version: 66.09
glider: 166
mission: 6
dive: 61
start: 8 15 111 5 2 51
data:
$ID,166
$MISSION,6
$DIVE,61
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,310
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,51906
$NAV_MODE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-24460.744
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,150811,045457,2327.518,12245.034,39,99.0,58,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.7
$GPS2,150811,050225,2327.636,12245.119,14,1.7,31,-3.2
$SPEED_LIMITS,0.184,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,100.3,125419,-16.6,-10.645
$D_GRID,3896
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.83,-194.6,0.0,0.0,0,110,0.00,0.00,-90.38,0.000,2,0.000,0.000,148,1474,3009,0,0,0,0,0,0
$GC,113,-0.83,-194.6,5.0,-5.9,12,144,8.82,2.22,-13.43,0.000,4,0.217,0.055,2458,2905,3681,0,0,0,0,0,0
$GC,254,-0.55,-194.6,68.4,-41.5,36,262,0.32,2.12,0.00,0.000,6,0.165,0.034,2555,1514,3682,0,0,0,0,0,0
$GC,579,-0.44,-194.6,151.1,-21.8,97,588,0.15,2.00,0.00,0.000,4,0.164,0.042,2605,210,3684,0,0,0,0,0,0
$GC,609,-0.39,-194.6,157.2,-19.7,101,617,0.00,1.95,0.00,0.000,6,0.000,0.034,2598,1498,3684,0,0,0,0,0,0
$GC,936,-0.39,-194.6,201.6,-11.2,162,945,0.00,2.17,0.00,0.000,4,0.000,0.044,2587,2908,3684,0,0,0,0,0,0
$GC,985,-0.42,-194.6,206.8,-10.5,170,994,0.00,2.12,0.00,0.000,6,0.000,0.034,2588,1507,3684,0,0,0,0,0,0
$GC,1314,-0.42,-194.6,243.9,-12.5,231,1322,0.00,1.98,0.00,0.000,4,0.000,0.046,2594,210,3684,0,0,0,0,0,0
$GC,1353,-0.42,-194.6,248.8,-13.1,237,1361,0.00,1.95,0.00,0.000,6,0.000,0.036,2584,1494,3684,0,0,0,0,0,0
$GC,1688,-0.42,-194.6,291.5,-12.7,269,1692,0.00,2.12,0.00,0.000,4,0.000,0.045,2575,2912,3684,0,0,0,0,0,0
$GC,1730,-0.44,-194.6,296.0,-10.9,272,1734,0.00,2.10,0.00,0.000,6,0.000,0.036,2578,1499,3684,0,0,0,0,0,0
$GC,2060,-0.44,-194.6,338.0,-11.8,303,2064,0.00,1.95,0.00,0.000,4,0.000,0.048,2576,208,3683,0,0,0,0,0,0
$GC,2099,-0.44,-194.6,343.0,-12.3,306,2107,0.08,1.98,0.00,0.000,6,0.129,0.037,2592,1503,3683,0,0,0,0,0,0
$GC,2425,-0.49,-194.6,370.9,-8.0,337,2429,0.00,2.12,0.00,0.000,4,0.000,0.047,2582,2915,3682,0,0,0,0,0,0
$GC,2455,-0.55,-194.6,373.3,-8.2,339,2459,0.00,2.10,0.00,0.000,6,0.000,0.037,2583,1497,3682,0,0,0,0,0,0
$GC,2781,-0.60,-194.6,405.1,-10.1,369,2784,0.00,1.92,0.00,0.000,4,0.000,0.050,2587,211,3680,0,0,0,0,0,0
$GC,2816,-0.64,-194.6,408.8,-10.4,372,2820,0.10,1.95,0.00,0.000,6,0.096,0.037,2514,1514,3680,0,0,0,0,0,0
$GC,3147,-0.59,-194.6,457.4,-14.5,403,3149,0.15,0.00,0.00,0.000,6,0.160,0.000,2552,1514,3678,0,0,0,0,0,0
