version: 66.12
glider: 193
mission: 4
dive: 102
start: 12 27 114 2 49 37
data:
$ID,193
$MISSION,4
$DIVE,102
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52059
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3900
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2951
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.214073
$PRESSURE_SLOPE,0.0001163556
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042903274
$SEABIRD_T_H,0.00062837056
$SEABIRD_T_I,2.3004332e-05
$SEABIRD_T_J,2.3253908e-06
$SEABIRD_C_G,-9.879467
$SEABIRD_C_H,1.1201456
$SEABIRD_C_I,-0.00035123606
$SEABIRD_C_J,0.00012622437
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,271214,024033,6608.628,-5652.438,42,0.9,42,-31.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-59.9
$GPS2,271214,024904,6608.718,-5652.539,5,0.9,5,-31.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,36.7,100585,-18.4,-10.000,-20.87,2243
$D_GRID,601
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.60,-146.0,196,2561,1713,1716,0.0,0.0,0,113,0.00,0.00,-91.75,0.000,16386,0.000,0.000,195,2561,3308,3283,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,194,2561,3283,3333,3.2,-2.3,9,141,10.07,0.00,-7.65,0.000,18694,0.465,0.000,2195,2561,3549,3544,3554,0,0,0,0,0,0,14.33,28.83,14.71
$GC,452,-1.60,-146.0,2195,2561,3549,3554,44.7,-11.9,36,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2561,3552,3550,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-1.60,-146.0,2195,2561,3550,3554,76.3,-10.1,51,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2561,3551,3549,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1053,-1.60,-146.0,2196,2561,3550,3554,106.3,-10.1,66,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2561,3552,3550,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1353,-1.60,-146.0,2195,2561,3550,3553,139.0,-11.3,81,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2560,3551,3549,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1653,-1.60,-146.0,2195,2561,3549,3553,172.6,-10.1,96,1658,0.00,2.50,0.00,0.000,516,0.000,0.109,2195,1131,3550,3549,3551,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1790,-1.60,-146.0,2196,1132,3549,3550,185.6,-8.9,123,1796,0.00,2.55,0.00,0.000,1030,0.000,0.122,2190,2548,3549,3549,3550,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2095,-1.60,-146.0,2190,2549,3549,3550,210.2,-7.6,139,2101,0.00,2.45,0.00,0.000,516,0.000,0.106,2190,1140,3549,3549,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2233,-1.60,-146.0,2190,1140,3549,3549,221.3,-7.6,166,2240,0.00,2.55,0.00,0.000,1030,0.000,0.125,2183,2557,3552,3549,3556,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2539,-1.60,-146.0,2183,2557,3549,3549,247.4,-9.6,182,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2560,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2848,-1.60,-146.0,2183,2557,3550,3549,278.5,-10.3,193,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2557,3550,3550,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-1.60,-146.0,2183,2557,3551,3550,308.9,-9.7,203,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2557,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,-1.60,-146.0,2183,2556,3551,3550,334.8,-8.3,213,3455,0.00,2.47,0.00,0.000,516,0.000,0.109,2183,1141,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3546,-1.60,-146.0,2182,1141,3551,3550,343.4,-9.3,232,3553,0.10,2.55,0.00,0.000,3078,0.334,0.128,2196,2554,3550,3551,3550,0,0,0,0,0,0,14.66,14.74,28.83
