version: 66.13
glider: 191
mission: 8
dive: 97
start: 9 20 116 9 53 57
data:
$ID,191
$MISSION,8
$DIVE,97
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,120
$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,420
$T_MISSION,440
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54430
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0087299999
$HD_C,7.1299997e-05
$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,515
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3888
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2793
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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
$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,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-151.91774
$PRESSURE_SLOPE,0.00010696654
$AD7714Ch0Gain,1
$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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,200916,093905,1010.7426,-12446.3037,48,0.9,50,9.2,0.8,0.3,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.4
$GPS2,200916,095335,1010.9693,-12446.1738,23,0.8,31,9.2,0.9,6.0,10,9.4
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NE
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,332.6,4692,-22.6,-7.857,-25.84,1139
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.02,-62.6,149,1911,899,512,0.0,0.0,0,102,0.00,0.00,-75.10,0.000,16390,0.000,0.000,151,1911,3051,3080,3023,0,0,0,0,0,0,14.83,13.73,14.85
$GC,106,-1.02,-62.6,152,1911,3081,3024,2.2,-3.0,2,128,11.85,2.42,0.00,0.000,2564,0.402,0.044,2602,468,3053,3084,3023,0,0,0,0,0,0,14.43,14.66,14.68
$GC,232,-0.63,-62.6,2608,467,3085,3025,57.1,-28.5,21,241,0.52,2.30,0.00,0.000,3206,0.308,0.039,2717,1848,3054,3084,3024,0,0,0,0,0,0,14.53,14.70,14.73
$GC,548,-0.64,-70.3,2717,1850,3085,3025,94.4,-7.2,33,550,0.00,0.00,0.00,0.000,38,0.000,0.000,2714,1850,3054,3085,3024,0,0,0,0,0,0,14.95,14.98,14.97
$GC,884,-0.67,-89.4,2717,1851,3085,3026,115.1,-6.1,41,890,0.00,2.33,0.00,0.000,548,0.000,0.057,2718,472,3055,3084,3026,0,0,0,0,0,0,15.00,14.82,15.02
$GC,1108,-0.67,-89.4,2718,472,3085,3026,133.9,-9.3,73,1114,0.00,2.38,0.00,0.000,1030,0.000,0.032,2711,1946,3055,3084,3026,0,0,0,0,0,0,14.90,14.85,14.91
$GC,1444,-0.67,-89.4,2710,1948,3085,3022,164.2,-9.0,86,1450,0.00,2.42,0.00,0.000,516,0.000,0.055,2710,471,3053,3084,3022,0,0,0,0,0,0,15.02,14.84,15.04
$GC,1541,-0.67,-89.4,2710,472,3085,3021,173.8,-9.8,100,1549,0.00,2.30,0.00,0.000,1030,0.000,0.033,2700,1902,3052,3084,3021,0,0,0,0,0,0,14.92,14.88,14.93
$GC,1892,-0.67,-89.4,2700,1903,3085,3015,205.5,-8.9,108,1899,0.00,2.40,0.00,0.000,516,0.000,0.056,2700,472,3049,3084,3015,0,0,0,0,0,0,15.03,14.83,15.05
