version: 66.09
glider: 181
mission: 6
dive: 348
start: 8 15 111 2 33 44
data:
$ID,181
$MISSION,6
$DIVE,348
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40973.797
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,150811,022636,2125.087,12005.095,36,1.0,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.8
$GPS2,150811,023320,2125.283,12005.038,14,1.2,14,-2.5
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,349.1,37531,-15.4,-11.786
$D_GRID,2829
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-243.3,0.0,0.0,0,85,0.00,0.00,-65.10,0.000,2,0.000,0.000,211,2607,2288,0,0,0,0,0,0
$GC,88,-0.56,-243.3,3.2,-3.3,10,137,7.97,1.92,-34.05,0.000,4,0.228,0.059,2123,3793,3862,0,0,0,0,0,0
$GC,151,-0.56,-243.3,21.8,-36.7,19,158,0.00,1.83,0.00,0.000,6,0.000,0.029,2123,2573,3863,0,0,0,0,0,0
$GC,290,-0.56,-243.3,78.7,-36.6,44,298,0.00,2.05,0.00,0.000,4,0.000,0.025,2123,1190,3863,0,0,0,0,0,0
$GC,366,-0.56,-243.3,99.0,-17.3,57,373,0.00,2.22,0.00,0.000,6,0.000,0.036,2112,2636,3863,0,0,0,0,0,0
$GC,505,-0.56,-243.3,124.4,-21.0,82,513,0.00,1.80,0.00,0.000,4,0.000,0.047,2117,3779,3863,0,0,0,0,0,0
$GC,625,-0.56,-243.3,149.0,-17.5,103,632,0.00,1.67,0.00,0.000,6,0.000,0.023,2111,2648,3864,0,0,0,0,0,0
$GC,765,-0.56,-243.3,175.7,-21.9,128,773,0.00,2.15,0.00,0.000,4,0.000,0.028,2111,1206,3865,0,0,0,0,0,0
$GC,798,-0.56,-243.3,181.5,-17.9,133,805,0.00,2.25,0.00,0.000,6,0.000,0.035,2111,2679,3865,0,0,0,0,0,0
$GC,936,-0.56,-243.3,204.6,-17.3,156,939,0.00,1.65,0.00,0.000,4,0.000,0.043,2103,3777,3864,0,0,0,0,0,0
$GC,959,-0.56,-243.3,208.6,-17.2,158,963,0.12,1.65,0.00,0.000,6,0.151,0.024,2137,2644,3865,0,0,0,0,0,0
$GC,1289,-0.56,-243.3,252.5,-13.0,189,1293,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1190,3865,0,0,0,0,0,0
$GC,1356,-0.56,-243.3,260.9,-11.6,194,1363,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2655,3865,0,0,0,0,0,0
$GC,1682,-0.56,-243.3,301.5,-12.1,225,1686,0.00,1.70,0.00,0.000,4,0.000,0.045,2138,3777,3862,0,0,0,0,0,0
$GC,1732,-0.56,-243.3,307.3,-10.8,229,1739,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2635,3861,0,0,0,0,0,0
$GC,2060,-0.56,-243.3,342.7,-10.8,260,2064,0.00,2.10,0.00,0.000,4,0.000,0.029,2138,1202,3859,0,0,0,0,0,0
$GC,2123,-0.56,-243.3,349.7,-10.3,265,2127,0.00,2.15,0.00,0.000,6,0.000,0.032,2138,2627,3857,0,0,0,0,0,0
$GC,2451,-0.56,-243.3,388.3,-11.8,295,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2628,3856,0,0,0,0,0,0
$GC,2778,-0.56,-243.3,426.5,-11.7,326,2781,0.00,1.75,0.00,0.000,4,0.000,0.046,2138,3776,3853,0,0,0,0,0,0
