version: 66.11
glider: 129
mission: 4
dive: 445
start: 2 16 113 7 55 18
data:
$ID,129
$MISSION,4
$DIVE,445
$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,350
$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,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,2
$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,-3340.2891
$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,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$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,62
$R_STBD_OVSHOOT,80
$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,20
$MINV_10V,9
$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,0
$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
$GPS1,160213,074536,1917.911,12248.319,38,1.8,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-55.7
$GPS2,160213,075436,1917.870,12248.332,11,1.6,16,-2.2
$SPEED_LIMITS,0.163,0.283
$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,72.1,191216,-15.3,-9.429,-18.41
$D_GRID,4421
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,87,0.00,0.00,-64.22,0.000,2,0.000,0.000,48,1885,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-3.3,11,141,8.10,2.10,-35.00,0.000,4,0.242,0.044,1964,510,3164,0,0,0,0,0,0,24.71,26.00,26.53
$GC,157,-0.53,-184.9,10.9,-16.7,21,165,0.12,2.03,0.00,0.000,6,0.168,0.021,1986,1934,3164,0,0,0,0,0,0,25.73,26.15,28.83
$GC,469,-0.46,-184.9,93.5,-26.2,49,475,0.00,2.05,0.00,0.000,4,0.000,0.029,1986,521,3164,0,0,0,0,0,0,28.83,26.05,28.83
$GC,580,-0.41,-184.9,118.8,-23.1,54,586,0.17,2.03,0.00,0.000,6,0.140,0.021,2029,1927,3164,0,0,0,0,0,0,25.71,26.18,28.83
$GC,900,-0.40,-184.9,167.2,-14.8,70,905,0.00,2.08,0.00,0.000,4,0.000,0.028,2028,512,3164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1045,-0.40,-184.9,186.6,-12.1,77,1051,0.00,2.00,0.00,0.000,6,0.000,0.020,2020,1936,3165,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1369,-0.40,-184.9,224.8,-11.6,93,1374,0.00,2.08,0.00,0.000,4,0.000,0.029,2020,524,3164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1468,-0.40,-184.9,234.2,-11.3,97,1475,0.00,1.98,0.00,0.000,6,0.000,0.021,2010,1918,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1773,-0.40,-184.9,272.8,-12.4,113,1778,0.00,2.03,0.00,0.000,4,0.000,0.033,1999,3306,3167,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1806,-0.40,-184.9,275.7,-12.6,114,1812,0.12,2.00,0.00,0.000,6,0.125,0.021,2037,1897,3164,0,0,0,0,0,0,25.92,26.21,28.83
$GC,2121,-0.41,-184.9,304.1,-7.8,130,2127,0.00,2.00,0.00,0.000,4,0.000,0.031,2037,545,3164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2187,-0.43,-184.9,309.2,-7.8,133,2193,0.00,1.98,0.00,0.000,6,0.000,0.020,2031,1936,3163,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2513,-0.45,-184.9,332.8,-7.2,149,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1938,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.46,-184.9,355.4,-7.4,164,2820,0.00,2.05,0.00,0.000,4,0.000,0.030,2031,541,3161,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2874,-0.48,-184.9,359.1,-7.7,166,2880,0.00,1.95,0.00,0.000,6,0.000,0.021,2026,1928,3161,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3180,-0.49,-184.9,384.1,-7.6,182,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1928,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3482,-0.51,-184.9,404.5,-6.9,197,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1928,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3781,-0.53,-184.9,426.7,-8.0,212,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1928,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4082,-0.55,-184.9,449.7,-7.7,227,4088,0.12,2.05,0.00,0.000,4,0.096,0.031,1942,3304,3155,0,0,0,0,0,0,26.32,25.97,28.83
$GC,4116,-0.56,-184.9,452.4,-8.1,228,4124,0.12,1.98,-0.10,0.000,6,0.142,0.022,1978,1931,3178,0,0,0,0,0,0,25.84,26.18,25.27
