version: 66.13
glider: 137
mission: 5
dive: 383
start: 5 26 117 15 50 44
data:
$ID,137
$MISSION,5
$DIVE,383
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,12
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,200
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,260517,154429,1209.3966,6312.0317,41,0.8,45,-1.1,0.2,70.3,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-66.7
$GPS2,260517,155007,1209.4550,6312.0967,9,0.8,19,-1.1,0.0,42.9,10,9.3
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.3,850998,-21.5,-10.000,-28.12,2673
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-2.00,-175.2,100,1924,323,573,0.0,0.0,0,88,0.00,0.00,-77.85,0.000,16386,0.000,0.000,99,1923,2554,2490,2618,0,0,0,0,0,0,14.84,28.83,14.86
$GC,91,-2.00,-175.2,100,1923,2490,2619,4.2,-4.6,13,129,13.07,2.70,-15.30,0.000,18724,0.402,2.002,2648,3330,3314,3189,3440,0,0,0,0,0,0,14.02,12.83,14.46
$GC,234,-1.85,-175.2,2647,3331,3190,3440,34.4,-20.3,39,241,0.22,2.22,0.00,0.000,3206,0.297,0.031,2694,1961,3315,3190,3440,0,0,0,0,0,0,14.14,14.59,14.48
$GC,544,-1.76,-175.2,2694,1961,3190,3440,82.3,-13.1,78,550,0.10,2.30,0.00,0.000,2436,0.339,0.044,2704,3339,3315,3191,3440,0,0,0,0,0,0,14.37,14.62,14.58
$GC,621,-1.72,-175.2,2704,3339,3191,3440,92.1,-12.5,93,627,0.00,2.22,0.00,0.000,1158,0.000,0.031,2704,1967,3315,3191,3440,0,0,0,0,0,0,14.75,14.69,14.77
$GC,927,-1.69,-175.2,2704,1967,3192,3440,129.9,-11.9,124,937,0.12,2.33,0.00,0.000,2692,0.278,0.049,2734,564,3316,3192,3440,0,0,0,0,0,0,14.38,14.63,14.53
$GC,972,-1.69,-175.2,2734,564,3192,3440,135.3,-10.8,133,979,0.00,2.20,0.00,0.000,1030,0.000,0.029,2726,1939,3315,3191,3440,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1280,-1.72,-175.2,2726,1939,3193,3440,166.5,-10.1,164,1288,0.00,2.33,0.00,0.000,388,0.000,0.049,2715,3360,3316,3193,3440,0,0,0,0,0,0,15.05,14.68,15.07
$GC,1351,-1.78,-175.2,2715,3360,3193,3440,173.6,-10.3,178,1356,0.00,2.25,0.00,0.000,1158,0.000,0.030,2715,1957,3317,3194,3440,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1667,-1.82,-175.2,2715,1957,3193,3440,203.5,-10.0,210,1672,0.00,2.30,0.00,0.000,676,0.000,0.051,2715,563,3316,3193,3440,0,0,0,0,0,0,15.04,14.67,15.06
$GC,1763,-1.82,-175.2,2715,563,3193,3440,213.0,-9.8,228,1770,0.00,2.25,0.00,0.000,1062,0.000,0.030,2705,1973,3316,3193,3440,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2079,-1.82,-175.2,2705,1972,3193,3440,241.7,-9.5,260,2084,0.00,2.28,0.00,0.000,292,0.000,0.050,2695,3363,3316,3193,3440,0,0,0,0,0,0,15.02,14.68,15.04
