version: 66.12
glider: 217
mission: 3
dive: 172
start: 10 17 114 4 2 40
data:
$ID,217
$MISSION,3
$DIVE,172
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,171014,035704,6642.191,-6004.504,29,0.8,29,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-73.7
$GPS2,171014,040202,6642.180,-6004.395,4,0.8,4,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,359.8,16161,-17.5,-9.167,-20.44,2275
$D_GRID,590
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.92,-136.3,215,2459,1304,1232,0.0,0.0,0,73,0.00,0.00,-53.10,0.000,16386,0.000,0.000,215,2459,2601,2612,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-136.3,216,2459,2614,2590,3.2,-1.8,5,111,13.00,2.42,-16.08,0.000,18692,0.453,0.126,2785,3771,3267,3297,3238,0,0,0,0,0,0,14.26,14.47,14.73
$GC,342,-0.92,-136.3,2785,3771,3301,3238,56.5,-17.9,55,348,0.00,2.20,0.00,0.000,1030,0.000,0.057,2795,2454,3269,3301,3238,0,0,0,0,0,0,28.83,14.62,28.83
$GC,667,-0.92,-136.3,2795,2453,3302,3238,108.5,-15.7,69,676,0.00,2.38,0.00,0.000,260,0.000,0.097,2786,3777,3270,3302,3238,0,0,0,0,0,0,28.83,14.57,28.83
$GC,699,-0.92,-136.3,2785,3776,3302,3238,113.3,-15.5,74,706,0.00,2.20,0.00,0.000,1030,0.000,0.054,2785,2445,3270,3302,3238,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1003,-0.92,-136.3,2785,2445,3302,3237,159.5,-14.8,89,1012,0.00,2.28,0.00,0.000,516,0.000,0.069,2786,1064,3270,3302,3238,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1034,-0.92,-136.3,2785,1064,3302,3238,164.1,-14.1,94,1041,0.00,2.38,0.00,0.000,1030,0.000,0.069,2785,2450,3270,3302,3238,0,0,0,0,0,0,28.83,14.65,28.83
$EKF,range,-7285.6
$GC,1356,-0.92,-136.3,2784,2450,3302,3238,209.6,-13.6,112,1363,0.00,2.38,0.00,0.000,260,0.000,0.103,2785,3784,3269,3302,3237,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1391,-0.92,-136.3,2785,3785,3302,3238,215.0,-14.6,118,1398,0.00,2.20,0.00,0.000,1030,0.000,0.056,2785,2452,3270,3302,3238,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1706,-0.92,-136.3,2785,2452,3302,3237,257.3,-13.2,135,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3269,3302,3237,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-5228.5
$GC,2007,-0.92,-136.3,2785,2452,3302,3236,297.1,-13.2,150,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3269,3302,3237,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3964.9
$GC,2308,-0.92,-136.3,2785,2451,3302,3236,336.6,-12.9,165,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,-0.92,-136.3,2785,2451,3302,3236,375.4,-12.5,180,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.92,-136.3,2785,2451,3302,3236,412.8,-12.5,195,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-6057.1
$EKF,3163,4002.606445,-3604.920166,441.714020,0.165471,-0.154184,0.121655,0.000050,0.000320,0.000100,0.002025,0.002025,0.000093
$GC,3207,-0.92,-136.3,2785,2452,3302,3236,448.7,-11.6,210,3214,0.00,2.38,0.00,0.000,516,0.000,0.071,2785,1061,3269,3302,3236,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3243,-0.92,-136.3,2785,1061,3302,3235,453.1,-12.0,216,3249,0.00,2.38,0.00,0.000,1030,0.000,0.070,2785,2453,3268,3302,3235,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3557,-0.92,-136.3,2790,2453,3302,3235,488.7,-11.4,233,3565,0.00,2.35,0.00,0.000,260,0.000,0.102,2784,3782,3268,3302,3235,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3632,-0.92,-136.3,2784,3781,3302,3235,498.1,-12.7,247,3639,0.00,2.20,0.00,0.000,1030,0.000,0.057,2784,2448,3268,3302,3235,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3946,-0.92,-136.3,2785,2447,3301,3236,534.2,-11.1,264,3953,0.00,2.33,0.00,0.000,516,0.000,0