version: 66.04
glider: 108
mission: 11
dive: 141
start: 10 3 108 22 4 50
data:
$ID,108
$MISSION,11
$DIVE,141
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,-113585.56
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,215637,6642.429,-5949.507,64,1.0,64,-37.9
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-63.2
$GPS2,220357,6642.344,-5949.472,9,1.2,9,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.030,0.231
$KALMAN_X,44035.0,-88.4,403.1,-99966.0,137.1
$KALMAN_Y,-83810.7,911.1,-258.2,65588.0,-4502.0
$MHEAD_RNG_PITCHd_Wd,45.3,32908,-13.0,-7.021
$D_GRID,749
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.00,-146.0,0.0,0.0,0,49,0.00,0.00,-29.40,0.000,2,0.000,0.000,337,2243,2307
$GC,51,-1.00,-146.0,3.2,-2.4,5,115,8.38,2.45,-46.50,0.000,4,0.245,0.084,2444,812,3344
$GC,201,-0.59,-146.0,19.8,-18.9,31,208,0.32,2.38,0.00,0.000,6,0.140,0.067,2531,2243,3347
$GC,544,-0.59,-146.0,47.7,-8.0,92,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2243,3349
$GC,887,-0.64,-146.0,73.9,-7.4,153,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2243,3351
$GC,1230,-0.73,-146.0,96.6,-6.2,214,1236,0.12,0.00,0.00,0.000,6,0.085,0.000,2482,2243,3351
$GC,1564,-0.64,-146.0,122.2,-7.4,236,1569,0.15,2.35,0.00,0.000,4,0.151,0.069,2525,810,3351
$GC,1619,-0.68,-146.0,126.1,-6.8,238,1626,0.00,2.35,0.00,0.000,6,0.000,0.066,2516,2244,3350
$GC,1934,-0.73,-146.0,147.8,-7.1,254,1938,0.00,2.20,0.00,0.000,4,0.000,0.079,2506,3596,3350
$GC,1995,-0.73,-146.0,152.7,-8.0,256,2002,0.00,2.22,0.00,0.000,6,0.000,0.058,2506,2214,3350
$GC,2312,-0.73,-146.0,177.3,-8.0,272,2315,0.00,2.22,0.00,0.000,4,0.000,0.071,2506,821,3350
$GC,2417,-0.73,-146.0,186.1,-8.1,276,2424,0.00,2.33,0.00,0.000,6,0.000,0.068,2497,2234,3349
$GC,2733,-0.73,-146.0,209.2,-6.8,292,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2234,3349
$GC,3042,-0.73,-146.0,229.3,-6.4,307,3046,0.00,2.30,0.00,0.000,4,0.000,0.071,2496,819,3348
$GC,3142,-0.73,-146.0,236.6,-7.1,311,3146,0.00,2.33,0.00,0.000,6,0.000,0.069,2486,2255,3348
$GC,3463,-0.73,-146.0,259.3,-7.4,327,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2255,3348
$GC,3774,-0.73,-146.0,282.0,-7.2,342,3778,0.00,2.17,0.00,0.000,4,0.000,0.083,2476,3610,3347
$GC,3845,-0.73,-146.0,287.8,-8.1,345,3850,0.05,2.20,0.00,0.000,6,0.155,0.059,2493,2231,3347
$GC,4173,-0.73,-146.0,309.2,-6.5,361,4176,0.00,2.25,0.00,0.000,4,0.000,0.072,2494,812,3347
$GC,4222,-0.73,-146.0,312.7,-7.1,363,4226,0.00,2.33,0.00,0.000,6,0.000,0.067,2487,2234,3347
$GC,4549,-0.73,-146.0,334.8,-6.6,379,4553,0.00,2.17,0.00,0.000,4,0.000,0.081,2476,3596,3347
$GC,4616,-0.73,-146.0,339.6,-7.7,382,4620,0.10,2.15,0.00,0.000,6,0.156,0.057,2502,2220,3347
$GC,4948,-0.81,-146.0,358.2,-5.5,398,4951,0.00,2.22,0.00,0.000,4,0.000,0.071,2502,813,3347
