version: 66.10
glider: 168
mission: 6
dive: 427
start: 2 6 112 23 36 0
data:
$ID,168
$MISSION,6
$DIVE,427
$N_DIVES,0
$D_SURF,8
$D_FLARE,8
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-6557.2729
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,2250
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2954
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.650215
$PRESSURE_SLOPE,0.000115925
$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,0
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0042821765
$SEABIRD_T_H,0.00061988086
$SEABIRD_T_I,2.2270933e-05
$SEABIRD_T_J,2.2936731e-06
$SEABIRD_C_G,-9.8276911
$SEABIRD_C_H,1.1035888
$SEABIRD_C_I,-0.0012978988
$SEABIRD_C_J,0.0001838774
$GPS1,060212,232831,1840.244,12217.434,40,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.49
$_SM_ANGLEo,-72.2
$GPS2,060212,233537,1840.557,12217.329,11,1.5,11,-2.1
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,84.7,275724,-15.3,-9.706
$D_GRID,748
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-194.6,0.0,0.0,0,90,0.00,0.00,-71.15,0.000,2,0.000,0.000,100,2034,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.65,-194.6,8.6,-6.1,11,123,7.00,2.22,-12.90,0.000,4,0.192,0.055,2031,613,3748,0,0,0,0,0,0,25.02,26.00,26.54
$GC,206,-0.60,-194.6,61.1,-30.7,30,215,0.10,2.15,0.00,0.000,6,0.124,0.034,2057,2017,3748,0,0,0,0,0,0,25.86,26.13,28.83
$GC,543,-0.54,-194.6,143.3,-24.3,91,550,0.08,2.17,0.00,0.000,4,0.206,0.034,2066,3441,3749,0,0,0,0,0,0,26.36,26.20,28.83
$GC,602,-0.54,-194.6,154.9,-15.1,101,610,0.00,2.15,0.00,0.000,6,0.000,0.032,2065,2028,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,933,-0.53,-194.6,209.6,-12.3,156,944,0.00,2.15,0.00,0.000,4,0.000,0.043,2065,617,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1042,-0.54,-194.6,220.6,-8.1,166,1053,0.03,2.08,0.00,0.000,6,0.141,0.031,2079,2023,3749,0,0,0,0,0,0,26.13,26.27,28.83
$GC,1353,-0.55,-194.6,246.9,-9.4,197,1357,0.00,2.17,0.00,0.000,4,0.000,0.040,2070,3434,3749,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1418,-0.58,-194.6,253.2,-9.2,203,1426,0.00,2.12,0.00,0.000,6,0.000,0.031,2070,2024,3749,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1727,-0.58,-194.6,290.5,-11.4,234,1737,0.00,2.20,0.00,0.000,4,0.000,0.041,2065,3430,3747,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1782,-0.60,-194.6,296.2,-10.3,239,1790,0.00,2.10,0.00,0.000,6,0.000,0.032,2064,2028,3747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2091,-0.60,-194.6,330.2,-10.3,270,2100,0.00,2.17,0.00,0.000,4,0.000,0.045,2064,612,3745,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2157,-0.62,-194.6,335.7,-8.2,276,2164,0.00,2.12,0.00,0.000,6,0.000,0.032,2057,2034,3744,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2465,-0.62,-194.6,365.8,-9.4,307,2474,0.00,2.15,0.00,0.000,4,0.000,0.040,2048,3432,3742,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2487,-0.62,-194.6,367.9,-8.8,309,2491,0.00,2.15,0.00,0.000,6,0.000,0.033,2049,2026,3742,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2799,-0.62,-194.6,394.8,-9.3,340,2807,0.00,2.15,0.00,0.000,4,0.000,0.045,2048,619,3740,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2834,-0.62,-194.6,397.9,-9.7,343,2840,0.00,2.12,0.00,0.000,6,0.000,0.033,2042,2033,3740,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3142,-0.62,-194.6,440.5,-12.5,374,3151,0.00,2.15,0.00,0.000,4,0.000,0.041,2033,3434,3737,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3215,-0.64,-194.6,448.4,-10.1,381,3226,0.00,2.15,0.00,0.000,6,0.000,0.034,2032,2026,3737,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3526,-0.63,-194.6,482.2,-12.0,412,3535,0.05,2.17,0.00,0.000,4,0.207,0.045,2051,626,3735,0,0,0,0,0,0,26.48,26.06,28.83