$GC,4434,-0.56,-184.9,486.6,-10.1,244,4439,0.00,2.05,0.00,0.000,4,0.000,0.032,1977,530,3177,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4538,-0.56,-184.9,497.6,-10.4,249,4543,0.00,1.98,0.00,0.000,6,0.000,0.021,1969,1919,3177,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4861,-0.56,-184.9,531.5,-10.6,265,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1920,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5164,-0.56,-184.9,563.0,-10.8,280,5169,0.00,2.08,0.00,0.000,4,0.000,0.031,1969,536,3175,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5237,-0.56,-184.9,570.4,-11.2,283,5243,0.00,2.03,0.00,0.000,6,0.000,0.022,1960,1922,3173,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5571,-0.56,-184.9,609.0,-11.3,299,5577,0.00,2.08,0.00,0.000,4,0.000,0.031,1960,540,3171,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5614,-0.56,-184.9,613.0,-11.5,300,5619,0.00,2.00,0.00,0.000,6,0.000,0.021,1950,1928,3171,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5940,-0.55,-184.9,653.2,-12.2,311,5946,0.12,2.08,0.00,0.000,4,0.154,0.029,1991,541,3169,0,0,0,0,0,0,26.05,25.97,28.83
$GC,5999,-0.55,-184.9,657.3,-11.8,312,6006,0.00,2.03,0.00,0.000,6,0.000,0.022,1983,1925,3169,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6305,-0.55,-184.9,686.9,-8.7,323,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1925,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6606,-0.55,-184.9,712.2,-8.4,333,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1925,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6905,-0.55,-184.9,737.2,-8.2,343,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1925,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7206,-0.55,-184.9,762.6,-8.6,353,7211,0.00,2.08,0.00,0.000,4,0.000,0.032,1983,542,3161,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7270,-0.55,-184.9,768.5,-8.9,355,7276,0.00,2.03,0.00,0.000,6,0.000,0.023,1974,1917,3161,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7608,-0.55,-184.9,797.2,-8.6,366,7614,0.00,2.08,0.00,0.000,4,0.000,0.036,1963,3303,3160,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7644,-0.55,-184.9,800.7,-8.7,367,7650,0.00,2.03,0.00,0.000,6,0.000,0.024,1964,1916,3160,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7980,-0.55,-184.9,831.5,-9.3,378,7985,0.00,2.08,0.00,0.000,4,0.000,0.034,1964,535,3159,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8099,-0.55,-184.9,841.4,-10.1,381,8106,0.00,2.05,0.00,0.000,6,0.000,0.023,1954,1927,3158,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8403,-0.55,-184.9,875.8,-10.4,392,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1927,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,-0.55,-184.9,905.2,-9.5,402,8709,0.00,2.08,0.00,0.000,4,0.000,0.033,1954,538,3155,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8817,-0.55,-184.9,915.3,-10.6,405,8823,0.15,2.00,0.00,0.000,6,0.142,0.024,1986,1928,3155,0,0,0,0,0,0,25.64,26.08,28.83
$GC,9135,-0.56,-184.9,941.8,-7.7,416,9141,0.00,2.05,0.00,0.000,4,0.000,0.037,1978,3306,3154,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9165,-0.58,-184.9,941.8,-7.7,416,9171,0.00,2.03,0.00,0.000,6,0.000,0.024,1978,1926,3154,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9471,-0.58,-184.9,969.9,-8.5,427,9476,0.00,2.08,0.00,0.000,4,0.000,0.034,1977,525,3153,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9601,-0.58,-184.9,981.5,-9.3,431,9607,0.00,2.08,0.00,0.000,6,0.000,0.024,1969,1931,3152,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9718,begin apogee
$GC,9725,-0.17,0.0,992.6,-8.9,435,9890,0.40,0.00,158.30,1.413,6,0.116,0.000,2102,1932,2409,0,0,0,0,0,0,25.35,28.83,22.59
$STATE,9892,end apogee,CONTROL_FINISHED_OK
$STATE,9892,begin climb
