version: 66.12
glider: 187
mission: 4
dive: 250
start: 8 19 114 11 47 48
data:
$ID,187
$MISSION,4
$DIVE,250
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,-1593736.1
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,190814,113800,4743.045,-12529.475,90,1.3,90,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.4
$GPS2,190814,114719,4743.012,-12529.623,17,1.5,17,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,39.6,29172,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,400,2397,1448,1213,0.0,0.0,0,90,0.00,0.00,-59.42,0.000,16386,0.000,0.000,395,2398,2905,2964,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,395,2398,2964,2848,4.3,-4.6,6,124,12.73,2.55,-7.70,0.000,19204,0.392,0.100,3124,983,3337,3380,3295,0,0,0,0,0,0,13.93,14.23,14.50
$GC,334,-0.59,-116.8,3124,984,3384,3297,50.1,-16.0,30,343,0.00,2.50,0.00,0.000,1030,0.000,0.072,3124,2416,3340,3384,3297,0,0,0,0,0,0,28.83,14.28,28.83
$GC,584,-0.59,-116.8,3124,2415,3386,3297,81.4,-11.3,55,593,0.00,2.45,0.00,0.000,260,0.000,0.091,3124,3815,3341,3386,3297,0,0,0,0,0,0,28.83,14.31,28.83
$GC,654,-0.59,-116.8,3124,3815,3390,3298,90.2,-12.8,62,663,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2387,3342,3386,3298,0,0,0,0,0,0,28.83,14.34,28.83
$GC,904,-0.59,-116.8,3124,2382,3386,3298,119.3,-11.6,87,915,0.00,2.53,0.00,0.000,260,0.000,0.090,3124,3816,3342,3386,3299,0,0,0,0,0,0,28.83,14.33,28.83
$GC,944,-0.59,-116.8,3124,3819,3386,3298,124.2,-12.2,91,954,0.00,2.40,0.00,0.000,1030,0.000,0.064,3124,2403,3342,3387,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1195,-0.59,-116.8,3124,2401,3387,3294,151.5,-10.9,116,1204,0.00,2.42,0.00,0.000,516,0.000,0.077,3124,992,3342,3387,3298,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1245,-0.59,-116.8,3124,991,3387,3298,157.3,-11.9,121,1253,0.00,2.45,0.00,0.000,1030,0.000,0.073,3124,2404,3342,3387,3298,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1494,-0.59,-116.8,3125,2403,3387,3298,185.5,-11.4,146,1503,0.00,2.47,0.00,0.000,260,0.000,0.093,3124,3814,3341,3386,3297,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1605,-0.59,-116.8,3124,3814,3386,3298,198.2,-11.3,157,1614,0.00,2.42,0.00,0.000,1030,0.000,0.069,3124,2399,3342,3386,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1854,-0.59,-116.8,3124,2396,3386,3297,225.1,-10.6,182,1863,0.00,2.45,0.00,0.000,516,0.000,0.080,3124,989,3341,3386,3297,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1894,-0.59,-116.8,3130,984,3387,3298,229.5,-11.0,186,1904,0.00,2.45,0.00,0.000,1030,0.000,0.072,3121,2404,3342,3387,3297,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2155,-0.59,-116.8,3124,2404,3386,3297,256.7,-10.0,208,2162,0.00,2.45,0.00,0.000,260,0.000,0.093,3125,3806,3341,3386,3297,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2283,-0.59,-116.8,3124,3806,3386,3297,270.1,-10.1,221,2293,0.00,2.45,0.00,0.000,1030,0.000,0.070,3124,2398,3339,3386,3293,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2608,-0.59,-116.8,3124,2400,3386,3295,300.1,-9.4,233,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3343,3386,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2904,-0.59,-116.8,3125,2400,3386,3294,331.3,-10.7,243,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3343,3386,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.59,-116.8,3124,2400,3386,3295,362.3,-10.1,253,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-0.59,-116.8,3124,2400,3386,3292,391.1,-9.6,263,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3338,3386,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3806,-0.59,-116.8,3124,2399,3385,3291,418.5,-8.8,273,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3338,3386,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4104,-0.59,-116.8,3124,2399,3385,3290,445.5,-8.9,283,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4404,-0.59,-116.8,3124,2396,3385,3289,471.0,-8.3,293,4412,0.00,2.45,0.00,0.000,516,0.000,0.080,3124,986,3336,3385,3288,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4435,-0.59,-116.8,3127,986,3381,3288,473.5,-8.2,296,4443,0.00,2.45,0.00,0.000,1030,0.000,0.076,3124,2396,3338,3390,3287,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4767,-0.59,-116.8,3124,2396,3384,3288,500.6,-8.6,309,4774,0.00,2.50,0.00,0.000,260,0.000,0.095,3124,3821,3335,3384,3287,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4834,-0.59,-116.8,3124,3821,3384,3288,506.7,-8.8,316,4842,0.00,2.42,0.00,0.000,1030,0.000,0.068,3124,2401,3336,3384,3288,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5157,-0.59,-116.8,3124,2399,3383,3287,534.9,-9.0,328,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,-0.59,-116.8,3124,2399,3390,3286,561.0,-8.5,338,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5755,-0.59,-116.8,3124,2399,3383,3286,587.5,-8.9,348,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-0.59,-116.8,3124,2399,3381,3291,614.5,-9.0,358,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,-0.59,-116.8,3124,2397,3382,3285,640.5,-8.5,368,6362,0.00,2.45,0.00,0.000,516,0.000,0.081,3124,985,3333,3382,3285,