version: 66.10
glider: 169
mission: 6
dive: 123
start: 5 13 112 16 43 14
data:
$ID,169
$MISSION,6
$DIVE,123
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$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,420
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,450
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15493.563
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,130512,163407,2329.101,12408.728,27,1.1,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.2
$GPS2,130512,164250,2329.088,12408.680,15,1.8,15,-3.3
$SPEED_LIMITS,0.136,0.256
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,160.0,221058,-13.5,-7.857
$D_GRID,3130
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.55,-170.3,0.0,0.0,0,102,0.00,0.00,-82.43,0.000,2,0.000,0.000,117,2410,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.55,-170.3,3.4,-8.4,14,124,7.75,0.00,-7.05,0.000,6,0.224,0.000,2093,2411,3677,0,0,0,0,0,0,25.41,28.83,26.34
$GC,308,-0.47,-170.3,69.9,-26.7,53,316,0.00,2.15,0.00,0.000,4,0.000,0.024,2103,1031,3680,0,0,0,0,0,0,28.83,26.15,28.83
$GC,452,-0.44,-170.3,97.4,-16.7,80,459,0.12,2.42,0.00,0.000,6,0.145,0.032,2127,2527,3679,0,0,0,0,0,0,25.98,26.17,28.83
$GC,644,-0.40,-170.3,131.8,-17.0,117,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2527,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,835,-0.36,-170.3,162.1,-15.7,154,842,0.12,2.35,0.00,0.000,4,0.157,0.023,2178,1036,3680,0,0,0,0,0,0,26.17,26.32,28.83
$GC,883,-0.39,-170.3,166.5,-6.3,162,890,0.00,2.38,0.00,0.000,6,0.000,0.031,2167,2514,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1074,-0.39,-170.3,181.2,-8.3,199,1080,0.00,2.03,0.00,0.000,4,0.000,0.040,2157,3830,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1109,-0.41,-170.3,184.1,-8.1,205,1117,0.00,2.05,0.00,0.000,6,0.000,0.018,2157,2425,3681,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1300,-0.41,-170.3,203.3,-10.6,239,1304,0.00,2.12,0.00,0.000,4,0.000,0.024,2157,1036,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1343,-0.42,-170.3,207.6,-10.4,243,1352,0.00,2.33,0.00,0.000,6,0.000,0.031,2150,2512,3681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1653,-0.41,-170.3,239.1,-10.4,274,1662,0.00,2.33,0.00,0.000,4,0.000,0.026,2150,1031,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1696,-0.42,-170.3,243.0,-9.1,278,1705,0.00,2.35,0.00,0.000,6,0.000,0.032,2150,2506,3680,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2005,-0.42,-170.3,271.1,-9.6,309,2008,0.00,2.03,0.00,0.000,4,0.000,0.041,2141,3821,3680,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2058,-0.43,-170.3,275.4,-8.5,314,2067,0.00,2.03,0.00,0.000,6,0.000,0.019,2140,2428,3680,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2368,-0.43,-170.3,304.2,-10.1,345,2377,0.00,2.10,0.00,0.000,4,0.000,0.025,2140,1045,3680,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2411,-0.44,-170.3,308.4,-9.6,349,2421,0.00,2.33,0.00,0.000,6,0.000,0.032,2136,2514,3680,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2721,-0.43,-170.3,342.0,-12.0,380,2730,0.00,1.98,0.00,0.000,4,0.000,0.040,2125,3827,3678,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2756,-0.43,-170.3,345.9,-12.0,383,2763,0.00,2.03,0.00,0.000,6,0.000,0.019,2125,2434,3678,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3065,-0.42,-170.3,382.2,-10.7,414,3068,0.00,2.15,0.00,0.000,4,0.000,0.025,2125,1026,3677,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3109,-0.42,-170.3,386.6,-10.4,418,3116,0.00,2.35,0.00,0.000,6,0.000,0.031,2117,2514,3677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3417,-0.41,-170.3,417.3,-9.3,449,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2513,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.40,-170.3,445.3,-9.4,479,3729,0.00,2.30,0.00,0.000,4,0.000,0.025,2118,1034,3676,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3753,-0.40,-170.3,448.6,-9.3,482,3762,0.08,2.33,0.00,0.000,6,0.102,0.032,2145,2514,3676,0,0,0,0,0,0,26.27,26.44,28.83