$GC,5060,-0.87,-146.0,364.7,-5.5,403,5065,0.10,2.30,0.00,0.000,6,0.089,0.067,2452,2245,3347
$GC,5387,-0.77,-146.0,387.5,-7.0,419,5388,0.15,0.00,0.00,0.000,6,0.149,0.000,2493,2244,3347
$GC,5715,-0.83,-146.0,404.9,-5.1,433,5719,0.00,2.20,0.00,0.000,4,0.000,0.079,2485,3606,3347
$GC,5776,-0.89,-146.0,408.4,-5.9,434,5780,0.00,2.17,0.00,0.000,6,0.000,0.057,2485,2221,3347
$GC,6089,-0.89,-146.0,423.8,-4.8,442,6093,0.00,2.22,0.00,0.000,4,0.000,0.069,2485,817,3347
$GC,6166,-0.89,-146.0,427.9,-4.9,443,6170,0.00,2.33,0.00,0.000,6,0.000,0.065,2475,2243,3347
$GC,6503,-0.89,-146.0,444.9,-5.2,452,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2243,3348
$GC,6828,-0.89,-146.0,462.9,-5.6,460,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2243,3348
$GC,7153,-0.89,-146.0,480.9,-5.6,468,7158,0.00,2.33,0.00,0.000,4,0.000,0.067,2475,809,3349
$GC,7236,-0.84,-146.0,486.1,-6.2,469,7243,0.00,2.30,0.00,0.000,6,0.000,0.064,2464,2237,3349
$GC,7567,-0.84,-146.0,504.7,-5.5,478,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2237,3349
$GC,7892,-0.80,-146.0,522.8,-5.7,486,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2237,3349
$GC,8217,-0.80,-146.0,541.9,-5.8,494,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2237,3349
$GC,8542,-0.80,-146.0,561.8,-6.1,502,8546,0.00,2.33,0.00,0.000,4,0.000,0.067,2464,809,3350
$GC,8659,-0.72,-146.0,569.4,-6.4,504,8664,0.17,2.33,0.00,0.000,6,0.139,0.064,2505,2237,3350
$GC,8993,-0.85,-146.0,585.1,-4.7,512,8995,0.12,0.00,0.00,0.000,6,0.084,0.000,2455,2237,3350
$GC,9315,-0.79,-146.0,606.4,-6.8,520,9317,0.12,0.00,0.00,0.000,6,0.155,0.000,2488,2237,3350
$GC,9640,-0.86,-146.0,624.1,-5.4,528,9644,0.00,2.30,0.00,0.000,4,0.000,0.067,2489,817,3350
$GC,9700,-0.86,-146.0,627.6,-5.4,529,9704,0.00,2.30,0.00,0.000,6,0.000,0.064,2480,2240,3350
$GC,10048,-0.86,-146.0,648.0,-6.0,538,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2240,3350
$GC,10373,-0.86,-146.0,666.1,-5.5,546,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2239,3350
$GC,10698,-0.86,-146.0,684.1,-5.5,554,10702,0.00,2.30,0.00,0.000,4,0.000,0.066,2480,816,3350
$GC,10781,-0.86,-146.0,688.9,-5.9,555,10788,0.00,2.28,0.00,0.000,6,0.000,0.063,2470,2246,3350
$GC,11112,-0.86,-146.0,707.6,-5.7,564,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2245,3350
$GC,11437,-0.86,-146.0,725.4,-5.4,572,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2245,3350
$GC,11762,-0.86,-146.0,748.2,-6.9,580,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2245,3350
$STATE,11802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11802,begin apogee
$GC,11807,-0.31,0.0,750.1,6.2,581,11936,0.38,0.00,125.38,1.343,6,0.129,0.000,2588,1732,2745
$STATE,11937,end apogee,CONTROL_FINISHED_OK
