version: 66.13
glider: 137
mission: 5
dive: 376
start: 5 25 117 1 25 27
data:
$ID,137
$MISSION,5
$DIVE,376
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031300001
$HD_B,0.023700001
$HD_C,7.0400001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2597
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,200
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,250517,011933,1211.4875,6307.3252,42,0.7,50,-1.1,0.6,46.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-68.2
$GPS2,250517,012452,1211.5413,6307.3867,12,0.7,21,-1.1,1.5,60.3,10,9.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,OFFSHORE
$TGT_LATLONG,730.000,6920.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,125.2,860215,-21.5,-10.000,-28.12,2673
$D_GRID,990
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.65,-175.2,95,1998,326,570,0.0,0.0,0,87,0.00,0.00,-77.15,0.000,16386,0.000,0.000,95,1997,2532,2462,2603,0,0,0,0,0,0,14.85,28.83,14.88
$GC,90,-1.65,-175.2,96,1997,2462,2603,4.1,-4.3,13,129,13.48,2.60,-15.55,0.000,18724,0.389,2.007,2797,3326,3313,3185,3442,0,0,0,0,0,0,13.99,12.86,14.26
$GC,209,-1.74,-175.2,2797,3326,3186,3443,24.0,-14.2,34,216,0.00,2.25,0.00,0.000,1158,0.000,0.031,2797,1948,3314,3186,3442,0,0,0,0,0,0,14.64,14.58,14.66
$GC,524,-1.82,-175.2,2797,1947,3186,3443,67.1,-12.9,83,533,0.00,2.30,0.00,0.000,388,0.000,0.047,2787,3332,3314,3186,3442,0,0,0,0,0,0,14.97,14.53,15.00
$GC,566,-1.92,-175.2,2787,3332,3186,3443,72.2,-12.0,91,575,0.12,2.22,0.00,0.000,5254,0.137,0.031,2735,1953,3314,3186,3442,0,0,0,0,0,0,14.60,14.67,14.70
$GC,876,-1.92,-175.2,2735,1953,3187,3442,110.3,-12.4,123,880,0.00,2.33,0.00,0.000,260,0.000,0.046,2725,3347,3315,3187,3443,0,0,0,0,0,0,15.02,14.66,15.04
$GC,907,-1.92,-175.2,2724,3348,3187,3442,114.2,-13.4,129,912,0.15,2.22,0.00,0.000,3078,0.242,0.031,2757,1959,3315,3187,3443,0,0,0,0,0,0,14.35,14.71,14.61
$GC,1221,-1.98,-175.2,2757,1959,3189,3442,147.2,-10.5,161,1225,0.00,2.30,0.00,0.000,644,0.000,0.050,2757,563,3315,3189,3442,0,0,0,0,0,0,15.04,14.67,15.06
$GC,1287,-2.04,-175.2,2757,563,3189,3442,155.0,-10.6,174,1294,0.00,2.22,0.00,0.000,1158,0.000,0.028,2749,1955,3316,3189,3443,0,0,0,0,0,0,14.80,14.74,14.82
$GC,1594,-2.12,-175.2,2748,1955,3190,3442,186.7,-9.3,205,1600,0.12,2.30,0.00,0.000,4516,0.125,0.044,2687,3359,3316,3190,3442,0,0,0,0,0,0,14.75,14.69,14.77
$GC,1611,-2.16,-175.2,2687,3359,3190,3442,188.6,-9.3,208,1618,0.00,2.25,0.00,0.000,1190,0.000,0.031,2687,1960,3316,3190,3442,0,0,0,0,0,0,14.81,14.74,14.82
$GC,1920,-2.16,-175.2,2686,1959,3190,3442,218.7,-9.4,239,1927,0.00,2.30,0.00,0.000,292,0.000,0.045,2677,3358,3316,3190,3442,0,0,0,0,0,0,15.02,14.69,15.04