$GC,1961,-0.67,-89.4,2705,473,3085,3015,211.8,-9.1,118,1968,0.00,2.22,0.00,0.000,1030,0.000,0.034,2689,1854,3049,3084,3014,0,0,0,0,0,0,14.92,14.88,14.94
$GC,2284,-0.67,-89.4,2687,1855,3085,3008,240.2,-8.9,129,2291,0.00,2.33,0.00,0.000,516,0.000,0.057,2691,473,3046,3084,3008,0,0,0,0,0,0,15.03,14.85,15.05
$GC,2346,-0.67,-89.4,2691,474,3085,3008,246.4,-9.9,138,2353,0.12,2.22,0.00,0.000,3078,0.298,0.034,2707,1846,3046,3084,3008,0,0,0,0,0,0,14.71,14.88,14.89
$GC,2676,-0.67,-89.4,2707,1848,3085,3002,276.2,-9.1,150,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1847,3043,3084,3002,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3012,-0.67,-89.4,2707,1847,3085,2999,308.3,-9.5,156,3025,0.00,2.33,0.00,0.000,516,0.000,0.058,2707,473,3041,3084,2998,0,0,0,0,0,0,15.08,14.91,15.11
$GC,3115,-0.67,-89.4,2707,473,3085,2996,318.5,-9.9,170,3128,0.00,2.22,0.00,0.000,1030,0.000,0.034,2700,1853,3040,3084,2996,0,0,0,0,0,0,14.99,14.94,15.00
$GC,3471,-0.67,-89.4,2700,1855,3084,2991,351.1,-9.2,178,3485,0.00,2.33,0.00,0.000,516,0.000,0.058,2700,473,3037,3084,2991,0,0,0,0,0,0,15.09,14.90,15.09
$GC,3582,-0.67,-89.4,2700,474,3086,2989,361.9,-9.7,193,3596,0.00,2.15,0.00,0.000,1030,0.000,0.034,2692,1802,3036,3084,2989,0,0,0,0,0,0,15.00,14.95,15.00
$GC,3925,-0.67,-89.4,2691,1803,3085,2985,393.3,-9.1,200,3939,0.00,2.42,0.00,0.000,260,0.000,0.056,2680,3263,3034,3084,2985,0,0,0,0,0,0,15.09,14.91,15.11
$GC,4095,-0.67,-89.4,2680,3263,3084,2984,408.9,-9.3,223,4109,0.15,2.33,0.00,0.000,3078,0.274,0.040,2712,1841,3033,3084,2983,0,0,0,0,0,0,14.76,14.93,14.95
$GC,4436,-0.67,-89.4,2712,1843,3085,2979,437.1,-8.2,230,4449,0.00,2.30,0.00,0.000,516,0.000,0.062,2713,474,3031,3084,2979,0,0,0,0,0,0,15.09,14.90,15.12
$GC,4555,-0.67,-89.4,2713,474,3084,2978,447.3,-8.7,246,4568,0.00,2.20,0.00,0.000,1030,0.000,0.034,2706,1825,3030,3084,2977,0,0,0,0,0,0,15.00,14.95,15.01
$GC,4897,-0.67,-89.4,2713,1825,3086,2975,475.3,-8.2,259,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1825,3029,3084,2974,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5234,-0.67,-89.4,2706,1826,3085,2970,502.4,-8.0,265,5247,0.00,2.30,0.00,0.000,516,0.000,0.062,2706,468,3027,3084,2970,0,0,0,0,0,0,15.09,14.90,15.11
$GC,5288,-0.67,-89.4,2706,469,3085,2969,506.9,-8.2,272,5302,0.00,2.17,0.00,0.000,1030,0.000,0.037,2697,1801,3026,3084,2969,0,0,0,0,0,0,14.99,14.95,15.00
$GC,5632,-0.67,-89.4,2698,1801,3084,2967,535.0,-8.4,279,5645,0.00,2.42,0.00,0.000,260,0.000,0.057,2686,3261,3025,3084,2966,0,0,0,0,0,0,15.09,14.90,15.11
$GC,5673,-0.67,-89.4,2686,3262,3085,2973,538.5,-8.8,284,5686,0.00,2.40,0.00,0.000,1030,0.000,0.041,2686,1796,3025,3084,2966,0,0,0,0,0,0,14.98,14.92,15.00
