02 01 105 15 55 45
$ID,23
$DIVE,444
$D_SURF,5
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$T_DIVE,480
$T_MISSION,570
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,7200
$USE_BATHY,0
$D_OFFGRID,1001
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$KALMAN_USE,1
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-006
$SM_CC,350
$N_FILEKB,4
$TEL_PREFIX,1206
$TEL_NUM,6165938
$ALT_TEL_PREFIX,1206
$ALT_TEL_NUM,6165938
$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,-130.339
$T_RSLEEP,8
$C_PITCH,2675
$PITCH_K,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16.75
$PITCH_AD_RATE,100
$C_ROLL_DIVE,2235
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,15
$ROLL_K,0.028270001
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,580
$C_VBD,2649
$VBD_K,-0.24529999
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,5
$VBD_BLEED_AD_RATE,10
$AH0_24V,91.800003
$AH0_10V,61.200001
$CAPTURING,1
$COMM_SEQ,0
$UNCOM_BLEED,20
$GPS1,154802,2521.607,-15438.070,45,1.7,45
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-50.6
$GPS2,155426,2521.604,-15438.027,12,1.7,28,11.1
$SPEED_LIMITS,0.119,0.208
$TGT_NAME,WP7
$TGT_LATLONG,2508.492,-15500.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.166,-0.127
$KALMAN_X,528850.2,459.8,79.8,-2050876.9,1329.9
$KALMAN_Y,-464507.7,94.3,-243.7,-441066.7,1183.0
$MHEAD_RNG_PITCHd_Wd,221.5,44122,-14.5,-6.875
$D_GRID,990
$GC,14,-0.99,-117.3,0.0,0,60,0.00,0.00,-45.63,0.000,2,0.000,0.000,282,2253,2648
$GC,61,-0.99,-117.3,-5.1,9,90,12.30,2.60,-12.15,0.000,4,0.146,0.047,2450,810,3129
$GC,181,-0.99,-117.3,-9.3,33,185,0.00,2.50,0.00,0.000,6,0.000,0.024,2450,2244,3131
$GC,246,-0.99,-117.3,-10.1,46,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2244,3131
$GC,431,-0.99,-117.3,-9.8,83,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2244,3132
$GC,621,-0.99,-117.3,-10.4,114,630,0.00,2.55,0.00,0.000,4,0.000,0.036,2451,801,3132
$GC,641,-0.99,-117.3,-10.1,116,650,0.00,2.50,0.00,0.000,6,0.000,0.024,2450,2255,3133
$GC,951,-0.99,-117.3,-8.8,147,960,0.00,2.55,0.00,0.000,4,0.000,0.035,2450,810,3133
$GC,1011,-0.99,-117.3,-9.1,153,1020,0.00,2.47,0.00,0.000,6,0.000,0.024,2451,2253,3133
$GC,1321,-0.99,-117.3,-9.7,184,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2253,3135
$GC,1631,-0.99,-117.3,-7.5,215,1640,0.00,2.55,0.00,0.000,4,0.000,0.036,2451,811,3137
$GC,1671,-0.99,-117.3,-7.7,218,1680,0.00,2.47,0.00,0.000,6,0.000,0.025,2451,2253,3137
