version: 66.11
glider: 191
mission: 5
dive: 512
start: 3 4 113 1 32 11
data:
$ID,191
$MISSION,5
$DIVE,512
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$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,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5248.9556
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,040313,012205,2417.676,-3740.395,40,1.2,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.8
$GPS2,040313,013141,2417.626,-3740.394,20,1.0,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$TGT_RADIUS,1852.000
$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,52.0,49575,-13.3,-6.049,-18.38
$D_GRID,980
$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,-0.60,-97.3,0.0,0.0,0,91,0.00,0.00,-67.05,0.000,6,0.000,0.000,157,1523,3460,0,0,0,0,0,0,28.83,28.83,14.68
$GC,95,-0.60,-97.3,3.0,-6.5,4,114,10.00,1.90,0.00,0.000,4,0.412,0.072,1995,460,3464,0,0,0,0,0,0,13.90,14.31,28.83
$GC,283,-0.57,-97.3,24.6,-8.6,17,287,0.00,1.80,0.00,0.000,6,0.000,0.040,1990,1512,3465,0,0,0,0,0,0,28.83,14.20,28.83
$GC,581,-0.56,-97.3,48.1,-8.2,37,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,881,-0.55,-97.3,73.6,-8.2,57,882,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.53,-97.3,97.2,-7.7,77,1186,0.00,1.95,0.00,0.000,4,0.000,0.081,1990,461,3466,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1301,-0.51,-97.3,107.4,-8.8,85,1305,0.17,1.83,0.00,0.000,6,0.217,0.040,2022,1528,3466,0,0,0,0,0,0,13.90,14.34,28.83
$GC,1601,-0.58,-97.3,129.6,-7.2,105,1605,0.00,1.98,0.00,0.000,4,0.000,0.083,2022,464,3465,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1691,-0.59,-97.3,136.2,-7.4,111,1695,0.00,1.80,0.00,0.000,6,0.000,0.039,2017,1520,3465,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1991,-0.65,-97.3,157.5,-7.2,131,1995,0.12,1.85,0.00,0.000,4,0.131,0.050,1957,2581,3466,0,0,0,0,0,0,14.49,14.24,28.83
$GC,2037,-0.68,-97.3,161.0,-7.7,134,2041,0.00,1.90,0.00,0.000,6,0.000,0.060,1958,1516,3466,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2336,-0.65,-97.3,186.4,-8.4,154,2340,0.00,1.95,0.00,0.000,4,0.000,0.080,1958,461,3466,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2381,-0.61,-97.3,190.3,-8.5,157,2385,0.17,1.80,0.00,0.000,6,0.235,0.039,1988,1521,3466,0,0,0,0,0,0,13.87,14.37,28.83
$GC,2681,-0.61,-97.3,211.3,-6.6,177,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,-0.61,-97.3,230.2,-6.3,197,2984,0.00,1.95,0.00,0.000,4,0.000,0.080,1994,463,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3057,-0.60,-97.3,235.4,-7.1,202,3060,0.00,1.80,0.00,0.000,6,0.000,0.040,1983,1521,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3371,-0.60,-97.3,256.9,-6.9,220,3374,0.00,1.95,0.00,0.000,4,0.000,0.080,1983,468,3465,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3446,-0.59,-97.3,262.7,-7.4,223,3450,0.00,1.80,0.00,0.000,6,0.000,0.040,1981,1525,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3765,-0.58,-97.3,285.2,-7.3,234,3772,0.00,1.98,0.00,0.000,4,0.000,0.081,1975,461,3465,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3852,-0.56,-97.3,293.0,-8.4,237,3856,0.17,1.80,0.00,0.000,6,0.226,0.040,2006,1521,3463,0,0,0,0,0,0,13.87,14.36,28.83
$GC,4169,-0.61,-97.3,317.1,-8.1,248,4172,0.00,1.95,0.00,0.000,4,0.000,0.081,2006,467,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4243,-0.65,-97.3,323.8,-8.5,251,4247,0.00,1.80,0.00,0.000,6,0.000,0.040,2002,1522,3464,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4559,-0.71,-97.3,350.6,-8.2,262,4564,0.12,1.98,0.00,0.000,4,0.133,0.081,1953,466,3463,0,0,0,0,0,0,14.47,14.04,28.83
