05 01 106 20 35 15
$ID,14
$DIVE,36
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$T_DIVE,550
$T_MISSION,580
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$D_OFFGRID,1001
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$KALMAN_USE,1
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-005
$SM_CC,350
$N_FILEKB,4
$TEL_PREFIX,1206
$TEL_NUM,5435947
$ALT_TEL_PREFIX,1206
$ALT_TEL_NUM,6162195
$CALL_NDIVES,1
$N_NOCOMM,1
$CALL_TRIES,5
$CALL_WAIT,60
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110676.05
$T_RSLEEP,13
$C_PITCH,2407
$PITCH_K,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_AD_RATE,150
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_K,0.028270001
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$C_VBD,2540
$VBD_K,-0.24529999
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$AH0_24V,91.800003
$AH0_10V,61.200001
$CAPTURING,1
$COMM_SEQ,0
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$GPS1,202935,4726.135,-12708.402,37,1.2,37
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-63.2
$GPS2,203356,4726.122,-12708.411,13,1.2,14,19.4
$SPEED_LIMITS,0.104,0.196
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.093,-0.172
$KALMAN_X,-30966.8,365.6,147.6,-75869.8,-2810.1
$KALMAN_Y,13338.8,-112.6,180.5,-90589.6,1201.7
$MHEAD_RNG_PITCHd_Wd,189.1,81155,-11.4,-6.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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
$GC,10,-0.87,-127.1,0.0,0,52,0.00,0.00,-40.35,0.000,2,0.000,0.000,34,1996,2077
$GC,52,-0.87,-127.1,-4.3,4,102,13.27,2.67,-31.88,0.000,4,0.206,0.104,2209,3406,3060
$GC,292,-0.87,-127.1,-12.2,28,296,0.00,2.50,0.00,0.000,6,0.000,0.064,2209,2007,3060
$GC,597,-0.87,-127.1,-11.2,79,601,0.00,2.67,0.00,0.000,4,0.000,0.091,2209,3403,3060
$GC,647,-0.87,-127.1,-11.3,89,651,0.00,2.50,0.00,0.000,6,0.000,0.064,2209,2007,3060
$GC,952,-0.87,-127.1,-8.1,128,955,0.00,2.58,0.00,0.000,4,0.000,0.074,2209,598,3060
$GC,962,-0.87,-127.1,-8.3,129,966,0.00,2.47,0.00,0.000,6,0.000,0.058,2209,2001,3060
$GC,1272,-0.87,-127.1,-7.8,160,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2001,3060
$GC,1582,-0.87,-127.1,-7.5,191,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2001,3060
$GC,1902,-0.87,-127.1,-6.7,208,1906,0.00,2.65,0.00,0.000,4,0.000,0.096,2209,3391,3061
$GC,1952,-0.87,-127.1,-6.8,210,1956,0.00,2.50,0.00,0.000,6,0.000,0.065,2209,1993,3061
$GC,2262,-0.87,-127.1,-7.1,226,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1993,3061
$GC,2582,-0.87,-127.1,-7.1,242,2586,0.00,2.67,0.00,0.000,4,0.000,0.095,2209,3395,3061
$GC,2637,-0.87,-127.1,-7.2,244,2641,0.00,2.50,0.00,0.000,6,0.000,0.066,2209,2000,3061
$GC,2942,-0.87,-127.1,-6.7,260,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2000,3061
$GC,3262,-0.87,-127.1,-6.7,276,3266,0.00,2.67,0.00,0.000,4,0.000,0.099,2209,3394,3061
$GC,3357,-0.87,-127.1,-7.6,280,3361,0.00,2.50,0.00,0.000,6,0.000,0.065,2210,1995,3061
