version: 66.07
glider: 505
mission: 2
dive: 115
start: 12 17 109 13 36 50
data:
$ID,505
$MISSION,2
$DIVE,115
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,105
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$NAV_MODE,1
$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,480
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23878.582
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2835
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,45
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,2807
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.661293
$PRESSURE_SLOPE,0.00011485742
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,0
$DEEPGLIDERMB,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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042964104
$SEABIRD_T_H,0.00061985431
$SEABIRD_T_I,2.235871e-05
$SEABIRD_T_J,2.3254006e-06
$SEABIRD_C_G,-9.7945118
$SEABIRD_C_H,1.1383005
$SEABIRD_C_I,-0.0013506444
$SEABIRD_C_J,0.00018750974
$GPS1,171209,132949,4806.450,-12222.695,11,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.0
$GPS2,171209,133626,4806.465,-12222.701,13,1.7,13,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.017,-0.168
$KALMAN_X,-13133.6,-4635.2,-588.1,16822.7,2665.0
$KALMAN_Y,68460.2,-29369.0,-3484.8,-30122.7,17846.2
$MHEAD_RNG_PITCHd_Wd,116.5,1222,-6.9,-5.000
$D_GRID,150
$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
$GC,15,-0.42,-154.0,0.0,0.0,0,76,0.00,0.00,-58.42,0.000,2,0.000,0.000,112,1792,2499,0,0,0,0,0,0
$GC,78,-0.49,-214.2,3.3,-3.5,14,124,12.25,2.62,-27.08,0.000,4,0.289,0.060,2668,3388,3681,0,0,0,0,0,0
$GC,207,-0.49,-214.2,18.5,-9.4,42,213,0.00,2.53,0.00,0.000,6,0.000,0.038,2669,1800,3683,0,0,0,0,0,0
$GC,251,-0.49,-214.2,22.8,-10.0,51,256,0.00,2.55,0.00,0.000,4,0.000,0.048,2668,213,3683,0,0,0,0,0,0
$GC,261,-0.49,-214.2,24.0,-10.1,53,267,0.00,2.53,0.00,0.000,6,0.000,0.040,2669,1789,3683,0,0,0,0,0,0
$GC,305,-0.49,-214.2,28.6,-10.8,62,310,0.00,2.55,0.00,0.000,4,0.000,0.048,2669,3396,3683,0,0,0,0,0,0
$GC,320,-0.49,-214.2,30.4,-10.8,65,325,0.00,2.50,0.00,0.000,6,0.000,0.037,2669,1813,3683,0,0,0,0,0,0
$GC,363,-0.49,-214.2,35.1,-10.9,74,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1812,3682,0,0,0,0,0,0
$GC,405,-0.49,-214.2,39.6,-10.8,83,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1811,3682,0,0,0,0,0,0
$GC,449,-0.49,-214.2,44.0,-10.6,92,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1812,3682,0,0,0,0,0,0
$GC,491,-0.49,-214.2,48.6,-10.4,101,496,0.00,2.55,0.00,0.000,4,0.000,0.049,2668,210,3682,0,0,0,0,0,0
$GC,511,-0.49,-214.2,50.7,-10.6,105,516,0.00,2.55,0.00,0.000,6,0.000,0.039,2668,1810,3682,0,0,0,0,0,0
