version: 66.14
glider: 640
mission: 5
dive: 524
start: 2 9 119 11 38 57
data:
$ID,640
$MISSION,5
$DIVE,524
$N_DIVES,600
$STOP_T,2121912
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$D_BOOST,20
$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,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54260
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$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,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,090219,113229,-6001.2427,2.5731,13,1.0,40,-19.7,0.2,31.7,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.5
$GPS2,090219,113837,-6001.2192,2.5795,9,0.7,21,-19.7,0.8,311.9,12,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,197.1,34862,-15.5,-8.333,-18.82,2677
$D_GRID,350
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.64,-146.0,218,2138,1787,1830,0.0,0.0,0,103,0.00,0.00,-87.55,0.000,16386,0.000,0.000,217,2138,3229,3310,3149,0,0,0,0,0,0,14.56,28.83,14.57,6.18,51.22
$GC,106,-0.64,-146.0,218,2138,3313,3149,3.7,-8.0,18,119,6.20,2.67,-2.90,0.000,18692,0.343,2.217,2166,3500,3314,3406,3222,0,0,0,0,0,0,13.87,13.19,14.25,6.30,50.15
$GC,196,-0.64,-146.0,2166,3505,3409,3224,20.6,-15.9,36,200,0.08,2.38,0.00,0.000,3078,0.358,0.041,2190,2094,3316,3409,3223,0,0,0,0,0,0,13.99,14.31,14.27,6.32,49.09
$GC,323,-0.64,-146.0,2191,2094,3410,3224,41.3,-17.0,61,328,0.00,2.45,0.00,0.000,2564,0.000,0.064,2190,696,3316,3410,3223,0,0,0,0,0,0,14.63,14.26,14.63,6.32,49.29
$GC,395,-0.64,-146.0,2190,697,3410,3224,53.6,-14.8,76,400,0.00,2.42,0.00,0.000,3078,0.000,0.054,2181,2102,3316,3410,3223,0,0,0,0,0,0,14.44,14.29,14.46,6.32,49.56
$GC,521,-0.64,-146.0,2181,2103,3410,3224,71.7,-14.6,101,524,0.00,2.50,0.00,0.000,2308,0.000,0.082,2170,3505,3316,3409,3223,0,0,0,0,0,0,14.68,14.24,14.68,6.32,49.68
$GC,556,-0.64,-146.0,2170,3507,3410,3224,76.9,-14.9,108,560,0.08,2.38,0.00,0.000,3078,0.355,0.044,2195,2094,3316,3410,3223,0,0,0,0,0,0,14.02,14.34,14.30,6.32,49.68
$GC,683,-0.64,-146.0,2195,2094,3410,3224,93.9,-13.5,133,688,0.00,2.45,0.00,0.000,516,0.000,0.064,2194,694,3316,3410,3223,0,0,0,0,0,0,14.68,14.29,14.68,6.31,49.37
$GC,750,-0.64,-146.0,2194,697,3410,3224,103.0,-14.9,142,754,0.00,2.42,0.00,0.000,3078,0.000,0.054,2185,2106,3316,3410,3223,0,0,0,0,0,0,14.47,14.32,14.49,6.31,48.50
$GC,1055,-0.64,-146.0,2186,2106,3411,3223,150.4,-14.3,157,1059,0.00,2.47,0.00,0.000,2564,0.000,0.062,2184,688,3316,3410,3223,0,0,0,0,0,0,14.76,14.33,14.76,6.31,49.13
$GC,1121,-0.64,-146.0,2185,689,3411,3223,157.9,-13.7,160,1125,0.05,2.42,0.00,0.000,3078,0.432,0.055,2189,2102,3316,3410,3223,0,0,0,0,0,0,14.06,14.35,14.33,6.31,49.88
$GC,1431,-0.64,-146.0,2190,2102,3413,3224,197.9,-12.3,176,1434,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3502,3317,3410,3224,0,0,0,0,0,0,14.78,14.30,14.78,6.31,50.47
$GC,1480,-0.64,-146.0,2180,3504,3410,3224,202.4,-12.4,178,1484,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2091,3316,3410,3223,0,0,0,0,0,0,14.54,14.40,14.53,6.31,50.35
$GC,1800,-0.64,-146.0,2180,2090,3411,3223,245.1,-12.9,195,1804,0.00,2.42,0.00,0.000,2564,0.000,0.063,2179,693,3316,3410,3223,0,0,0,0,0,0,14.80,14.35,14.80,6.32,50.94
$GC,1860,-0.64,-146.0,2176,694,3411,3224,252.2,-12.9,198,1864,0.08,2.42,0.00,0.000,3078,0.364,0.055,2191,2106,3316,3410,3223,0,0,0,0,0,0,14.06,14.38,14.35,6.32,50.59
