version: 66.09
glider: 181
mission: 6
dive: 33
start: 6 16 111 21 46 13
data:
$ID,181
$MISSION,6
$DIVE,33
$N_DIVES,40
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,300
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-39558.941
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,46
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2560
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,160611,213730,2132.916,12000.787,36,1.3,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-66.0
$GPS2,160611,214546,2132.866,12000.874,14,2.4,33,-2.6
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,182.4,283111,-16.3,-11.000
$D_GRID,2935
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,97,-0.59,-194.6,3.4,-4.1,10,129,8.07,2.15,-14.95,0.000,4,0.240,0.043,2108,1145,3664,0,0,0,0,0,0
$GC,189,-0.59,-194.6,41.6,-25.4,25,199,0.00,2.22,0.00,0.000,6,0.000,0.044,2099,2538,3665,0,0,0,0,0,0
$GC,391,-0.59,-194.6,110.6,-29.4,62,399,0.00,1.98,0.00,0.000,4,0.000,0.047,2089,3790,3666,0,0,0,0,0,0
$GC,518,-0.59,-194.6,157.7,-29.8,85,527,0.00,1.88,0.00,0.000,6,0.000,0.028,2089,2549,3667,0,0,0,0,0,0
$GC,720,-0.59,-194.6,219.8,-26.4,122,728,0.00,2.08,0.00,0.000,4,0.000,0.030,2088,1158,3669,0,0,0,0,0,0
$GC,773,-0.59,-194.6,231.7,-19.5,131,782,0.10,2.20,0.00,0.000,6,0.139,0.043,2116,2558,3670,0,0,0,0,0,0
$GC,980,-0.59,-194.6,262.6,-13.9,161,984,0.00,1.90,0.00,0.000,4,0.000,0.047,2111,3785,3670,0,0,0,0,0,0
$GC,1051,-0.59,-194.6,273.0,-13.4,167,1058,0.00,1.85,0.00,0.000,6,0.000,0.028,2111,2548,3670,0,0,0,0,0,0
$GC,1377,-0.59,-194.6,327.5,-17.3,198,1380,0.00,1.92,0.00,0.000,4,0.000,0.048,2102,3792,3669,0,0,0,0,0,0
$GC,1414,-0.59,-194.6,334.6,-17.9,201,1422,0.00,1.85,0.00,0.000,6,0.000,0.030,2102,2558,3668,0,0,0,0,0,0
$GC,1741,-0.59,-194.6,397.7,-20.0,232,1745,0.00,1.90,0.00,0.000,4,0.000,0.050,2093,3781,3665,0,0,0,0,0,0
$GC,1787,-0.59,-194.6,407.3,-20.0,236,1791,0.00,1.80,0.00,0.000,6,0.000,0.031,2093,2552,3660,0,0,0,0,0,0
$GC,2120,-0.59,-194.6,466.0,-17.1,267,2123,0.00,2.05,0.00,0.000,4,0.000,0.035,2093,1165,3662,0,0,0,0,0,0
$GC,2147,-0.59,-194.6,471.3,-17.5,269,2156,0.10,2.20,0.00,0.000,6,0.134,0.043,2119,2559,3662,0,0,0,0,0,0
$GC,2472,-0.59,-194.6,517.4,-12.6,300,2476,0.00,1.88,0.00,0.000,4,0.000,0.051,2111,3783,3658,0,0,0,0,0,0
$GC,2499,-0.59,-194.6,520.9,-11.9,302,2507,0.00,1.85,0.00,0.000,6,0.000,0.031,2111,2558,3658,0,0,0,0,0,0
$GC,2825,-0.59,-194.6,553.9,-8.9,333,2829,0.00,1.95,0.00,0.000,4,0.000,0.054,2111,3775,3654,0,0,0,0,0,0