$GC,1991,-0.99,-117.3,-7.6,231,2000,0.00,2.58,0.00,0.000,4,0.000,0.037,2450,799,3139
$GC,2081,-0.99,-117.3,-7.3,235,2090,0.00,2.50,0.00,0.000,6,0.000,0.025,2451,2249,3139
$GC,2391,-0.99,-117.3,-8.0,248,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2249,3140
$GC,2716,-0.99,-117.3,-6.8,261,2725,0.00,2.58,0.00,0.000,4,0.000,0.039,2450,801,3141
$GC,2806,-0.99,-117.3,-6.7,265,2815,0.00,2.53,0.00,0.000,6,0.000,0.028,2451,2254,3141
$GC,3116,-0.99,-117.3,-6.2,278,3125,0.00,2.58,0.00,0.000,4,0.000,0.040,2451,807,3141
$GC,3176,-0.99,-117.3,-6.9,281,3185,0.00,2.50,0.00,0.000,6,0.000,0.028,2450,2244,3141
$GC,3496,-0.99,-117.3,-6.7,294,3505,0.00,2.58,0.00,0.000,4,0.000,0.040,2451,800,3141
$GC,3606,-0.99,-117.3,-7.4,299,3615,0.00,2.53,0.00,0.000,6,0.000,0.029,2451,2250,3141
$GC,3916,-0.99,-117.3,-6.7,312,3925,0.00,2.58,0.00,0.000,4,0.000,0.041,2451,807,3141
$GC,4056,-0.99,-117.3,-7.7,319,4065,0.00,2.50,0.00,0.000,6,0.000,0.031,2451,2243,3141
$GC,4376,-0.99,-117.3,-7.9,332,4385,0.00,2.58,0.00,0.000,4,0.000,0.041,2450,801,3139
$GC,4486,-0.99,-117.3,-7.8,337,4495,0.00,2.53,0.00,0.000,6,0.000,0.031,2450,2245,3139
$GC,4796,-0.99,-117.3,-5.8,350,4805,0.00,2.58,0.00,0.000,4,0.000,0.042,2450,805,3138
$GC,4916,-0.99,-117.3,-5.8,356,4925,0.00,2.53,0.00,0.000,6,0.000,0.031,2451,2244,3138
$GC,5236,-0.99,-117.3,-5.8,369,5245,0.00,2.58,0.00,0.000,4,0.000,0.043,2451,808,3135
$GC,5366,-0.99,-117.3,-6.8,375,5375,0.00,2.53,0.00,0.000,6,0.000,0.032,2450,2244,3135
$GC,5676,-0.99,-117.3,-6.5,388,5685,0.00,2.58,0.00,0.000,4,0.000,0.044,2451,809,3134
$GC,5786,-0.99,-117.3,-6.2,393,5795,0.00,2.53,0.00,0.000,6,0.000,0.032,2451,2243,3133
$GC,6096,-0.99,-117.3,-6.2,406,6105,0.00,2.58,0.00,0.000,4,0.000,0.044,2450,811,3133
$GC,6226,-0.99,-117.3,-6.4,412,6235,0.00,2.53,0.00,0.000,6,0.000,0.034,2451,2240,3132
$GC,6536,-0.99,-117.3,-6.2,425,6545,0.00,2.58,0.00,0.000,4,0.000,0.046,2451,814,3130
$GC,6696,-0.99,-117.3,-6.6,433,6705,0.00,2.53,0.00,0.000,6,0.000,0.036,2451,2237,3130
$GC,7016,-0.99,-117.3,-5.9,446,7025,0.00,2.58,0.00,0.000,4,0.000,0.047,2450,814,3128
$GC,7126,-0.99,-117.3,-6.3,451,7135,0.00,2.55,0.00,0.000,6,0.000,0.037,2451,2247,3128
$GC,7436,-0.99,-117.3,-5.8,464,7445,0.00,2.60,0.00,0.000,4,0.000,0.048,2450,813,3127
$GC,7496,-0.99,-117.3,-6.6,467,7505,0.00,2.55,0.00,0.000,6,0.000,0.037,2450,2245,3127
$GC,7816,-0.99,-117.3,-5.3,480,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2244,3125
