version: 66.11
glider: 129
mission: 4
dive: 25
start: 11 8 112 11 35 57
data:
$ID,129
$MISSION,4
$DIVE,25
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,420
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$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,-2677.002
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,081112,112736,1746.808,12426.718,29,1.0,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.6
$GPS2,081112,113531,1746.872,12426.762,14,1.0,14,-2.0
$SPEED_LIMITS,0.136,0.259
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,264.4,269582,-13.2,-7.857,-16.86
$D_GRID,3951
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.58,-175.2,0.0,0.0,0,68,0.00,0.00,-48.22,0.000,2,0.000,0.000,58,2002,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.58,-175.2,3.0,-4.8,8,114,7.95,1.98,-28.25,0.000,4,0.247,0.052,2043,3332,3122,0,0,0,0,0,0,25.77,26.02,26.30
$GC,256,-0.53,-175.2,28.6,-15.6,40,263,0.12,2.00,0.00,0.000,6,0.149,0.027,2079,1948,3123,0,0,0,0,0,0,26.10,26.22,28.83
$GC,562,-0.48,-175.2,71.9,-13.1,63,568,0.00,1.98,0.00,0.000,4,0.000,0.035,2079,579,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,648,-0.48,-175.2,83.1,-13.4,67,653,0.00,1.98,0.00,0.000,6,0.000,0.027,2071,1954,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,965,-0.48,-175.2,122.0,-10.2,83,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1955,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-0.54,-175.2,144.8,-7.2,98,1272,0.00,2.03,0.00,0.000,4,0.000,0.035,2071,570,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1313,-0.61,-175.2,148.2,-7.6,100,1320,0.00,2.00,0.00,0.000,6,0.000,0.027,2064,1982,3124,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1632,-0.69,-175.2,169.0,-6.0,116,1638,0.10,2.03,0.00,0.000,4,0.104,0.038,2001,3363,3124,0,0,0,0,0,0,26.62,26.58,28.83
$GC,1676,-0.73,-175.2,172.6,-7.3,118,1681,0.00,1.98,0.00,0.000,6,0.000,0.026,2001,1970,3124,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1999,-0.69,-175.2,207.6,-9.6,134,2004,0.00,2.00,0.00,0.000,4,0.000,0.036,2001,583,3124,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2205,-0.67,-175.2,228.1,-10.1,144,2211,0.12,1.98,0.00,0.000,6,0.149,0.028,2030,1970,3124,0,0,0,0,0,0,26.55,26.65,28.83
$GC,2524,-0.72,-175.2,253.2,-7.2,160,2529,0.00,2.03,0.00,0.000,4,0.000,0.035,2030,581,3124,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2596,-0.77,-175.2,257.5,-6.7,163,2601,0.00,2.00,0.00,0.000,6,0.000,0.028,2023,1987,3124,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2909,-0.81,-175.2,278.4,-6.4,179,2914,0.10,2.00,0.00,0.000,4,0.107,0.040,1964,3365,3124,0,0,0,0,0,0,26.70,26.65,28.83
$GC,2946,-0.84,-175.2,280.1,-6.6,180,2953,0.00,1.98,0.00,0.000,6,0.000,0.027,1964,1972,3124,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3252,-0.75,-175.2,315.7,-11.3,196,3257,0.12,2.00,0.00,0.000,4,0.152,0.035,2005,575,3123,0,0,0,0,0,0,26.59,26.67,28.83
$GC,3343,-0.75,-175.2,323.2,-9.0,200,3350,0.00,2.00,0.00,0.000,6,0.000,0.028,1999,1982,3123,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3657,-0.75,-175.2,348.6,-7.9,216,3662,0.00,2.03,0.00,0.000,4,0.000,0.042,1989,3362,3122,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3688,-0.75,-175.2,350.5,-8.0,217,3693,0.00,1.98,0.00,0.000,6,0.000,0.028,1989,1972,3124,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4000,-0.75,-175.2,378.5,-8.7,233,4006,0.00,2.00,0.00,0.000,4,0.000,0.037,1989,574,3120,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4183,-0.75,-175.2,395.8,-9.3,242,4189,0.00,2.00,0.00,0.000,6,0.000,0.029,1988,1973,3119,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4506,-0.75,-175.2,419.6,-6.4,258,4511,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,574,3117,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4598,-0.75,-175.2,425.1,-6.8,262,4603,0.00,2.03,0.00,0.000,6,0.000,0.030,1988,1986,3117,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4910,-0.75,-175.2,444.5,-6.2,278,4916,0.00,2.03,-0.08,0.000,4,0.000,0.058,1987,3370,3144,0,0,0,0,0,0,28.83,26.69,26.60