$GC,2802,-0.56,-243.3,429.4,-11.6,328,2805,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2609,3853,0,0,0,0,0,0
$GC,3133,-0.56,-243.3,466.2,-10.7,359,3137,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1200,3851,0,0,0,0,0,0
$GC,3178,-0.56,-243.3,471.3,-10.9,362,3185,0.00,2.17,0.00,0.000,6,0.000,0.035,2144,2617,3853,0,0,0,0,0,0
$GC,3514,-0.56,-243.3,504.9,-9.8,392,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2617,3848,0,0,0,0,0,0
$GC,3823,-0.56,-243.3,532.5,-8.7,407,3827,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3772,3845,0,0,0,0,0,0
$GC,3863,-0.56,-243.3,536.1,-8.4,408,3870,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2611,3845,0,0,0,0,0,0
$GC,4180,-0.56,-243.3,559.9,-7.4,424,4183,0.00,1.80,0.00,0.000,4,0.000,0.043,2138,3780,3842,0,0,0,0,0,0
$GC,4432,-0.56,-243.3,582.8,-10.1,435,4436,0.00,1.85,0.00,0.000,6,0.000,0.024,2138,2517,3840,0,0,0,0,0,0
$GC,4761,-0.56,-243.3,612.2,-9.0,451,4765,0.00,1.95,0.00,0.000,4,0.000,0.031,2144,1193,3837,0,0,0,0,0,0
$GC,4876,-0.56,-243.3,623.6,-10.1,456,4879,0.00,2.03,0.00,0.000,6,0.000,0.033,2144,2523,3837,0,0,0,0,0,0
$GC,5209,-0.56,-243.3,655.0,-9.3,472,5213,0.00,1.98,0.00,0.000,4,0.000,0.031,2146,1203,3836,0,0,0,0,0,0
$GC,5467,-0.56,-243.3,677.2,-8.1,483,5470,0.00,1.98,0.00,0.000,6,0.000,0.033,2146,2500,3833,0,0,0,0,0,0
$GC,5789,-0.56,-243.3,703.0,-8.6,499,5792,0.00,1.95,0.00,0.000,4,0.000,0.032,2147,1197,3831,0,0,0,0,0,0
$GC,5931,-0.56,-243.3,716.2,-9.9,505,5934,0.00,1.98,0.00,0.000,6,0.000,0.034,2147,2488,3830,0,0,0,0,0,0
$GC,6258,-0.56,-243.3,749.0,-10.7,521,6262,0.00,1.95,0.00,0.000,4,0.000,0.034,2148,1195,3829,0,0,0,0,0,0
$GC,6516,-0.56,-243.3,777.7,-11.5,532,6520,0.00,1.95,0.00,0.000,6,0.000,0.034,2147,2473,3825,0,0,0,0,0,0
$GC,6839,-0.56,-243.3,812.7,-10.5,548,6843,0.00,1.92,0.00,0.000,4,0.000,0.034,2147,1192,3825,0,0,0,0,0,0
$GC,7099,-0.56,-243.3,839.0,-9.3,559,7102,0.00,1.95,0.00,0.000,6,0.000,0.034,2148,2470,3824,0,0,0,0,0,0
$GC,7421,-0.56,-243.3,864.7,-7.7,575,7425,0.00,1.92,0.00,0.000,4,0.000,0.034,2147,1194,3822,0,0,0,0,0,0
$GC,7657,-0.56,-243.3,884.0,-8.3,585,7660,0.00,1.98,0.00,0.000,6,0.000,0.035,2147,2475,3822,0,0,0,0,0,0
$GC,7979,-0.56,-243.3,912.3,-9.5,601,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2476,3820,0,0,0,0,0,0
$GC,8288,-0.56,-243.3,945.5,-10.6,616,8292,0.00,1.92,0.00,0.000,4,0.000,0.034,2147,1200,3819,0,0,0,0,0,0
$GC,8379,-0.56,-243.3,954.8,-9.3,620,8383,0.00,1.95,0.00,0.000,6,0.000,0.034,2147,2471,3818,0,0,0,0,0,0