$GC,6036,-0.67,-89.4,2686,1795,3084,2964,571.4,-9.2,293,6050,0.00,2.25,0.00,0.000,516,0.000,0.063,2687,464,3023,3084,2963,0,0,0,0,0,0,15.09,14.90,15.11
$GC,6192,-0.67,-89.4,2686,465,3084,2961,586.7,-10.1,314,6205,0.15,2.12,0.00,0.000,3078,0.295,0.037,2709,1776,3022,3084,2961,0,0,0,0,0,0,14.73,14.93,14.93
$GC,6555,-0.76,-89.4,2709,1776,3084,2961,616.8,-8.1,323,6569,0.00,2.47,0.00,0.000,388,0.000,0.057,2701,3262,3021,3084,2959,0,0,0,0,0,0,15.09,14.89,15.10
$GC,6638,-0.87,-89.4,2699,3263,3084,2960,623.4,-7.9,334,6651,0.15,2.45,0.00,0.000,5254,0.130,0.041,2646,1775,3021,3084,2959,0,0,0,0,0,0,14.89,14.90,14.96
$GC,6960,-0.87,-89.4,2646,1775,3084,2958,653.7,-9.7,344,6973,0.00,2.20,0.00,0.000,516,0.000,0.064,2646,474,3020,3083,2958,0,0,0,0,0,0,15.08,14.92,15.10
$GC,7042,-0.87,-89.4,2646,474,3084,2958,661.7,-9.7,355,7055,0.00,2.05,0.00,0.000,1030,0.000,0.037,2637,1733,3021,3084,2958,0,0,0,0,0,0,14.97,14.92,14.99
$GC,7364,-0.87,-89.4,2637,1734,3084,2954,692.8,-9.8,365,7377,0.00,2.55,0.00,0.000,260,0.000,0.058,2626,3259,3018,3084,2953,0,0,0,0,0,0,15.07,14.88,15.10
$GC,7453,-0.87,-89.4,2626,3259,3083,2953,701.6,-9.4,377,7466,0.00,2.53,0.00,0.000,1030,0.000,0.042,2631,1732,3018,3084,2953,0,0,0,0,0,0,14.96,14.89,14.97
$GC,7823,-0.87,-89.4,2626,1733,3085,2951,739.1,-10.2,387,7836,0.00,2.15,0.00,0.000,516,0.000,0.065,2626,470,3017,3084,2951,0,0,0,0,0,0,15.07,14.88,15.09
$GC,7906,-0.76,-89.4,2625,471,3085,2950,748.0,-10.8,398,7919,0.28,2.03,0.00,0.000,3206,0.291,0.037,2681,1720,3016,3083,2950,0,0,0,0,0,0,14.69,14.92,14.90
$GC,8227,-0.76,-89.4,2681,1720,3084,2950,776.5,-8.9,408,8240,0.00,2.58,0.00,0.000,260,0.000,0.059,2672,3258,3016,3083,2949,0,0,0,0,0,0,15.07,14.87,15.09
$GC,8346,-0.76,-89.4,2672,3259,3084,2948,787.4,-9.1,424,8359,0.00,2.47,0.00,0.000,1030,0.000,0.041,2672,1760,3015,3083,2948,0,0,0,0,0,0,14.95,14.88,14.96
$GC,8688,-0.76,-89.4,2672,1761,3084,2945,819.5,-9.5,437,8701,0.00,2.20,0.00,0.000,516,0.000,0.066,2672,468,3015,3084,2946,0,0,0,0,0,0,15.06,14.86,15.09
$GC,8857,-0.76,-89.4,2672,469,3085,2944,836.0,-9.7,460,8872,0.00,2.08,0.00,0.000,1030,0.000,0.037,2664,1718,3014,3084,2944,0,0,0,0,0,0,14.90,14.88,14.96
$GC,9198,-0.76,-89.4,2664,1718,3084,2944,866.7,-8.9,467,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1718,3014,3084,2944,0,0,0,0,0,0,15.06,15.08,15.08
$GC,9535,-0.76,-89.4,2664,1718,3084,2943,895.4,-8.4,473,9548,0.00,2.60,0.00,0.000,260,0.000,0.060,2652,3263,3012,3083,2942,0,0,0,0,0,0,15.06,14.85,15.08
$GC,9631,-0.77,-94.5,2652,3261,3085,2941,903.7,-7.4,486,9645,0.12,2.53,0.00,0.000,3110,0.288,0.043,2676,1739,3012,3083,2941,0,0,0,0,0,0,14.68,14.88,14.86
$GC,9995,-0.77,-100.0,2676,1740,3084,2940,930.7,-7.4,495,10008,0.00,2.17,0.00,0.000,548,0.000,0.067,2679,471,3009,3079,2940,0,0,0,0,0,0,15.05,14.85,15.07