$GC,4948,-0.77,-175.2,446.0,-6.2,279,4955,0.00,2.00,0.00,0.000,6,0.000,0.028,1987,1969,3144,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5254,-0.80,-175.2,467.6,-7.5,295,5259,0.00,2.03,0.00,0.000,4,0.000,0.039,1987,577,3143,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5417,-0.80,-175.2,482.0,-8.9,303,5423,0.00,2.03,0.00,0.000,6,0.000,0.031,1978,1987,3143,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5740,-0.80,-175.2,507.3,-7.4,319,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1987,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6040,-0.80,-175.2,527.4,-6.4,334,6046,0.00,2.08,0.00,0.000,4,0.000,0.039,1978,580,3139,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6123,-0.80,-175.2,533.0,-6.8,338,6128,0.00,2.03,0.00,0.000,6,0.000,0.031,1969,1987,3139,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6445,-0.80,-175.2,554.5,-6.8,354,6450,0.00,2.08,0.00,0.000,4,0.000,0.039,1969,579,3136,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6532,-0.80,-175.2,560.6,-7.5,358,6537,0.12,2.03,0.00,0.000,6,0.148,0.032,1995,1983,3135,0,0,0,0,0,0,26.64,26.73,28.83
$GC,6851,-0.85,-175.2,579.0,-5.7,374,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1983,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7151,-0.92,-175.2,596.0,-5.5,389,7158,0.12,2.08,0.00,0.000,4,0.099,0.038,1936,580,3133,0,0,0,0,0,0,26.72,26.72,28.83
$GC,7184,-0.95,-175.2,597.9,-6.0,390,7190,0.00,2.00,0.00,0.000,6,0.000,0.033,1926,1974,3132,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7518,-0.86,-175.2,632.2,-10.0,402,7524,0.12,2.05,0.00,0.000,4,0.163,0.039,1966,584,3131,0,0,0,0,0,0,26.62,26.71,28.83
$GC,7561,-0.79,-175.2,635.4,-9.8,403,7566,0.12,2.03,0.00,0.000,6,0.149,0.033,1994,1979,3130,0,0,0,0,0,0,26.64,26.72,28.83
$GC,7885,-0.86,-175.2,655.0,-5.9,414,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1979,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8184,-0.92,-175.2,672.9,-6.0,424,8190,0.12,2.08,0.00,0.000,4,0.098,0.040,1936,583,3127,0,0,0,0,0,0,26.72,26.71,28.83
$GC,8218,-0.96,-175.2,675.9,-6.7,425,8224,0.00,2.03,0.00,0.000,6,0.000,0.034,1926,1984,3127,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8552,-0.89,-175.2,711.0,-10.4,436,8558,0.12,2.08,0.00,0.000,4,0.164,0.040,1966,575,3125,0,0,0,0,0,0,26.62,26.71,28.83
$GC,8580,-0.81,-175.2,711.0,-10.4,436,8587,0.12,2.05,0.00,0.000,6,0.149,0.033,1994,1985,3125,0,0,0,0,0,0,26.64,26.73,28.83
$GC,8887,-0.88,-175.2,730.6,-5.2,447,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1985,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9186,-0.96,-175.2,745.6,-5.0,457,9192,0.12,2.10,0.00,0.000,4,0.099,0.041,1935,579,3122,0,0,0,0,0,0,26.72,26.71,28.83
$GC,9228,-1.00,-175.2,748.3,-5.5,458,9234,0.00,2.05,0.00,0.000,6,0.000,0.034,1925,1986,3122,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9552,-0.93,-175.2,779.4,-9.6,469,9557,0.00,2.10,0.00,0.000,4,0.000,0.041,1925,578,3121,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9634,-0.86,-175.2,786.2,-10.2,471,9640,0.20,2.05,0.00,0.000,6,0.150,0.034,1974,1980,3121,0,0,0,0,0,0,26.60,26.72,28.83