$GC,8713,-0.56,-243.3,985.0,-8.7,636,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2471,3816,0,0,0,0,0,0
$STATE,8772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8772,begin apogee
$GC,8779,-0.13,0.0,990.1,8.5,639,8971,0.32,0.00,185.10,1.087,4,0.057,0.000,2292,2108,2869,0,0,0,0,0,0
$STATE,8972,end apogee,CONTROL_FINISHED_OK
$STATE,8972,begin climb
$GC,8974,0.56,243.3,998.6,0.0,648,9185,0.57,2.25,197.82,1.060,4,0.047,0.038,2517,735,1877,0,0,0,0,0,0
$GC,9282,0.56,243.3,968.2,14.8,662,9287,0.00,2.25,0.00,0.000,6,0.000,0.034,2517,2126,1876,0,0,0,0,0,0
$GC,9604,0.56,243.3,921.4,13.8,678,9608,0.00,2.15,0.00,0.000,4,0.000,0.037,2526,738,1875,0,0,0,0,0,0
$GC,9727,0.56,243.3,905.5,12.4,683,9733,0.00,2.20,0.00,0.000,6,0.000,0.036,2527,2140,1875,0,0,0,0,0,0
$GC,10042,0.56,243.3,864.1,13.1,699,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2141,1874,0,0,0,0,0,0
$GC,10352,0.56,243.3,822.0,14.0,714,10356,0.00,2.17,0.00,0.000,4,0.000,0.044,2526,3542,1872,0,0,0,0,0,0
$GC,10407,0.56,243.3,813.2,15.5,716,10415,0.15,2.10,0.00,0.000,6,0.181,0.027,2499,2157,1873,0,0,0,0,0,0
$GC,10725,0.56,243.3,770.4,13.8,732,10729,0.00,2.17,0.00,0.000,4,0.000,0.037,2509,723,1872,0,0,0,0,0,0
$GC,10811,0.56,243.3,758.2,14.0,736,10815,0.00,2.17,0.00,0.000,6,0.000,0.034,2509,2137,1872,0,0,0,0,0,0
$GC,11139,0.56,243.3,713.3,13.6,752,11143,0.00,2.17,0.00,0.000,4,0.000,0.044,2509,3543,1872,0,0,0,0,0,0
$GC,11188,0.56,243.3,705.9,14.6,754,11192,0.00,2.12,0.00,0.000,6,0.000,0.026,2518,2125,1872,0,0,0,0,0,0
$GC,11512,0.56,243.3,663.0,13.3,770,11516,0.00,2.15,0.00,0.000,4,0.000,0.037,2529,720,1872,0,0,0,0,0,0
$GC,11620,0.56,243.3,648.0,13.6,775,11624,0.00,2.15,0.00,0.000,6,0.000,0.033,2529,2123,1872,0,0,0,0,0,0
$GC,11947,0.56,243.3,602.0,14.0,791,11951,0.00,2.17,0.00,0.000,4,0.000,0.043,2529,3537,1872,0,0,0,0,0,0
$GC,11996,0.56,243.3,593.9,15.8,793,12001,0.15,2.15,0.00,0.000,6,0.172,0.026,2500,2107,1871,0,0,0,0,0,0
$GC,12318,0.56,243.3,553.0,12.5,809,12322,0.00,2.10,0.00,0.000,4,0.000,0.037,2509,717,1871,0,0,0,0,0,0
$GC,12358,0.56,243.3,548.0,12.3,811,12362,0.00,2.12,0.00,0.000,6,0.000,0.032,2510,2116,1871,0,0,0,0,0,0
$GC,12687,0.60,275.8,510.3,10.7,827,12718,0.00,2.22,25.00,0.778,4,0.000,0.044,2509,3535,1744,0,0,0,0,0,0
$GC,12747,0.62,297.4,503.6,11.1,829,12775,0.00,2.17,17.83,0.729,6,0.000,0.028,2519,2119,1654,0,0,0,0,0,0
$GC,13092,0.63,302.6,465.6,11.6,860,13105,0.00,2.17,5.57,0.619,4,0.000,0.036,2529,714,1636,0,0,0,0,0,0
