version: 66.11
glider: 129
mission: 4
dive: 62
start: 11 18 112 4 4 39
data:
$ID,129
$MISSION,4
$DIVE,62
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,420
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,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,-2724.0427
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,181112,035630,1752.507,12346.690,41,1.1,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.8
$GPS2,181112,040413,1752.616,12346.697,15,1.2,15,-2.0
$SPEED_LIMITS,0.136,0.259
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,284.6,201750,-13.2,-7.857,-16.86
$D_GRID,4461
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.51,-175.2,0.0,0.0,0,74,0.00,0.00,-54.08,0.000,2,0.000,0.000,64,1889,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.51,-175.2,3.0,-4.8,9,127,7.60,2.00,-35.50,0.000,4,0.246,0.045,1963,521,3124,0,0,0,0,0,0,25.80,26.10,26.37
$GC,354,-0.33,-175.2,85.7,-35.6,40,360,0.28,1.98,0.00,0.000,6,0.157,0.024,2034,1912,3125,0,0,0,0,0,0,26.10,26.32,28.83
$GC,667,-0.26,-175.2,152.6,-18.9,56,672,0.00,2.00,0.00,0.000,4,0.000,0.032,2034,526,3125,0,0,0,0,0,0,28.83,26.42,28.83
$GC,849,-0.24,-175.2,177.8,-10.6,65,855,0.12,2.00,0.00,0.000,6,0.150,0.023,2062,1939,3125,0,0,0,0,0,0,26.34,26.51,28.83
$GC,1174,-0.28,-175.2,203.5,-7.0,81,1179,0.00,2.05,0.00,0.000,4,0.000,0.032,2062,519,3125,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1200,-0.32,-175.2,205.2,-7.0,82,1205,0.00,2.00,0.00,0.000,6,0.000,0.024,2056,1939,3125,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1518,-0.36,-175.2,226.1,-6.3,98,1524,0.00,2.00,0.00,0.000,4,0.000,0.037,2046,3313,3125,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1561,-0.40,-175.2,229.1,-6.7,100,1568,0.10,1.98,0.00,0.000,6,0.103,0.024,1991,1906,3125,0,0,0,0,0,0,26.53,26.60,28.83
$GC,1886,-0.38,-175.2,264.6,-10.4,116,1891,0.00,1.95,0.00,0.000,4,0.000,0.032,1991,530,3125,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2038,-0.36,-175.2,280.4,-11.2,123,2044,0.12,1.98,0.00,0.000,6,0.145,0.024,2021,1927,3124,0,0,0,0,0,0,26.48,26.63,28.83
$GC,2351,-0.38,-175.2,305.3,-7.6,139,2356,0.00,2.03,0.00,0.000,4,0.000,0.032,2020,530,3126,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2408,-0.39,-175.2,308.8,-8.0,141,2415,0.00,1.98,0.00,0.000,6,0.000,0.024,2014,1930,3123,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2714,-0.41,-175.2,331.5,-6.5,157,2720,0.00,2.03,0.00,0.000,4,0.000,0.038,2003,3317,3122,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2766,-0.44,-175.2,334.3,-6.7,159,2772,0.00,1.98,0.00,0.000,6,0.000,0.024,2004,1916,3122,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3079,-0.45,-175.2,359.2,-8.3,175,3085,0.00,2.00,0.00,0.000,4,0.000,0.034,2004,526,3121,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3151,-0.46,-175.2,364.9,-8.9,178,3157,0.00,1.98,0.00,0.000,6,0.000,0.024,1997,1928,3121,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3464,-0.48,-175.2,391.4,-7.5,194,3469,0.00,2.00,0.00,0.000,4,0.000,0.039,1988,3303,3119,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3487,-0.49,-175.2,392.9,-7.2,195,3492,0.00,1.95,0.00,0.000,6,0.000,0.025,1988,1928,3119,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3809,-0.49,-175.2,415.0,-6.9,211,3814,0.00,2.03,0.00,0.000,4,0.000,0.035,1988,524,3117,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3901,-0.49,-175.2,421.5,-7.9,215,3907,0.00,2.00,-0.08,0.000,6,0.000,0.026,1988,1930,3138,0,0,0,0,0,0,28.83,26.65,26.22
