version: 66.10
glider: 176
mission: 5
dive: 323
start: 5 18 112 2 26 42
data:
$ID,176
$MISSION,5
$DIVE,323
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-7947.3232
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,180512,021755,1946.719,12324.282,38,1.7,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.6
$GPS2,180512,022614,1946.696,12324.402,14,1.2,14,-2.4
$SPEED_LIMITS,0.119,0.227
$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,59.3,109908,-11.8,-6.875
$D_GRID,5133
$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,-0.48,-146.0,0.0,0.0,0,59,0.00,0.00,-40.67,0.000,2,0.000,0.000,176,2669,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.48,-146.0,3.1,-6.3,7,108,8.70,1.65,-27.55,0.000,4,0.230,0.062,2354,3772,3525,0,0,0,0,0,0,25.19,26.15,26.70
$GC,317,-0.48,-146.0,69.6,-21.3,52,323,0.00,1.73,0.00,0.000,6,0.000,0.022,2355,2507,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,628,-0.48,-146.0,141.7,-20.6,113,635,0.00,1.90,0.00,0.000,4,0.000,0.028,2355,1140,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,708,-0.48,-146.0,155.3,-13.7,128,716,0.08,2.22,0.00,0.000,6,0.190,0.046,2367,2621,3525,0,0,0,0,0,0,26.20,26.34,28.83
$GC,1020,-0.48,-146.0,211.2,-17.6,183,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2621,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-0.48,-146.0,260.4,-16.3,213,1330,0.00,2.08,0.00,0.000,4,0.000,0.026,2368,1144,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1415,-0.48,-146.0,271.4,-10.2,222,1423,0.00,2.20,0.00,0.000,6,0.000,0.044,2362,2620,3525,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1723,-0.48,-146.0,312.0,-12.7,253,1733,0.00,2.10,0.00,0.000,4,0.000,0.027,2362,1140,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1788,-0.48,-146.0,318.9,-10.1,259,1795,0.00,2.22,0.00,0.000,6,0.000,0.043,2362,2628,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2095,-0.48,-146.0,354.0,-11.6,290,2104,0.00,2.12,0.00,0.000,4,0.000,0.028,2362,1147,3523,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2139,-0.48,-146.0,358.3,-10.5,294,2146,0.00,2.25,0.00,0.000,6,0.000,0.044,2362,2625,3523,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2447,-0.48,-146.0,389.1,-9.8,325,2450,0.00,1.70,0.00,0.000,4,0.000,0.053,2357,3774,3521,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2480,-0.48,-146.0,392.1,-9.5,328,2487,0.00,1.75,0.00,0.000,6,0.000,0.021,2357,2469,3520,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2788,-0.48,-146.0,418.7,-8.4,359,2796,0.00,1.98,0.00,0.000,4,0.000,0.050,2348,3766,3519,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2831,-0.48,-146.0,422.6,-9.5,363,2839,0.05,1.73,0.00,0.000,6,0.118,0.022,2372,2477,3518,0,0,0,0,0,0,26.40,26.65,28.83
$GC,3139,-0.48,-146.0,448.1,-8.7,394,3144,0.08,1.90,0.00,0.000,4,0.128,0.024,2305,1136,3516,0,0,0,0,0,0,26.65,26.46,28.83
$GC,3201,-0.48,-146.0,455.6,-12.7,400,3212,0.20,2.25,-0.10,0.000,6,0.130,0.047,2368,2619,3540,0,0,0,0,0,0,26.08,26.32,25.70
$GC,3511,-0.48,-146.0,484.1,-8.5,431,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2619,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3812,-0.48,-146.0,508.5,-7.7,461,3822,0.00,2.10,0.00,0.000,4,0.000,0.027,2368,1150,3536,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3855,-0.48,-146.0,511.8,-7.6,465,3865,0.00,2.22,0.00,0.000,6,0.000,0.047,2364,2618,3535,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4164,-0.48,-146.0,534.4,-7.2,496,4168,0.00,1.77,0.00,0.000,4,0.000,0.056,2362,3769,3534,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4197,-0.48,-146.0,536.5,-6.8,499,4200,0.00,1.75,0.00,0.000,6,0.000,0.023,2361,2498,3533,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4508,-0.48,-146.0,559.2,-7.4,530,4517,0.00,1.95,0.00,0.000,4,0.000,0.056,2361,3766,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4569,-0.48,-146.0,563.6,-7.1,536,4573,0.00,1.73,0.00,0.000,6,0.000,0.022,2361,2505,3530,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4880,-0.48,-146.0,586.6,-7.0,567,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2490,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.48,-146.0,607.2,-6.9,592,5187,0.00,1.95,0.00,0.000,4,0.000,0.057,2361,3768,3526,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5221,-0.48,-146.0,610.2,-7.1,594,5224,0.00,1.73,0.00,0.000,6,0.000,0.023,2360,2518,3525,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5542,-0.48,-146.0,634.3,-8.0,610,5547,0.00,1.92,0.00,0.000,4,0.000,0.057,2361,3764,3523,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5570,-0.48,-146.0,635.8,-7.9,611,5573,0.00,1.73,0.00,0.000,6,0.000,0.024,2361,2518,3522,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5883,-0.48,-146.0,659.4,-6.9,627,5886,0.00,1.95,0.00,0.000,4,0.000,0.057,2361,3763,3521,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5946,-0.48,-146.0,663.6,-6.9,630,5949,0.00,1.73,0.00,0.000,6,0.000,0.024,2361,2523,3520,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6269,-0.48,-146.0,684.9,-6.5,646,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2513,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6568,-0.48,-146.0,705.9,-7.1,661,6574,0.00,1.92,0.00,0.000,4,0.000,0.057,2359,3764,3517,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6609,-0.48,-146.0,708.9,-7.1,663,6613,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2513,3516,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6928,-0.48,-146.0,731.9,-7.1,679,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2509,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