$GC,2160,-1.87,-175.2,2695,3364,3193,3440,249.2,-9.3,274,2165,0.00,2.28,0.00,0.000,1190,0.000,0.033,2695,1955,3317,3194,3440,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2475,-1.87,-175.2,2695,1955,3193,3440,280.2,-10.0,286,2481,0.00,2.33,0.00,0.000,516,0.000,0.057,2695,561,3316,3193,3440,0,0,0,0,0,0,15.04,14.66,15.07
$GC,2509,-1.87,-175.2,2695,561,3193,3440,283.9,-10.3,292,2516,0.00,2.25,0.00,0.000,1030,0.000,0.034,2685,1954,3316,3193,3440,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2844,-1.87,-175.2,2685,1954,3193,3439,319.2,-10.4,308,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1954,3316,3193,3440,0,0,0,0,0,0,15.04,15.06,15.06
$GC,3146,-1.87,-175.2,2685,1954,3193,3440,350.1,-10.4,318,3153,0.00,2.38,0.00,0.000,516,0.000,0.057,2685,556,3316,3192,3440,0,0,0,0,0,0,15.03,14.66,15.05
$GC,3175,-1.87,-175.2,2685,556,3192,3440,353.8,-11.2,323,3183,0.00,2.30,0.00,0.000,1030,0.000,0.035,2675,1965,3316,3192,3440,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3483,-1.87,-175.2,2675,1965,3191,3440,385.8,-10.4,334,3489,0.00,2.40,0.00,0.000,516,0.000,0.058,2676,558,3315,3191,3440,0,0,0,0,0,0,15.04,14.65,15.07
$GC,3521,-1.87,-175.2,2675,557,3190,3439,390.3,-10.7,341,3526,0.12,2.30,0.00,0.000,3078,0.282,0.036,2688,1967,3315,3190,3440,0,0,0,0,0,0,14.34,14.72,14.62
$GC,3850,-1.87,-175.2,2688,1968,3188,3438,424.3,-10.3,356,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1968,3313,3188,3438,0,0,0,0,0,0,15.04,15.06,15.06
$GC,4152,-1.87,-175.2,2688,1968,3187,3436,454.2,-10.0,366,4158,0.00,2.40,0.00,0.000,548,0.000,0.058,2690,565,3311,3187,3436,0,0,0,0,0,0,15.04,14.64,15.07
$GC,4210,-1.87,-175.2,2689,564,3186,3436,460.6,-10.0,377,4218,0.00,2.30,0.00,0.000,1062,0.000,0.035,2681,1964,3310,3186,3435,0,0,0,0,0,0,14.78,14.71,14.81
$GC,4516,-1.87,-175.2,2681,1964,3183,3434,491.0,-10.0,388,4523,0.00,2.40,0.00,0.000,516,0.000,0.058,2682,563,3308,3183,3433,0,0,0,0,0,0,15.03,14.64,15.05
$GC,4559,-1.87,-175.2,2682,562,3182,3433,495.8,-10.7,396,4566,0.00,2.30,0.00,0.000,1030,0.000,0.035,2674,1960,3308,3182,3434,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4886,-1.87,-175.2,2674,1960,3182,3430,529.0,-10.5,410,4891,0.00,2.40,0.00,0.000,516,0.000,0.065,2674,567,3306,3182,3431,0,0,0,0,0,0,15.04,14.61,15.07
$GC,4944,-1.87,-175.2,2674,567,3182,3430,535.9,-10.8,421,4953,0.15,2.33,0.00,0.000,3078,0.283,0.039,2693,1974,3306,3182,3430,0,0,0,0,0,0,14.26,14.69,14.57
$GC,5250,-1.87,-175.2,2693,1974,3181,3429,567.2,-10.3,432,5256,0.00,2.45,0.00,0.000,516,0.000,0.067,2694,567,3305,3181,3429,0,0,0,0,0,0,15.03,14.59,15.05