$GC,8141,-0.99,-117.3,-5.4,493,8150,0.00,2.63,0.00,0.000,4,0.000,0.050,2450,803,3123
$GC,8281,-0.99,-117.3,-5.5,500,8290,0.00,2.58,0.00,0.000,6,0.000,0.038,2450,2245,3123
$GC,8601,-0.99,-117.3,-5.3,513,8610,0.00,2.63,0.00,0.000,4,0.000,0.051,2451,804,3122
$GC,8741,-0.99,-117.3,-6.1,520,8750,0.00,2.58,0.00,0.000,6,0.000,0.039,2451,2245,3122
$GC,9061,-0.99,-117.3,-5.7,533,9070,0.00,2.63,0.00,0.000,4,0.000,0.051,2450,807,3119
$GC,9231,-0.99,-117.3,-6.3,541,9240,0.00,2.58,0.00,0.000,6,0.000,0.040,2451,2241,3117
$GC,9541,-0.99,-117.3,-5.7,554,9550,0.00,2.63,0.00,0.000,4,0.000,0.053,2450,808,3117
$GC,9611,-0.99,-117.3,-6.2,557,9620,0.00,2.58,0.00,0.000,6,0.000,0.041,2451,2241,3117
$GC,9921,-0.99,-117.3,-5.7,570,9930,0.00,2.63,0.00,0.000,4,0.000,0.054,2451,811,3116
$GC,10001,-0.99,-117.3,-6.0,574,10010,0.00,2.58,0.00,0.000,6,0.000,0.041,2451,2239,3115
$GC,10321,-0.99,-117.3,-4.8,587,10330,0.00,2.63,0.00,0.000,4,0.000,0.055,2451,814,3115
$GC,10411,-0.99,-117.3,-5.0,591,10420,0.00,2.58,0.00,0.000,6,0.000,0.043,2451,2240,3115
$GC,10721,-0.99,-117.3,-4.7,604,10730,0.00,2.63,0.00,0.000,4,0.000,0.054,2450,814,3114
$GC,10811,-0.99,-117.3,-5.4,608,10820,0.00,2.58,0.00,0.000,6,0.000,0.043,2451,2237,3114
$GC,11121,-0.99,-117.3,-6.0,621,11130,0.00,2.63,0.00,0.000,4,0.000,0.055,2450,812,3112
$GC,11231,-0.99,-117.3,-6.6,626,11240,0.00,2.58,0.00,0.000,6,0.000,0.042,2451,2235,3112
$GC,11541,-0.99,-117.3,-6.2,639,11550,0.00,2.63,0.00,0.000,4,0.000,0.055,2450,811,3111
$GC,11641,-0.99,-117.3,-6.6,644,11650,0.00,2.58,0.00,0.000,6,0.000,0.042,2451,2236,3111
$GC,11961,-0.99,-117.3,-5.0,657,11970,0.00,2.63,0.00,0.000,4,0.000,0.056,2451,812,3110
$GC,12011,-0.99,-117.3,-5.0,659,12020,0.00,2.58,0.00,0.000,6,0.000,0.042,2450,2238,3109
$GC,12321,-0.99,-117.3,-4.1,672,12330,0.00,2.63,0.00,0.000,4,0.000,0.055,2451,814,3109
$GC,12401,-0.99,-117.3,-4.6,676,12410,0.00,2.58,0.00,0.000,6,0.000,0.044,2451,2238,3109
$GC,12721,-0.99,-117.3,-4.4,689,12730,0.00,2.63,0.00,0.000,4,0.000,0.056,2450,814,3108
$GC,12811,-0.99,-117.3,-4.9,693,12820,0.00,2.58,0.00,0.000,6,0.000,0.044,2450,2236,3108
$GC,13121,-0.99,-117.3,-4.5,706,13130,0.00,2.63,0.00,0.000,4,0.000,0.056,2451,814,3107
$GC,13181,-0.99,-117.3,-4.9,709,13190,0.00,2.58,0.00,0.000,6,0.000,0.044,2450,2236,3107
$GC,13501,-0.99,-117.3,-4.6,722,13510,0.00,2.63,0.00,0.000,4,0.000,0.056,2451,814,3106