$GC,2171,-0.64,-146.0,2191,2107,3411,3222,289.8,-11.8,214,2174,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3510,3316,3410,3223,0,0,0,0,0,0,14.81,14.31,14.81,6.32,50.86
$GC,2245,-0.64,-146.0,2181,3511,3410,3224,298.7,-11.9,218,2249,0.00,2.35,0.00,0.000,3078,0.000,0.042,2180,2098,3316,3410,3223,0,0,0,0,0,0,14.55,14.42,14.57,6.33,51.10
$GC,2561,-0.64,-146.0,2181,2097,3410,3224,336.7,-12.2,234,2564,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,697,3316,3410,3223,0,0,0,0,0,0,14.81,14.35,14.81,6.33,51.02
$GC,2620,-0.64,-146.0,2181,699,3411,3223,344.1,-12.3,237,2625,0.08,2.40,0.00,0.000,3078,0.367,0.054,2192,2101,3316,3410,3222,0,0,0,0,0,0,14.06,14.39,14.35,6.33,51.14
$STATE,2678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2678,begin apogee
$GC,2684,-0.15,0.0,2193,2166,3410,3224,350.9,-11.5,240,2811,0.45,0.00,124.12,1.587,10246,0.254,0.000,2349,2166,2721,2782,2661,0,0,0,0,0,0,14.05,13.89,13.17,6.33,51.02
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin loiter
$GC,3100,-0.15,0.0,2350,2166,2776,2646,346.5,3.3,261,3101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2710,2775,2646,0,0,0,0,0,0,14.55,14.55,14.55,6.28,51.14
$GC,3401,-0.15,0.0,2349,2167,2775,2645,336.8,3.2,276,3401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2643,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.94
$GC,3700,-0.15,0.0,2349,2167,2775,2644,327.7,2.9,291,3701,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2643,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.37
$GC,4001,-0.15,0.0,2350,2166,2775,2643,319.0,2.9,306,4002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2643,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.06
$GC,4300,-0.15,0.0,2349,2167,2775,2644,310.6,2.8,321,4301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.37
$GC,4601,-0.15,0.0,2349,2166,2775,2643,302.1,2.8,336,4601,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,14.92,14.92,14.93,6.28,51.26
$GC,4900,-0.15,0.0,2350,2166,2775,2642,293.2,3.0,351,4901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.89
$GC,5200,-0.15,0.0,2350,2166,2776,2642,283.7,3.4,366,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.37
$GC,5500,-0.15,0.0,2350,2166,2775,2642,274.1,3.1,381,5501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.45
$GC,5801,-0.15,0.0,2349,2167,2775,2643,264.8,3.0,396,5802,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$GC,6100,-0.15,0.0,2349,2167,2774,2643,256.0,2.8,411,6101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2708,2774,2642,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.61
$STATE,6398,end loiter,LOITER_COMPLETE
$STATE,6398,begin climb
$GC,6401,0.64,146.0,2348,2166,2775,2643,248.1,0.0,426,6538,0.62,0.00,132.25,1.418,10758,0.175,0.000,2592,2167,2120,2141,2100,0,0,0,0,0,0,14.30,13.83,13.30,6.28,51.49
$GC,6823,0.64,146.0,2592,2167,2129,2085,211.6,10.2,447,6826,0.00,2.47,0.00,0.000,2308,0.000,0.083,2593,3541,2106,2129,2083,0,0,0,0,0,0,14.53,14.14,14.52,6.23,50.35
$GC,6878,0.64,146.0,2593,3541,2130,2083,207.4,10.4,449,6881,0.00,2.35,0.00,0.000,1030,0.000,0.044,2603,2153,2106,2129,2083,0,0,0,0,0,0,14.35,14.24,14.38,6.23,51.14
$GC,7183,0.64,146.0,2604,2153,2127,2078,173.5,10.6,465,7186,0.00,2.50,0.00,0.000,516,0.000,0.072,2614,745,2107,2126,2088,0,0,0,0,0,0,14.66,14.25,14.67,6.23,50.90
$GC,7223,0.64,146.0,2615,746,2125,2078,169.9,10.4,467,7226,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2131,2101,2124,2079,0,0,0,0,0,0,14.46,14.31,14.48,6.23,50.94