$GC,2066,-2.16,-175.2,2677,3358,3190,3442,234.1,-10.0,266,2076,0.12,2.25,0.00,0.000,3110,0.282,0.030,2700,1953,3316,3190,3443,0,0,0,0,0,0,14.34,14.74,14.62
$GC,2395,-2.16,-175.2,2700,1953,3190,3442,265.0,-9.7,289,2401,0.00,2.30,0.00,0.000,548,0.000,0.052,2702,560,3315,3189,3442,0,0,0,0,0,0,15.04,14.68,15.06
$GC,2462,-2.16,-175.2,2702,560,3190,3442,272.6,-10.7,302,2469,0.00,2.25,0.00,0.000,1030,0.000,0.031,2694,1961,3316,3190,3442,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2792,-2.16,-175.2,2694,1962,3189,3442,308.6,-11.3,317,2798,0.00,2.35,0.00,0.000,516,0.000,0.053,2696,568,3316,3190,3442,0,0,0,0,0,0,15.04,14.68,15.07
$GC,2836,-2.16,-175.2,2695,568,3190,3443,314.1,-12.0,325,2842,0.00,2.25,0.00,0.000,1030,0.000,0.031,2687,1963,3316,3190,3442,0,0,0,0,0,0,14.81,14.75,14.83
$GC,3161,-2.16,-175.2,2687,1964,3190,3443,348.5,-10.4,339,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1963,3316,3190,3442,0,0,0,0,0,0,15.05,15.07,15.07
$GC,3462,-2.16,-175.2,2687,1964,3190,3442,378.2,-9.8,349,3467,0.00,2.35,0.00,0.000,548,0.000,0.055,2689,578,3316,3190,3442,0,0,0,0,0,0,15.04,14.66,15.07
$GC,3528,-2.16,-175.2,2689,577,3189,3442,385.4,-9.7,361,3535,0.12,2.25,0.00,0.000,3110,0.279,0.034,2705,1965,3316,3190,3442,0,0,0,0,0,0,14.35,14.73,14.62
$GC,3864,-2.21,-175.2,2705,1966,3187,3439,417.2,-9.7,377,3865,0.00,0.00,0.00,0.000,166,0.000,0.000,2705,1966,3314,3188,3440,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4165,-2.25,-175.2,2705,1966,3186,3439,448.4,-10.5,387,4172,0.00,2.38,0.00,0.000,644,0.000,0.057,2709,574,3312,3186,3438,0,0,0,0,0,0,15.04,14.64,15.06
$GC,4225,-2.29,-175.2,2709,574,3185,3438,455.4,-11.1,398,4233,0.10,2.28,0.00,0.000,5254,0.176,0.035,2673,1965,3311,3185,3438,0,0,0,0,0,0,14.58,14.72,14.71
$GC,4532,-2.29,-175.2,2673,1966,3183,3435,489.7,-11.2,409,4537,0.00,2.40,0.00,0.000,516,0.000,0.063,2673,572,3309,3183,3436,0,0,0,0,0,0,15.05,14.63,15.07
$GC,4560,-2.26,-175.2,2673,572,3183,3436,493.4,-12.1,414,4568,0.00,2.28,0.00,0.000,1158,0.000,0.036,2663,1958,3309,3182,3436,0,0,0,0,0,0,14.78,14.72,14.81
$GC,4867,-2.26,-175.2,2662,1958,3182,3433,527.3,-11.0,425,4872,0.00,2.38,0.00,0.000,516,0.000,0.057,2663,569,3307,3182,3433,0,0,0,0,0,0,15.04,14.63,15.07
$GC,4911,-2.21,-175.2,2662,569,3182,3433,532.7,-11.9,433,4918,0.17,2.30,0.00,0.000,3206,0.288,0.036,2687,1975,3307,3182,3433,0,0,0,0,0,0,14.22,14.71,14.52
$GC,5236,-2.21,-175.2,2687,1975,3181,3431,566.5,-10.5,447,5243,0.00,2.30,0.00,0.000,260,0.000,0.056,2679,3354,3305,3181,3430,0,0,0,0,0,0,15.03,14.64,15.05
$GC,5276,-2.24,-175.2,2679,3354,3181,3430,571.1,-10.5,454,5283,0.00,2.28,0.00,0.000,1158,0.000,0.035,2680,1969,3305,3181,3430,0,0,0,0,0,0,14.77,14.70,14.79