$GC,13591,-0.99,-117.3,-5.0,726,13600,0.00,2.58,0.00,0.000,6,0.000,0.043,2451,2236,3106
$GC,13901,-0.99,-117.3,-4.8,739,13910,0.00,2.63,0.00,0.000,4,0.000,0.056,2451,815,3106
$GC,13991,-0.99,-117.3,-5.1,743,14000,0.00,2.58,0.00,0.000,6,0.000,0.044,2450,2236,3106
$GC,14301,-0.99,-117.3,-4.9,756,14310,0.00,2.63,0.00,0.000,4,0.000,0.056,2451,815,3105
$GC,14351,-0.99,-117.3,-5.5,758,14360,0.00,2.58,0.00,0.000,6,0.000,0.044,2451,2236,3105
$GC,14661,-0.99,-117.3,-5.0,771,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2236,3105
$GC,14986,-0.99,-117.3,-4.7,784,14995,0.00,2.65,0.00,0.000,4,0.000,0.057,2451,804,3104
$GC,15086,-0.99,-117.3,-5.3,789,15095,0.00,2.60,0.00,0.000,6,0.000,0.044,2451,2243,3104
$GC,15406,-0.99,-117.3,-4.2,802,15415,0.00,2.65,0.00,0.000,4,0.000,0.057,2451,808,3104
$GC,15446,-0.99,-117.3,-4.6,804,15455,0.00,2.58,0.00,0.000,6,0.000,0.043,2451,2233,3104
$GC,15766,-0.99,-117.3,-3.9,817,15775,0.00,2.63,0.00,0.000,4,0.000,0.057,2450,812,3103
$GC,15856,-0.99,-117.3,-4.3,821,15865,0.00,2.58,0.00,0.000,6,0.000,0.044,2450,2234,3103
$GC,16166,-0.99,-117.3,-3.5,834,16175,0.00,2.63,0.00,0.000,4,0.000,0.058,2450,815,3103
$GC,16216,-0.99,-117.3,-4.1,836,16225,0.00,2.58,0.00,0.000,6,0.000,0.045,2450,2233,3103
$GC,16477,-0.30,0.0,3.6,847,16600,0.80,0.00,98.05,1.406,6,0.110,0.000,2611,2233,2648
$GC,16601,0.99,117.3,-0.1,852,16710,1.40,2.03,101.15,1.383,4,0.089,0.064,2893,3292,2170
$GC,16751,0.99,117.3,10.6,859,16760,0.00,2.63,0.00,0.000,6,0.000,0.045,2893,1860,2169
$GC,17061,0.99,117.3,9.8,872,17070,0.00,2.65,0.00,0.000,4,0.000,0.057,2893,3283,2168
$GC,17121,0.99,117.3,10.9,875,17130,0.00,2.60,0.00,0.000,6,0.000,0.045,2893,1856,2168
$GC,17441,0.99,117.3,9.4,888,17450,0.00,2.67,0.00,0.000,4,0.000,0.056,2893,3298,2167
$GC,17571,0.99,117.3,10.0,894,17580,0.00,2.60,0.00,0.000,6,0.000,0.045,2893,1863,2166
$GC,17881,0.99,117.3,8.9,907,17890,0.00,2.65,0.00,0.000,4,0.000,0.057,2893,3295,2165
$GC,18001,0.99,117.3,9.5,913,18010,0.00,2.60,0.00,0.000,6,0.000,0.045,2893,1857,2166
$GC,18321,0.99,117.3,8.1,926,18330,0.00,2.65,0.00,0.000,4,0.000,0.057,2893,3291,2166
$GC,18391,0.99,117.3,9.2,929,18400,0.00,2.58,0.00,0.000,6,0.000,0.045,2893,1865,2166
$GC,18701,0.99,117.3,8.4,942,18710,0.00,2.63,0.00,0.000,4,0.000,0.056,2893,3285,2164
$GC,18761,0.99,117.3,9.2,945,18770,0.00,2.58,0.00,0.000,6,0.000,0.045,2892,1858,2165
$GC,19081,0.99,117.3,8.4,958,19090,0.00,2.65,0.00,0.000,4,0.000,0.056,2893,3297,2165