$GC,2864,-0.59,-194.6,557.4,-9.0,336,2870,0.00,1.83,0.00,0.000,6,0.000,0.033,2111,2551,3654,0,0,0,0,0,0
$GC,3189,-0.59,-194.6,597.9,-15.0,367,3192,0.00,1.92,0.00,0.000,4,0.000,0.054,2111,3780,3651,0,0,0,0,0,0
$GC,3212,-0.59,-194.6,601.4,-15.1,369,3216,0.00,1.83,0.00,0.000,6,0.000,0.033,2111,2550,3651,0,0,0,0,0,0
$GC,3545,-0.59,-194.6,650.8,-13.5,385,3548,0.00,1.92,0.00,0.000,4,0.000,0.054,2111,3780,3648,0,0,0,0,0,0
$GC,3572,-0.59,-194.6,654.0,-12.5,386,3576,0.00,1.85,0.00,0.000,6,0.000,0.033,2111,2560,3648,0,0,0,0,0,0
$GC,3899,-0.59,-194.6,686.5,-9.9,402,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2557,3645,0,0,0,0,0,0
$GC,4209,-0.59,-194.6,717.1,-10.2,417,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2558,3643,0,0,0,0,0,0
$GC,4518,-0.59,-194.6,750.7,-10.7,432,4521,0.00,1.92,0.00,0.000,4,0.000,0.056,2111,3785,3640,0,0,0,0,0,0
$GC,4546,-0.59,-194.6,753.9,-9.9,433,4550,0.00,1.83,0.00,0.000,6,0.000,0.034,2111,2560,3638,0,0,0,0,0,0
$GC,4876,-0.59,-194.6,785.6,-9.1,449,4880,0.00,1.92,0.00,0.000,4,0.000,0.057,2111,3786,3637,0,0,0,0,0,0
$GC,4900,-0.59,-194.6,787.8,-9.1,450,4904,0.00,1.83,0.00,0.000,6,0.000,0.034,2111,2559,3637,0,0,0,0,0,0
$GC,5234,-0.59,-194.6,816.6,-9.3,466,5237,0.00,1.92,0.00,0.000,4,0.000,0.057,2110,3786,3635,0,0,0,0,0,0
$GC,5284,-0.59,-194.6,821.4,-9.3,468,5288,0.00,1.88,0.00,0.000,6,0.000,0.034,2110,2560,3634,0,0,0,0,0,0
$GC,5611,-0.59,-194.6,852.8,-9.5,484,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2557,3631,0,0,0,0,0,0
$GC,5920,-0.59,-194.6,881.3,-9.0,499,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2557,3631,0,0,0,0,0,0
$GC,6230,-0.59,-194.6,908.3,-8.8,514,6234,0.00,1.92,0.00,0.000,4,0.000,0.060,2110,3781,3629,0,0,0,0,0,0
$GC,6268,-0.59,-194.6,912.1,-9.3,515,6275,0.00,1.88,0.00,0.000,6,0.000,0.036,2110,2557,3628,0,0,0,0,0,0
$GC,6585,-0.59,-194.6,942.5,-9.9,531,6589,0.00,1.92,0.00,0.000,4,0.000,0.058,2111,3780,3626,0,0,0,0,0,0
$GC,6623,-0.59,-194.6,946.3,-9.5,532,6630,0.00,1.88,0.00,0.000,6,0.000,0.037,2110,2558,3624,0,0,0,0,0,0
$GC,6940,-0.59,-194.6,977.9,-10.0,548,6944,0.00,1.92,0.00,0.000,4,0.000,0.060,2110,3779,3625,0,0,0,0,0,0
$GC,6968,-0.59,-194.6,981.0,-10.4,549,6972,0.00,1.88,0.00,0.000,6,0.000,0.037,2110,2561,3624,0,0,0,0,0,0
$STATE,7066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7067,begin apogee
$GC,7073,-0.17,0.0,990.8,10.1,554,7227,0.40,0.00,149.25,1.130,6,0.127,0.000,2244,2092,2869,0,0,0,0,0,0
$STATE,7228,end apogee,CONTROL_FINISHED_OK
