02 19 105 00 14 00
$ID,15
$DIVE,514
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$T_DIVE,550
$T_MISSION,660
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,1800
$USE_BATHY,-7
$D_OFFGRID,1001
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$KALMAN_USE,2
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-005
$SM_CC,200
$N_FILEKB,4
$TEL_PREFIX,1206
$TEL_NUM,5435947
$ALT_TEL_PREFIX,1206
$ALT_TEL_NUM,6162195
$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,-487.76575
$T_RSLEEP,8
$C_PITCH,2414
$PITCH_K,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_AD_RATE,150
$C_ROLL_DIVE,2125
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_K,0.028270001
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,425
$C_VBD,2513
$VBD_K,-0.24529999
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$AH0_24V,91.800003
$AH0_10V,61.200001
$CAPTURING,1
$COMM_SEQ,0
$UNCOM_BLEED,20
$GPS1,000656,5901.707,-5448.024,62,9.3,80
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.8
$GPS2,001353,5901.680,-5447.895,15,6.1,34,-30.1
$SPEED_LIMITS,0.104,0.196
$TGT_NAME,C6000
$TGT_LATLONG,6000.000,-5500.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.020,-0.390
$KALMAN_X,-46418.9,-139.9,-287.9,4200.9,-632.0
$KALMAN_Y,227454.5,5718.2,668.4,-715632.7,-19410.2
$MHEAD_RNG_PITCHd_Wd,24.2,108588,-11.4,-6.000
$D_GRID,1001
$GC,16,-0.85,-127.1,0.0,0,42,0.00,0.00,-25.20,0.000,2,0.000,0.000,50,2130,2230
$GC,43,-0.85,-127.1,-6.8,5,97,12.48,2.80,-34.10,0.000,4,0.161,0.094,2222,3536,3033
$GC,228,-0.85,-127.1,-7.1,35,237,0.00,2.72,0.00,0.000,6,0.000,0.061,2222,2101,3033
$GC,538,-0.85,-127.1,-6.5,66,547,0.00,2.70,0.00,0.000,4,0.000,0.075,2222,688,3033
$GC,558,-0.85,-127.1,-6.0,68,567,0.00,2.78,0.00,0.000,6,0.000,0.068,2222,2130,3033
$GC,868,-0.85,-127.1,-6.8,99,877,0.00,2.78,0.00,0.000,4,0.000,0.075,2222,695,3033
$GC,888,-0.85,-127.1,-6.6,101,897,0.00,2.72,0.00,0.000,6,0.000,0.069,2222,2122,3033
$GC,1198,-0.85,-127.1,-6.0,132,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2123,3033
$GC,1508,-0.85,-127.1,-6.1,163,1517,0.00,2.78,0.00,0.000,4,0.000,0.076,2222,686,3034
$GC,1528,-0.85,-127.1,-6.1,165,1537,0.00,2.70,0.00,0.000,6,0.000,0.061,2222,2124,3033
$GC,1838,-0.85,-127.1,-5.3,196,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2124,3033
$GC,2148,-0.85,-127.1,-5.5,227,2157,0.00,2.78,0.00,0.000,4,0.000,0.074,2222,684,3033
$GC,2168,-0.85,-127.1,-5.5,229,2177,0.00,2.70,0.00,0.000,6,0.000,0.057,2222,2130,3034
$GC,2478,-0.85,-127.1,-5.8,260,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2130,3034
$GC,2798,-0.85,-127.1,-5.6,277,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2130,3034
$GC,3118,-0.85,-127.1,-6.5,293,3127,0.00,2.78,0.00,0.000,4,0.000,0.076,2220,690,3034
$GC,3138,-0.85,-127.1,-6.5,294,3147,0.00,2.65,0.00,0.000,6,0.000,0.054,2222,2121,3034
$GC,3458,-0.85,-127.1,-5.8,310,3467,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,3536,3034
$GC,3478,-0.85,-127.1,-5.4,311,3487,0.00,2.72,0.00,0.000,6,0.000,0.061,2222,2097,3033