$GC,5275,-1.87,-175.2,2694,567,3181,3429,570.2,-11.3,436,5280,0.00,2.30,0.00,0.000,1030,0.000,0.039,2686,1952,3305,3181,3429,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5590,-1.87,-175.2,2685,1952,3178,3427,604.1,-10.9,448,5595,0.00,2.40,0.00,0.000,516,0.000,0.060,2686,562,3302,3178,3427,0,0,0,0,0,0,15.04,14.60,15.06
$GC,5632,-1.87,-175.2,2686,561,3178,3426,609.3,-11.7,456,5637,0.00,2.33,0.00,0.000,1030,0.000,0.039,2678,1962,3302,3178,3427,0,0,0,0,0,0,14.76,14.68,14.78
$GC,5955,-1.87,-175.2,2677,1962,3177,3425,643.4,-10.7,470,5963,0.00,2.40,0.00,0.000,516,0.000,0.058,2678,566,3301,3177,3425,0,0,0,0,0,0,15.02,14.60,15.04
$GC,6011,-1.87,-175.2,2678,565,3176,3425,649.5,-11.6,480,6016,0.12,2.33,0.00,0.000,3078,0.282,0.041,2692,1967,3300,3176,3425,0,0,0,0,0,0,14.28,14.67,14.56
$GC,6325,-1.87,-175.2,2692,1968,3175,3422,679.9,-9.6,492,6326,0.00,0.00,0.00,0.000,38,0.000,0.000,2692,1968,3298,3175,3422,0,0,0,0,0,0,15.03,15.05,15.05
$GC,6626,-1.87,-175.2,2692,1968,3173,3421,708.4,-9.4,502,6631,0.00,2.45,0.00,0.000,548,0.000,0.067,2693,564,3297,3173,3421,0,0,0,0,0,0,15.03,14.56,15.05
$GC,6696,-1.87,-175.2,2692,564,3172,3421,715.6,-8.9,515,6703,0.00,2.33,0.00,0.000,1062,0.000,0.039,2685,1956,3296,3172,3421,0,0,0,0,0,0,14.73,14.65,14.76
$GC,7027,-1.87,-175.2,2684,1956,3171,3419,746.8,-9.5,530,7032,0.00,2.40,0.00,0.000,548,0.000,0.060,2684,568,3295,3171,3419,0,0,0,0,0,0,15.02,14.57,15.04
$GC,7070,-1.87,-175.2,2684,567,3171,3419,751.4,-10.7,538,7076,0.00,2.35,0.00,0.000,1030,0.000,0.042,2674,1966,3294,3170,3419,0,0,0,0,0,0,14.72,14.64,14.75
$GC,7396,-1.87,-175.2,2674,1966,3170,3418,782.3,-9.6,552,7401,0.00,2.45,0.00,0.000,548,0.000,0.063,2675,558,3294,3170,3418,0,0,0,0,0,0,15.03,14.56,15.05
$GC,7444,-1.87,-175.2,2674,558,3170,3417,787.5,-10.2,561,7450,0.12,2.35,0.00,0.000,3078,0.285,0.041,2687,1972,3294,3170,3418,0,0,0,0,0,0,14.22,14.65,14.51
$GC,7764,-1.87,-175.2,2687,1972,3168,3417,817.6,-9.6,574,7771,0.00,2.47,0.00,0.000,548,0.000,0.070,2688,550,3293,3169,3417,0,0,0,0,0,0,15.02,14.54,15.04
$GC,7803,-1.87,-175.2,2688,550,3168,3417,821.9,-9.9,581,7810,0.00,2.35,0.00,0.000,1062,0.000,0.042,2680,1950,3293,3169,3417,0,0,0,0,0,0,14.71,14.62,14.73
$GC,8134,-1.87,-175.2,2680,1950,3168,3416,855.5,-10.4,596,8139,0.00,2.42,0.00,0.000,516,0.000,0.064,2680,561,3291,3167,3416,0,0,0,0,0,0,15.01,14.53,15.03
$GC,8177,-1.87,-175.2,2680,561,3168,3416,860.5,-10.8,604,8182,0.12,2.38,0.00,0.000,3078,0.278,0.042,2698,1981,3291,3167,3416,0,0,0,0,0,0,14.16,14.63,14.33
$GC,8502,-1.90,-175.2,2698,1981,3167,3415,893.0,-10.1,618,8508,0.00,2.47,0.00,0.000,644,0.000,0.071,2699,569,3291,3167,3415,0,0,0,0,0,0,15.02,14.48,15.04
$GC,8567,-1.93,-175.2,2699,569,3166,3415,900.1,-10.2,630,8573,0.00,2.35,0.00,0.000,1158,0.000,0.042,2691,1959,3291,3167,3415,0,0,0,0,0,0,14.69,14.61,14.72
