version: 66.07
glider: 500
mission: 5
dive: 486
start: 3 25 111 15 10 7
data:
$ID,500
$MISSION,5
$DIVE,486
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,1020
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,618.14594
$N_FILEKB,8
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-131216.3
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3090
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2995
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,250311,150055,2131.587,12816.183,40,0.9,40,-3.0
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.0
$GPS2,250311,150914,2131.583,12816.174,8,1.7,8,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DVLA
$TGT_LATLONG,2121.742,12600.787
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.208,0.074
$KALMAN_X,-443905.4,-302.4,-865.6,962229.9,7345.7
$KALMAN_Y,552654.9,348.1,323.4,-512744.5,-2402.4
$MHEAD_RNG_PITCHd_Wd,292.6,234220,-9.4,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,14720,-0.50,-155.7,804.6,-4.4,544,14724,0.00,2.45,0.00,0.000,4,0.000,0.053,2900,3671,3606,0,0,0,0,0,0
$GC,14763,-0.50,-155.7,806.4,-4.1,545,14767,0.00,2.38,0.00,0.000,6,0.000,0.037,2900,2090,3606,0,0,0,0,0,0
$GC,15084,-0.50,-155.7,818.2,-3.5,553,15089,0.00,2.45,0.00,0.000,4,0.000,0.051,2889,3680,3605,0,0,0,0,0,0
$GC,15146,-0.50,-155.7,820.4,-3.1,554,15151,0.12,2.38,0.00,0.000,6,0.110,0.035,2935,2078,3604,0,0,0,0,0,0
$GC,15490,-0.50,-155.7,829.6,-2.6,563,15494,0.00,2.45,0.00,0.000,4,0.000,0.052,2924,3673,3604,0,0,0,0,0,0
$GC,15604,-0.50,-155.7,832.8,-2.4,565,15609,0.00,2.35,0.00,0.000,6,0.000,0.037,2925,2086,3604,0,0,0,0,0,0
$GC,15944,-0.50,-155.7,843.8,-3.6,574,15948,0.00,2.45,0.00,0.000,4,0.000,0.051,2913,3680,3603,0,0,0,0,0,0
$GC,16021,-0.50,-155.7,847.0,-4.7,575,16026,0.00,2.35,0.00,0.000,6,0.000,0.035,2913,2089,3603,0,0,0,0,0,0
$GC,16354,-0.50,-155.7,863.4,-5.3,584,16358,0.00,2.42,0.00,0.000,4,0.000,0.051,2902,3674,3603,0,0,0,0,0,0
$GC,16414,-0.50,-155.7,866.8,-6.7,585,16418,0.00,2.35,0.00,0.000,6,0.000,0.037,2902,2085,3602,0,0,0,0,0,0
$GC,16764,-0.50,-155.7,883.8,-4.7,594,16769,0.00,2.45,0.00,0.000,4,0.000,0.052,2890,3671,3602,0,0,0,0,0,0
$GC,16781,-0.50,-155.7,884.6,-4.5,594,16786,0.12,2.35,0.00,0.000,6,0.109,0.037,2937,2083,3601,0,0,0,0,0,0
$GC,17126,-0.50,-155.7,896.7,-3.3,603,17130,0.00,2.45,0.00,0.000,4,0.000,0.054,2927,3679,3601,0,0,0,0,0,0
$GC,17332,-0.50,-155.7,903.2,-3.2,607,17337,0.00,2.35,0.00,0.000,6,0.000,0.037,2927,2087,3601,0,0,0,0,0,0
$GC,17664,-0.50,-155.7,912.0,-2.7,615,17669,0.00,2.45,0.00,0.000,4,0.000,0.053,2925,3671,3600,0,0,0,0,0,0
$GC,17918,-0.50,-155.7,919.2,-3.4,620,17922,0.00,2.38,0.00,0.000,6,0.000,0.037,2925,2085,3599,0,0,0,0,0,0