$GC,3798,-0.85,-127.1,-6.9,327,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2097,3034
$GC,4118,-0.85,-127.1,-6.3,343,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2097,3034
$GC,4438,-0.85,-127.1,-6.6,359,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2097,3034
$GC,4758,-0.85,-127.1,-6.2,375,4767,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3532,3035
$GC,4778,-0.85,-127.1,-6.3,376,4787,0.00,2.70,0.00,0.000,6,0.000,0.060,2222,2096,3034
$GC,5118,-0.85,-127.1,-6.6,387,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2096,3034
$GC,5478,-0.85,-127.1,-6.3,396,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2097,3035
$GC,5838,-0.85,-127.1,-6.2,405,5847,0.00,2.83,0.00,0.000,4,0.000,0.083,2222,3535,3034
$GC,5868,-0.85,-127.1,-6.4,405,5877,0.00,2.70,0.00,0.000,6,0.000,0.063,2222,2106,3033
$GC,6198,-0.85,-127.1,-6.5,414,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2106,3034
$GC,6558,-0.85,-127.1,-5.6,423,6567,0.00,2.78,0.00,0.000,4,0.000,0.079,2222,3530,3034
$GC,6588,-0.85,-127.1,-5.9,423,6597,0.00,2.72,0.00,0.000,6,0.000,0.065,2222,2095,3034
$GC,6918,-0.85,-127.1,-6.7,432,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2095,3034
$GC,7278,-0.85,-127.1,-5.9,441,7287,0.00,2.78,0.00,0.000,4,0.000,0.077,2222,3528,3034
$GC,7308,-0.85,-127.1,-5.9,441,7317,0.00,2.70,0.00,0.000,6,0.000,0.061,2222,2095,3034
$GC,7638,-0.85,-127.1,-5.8,450,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2095,3034
$GC,7998,-0.85,-127.1,-5.5,459,8007,0.00,2.80,0.00,0.000,4,0.000,0.078,2222,3535,3034
$GC,8038,-0.85,-127.1,-6.0,460,8047,0.00,2.70,0.00,0.000,6,0.000,0.064,2222,2105,3034
$GC,8358,-0.85,-127.1,-5.4,468,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2105,3034
$GC,8718,-0.85,-127.1,-5.4,477,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2105,3034
$GC,9078,-0.85,-127.1,-5.6,486,9087,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3539,3034
$GC,9108,-0.85,-127.1,-5.7,486,9117,0.00,2.72,0.00,0.000,6,0.000,0.062,2222,2098,3034
$GC,9438,-0.85,-127.1,-5.8,495,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2098,3034
$GC,9798,-0.85,-127.1,-5.3,504,9807,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3536,3034
$GC,9838,-0.85,-127.1,-5.7,505,9846,0.00,2.72,0.00,0.000,6,0.000,0.063,2222,2097,3034
$GC,10158,-0.85,-127.1,-5.6,513,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2097,3034
$GC,10518,-0.85,-127.1,-5.7,522,10527,0.00,2.80,0.00,0.000,4,0.000,0.079,2222,3537,3034
$GC,10558,-0.85,-127.1,-6.0,523,10567,0.00,2.72,0.00,0.000,6,0.000,0.065,2222,2096,3034
$GC,10878,-0.85,-127.1,-5.4,531,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2097,3034
$GC,11238,-0.85,-127.1,-5.7,540,11247,0.00,2.80,0.00,0.000,4,0.000,0.078,2222,3538,3034
$GC,11268,-0.85,-127.1,-5.9,540,11277,0.00,2.72,0.00,0.000,6,0.000,0.064,2222,2101,3034
$GC,11598,-0.85,-127.1,-6.1,549,11607,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3539,3034
$GC,11618,-0.85,-127.1,-6.2,549,11627,0.00,2.72,0.00,0.000,6,0.000,0.067,2222,2104,3034