$GC,3465,-0.61,-194.6,491.1,-10.5,433,3469,0.00,2.12,0.00,0.000,4,0.000,0.051,2544,2910,3676,0,0,0,0,0,0
$GC,3497,-0.64,-194.6,494.2,-10.3,435,3501,0.00,2.12,0.00,0.000,6,0.000,0.041,2545,1495,3675,0,0,0,0,0,0
$GC,3823,-0.64,-194.6,530.1,-11.3,465,3827,0.00,2.15,0.00,0.000,4,0.000,0.052,2542,2901,3674,0,0,0,0,0,0
$GC,3844,-0.64,-194.6,532.6,-10.7,466,3852,0.00,2.15,0.00,0.000,6,0.000,0.041,2542,1494,3673,0,0,0,0,0,0
$GC,4171,-0.64,-194.6,570.4,-11.5,497,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1494,3670,0,0,0,0,0,0
$GC,4496,-0.64,-194.6,608.1,-11.6,525,4500,0.00,2.17,0.00,0.000,4,0.000,0.055,2532,2898,3667,0,0,0,0,0,0
$GC,4546,-0.67,-194.6,613.9,-11.1,527,4550,0.00,2.15,0.00,0.000,6,0.000,0.044,2531,1498,3667,0,0,0,0,0,0
$GC,4869,-0.67,-194.6,650.9,-11.3,543,4873,0.00,1.98,0.00,0.000,4,0.000,0.054,2527,203,3665,0,0,0,0,0,0
$GC,4941,-0.67,-194.6,659.4,-11.1,546,4945,0.00,1.98,0.00,0.000,6,0.000,0.040,2515,1494,3664,0,0,0,0,0,0
$GC,5271,-0.67,-194.6,691.6,-9.7,562,5275,0.00,2.15,0.00,0.000,4,0.000,0.054,2503,2906,3661,0,0,0,0,0,0
$GC,5298,-0.67,-194.6,694.5,-9.7,563,5302,0.00,2.10,0.00,0.000,6,0.000,0.041,2503,1494,3660,0,0,0,0,0,0
$GC,5626,-0.64,-194.6,730.8,-11.9,579,5628,0.12,0.00,0.00,0.000,6,0.167,0.000,2533,1494,3657,0,0,0,0,0,0
$GC,5937,-0.68,-194.6,763.6,-10.8,594,5941,0.00,2.20,0.00,0.000,4,0.000,0.056,2522,2911,3656,0,0,0,0,0,0
$GC,5992,-0.72,-194.6,769.9,-10.5,596,5999,0.00,2.15,0.00,0.000,6,0.000,0.043,2522,1500,3655,0,0,0,0,0,0
$GC,6310,-0.74,-194.6,805.5,-11.4,612,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1500,3653,0,0,0,0,0,0
$GC,6619,-0.76,-194.6,838.9,-10.6,627,6623,0.00,2.22,0.00,0.000,4,0.000,0.060,2524,2908,3651,0,0,0,0,0,0
$GC,6669,-0.80,-194.6,844.3,-10.6,629,6673,0.10,2.15,0.00,0.000,6,0.102,0.045,2470,1501,3651,0,0,0,0,0,0
$GC,6992,-0.74,-194.6,888.7,-13.9,645,6996,0.15,2.03,0.00,0.000,4,0.169,0.060,2512,201,3648,0,0,0,0,0,0
$GC,7080,-0.74,-194.6,899.9,-11.9,649,7084,0.00,2.00,0.00,0.000,6,0.000,0.044,2502,1496,3648,0,0,0,0,0,0
$GC,7409,-0.74,-194.6,935.9,-10.8,665,7413,0.00,2.17,0.00,0.000,4,0.000,0.057,2490,2908,3645,0,0,0,0,0,0
$GC,7449,-0.74,-194.6,940.4,-11.3,667,7453,0.00,2.12,0.00,0.000,6,0.000,0.044,2490,1493,3645,0,0,0,0,0,0
$GC,7777,-0.72,-194.6,977.1,-11.4,683,7780,0.00,2.20,0.00,0.000,4,0.000,0.058,2479,2905,3643,0,0,0,0,0,0
$GC,7802,-0.70,-194.6,980.0,-11.6,684,7807,0.15,2.12,0.00,0.000,6,0.158,0.045,2522,1496,3643,0,0,0,0,0,0
$STATE,7920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7920,begin apogee
$GC,7926,-0.18,0.0,991.9,9.5,690,8090,0.47,0.00,156.60,1.450,6,0.127,0.000,2679,1854,2883,0,0,0,0,0,0
