From http://linux.die.net/man/3/printf:
f, F
The double argument is rounded and converted to decimal notation in the style [-]ddd.ddd, where the number of digits after the decimal-point character is equal to the precision specification. If the precision is missing, it is taken as 6; if the precision is explicitly zero, no decimal-point character appears. If a decimal point appears, at least one digit appears before it.