$GC,3569,-0.64,-194.6,486.9,-10.7,416,3577,0.00,2.08,0.00,0.000,6,0.000,0.033,2044,2030,3734,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3879,-0.64,-194.6,514.2,-10.1,447,3888,0.00,2.15,0.00,0.000,4,0.000,0.043,2035,3431,3732,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3922,-0.65,-194.6,518.9,-11.0,451,3930,0.00,2.15,0.00,0.000,6,0.000,0.034,2035,2027,3731,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4232,-0.65,-194.6,556.1,-13.2,482,4241,0.00,2.17,0.00,0.000,4,0.000,0.041,2027,3426,3729,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4276,-0.65,-194.6,561.5,-12.7,486,4285,0.00,2.17,0.00,0.000,6,0.000,0.034,2027,2015,3729,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4584,-0.65,-194.6,590.7,-7.6,517,4594,0.00,2.17,0.00,0.000,4,0.000,0.048,2027,627,3725,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4617,-0.65,-194.6,593.4,-7.8,520,4626,0.08,2.10,0.00,0.000,6,0.167,0.035,2048,2023,3725,0,0,0,0,0,0,26.01,26.13,28.83
$GC,4940,-0.67,-194.6,616.4,-8.6,542,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2023,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,-0.67,-194.6,637.6,-9.2,557,5243,0.00,2.17,0.00,0.000,4,0.000,0.048,2048,621,3721,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5260,-0.69,-194.6,639.7,-9.8,558,5264,0.00,2.12,0.00,0.000,6,0.000,0.034,2042,2035,3721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5573,-0.70,-194.6,677.8,-12.8,574,5578,0.00,2.15,0.00,0.000,4,0.000,0.043,2034,3437,3719,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5595,-0.71,-194.6,680.3,-12.7,575,5599,0.00,2.17,0.00,0.000,6,0.000,0.034,2033,2026,3718,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5908,-0.71,-194.6,719.7,-11.9,591,5914,0.00,2.20,0.00,0.000,4,0.000,0.042,2026,3437,3717,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5935,-0.71,-194.6,721.8,-11.4,592,5939,0.00,2.20,0.00,0.000,6,0.000,0.035,2026,2021,3717,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,6220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6220,begin apogee
$GC,6227,-0.22,0.0,749.4,-8.7,606,6463,0.43,0.00,225.82,0.737,6,0.090,0.000,2182,2020,2947,0,0,0,0,0,0,25.89,28.83,24.08
$STATE,6464,end apogee,CONTROL_FINISHED_OK
$STATE,6464,begin climb
$GC,6466,0.65,194.6,755.0,0.0,618,6636,0.75,2.20,162.98,0.862,4,0.044,0.028,2483,3395,2151,0,0,0,0,0,0,25.40,25.21,23.97
$GC,6654,0.58,194.6,743.5,12.4,626,6662,0.20,2.28,0.00,0.000,6,0.142,0.033,2437,1970,2137,0,0,0,0,0,0,25.21,25.44,28.83
$GC,6963,0.55,194.6,692.9,13.3,642,6968,0.00,2.17,0.00,0.000,4,0.000,0.032,2438,3385,2128,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7031,0.51,194.6,684.7,13.5,645,7041,0.12,2.17,0.00,0.000,6,0.150,0.036,2411,1975,2128,0,0,0,0,0,0,25.78,25.99,28.83
$GC,7342,0.49,194.6,649.2,11.6,661,7346,0.00,2.20,0.00,0.000,4,0.000,0.050,2423,573,2126,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7405,0.48,194.6,641.8,11.7,664,7411,0.05,2.05,0.00,0.000,6,0.122,0.024,2401,1987,2125,0,0,0,0,0,0,25.98,26.19,28.83
$GC,7726,0.47,194.6,607.0,10.7,680,7731,0.00,2.22,0.00,0.000,4,0.000,0.050,2412,574,2124,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7787,0.46,194.6,600.5,10.8,683,7792,0.00,2.05,0.00,0.000,6,0.000,0.024,2412,1972,2124,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8099,0.44,194.6,563.6,12.0,714,8109,0.08,2.15,0.00,0.000,4,0.192,0.031,2392,3385,2122,0,0,0,0,0,0,26.31,26.13,28.83
$GC,8207,0.44,194.6,551.4,11.7,724,8214,0.00,2.17,0.00,0.000,6,0.000,0.036,2402,1975,2121,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8512,0.43,194.6,509.7,12.4,755,8522,0.05,2.17,0.00,0.000,4,0.226,0.031,2386,3386,2121,0,0,0,0,0,0,26.38,26.12,28.83