$GC,4215,-0.49,-175.2,445.7,-8.1,231,4220,0.00,2.05,0.00,0.000,4,0.000,0.035,1988,528,3137,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4266,-0.49,-175.2,449.3,-8.3,233,4271,0.00,1.98,0.00,0.000,6,0.000,0.027,1988,1927,3138,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4579,-0.50,-175.2,473.9,-7.2,249,4585,0.00,2.05,0.00,0.000,4,0.000,0.041,1986,3322,3136,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4627,-0.52,-175.2,476.7,-6.7,251,4632,0.00,2.00,0.00,0.000,6,0.000,0.026,1986,1917,3135,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4945,-0.53,-175.2,498.8,-7.0,267,4950,0.00,2.00,0.00,0.000,4,0.000,0.036,1986,521,3133,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5041,-0.53,-175.2,505.8,-8.3,271,5048,0.00,2.00,0.00,0.000,6,0.000,0.026,1976,1932,3132,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5347,-0.53,-175.2,531.7,-8.0,287,5352,0.00,2.05,0.00,0.000,4,0.000,0.036,1976,534,3130,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5384,-0.53,-175.2,533.6,-8.2,288,5391,0.00,2.00,0.00,0.000,6,0.000,0.027,1967,1934,3130,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5690,-0.53,-175.2,560.9,-8.6,304,5695,0.00,2.08,0.00,0.000,4,0.000,0.037,1967,527,3128,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5746,-0.53,-175.2,565.1,-9.2,306,5753,0.00,1.98,0.00,0.000,6,0.000,0.027,1957,1924,3128,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6052,-0.51,-175.2,596.4,-9.7,322,6058,0.00,2.05,0.00,0.000,4,0.000,0.036,1958,535,3126,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6079,-0.50,-175.2,598.6,-9.6,323,6085,0.00,1.98,0.00,0.000,6,0.000,0.027,1949,1927,3125,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6397,-0.48,-175.2,631.2,-10.4,334,6403,0.12,2.05,0.00,0.000,4,0.151,0.034,1991,534,3124,0,0,0,0,0,0,26.53,26.63,28.83
$GC,6425,-0.45,-175.2,631.2,-10.4,334,6432,0.00,2.03,0.00,0.000,6,0.000,0.028,1988,1948,3123,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6732,-0.47,-175.2,653.9,-6.1,345,6737,0.00,2.10,0.00,0.000,4,0.000,0.037,1988,527,3121,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6775,-0.49,-175.2,656.3,-6.3,346,6780,0.00,2.03,0.00,0.000,6,0.000,0.027,1988,1936,3121,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7098,-0.51,-175.2,672.2,-4.5,357,7104,0.00,2.05,0.00,0.000,4,0.000,0.043,1988,3320,3120,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7115,-0.54,-175.2,672.2,-4.5,357,7121,0.00,2.00,0.00,0.000,6,0.000,0.028,1988,1926,3120,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7435,-0.56,-175.2,688.5,-5.1,368,7441,0.00,2.05,0.00,0.000,4,0.000,0.038,1988,525,3118,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7492,-0.58,-175.2,690.7,-5.4,369,7500,0.12,2.03,0.00,0.000,6,0.105,0.028,1935,1934,3118,0,0,0,0,0,0,26.60,26.66,28.83
$GC,7800,-0.56,-175.2,719.2,-9.1,380,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1933,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8098,-0.53,-175.2,748.5,-9.9,390,8105,0.12,2.10,0.00,0.000,4,0.154,0.037,1975,521,3115,0,0,0,0,0,0,26.51,26.63,28.83
$GC,8181,-0.51,-175.2,754.2,-9.3,392,8187,0.00,2.03,0.00,0.000,6,0.000,0.028,1968,1929,3114,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8494,-0.51,-175.2,778.7,-7.0,403,8500,0.00,2.08,0.00,0.000,4,0.000,0.039,1967,531,3113,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8547,-0.51,-175.2,781.2,-7.2,404,8552,0.00,2.00,0.00,0.000,6,0.000,0.028,1958,1934,3113,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8859,-0.51,-175.2,805.0,-7.4,415,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9159,-0.51,-175.2,827.5,-7.4,425,9165,0.00,2.08,0.00,0.000,4,0.000,0.040,1958,524,3109,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9181,-0.51,-175.2,827.5,-7.4,425,9187,0.00,2.03,0.00,0.000,6,0.000,0.029,1949,1923,3109,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9494,-0.51,-175.2,855.2,-8.3,436,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1924,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9795,-0.51,-175.2,882.1,-9.3,446,9800,0.00,2.08,0.00,0.000,4,0.000,0.040,1949,531,3108,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9826,-0.51,-175.2,885.3,-9.5,447,9833,0.12,2.03,0.00,0.000,6,0.152,0.030,1975,1935,3108,0,0,0,0,0,0,26.48,26.65,28.83