$GC,13141,0.65,316.1,460.0,11.3,864,13158,0.00,2.15,12.25,0.672,6,0.000,0.032,2529,2105,1580,0,0,0,0,0,0
$GC,13478,0.65,316.1,416.5,13.3,895,13482,0.00,2.22,0.00,0.000,4,0.000,0.044,2529,3533,1580,0,0,0,0,0,0
$GC,13550,0.65,316.1,405.4,15.0,901,13557,0.00,2.20,0.00,0.000,6,0.000,0.028,2539,2116,1584,0,0,0,0,0,0
$GC,13876,0.65,316.1,361.1,12.1,932,13880,0.00,2.12,0.00,0.000,4,0.000,0.038,2549,716,1581,0,0,0,0,0,0
$GC,13931,0.65,316.1,354.6,11.9,936,13938,0.00,2.15,0.00,0.000,6,0.000,0.032,2549,2095,1581,0,0,0,0,0,0
$GC,14257,0.65,316.1,313.1,12.7,967,14261,0.00,2.22,0.00,0.000,4,0.000,0.043,2550,3537,1582,0,0,0,0,0,0
$GC,14411,0.65,316.1,290.8,15.0,980,14416,0.12,2.10,0.00,0.000,6,0.170,0.027,2527,2136,1582,0,0,0,0,0,0
$GC,14737,0.71,372.8,256.4,9.9,1010,14785,0.00,2.20,42.90,0.623,4,0.000,0.036,2536,714,1349,0,0,0,0,0,0
$GC,14829,0.71,372.8,246.1,12.1,1018,14833,0.00,2.20,0.00,0.000,6,0.000,0.030,2536,2147,1349,0,0,0,0,0,0
$GC,15155,0.73,387.1,206.1,11.3,1048,15177,0.00,2.22,12.98,0.574,4,0.000,0.041,2536,3534,1291,0,0,0,0,0,0
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$GC,16618,1.07,663.9,31.5,10.8,1295,16625,0.00,2.17,0.00,0.000,4,0.000,0.036,2679,709,440,0,0,0,0,0,0
$GC,16660,1.07,663.9,26.4,11.9,1302,16669,0.00,2.20,0.47,0.080,6,0.000,0.028,2679,2144,440,0,0,0,0,0,0
$GC,16802,1.21,778.8,12.7,8.0,1327,16810,0.00,2.15,0.65,0.087,4,0.000,0.036,2679,3540,441,0,0,0,0,0,0
$GC,16829,1.34,877.4,10.3,8.6,1331,16837,0.17,2.12,0.08,0.200,6,0.065,0.025,2769,2128,441,0,0,0,0,0,0
$STATE,16880,end climb,SURFACE_DEPTH_REACHED
$STATE,16880,begin surface coast
$FINISH,0.4,1.020491
$STATE,16901,end surface coast,CONTROL_FINISHED_OK
$STATE,16902,begin surface
$SM_CCo,16979,0.00,0.000,0,0,441,595.34
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$IRIDIUM_FIX,2115.63,12009.39,140811,212153
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.48
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,56.289
$10V_AH,9.8,52.089
$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
$DEVICE_SECS,16.650,165.575,663.425,0.000,0.000,30.914,39.256,178.454,0.000,0.000,17.159,3279.447,9653.630,728.302,3306.523,397.706,0.000,2224.249,0.000,2588.795,0.000,0.540,0.000
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$SENSOR_SECS,934.267,2044.365,619.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,90365,1343
$CAP_FILE_SIZE,187778,0
$CFSIZE,260165632,218710016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150811,071806,2128.201,12004.557,40,0.9,46,-2.5