$STATE,11937,begin climb
$GC,11939,1.00,146.0,751.8,0.0,584,12071,0.88,0.00,128.77,1.267,6,0.102,0.000,2871,1732,2149
$GC,12387,0.76,146.0,708.7,10.3,595,12389,0.20,0.00,0.00,0.000,6,0.129,0.000,2815,1732,2142
$GC,12710,0.78,161.9,685.9,6.5,603,12730,0.00,2.53,13.55,1.180,4,0.000,0.070,2815,3152,2085
$GC,12758,0.67,161.9,682.3,7.7,604,12763,0.00,2.38,0.00,0.000,6,0.000,0.056,2822,1737,2084
$GC,13082,0.67,161.9,657.5,7.5,612,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1737,2083
$GC,13407,0.67,161.9,632.6,7.7,620,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1737,2082
$GC,13732,0.67,161.9,607.3,7.8,628,13736,0.00,2.38,0.00,0.000,4,0.000,0.070,2822,3154,2082
$GC,13753,0.58,161.9,605.5,8.5,628,13758,0.17,2.30,0.00,0.000,6,0.136,0.056,2782,1735,2081
$GC,14101,0.77,202.9,585.3,5.7,637,14144,0.15,2.45,35.70,1.230,4,0.075,0.069,2846,3156,1915
$GC,14166,0.59,202.9,579.5,10.4,638,14171,0.25,2.35,0.00,0.000,6,0.133,0.056,2785,1742,1912
$GC,14514,0.81,235.6,558.4,6.0,647,14544,0.17,0.00,28.20,1.195,6,0.069,0.000,2856,1742,1784
$GC,14838,0.69,235.6,524.8,10.6,655,14840,0.17,0.00,0.00,0.000,6,0.124,0.000,2805,1742,1776
$GC,15163,0.81,235.6,500.8,7.1,663,15165,0.10,0.00,0.00,0.000,6,0.084,0.000,2850,1742,1776
$GC,15489,0.72,235.6,468.1,10.2,671,15493,0.15,2.35,0.00,0.000,4,0.127,0.071,2814,323,1775
$GC,15503,0.72,235.6,466.8,9.7,671,15508,0.00,2.38,0.00,0.000,6,0.000,0.056,2814,1740,1775
$GC,15852,0.81,240.6,441.9,6.9,680,15861,0.00,2.38,3.95,0.759,4,0.000,0.071,2814,3157,1765
$GC,15896,0.81,240.6,438.4,8.3,681,15900,0.00,2.30,0.00,0.000,6,0.000,0.056,2823,1734,1763
$GC,16225,0.81,240.6,413.6,7.5,689,16226,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1734,1763
$GC,16532,0.86,240.6,390.0,7.7,699,16533,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1734,1763
$GC,16841,0.91,240.6,366.7,7.2,714,16846,0.12,2.38,0.00,0.000,4,0.081,0.070,2876,3160,1763
$GC,16863,0.82,240.6,364.7,8.6,715,16868,0.20,2.30,0.00,0.000,6,0.137,0.057,2828,1731,1762
$GC,17189,0.87,240.6,339.6,7.5,731,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1731,1762
$GC,17499,0.93,240.6,317.3,7.2,746,17500,0.12,0.00,0.00,0.000,6,0.079,0.000,2881,1731,1762
$GC,17809,0.77,240.6,283.3,11.2,761,17814,0.20,2.30,0.00,0.000,4,0.125,0.071,2824,325,1762
$GC,17836,0.82,240.6,280.6,7.9,762,17840,0.00,2.30,0.00,0.000,6,0.000,0.057,2824,1746,1762
$GC,18157,0.94,247.9,258.9,6.8,778,18172,0.12,2.30,8.05,0.936,4,0.079,0.071,2879,3155,1734
$GC,18183,0.85,247.9,256.6,10.6,779,18188,0.17,2.28,0.00,0.000,6,0.135,0.057,2839,1733,1733
$GC,18512,0.92,247.9,232.4,7.1,795,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1733,1732
$GC,18819,1.03,257.7,211.4,6.7,810,18832,0.15,0.00,10.10,0.950,6,0.075,0.000,2900,1733,1694