$GC,19211,0.99,117.3,9.5,964,19220,0.00,2.60,0.00,0.000,6,0.000,0.045,2893,1853,2165
$GC,19521,0.99,117.3,8.7,977,19530,0.00,2.65,0.00,0.000,4,0.000,0.056,2893,3292,2165
$GC,19571,0.99,117.3,9.4,979,19580,0.00,2.58,0.00,0.000,6,0.000,0.045,2893,1862,2165
$GC,19881,0.99,117.3,7.6,992,19890,0.00,2.65,0.00,0.000,4,0.000,0.057,2893,3298,2165
$GC,20001,0.99,117.3,7.9,998,20010,0.00,2.60,0.00,0.000,6,0.000,0.045,2893,1854,2165
$GC,20321,0.99,117.3,7.6,1011,20330,0.00,2.65,0.00,0.000,4,0.000,0.056,2893,3294,2165
$GC,20521,0.99,117.3,8.9,1021,20530,0.00,2.58,0.00,0.000,6,0.000,0.044,2893,1862,2165
$GC,20841,0.99,117.3,8.1,1034,20864,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1862,2165
$GC,21166,0.99,117.3,7.5,1047,21175,0.00,2.63,0.00,0.000,4,0.000,0.055,2893,3294,2165
$GC,21326,0.99,117.3,8.1,1055,21335,0.00,2.58,0.00,0.000,6,0.000,0.044,2893,1858,2165
$GC,21646,0.99,117.3,7.5,1068,21669,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1858,2165
$GC,21971,0.99,117.3,7.4,1081,21980,0.00,2.63,0.00,0.000,4,0.000,0.054,2893,3296,2165
$GC,22161,0.99,117.3,8.6,1090,22170,0.00,2.58,0.00,0.000,6,0.000,0.042,2893,1854,2165
$GC,22471,0.99,117.3,7.9,1103,22494,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1854,2165
$GC,22796,0.99,117.3,7.0,1116,22805,0.00,2.63,0.00,0.000,4,0.000,0.052,2893,3297,2165
$GC,22936,0.99,120.5,6.8,1123,22945,0.00,2.58,0.00,0.000,6,0.000,0.041,2893,1849,2165
$GC,23256,1.00,147.7,5.8,1136,23280,0.00,0.00,23.35,1.055,6,0.000,0.000,2893,1849,2047
$GC,23581,1.03,147.7,7.0,1149,23590,0.00,2.63,0.00,0.000,4,0.000,0.049,2893,3291,2047
$GC,23761,1.03,147.7,7.7,1158,23770,0.00,2.55,0.00,0.000,6,0.000,0.040,2893,1862,2046
$GC,24081,1.03,147.7,8.0,1171,24104,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1862,2046
$GC,24406,1.03,147.7,6.9,1184,24415,0.00,2.60,0.00,0.000,4,0.000,0.048,2893,3299,2046
$GC,24486,1.03,147.7,7.4,1188,24495,0.00,2.58,0.00,0.000,6,0.000,0.039,2893,1849,2046
$GC,24806,1.03,166.1,6.2,1201,24825,0.00,2.70,14.82,0.957,4,0.000,0.047,2893,3296,1971
$GC,24916,1.05,166.1,7.2,1206,24925,0.00,2.58,0.00,0.000,6,0.000,0.037,2893,1851,1970
$GC,25226,1.05,166.1,7.9,1219,25235,0.00,2.60,0.00,0.000,4,0.000,0.044,2893,3294,1969
$GC,25306,1.05,166.1,8.2,1223,25315,0.00,2.55,0.00,0.000,6,0.000,0.037,2893,1854,1970
$GC,25626,1.05,166.1,7.4,1236,25635,0.00,2.60,0.00,0.000,4,0.000,0.044,2893,3302,1970
$GC,25676,1.05,166.1,7.3,1238,25685,0.00,2.55,0.00,0.000,6,0.000,0.036,2893,1860,1970