$GC,10113,-0.78,-104.4,2679,472,3084,2940,940.3,-7.5,511,10126,0.00,2.08,0.00,0.000,1062,0.000,0.038,2679,1739,3009,3078,2940,0,0,0,0,0,0,14.95,14.90,14.96
$GC,10455,-0.78,-104.9,2673,1745,3083,2939,966.9,-7.8,524,10468,0.00,2.55,0.00,0.000,292,0.000,0.060,2661,3256,3011,3083,2939,0,0,0,0,0,0,15.04,14.85,15.06
$GC,10531,-0.80,-116.8,2661,3257,3085,2938,973.2,-5.0,534,10544,0.00,2.50,0.00,0.000,1062,0.000,0.043,2661,1745,3011,3085,2938,0,0,0,0,0,0,14.92,14.86,14.95
$STATE,10744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10744,begin apogee
$GC,10751,-0.21,0.0,2662,1745,3084,2938,990.9,-8.2,543,10824,0.75,0.00,63.05,2.162,10244,0.252,0.000,2859,1745,2791,2889,2694,0,0,0,0,0,0,14.65,14.33,13.63
$STATE,10826,end apogee,CONTROL_FINISHED_OK
$STATE,10826,begin climb
$GC,10829,1.08,116.8,2860,1746,2883,2686,994.3,0.0,544,10977,1.42,2.55,126.70,2.154,10500,0.175,0.060,3266,3185,2308,2479,2137,0,0,0,0,0,0,14.27,14.35,13.35
$GC,11180,0.99,116.8,3266,3184,2476,2116,958.3,13.0,597,11193,0.00,2.35,0.00,0.000,1158,0.000,0.040,3275,1795,2295,2475,2115,0,0,0,0,0,0,14.55,14.49,14.57
$GC,11544,0.90,116.8,3274,1797,2476,2113,910.3,13.3,606,11557,0.20,2.38,0.00,0.000,4484,0.301,0.051,3228,3195,2293,2475,2111,0,0,0,0,0,0,14.50,14.66,14.65
$GC,11759,0.90,116.8,3228,3196,2475,2109,884.3,11.7,636,11773,0.00,2.35,0.00,0.000,1030,0.000,0.041,3235,1786,2292,2475,2110,0,0,0,0,0,0,14.79,14.73,14.81
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$STATE,21188,end climb,SURFACE_DEPTH_REACHED
$STATE,21189,begin surface coast
$FINISH,0.2,0.998899
$STATE,21217,end surface coast,CONTROL_FINISHED_OK
$STATE,21217,begin surface
$SM_CCo,21243,114.20,0.123,0,0,692,515.13
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$IRIDIUM_FIX,1002.64,-12446.42,200916,024618
$TT8_MAMPS,0.036701,0.470372
$HUMID,50.00
$INTERNAL_PRESSURE,9.17486
$TCM_TEMP,27.60
$XPDR_PINGS,0
$SC_FREEKB,7731104
$PM_FREEKB,59307392
$TM_FREEKB,6940224
$24V_AH,13.35,40.299
$10V_AH,13.32,0.000
$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,26.125,194.450,377.725,114.200,0.000,0.000,0.000,455.100,0.000,0.000,31.926,0.000,17089.492,737.557,3761.098,618.737,0.000,2832.114,0.000,1935.571,0.000,0.549,0.000
$DEVICE_MAMPS,402.390,67.320,2161.890,123.165,0.000,0.000,0.000,172.890,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21271.000,21221.000,2986.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.641,2.095,16.455,0.000
$MEM,311988
$DATA_FILE_SIZE,40008,1136
$CAP_FILE_SIZE,180624,0
$CFSIZE,260034560,241868800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,53.51,1
$GPS,200916,155103,1012.821,-12446.358,27,0.8,27,9.2,0.5,351.6,10,9.0