version: 66.07
glider: 511
mission: 5
dive: 355
start: 2 6 111 10 48 49
data:
$ID,511
$MISSION,5
$DIVE,355
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-50033.391
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2583
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,354
$AR_SAMPLENUM,0
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,060211,103555,1829.503,12540.334,65,0.9,65,-2.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-73.6
$GPS2,060211,104755,1829.589,12540.258,10,1.1,15,-2.2
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.201,0.076
$KALMAN_X,-541608.9,-24.8,-520.3,341614.2,2356.9
$KALMAN_Y,597243.7,351.7,443.7,-832992.6,-2989.3
$MHEAD_RNG_PITCHd_Wd,293.0,146572,-9.9,-6.000
$D_GRID,990
$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
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.58,-146.0,0.0,0.0,0,99,0.00,0.00,-69.62,0.000,2,0.000,0.000,44,2024,2914,0,0,0,0,0,0
$GC,103,-0.58,-146.0,4.2,-5.3,7,130,10.23,2.33,-11.00,0.000,4,0.249,0.070,2376,3464,3487,0,0,0,0,0,0
$GC,273,-0.58,-146.0,46.4,-17.8,25,279,0.00,2.20,0.00,0.000,6,0.000,0.044,2379,2058,3488,0,0,0,0,0,0
$GC,534,-0.58,-146.0,100.5,-21.2,50,538,0.00,2.25,0.00,0.000,4,0.000,0.058,2379,632,3491,0,0,0,0,0,0
$GC,570,-0.58,-146.0,108.1,-19.1,53,575,0.00,2.25,0.00,0.000,6,0.000,0.051,2370,2058,3489,0,0,0,0,0,0
$GC,831,-0.58,-146.0,162.6,-20.0,78,835,0.00,2.25,0.00,0.000,4,0.000,0.058,2370,638,3489,0,0,0,0,0,0
$GC,858,-0.58,-146.0,168.2,-19.2,80,864,0.12,2.22,0.00,0.000,6,0.164,0.052,2392,2048,3489,0,0,0,0,0,0
$GC,1130,-0.58,-146.0,203.6,-12.4,105,1134,0.00,2.28,0.00,0.000,4,0.000,0.067,2383,3468,3490,0,0,0,0,0,0
$GC,1246,-0.58,-146.0,218.8,-12.7,110,1251,0.00,2.17,0.00,0.000,6,0.000,0.044,2383,2045,3490,0,0,0,0,0,0
$GC,1576,-0.58,-146.0,261.7,-11.7,126,1580,0.00,2.22,0.00,0.000,4,0.000,0.058,2383,630,3488,0,0,0,0,0,0
$GC,1641,-0.58,-146.0,268.5,-9.6,129,1645,0.00,2.25,0.00,0.000,6,0.000,0.053,2375,2050,3490,0,0,0,0,0,0
$GC,1989,-0.58,-146.0,307.0,-12.1,145,1993,0.00,2.25,0.00,0.000,4,0.000,0.061,2376,642,3490,0,0,1,0,0,0
$GC,2017,-0.58,-146.0,310.5,-12.5,145,2021,0.00,2.22,0.00,0.000,6,0.000,0.053,2367,2048,3489,0,0,0,0,0,0
$GC,2352,-0.58,-146.0,351.2,-12.0,154,2357,0.10,2.28,0.00,0.000,4,0.171,0.063,2395,636,3487,0,0,1,0,0,0
$GC,2403,-0.58,-146.0,356.7,-10.2,155,2407,0.00,2.25,0.00,0.000,6,0.000,0.054,2387,2050,3489,0,0,0,0,0,0
$GC,2721,-0.58,-146.0,388.3,-9.8,163,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2050,3487,0,0,0,0,0,0
$GC,3046,-0.58,-146.0,420.6,-9.8,171,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2050,3485,0,0,0,0,0,0
$GC,3371,-0.58,-146.0,447.1,-7.8,179,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2050,3484,0,0,0,0,0,0
$GC,3696,-0.58,-146.0,475.7,-9.2,187,3700,0.00,2.30,0.00,0.000,4,0.000,0.065,2377,3467,3484,0,0,0,0,0,0
$GC,3728,-0.58,-146.0,478.9,-9.5,187,3732,0.00,2.20,0.00,0.000,6,0.000,0.048,2377,2051,3481,0,0,0,0,0,0
$GC,4063,-0.58,-146.0,511.0,-9.4,196,4067,0.00,2.22,0.00,0.000,4,0.000,0.054,2378,633,3481,0,0,0,0,0,0
$GC,4114,-0.58,-146.0,516.1,-9.6,197,4118,0.00,2.28,0.00,0.000,6,0.000,0.058,2378,2050,3477,0,0,0,0,0,0
$GC,4436,-0.58,-146.0,544.6,-8.8,205,4440,0.00,2.30,0.00,0.000,4,0.000,0.065,2369,3473,3475,0,0,0,0,0,0
$GC,4506,-0.58,-146.0,550.8,-8.1,206,4510,0.00,2.25,0.00,0.000,6,0.000,0.048,2368,2046,3474,0,0,0,0,0,0