.067,2784,1062,3268,3301,3235,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3975,-0.92,-136.3,2784,1063,3302,3235,537.8,-11.9,269,3983,0.00,2.35,0.00,0.000,1030,0.000,0.068,2785,2450,3270,3304,3236,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4296,-0.92,-136.3,2784,2451,3302,3235,572.4,-10.5,287,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2450,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4459,-0.18,0.0,2784,2392,3303,3236,590.3,-11.3,295,4577,0.90,0.00,111.10,1.590,10246,0.254,0.000,3030,2392,2706,2768,2644,0,0,0,0,0,0,14.54,28.83,13.52
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4580,0.92,136.3,3030,2392,2767,2643,595.1,0.0,301,4703,1.17,2.62,111.65,1.549,10756,0.175,0.069,3384,975,2148,2217,2079,0,0,0,0,0,0,14.08,13.84,13.27
$GC,4737,0.92,136.3,3384,975,2213,2080,586.4,9.6,324,4744,0.00,2.50,0.00,0.000,1030,0.000,0.060,3384,2377,2145,2212,2079,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5052,0.92,136.3,3384,2377,2209,2078,554.2,10.3,341,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2374,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,0.92,136.3,3384,2376,2208,2079,523.0,10.5,356,5359,0.00,2.42,0.00,0.000,516,0.000,0.069,3394,972,2143,2208,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5391,0.92,136.3,3392,972,2208,2079,518.7,11.1,363,5399,0.00,2.42,0.00,0.000,1030,0.000,0.061,3394,2387,2142,2207,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5697,0.92,136.3,3395,2387,2208,2079,485.5,11.0,379,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2388,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5999,0.92,136.3,3395,2387,2208,2079,453.2,10.7,394,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2388,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,0.92,136.3,3395,2387,2208,2079,421.4,10.7,409,6307,0.00,2.42,0.00,0.000,516,0.000,0.070,3406,965,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6339,0.92,136.3,3406,965,2208,2079,416.8,10.9,416,6346,0.00,2.38,0.00,0.000,1030,0.000,0.060,3406,2376,2143,2208,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6644,0.92,136.3,3406,2377,2207,2079,383.5,10.8,432,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2377,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,0.92,136.3,3406,2377,2208,2079,350.8,10.9,447,6952,0.00,2.38,0.00,0.000,516,0.000,0.067,3417,970,2143,2207,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7020,0.92,136.3,3416,971,2208,2079,342.5,10.4,461,7028,0.00,2.38,0.00,0.000,1030,0.000,0.060,3417,2386,2143,2208,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7337,0.92,136.3,3417,2386,2208,2079,310.2,10.0,478,7344,0.00,2.42,0.00,0.000,260,0.000,0.095,3417,3777,2143,2208,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7414,0.92,136.3,3417,3776,2208,2079,301.1,11.9,492,7422,0.15,2.33,0.00,0.000,5126,0.271,0.052,3392,2356,2141,2208,2074,0,0,0,0,0,0,14.56,14.76,28.83
$GC,7730,0.92,136.3,3392,2355,2208,2079,271.2,9.5,509,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2356,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8031,0.93,139.4,3392,2355,2208,2079,243.4,9.0,524,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2355,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8331,1.01,174.6,3392,2355,2208,2079,219.2,7.6,539,8369,0.00,2.47,30.38,1.107,8452,0.000,0.096,3391,3776,1993,2058,1929,0,0,0,0,0,0,28.83,14.59,14.09