7228,-0.48,-146.0,751.2,-6.0,694,7233,0.00,1.95,0.00,0.000,4,0.000,0.058,2358,3769,3512,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7255,-0.48,-146.0,752.4,-6.0,695,7259,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2519,3512,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7568,-0.48,-146.0,770.2,-5.6,711,7574,0.00,1.95,0.00,0.000,4,0.000,0.057,2358,3777,3511,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7607,-0.48,-146.0,772.5,-5.6,713,7610,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2521,3510,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7929,-0.48,-146.0,790.3,-5.6,729,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2507,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8228,-0.48,-146.0,806.6,-5.3,744,8234,0.00,1.95,0.00,0.000,4,0.000,0.058,2358,3768,3507,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8276,-0.48,-146.0,808.7,-5.2,746,8280,0.00,1.73,0.00,0.000,6,0.000,0.024,2358,2521,3507,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8590,-0.48,-146.0,827.0,-5.9,762,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2509,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,-0.48,-146.0,843.7,-5.6,777,8894,0.00,1.98,0.00,0.000,4,0.000,0.059,2358,3766,3504,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8921,-0.48,-146.0,844.9,-5.6,778,8928,0.00,1.73,0.00,0.000,6,0.000,0.024,2358,2506,3504,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9230,-0.48,-146.0,862.3,-5.4,794,9234,0.00,1.98,0.00,0.000,4,0.000,0.059,2358,3772,3503,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9254,-0.48,-146.0,863.5,-5.4,795,9257,0.00,1.77,0.00,0.000,6,0.000,0.024,2358,2510,3502,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9573,-0.48,-146.0,879.9,-4.8,811,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2506,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9875,-0.48,-146.0,894.7,-4.9,826,9880,0.00,1.98,0.00,0.000,4,0.000,0.059,2358,3772,3500,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9906,-0.48,-146.0,895.6,-4.9,827,9913,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2498,3500,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10214,-0.48,-146.0,911.2,-4.8,843,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2498,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10515,-0.48,-146.0,925.2,-4.8,858,10520,0.00,1.98,0.00,0.000,4,0.000,0.059,2358,3772,3498,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10553,-0.48,-146.0,927.0,-4.5,860,10557,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2519,3498,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10876,-0.48,-146.0,944.2,-5.6,876,10881,0.00,1.98,0.00,0.000,4,0.000,0.029,2358,1142,3497,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10962,-0.48,-146.0,948.7,-5.7,880,10966,0.00,2.30,0.00,0.000,6,0.000,0.049,2358,2625,3497,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11270,-0.48,-146.0,965.6,-5.4,895,11276,0.00,2.15,0.00,0.000,4,0.000,0.027,2358,1139,3496,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11357,-0.48,-146.0,970.0,-5.4,899,11361,0.00,2.30,0.00,0.000,6,0.000,0.048,2358,2623,3496,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11666,-0.48,-146.0,985.9,-5.2,914,11671,0.00,2.15,0.00,0.000,4,0.000,0.028,2358,1139,3495,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11745,-0.48,-146.0,989.9,-5.1,918,11750,0.00,2.28,0.00,0.000,6,0.000,0.048,2358,2621,3495,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,11762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11762,begin apogee
$GC,11767,-0.17,0.0,990.9,-5.1,919,11908,0.30,0.12,128.55,1.730,6,0.094,0.062,2471,2531,2929,0,0,0,0,0,0,26.08,24.36,22.63
$STATE,11909,end apogee,CONTROL_FINISHED_OK
$STATE,11909,begin climb
$GC,11911,0.48,146.0,996.2,0.0,926,12068,0.55,2.42,143.27,1.688,4,0.050,0.031,2703,1056,2330,0,0,0,0,0,0,24.78,23.86,22.08
$GC,12171,0.48,146.0,976.0,12.7,939,12177,0.17,2.35,0.00,0.000,6,0.169,0.046,2658,2527,2322,0,0,0,0,0,0,25.15,25.44,28.83
$GC,12492,0.48,146.0,939.0,11.5,955,12497,0.00,2.15,0.00,0.000,4,0.000,0.029,2666,1058,2319,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12524,0.48,146.0,936.8,11.3,956,12531,0.00,2.25,0.00,0.000,6,0.000,0.047,2666,2517,2318,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,20318,0.57,222.5,242.5,8.4,1560,20326,0.00,2.03,0.00,0.000,4,0.000,0.049,2692,3762,2017,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,23326,end climb,SURFACE_DEPTH_REACHED
$STATE,23326,begin surface coast
$FINISH,0.8,1.006820
$STATE,23383,end surface coast,CONTROL_FINISHED_OK
$STATE,23384,begin surface
$SM_CCo,23461,0.00,0.000,0,0,1145,437.62
$SM_GC,1.65,6.38,2.38,0.00,0.031,0.037,0.000,187,2627,1145,-7.16,-0.57,437.62,0,0,0,0,0,0,26.42,26.35,28.83
$IRIDIUM_FIX,1936.66,12325.53,170512,191928
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.06
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,22.1,67.388
$10V_AH,9.9,41.353
$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,19.675,204.975,447.175,0.000,0.000,24.178,18.047,286.036,0.250,0.000,17.113,5268.901,13294.515,659.839,4190.079,506.256,0.000,2594.237,0.000,3554.168,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,61.965,1729.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1418.719,2752.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,153817,2085
$CAP_FILE_SIZE,245030,0
$CFSIZE,260165632,190558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,224.9,1
$GPS,180512,085837,1947.068,12325.797,25,1.4,25,-2.4