$GC,19129,0.91,257.7,179.0,10.6,825,19133,0.17,2.33,0.00,0.000,4,0.126,0.072,2856,332,1691
$GC,19150,0.91,257.7,177.0,8.7,826,19154,0.00,2.33,0.00,0.000,6,0.000,0.058,2856,1743,1691
$GC,19481,0.97,257.7,150.9,8.1,842,19485,0.00,2.33,0.00,0.000,4,0.000,0.074,2856,3156,1691
$GC,19513,0.97,257.7,147.7,9.6,843,19518,0.00,2.35,0.00,0.000,6,0.000,0.058,2864,1735,1690
$GC,19836,0.97,257.7,122.5,7.3,859,19840,0.00,2.35,0.00,0.000,4,0.000,0.073,2865,3152,1690
$GC,19851,0.97,257.7,121.2,7.3,859,19859,0.00,2.35,0.00,0.000,6,0.000,0.058,2873,1736,1689
$GC,20169,0.98,269.6,98.4,6.6,878,20187,0.00,2.35,11.02,0.930,4,0.000,0.075,2884,334,1646
$GC,20222,1.03,269.6,94.6,7.3,887,20228,0.00,2.33,0.00,0.000,6,0.000,0.059,2883,1744,1645
$GC,20565,1.03,269.6,68.3,7.7,948,20572,0.00,2.33,0.00,0.000,4,0.000,0.075,2884,3155,1643
$GC,20600,1.03,269.6,65.3,8.6,954,20606,0.00,2.33,0.00,0.000,6,0.000,0.060,2893,1737,1641
$GC,20944,1.04,273.5,38.4,6.9,1015,20956,0.00,2.38,4.55,0.740,4,0.000,0.077,2903,333,1629
$GC,20990,1.04,277.4,35.2,6.9,1023,21002,0.00,2.33,5.03,0.762,6,0.000,0.061,2903,1742,1614
$GC,21339,1.04,277.4,14.1,8.4,1085,21345,0.00,2.33,0.00,0.000,4,0.000,0.077,2903,3154,1610
$GC,21430,0.98,277.4,6.0,9.9,1101,21438,0.15,2.33,0.00,0.000,6,0.133,0.062,2867,1732,1609
$STATE,21469,end climb,SURFACE_DEPTH_REACHED
$STATE,21469,begin surface coast
$FINISH,2.1,1.025226
$STATE,21510,end surface coast,CONTROL_FINISHED_OK
$STATE,21510,begin surface
$SM_CCo,21586,0.00,0.000,0,0,1606,279.15
$SM_GC,2.61,6.82,0.00,0.00,0.058,0.000,0.000,338,2242,1606,-10.57,0.34,279.15
$RAFOS_CLK,922
$RAFOS,4,1223081046,0.750000,0.735000,63,59,59,58,55,54,198,123,773,214,142,167
$RAFOS,3,1223080477,0.583333,0.576944,59,59,59,59,55,54,156,190,223,531,211,123
$RAFOS,2,1223079867,0.416667,0.407500,66,64,52,52,51,51,206,159,172,217,145,751
$RAFOS,1,1223079258,0.250000,0.238333,115,59,58,55,53,52,573,221,201,146,177,157
$RAFOS,0,1223078647,0.083333,0.068611,83,63,62,53,51,49,551,195,208,183,167,149
$RAFOS_FIX,6645.647949,-5946.937988,041008,000044,2,99,0.83
$IRIDIUM_FIX,6614.97,-5954.40,281297,161639
$TT8_MAMPS,0.026845
$HUMID,1832
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.40
$XPDR_PINGS,53
$24V_AH,22.7,27.589
$10V_AH,10.6,12.704
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.675,140.300,374.300,0.000,0.000,30.536,31.705,262.960,13.250,0.000,0.000,10.783,2067.043,16861.148,539.358,2062.526,519.455,33.366,1642.046,0.000,2033.956,1800.000,0.531,0.000
$DEVICE_MAMPS,245.440,83.603,1343.017,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37809,1115
$CAP_FILE_SIZE,154205,0
$CFSIZE,260165632,243359744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,041008,040626,6643.978,-5947.074,39,1.3,39,-38.0