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6403,-0.59,-116.8,3124,985,3383,3285,644.8,-9.0,373,6413,0.00,2.53,0.00,0.000,1030,0.000,0.076,3127,2409,3333,3382,3284,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6718,-0.59,-116.8,3124,2411,3382,3284,669.8,-7.6,384,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7014,-0.59,-116.8,3124,2410,3381,3283,692.1,-7.6,394,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2410,3330,3377,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.59,-116.8,3124,2410,3381,3283,716.3,-8.3,404,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7614,-0.59,-116.8,3124,2410,3381,3282,738.3,-6.9,414,7622,0.00,2.47,0.00,0.000,260,0.000,0.099,3124,3806,3331,3381,3281,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7683,-0.59,-116.8,3124,3811,3381,3282,743.0,-6.6,421,7692,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2401,3331,3380,3282,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8005,-0.59,-116.8,3124,2400,3380,3281,763.8,-6.5,433,8012,0.00,2.45,0.00,0.000,516,0.000,0.083,3124,990,3330,3380,3281,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8053,-0.59,-116.8,3124,990,3380,3282,767.4,-7.5,438,8063,0.00,2.50,0.00,0.000,1030,0.000,0.078,3125,2393,3332,3380,3285,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8365,-0.59,-116.8,3125,2393,3380,3281,788.6,-6.8,449,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8664,-0.59,-116.8,3124,2393,3380,3281,809.6,-7.1,459,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.59,-116.8,3124,2393,3379,3280,832.6,-7.7,469,8972,0.00,2.50,0.00,0.000,260,0.000,0.098,3124,3809,3329,3380,3279,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9024,-0.59,-116.8,3123,3809,3378,3278,837.1,-7.6,475,9033,0.00,2.45,0.00,0.000,1030,0.000,0.072,3126,2389,3329,3380,3279,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9359,-0.59,-116.8,3124,2383,3379,3278,858.7,-6.4,488,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3332,3379,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9655,-0.59,-116.8,3124,2383,3379,3278,879.7,-7.4,498,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2380,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,-0.59,-116.8,3121,2383,3379,3278,901.9,-7.9,508,9962,0.00,2.55,0.00,0.000,260,0.000,0.099,3124,3806,3328,3379,3278,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10045,-0.59,-116.8,3124,3809,3378,3278,909.7,-8.8,517,10052,0.00,2.42,0.00,0.000,1030,0.000,0.073,3124,2407,3330,3378,3283,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10377,-0.59,-116.8,3121,2404,3378,3277,937.7,-8.1,530,10384,0.00,2.50,0.00,0.000,260,0.000,0.096,3124,3809,3327,3378,3277,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10535,-0.59,-116.8,3124,3808,3378,3277,949.8,-7.9,546,10543,0.00,2.45,0.00,0.000,1030,0.000,0.075,3124,2401,3327,3377,3277,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10859,-0.59,-116.8,3124,2398,3378,3277,960.5,0.1,558,10866,0.00,2.47,0.00,0.000,516,0.000,0.086,3124,989,3327,3378,3277,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,10913,end dive,NO_VERTICAL_VELOCITY
$STATE,10913,begin apogee
$GC,10924,-0.25,0.0,3124,2337,3378,3277,960.7,0.0,564,11036,0.38,0.00,101.97,1.886,10246,0.125,0.000,3249,2337,2854,2930,2779,0,0,0,0,0,0,14.34,28.83,13.16
$STATE,11039,end apogee,CONTROL_FINISHED_OK
$STATE,11039,begin climb
$GC,11043,0.59,116.8,3249,2337,2930,2778,960.5,0.0,568,11169,0.82,2.75,108.10,1.855,10756,0.143,0.099,3508,930,2378,2518,2238,0,0,0,0,0,0,13.88,13.61,12.97
$GC,11403,0.61,116.8,3508,931,2516,2238,950.2,6.4,604,11413,0.00,2.53,0.00,0.000,1030,0.000,0.082,3508,2330,2377,2517,2237,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11733,0.62,116.8,3508,2330,2516,2233,928.8,6.7,617,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2374,2515,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24430,end climb,SURFACE_DEPTH_REACHED
$STATE,24430,begin surface coast
$FINISH,1.2,1.012542
$STATE,24500,end surface coast,CONTROL_FINISHED_OK
$STATE,24500,begin surface
$SM_CCo,24526,55.95,0.105,0,0,1328,375.06
$SM_GC,2.46,9.50,0.10,55.95,0.077,0.162,0.105,396,2400,1328,-9.09,-0.85,375.06,0,0,0,0,0,0,14.35,14.34,14.28
$IRIDIUM_FIX,4719.74,-12630.50,190814,040455
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.87
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3858016
$PM_FREEKB,55286816
$24V_AH,13.0,60.986
$10V_AH,12.9,0.000
$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,23.775,163.675,306.200,55.950,0.000,0.000,0.000,310.550,0.000,0.000,18.541,3214.430,17639.762,655.946,2816.113,795.457,0.000,2468.000,0.000,2045.198,0.000,0.536,0.000
$DEVICE_MAMPS,391.680,162.180,1886.490,104.805,0.000,0.000,0.000,172.890,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24526.000,11240.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.844,4.066,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,46588,1339
$CAP_FILE_SIZE,256333,0
$CFSIZE,260034560,232816640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25575.26,0x2378ba,7,5
$CURRENT,0.050, 49.3,1
$GPS,190814,183929,4744.666,-12525.641,67,0.8,67,18.7