version: 66.04
glider: 16
mission: 13
dive: 77
start: 6 18 109 22 4 44
data:
$ID,16
$MISSION,13
$DIVE,77
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-2108969.2
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$PRESSURE_SLOPE,0.0001162269
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,215337,6213.353,-1137.575,36,1.5,37,-10.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.6
$GPS2,220425,6213.307,-1137.508,10,1.6,15,-10.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,7.0,30988,-13.9,-7.500
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,97,0.00,0.00,-76.72,0.000,6,0.000,0.000,68,2603,3415
$GC,100,-1.03,-146.6,6.6,-8.3,4,122,12.07,2.55,0.00,0.000,4,0.189,0.038,2128,1186,3417
$GC,259,-1.03,-146.6,37.2,-10.4,11,263,0.00,2.50,0.00,0.000,6,0.000,0.037,2128,2599,3418
$GC,585,-1.03,-146.6,71.4,-10.1,27,589,0.00,2.50,0.00,0.000,4,0.000,0.038,2128,1186,3418
$GC,630,-1.03,-146.6,76.0,-9.7,29,634,0.00,2.50,0.00,0.000,6,0.000,0.038,2128,2600,3418
$GC,951,-1.03,-146.6,107.3,-10.1,45,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,1262,-1.03,-146.6,139.0,-10.0,60,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,1569,-1.03,-146.6,166.7,-8.8,75,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,1878,-1.03,-146.6,193.4,-8.7,90,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,2187,-1.03,-146.6,220.1,-8.8,105,2192,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1188,3418
$GC,2220,-1.03,-146.6,223.0,-9.0,106,2227,0.00,2.50,0.00,0.000,6,0.000,0.038,2128,2603,3418
$GC,2537,-1.03,-146.6,250.6,-9.0,122,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2603,3417
$GC,2845,-1.03,-146.6,279.2,-9.3,137,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2603,3418
$GC,3155,-1.03,-146.6,308.6,-9.2,152,3158,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1188,3417
$GC,3200,-1.03,-146.6,312.9,-8.8,154,3204,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2608,3417
$GC,3526,-1.03,-146.6,341.6,-8.7,170,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,3835,-1.03,-146.6,367.6,-8.1,185,3840,0.00,2.53,0.00,0.000,4,0.000,0.042,2128,1181,3417
$GC,3869,-1.03,-146.6,370.2,-7.1,186,3875,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2602,3416
$GC,4184,-1.03,-146.6,394.6,-7.6,202,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3416
$GC,4494,-1.03,-146.6,418.0,-7.6,217,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3416
$GC,4803,-1.03,-146.6,444.9,-9.4,232,4807,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1188,3416
$GC,4842,-1.03,-146.6,448.5,-9.0,234,4847,0.00,2.50,0.00,0.000,6,0.000,0.039,2129,2608,3416
$GC,5169,-1.03,-146.6,478.6,-9.3,250,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3416
$GC,5478,-1.03,-146.6,506.2,-8.9,265,5483,0.00,2.53,0.00,0.000,4,0.000,0.041,2128,1181,3416
$GC,5518,-1.03,-146.6,509.9,-9.1,267,5522,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2602,3416
$GC,5845,-1.03,-146.6,539.9,-9.3,283,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3415
$GC,6154,-1.03,-146.6,567.4,-8.7,298,6159,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1186,3415
$GC,6204,-1.03,-146.6,571.7,-8.2,300,6209,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2603,3415
$GC,6520,-1.03,-146.6,598.5,-8.7,315,6524,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1188,3415
$GC,6570,-1.07,-146.6,603.0,-8.5,317,6574,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2606,3415
$GC,6886,-1.07,-146.6,631.2,-8.7,332,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2605,3415
$GC,7195,-1.07,-146.6,657.9,-8.8,347,7199,0.00,2.50,0.00,0.000,4,0.000,0.042,2128,1184,3415
$GC,7240,-1.11,-146.6,661.8,-8.7,349,7245,0.00,2.50,0.00,0.000,6,0.000,0.040,2129,2610,3415