$GC,25986,1.05,190.1,5.9,1251,26015,0.00,2.63,18.85,0.858,4,0.000,0.043,2893,3296,1874
$GC,26026,1.07,208.2,6.2,1253,26045,0.00,2.58,14.38,0.854,6,0.000,0.035,2893,1851,1799
$GC,26346,1.09,208.2,8.2,1266,26369,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1851,1798
$GC,26671,1.09,208.2,8.3,1279,26680,0.00,2.58,0.00,0.000,4,0.000,0.041,2893,3293,1799
$GC,26721,1.09,208.2,8.3,1281,26730,0.00,2.53,0.00,0.000,6,0.000,0.034,2893,1855,1799
$GC,27031,1.09,208.2,7.2,1294,27040,0.00,2.55,0.00,0.000,4,0.000,0.051,2893,454,1798
$GC,27071,1.09,208.2,7.6,1296,27080,0.00,2.50,0.00,0.000,6,0.000,0.026,2893,1903,1798
$GC,27386,1.09,218.2,6.5,1313,27405,0.00,2.50,7.65,0.773,4,0.000,0.041,2893,3300,1758
$GC,27446,1.10,218.2,7.0,1319,27455,0.10,2.53,0.00,0.000,6,0.074,0.031,2921,1854,1758
$GC,27756,1.10,218.2,7.4,1350,27765,0.00,2.55,0.00,0.000,4,0.000,0.038,2921,3296,1758
$GC,27866,1.10,218.2,7.5,1361,27875,0.00,2.50,0.00,0.000,6,0.000,0.031,2921,1856,1759
$GC,28176,1.10,218.2,7.6,1392,28184,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1856,1759
$GC,28486,1.10,218.2,7.4,1423,28494,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1856,1759
$GC,28796,1.10,239.2,6.1,1468,28820,0.00,2.58,16.55,0.627,4,0.000,0.048,2921,454,1673
$GC,28851,1.13,246.1,6.6,1479,28860,0.00,2.50,5.13,0.651,6,0.000,0.022,2922,1891,1644
$GC,29041,1.13,250.4,6.7,1517,29050,0.00,2.47,2.95,0.662,4,0.000,0.037,2921,3301,1627
$GC,29091,1.14,254.8,6.7,1527,29100,0.00,2.55,3.05,0.655,6,0.000,0.028,2921,1847,1609
$GC,29161,1.14,286.1,5.7,1541,29190,0.00,2.55,23.92,0.594,4,0.000,0.046,2921,453,1482
$GC,29206,1.18,286.1,7.6,1550,29210,0.00,2.53,0.00,0.000,6,0.000,0.021,2921,1903,1482
$GC,29271,1.18,300.6,6.3,1563,29285,0.00,0.00,10.60,0.598,6,0.000,0.000,2921,1904,1422
$SM_CCo,29380,30.13,0.573,0,0,1221,350.04
$HUMID,2410
$TCM_TEMP,15.50
$RAFOS_CLK,698
$24V_AH,23.1,61.432
$10V_AH,10.0,32.878
$DEVICE_SECS,26.500,325.075,340.450,30.125,32.327,23.962,174.203,77.250,1179.318,25003.449,1570.644,1718.392,393.922,71.153,2869.025,0.000
$DEVICE_MAMPS,146.497,64.428,1405.911,572.949,103.000,160.000,223.000,93.000,18.650,1.040,18.650,38.650,45.300,80.650,12.000,3.000
$SENSOR_SECS,1476.644,1230.106,1323.037,0.000,0.000,0.000,2275.000
$SENSOR_MAMPS,26.000,15.000,10.000,105.000,33.000,105.000,2.000
$DATA_FILE_SIZE,42496,1582
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0