$GC,5606,-2.24,-175.2,2679,1968,3179,3428,606.7,-10.7,469,5612,0.00,2.40,0.00,0.000,516,0.000,0.060,2688,550,3303,3178,3428,0,0,0,0,0,0,15.03,14.62,15.05
$GC,5691,-2.24,-175.2,2688,550,3177,3428,616.1,-10.7,485,5697,0.00,2.30,0.00,0.000,1030,0.000,0.034,2680,1955,3302,3177,3428,0,0,0,0,0,0,14.76,14.70,14.79
$GC,6005,-2.24,-175.2,2680,1955,3177,3426,647.8,-10.2,497,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1955,3301,3176,3426,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6307,-2.24,-175.2,2680,1955,3175,3424,677.9,-10.0,507,6314,0.00,2.40,0.00,0.000,548,0.000,0.062,2680,564,3299,3175,3424,0,0,0,0,0,0,15.03,14.59,15.05
$GC,6366,-2.24,-175.2,2680,564,3174,3424,684.6,-10.6,518,6374,0.00,2.33,0.00,0.000,1030,0.000,0.037,2671,1966,3299,3174,3424,0,0,0,0,0,0,14.75,14.68,14.78
$GC,6674,-2.24,-175.2,2670,1966,3172,3422,716.3,-10.7,529,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1966,3297,3172,3422,0,0,0,0,0,0,15.04,15.07,15.06
$GC,6974,-2.24,-175.2,2670,1966,3171,3421,749.1,-11.0,539,6979,0.00,2.45,0.00,0.000,516,0.000,0.062,2671,552,3295,3171,3420,0,0,0,0,0,0,15.02,14.57,15.04
$GC,7032,-2.24,-175.2,2671,552,3171,3420,756.4,-11.7,550,7041,0.12,2.35,0.00,0.000,3078,0.284,0.039,2684,1968,3295,3171,3420,0,0,0,0,0,0,14.25,14.66,14.53
$GC,7341,-2.24,-175.2,2684,1968,3170,3419,789.3,-10.8,561,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1968,3294,3170,3419,0,0,0,0,0,0,15.04,15.06,15.06
$GC,7641,-2.24,-175.2,2684,1968,3169,3418,821.5,-10.7,571,7645,0.00,2.45,0.00,0.000,516,0.000,0.065,2687,563,3293,3169,3418,0,0,0,0,0,0,15.02,14.56,15.04
$GC,7684,-2.24,-175.2,2687,563,3168,3418,826.8,-11.5,579,7689,0.00,2.33,0.00,0.000,1030,0.000,0.041,2679,1955,3293,3169,3418,0,0,0,0,0,0,14.73,14.65,14.76
$GC,8008,-2.24,-175.2,2679,1955,3168,3417,861.1,-10.8,593,8014,0.00,2.45,0.00,0.000,516,0.000,0.070,2679,562,3292,3168,3417,0,0,0,0,0,0,15.03,14.53,15.05
$GC,8072,-2.24,-175.2,2679,562,3167,3417,868.6,-11.1,605,8078,0.00,2.35,0.00,0.000,1030,0.000,0.041,2670,1968,3292,3167,3417,0,0,0,0,0,0,14.72,14.64,14.74
$GC,8406,-2.24,-175.2,2669,1968,3166,3416,904.2,-10.5,621,8411,0.00,2.45,0.00,0.000,516,0.000,0.063,2669,562,3291,3166,3416,0,0,0,0,0,0,15.02,14.54,15.04
$GC,8457,-2.24,-175.2,2669,562,3165,3416,909.9,-11.2,630,8464,0.12,2.35,0.00,0.000,3078,0.292,0.043,2681,1966,3290,3165,3416,0,0,0,0,0,0,14.18,14.62,14.47
$GC,8780,-2.24,-175.2,2681,1966,3164,3416,941.0,-9.4,643,8781,0.00,0.00,0.00,0.000,38,0.000,0.000,2681,1966,3290,3164,3416,0,0,0,0,0,0,15.02,15.04,15.04
$GC,9079,-2.24,-175.2,2681,1966,3164,3415,968.6,-9.1,653,9085,0.00,2.45,0.00,0.000,548,0.000,0.063,2689,563,3289,3163,3415,0,0,0,0,0,0,15.02,14.53,15.04