$GC,3662,-0.87,-127.1,-6.8,296,3666,0.00,2.70,0.00,0.000,4,0.000,0.099,2209,3400,3061
$GC,3737,-0.87,-127.1,-7.2,299,3741,0.00,2.47,0.00,0.000,6,0.000,0.065,2209,2010,3061
$GC,4082,-0.87,-127.1,-7.2,307,4086,0.00,2.67,0.00,0.000,4,0.000,0.099,2209,3398,3061
$GC,4122,-0.87,-127.1,-7.9,307,4126,0.00,2.50,0.00,0.000,6,0.000,0.065,2208,2001,3061
$GC,4442,-0.87,-127.1,-7.4,313,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2001,3061
$GC,4802,-0.87,-127.1,-6.0,319,4806,0.00,2.70,0.00,0.000,4,0.000,0.101,2209,3398,3061
$GC,4882,-0.87,-127.1,-5.9,320,4886,0.00,2.53,0.00,0.000,6,0.000,0.067,2209,1996,3060
$GC,5222,-0.87,-127.1,-5.8,326,5226,0.00,2.70,0.00,0.000,4,0.000,0.101,2208,3395,3060
$GC,5267,-0.87,-127.1,-6.9,326,5271,0.00,2.50,0.00,0.000,6,0.000,0.067,2208,2002,3060
$GC,5582,-0.87,-127.1,-6.6,332,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2001,3060
$GC,5942,-0.87,-127.1,-6.9,338,5946,0.00,2.70,0.00,0.000,4,0.000,0.103,2209,3393,3059
$GC,5977,-0.87,-127.1,-6.5,338,5981,0.00,2.50,0.00,0.000,6,0.000,0.067,2209,2004,3059
$GC,6302,-0.87,-127.1,-6.3,344,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2004,3058
$GC,6662,-0.87,-127.1,-7.1,350,6666,0.00,2.70,0.00,0.000,4,0.000,0.104,2209,3398,3058
$GC,6742,-0.87,-127.1,-8.3,351,6746,0.00,2.50,0.00,0.000,6,0.000,0.067,2210,2007,3058
$GC,7082,-0.87,-127.1,-6.8,357,7086,0.00,2.67,0.00,0.000,4,0.000,0.102,2209,3395,3057
$GC,7132,-0.87,-127.1,-6.5,357,7136,0.00,2.50,0.00,0.000,6,0.000,0.068,2209,2006,3058
$GC,7442,-0.87,-127.1,-5.9,363,7446,0.00,2.70,0.00,0.000,4,0.000,0.102,2210,3401,3057
$GC,7487,-0.87,-127.1,-6.2,363,7491,0.00,2.53,0.00,0.000,6,0.000,0.068,2209,2000,3057
$GC,7802,-0.87,-127.1,-5.8,369,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2000,3057
$GC,8162,-0.87,-127.1,-5.6,375,8166,0.00,2.70,0.00,0.000,4,0.000,0.104,2209,3397,3056
$GC,8207,-0.87,-127.1,-6.4,375,8211,0.00,2.50,0.00,0.000,6,0.000,0.069,2209,2007,3057
$GC,8522,-0.87,-127.1,-5.4,381,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2007,3056
$GC,8882,-0.87,-127.1,-5.4,387,8886,0.00,2.67,0.00,0.000,4,0.000,0.102,2210,3394,3056
$GC,8952,-0.87,-127.1,-6.6,388,8956,0.00,2.50,0.00,0.000,6,0.000,0.069,2210,2004,3056
$GC,9302,-0.87,-127.1,-7.0,394,9306,0.00,2.70,0.00,0.000,4,0.000,0.102,2209,3400,3056
$GC,9367,-0.87,-127.1,-6.6,395,9371,0.00,2.53,0.00,0.000,6,0.000,0.069,2209,2000,3056
$GC,9722,-0.87,-127.1,-6.2,401,9726,0.00,2.70,0.00,0.000,4,0.000,0.103,2209,3396,3056
$GC,9767,-0.87,-127.1,-6.8,401,9771,0.00,2.50,0.00,0.000,6,0.000,0.070,2209,2003,3056
$GC,10082,-0.87,-127.1,-5.8,407,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2004,3055
$GC,10442,-0.87,-127.1,-5.2,413,10446,0.00,2.67,0.00,0.000,4,0.000,0.103,2209,3394,3055
$GC,10502,-0.87,-127.1,-5.4,414,10506,0.00,2.53,0.00,0.000,6,0.000,0.069,2209,1996,3056
$GC,10862,-0.87,-127.1,-5.3,420,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1996,3056