$GC,18254,-0.50,-155.7,928.0,-2.7,629,18258,0.00,2.45,0.00,0.000,4,0.000,0.052,2914,3672,3598,0,0,0,0,0,0
$GC,18361,-0.50,-155.7,931.0,-3.4,631,18365,0.00,2.35,0.00,0.000,6,0.000,0.038,2914,2086,3598,0,0,0,0,0,0
$GC,18704,-0.50,-155.7,942.0,-3.4,640,18708,0.00,2.45,0.00,0.000,4,0.000,0.052,2903,3673,3598,0,0,0,0,0,0
$GC,18777,-0.50,-155.7,944.3,-3.6,641,18782,0.00,2.38,0.00,0.000,6,0.000,0.038,2903,2086,3598,0,0,0,0,0,0
$GC,19109,-0.50,-155.7,955.5,-3.3,649,19113,0.00,2.45,0.00,0.000,4,0.000,0.053,2891,3673,3597,0,0,0,0,0,0
$GC,19187,-0.50,-155.7,957.9,-3.2,650,19192,0.12,2.38,0.00,0.000,6,0.108,0.038,2938,2082,3597,0,0,0,0,0,0
$GC,19521,-0.50,-155.7,965.7,-2.2,659,19525,0.00,2.47,0.00,0.000,4,0.000,0.054,2927,3680,3597,0,0,0,0,0,0
$GC,19780,-0.50,-155.7,971.4,-1.6,664,19784,0.00,2.40,0.00,0.000,6,0.000,0.037,2927,2078,3597,0,0,0,0,0,0
$GC,20110,-0.50,-155.7,977.9,-2.0,673,20115,0.00,2.38,0.00,0.000,4,0.000,0.047,2927,516,3597,0,0,0,0,0,0
$GC,20284,-0.50,-155.7,982.2,-3.2,677,20289,0.00,2.38,0.00,0.000,6,0.000,0.042,2918,2095,3596,0,0,0,0,0,0
$STATE,20565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20565,begin apogee
$GC,20574,-0.23,0.0,990.9,3.4,684,20715,0.28,0.00,138.73,1.583,6,0.076,0.000,3027,1932,2995,0,0,0,0,0,0
$STATE,20716,end apogee,CONTROL_FINISHED_OK
$STATE,20716,begin climb
$GC,20719,0.50,155.7,992.0,0.0,687,20877,0.60,2.72,150.40,1.556,4,0.051,0.050,3264,3525,2360,0,0,0,0,0,0
$GC,21018,0.50,155.7,955.1,12.7,693,21022,0.00,2.42,0.00,0.000,6,0.000,0.038,3276,1951,2360,0,0,0,0,0,0
$GC,21344,0.50,155.7,910.8,13.8,701,21348,0.00,2.45,0.00,0.000,4,0.000,0.050,3289,348,2361,0,0,0,0,0,0
$GC,21388,0.50,155.7,904.2,13.2,702,21393,0.12,2.40,0.00,0.000,6,0.130,0.043,3247,1943,2361,0,0,0,0,0,0
$GC,21708,0.50,155.7,866.7,11.6,710,21712,0.00,2.45,0.00,0.000,4,0.000,0.057,3247,3532,2361,0,0,0,0,0,0
$GC,21734,0.50,155.7,862.9,13.3,710,21739,0.00,2.45,0.00,0.000,6,0.000,0.043,3258,1944,2361,0,0,0,0,0,0
$GC,22065,0.50,155.7,822.4,12.3,718,22070,0.00,2.45,0.00,0.000,4,0.000,0.052,3271,348,2361,0,0,0,0,0,0
$GC,22099,0.50,155.7,818.1,14.0,718,22104,0.00,2.40,0.00,0.000,6,0.000,0.044,3271,1951,2360,0,0,0,0,0,0
$GC,22430,0.50,155.7,774.0,13.5,727,22434,0.00,2.40,0.00,0.000,4,0.000,0.053,3271,3526,2361,0,0,0,0,0,0
$GC,22480,0.50,155.7,766.8,13.6,728,22484,0.00,2.42,0.00,0.000,6,0.000,0.041,3283,1930,2360,0,0,0,0,0,0
$GC,22793,0.50,155.7,722.4,13.8,736,22797,0.00,2.38,0.00,0.000,4,0.000,0.051,3296,361,2361,0,0,0,0,0,0
$GC,22860,0.50,155.7,713.1,14.1,737,22866,0.15,2.38,0.00,0.000,6,0.123,0.043,3246,1943,2361,0,0,0,0,0,0