$GC,3876,-1.60,-146.0,2197,2554,3553,3550,369.0,-7.9,247,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2554,3551,3552,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-1.60,-146.0,2197,2554,3552,3551,397.7,-9.7,257,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2554,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,-1.60,-146.0,2197,2554,3552,3551,425.9,-8.9,267,4481,0.00,2.47,0.00,0.000,516,0.000,0.115,2197,1139,3551,3552,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4553,-1.60,-146.0,2197,1139,3552,3551,432.8,-8.5,282,4558,0.00,2.55,0.00,0.000,1030,0.000,0.130,2190,2554,3551,3551,3552,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4871,-1.60,-146.0,2190,2554,3552,3552,458.1,-7.7,295,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2554,3552,3552,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5171,-1.60,-146.0,2191,2554,3553,3552,481.2,-7.7,305,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2554,3552,3553,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5470,-1.60,-146.0,2190,2554,3554,3553,505.7,-8.7,315,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2553,3553,3554,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-1.60,-146.0,2190,2554,3555,3553,531.1,-8.2,325,5777,0.00,2.47,0.00,0.000,516,0.000,0.117,2190,1140,3554,3555,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5819,-1.60,-146.0,2191,1140,3554,3553,535.1,-8.5,334,5824,0.00,2.55,0.00,0.000,1030,0.000,0.132,2184,2549,3554,3555,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6138,-1.60,-146.0,2184,2549,3554,3554,560.2,-7.6,347,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2549,3553,3554,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6436,-1.60,-146.0,2184,2549,3555,3554,583.5,-7.6,357,6442,0.00,2.47,0.00,0.000,516,0.000,0.119,2185,1139,3554,3555,3553,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6500,-1.60,-146.0,2184,1139,3555,3554,588.6,-8.4,369,6507,0.10,2.55,0.00,0.000,3078,0.336,0.135,2197,2549,3554,3555,3553,0,0,0,0,0,0,14.68,14.76,28.83
$STATE,6682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6682,begin apogee
$GC,6687,-0.38,0.0,2197,2392,3555,3554,602.7,-7.7,380,6852,0.93,0.00,161.73,1.423,10246,0.244,0.000,2461,2392,2950,2972,2929,0,0,0,0,0,0,14.70,28.83,13.49
$STATE,6854,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6856,1.60,146.0,2461,2392,2964,2921,605.3,0.0,385,7024,1.40,0.00,163.77,1.327,10246,0.154,0.000,2892,2392,2353,2398,2309,0,0,0,0,0,0,13.97,28.83,13.38
$GC,7314,1.60,146.0,2892,2392,2379,2284,551.4,13.5,401,7319,0.00,2.80,0.00,0.000,260,0.000,0.152,2893,3813,2330,2379,2282,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7361,1.55,146.0,2893,3813,2377,2285,543.8,16.5,410,7367,0.00,2.53,0.00,0.000,1030,0.000,0.085,2902,2403,2331,2377,2285,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7680,1.53,146.0,2902,2404,2377,2282,498.6,14.1,423,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2403,2329,2376,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,1.51,146.0,2902,2402,2374,2282,456.8,13.9,433,7982,0.12,0.00,0.00,0.000,4102,0.311,0.000,2875,2403,2328,2375,2282,0,0,0,0,0,0,14.50,28.83,28.83
$GC,8279,1.51,146.0,2875,2403,2373,2281,418.2,12.8,443,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2403,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8579,1.51,146.0,2875,2403,2373,2281,381.6,12.1,453,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2403,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8879,1.51,146.0,2874,2403,2373,2281,344.5,12.6,463,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2404,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9179,1.51,146.0,2875,2404,2373,2280,305.2,13.0,473,9185,0.00,2.67,0.00,0.000,260,0.000,0.151,2875,3809,2326,2373,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9222,1.48,146.0,2875,3809,2371,2282,299.2,14.0,481,9227,0.00,2.45,0.00,0.000,1030,0.000,0.085,2884,2399,2326,2371,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9545,1.48,146.0,2884,2398,2371,2281,258.6,12.1,495,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2398,2326,2371,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9855,1.48,146.0,2884,2399,2372,2281,221.9,11.4,509,9861,0.00,2.67,0.00,0.000,260,0.000,0.150,2884,3810,2326,2371,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9902,1.45,146.0,2884,3810,2371,2282,215.8,12.7,518,9909,0.12,2.45,0.00,0.000,5126,0.320,0.083,2867,2396,2326,2371,2282,0,0,0,0,0,0,14.65,14.74,28.83