$GC,10161,-0.54,-175.2,912.0,-7.8,458,10167,0.00,2.05,0.00,0.000,4,0.000,0.044,1967,3316,3107,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10189,-0.56,-175.2,912.0,-7.8,458,10195,0.00,2.03,0.00,0.000,6,0.000,0.030,1967,1920,3107,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10496,-0.57,-175.2,938.4,-7.6,469,10502,0.00,2.05,0.00,0.000,4,0.000,0.041,1967,528,3106,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10553,-0.58,-175.2,941.2,-7.6,470,10560,0.00,2.00,0.00,0.000,6,0.000,0.029,1958,1930,3106,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10860,-0.58,-175.2,965.7,-7.1,481,10865,0.00,2.10,0.00,0.000,4,0.000,0.039,1958,520,3104,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10926,-0.58,-175.2,970.8,-7.5,483,10932,0.00,2.05,0.00,0.000,6,0.000,0.028,1949,1935,3104,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,11222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11223,begin apogee
$GC,11227,-0.17,0.0,992.0,-6.9,493,11375,0.38,0.00,140.40,1.421,6,0.121,0.000,2078,1935,2411,0,0,0,0,0,0,26.44,28.83,23.81
$STATE,11377,end apogee,CONTROL_FINISHED_OK
$STATE,11377,begin climb
$GC,11378,0.51,175.2,995.9,0.0,498,11540,0.65,2.28,150.20,1.373,4,0.086,0.040,2304,3290,1692,0,0,0,0,0,0,24.82,24.27,23.41
$GC,11602,0.47,175.2,982.8,8.4,505,11607,0.00,2.15,0.00,0.000,6,0.000,0.030,2314,1905,1688,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11921,0.44,175.2,950.0,9.7,516,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1905,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12220,0.42,175.2,921.6,9.3,526,12226,0.12,2.10,0.00,0.000,4,0.175,0.038,2277,3293,1682,0,0,0,0,0,0,25.98,26.11,28.83
$GC,12253,0.40,175.2,918.6,9.2,527,12259,0.00,2.10,0.00,0.000,6,0.000,0.031,2286,1883,1682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12586,0.41,193.3,893.4,7.3,538,12605,0.00,2.25,14.30,1.268,4,0.000,0.040,2285,3299,1621,0,0,0,0,0,0,28.83,25.84,24.89
$GC,12679,0.41,197.7,886.2,7.7,541,12692,0.00,2.10,5.62,1.027,6,0.000,0.031,2294,1900,1603,0,0,0,0,0,0,28.83,26.01,24.84
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$STATE,22731,end climb,SURFACE_DEPTH_REACHED
$STATE,22732,begin surface coast
$FINISH,0.8,1.020707
$STATE,22758,end surface coast,CONTROL_FINISHED_OK
$STATE,22758,begin surface
$SM_CCo,22832,0.00,0.000,0,0,753,406.22
$SM_GC,1.89,6.10,0.00,0.00,0.047,0.000,0.000,61,1873,753,-6.40,-1.50,406.22,0,0,0,0,0,0,26.48,28.83,28.83
$IRIDIUM_FIX,1745.10,12348.31,171112,212119
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.52
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3996480
$24V_AH,23.4,11.636
$10V_AH,10.1,9.482
$FG_AHR_24Vo,120.571
$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,16.875,196.450,494.450,0.000,0.000,0.000,0.000,298.925,0.000,0.000,16.004,3420.481,16064.134,707.467,2834.719,257.175,0.000,2360.282,0.000,2406.281,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,45.135,1420.605,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.367,0.000,0.000,0.000
$MEM,327464
$DATA_FILE_SIZE,39968,1047
$CAP_FILE_SIZE,254463,0
$CFSIZE,260034560,246505472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 33.8,1
$GPS,181112,102630,1754.196,12344.504,43,0.9,43,-2.0