$GC,7567,-1.11,-146.6,691.0,-9.2,365,7571,0.00,2.53,0.00,0.000,4,0.000,0.042,2128,1183,3415
$GC,7611,-1.16,-146.6,695.1,-9.8,367,7616,0.00,2.50,0.00,0.000,6,0.000,0.041,2128,2602,3415
$GC,7933,-1.16,-146.6,725.4,-10.4,383,7937,0.00,2.50,0.00,0.000,4,0.000,0.043,2128,1188,3415
$GC,8006,-1.21,-146.6,734.2,-12.3,386,8011,0.15,2.50,0.00,0.000,6,0.044,0.041,2084,2603,3415
$GC,8323,-1.08,-146.6,779.3,-13.7,401,8325,0.20,0.00,0.00,0.000,6,0.099,0.000,2121,2603,3415
$GC,8632,-1.08,-146.6,812.1,-10.1,416,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2603,3414
$GC,8941,-1.08,-146.6,839.9,-8.3,431,8945,0.00,2.53,0.00,0.000,4,0.000,0.046,2121,1186,3414
$GC,9002,-1.08,-146.6,845.0,-7.9,434,9007,0.00,2.53,0.00,0.000,6,0.000,0.044,2122,2605,3414
$GC,9329,-1.08,-146.6,868.9,-7.3,450,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2605,3413
$GC,9639,-1.08,-146.6,889.6,-5.8,465,9643,0.00,2.53,0.00,0.000,4,0.000,0.048,2121,1191,3413
$GC,9757,-1.13,-146.6,896.7,-7.3,470,9761,0.00,2.53,0.00,0.000,6,0.000,0.046,2121,2603,3413
$GC,10072,-1.13,-146.6,919.7,-7.6,485,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2603,3412
$GC,10382,-1.13,-146.6,941.8,-6.7,500,10386,0.00,2.40,0.00,0.000,4,0.000,0.084,2121,3861,3411
$GC,10426,-1.13,-146.6,946.3,-11.4,502,10430,0.00,2.20,0.00,0.000,6,0.000,0.038,2121,2594,3411
$GC,10753,-1.13,-146.6,973.8,-7.5,518,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2592,3410
$STATE,10832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10833,begin apogee
$GC,10839,-0.31,0.0,979.8,7.2,522,10976,0.88,0.00,132.55,1.220,6,0.128,0.000,2289,2292,2817
$STATE,10977,end apogee,CONTROL_FINISHED_OK
$STATE,10977,begin climb
$GC,10979,1.03,146.6,984.6,0.0,529,11123,1.40,2.78,134.77,1.206,4,0.071,0.074,2584,3700,2219
$GC,11328,0.86,146.6,957.6,13.3,545,11334,0.20,2.50,0.00,0.000,6,0.104,0.038,2547,2305,2214
$GC,11651,0.85,206.8,935.7,5.4,561,11713,0.00,2.72,55.20,1.166,4,0.000,0.071,2547,3705,1973
$GC,11747,0.79,206.8,928.6,9.7,565,11752,0.00,2.53,0.00,0.000,6,0.000,0.037,2547,2302,1972
$GC,12063,0.79,206.8,901.5,10.2,580,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2302,1967
$GC,12372,0.83,242.6,881.3,6.3,595,12414,0.00,2.70,34.20,1.126,4,0.000,0.059,2547,895,1825
$GC,12506,0.83,244.2,872.0,7.4,601,12510,0.00,2.55,0.00,0.000,6,0.000,0.044,2547,2308,1821
$GC,12832,0.83,244.2,846.8,8.6,617,12837,0.00,2.65,0.00,0.000,4,0.000,0.073,2547,3702,1820
$GC,12877,0.83,244.2,842.3,10.1,619,12881,0.00,2.50,0.00,0.000,6,0.000,0.036,2547,2297,1820
$GC,13197,0.83,244.2,812.8,9.2,635,13201,0.00,2.58,0.00,0.000,4,0.000,0.057,2547,892,1818
$GC,13241,0.83,244.2,808.5,9.7,637,13245,0.00,2.50,0.00,0.000,6,0.000,0.041,2547,2301,1817
$GC,13562,0.83,244.2,780.3,8.7,653,13566,0.00,2.58,0.00,0.000,4,0.000,0.051,2547,888,1818
$GC,13624,0.83,244.2,774.9,8.5,656,13628,0.00,2.53,0.00,0.000,6,0.000,0.040,2547,2309,1817
$GC,13950,0.83,244.2,747.1,8.2,672,13954,0.00,2.62,0.00,0.000,4,0.000,0.067,2547,3708,1817
$GC,14012,0.83,244.2,741.5,9.2,675,14016,0.00,2.47,0.00,0.000,6,0.000,0.034,2547,2298,1817
$GC,14345,0.83,244.2,714.7,8.1,691,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2298,1817
$GC,14654,0.83,244.2,689.0,9.0,706,14658,0.00,2.55,0.00,0.000,4,0.000,0.054,2547,890,1817
$GC,14709,0.88,244.2,684.7,7.6,708,14715,0.00,2.50,0.00,0.000,6,0.000,0.038,2547,2307,1817
$GC,15025,0.93,244.2,659.5,8.4,724,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2307,1817
$GC,15335,0.97,245.4,635.8,7.5,739,15336,0.12,0.00,0.00,0.000,6,0.049,0.000,2585,2306,1817
$GC,15644,0.91,245.4,607.8,9.0,754,15649,0.15,2.58,0.00,0.000,4,0.092,0.064,2556,3702,1817
$GC,15684,0.91,245.4,604.3,8.7,756,15688,0.00,2.45,0.00,0.000,6,0.000,0.031,2556,2298,1818