$GC,10221,1.45,146.0,2867,2396,2371,2282,182.5,10.4,536,10227,0.00,2.47,0.00,0.000,516,0.000,0.116,2876,984,2326,2371,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10289,1.48,146.0,2876,984,2370,2282,175.1,10.7,549,10294,0.00,2.55,0.00,0.000,1030,0.000,0.123,2876,2401,2325,2370,2281,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10607,1.48,146.0,2876,2401,2370,2282,140.0,11.3,567,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2326,2370,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10907,1.48,146.0,2876,2401,2370,2283,106.7,11.0,582,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2401,2326,2370,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11207,1.51,146.0,2881,2401,2370,2284,74.6,10.5,597,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2327,2370,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11508,1.55,148.9,2877,2401,2370,2285,44.8,9.9,612,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2327,2370,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11808,1.59,164.0,2876,2401,2370,2285,16.8,9.3,631,11821,0.00,2.65,7.53,0.198,8452,0.000,0.148,2876,3810,2282,2322,2243,0,0,0,0,0,0,28.83,14.70,14.69
$GC,11862,1.59,164.0,2876,3810,2322,2252,10.6,10.1,641,11869,0.00,2.45,0.00,0.000,1030,0.000,0.083,2885,2394,2287,2322,2253,0,0,0,0,0,0,28.83,14.75,28.83
$FREEZE,8.11,0.483,-1.821,0,1,0
$FREEZE,7.18,0.483,-1.820,0,1,0
$FREEZE,6.04,0.481,-1.819,0,1,0
$FREEZE,4.85,0.484,-1.818,0,1,0
$FREEZE,3.59,0.481,-1.818,0,1,0
$FREEZE,2.48,0.480,-1.817,0,1,0
$STATE,11938,end climb,SURFACE_DEPTH_REACHED
$STATE,11938,begin surface coast
$FREEZE,1.44,0.482,-1.816,0,1,0
$FREEZE,1.47,0.486,-1.815,0,1,0
$FINISH,1.5,1.026553
$STATE,11960,end surface coast,CONTROL_FINISHED_OK
$STATE,11960,begin surface
$SM_CCo,11976,75.47,0.157,0,0,1728,300.00
$SM_GC,2.09,7.70,0.32,75.47,0.096,0.153,0.157,210,2557,1728,-10.64,-0.28,300.00,0,0,0,0,0,0,14.78,14.72,14.64
$RAFOS_CLK,513
$RAFOS,6,1419655769,4.833333,4.824722,59,55,53,51,49,49,212,193,171,136,155,1612
$RAFOS,5,1419655289,4.700000,4.691389,61,59,58,54,52,50,223,211,170,145,155,136
$RAFOS,4,1419654801,4.566667,4.555833,74,55,54,52,49,49,215,147,134,1361,197,120
$RAFOS,3,1419654315,4.433333,4.420833,64,61,59,56,53,53,184,202,152,135,213,690
$RAFOS,2,1419653835,4.300000,4.287500,59,54,53,51,51,51,192,203,132,145,172,215
$RAFOS,1,1419653355,4.166667,4.154167,65,58,55,54,51,51,227,153,136,195,208,170
$RAFOS,0,1419652870,4.033333,4.019444,62,59,59,58,58,54,119,196,211,141,167,128
$RAFOS_FIX,6539.356934,-5649.023926,251214,202028,2,92,5.40
$IRIDIUM_FIX,6543.17,-5654.10,271214,024254
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.94
$INTERNAL_PRESSURE,8.49865
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$SC_FREEKB,7737280
$24V_AH,13.38,23.507
$10V_AH,13.62,0.000
$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,20.550,56.450,333.025,75.475,0.000,0.000,0.000,328.975,0.250,0.000,6.875,1585.481,8928.854,569.934,1380.939,118.226,0.000,1430.358,0.000,975.504,2520.000,2.634,0.000
$DEVICE_MAMPS,465.120,153.000,1422.900,156.825,0.000,0.000,0.000,153.000,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11971.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.912,0.000,0.000,0.000
$MEM,271100
$DATA_FILE_SIZE,23413,651
$CAP_FILE_SIZE,118263,0
$CFSIZE,260034560,245579776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13348.41,0x23769e,7,5
$SOUNDSPEED,1468.2
$CURRENT,0.128,338.42,1
$GPS,271214,061200,6611.210,-5653.208,42,1.2,42,-31.6