$GC,8549,0.43,194.6,505.8,11.9,758,8555,0.00,2.20,0.00,0.000,6,0.000,0.037,2397,1973,2121,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8856,0.45,213.5,476.4,9.1,789,8876,0.00,2.28,14.10,0.698,4,0.000,0.050,2407,574,2076,0,0,0,0,0,0,28.83,25.98,24.34
$GC,8933,0.46,223.7,469.4,9.4,796,8944,0.00,2.08,4.32,0.605,6,0.000,0.024,2407,1972,2041,0,0,0,0,0,0,28.83,26.12,24.25
$GC,9252,0.50,256.3,440.0,8.6,828,9295,0.00,2.22,37.50,0.682,4,0.000,0.034,2407,3375,1901,0,0,0,0,0,0,28.83,25.80,24.49
$GC,9346,0.50,256.3,431.5,10.0,837,9353,0.00,2.20,0.00,0.000,6,0.000,0.038,2417,1978,1888,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9655,0.49,256.3,397.7,11.4,868,9658,0.00,2.17,0.00,0.000,4,0.000,0.034,2417,3388,1885,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9678,0.49,256.3,394.8,11.6,870,9686,0.05,2.25,0.00,0.000,6,0.127,0.037,2394,1979,1884,0,0,0,0,0,0,25.74,25.95,28.83
$GC,9987,0.55,292.7,366.9,8.5,901,10027,0.10,2.25,32.08,0.646,4,0.093,0.048,2490,573,1749,0,0,0,0,0,0,26.38,25.81,24.58
$GC,10181,0.52,292.7,337.5,15.4,920,10190,0.20,2.10,0.00,0.000,6,0.102,0.023,2418,1994,1739,0,0,0,0,0,0,25.65,26.03,28.83
$GC,10490,0.52,292.7,305.5,11.6,951,10494,0.00,2.12,0.00,0.000,4,0.000,0.034,2418,3385,1736,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10514,0.52,292.7,302.9,11.9,953,10521,0.00,2.22,0.00,0.000,6,0.000,0.037,2428,1963,1734,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10822,0.52,292.7,265.7,11.2,984,10826,0.00,2.20,0.00,0.000,4,0.000,0.050,2437,569,1734,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10889,0.53,292.7,258.7,10.5,990,10897,0.00,2.10,0.00,0.000,6,0.000,0.024,2438,1970,1734,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11197,0.53,292.7,222.3,12.6,1021,11206,0.08,2.12,0.00,0.000,4,0.174,0.032,2416,3381,1734,0,0,0,0,0,0,26.34,26.09,28.83
$GC,11253,0.55,292.7,216.3,10.8,1026,11261,0.00,2.22,0.00,0.000,6,0.000,0.036,2423,1972,1733,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11572,0.66,373.5,190.4,7.0,1069,11647,0.12,2.25,66.47,0.521,4,0.082,0.047,2553,562,1419,0,0,0,0,0,0,26.44,25.69,24.58
$GC,11742,0.62,373.5,155.5,20.0,1097,11750,0.32,2.12,0.00,0.000,6,0.109,0.022,2448,1989,1409,0,0,0,0,0,0,25.51,25.94,28.83
$GC,12072,0.75,456.4,123.8,6.9,1158,12149,0.12,2.33,65.35,0.465,4,0.076,0.049,2572,571,1077,0,0,0,0,0,0,26.32,25.67,24.68
$GC,12210,0.71,456.4,94.1,23.4,1180,12219,0.25,2.10,0.00,0.000,6,0.096,0.022,2482,1978,1070,0,0,0,0,0,0,25.54,25.90,28.83
$GC,12544,0.90,577.8,65.8,5.6,1241,12658,0.15,2.17,105.35,0.244,4,0.070,0.031,2579,3363,608,0,0,0,0,0,0,26.29,25.81,25.06
$GC,12683,0.90,577.8,45.1,17.1,1262,12693,0.12,2.20,2.45,0.147,6,0.095,0.034,2537,1972,600,0,0,0,0,0,0,25.62,25.80,25.20
$GC,13016,1.03,646.3,15.8,7.4,1323,13052,0.12,2.28,27.60,0.141,4,0.080,0.044,2655,565,420,0,0,0,0,0,0,26.31,25.89,25.27
$STATE,13069,end climb,SURFACE_DEPTH_REACHED
$STATE,13069,begin surface coast
$FINISH,5.6,1.020563
$STATE,13107,end surface coast,CONTROL_FINISHED_OK
$STATE,13107,begin surface
$SM_CCo,13185,0.00,0.000,0,0,429,619.63
$SM_GC,6.31,6.22,2.20,0.00,0.023,0.024,0.000,101,2020,429,-6.57,-1.55,619.63,0,0,0,0,0,0,26.27,26.10,28.83
$IRIDIUM_FIX,1835.04,12214.31,060212,202056
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,12
$24V_AH,24.0,73.612
$10V_AH,9.9,65.231
$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,16.875,143.150,744.025,0.000,0.000,28.098,42.440,226.366,3.000,0.000,13.870,3246.925,6117.761,801.231,3027.720,407.914,0.000,2156.402,0.000,2664.398,0.000,0.539,0.000
$DEVICE_MAMPS,226.440,55.080,862.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.136,2098.172,795.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324184
$DATA_FILE_SIZE,90487,1338
$CAP_FILE_SIZE,157974,0
$CFSIZE,260165632,179220480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,327.0,1
$GPS,070212,031701,1841.796,12218.683,37,1.0,38,-2.1