$GC,4846,-0.58,-146.0,583.7,-9.7,215,4850,0.00,2.22,0.00,0.000,4,0.000,0.054,2368,629,3472,0,0,0,0,0,0
$GC,4901,-0.58,-146.0,589.2,-10.1,216,4906,0.12,2.28,0.00,0.000,6,0.153,0.053,2396,2059,3472,0,0,0,0,0,0
$GC,5215,-0.58,-146.0,611.8,-6.9,224,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2059,3469,0,0,0,0,0,0
$GC,5541,-0.58,-146.0,633.4,-6.7,232,5545,0.00,2.28,0.00,0.000,4,0.000,0.064,2386,3459,3467,0,0,0,0,0,0
$GC,5596,-0.58,-146.0,637.2,-7.0,233,5600,0.00,2.20,0.00,0.000,6,0.000,0.044,2386,2042,3466,0,0,0,0,0,0
$GC,5913,-0.58,-146.0,660.2,-7.3,241,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2040,3462,0,0,0,0,0,0
$GC,6239,-0.58,-146.0,684.7,-7.6,249,6243,0.00,2.33,0.00,0.000,4,0.000,0.067,2376,3460,3462,0,0,0,0,0,0
$GC,6266,-0.58,-146.0,687.1,-8.5,249,6270,0.00,2.17,0.00,0.000,6,0.000,0.044,2377,2045,3462,0,0,0,0,0,0
$GC,6601,-0.58,-146.0,714.3,-8.0,258,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2040,3460,0,0,0,0,0,0
$GC,6926,-0.58,-146.0,741.1,-8.4,266,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2040,3458,0,0,0,0,0,0
$GC,7251,-0.58,-146.0,769.9,-8.8,274,7255,0.00,2.30,0.00,0.000,4,0.000,0.066,2368,3456,3456,0,0,0,0,0,0
$GC,7283,-0.58,-146.0,772.8,-9.3,274,7287,0.00,2.17,0.00,0.000,6,0.000,0.044,2368,2049,3455,0,0,0,0,0,0
$GC,7617,-0.58,-146.0,800.5,-8.0,283,7621,0.00,2.22,0.00,0.000,4,0.000,0.055,2371,645,3454,0,0,0,0,0,0
$GC,7660,-0.58,-146.0,803.9,-9.0,284,7665,0.12,2.22,0.00,0.000,6,0.159,0.050,2395,2045,3454,0,0,0,0,0,0
$GC,7988,-0.58,-146.0,824.2,-6.1,292,7992,0.00,2.30,0.00,0.000,4,0.000,0.067,2386,3464,3455,0,0,0,0,0,0
$GC,8025,-0.58,-146.0,826.6,-6.1,292,8030,0.00,2.20,0.00,0.000,6,0.000,0.045,2393,2041,3451,0,0,0,0,0,0
$GC,8355,-0.58,-146.0,848.8,-6.9,301,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3451,0,0,0,0,0,0
$GC,8680,-0.58,-146.0,869.4,-6.3,309,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2038,3448,0,0,0,0,0,0
$GC,9006,-0.58,-146.0,888.7,-5.8,317,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3448,0,0,0,0,0,0
$GC,9331,-0.58,-146.0,907.1,-5.7,325,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3447,0,0,0,0,0,0
$GC,9656,-0.58,-146.0,926.4,-5.9,333,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3446,0,0,0,0,0,0
$GC,9980,-0.58,-146.0,947.4,-6.6,341,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2038,3448,0,0,0,0,0,0
$GC,10306,-0.58,-146.0,968.3,-6.3,349,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2038,3444,0,0,0,0,0,0
$GC,10630,-0.58,-146.0,988.6,-6.3,357,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2038,3443,0,0,0,0,0,0
$STATE,10669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10669,begin apogee
$GC,10674,-0.28,0.0,991.2,6.3,358,10800,0.32,0.00,123.05,1.357,6,0.129,0.000,2489,2099,2889,0,0,0,0,0,0
$STATE,10803,end apogee,CONTROL_FINISHED_OK
$STATE,10803,begin climb
$GC,10806,0.58,146.0,995.8,0.0,361,10948,0.80,2.47,133.75,1.316,4,0.086,0.061,2777,706,2293,0,0,1,0,0,0
$GC,11037,0.58,146.0,984.0,9.9,366,11041,0.00,2.30,0.00,0.000,6,0.000,0.055,2777,2101,2284,0,0,0,0,0,0
$GC,11386,0.58,146.0,949.0,9.9,375,11389,0.00,2.33,0.00,0.000,4,0.000,0.072,2776,3510,2280,0,0,0,0,0,0
$GC,11506,0.58,146.0,935.2,11.7,377,11511,0.00,2.22,0.00,0.000,6,0.000,0.050,2787,2105,2282,0,0,1,0,0,0
$GC,11846,0.58,146.0,897.4,11.0,386,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2101,2278,0,0,0,0,0,0
