,26568,0.37,405.1,515.6,7.2,467,26572,0.00,0.98,0.00,0.000,6,0.000,0.038,3105,1693,1161,0,0,0,0,0,0
$GC,27298,0.37,405.1,462.3,7.3,479,27302,0.00,2.42,0.00,0.000,4,0.000,0.066,3105,283,1161,0,0,0,0,0,0
$GC,27380,0.37,405.1,455.8,6.5,480,27385,0.00,2.22,0.00,0.000,6,0.000,0.036,3105,1678,1160,0,0,0,0,0,0
$GC,28154,0.37,405.1,401.2,6.6,493,28158,0.00,0.62,0.00,0.000,4,0.000,0.060,3105,1298,1160,0,0,0,0,0,0
$GC,28366,0.37,405.1,388.0,6.5,496,28371,0.00,0.62,0.00,0.000,6,0.000,0.041,3105,1698,1160,0,0,0,0,0,0
$GC,29091,0.37,405.1,334.5,8.1,508,29095,0.00,0.88,0.00,0.000,4,0.000,0.059,3105,1174,1160,0,0,0,0,0,0
$GC,29348,0.37,405.1,313.5,7.2,511,29353,0.00,0.80,0.00,0.000,6,0.000,0.039,3105,1688,1160,0,0,0,0,0,0
$GC,30089,0.37,405.1,265.5,5.7,524,30093,0.00,0.98,0.00,0.000,4,0.000,0.044,3105,2327,1160,0,0,0,0,0,0
$GC,30246,0.37,405.1,256.2,5.7,526,30250,0.00,1.02,0.00,0.000,6,0.000,0.050,3105,1689,1160,0,0,0,0,0,0
$GC,31019,0.37,405.1,197.9,8.9,539,31023,0.00,2.25,0.00,0.000,4,0.000,0.045,3105,3076,1160,0,0,0,0,0,0
$GC,31277,0.37,405.1,173.1,10.3,542,31282,0.00,2.28,0.00,0.000,6,0.000,0.046,3105,1690,1160,0,0,0,0,0,0
$GC,32012,0.37,406.3,125.5,5.2,555,32016,0.00,2.42,0.00,0.000,4,0.000,0.065,3105,269,1160,0,0,0,0,0,0
$GC,32111,0.37,406.3,119.7,6.2,556,32115,0.00,2.25,0.00,0.000,6,0.000,0.035,3105,1680,1161,0,0,0,0,0,0
$GC,32850,0.37,406.3,70.7,6.3,572,32851,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1682,1161,0,0,0,0,0,0
$GC,33577,0.37,406.3,17.4,5.8,612,33581,0.00,2.40,0.00,0.000,4,0.000,0.065,3105,277,1161,0,0,0,0,0,0
$STATE,33781,end climb,SURFACE_DEPTH_REACHED
$STATE,33781,begin surface coast
$FINISH,2.0,1.012945
$STATE,33828,end surface coast,CONTROL_FINISHED_OK
$STATE,33828,begin surface
$SM_CCo,33908,0.00,0.000,0,0,1160,408.91
$SM_GC,2.91,8.88,0.00,0.00,0.060,0.000,0.000,87,1743,1160,-8.99,0.25,408.91
$IRIDIUM_FIX,-4049.28,-411.65,260113,181826
$TT8_MAMPS,0.026964
$HUMID,50.66
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.0,124.405
$10V_AH,9.8,73.371
$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,22.925,135.475,468.650,0.000,0.000,29.731,34.949,420.246,0.000,0.000,36.112,2060.051,28222.617,516.169,3447.418,335.522,0.000,1960.695,0.000,2912.465,0.000,1.015,0.000
$DEVICE_MAMPS,259.335,78.795,1456.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.392,327.863,276.020,52.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,36961,633
$CAP_FILE_SIZE,178125,0
$CFSIZE,2097086464,2021752832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270113,214929,-4109.789,-406.452,44,1.3,44,-22.6