$STATE,7228,begin climb
$GC,7230,0.59,194.6,997.3,0.0,561,7401,0.70,2.38,160.80,1.095,4,0.057,0.045,2514,706,2074,0,0,0,0,0,0
$GC,7525,0.59,194.6,965.6,16.0,575,7529,0.00,2.25,0.00,0.000,6,0.000,0.041,2514,2107,2067,0,0,0,0,0,0
$GC,7852,0.59,194.6,910.0,17.1,591,7856,0.00,2.22,0.00,0.000,4,0.000,0.051,2514,3513,2063,0,0,0,0,0,0
$GC,7930,0.59,194.6,895.0,19.2,594,7937,0.00,2.20,0.00,0.000,6,0.000,0.037,2520,2104,2062,0,0,0,0,0,0
$GC,8247,0.59,194.6,839.4,17.0,610,8251,0.00,2.17,0.00,0.000,4,0.000,0.047,2535,693,2061,0,0,0,0,0,0
$GC,8393,0.59,194.6,815.1,16.2,616,8401,0.12,2.22,0.00,0.000,6,0.191,0.042,2505,2112,2061,0,0,0,0,0,0
$GC,8709,0.59,194.6,772.9,12.7,632,8713,0.00,2.20,0.00,0.000,4,0.000,0.051,2505,3524,2059,0,0,0,0,0,0
$GC,8758,0.59,194.6,765.9,14.0,634,8762,0.00,2.20,0.00,0.000,6,0.000,0.037,2514,2088,2059,0,0,0,0,0,0
$GC,9081,0.59,194.6,719.5,14.8,650,9085,0.00,2.15,0.00,0.000,4,0.000,0.047,2525,685,2058,0,0,0,0,0,0
$GC,9107,0.59,194.6,715.3,14.2,651,9112,0.00,2.20,0.00,0.000,6,0.000,0.041,2525,2114,2056,0,0,0,0,0,0
$GC,9430,0.59,194.6,662.5,17.0,667,9434,0.00,2.20,0.00,0.000,4,0.000,0.045,2535,684,2058,0,0,0,0,0,0
$GC,9495,0.59,194.6,650.8,16.5,670,9500,0.12,2.20,0.00,0.000,6,0.194,0.040,2505,2113,2057,0,0,0,0,0,0
$GC,9823,0.59,194.6,598.8,15.5,686,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2114,2057,0,0,0,0,0,0
$GC,10143,0.59,194.6,557.7,11.1,716,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2114,2056,0,0,0,0,0,0
$GC,10463,0.59,194.6,521.9,13.3,746,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2114,2056,0,0,0,0,0,0
$GC,10790,0.59,194.6,476.1,13.6,777,10794,0.00,2.17,0.00,0.000,4,0.000,0.050,2505,3519,2056,0,0,0,0,0,0
$GC,10841,0.59,194.6,468.3,15.1,781,10845,0.00,2.17,0.00,0.000,6,0.000,0.037,2513,2088,2056,0,0,0,0,0,0
$GC,11166,0.59,194.6,423.3,13.5,811,11170,0.00,2.12,0.00,0.000,4,0.000,0.047,2524,685,2056,0,0,0,0,0,0
$GC,11301,0.59,194.6,405.1,13.9,822,11308,0.00,2.17,0.00,0.000,6,0.000,0.040,2524,2100,2056,0,0,0,0,0,0
$GC,11627,0.59,194.6,358.4,13.4,853,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2100,2056,0,0,0,0,0,0
$GC,11947,0.59,194.6,315.7,14.2,883,11951,0.00,2.17,0.00,0.000,4,0.000,0.049,2524,3520,2057,0,0,0,0,0,0
$GC,12042,0.59,194.6,300.4,16.0,891,12047,0.12,2.15,0.00,0.000,6,0.191,0.035,2504,2095,2056,0,0,0,0,0,0
$GC,12369,0.66,245.7,264.0,9.1,921,12417,0.00,2.22,37.40,0.669,4,0.000,0.044,2513,693,1866,0,0,0,0,0,0
$GC,12452,0.68,265.1,255.8,10.3,928,12477,0.00,2.20,15.80,0.597,6,0.000,0.038,2513,2112,1788,0,0,0,0,0,0