$GC,8472,1.01,174.6,3392,3776,2055,1929,206.8,9.9,565,8480,0.00,2.33,0.00,0.000,1030,0.000,0.054,3402,2376,1992,2055,1929,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8789,1.01,174.6,3402,2376,2054,1927,177.7,9.4,582,8795,0.00,2.50,0.00,0.000,260,0.000,0.096,3402,3776,1991,2054,1928,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8824,1.01,174.6,3402,3774,2054,1928,173.7,11.0,588,8830,0.00,2.33,0.00,0.000,1030,0.000,0.053,3411,2367,1991,2054,1928,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9138,1.03,186.5,3411,2367,2054,1927,144.6,8.6,605,9154,0.00,2.40,10.55,0.982,8708,0.000,0.070,3422,984,1945,2010,1881,0,0,0,0,0,0,28.83,14.67,14.13
$GC,9212,1.05,194.8,3422,985,2007,1881,137.9,8.8,618,9225,0.00,2.35,8.10,0.944,9222,0.000,0.060,3422,2378,1912,1975,1849,0,0,0,0,0,0,28.83,14.66,14.10
$GC,9544,1.05,194.8,3422,2379,1973,1846,105.8,9.4,634,9551,0.00,2.45,0.00,0.000,260,0.000,0.098,3421,3784,1909,1972,1846,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9645,1.05,194.8,3422,3784,1972,1846,95.2,10.7,653,9653,0.00,2.33,0.00,0.000,1030,0.000,0.056,3432,2377,1909,1972,1846,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9977,1.05,194.9,3432,2378,1971,1845,65.1,9.2,668,9984,0.00,2.50,0.00,0.000,260,0.000,0.098,3432,3777,1908,1971,1845,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10013,1.05,194.9,3432,3777,1971,1845,61.6,10.2,674,10019,0.00,2.33,0.00,0.000,1030,0.000,0.054,3443,2365,1908,1971,1845,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10350,1.16,241.8,3443,2364,1970,1844,35.5,7.0,690,10400,0.00,2.35,42.30,0.928,8708,0.000,0.070,3452,987,1719,1787,1652,0,0,0,0,0,0,28.83,14.55,14.09
$GC,10486,1.16,241.8,3452,987,1782,1650,23.6,9.8,714,10493,0.00,2.38,0.00,0.000,1030,0.000,0.062,3452,2383,1715,1782,1649,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,10749,end climb,SURFACE_DEPTH_REACHED
$STATE,10749,begin surface coast
$FINISH,1.6,1.003799
$STATE,10770,end surface coast,CONTROL_FINISHED_OK
$STATE,10771,begin surface
$SM_CCo,10789,50.50,0.096,0,0,1282,350.04
$SM_GC,2.38,9.62,0.10,50.50,0.099,0.167,0.096,213,2457,1282,-8.97,-0.88,350.04,0,0,0,0,0,0,14.54,14.59,14.58
$RAFOS_CLK,-93
$RAFOS,6,1413521343,4.833333,4.817500,85,60,60,58,57,54,815,220,209,198,162,147
$RAFOS,5,1413520863,4.700000,4.684166,63,58,58,57,56,56,198,217,923,182,140,149
$RAFOS,4,1413520383,4.566667,4.550833,144,64,63,59,57,56,697,203,186,162,119,144
$RAFOS,3,1413519911,4.433333,4.419722,83,68,61,56,55,55,699,200,223,158,129,141
$RAFOS,2,1413519421,4.300000,4.283611,108,69,60,56,56,53,610,213,196,160,125,173
$RAFOS,1,1413518954,4.166667,4.153889,63,63,58,57,56,56,138,217,175,196,160,118
$RAFOS_FIX,6640.993164,-5953.144531,171014,040432,4,105,4.67
$IRIDIUM_FIX,6609.62,-6006.54,171014,004038
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.52
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3965024
$24V_AH,13.27,44.365
$10V_AH,13.35,0.000
$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,24.850,85.550,314.075,50.500,0.000,0.000,0.000,173.600,0.000,0.000,5.729,2314.412,6815.246,545.423,1370.327,133.462,0.000,1340.462,0.000,1112.901,2160.000,0.536,0.000
$DEVICE_MAMPS,452.880,166.770,1590.435,95.625,0.000,0.000,0.000,153.765,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10771.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.235,0.000,0.000,0.000
$MEM,143136
$DATA_FILE_SIZE,26646,743
$CAP_FILE_SIZE,119240,0
$CFSIZE,1024409600,997605376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11874.13,0x23769e,7,5
$SOUNDSPEED,1452.8
$EKF,10947,4003.381348,-3606.243408,1.594506,0.123129,-0.105688,-0.004021,0.000160,0.001027,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.142,213.23,1
$GPS,171014,070504,6642.687,-6007.442,36,0.9,36,-32.9