$GC,8902,-1.93,-175.2,2690,1959,3167,3413,934.2,-10.1,646,8907,0.00,2.45,0.00,0.000,516,0.000,0.067,2691,565,3289,3166,3413,0,0,0,0,0,0,15.00,14.50,15.02
$GC,8937,-1.93,-175.2,2690,565,3166,3413,937.8,-10.1,652,8942,0.00,2.35,0.00,0.000,1030,0.000,0.042,2681,1964,3289,3166,3412,0,0,0,0,0,0,14.70,14.62,14.73
$GC,9272,-1.93,-175.2,2680,1965,3166,3411,971.7,-10.0,668,9277,0.00,2.45,0.00,0.000,516,0.000,0.066,2681,567,3288,3166,3411,0,0,0,0,0,0,15.02,14.52,15.04
$GC,9331,-1.93,-175.2,2680,567,3166,3411,978.3,-10.6,679,9339,0.00,2.35,0.00,0.000,1030,0.000,0.043,2671,1959,3288,3165,3411,0,0,0,0,0,0,14.68,14.60,14.71
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9461,-0.42,0.0,2671,1716,3165,3411,990.8,-10.0,684,9626,1.33,0.00,160.90,2.712,10246,0.254,0.000,3003,1716,2596,2473,2720,0,0,0,0,0,0,13.96,13.91,12.52
$STATE,9627,end apogee,CONTROL_FINISHED_OK
$STATE,9627,begin climb
$GC,9629,2.00,175.2,3003,1716,2471,2718,996.0,0.0,689,9806,1.85,2.58,165.62,2.698,10500,0.175,0.063,3530,3105,1880,1745,2016,0,0,0,0,0,0,13.92,13.84,12.56
$GC,9837,1.85,175.2,3529,3105,1744,2007,977.5,13.6,730,9845,0.20,2.53,0.00,0.000,5254,0.390,0.057,3506,1700,1876,1745,2007,0,0,0,0,0,0,13.85,14.16,14.16
$GC,10145,1.75,175.2,3506,1700,1737,2007,940.6,11.9,741,10152,0.12,2.45,0.00,0.000,4740,0.370,0.076,3490,288,1871,1736,2007,0,0,0,0,0,0,14.19,14.52,14.42
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$STATE,19182,end climb,SURFACE_DEPTH_REACHED
$STATE,19182,begin surface coast
$FINISH,1.6,1.013064
$STATE,19209,end surface coast,CONTROL_FINISHED_OK
$STATE,19209,begin surface
$SM_CCo,19230,63.40,0.079,0,0,449,526.65
$SM_CCo,19297,-0.25,0.000,0,0,451,526.65
$SM_CCo,19301,0.65,0.094,0,0,450,526.65
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$IRIDIUM_FIX,1205.71,6313.27,260517,101511
$TT8_MAMPS,0.023968,0.15729
$HUMID,51.61
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.30
$XPDR_PINGS,13
$24V_AH,12.52,150.838
$10V_AH,11.88,0.000
$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,29.100,220.250,510.800,64.050,0.000,0.000,0.000,222.150,122.750,0.000,21.791,3083.871,12714.745,786.793,2717.432,333.982,0.000,2290.030,0.000,2126.523,0.000,807.693,0.000
$DEVICE_MAMPS,402.390,2002.005,2711.925,94.095,0.000,0.000,0.000,188.190,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225688
$DATA_FILE_SIZE,66592,1495
$CAP_FILE_SIZE,235077,0
$CFSIZE,260034560,224858112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,275.53,1
$GPS,260517,211404,1209.164,6312.733,50,0.9,59,-1.1,0.0,59.4,9,9.5