$GC,4635,-0.71,-97.3,357.6,-9.0,265,4638,0.00,1.80,0.00,0.000,6,0.000,0.041,1945,1520,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4951,-0.67,-97.3,383.4,-7.8,276,4954,0.00,1.98,0.00,0.000,4,0.000,0.082,1945,461,3462,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5009,-0.63,-97.3,387.1,-7.8,278,5013,0.20,1.83,0.00,0.000,6,0.239,0.040,1980,1529,3462,0,0,0,0,0,0,13.76,14.33,28.83
$GC,5309,-0.63,-97.3,408.4,-6.8,288,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1530,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5608,-0.63,-97.3,432.0,-8.3,298,5612,0.00,1.98,0.00,0.000,4,0.000,0.083,1985,468,3461,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5698,-0.63,-97.3,438.7,-8.8,301,5702,0.00,1.83,0.00,0.000,6,0.000,0.041,1974,1524,3460,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5998,-0.63,-97.3,464.9,-7.9,311,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1524,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6300,-0.63,-97.3,483.5,-5.6,321,6303,0.00,1.98,0.00,0.000,4,0.000,0.081,1975,468,3458,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6388,-0.62,-97.3,487.9,-5.7,324,6392,0.00,1.80,0.00,0.000,6,0.000,0.041,1967,1521,3458,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6692,-0.61,-97.3,504.8,-5.4,334,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,-0.60,-97.3,523.6,-6.6,344,6994,0.00,1.98,0.00,0.000,4,0.000,0.083,1967,466,3457,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7108,-0.58,-97.3,531.8,-7.8,348,7112,0.17,1.83,0.00,0.000,6,0.231,0.041,1997,1524,3457,0,0,0,0,0,0,13.74,14.26,28.83
$GC,7412,-0.63,-97.3,554.6,-7.4,358,7419,0.00,1.98,0.00,0.000,4,0.000,0.083,1997,468,3456,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7529,-0.66,-97.3,563.7,-7.6,362,7532,0.00,1.83,0.00,0.000,6,0.000,0.042,1992,1524,3456,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7848,-0.72,-97.3,586.8,-7.1,373,7855,0.00,1.98,0.00,0.000,4,0.000,0.084,1992,467,3454,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7964,-0.75,-97.3,595.6,-7.4,377,7969,0.12,1.83,0.00,0.000,6,0.136,0.043,1942,1521,3454,0,0,0,0,0,0,14.12,14.24,28.83
$GC,8282,-0.75,-97.3,617.2,-6.4,388,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8579,-0.75,-97.3,636.6,-6.7,398,8582,0.00,2.00,0.00,0.000,4,0.000,0.085,1942,468,3453,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8728,-0.71,-97.3,647.3,-8.2,403,8731,0.00,1.83,0.00,0.000,6,0.000,0.043,1934,1518,3452,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9030,-0.68,-97.3,674.7,-9.0,413,9032,0.15,0.00,0.00,0.000,6,0.252,0.000,1965,1519,3451,0,0,0,0,0,0,13.97,28.83,28.83
$GC,9328,-0.68,-97.3,699.6,-8.3,423,9332,0.00,1.98,0.00,0.000,4,0.000,0.086,1966,470,3450,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9388,-0.68,-97.3,703.5,-8.3,425,9392,0.00,1.83,0.00,0.000,6,0.000,0.042,1961,1520,3450,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9688,-0.68,-97.3,727.6,-7.2,435,9692,0.00,2.00,0.00,0.000,4,0.000,0.086,1961,464,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9748,-0.66,-97.3,731.1,-7.2,437,9751,0.00,1.85,0.00,0.000,6,0.000,0.043,1953,1529,3448,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10050,-0.64,-97.3,753.7,-6.9,447,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1530,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10349,-0.63,-97.3,775.6,-7.6,457,10353,0.15,2.03,0.00,0.000,4,0.243,0.087,1985,470,3447,0,0,0,0,0,0,13.95,13.85,28.83
