version: 66.12
glider: 196
mission: 7
dive: 44
start: 8 1 114 8 30 20
data:
$ID,196
$MISSION,7
$DIVE,44
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$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,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-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,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4729.4517
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,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,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,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,010814,082418,7126.752,-14408.730,34,0.8,54,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-79.0
$GPS2,010814,083002,7126.738,-14408.888,6,0.8,26,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,334.9,17165,-22.3,-11.628,-24.76,1933
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$MODEM_MSG,CACST,6,1,20140801081641.344653,3,276,00,0240,0150,255,02,02,04,04,-1,-01,-01,1,3,0,0,150,15.7,2.6,-100,0.4,-01,0.3,32,900,0025*2A
$GC,14,-0.69,-145.9,187,2790,466,532,0.0,0.0,0,69,0.00,0.00,-53.53,0.000,16386,0.000,0.000,185,2790,1989,2002,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,186,2790,2003,1977,4.2,-6.3,5,125,11.90,1.83,-31.62,0.000,18692,0.399,0.133,2657,3792,3855,3915,3795,0,0,0,0,0,0,14.09,14.28,14.50
$GC,349,-0.69,-145.9,2657,3792,3917,3800,74.2,-23.4,58,357,0.00,1.75,0.00,0.000,1030,0.000,0.060,2657,2754,3858,3916,3800,0,0,0,0,0,0,28.83,14.40,28.83
$GC,654,-0.69,-145.9,2657,2755,3917,3800,133.4,-18.6,89,661,0.00,1.85,0.00,0.000,260,0.000,0.106,2649,3782,3858,3916,3800,0,0,0,0,0,0,28.83,14.42,28.83
$GC,885,-0.69,-145.9,2649,3783,3916,3801,177.3,-18.4,135,892,0.00,1.70,0.00,0.000,1030,0.000,0.063,2649,2770,3857,3915,3800,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1196,-0.69,-145.9,2650,2771,3916,3801,223.6,-13.9,167,1203,0.00,1.83,0.00,0.000,260,0.000,0.107,2641,3785,3857,3915,3800,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1427,-0.69,-145.9,2641,3785,3916,3800,259.6,-15.6,213,1434,0.10,1.73,0.00,0.000,3078,0.256,0.063,2662,2762,3857,3915,3800,0,0,0,0,0,0,14.40,14.54,28.83
$GC,1738,-0.69,-145.9,2666,2761,3916,3800,298.1,-12.2,225,1745,0.00,1.83,0.00,0.000,260,0.000,0.109,2661,3781,3857,3914,3800,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1919,-0.69,-145.9,2662,3782,3915,3801,322.8,-13.9,261,1926,0.00,1.73,0.00,0.000,1030,0.000,0.063,2661,2750,3857,3914,3800,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2250,-0.69,-145.9,2661,2750,3915,3800,363.6,-12.3,277,2257,0.00,1.85,0.00,0.000,260,0.000,0.109,2652,3787,3857,3914,3800,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2295,-0.69,-145.9,2653,3786,3914,3801,369.9,-14.4,286,2302,0.00,1.73,0.00,0.000,1030,0.000,0.063,2652,2754,3856,3913,3800,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2612,-0.69,-145.9,2653,2755,3914,3801,409.5,-12.4,299,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2754,3856,3913,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.69,-145.9,2653,2755,3914,3801,446.7,-12.3,309,2918,0.00,1.80,0.00,0.000,260,0.000,0.109,2644,3792,3856,3913,3800,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2967,-0.69,-145.9,2645,3792,3914,3800,454.3,-14.0,320,2977,0.00,1.73,0.00,0.000,1030,0.000,0.063,2644,2753,3856,3913,3799,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3272,-0.69,-145.9,2645,2753,3913,3798,493.0,-12.6,331,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3855,3912,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3573,-0.69,-145.9,2645,2754,3913,3801,530.2,-12.3,341,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3856,3912,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