$STATE,8092,end apogee,CONTROL_FINISHED_OK
$STATE,8092,begin climb
$GC,8094,0.83,194.6,997.6,0.0,697,8278,0.95,2.42,173.52,1.387,4,0.074,0.061,3007,3246,2089,0,0,0,0,0,0
$GC,8367,0.66,194.6,957.6,20.7,710,8372,0.22,2.22,0.00,0.000,6,0.186,0.044,2960,1854,2085,0,0,0,0,0,0
$GC,8691,0.55,194.6,905.9,15.9,726,8696,0.12,2.22,0.00,0.000,4,0.192,0.059,2918,3259,2081,0,0,0,0,0,0
$GC,8731,0.50,194.6,899.7,14.0,728,8735,0.00,2.20,0.00,0.000,6,0.000,0.043,2925,1842,2079,0,0,0,0,0,0
$GC,9059,0.43,194.6,854.1,14.7,744,9064,0.15,2.20,0.00,0.000,4,0.174,0.058,2876,3255,2078,0,0,0,0,0,0
$GC,9092,0.41,194.6,849.4,13.1,745,9099,0.00,2.17,0.00,0.000,6,0.000,0.043,2884,1837,2078,0,0,0,0,0,0
$GC,9408,0.41,196.0,814.8,10.6,761,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1837,2077,0,0,0,0,0,0
$GC,9719,0.44,218.9,783.9,9.8,776,9742,0.00,0.00,20.55,1.286,6,0.000,0.000,2884,1837,1991,0,0,0,0,0,0
$GC,10047,0.46,233.2,751.5,10.1,792,10069,0.00,2.25,13.70,1.215,4,0.000,0.055,2894,448,1932,0,0,0,0,0,0
$GC,10088,0.46,235.0,747.2,10.6,793,10095,0.00,2.20,0.00,0.000,6,0.000,0.043,2891,1851,1931,0,0,0,0,0,0
$GC,10403,0.46,235.0,711.2,11.5,809,10407,0.00,2.17,0.00,0.000,4,0.000,0.057,2891,3258,1929,0,0,0,0,0,0
$GC,10492,0.48,235.0,700.5,11.8,813,10496,0.00,2.17,0.00,0.000,6,0.000,0.041,2899,1837,1928,0,0,0,0,0,0
$GC,10815,0.48,235.0,662.7,12.0,829,10819,0.00,2.12,0.00,0.000,4,0.000,0.053,2909,443,1927,0,0,0,0,0,0
$GC,10842,0.48,235.0,658.9,12.5,830,10846,0.00,2.17,0.00,0.000,6,0.000,0.042,2910,1862,1927,0,0,0,0,0,0
$GC,11166,0.46,235.0,620.3,11.9,846,11170,0.00,2.12,0.00,0.000,4,0.000,0.057,2909,3249,1926,0,0,0,0,0,0
$GC,11205,0.46,235.0,615.0,12.7,848,11209,0.00,2.10,0.00,0.000,6,0.000,0.041,2919,1850,1925,0,0,0,0,0,0
$GC,11529,0.43,235.0,575.3,12.3,872,11531,0.12,0.00,0.00,0.000,6,0.181,0.000,2887,1849,1925,0,0,0,0,0,0
$GC,11847,0.54,301.4,546.5,8.2,902,11915,0.00,2.30,59.83,1.159,4,0.000,0.053,2896,438,1653,0,0,0,0,0,0
$GC,11955,0.67,363.9,536.9,8.4,911,12018,0.20,2.20,56.00,1.116,6,0.066,0.040,2978,1842,1400,0,0,0,0,0,0
$GC,12337,0.59,363.9,464.8,20.2,947,12342,0.15,2.22,0.00,0.000,4,0.173,0.056,2938,3259,1393,0,0,0,0,0,0
$GC,12492,0.62,363.9,440.1,13.7,960,12499,0.00,2.17,0.00,0.000,6,0.000,0.041,2946,1839,1392,0,0,0,0,0,0
$GC,12818,0.60,363.9,391.9,14.0,991,12822,0.00,2.22,0.00,0.000,4,0.000,0.054,2947,3265,1391,0,0,0,0,0,0
$GC,12836,0.60,363.9,389.3,13.9,992,12840,0.00,2.15,0.00,0.000,6,0.000,0.038,2955,1839,1391,0,0,0,0,0,0