$GC,9130,-2.24,-175.2,2689,562,3164,3415,973.6,-10.4,662,9137,0.00,2.35,0.00,0.000,1030,0.000,0.044,2681,1959,3289,3164,3415,0,0,0,0,0,0,14.69,14.62,14.73
$STATE,9329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9329,begin apogee
$GC,9335,-0.33,0.0,2681,1844,3164,3414,991.6,-9.2,671,9501,1.73,0.00,161.45,2.715,10246,0.275,0.000,3100,1837,2596,2473,2719,0,0,0,0,0,0,13.90,13.92,12.56
$STATE,9502,end apogee,CONTROL_FINISHED_OK
$STATE,9502,begin climb
$GC,9504,1.65,175.2,3100,1837,2470,2717,995.5,0.0,676,9677,1.48,2.62,164.07,2.713,10756,0.164,0.080,3534,463,1879,1744,2014,0,0,0,0,0,0,13.92,13.82,12.47
$GC,9708,1.49,175.2,3533,463,1736,2014,977.1,13.1,697,9713,0.20,2.42,0.00,0.000,5254,0.373,0.042,3501,1861,1875,1736,2014,0,0,0,0,0,0,13.83,14.16,14.14
$GC,10022,1.39,175.2,3501,1861,1729,2014,940.5,11.6,709,10027,0.12,2.40,0.00,0.000,4484,0.399,0.070,3470,3237,1871,1729,2014,0,0,0,0,0,0,14.16,14.54,14.41
$GC,10038,1.31,175.2,3470,3237,1729,2013,938.6,11.4,712,10042,0.00,2.38,0.00,0.000,1158,0.000,0.054,3479,1857,1871,1729,2013,0,0,0,0,0,0,14.68,14.59,14.71
$GC,10350,1.26,175.2,3478,1856,1727,2013,906.4,10.1,724,10352,0.15,0.00,0.00,0.000,4230,0.374,0.000,3453,1850,1870,1727,2014,0,0,0,0,0,0,14.22,14.69,14.62
$GC,10651,1.28,193.7,3453,1850,1726,2013,878.6,9.3,734,10674,0.00,2.45,17.60,2.406,8484,0.000,0.072,3453,3236,1801,1656,1946,0,0,0,0,0,0,15.00,14.21,13.14
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$STATE,18934,end climb,SURFACE_DEPTH_REACHED
$STATE,18935,begin surface coast
$FINISH,1.6,1.021643
$STATE,18961,end surface coast,CONTROL_FINISHED_OK
$STATE,18961,begin surface
$SM_CCo,18983,42.25,0.080,0,0,449,526.65
$SM_CCo,19028,-0.15,0.000,0,0,451,526.65
$SM_CCo,19032,0.08,0.214,0,0,450,526.65
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$IRIDIUM_FIX,1205.71,6308.34,240517,195042
$TT8_MAMPS,0.023968,0.158039
$HUMID,52.32
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.30
$XPDR_PINGS,7
$24V_AH,12.47,147.783
$10V_AH,12.65,0.000
$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,29.550,209.975,576.850,42.325,0.000,0.000,0.000,202.325,114.500,0.000,23.647,3061.780,12456.034,832.269,2671.983,325.754,0.000,2293.642,0.000,2116.345,0.000,761.351,0.000
$DEVICE_MAMPS,399.330,2007.360,2714.985,214.200,0.000,0.000,0.000,187.425,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225628
$DATA_FILE_SIZE,66628,1488
$CAP_FILE_SIZE,228990,0
$CFSIZE,260034560,225550336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.062,309.77,1
$GPS,250517,064407,1211.070,6308.021,43,0.7,49,-1.1,0.0,53.6,11,10.0