$GC,554,-0.49,-214.2,54.9,-10.2,114,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1810,3682,0,0,0,0,0,0
$GC,596,-0.49,-214.2,59.2,-9.9,123,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1810,3682,0,0,0,0,0,0
$GC,638,-0.49,-214.2,63.2,-9.7,132,644,0.00,2.50,0.00,0.000,4,0.000,0.048,2669,3385,3681,0,0,0,0,0,0
$GC,658,-0.49,-214.2,65.2,-9.5,136,664,0.00,2.45,0.00,0.000,6,0.000,0.038,2669,1810,3682,0,0,0,0,0,0
$GC,701,-0.49,-214.2,69.3,-9.7,145,707,0.00,2.55,0.00,0.000,4,0.000,0.048,2668,213,3682,0,0,0,0,0,0
$GC,721,-0.49,-214.2,71.2,-9.5,149,726,0.00,2.53,0.00,0.000,6,0.000,0.039,2669,1803,3682,0,0,0,0,0,0
$GC,765,-0.49,-214.2,75.3,-9.6,158,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1803,3682,0,0,0,0,0,0
$GC,808,-0.49,-214.2,79.4,-9.4,167,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1803,3682,0,0,0,0,0,0
$GC,852,-0.49,-214.2,83.6,-9.4,176,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1803,3682,0,0,0,0,0,0
$GC,894,-0.49,-214.2,87.5,-9.2,185,900,0.00,2.53,0.00,0.000,4,0.000,0.048,2668,3397,3682,0,0,0,0,0,0
$GC,918,-0.49,-214.2,89.6,-9.0,190,924,0.00,2.50,0.00,0.000,6,0.000,0.038,2669,1786,3681,0,0,0,0,0,0
$GC,962,-0.49,-214.2,93.2,-8.7,199,967,0.00,2.50,0.00,0.000,4,0.000,0.048,2668,212,3681,0,0,0,0,0,0
$GC,986,-0.49,-214.2,95.5,-8.9,204,992,0.00,2.50,0.00,0.000,6,0.000,0.040,2668,1792,3681,0,0,0,0,0,0
$GC,1029,-0.49,-214.2,99.4,-9.0,213,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1793,3682,0,0,0,0,0,0
$GC,1073,-0.49,-214.2,103.0,-8.4,222,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1793,3681,0,0,0,0,0,0
$GC,1115,-0.49,-214.2,106.5,-8.3,231,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1793,3682,0,0,0,0,0,0
$GC,1157,-0.49,-214.2,110.0,-8.2,240,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1793,3682,0,0,0,0,0,0
$STATE,1185,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1185,begin apogee
$GC,1188,-0.17,0.0,112.3,8.1,246,1267,0.30,0.00,74.40,0.536,6,0.124,0.000,2775,1793,2806,0,0,0,0,0,0
$STATE,1268,end apogee,CONTROL_FINISHED_OK
$STATE,1268,begin climb
$GC,1270,0.49,214.2,114.7,0.0,264,1352,0.62,0.00,75.72,0.524,6,0.100,0.000,2989,1793,1931,0,0,0,0,0,0
$GC,1391,0.49,214.2,102.1,13.3,291,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1793,1929,0,0,0,0,0,0
$GC,1433,0.49,214.2,96.7,12.6,300,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1793,1928,0,0,0,0,0,0
$GC,1475,0.49,214.2,91.6,12.2,309,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1793,1928,0,0,0,0,0,0
$GC,1518,0.49,214.2,86.7,11.8,318,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1793,1927,0,0,0,0,0,0
$GC,1560,0.49,214.2,81.6,12.0,327,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1793,1928,0,0,0,0,0,0