$GC,9951,-0.89,-175.2,810.8,-6.9,482,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1981,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10248,-0.93,-175.2,829.7,-6.0,492,10253,0.00,2.10,0.00,0.000,4,0.000,0.043,1974,574,3119,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10305,-0.97,-175.2,831.7,-6.0,493,10312,0.00,2.05,0.00,0.000,6,0.000,0.034,1967,1986,3118,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10612,-1.00,-175.2,851.6,-5.8,504,10618,0.12,2.10,0.00,0.000,4,0.103,0.041,1908,578,3117,0,0,0,0,0,0,26.71,26.71,28.83
$GC,10645,-1.00,-175.2,854.6,-6.5,505,10651,0.12,2.05,0.00,0.000,6,0.170,0.034,1930,1973,3117,0,0,0,0,0,0,26.62,26.72,28.83
$GC,10978,-0.95,-175.2,882.1,-8.3,516,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1974,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11279,-0.90,-175.2,906.9,-8.2,526,11284,0.00,2.08,0.00,0.000,4,0.000,0.044,1931,586,3115,0,0,0,0,0,0,28.83,26.71,28.83
$GC,11325,-0.86,-175.2,909.8,-8.3,527,11331,0.17,2.05,0.00,0.000,6,0.153,0.035,1973,1987,3115,0,0,0,0,0,0,26.61,26.72,28.83
$GC,11645,-0.91,-175.2,929.4,-5.6,538,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1987,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11945,-0.96,-175.2,947.4,-6.0,548,11950,0.00,2.10,0.00,0.000,4,0.000,0.044,1973,584,3113,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12017,-1.00,-175.2,951.8,-6.5,550,12023,0.12,2.05,0.00,0.000,6,0.103,0.036,1914,1981,3113,0,0,0,0,0,0,26.70,26.72,28.83
$GC,12341,-0.93,-175.2,982.2,-9.4,561,12343,0.12,0.00,0.00,0.000,6,0.162,0.000,1948,1982,3112,0,0,0,0,0,0,26.61,28.83,28.83
$STATE,12459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12459,begin apogee
$GC,12463,-0.14,0.0,991.4,-7.6,565,12615,0.73,0.00,143.20,1.412,6,0.119,0.000,2199,1792,2409,0,0,0,0,0,0,26.62,28.83,23.68
$STATE,12616,end apogee,CONTROL_FINISHED_OK
$STATE,12616,begin climb
$GC,12618,0.58,175.2,996.6,0.0,570,12780,0.68,2.30,151.52,1.369,4,0.068,0.047,2452,420,1693,0,0,0,0,0,0,24.75,24.40,23.53
$GC,12894,0.30,175.2,967.3,17.6,579,12900,0.38,2.15,0.00,0.000,6,0.187,0.035,2354,1800,1686,0,0,0,0,0,0,25.27,25.44,28.83
$GC,13217,0.18,175.2,924.5,12.3,590,13223,0.15,2.15,0.00,0.000,4,0.180,0.046,2309,3211,1682,0,0,0,0,0,0,25.87,25.98,28.83
$GC,13411,0.09,175.2,903.9,11.0,596,13417,0.12,2.10,0.00,0.000,6,0.184,0.036,2287,1807,1680,0,0,0,0,0,0,26.03,26.16,28.83
$GC,13735,0.09,175.2,874.9,8.3,607,13740,0.00,2.15,0.00,0.000,4,0.000,0.046,2287,3209,1679,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,23395,end climb,SURFACE_DEPTH_REACHED
$STATE,23395,begin surface coast
$FINISH,0.6,0.998557
$STATE,23416,end surface coast,CONTROL_FINISHED_OK
$STATE,23417,begin surface
$SM_CCo,23491,0.00,0.000,0,0,775,400.82
$SM_GC,1.55,6.12,0.25,0.00,0.046,0.047,0.000,49,2025,775,-6.76,-1.53,400.82,0,0,0,0,0,0,26.44,26.49,28.83
$IRIDIUM_FIX,1738.31,12429.11,081112,040430
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.89
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4010688
$24V_AH,23.5,4.621
$10V_AH,10.2,3.835
$FG_AHR_24Vo,120.571
$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,19.575,203.425,475.900,0.000,0.000,0.000,0.000,301.950,0.000,0.000,15.030,3873.326,15904.617,672.917,3246.764,256.194,0.000,2489.131,0.000,2798.804,0.000,0.541,0.000
$DEVICE_MAMPS,247.095,59.670,1412.190,0.000,0.000,0.000,0.000,143.055,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23447.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.702,0.000,0.000,0.000
$MEM,327432
$DATA_FILE_SIZE,40098,1087
$CAP_FILE_SIZE,272079,0
$CFSIZE,260034560,250830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 35.3,1
$GPS,081112,180836,1747.257,12425.519,32,1.4,32,-2.0