-0.69,-145.9,2645,2753,3914,3799,567.7,-12.5,351,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2752,3855,3912,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-0.69,-145.9,2645,2754,3913,3801,604.8,-12.4,361,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2753,3855,3912,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.69,-145.9,2645,2753,3913,3800,641.7,-12.2,371,4479,0.00,1.77,0.00,0.000,260,0.000,0.107,2636,3787,3855,3912,3799,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4523,-0.69,-145.9,2637,3788,3913,3799,648.6,-13.6,381,4531,0.10,1.70,0.00,0.000,3078,0.252,0.063,2663,2763,3855,3912,3798,0,0,0,0,0,0,14.57,14.70,28.83
$GC,4836,-0.69,-145.9,2662,2763,3913,3798,683.4,-11.1,393,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3855,3912,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5135,-0.69,-145.9,2664,2764,3913,3799,715.7,-10.7,403,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3855,3912,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5436,-0.69,-145.9,2663,2764,3913,3799,747.5,-10.5,413,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3855,3912,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5466,-0.13,0.0,2664,2763,3913,3798,750.5,-10.4,414,5592,0.68,0.00,123.15,1.935,10246,0.236,0.000,2847,2763,3257,3277,3238,0,0,0,0,0,0,14.60,28.83,13.14
$STATE,5593,end apogee,CONTROL_FINISHED_OK
$STATE,5593,begin climb
$GC,5594,0.69,145.9,2847,2763,3274,3234,753.3,0.0,418,5722,0.90,0.00,124.88,1.881,10246,0.143,0.000,3109,2763,2662,2673,2651,0,0,0,0,0,0,13.80,28.83,12.94
$GC,6005,0.69,145.9,3109,2763,2671,2644,705.6,13.7,432,6013,0.00,2.42,0.00,0.000,516,0.000,0.075,3119,1396,2657,2670,2644,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6037,0.69,145.9,3120,1396,2672,2643,701.3,12.3,438,6044,0.00,2.55,0.00,0.000,1030,0.000,0.097,3119,2786,2656,2669,2643,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6368,0.69,145.9,3120,2786,2671,2642,654.3,14.3,454,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2786,2656,2671,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6668,0.69,145.9,3119,2786,2672,2642,611.9,14.2,464,6676,0.00,2.42,0.00,0.000,516,0.000,0.076,3125,1394,2655,2670,2641,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6715,0.69,145.9,3125,1395,2671,2643,605.6,12.8,473,6722,0.00,2.53,0.00,0.000,1030,0.000,0.099,3125,2791,2656,2670,2642,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7032,0.69,145.9,3126,2793,2671,2640,560.4,14.4,486,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2791,2656,2670,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7331,0.69,145.9,3126,2793,2671,2642,517.5,14.2,496,7340,0.00,2.42,0.00,0.000,516,0.000,0.076,3129,1389,2655,2670,2641,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7379,0.69,145.9,3130,1390,2671,2642,511.2,13.3,505,7386,0.00,2.50,0.00,0.000,1030,0.000,0.098,3129,2788,2655,2670,2641,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7695,0.69,145.9,3128,2788,2677,2641,466.2,14.3,518,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2788,2655,2670,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,0.69,145.9,3130,2788,2672,2641,423.7,14.1,528,8003,0.00,2.40,0.00,0.000,516,0.000,0.075,3137,1396,2655,2670,2641,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8027,0.69,145.9,3138,1395,2672,2641,419.2,13.3,534,8034,0.00,2.47,0.00,0.000,1030,0.000,0.099,3138,2785,2655,2670,2641,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8358,0.69,145.9,3138,2785,2671,2641,371.8,14.3,550,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2785,2655,2670,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,0.69,145.9,3138,2786,2671,2641,329.4,14.2,560,8667,0.00,2.40,0.00,0.000,516,0.000,0.074,3147,1388,2655,2670,2641,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8691,0.69,145.9,3148,1389,2671,2641,325.0,13.5,566,8698,0.10,2.47,0.00,0.000,5126,0.252,0.098,3121,2782,2655,2670,2640,0,0,0,0,0,0,14.52,14.61,28.83