$GC,1602,0.49,214.2,76.7,11.6,336,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1793,1928,0,0,0,0,0,0
$GC,1645,0.49,214.2,71.9,11.6,345,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1793,1928,0,0,0,0,0,0
$GC,1687,0.49,214.2,67.0,11.6,354,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1793,1928,0,0,0,0,0,0
$GC,1730,0.49,214.2,62.0,11.4,363,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1793,1928,0,0,0,0,0,0
$GC,1772,0.49,214.2,57.2,11.4,372,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1793,1928,0,0,0,0,0,0
$GC,1814,0.49,214.2,52.6,11.1,381,1819,0.00,2.55,0.00,0.000,4,0.000,0.048,2999,216,1928,0,0,0,0,0,0
$GC,1838,0.49,214.2,49.9,11.1,386,1844,0.00,2.53,0.00,0.000,6,0.000,0.037,2999,1808,1928,0,0,0,0,0,0
$GC,1881,0.49,214.2,44.9,11.6,395,1887,0.00,2.50,0.00,0.000,4,0.000,0.044,2999,3396,1928,0,0,0,0,0,0
$GC,1911,0.49,214.2,41.1,12.1,401,1917,0.00,2.47,0.00,0.000,6,0.000,0.039,3007,1816,1928,0,0,0,0,0,0
$GC,1954,0.49,214.2,35.9,12.4,410,1959,0.00,2.55,0.00,0.000,4,0.000,0.049,3017,212,1928,0,0,0,0,0,0
$GC,1983,0.49,214.2,32.0,12.7,416,1989,0.10,2.50,0.00,0.000,6,0.165,0.036,2991,1799,1927,0,0,0,0,0,0
$GC,2027,0.49,214.2,27.0,11.8,425,2033,0.00,2.50,0.00,0.000,4,0.000,0.044,2990,3387,1928,0,0,0,0,0,0
$GC,2052,0.49,214.2,24.3,11.1,430,2058,0.00,2.50,0.00,0.000,6,0.000,0.039,2993,1796,1928,0,0,0,0,0,0
$GC,2095,0.49,214.2,19.5,11.1,439,2101,0.00,2.53,0.00,0.000,4,0.000,0.049,3004,216,1927,0,0,0,0,0,0
$GC,2138,0.49,214.2,14.7,11.0,448,2144,0.00,2.42,0.00,0.000,6,0.000,0.038,3004,1772,1927,0,0,0,0,0,0
$GC,2182,0.49,214.2,10.3,10.6,457,2187,0.00,2.53,0.00,0.000,4,0.000,0.044,3004,3384,1927,0,0,0,0,0,0
$FREEZE,9.39,9.051,-1.540,0,1,0
$FREEZE,9.00,8.869,-1.523,0,1,0
$FREEZE,8.59,8.822,-1.515,0,1,0
$FREEZE,8.23,8.810,-1.510,0,1,0
$FREEZE,8.04,8.657,-1.496,0,1,0
$FREEZE,7.69,8.552,-1.482,0,1,0
$FREEZE,7.46,8.468,-1.473,0,1,0
$FREEZE,7.31,8.440,-1.471,0,1,0
$FREEZE,6.95,8.422,-1.468,0,1,0
$GC,2225,0.49,214.2,7.0,8.3,467,2231,0.00,2.53,0.00,0.000,6,0.000,0.040,3004,1781,1928,0,0,0,0,0,0
$FREEZE,6.33,8.234,-1.452,0,1,0
$FREEZE,6.07,8.204,-1.447,0,1,0
$FREEZE,6.01,8.138,-1.441,0,1,0
$FREEZE,5.86,8.111,-1.438,0,1,0
$FREEZE,5.67,8.096,-1.436,0,1,0
$FREEZE,5.57,8.074,-1.434,0,1,0
$FREEZE,5.48,8.052,-1.433,0,1,0
$FREEZE,5.31,8.019,-1.432,0,1,0
$FREEZE,5.34,7.790,-1.429,0,1,0
$GC,2268,0.51,227.7,5.3,4.7,476,2280,0.00,2.53,4.18,0.196,4,0.000,0.048,3004,217,1875,0,0,0,0,0,0
$FREEZE,4.88,7.417,-1.415,0,1,0
$FREEZE,4.80,7.358,-1.409,0,1,0
$FREEZE,4.85,7.342,-1.405,0,1,0
$FREEZE,4.74,7.318,-1.402,0,1,0
$FREEZE,4.71,7.294,-1.400,0,1,0
$FREEZE,4.64,7.238,-1.402,0,1,0