$GC,13162,0.58,363.9,340.1,15.8,1022,13166,0.00,2.15,0.00,0.000,4,0.000,0.050,2965,437,1391,0,0,0,0,0,0
$GC,13205,0.58,363.9,332.8,15.3,1025,13213,0.00,2.17,0.00,0.000,6,0.000,0.039,2960,1858,1389,0,0,0,0,0,0
$GC,13531,0.56,363.9,283.5,14.8,1056,13536,0.12,2.12,0.00,0.000,4,0.168,0.053,2916,3253,1389,0,0,0,0,0,0
$GC,13595,0.70,394.1,276.6,9.5,1061,13626,0.12,2.10,25.23,0.894,6,0.083,0.037,2998,1842,1277,0,0,0,0,0,0
$GC,13949,0.64,394.1,212.6,19.9,1111,13957,0.17,2.20,0.00,0.000,4,0.158,0.048,2961,439,1274,0,0,0,0,0,0
$GC,13979,0.62,394.1,206.8,19.5,1115,13987,0.00,2.17,0.00,0.000,6,0.000,0.038,2958,1854,1273,0,0,0,0,0,0
$GC,14307,0.67,394.1,167.9,11.6,1176,14314,0.00,2.15,0.00,0.000,4,0.000,0.050,2963,3255,1273,0,0,0,0,0,0
$GC,14344,0.74,394.1,163.0,11.8,1182,14353,0.00,2.12,0.00,0.000,6,0.000,0.036,2972,1850,1273,0,0,0,0,0,0
$GC,14673,0.84,427.3,127.6,9.4,1243,14712,0.12,2.20,28.52,0.752,4,0.083,0.047,3057,442,1140,0,0,0,0,0,0
$GC,14773,0.80,427.3,110.9,17.5,1258,14782,0.15,2.15,0.00,0.000,6,0.128,0.036,3006,1851,1138,0,0,0,0,0,0
$GC,15100,0.84,427.3,65.5,12.8,1319,15109,0.00,2.15,0.00,0.000,4,0.000,0.047,2998,3259,1138,0,0,0,0,0,0
$GC,15150,0.94,427.3,59.9,10.9,1327,15158,0.08,2.12,0.00,0.000,6,0.050,0.034,3075,1852,1138,0,0,0,0,0,0
$GC,15481,0.91,427.3,11.1,15.9,1388,15490,0.12,2.20,0.00,0.000,4,0.159,0.045,3051,438,1138,0,0,0,0,0,0
$GC,15527,0.94,427.3,4.6,12.7,1395,15535,0.00,2.12,0.00,0.000,6,0.000,0.033,3050,1851,1138,0,0,0,0,0,0
$STATE,15541,end climb,SURFACE_DEPTH_REACHED
$STATE,15541,begin surface coast
$FINISH,1.0,1.008339
$STATE,15568,end surface coast,CONTROL_FINISHED_OK
$STATE,15568,begin surface
$SM_CCo,15588,46.92,0.468,1,0,946,475.15
$SM_GC,1.83,0.00,0.00,46.92,0.000,0.000,0.468,154,1479,946,-8.10,-0.59,475.15,0,0,0,0,1,0
$IRIDIUM_FIX,2316.83,12240.16,150811,000048
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.54
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.40
$XPDR_PINGS,75
$24V_AH,23.5,16.593
$10V_AH,10.3,11.079
$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,21.025,150.525,533.950,46.925,0.000,23.709,43.667,199.289,18.750,0.000,32.762,3529.255,8025.212,681.673,3400.852,438.254,0.000,2029.217,0.000,3106.518,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,61.200,1449.675,468.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.459,1434.277,1521.646,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324460
$DATA_FILE_SIZE,80327,1402
$CAP_FILE_SIZE,175090,0
$CFSIZE,260165632,141938688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180,357.3,1
$GPS,150811,092507,2328.877,12247.803,55,1.7,55,-3.2