$GC,9022,0.69,145.9,3123,2783,2671,2641,282.5,12.8,582,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2782,2655,2670,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9322,0.69,145.9,3122,2782,2671,2641,244.9,12.4,594,9329,0.00,2.38,0.00,0.000,516,0.000,0.073,3129,1397,2655,2670,2640,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9358,0.69,146.4,3130,1397,2670,2640,240.8,11.6,601,9366,0.00,2.45,0.00,0.000,1030,0.000,0.096,3129,2781,2655,2670,2640,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9663,0.69,146.4,3130,2782,2671,2641,203.2,11.9,632,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2781,2655,2670,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9963,0.71,179.2,3130,2781,2672,2641,171.7,9.9,662,9997,0.00,0.00,27.73,1.411,8198,0.000,0.000,3129,2781,2521,2531,2512,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10293,0.75,227.3,3130,2782,2532,2509,139.5,9.1,695,10335,0.00,0.00,40.20,1.281,8710,0.000,0.000,3128,2781,2329,2333,2326,0,0,0,0,0,0,28.83,28.83,13.72
$GC,10630,0.78,268.5,3130,2781,2332,2314,106.5,9.4,731,10671,0.00,2.42,32.17,1.240,8708,0.000,0.075,3138,1395,2154,2157,2152,0,0,0,0,0,0,28.83,14.18,13.71
$GC,10711,0.80,303.1,3139,1395,2157,2151,98.8,9.8,745,10730,0.00,2.50,14.80,0.491,9222,0.000,0.098,3138,2787,2021,2021,2022,0,0,0,0,0,0,28.83,14.21,13.97
$GC,11035,0.82,334.3,3139,2792,2033,2023,64.4,10.0,779,11056,0.00,2.42,14.40,0.380,8708,0.000,0.076,3146,1387,1895,1892,1899,0,0,0,0,0,0,28.83,14.34,14.17
$GC,11100,0.86,390.3,3147,1389,1898,1900,58.3,8.6,791,11133,0.00,2.53,25.60,0.356,9222,0.000,0.099,3146,2777,1667,1664,1670,0,0,0,0,0,0,28.83,14.33,14.14
$GC,11437,0.92,468.2,3147,2777,1669,1663,29.6,7.5,827,11480,0.12,2.47,34.33,0.286,10756,0.137,0.077,3206,1386,1347,1347,1347,0,0,0,0,0,0,14.42,14.34,14.23
$GC,11544,0.94,500.3,3207,1387,1351,1344,18.7,9.9,846,11567,0.00,2.53,14.40,0.254,9222,0.000,0.099,3206,2778,1216,1217,1216,0,0,0,0,0,0,28.83,14.31,14.24
$FREEZE,12.28,4.952,-1.322,0,1,0
$STATE,11780,end climb,NO_VERTICAL_VELOCITY
$STATE,11780,begin surface
$SM_CCo,11782,78.68,0.233,0,0,498,676.54
$SM_CCo,12122,-0.35,0.000,0,0,501,676.54
$SM_CCo,12124,0.12,0.835,0,0,498,676.54
$SM_CCo,12126,-0.05,0.000,0,0,500,675.80
$SM_GC,1.69,9.00,0.00,-0.05,0.075,0.000,0.000,205,2778,500,-8.36,0.51,675.80,0,0,0,0,0,0,14.47,28.83,14.44
$RAFOS_CLK,580
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14405.79,010814,044808
$TT8_MAMPS,0.040446,0.040446
$HUMID,47.08
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.30
$XPDR_PINGS,2
$SC_FREEKB,3918432
$24V_AH,12.94,15.157
$10V_AH,13.22,0.000
$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,22.900,69.100,451.650,78.800,0.000,0.000,0.000,204.575,5.000,0.000,27.530,0.000,9537.958,746.306,2095.220,90.738,0.000,1625.121,0.000,1293.165,0.000,37.441,0.000
$DEVICE_MAMPS,399.330,133.110,1935.450,834.615,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11794.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.664,0.000,0.000,0.000
$MEM,295288
$DATA_FILE_SIZE,30049,871
$CAP_FILE_SIZE,140833,0
$CFSIZE,2097872896,2082537472
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13062.38,0x2378b6,7,5
$INTR,1,5465.15,0x2378b6,2,5
$INTR,2,12111.18,0x2378b6,7,5
$SOUNDSPEED,1450.7
$EKF,12190,4288.118164,-8647.870117,12.279766,0.013959,-0.009251,0.002877,0.000260,0.002567,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.006,22.26,1
$GPS,010814,115327,7128.157,-14407.831,14,0.8,34,22.6