$GC,4063,-0.42,-170.3,469.9,-6.4,513,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2513,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,-0.43,-170.3,485.6,-4.4,543,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2513,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4676,-0.45,-170.3,499.9,-5.2,574,4685,0.00,2.03,0.00,0.000,4,0.000,0.044,2135,3819,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4708,-0.48,-170.3,501.8,-5.3,577,4712,0.00,2.00,0.00,0.000,6,0.000,0.019,2135,2434,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5021,-0.49,-170.3,524.1,-7.9,608,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2433,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5323,-0.51,-170.3,546.2,-7.0,638,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2433,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,-0.52,-170.3,562.8,-4.1,669,5644,0.00,2.22,0.00,0.000,4,0.000,0.043,2126,3809,3664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5677,-0.55,-170.3,564.7,-4.1,673,5687,0.00,2.00,0.00,0.000,6,0.000,0.021,2126,2441,3664,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5988,-0.56,-170.3,577.6,-4.2,704,5996,0.00,2.15,0.00,0.000,4,0.000,0.026,2126,1044,3663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6022,-0.58,-170.3,579.1,-4.5,707,6030,0.12,2.38,0.00,0.000,6,0.076,0.033,2030,2529,3662,0,0,0,0,0,0,26.41,26.39,28.83
$GC,6332,-0.52,-170.3,622.4,-15.5,731,6338,0.20,2.30,0.00,0.000,4,0.140,0.025,2108,1046,3661,0,0,0,0,0,0,26.16,26.44,28.83
$GC,6392,-0.51,-170.3,628.6,-11.2,734,6397,0.00,2.30,0.00,0.000,6,0.000,0.034,2099,2500,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6713,-0.50,-170.3,655.8,-8.7,750,6718,0.00,2.28,0.00,0.000,4,0.000,0.028,2099,1041,3659,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6744,-0.49,-170.3,657.6,-8.7,751,6751,0.00,2.33,0.00,0.000,6,0.000,0.037,2098,2486,3659,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7053,-0.49,-170.3,684.7,-8.3,767,7058,0.00,2.05,0.00,0.000,4,0.000,0.046,2089,3816,3657,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7080,-0.49,-170.3,686.4,-8.4,768,7084,0.00,2.03,0.00,0.000,6,0.000,0.021,2090,2427,3656,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7392,-0.48,-170.3,714.6,-9.0,784,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2425,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,-0.47,-170.3,741.9,-9.2,799,7694,0.10,0.00,0.00,0.000,6,0.145,0.000,2120,2426,3653,0,0,0,0,0,0,26.48,28.83,28.83
$GC,7994,-0.49,-170.3,762.7,-6.3,814,7999,0.00,2.25,0.00,0.000,4,0.000,0.046,2110,3821,3651,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8016,-0.50,-170.3,764.0,-6.2,815,8020,0.00,2.08,0.00,0.000,6,0.000,0.021,2110,2418,3650,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8329,-0.51,-170.3,785.4,-6.4,831,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2416,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8629,-0.51,-170.3,803.6,-6.2,846,8634,0.00,2.30,0.00,0.000,4,0.000,0.045,2100,3817,3647,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8688,-0.53,-170.3,807.5,-6.7,849,8693,0.00,2.05,0.00,0.000,6,0.000,0.023,2100,2437,3647,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9008,-0.53,-170.3,830.5,-7.2,865,9014,0.00,2.15,0.00,0.000,4,0.000,0.028,2100,1046,3645,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9050,-0.53,-170.3,833.7,-7.5,867,9054