$GC,23200,0.50,155.7,678.6,10.0,746,23205,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3531,2361,0,0,0,0,0,0
$GC,23244,0.50,155.7,673.3,13.1,747,23249,0.00,2.42,0.00,0.000,6,0.000,0.042,3257,1945,2362,0,0,0,0,0,0
$GC,23565,0.50,155.7,639.8,10.5,755,23569,0.00,2.42,0.00,0.000,4,0.000,0.051,3269,348,2361,0,0,0,0,0,0
$GC,23620,0.50,155.7,633.7,7.9,756,23624,0.00,2.38,0.00,0.000,6,0.000,0.043,3269,1941,2362,0,0,0,0,0,0
$GC,23970,0.50,155.7,597.5,10.5,765,23974,0.00,2.42,0.00,0.000,4,0.000,0.053,3269,3532,2362,0,0,0,0,0,0
$GC,24014,0.50,155.7,591.7,12.1,766,24019,0.00,2.45,0.00,0.000,6,0.000,0.042,3282,1926,2362,0,0,0,0,0,0
$GC,24335,0.50,155.7,553.3,11.7,774,24340,0.00,2.40,0.00,0.000,4,0.000,0.051,3294,348,2362,0,0,0,0,0,0
$GC,24385,0.50,155.7,547.4,11.6,775,24390,0.15,2.40,0.00,0.000,6,0.119,0.044,3244,1942,2363,0,0,0,0,0,0
$GC,24700,0.50,155.7,521.1,8.6,783,24704,0.00,2.45,0.00,0.000,4,0.000,0.052,3244,3530,2363,0,0,0,0,0,0
$GC,24732,0.50,155.7,517.8,9.2,783,24737,0.00,2.42,0.00,0.000,6,0.000,0.040,3255,1937,2362,0,0,0,0,0,0
$GC,25063,0.50,155.7,485.6,9.7,792,25067,0.00,2.42,0.00,0.000,4,0.000,0.051,3267,353,2363,0,0,0,0,0,0
$GC,25135,0.50,155.7,478.2,10.3,793,25140,0.00,2.40,0.00,0.000,6,0.000,0.042,3267,1948,2364,0,0,0,0,0,0
$GC,25466,0.50,155.7,446.7,9.1,801,25467,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1948,2364,0,0,0,0,0,0
$GC,25792,0.50,155.7,419.4,8.5,809,25793,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1948,2365,0,0,0,0,0,0
$GC,26116,0.50,155.7,388.3,9.6,817,26117,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1948,2367,0,0,0,0,0,0
$GC,26441,0.50,155.7,359.9,8.2,825,26445,0.00,2.42,0.00,0.000,4,0.000,0.050,3267,3533,2368,0,0,0,0,0,0
$GC,26491,0.50,155.7,355.5,9.2,826,26500,0.00,2.42,3.95,0.660,6,0.000,0.038,3279,1940,2359,0,0,0,0,0,0
$GC,26809,0.50,155.7,330.1,7.9,834,26813,0.00,2.47,0.00,0.000,4,0.000,0.049,3292,346,2361,0,0,0,0,0,0
$GC,26915,0.50,155.7,320.0,9.6,836,26920,0.12,2.35,0.00,0.000,6,0.122,0.038,3248,1944,2361,0,0,0,0,0,0
$GC,27237,0.50,155.7,292.9,8.3,846,27241,0.00,2.42,0.00,0.000,4,0.000,0.048,3248,3534,2363,0,0,0,0,0,0
$GC,27271,0.50,155.7,290.0,9.4,847,27276,0.00,2.42,0.00,0.000,6,0.000,0.038,3257,1942,2363,0,0,0,0,0,0
$GC,27586,0.50,155.7,266.4,6.7,863,27590,0.00,2.42,0.00,0.000,4,0.000,0.047,3270,346,2364,0,0,0,0,0,0
$GC,27641,0.50,155.7,262.4,7.1,865,27646,0.00,2.38,0.00,0.000,6,0.000,0.038,3270,1963,2365,0,0,0,0,0,0
$GC,27956,0.50,155.7,238.4,7.8,881,27960,0.00,2.40,0.00,0.000,4,0.000,0.048,3270,3518,2366,0,0,0,0,0,0
$GC,28057,0.50,155.7,229.8,10.2,885,28061,0.00,2.40,0.00,0.000,6,0.000,0.035,3282,1931,2367,0,0,0,0,0,0