$GC,7533,0.64,146.0,2615,2132,2124,2078,135.3,10.6,483,7537,0.00,2.55,0.00,0.000,4356,0.000,0.084,2616,3565,2100,2122,2078,0,0,0,0,0,0,14.73,14.28,14.73,6.23,51.69
$GC,7618,0.64,146.0,2615,3565,2123,2078,126.3,11.2,487,7622,0.08,2.38,0.00,0.000,5126,0.346,0.047,2600,2153,2100,2123,2078,0,0,0,0,0,0,14.09,14.38,14.39,6.23,50.98
$GC,7930,0.65,153.1,2600,2154,2123,2087,98.7,8.1,503,7934,0.00,2.50,0.00,0.000,2564,0.000,0.073,2609,734,2100,2125,2076,0,0,0,0,0,0,14.75,14.32,14.75,6.22,51.14
$GC,8004,0.67,170.2,2610,734,2122,2076,92.7,7.7,518,8027,0.00,2.42,18.80,1.321,11270,0.000,0.054,2610,2155,2028,2046,2010,0,0,0,0,0,0,14.53,14.38,13.70,6.22,50.66
$GC,8149,0.67,170.2,2609,2155,2041,2002,79.2,9.5,547,8153,0.00,2.47,0.00,0.000,2308,0.000,0.084,2610,3552,2021,2040,2002,0,0,0,0,0,0,14.67,14.21,14.67,6.21,49.37
$GC,8174,0.67,170.2,2610,3553,2040,2004,76.7,10.3,552,8177,0.00,2.38,0.00,0.000,5126,0.000,0.049,2620,2153,2021,2040,2002,0,0,0,0,0,0,14.49,14.35,14.50,6.20,49.60
$GC,8301,0.67,170.2,2620,2153,2040,2002,65.3,9.3,577,8304,0.00,2.50,0.00,0.000,4612,0.000,0.073,2631,740,2020,2040,2001,0,0,0,0,0,0,14.68,14.29,14.68,6.20,50.03
$GC,8349,0.67,170.2,2632,742,2039,2000,60.6,8.9,587,8353,0.05,2.42,0.00,0.000,5126,0.372,0.054,2612,2151,2019,2038,2000,0,0,0,0,0,0,14.13,14.30,14.36,6.20,49.25
$GC,8475,0.70,194.3,2613,2151,2039,1999,51.0,7.4,612,8504,0.00,2.50,24.48,1.253,10756,0.000,0.073,2622,734,1922,1937,1908,0,0,0,0,0,0,14.70,14.32,13.66,6.20,49.80
$GC,8529,0.70,194.3,2623,734,1936,1905,46.3,9.1,623,8533,0.00,2.45,0.00,0.000,1030,0.000,0.055,2622,2157,1920,1935,1905,0,0,0,0,0,0,14.42,14.29,14.43,6.20,49.40
$GC,8656,0.70,194.3,2623,2157,1935,1903,33.2,11.2,648,8663,0.00,2.50,0.00,0.000,260,0.000,0.086,2622,3553,1918,1934,1903,0,0,0,0,0,0,14.62,14.23,14.62,6.19,50.23
$GC,8705,0.70,194.3,2623,3553,1935,1902,27.4,11.4,658,8708,0.00,2.38,0.00,0.000,5126,0.000,0.048,2632,2150,1918,1934,1903,0,0,0,0,0,0,14.45,14.32,14.47,6.20,50.78
$GC,8831,0.70,194.3,2633,2149,1934,1901,12.5,12.3,683,8837,0.00,2.50,0.00,0.000,4612,0.000,0.075,2644,741,1918,1932,1904,0,0,0,0,0,0,14.65,14.26,14.65,6.20,51.37
$GC,8879,0.70,194.3,2644,741,1933,1902,6.6,11.7,693,8884,0.08,2.42,0.00,0.000,5126,0.319,0.055,2618,2150,1916,1933,1900,0,0,0,0,0,0,14.09,14.28,14.36,6.20,50.82
$STATE,8912,end climb,SURFACE_DEPTH_REACHED
$STATE,8912,begin surface coast
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8954,22.12,0.251,0,0,1823,220.03
$SM_GC,0.96,5.57,0.10,22.12,0.065,0.142,0.251,218,2071,1823,-6.45,0.65,220.03,0,0,0,0,0,0,14.51,14.38,14.07
$IRIDIUM_FIX,-6002.25,0.00,090219,085742
$TT8_MAMPS,0.038948,0.349034
$HUMID,50.70
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3652928
$24V_AH,13.17,100.585
$10V_AH,13.30,0.000
$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,13.400,88.175,299.650,22.125,0.000,26.829,16.533,135.345,0.000,0.000,22.730,0.000,7062.979,318.558,1702.037,259.743,0.000,1056.222,0.000,1161.665,0.000,0.540,0.000
$DEVICE_MAMPS,432.225,2216.970,1586.610,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5347.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.442,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17344,705
$CAP_FILE_SIZE,96830,0
$CFSIZE,1023623168,967950336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,182.58,1
$GPS,090219,140931,-6001.748,2.708,14,0.8,31,-19.7,0.6,103.1,9,8.4