,0.00,2.33,0.00,0.000,6,0.000,0.035,2099,2496,3646,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9364,-0.53,-170.3,857.8,-7.8,883,9369,0.00,2.08,0.00,0.000,4,0.000,0.049,2089,3813,3644,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9427,-0.53,-170.3,862.2,-7.5,886,9431,0.00,2.08,0.00,0.000,6,0.000,0.024,2090,2436,3643,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9741,-0.53,-170.3,885.6,-7.0,902,9744,0.00,2.15,0.00,0.000,4,0.000,0.031,2089,1048,3642,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9775,-0.53,-170.3,887.3,-7.0,903,9783,0.00,2.35,0.00,0.000,6,0.000,0.036,2085,2501,3642,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10083,-0.52,-170.3,908.8,-6.5,919,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2500,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10384,-0.51,-170.3,928.8,-6.9,934,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2500,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,-0.50,-170.3,951.1,-7.9,949,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2500,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10983,-0.50,-170.3,974.9,-7.9,964,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2500,3637,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11180,begin apogee
$GC,11186,-0.20,0.0,990.4,-7.6,974,11353,0.35,0.00,159.68,1.170,4,0.102,0.000,2209,2541,2978,0,0,0,0,0,0,26.01,28.83,23.95
$STATE,11354,end apogee,CONTROL_FINISHED_OK
$STATE,11354,begin climb
$GC,11357,0.55,170.3,995.0,0.0,982,11542,0.65,2.12,174.25,1.158,4,0.040,0.045,2464,3819,2278,0,0,0,0,0,0,24.96,24.91,23.61
$GC,11762,0.46,170.3,910.6,25.1,1003,11768,0.15,2.03,0.00,0.000,6,0.176,0.024,2431,2507,2249,0,0,0,0,0,0,25.22,25.63,28.83
$GC,12085,0.40,170.3,851.6,16.8,1019,12090,0.00,2.30,0.00,0.000,4,0.000,0.031,2443,1071,2244,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12176,0.36,170.3,838.7,15.5,1023,12184,0.17,2.47,0.00,0.000,6,0.156,0.035,2395,2563,2242,0,0,0,0,0,0,25.66,25.96,28.83
$GC,12484,0.33,170.3,794.0,13.5,1039,12489,0.00,1.98,0.00,0.000,4,0.000,0.044,2394,3839,2242,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12598,0.29,170.3,779.0,15.2,1044,12605,0.12,1.95,0.00,0.000,6,0.171,0.023,2372,2529,2241,0,0,0,0,0,0,25.84,26.17,28.83
$GC,12904,0.27,170.3,740.0,12.0,1060,12910,0.00,2.03,0.00,0.000,4,0.000,0.044,2372,3810,2241,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,14956,0.34,254.7,550.6,6.0,1197,15025,0.12,0.00,62.75,0.882,6,0.074,0.000,2421,2523,1929,0,0,0,0,0,0,26.29,28.83,24.58
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$STATE,20010,end climb,SURFACE_DEPTH_REACHED
$STATE,20011,begin surface coast
$FINISH,0.0,1.022736
$STATE,20070,end surface coast,CONTROL_FINISHED_OK
$STATE,20070,begin surface
$SM_CCo,20147,0.00,0.000,0,0,983,489.86
$SM_GC,0.76,5.82,0.12,0.00,0.021,0.064,0.000,111,2441,983,-6.61,0.42,489.86,0,0,0,0,0,0,26.32,26.39,28.83
$IRIDIUM_FIX,2321.52,12408.12,130512,101016
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.62
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.6,24.706
$10V_AH,10.2,14.158
$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,17.525,170.150,611.700,0.000,0.000,28.092,41.865,293.069,0.000,0.000,16.331,4611.118,11115.092,787.163,3634.493,481.227,0.000,2509.538,0.000,3086.645,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,149.940,1169.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.178,2394.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330424
$DATA_FILE_SIZE,113586,1856
$CAP_FILE_SIZE,222515,0
$CFSIZE,260165632,209604608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.139,331.4,1
$GPS,130512,222007,2328.064,12409.133,38,1.3,38,-3.3