$GC,12798,0.72,293.3,221.0,9.9,986,12830,0.00,2.28,22.10,0.623,4,0.000,0.044,2522,701,1673,0,0,0,0,0,0
$GC,12849,0.78,344.1,215.9,9.1,993,12897,0.08,2.22,40.38,0.588,6,0.070,0.038,2565,2096,1465,0,0,0,0,0,0
$GC,13091,0.78,344.1,177.7,17.3,1035,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2096,1459,0,0,0,0,0,0
$GC,13292,0.78,344.1,152.1,11.2,1072,13300,0.00,2.25,0.00,0.000,4,0.000,0.047,2565,3506,1457,0,0,0,0,0,0
$GC,13330,0.78,344.1,146.7,14.8,1078,13338,0.00,2.20,0.00,0.000,6,0.000,0.034,2575,2105,1457,0,0,0,0,0,0
$GC,13533,0.78,344.1,116.1,13.7,1115,13541,0.00,2.20,0.00,0.000,4,0.000,0.043,2586,696,1456,0,0,0,0,0,0
$GC,13555,0.78,344.1,113.2,12.9,1118,13563,0.00,2.20,0.00,0.000,6,0.000,0.037,2586,2100,1455,0,0,0,0,0,0
$GC,13757,0.80,364.9,92.6,10.2,1155,13781,0.00,2.20,16.25,0.581,4,0.000,0.044,2586,3511,1379,0,0,0,0,0,0
$GC,13874,0.80,364.9,76.9,14.4,1175,13883,0.00,2.20,0.00,0.000,6,0.000,0.033,2596,2101,1376,0,0,0,0,0,0
$GC,14077,0.83,386.3,52.6,10.2,1212,14101,0.00,2.17,16.98,0.544,4,0.000,0.040,2607,685,1294,0,0,0,0,0,0
$GC,14213,0.89,435.7,39.5,9.1,1235,14260,0.00,2.22,38.12,0.506,6,0.000,0.034,2607,2108,1090,0,0,0,0,0,0
$GC,14454,0.96,495.1,14.6,8.7,1277,14508,0.00,2.28,44.62,0.486,4,0.000,0.044,2607,3507,849,0,0,0,0,0,0
$GC,14561,0.97,498.9,4.1,10.9,1293,14571,0.00,2.22,4.00,0.335,6,0.000,0.031,2617,2093,835,0,0,0,0,0,0
$STATE,14577,end climb,SURFACE_DEPTH_REACHED
$STATE,14578,begin surface coast
$FINISH,-0.1,1.014802
$STATE,14606,end surface coast,CONTROL_FINISHED_OK
$STATE,14606,begin surface
$SM_CCo,14682,0.00,0.000,0,0,831,499.68
$SM_GC,0.68,6.35,0.00,0.00,0.038,0.000,0.000,210,2596,831,-6.47,1.02,499.68,0,0,0,0,0,0
$IRIDIUM_FIX,2124.90,12002.22,160611,171742
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.65
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.0,5.699
$10V_AH,10.2,6.002
$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,16.175,137.775,545.700,0.000,0.000,30.243,58.881,227.471,0.000,0.000,44.583,3261.507,7577.437,607.537,3409.813,312.405,0.000,1904.877,0.000,2187.074,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,59.670,1129.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,904.761,1979.963,1547.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323240
$DATA_FILE_SIZE,87044,1300
$CAP_FILE_SIZE,157942,0
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 70.2,1
$GPS,170611,015230,2130.862,12001.229,57,0.9,58,-2.6