$GC,12171,0.58,146.0,859.3,11.7,394,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2101,2277,0,0,0,0,0,0
$GC,12496,0.58,146.0,821.5,11.3,402,12500,0.00,2.33,0.00,0.000,4,0.000,0.071,2791,3511,2276,0,0,0,0,0,0
$GC,12533,0.58,146.0,816.7,12.9,402,12537,0.00,2.22,0.00,0.000,6,0.000,0.051,2794,2095,2276,0,0,1,0,0,0
$GC,12868,0.58,146.0,778.7,11.0,411,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2088,2275,0,0,0,0,0,0
$GC,13193,0.58,146.0,744.9,9.9,419,13197,0.00,2.35,0.00,0.000,4,0.000,0.070,2797,3516,2275,0,0,0,0,0,0
$GC,13255,0.58,146.0,737.9,11.8,420,13259,0.15,2.25,0.00,0.000,6,0.199,0.051,2772,2096,2274,0,0,1,0,0,0
$GC,13604,0.58,146.0,708.4,8.3,429,13608,0.00,2.35,0.00,0.000,4,0.000,0.071,2777,3518,2274,0,0,0,0,0,0
$GC,13650,0.58,146.0,704.0,9.8,430,13654,0.00,2.25,0.00,0.000,6,0.000,0.051,2782,2095,2273,0,0,1,0,0,0
$GC,13973,0.58,146.0,675.3,8.8,438,13977,0.00,2.25,0.00,0.000,4,0.000,0.061,2790,694,2273,0,0,0,0,0,0
$GC,14028,0.58,146.0,670.3,8.3,439,14032,0.00,2.25,0.00,0.000,6,0.000,0.056,2791,2102,2272,0,0,0,0,0,0
$GC,14346,0.58,146.0,640.9,9.4,447,14350,0.00,2.35,0.00,0.000,4,0.000,0.070,2791,3517,2271,0,0,0,0,0,0
$GC,14488,0.58,146.0,625.5,9.3,450,14493,0.12,2.25,0.00,0.000,6,0.203,0.050,2774,2091,2271,0,0,1,0,0,0
$GC,14807,0.58,146.0,597.5,8.8,458,14811,0.00,2.28,0.00,0.000,4,0.000,0.061,2783,688,2272,0,0,0,0,0,0
$GC,14854,0.58,146.0,593.4,8.9,459,14858,0.00,2.28,0.00,0.000,6,0.000,0.055,2782,2113,2271,0,0,0,0,0,0
$GC,15181,0.58,146.0,565.7,8.2,467,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2108,2271,0,0,0,0,0,0
$GC,15506,0.58,146.0,538.4,8.3,475,15510,0.00,2.30,0.00,0.000,4,0.000,0.068,2780,3515,2270,0,0,0,0,0,0
$GC,15580,0.58,146.0,531.4,9.9,476,15584,0.00,2.25,0.00,0.000,6,0.000,0.050,2793,2100,2271,0,0,0,0,0,0
$GC,15915,0.58,146.0,503.1,8.1,485,15919,0.00,2.28,0.00,0.000,4,0.000,0.059,2803,689,2271,0,0,0,0,0,0
$GC,16053,0.58,146.0,490.2,9.1,488,16058,0.12,2.25,0.00,0.000,6,0.192,0.054,2775,2099,2270,0,0,0,0,0,0
$GC,16376,0.58,146.0,462.5,8.5,496,16380,0.00,2.30,0.00,0.000,4,0.000,0.068,2774,3507,2270,0,0,0,0,0,0
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$STATE,23252,end climb,SURFACE_DEPTH_REACHED
$STATE,23254,begin surface coast
$FINISH,1.0,1.022878
$STATE,23285,end surface coast,CONTROL_FINISHED_OK
$STATE,23285,begin surface
$SM_CCo,23314,86.30,0.545,0,0,1053,450.36
$SM_GC,1.89,0.00,0.00,86.30,0.000,0.000,0.545,52,2036,1053,-7.91,-0.45,450.36
$IRIDIUM_FIX,1821.40,12543.09,310712,222252
$TT8_MAMPS,0.057525
$HUMID,1078692248
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.50
$XPDR_PINGS,4
$AR_POSTDIVE_SAMPLENUM,0
$AR_CDRIVE_FREE,8432877568
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52100104192
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,72.244
$10V_AH,9.8,49.393
$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,19.875,180.775,379.400,86.300,0.000,29.774,35.250,495.430,1.000,0.000,19.701,1858.941,18308.613,584.273,2940.527,421.612,33.358,1893.984,0.000,2381.798,0.000,0.543,0.000
$DEVICE_MAMPS,249.275,115.050,1356.823,544.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,619.368,0.000,0.000,0.000,0.000,0.000,0.000,22069.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.896,0.000,0.000
$MEM,354896
$DATA_FILE_SIZE,33360,917
$CAP_FILE_SIZE,192997,0
$CFSIZE,260165632,227287040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,060211,172107,1830.581,12537.095,82,1.5,82,-2.2