$GC,9895,0.58,184.9,999.5,0.0,440,10075,0.73,2.45,169.05,1.362,4,0.084,0.037,2357,518,1654,0,0,0,0,0,0,24.34,23.54,21.82
$GC,10163,0.62,263.0,989.2,6.8,449,10239,0.00,2.08,69.57,1.342,6,0.000,0.023,2357,1908,1338,0,0,0,0,0,0,28.83,25.63,22.99
$GC,10569,0.64,286.6,953.9,8.6,463,10597,0.00,2.10,20.75,1.289,4,0.000,0.034,2357,3290,1240,0,0,0,0,0,0,28.83,25.58,23.64
$GC,10664,0.66,295.7,945.1,9.1,466,10679,0.00,2.05,9.65,1.168,6,0.000,0.028,2366,1906,1203,0,0,0,0,0,0,28.83,25.97,23.77
$GC,10998,0.68,295.7,913.0,9.6,477,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1906,1199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11299,0.70,295.7,884.3,9.5,487,11304,0.00,2.10,0.00,0.000,4,0.000,0.037,2376,504,1198,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11342,0.72,295.7,880.8,9.6,488,11348,0.00,2.05,0.00,0.000,6,0.000,0.023,2376,1909,1197,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11669,0.73,298.5,849.0,9.3,499,11675,0.00,2.05,0.00,0.000,4,0.000,0.034,2376,3287,1197,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11752,0.75,298.5,842.2,9.6,501,11757,0.00,2.05,0.00,0.000,6,0.000,0.028,2385,1895,1196,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12068,0.76,298.5,808.0,10.4,512,12074,0.00,2.10,0.00,0.000,4,0.000,0.037,2393,496,1197,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12097,0.77,298.5,808.0,10.4,512,12104,0.00,2.05,0.00,0.000,6,0.000,0.024,2393,1907,1196,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12403,0.77,298.5,770.1,11.3,523,12408,0.00,2.05,0.00,0.000,4,0.000,0.034,2393,3284,1195,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12505,0.77,298.5,759.3,11.4,526,12511,0.00,2.05,0.00,0.000,6,0.000,0.028,2401,1899,1195,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12830,0.77,298.5,723.6,10.7,537,12836,0.00,2.10,0.00,0.000,4,0.000,0.037,2411,499,1195,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12868,0.77,298.5,719.9,10.7,538,12874,0.00,2.05,0.00,0.000,6,0.000,0.023,2411,1912,1195,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13199,0.77,298.5,681.8,11.2,549,13205,0.00,2.03,0.00,0.000,4,0.000,0.034,2411,3281,1195,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13320,0.77,298.5,670.8,11.4,552,13326,0.00,2.03,0.00,0.000,6,0.000,0.028,2419,1899,1195,0,0,0,0,0,0,28.83,26.00,28.83
$GC,13624,0.77,298.5,636.7,10.3,563,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1898,1195,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16934,0.78,307.5,294.6,9.1,721,16954,0.00,2.12,10.57,0.849,4,0.000,0.033,2426,3280,1155,0,0,0,0,0,0,28.83,25.65,24.06
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$STATE,19916,end climb,SURFACE_DEPTH_REACHED
$STATE,19916,begin surface coast
$FINISH,1.2,1.022468
$STATE,19933,end surface coast,CONTROL_FINISHED_OK
$STATE,19933,begin surface
$SM_CCo,20011,0.00,0.000,0,0,428,485.94
$SM_GC,1.83,6.35,0.00,0.00,0.041,0.000,0.000,60,1931,428,-6.47,0.17,485.94,0,0,0,0,0,0,25.84,28.83,28.83
$IRIDIUM_FIX,1906.95,12248.23,160213,020209
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.59
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3849568
$24V_AH,21.8,91.673
$10V_AH,9.6,59.816
$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,16.650,156.075,595.750,0.000,0.000,0.000,0.000,309.525,0.000,0.000,17.156,2947.899,13741.634,704.981,2582.524,577.326,0.000,2279.571,0.000,2189.307,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,44.370,1412.955,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19969.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.200,0.000,0.000,0.000
$MEM,344404
$DATA_FILE_SIZE,33324,912
$CAP_FILE_SIZE,218265,0
$CFSIZE,260034560,207065088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,202.0,1
$GPS,160213,133006,1918.382,12250.687,36,1.1,36,-2.2