$GC,11222,-0.87,-127.1,-5.4,426,11226,0.00,2.70,0.00,0.000,4,0.000,0.102,2209,3394,3055
$GC,11287,-0.87,-127.1,-6.0,427,11291,0.00,2.50,0.00,0.000,6,0.000,0.068,2210,2001,3055
$GC,11642,-0.87,-127.1,-4.8,433,11646,0.00,2.70,0.00,0.000,4,0.000,0.103,2209,3400,3055
$GC,11702,-0.87,-127.1,-4.7,434,11706,0.00,2.53,0.00,0.000,6,0.000,0.068,2209,2002,3055
$GC,12062,-0.87,-127.1,-5.6,440,12066,0.00,2.67,0.00,0.000,4,0.000,0.101,2210,3394,3055
$GC,12112,-0.87,-127.1,-6.5,440,12116,0.00,2.50,0.00,0.000,6,0.000,0.067,2210,2003,3055
$GC,12422,-0.87,-127.1,-6.5,446,12426,0.00,2.67,0.00,0.000,4,0.000,0.100,2209,3394,3054
$GC,12457,-0.87,-127.1,-7.4,446,12461,0.00,2.50,0.00,0.000,6,0.000,0.067,2209,2003,3054
$GC,12782,-0.87,-127.1,-6.7,452,12786,0.00,2.67,0.00,0.000,4,0.000,0.099,2210,3395,3054
$GC,12827,-0.87,-127.1,-6.4,452,12831,0.00,2.50,0.00,0.000,6,0.000,0.066,2209,2003,3054
$GC,13142,-0.87,-127.1,-5.9,458,13200,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2003,3054
$GC,13502,-0.87,-127.1,-5.0,464,13506,0.00,2.67,0.00,0.000,4,0.000,0.097,2209,3394,3054
$GC,13567,-0.87,-127.1,-5.3,465,13571,0.00,2.50,0.00,0.000,6,0.000,0.066,2209,2002,3054
$GC,13922,-0.87,-127.1,-4.9,471,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2002,3054
$GC,14282,-0.87,-127.1,-5.1,477,14286,0.00,2.67,0.00,0.000,4,0.000,0.097,2209,3400,3054
$GC,14337,-0.87,-127.1,-5.9,477,14341,0.00,2.53,0.00,0.000,6,0.000,0.065,2209,1993,3054
$GC,14642,-0.87,-127.1,-5.5,483,14646,0.00,2.67,0.00,0.000,4,0.000,0.097,2209,3394,3054
$GC,14677,-0.87,-127.1,-5.8,483,14681,0.00,2.50,0.00,0.000,6,0.000,0.065,2209,2001,3053
$GC,15002,-0.87,-127.1,-5.5,489,15006,0.00,2.67,0.00,0.000,4,0.000,0.096,2209,3400,3053
$GC,15047,-0.87,-127.1,-6.0,489,15051,0.00,2.50,0.00,0.000,6,0.000,0.064,2209,2003,3053
$GC,15362,-0.32,0.0,5.3,495,15481,0.63,0.00,109.57,1.429,6,0.132,0.000,2335,2002,2540
$GC,15482,0.87,127.1,4.2,497,15601,1.33,2.65,111.78,1.388,4,0.119,0.077,2596,594,2021
$GC,15642,0.87,131.4,5.9,499,15651,0.00,2.53,3.42,1.467,6,0.000,0.061,2596,1989,2004
$GC,15962,0.88,131.4,6.4,505,16020,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1989,2003
$GC,16322,0.88,131.4,6.1,511,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1989,2002
$GC,16682,0.88,131.4,6.4,517,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1989,2002
$GC,17042,0.88,131.4,6.9,523,17046,0.00,2.58,0.00,0.000,4,0.000,0.074,2596,595,2002
$GC,17092,0.88,131.4,8.1,523,17096,0.00,2.53,0.00,0.000,6,0.000,0.061,2596,1992,2001
$GC,17402,0.88,131.4,7.0,529,17406,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,589,2001
$GC,17442,0.88,131.4,7.3,529,17446,0.00,2.55,0.00,0.000,6,0.000,0.061,2596,2000,2002
$GC,17762,0.88,131.4,6.6,535,17820,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2000,2002
$GC,18122,0.88,131.4,6.1,541,18180,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2001,2001