$GC,16010,0.91,245.4,578.9,8.0,772,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2298,1818
$GC,16320,0.91,245.4,555.0,7.6,787,16321,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2298,1818
$GC,16629,0.91,245.4,531.2,7.6,802,16630,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2298,1819
$GC,16938,0.91,245.4,507.5,7.7,817,16939,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2297,1818
$GC,17247,0.91,245.4,482.4,8.7,832,17251,0.00,2.53,0.00,0.000,4,0.000,0.049,2556,891,1818
$GC,17286,0.91,245.4,478.8,9.5,834,17291,0.00,2.47,0.00,0.000,6,0.000,0.036,2556,2306,1819
$GC,17613,0.91,245.4,449.4,8.9,850,17614,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2307,1818
$GC,17922,0.91,245.4,422.8,8.5,865,17924,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2307,1819
$GC,18232,0.91,245.4,397.0,8.4,880,18233,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2307,1819
$GC,18541,0.91,245.4,370.7,8.7,895,18542,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2306,1819
$GC,18850,0.91,245.4,344.4,8.2,910,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2307,1819
$GC,19160,0.91,245.4,319.0,8.4,925,19164,0.00,2.53,0.00,0.000,4,0.000,0.045,2556,894,1819
$GC,19204,0.95,245.4,314.8,8.5,927,19208,0.00,2.45,0.00,0.000,6,0.000,0.035,2556,2300,1819
$GC,19531,0.99,245.4,287.6,7.8,943,19532,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2301,1819
$GC,19841,1.04,245.4,263.4,7.7,958,19842,0.12,0.00,0.00,0.000,6,0.048,0.000,2594,2301,1820
$GC,20149,0.96,245.4,234.6,9.3,973,20151,0.15,0.00,0.00,0.000,6,0.091,0.000,2565,2301,1820
$GC,20458,0.96,245.4,211.1,7.9,988,20463,0.00,2.50,0.00,0.000,4,0.000,0.045,2565,896,1820
$GC,20498,0.96,245.4,208.0,9.2,990,20503,0.00,2.45,0.00,0.000,6,0.000,0.036,2565,2300,1819
$GC,20825,0.96,245.4,181.5,8.3,1006,20827,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2300,1821
$GC,21135,0.96,245.4,154.7,8.6,1021,21136,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2300,1820
$GC,21445,0.96,245.4,129.1,8.0,1036,21446,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2300,1821
$GC,21753,0.96,245.4,103.2,8.9,1051,21757,0.00,2.50,0.00,0.000,4,0.000,0.045,2565,894,1820
$GC,21803,0.96,245.4,98.2,8.8,1053,21807,0.00,2.45,0.00,0.000,6,0.000,0.035,2565,2304,1820
$GC,22125,0.99,276.5,73.0,6.4,1069,22157,0.00,0.00,29.73,0.603,6,0.000,0.000,2565,2304,1689
$GC,22456,1.04,276.5,50.8,11.3,1085,22460,0.00,2.53,0.00,0.000,4,0.000,0.044,2565,893,1684
$GC,22506,1.13,276.5,43.7,14.1,1087,22511,0.20,2.47,0.00,0.000,6,0.043,0.035,2616,2305,1682
$GC,22824,1.03,276.5,6.1,10.7,1102,22826,0.17,0.00,0.00,0.000,6,0.086,0.000,2581,2305,1682
$STATE,22860,end climb,SURFACE_DEPTH_REACHED
$STATE,22860,begin surface coast
$FINISH,0.5,1.013472
$STATE,22882,end surface coast,CONTROL_FINISHED_OK
$STATE,22882,begin surface
$SM_CCo,22965,0.00,0.000,0,0,1679,279.15
$SM_GC,1.62,11.93,0.00,0.00,0.087,0.000,0.000,71,2605,1679,-10.45,0.11,279.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.020709
$HUMID,1711
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.4,88.1
$24V_AH,23.5,17.054
$10V_AH,10.1,7.810
$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,27.750,147.000,386.450,0.000,0.000,54.069,80.840,258.680,8.000,0.000,0.000,15.620,1969.210,18131.367,521.426,2271.131,715.104,0.000,1641.988,0.000,2212.623,0.000,55.129,0.000
$DEVICE_MAMPS,188.682,83.603,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,799.212,763.952,581.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56917,1105
$CAP_FILE_SIZE,155703,0
$CFSIZE,260165632,253980672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,190609,042837,6216.374,-1139.337,31,1.1,32,-11.0