$GC,28373,0.51,156.3,207.6,6.0,901,28382,0.00,2.42,4.47,0.632,4,0.000,0.046,3294,348,2357,0,0,0,0,0,0
$GC,28439,0.51,156.3,202.8,7.7,904,28444,0.12,2.33,0.00,0.000,6,0.115,0.037,3249,1933,2357,0,0,0,0,0,0
$GC,28762,0.52,165.7,183.4,5.8,932,28777,0.00,2.42,9.98,0.822,4,0.000,0.048,3248,3530,2319,0,0,0,0,0,0
$GC,28793,0.53,175.0,181.3,5.8,934,28809,0.00,2.40,9.38,0.801,6,0.000,0.036,3258,1935,2281,0,0,0,0,0,0
$GC,29067,0.59,224.0,167.0,4.7,960,29113,0.00,2.42,40.85,0.909,4,0.000,0.045,3269,357,2080,0,0,0,0,0,0
$GC,29136,0.63,260.5,163.6,5.0,966,29175,0.00,2.38,31.42,0.900,6,0.000,0.037,3269,1942,1932,0,0,0,0,0,0
$GC,29430,0.63,260.5,143.2,7.6,994,29434,0.00,2.45,0.00,0.000,4,0.000,0.046,3270,3543,1935,0,0,0,0,0,0
$GC,29528,0.63,260.5,135.8,7.0,1002,29533,0.00,2.40,0.00,0.000,6,0.000,0.034,3270,1927,1936,0,0,0,0,0,0
$GC,29790,0.63,260.5,114.6,8.1,1026,29794,0.00,2.35,0.00,0.000,4,0.000,0.044,3269,356,1938,0,0,0,0,0,0
$GC,29880,0.63,260.5,107.3,7.5,1033,29884,0.00,2.33,0.00,0.000,6,0.000,0.036,3270,1956,1939,0,0,0,0,0,0
$GC,30140,0.63,260.5,86.1,8.0,1058,30144,0.00,2.40,0.00,0.000,4,0.000,0.044,3270,365,1940,0,0,0,0,0,0
$GC,30196,0.63,260.5,81.5,8.7,1062,30201,0.00,2.30,0.00,0.000,6,0.000,0.038,3270,1933,1941,0,0,0,0,0,0
$GC,30457,0.63,260.5,61.2,8.3,1087,30461,0.00,2.33,0.00,0.000,4,0.000,0.044,3270,364,1942,0,0,0,0,0,0
$GC,30559,0.63,260.5,52.3,8.5,1096,30569,0.00,2.30,4.10,0.525,6,0.000,0.037,3264,1960,1932,0,0,0,0,0,0
$GC,30824,0.63,260.5,29.9,7.6,1121,30828,0.00,2.38,0.00,0.000,4,0.000,0.044,3264,364,1934,0,0,0,0,0,0
$GC,30941,0.63,260.5,19.1,8.5,1131,30946,0.12,2.30,0.00,0.000,6,0.110,0.036,3305,1945,1934,0,0,0,0,0,0
$STATE,31124,end climb,SURFACE_DEPTH_REACHED
$STATE,31124,begin surface coast
$FINISH,0.9,NaN
$STATE,31146,end surface coast,CONTROL_FINISHED_OK
$STATE,31146,begin surface
$SM_CCo,31166,188.38,0.815,0,0,475,618.15
$SM_GC,0.87,0.00,0.00,188.38,0.000,0.000,0.815,112,2131,475,-9.31,1.16,618.15
$IRIDIUM_FIX,2122.58,12819.32,170912,000019
$TT8_MAMPS,0.03068
$HUMID,1078749023
$INTERNAL_PRESSURE,9.12999
$TCM_TEMP,23.90
$XPDR_PINGS,945
$24V_AH,21.6,89.826
$10V_AH,8.0,66.517
$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,21.650,348.425,393.275,188.375,0.000,29.051,35.416,290.088,236.250,0.000,10.085,1771.047,25204.225,826.421,3395.324,633.055,33.383,2512.428,0.000,2955.357,0.000,0.541,0.000
$DEVICE_MAMPS,213.993,65.195,1583.088,815.321,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,36669,1150
$CAP_FILE_SIZE,343561,0
$CFSIZE,260165632,177111040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250311,235400,2131.568,12815.051,37,1.2,37,-3.0