$GC,18482,0.88,148.2,5.4,547,18501,0.00,2.63,13.82,1.358,4,0.000,0.074,2596,597,1935
$GC,18532,0.90,148.2,6.5,547,18536,0.00,2.55,0.00,0.000,6,0.000,0.061,2596,1992,1935
$GC,18842,0.90,183.7,4.8,553,18901,0.00,0.00,30.75,1.317,6,0.000,0.000,2596,1992,1789
$GC,19202,0.94,203.7,5.3,559,19226,0.00,2.65,16.42,1.307,4,0.000,0.074,2596,598,1709
$GC,19262,0.96,203.7,6.5,560,19266,0.00,2.55,0.00,0.000,6,0.000,0.061,2596,2000,1708
$GC,19622,0.96,203.7,6.0,566,19626,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,598,1708
$GC,19667,0.96,203.7,7.6,566,19671,0.00,2.55,0.00,0.000,6,0.000,0.061,2596,2001,1708
$GC,19982,0.96,203.7,7.3,572,20040,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2001,1708
$GC,20342,0.96,203.7,7.8,578,20346,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,595,1708
$GC,20392,0.96,203.7,7.7,578,20396,0.00,2.55,0.00,0.000,6,0.000,0.062,2598,2000,1708
$GC,20702,0.96,203.7,7.1,584,20760,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2000,1707
$GC,21062,0.96,203.7,6.9,590,21066,0.00,2.60,0.00,0.000,4,0.000,0.075,2596,595,1708
$GC,21112,0.96,203.7,7.0,590,21116,0.00,2.55,0.00,0.000,6,0.000,0.064,2596,2001,1708
$GC,21422,0.96,203.7,6.9,596,21426,0.00,2.60,0.00,0.000,4,0.000,0.074,2597,592,1708
$GC,21457,0.96,203.7,7.9,596,21461,0.00,2.55,0.00,0.000,6,0.000,0.063,2596,2001,1708
$GC,21782,0.96,203.7,6.7,602,21786,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,592,1708
$GC,21812,0.96,203.7,8.1,602,21816,0.00,2.55,0.00,0.000,6,0.000,0.063,2596,2000,1707
$GC,22142,0.96,203.7,6.2,608,22146,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,592,1708
$GC,22167,0.96,203.7,6.6,608,22171,0.00,2.55,0.00,0.000,6,0.000,0.063,2597,2001,1708
$GC,22502,0.96,203.7,6.3,614,22506,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,589,1708
$GC,22542,0.96,203.7,6.9,614,22546,0.00,2.55,0.00,0.000,6,0.000,0.063,2596,2000,1708
$GC,22862,0.96,204.4,6.0,620,22866,0.00,2.60,0.00,0.000,4,0.000,0.074,2596,590,1708
$GC,22892,0.96,204.4,6.4,620,22896,0.00,2.53,0.00,0.000,6,0.000,0.063,2596,1992,1708
$GC,23222,0.96,204.4,6.3,626,23280,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1992,1708
$GC,23582,0.96,204.4,7.2,632,23586,0.00,2.58,0.00,0.000,4,0.000,0.074,2596,598,1708
$GC,23637,0.96,204.4,7.7,632,23641,0.00,2.53,0.00,0.000,6,0.000,0.064,2597,1994,1708
$GC,23942,0.96,204.4,6.9,638,24000,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1994,1708
$GC,24302,0.96,204.4,6.4,644,24360,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1994,1708
$GC,24662,0.96,206.7,5.9,650,24721,0.00,0.00,2.15,1.208,6,0.000,0.000,2596,1994,1697
$GC,25022,0.96,206.7,6.1,656,25026,0.00,2.58,0.00,0.000,4,0.000,0.074,2596,599,1697
$GC,25062,0.96,206.7,7.1,656,25066,0.00,2.53,0.00,0.000,6,0.000,0.063,2597,1998,1697
$GC,25382,0.96,206.7,7.3,662,25386,0.00,2.58,0.00,0.000,4,0.000,0.074,2596,601,1697
$GC,25412,0.96,206.7,8.0,662,25416,0.00,2.53,0.00,0.000,6,0.000,0.063,2596,1999,1698