$FREEZE,4.40,7.189,-1.405,0,1,0
$FREEZE,4.39,7.170,-1.407,0,1,0
$FREEZE,4.19,7.147,-1.409,0,1,0
$FREEZE,4.10,7.086,-1.412,0,1,0
$FREEZE,3.94,7.035,-1.414,0,1,0
$GC,2320,0.67,357.6,4.2,2.1,487,2336,0.12,2.47,9.00,0.166,2,0.100,0.037,3057,1818,1760,0,0,0,0,0,0
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FREEZE,3.76,6.884,-1.419,0,1,0
$FREEZE,3.66,6.866,-1.418,0,1,0
$FREEZE,3.53,6.841,-1.417,0,1,0
$FREEZE,3.43,6.863,-1.414,0,1,0
$FREEZE,3.42,6.859,-1.412,0,1,0
$FREEZE,3.30,6.796,-1.410,0,1,0
$FREEZE,3.19,6.757,-1.408,0,1,0
$FREEZE,3.17,6.638,-1.408,0,1,0
$FREEZE,3.19,6.551,-1.406,0,1,0
$FREEZE,3.11,6.491,-1.404,0,1,0
$FREEZE,3.01,6.469,-1.401,0,1,0
$FREEZE,3.10,6.436,-1.395,0,1,0
$FREEZE,3.03,6.407,-1.396,0,1,0
$FREEZE,3.08,6.408,-1.390,0,1,0
$FREEZE,3.05,6.402,-1.388,0,1,0
$FREEZE,3.09,6.392,-1.386,0,1,0
$FREEZE,3.06,6.392,-1.382,0,1,0
$FREEZE,2.92,6.385,-1.380,0,1,0
$FREEZE,2.96,6.380,-1.381,0,1,0
$FREEZE,2.91,6.382,-1.378,0,1,0
$FREEZE,2.94,6.365,-1.378,0,1,0
$FREEZE,2.92,6.361,-1.378,0,1,0
$FREEZE,2.96,6.357,-1.376,0,1,0
$FREEZE,2.96,6.364,-1.374,0,1,0
$FREEZE,2.99,6.361,-1.372,0,1,0
$FREEZE,2.97,6.357,-1.372,0,1,0
$FREEZE,3.00,6.355,-1.367,0,1,0
$FREEZE,2.99,6.338,-1.368,0,1,0
$FREEZE,2.94,6.337,-1.366,0,1,0
$FREEZE,2.93,6.339,-1.366,0,1,0
$FREEZE,2.89,6.340,-1.365,0,1,0
$FREEZE,2.97,6.335,-1.364,0,1,0
$FREEZE,2.88,6.321,-1.364,0,1,0
$FREEZE,2.89,6.323,-1.363,0,1,0
$FREEZE,2.86,6.321,-1.362,0,1,0
$FREEZE,2.90,6.321,-1.360,0,1,0
$FREEZE,2.89,6.317,-1.360,0,1,0
$FREEZE,2.80,6.320,-1.358,0,1,0
$FREEZE,2.86,6.319,-1.358,0,1,0
$FREEZE,2.78,6.314,-1.357,0,1,0
$FREEZE,2.80,6.307,-1.356,0,1,0
$FREEZE,2.79,6.301,-1.356,0,1,0
$FREEZE,2.70,6.293,-1.355,0,1,0
$FREEZE,2.78,6.291,-1.355,0,1,0
$FREEZE,2.74,6.291,-1.354,0,1,0
$FINISH,2.7,1.019536
$STATE,2524,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2524,begin surface
$SM_CCo,2538,75.40,0.159,0,0,846,480.04
$SM_GC,1.92,0.00,0.00,75.40,0.000,0.000,0.159,113,1821,846,-8.51,0.59,480.04
$IRIDIUM_FIX,4748.51,-12221.84,120611,060642
$TT8_MAMPS,0.029146
$HUMID,1077383853
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,42.0
$24V_AH,24.5,20.008
$10V_AH,10.5,6.961
$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,21.250,75.525,163.300,75.400,0.000,29.314,25.850,247.308,0.500,0.000,14.114,911.349,528.388,402.757,1087.210,96.393,0.000,917.565,0.000,773.332,0.000,5.538,0.000
$DEVICE_MAMPS,289.159,59.826,536.133,158.769,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324108
$DATA_FILE_SIZE,16744,534
$CAP_FILE_SIZE,87017,0
$CFSIZE,260165632,254664704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,142114,4806.175,-12222.455,13,1.2,13,18.3