$GC,10438,-0.63,-97.3,781.1,-7.4,460,10442,0.00,1.85,0.00,0.000,6,0.000,0.043,1980,1520,3447,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10739,-0.68,-97.3,805.6,-8.3,470,10742,0.00,2.03,0.00,0.000,4,0.000,0.087,1980,466,3446,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10785,-0.72,-97.3,809.4,-8.6,472,10789,0.00,1.85,0.00,0.000,6,0.000,0.044,1974,1522,3445,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11101,-0.75,-97.3,837.2,-8.8,483,11105,0.00,1.88,0.00,0.000,4,0.000,0.054,1966,2580,3444,0,0,0,0,0,0,28.83,14.07,28.83
$GC,11158,-0.79,-97.3,841.1,-8.8,485,11162,0.00,1.98,0.00,0.000,6,0.000,0.065,1966,1517,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11463,-0.83,-97.3,867.4,-8.0,495,11465,0.15,0.00,0.00,0.000,6,0.129,0.000,1913,1517,3443,0,0,0,0,0,0,14.31,28.83,28.83
$GC,11759,-0.78,-97.3,891.5,-7.8,505,11763,0.00,2.03,0.00,0.000,4,0.000,0.086,1913,461,3442,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11805,-0.73,-97.3,895.2,-7.8,507,11810,0.20,1.85,0.00,0.000,6,0.272,0.044,1945,1519,3442,0,0,0,0,0,0,13.50,14.12,28.83
$GC,12122,-0.71,-97.3,913.6,-5.7,518,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12421,-0.70,-97.3,930.4,-5.7,528,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12719,-0.68,-97.3,949.6,-6.8,538,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13020,-0.66,-97.3,972.2,-7.8,548,13025,0.12,2.05,0.00,0.000,4,0.262,0.089,1973,461,3438,0,0,0,0,0,0,13.95,13.82,28.83
$GC,13108,-0.66,-97.3,978.3,-7.9,551,13112,0.00,1.88,0.00,0.000,6,0.000,0.044,1967,1520,3437,0,0,0,0,0,0,28.83,14.07,28.83
$STATE,13135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13135,begin apogee
$GC,13144,-0.18,0.0,981.7,-7.9,552,13271,0.62,0.00,115.43,1.844,6,0.203,0.000,2128,1395,3062,0,0,0,0,1,0,13.81,28.83,13.03
$STATE,13273,end apogee,CONTROL_FINISHED_OK
$STATE,13273,begin climb
$GC,13278,0.60,97.3,987.4,0.0,556,13415,0.82,1.92,125.62,1.823,4,0.109,0.054,2381,2459,2665,0,0,0,0,1,0,14.04,14.13,13.04
$GC,13636,0.61,168.0,988.2,3.1,569,13740,0.00,1.95,94.72,1.748,6,0.000,0.070,2388,1394,2377,0,0,0,0,1,0,28.83,14.31,13.08
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$STATE,26068,end climb,SURFACE_DEPTH_REACHED
$STATE,26068,begin surface coast
$FINISH,-0.1,1.025765
$STATE,26084,end surface coast,CONTROL_FINISHED_OK
$STATE,26084,begin surface
$SM_CCo,26165,0.00,0.000,0,0,1550,370.89
$SM_GC,0.89,7.03,0.15,0.00,0.075,0.098,0.000,158,1518,1550,-6.29,-1.61,370.89,0,0,0,0,0,0,14.27,14.47,28.83
$IRIDIUM_FIX,2406.29,-3740.89,030313,171721
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.31
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,24.90
$XPDR_PINGS,6
$SC_FREEKB,7573600
$24V_AH,13.0,237.873
$10V_AH,12.8,0.000
$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,22.425,191.275,704.700,0.000,0.000,0.000,0.000,292.400,1.500,0.000,21.535,3113.896,19583.725,1046.719,2230.438,747.860,0.000,2336.329,0.000,1888.239,0.000,0.548,0.000
$DEVICE_MAMPS,412.335,102.510,1844.415,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26136.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.257,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,40067,1083
$CAP_FILE_SIZE,248732,0
$CFSIZE,260034560,189829120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$CURRENT,0.054,223.2,1
$GPS,040313,084934,2419.264,-3739.537,36,0.9,36,-13.9