$GC,25742,0.96,206.7,6.4,668,25746,0.00,2.58,0.00,0.000,4,0.000,0.074,2596,601,1697
$GC,25767,0.96,206.7,6.5,668,25771,0.00,2.53,0.00,0.000,6,0.000,0.063,2596,2003,1697
$GC,26102,0.96,220.1,5.5,674,26121,0.00,2.63,11.18,1.022,4,0.000,0.073,2596,595,1641
$GC,26142,0.98,236.5,5.4,674,26161,0.08,2.55,13.02,0.999,6,0.088,0.063,2618,2002,1575
$GC,26462,0.99,236.5,6.7,684,26466,0.00,2.60,0.00,0.000,4,0.000,0.074,2618,596,1575
$GC,26517,0.99,236.5,7.1,686,26521,0.00,2.53,0.00,0.000,6,0.000,0.062,2618,1994,1575
$GC,26822,0.99,236.5,7.5,702,26826,0.00,2.58,0.00,0.000,4,0.000,0.074,2618,602,1575
$GC,26877,0.99,236.5,6.2,704,26881,0.00,2.53,0.00,0.000,6,0.000,0.062,2618,1998,1575
$GC,27182,0.99,236.5,7.0,720,27186,0.00,2.60,0.00,0.000,4,0.000,0.074,2618,592,1575
$GC,27217,0.99,236.5,7.7,721,27221,0.00,2.53,0.00,0.000,6,0.000,0.061,2618,1997,1576
$GC,27522,0.99,236.5,6.9,737,27526,0.00,2.58,0.00,0.000,4,0.000,0.074,2618,602,1575
$GC,27552,0.99,236.5,8.0,738,27556,0.00,2.50,0.00,0.000,6,0.000,0.061,2618,1996,1575
$GC,27862,0.99,236.5,6.9,754,27866,0.00,2.60,0.00,0.000,4,0.000,0.074,2618,592,1575
$GC,27902,0.99,236.5,6.3,756,27906,0.00,2.53,0.00,0.000,6,0.000,0.061,2618,1999,1575
$GC,28222,0.99,236.5,6.5,772,28240,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1999,1575
$GC,28542,0.99,236.5,7.0,793,28546,0.00,2.58,0.00,0.000,4,0.000,0.073,2618,597,1575
$GC,28602,0.99,236.5,7.5,799,28606,0.00,2.50,0.00,0.000,6,0.000,0.061,2618,1993,1575
$GC,28912,0.99,278.0,4.6,830,28951,0.00,2.78,33.17,0.822,4,0.000,0.103,2618,3404,1405
$GC,28967,1.04,326.1,4.4,835,29011,0.00,2.55,37.83,0.798,6,0.000,0.064,2618,1997,1210
$GC,29312,1.09,326.1,6.9,870,29316,0.10,2.55,0.00,0.000,4,0.102,0.074,2643,597,1210
$GC,29357,1.09,326.1,8.2,874,29361,0.00,2.53,0.00,0.000,6,0.000,0.059,2643,2003,1209
$GC,29662,1.09,326.1,6.6,923,29666,0.00,2.67,0.00,0.000,4,0.000,0.099,2643,3393,1208
$GC,29692,1.09,326.1,6.8,929,29696,0.00,2.50,0.00,0.000,6,0.000,0.065,2644,2010,1209
$GC,29997,1.09,326.1,6.0,990,30001,0.00,2.60,0.00,0.000,4,0.000,0.075,2644,592,1209
$GC,30082,1.09,326.1,6.4,1007,30086,0.00,2.53,0.00,0.000,6,0.000,0.059,2643,2004,1209
$GC,30392,1.09,326.1,6.8,1040,30396,0.00,2.60,0.00,0.000,4,0.000,0.073,2643,595,1209
$GC,30432,1.09,326.1,6.2,1044,30435,0.00,2.53,0.00,0.000,6,0.000,0.061,2644,2000,1209
$SM_CCo,30766,17.98,0.738,0,0,1112,350.04
$HUMID,1192
$TCM_TEMP,1.00
$24V_AH,23.4,6.720
$10V_AH,10.0,2.958
$DEVICE_SECS,27.100,294.150,383.125,17.975,32.348,25.981,133.859,55.330,1095.057,26132.115,2023.090,1585.265,268.626,71.149,3278.232,0.000
$DEVICE_MAMPS,206.323,103.545,1467.271,737.854,103.000,160.000,223.000,93.000,18.650,1.040,18.650,38.650,45.300,80.650,12.000,3.000
$SENSOR_SECS,1348.284,847.174,905.048,298.371,0.000,0.000,0.000
$SENSOR_MAMPS,26.000,15.000,10.000,105.000,33.000,105.000,2.000
$DATA_FILE_SIZE,32878,1076
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0