$GC,11958,-0.85,-127.1,-6.1,558,11967,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3539,3034
$GC,11978,-0.85,-127.1,-5.9,558,11987,0.00,2.72,0.00,0.000,6,0.000,0.061,2222,2095,3034
$GC,12318,-0.85,-127.1,-5.8,567,12327,0.00,2.80,0.00,0.000,4,0.000,0.077,2222,3536,3034
$GC,12338,-0.85,-127.1,-5.8,567,12347,0.00,2.75,0.00,0.000,6,0.000,0.067,2222,2096,3034
$GC,12678,-0.85,-127.1,-5.3,576,12687,0.00,2.80,0.00,0.000,4,0.000,0.078,2222,3536,3034
$GC,12708,-0.85,-127.1,-5.6,576,12717,0.00,2.72,0.00,0.000,6,0.000,0.062,2222,2094,3034
$GC,13038,-0.85,-127.1,-4.8,585,13047,0.00,2.80,0.00,0.000,4,0.000,0.078,2222,3535,3034
$GC,13058,-0.85,-127.1,-4.7,585,13067,0.00,2.72,0.00,0.000,6,0.000,0.064,2222,2100,3034
$GC,13398,-0.85,-127.1,-5.3,594,13407,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3533,3034
$GC,13418,-0.85,-127.1,-5.2,594,13427,0.00,2.75,0.00,0.000,6,0.000,0.070,2222,2099,3034
$GC,13758,-0.85,-127.1,-5.0,603,13767,0.00,2.83,0.00,0.000,4,0.000,0.086,2222,3532,3034
$GC,13788,-0.85,-127.1,-5.0,603,13797,0.00,2.72,0.00,0.000,6,0.000,0.065,2222,2100,3034
$GC,14118,-0.85,-127.1,-5.0,612,14127,0.00,2.80,0.00,0.000,4,0.000,0.081,2222,3536,3034
$GC,14138,-0.85,-127.1,-5.0,612,14147,0.00,2.72,0.00,0.000,6,0.000,0.066,2222,2107,3035
$GC,14478,-0.85,-127.1,-5.2,621,14487,0.00,2.80,0.00,0.000,4,0.000,0.083,2223,3536,3034
$GC,14498,-0.85,-127.1,-5.2,621,14507,0.00,2.72,0.00,0.000,6,0.000,0.065,2222,2105,3035
$GC,14838,-0.85,-127.1,-5.4,630,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2105,3034
$GC,15198,-0.85,-127.1,-5.5,639,15207,0.00,2.80,0.00,0.000,4,0.000,0.084,2222,3530,3034
$GC,15238,-0.85,-127.1,-5.7,640,15247,0.00,2.72,0.00,0.000,6,0.000,0.068,2222,2111,3034
$GC,15558,-0.85,-127.1,-5.0,648,15596,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2110,3034
$GC,15918,-0.85,-127.1,-4.7,657,15927,0.00,2.85,0.00,0.000,4,0.000,0.092,2221,3535,3034
$GC,15958,-0.85,-127.1,-5.1,658,15967,0.00,2.75,0.00,0.000,6,0.000,0.072,2222,2111,3034
$GC,16278,-0.85,-127.1,-4.8,666,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2110,3034
$GC,16638,-0.85,-127.1,-4.1,675,16647,0.00,2.90,0.00,0.000,4,0.000,0.101,2222,3538,3033
$GC,16668,-0.85,-127.1,-4.3,675,16677,0.00,2.78,0.00,0.000,6,0.000,0.076,2222,2110,3034
$GC,16998,-0.85,-127.1,-4.1,684,17036,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2111,3034
$GC,17358,-0.85,-127.1,-4.4,693,17367,0.00,2.85,0.00,0.000,4,0.000,0.094,2222,3532,3034
$GC,17398,-0.85,-127.1,-4.6,694,17407,0.00,2.80,0.00,0.000,6,0.000,0.080,2222,2100,3034
$GC,17478,-0.31,0.0,4.2,696,17637,0.60,0.00,120.90,1.411,6,0.095,0.000,2346,2099,2513
$GC,17638,0.85,127.1,2.0,700,17767,1.25,3.22,115.25,1.372,4,0.088,0.109,2598,600,1994
$GC,17808,0.85,127.1,7.1,704,17817,0.00,3.00,0.00,0.000,6,0.000,0.110,2598,2017,1994
$GC,18118,0.85,127.1,7.4,712,18127,0.00,2.85,0.00,0.000,4,0.000,0.095,2598,3432,1992
$GC,18168,0.85,127.1,7.9,713,18177,0.00,2.83,0.00,0.000,6,0.000,0.077,2599,2005,1992
$GC,18478,0.85,127.1,7.6,721,18487,0.00,2.83,0.00,0.000,4,0.000,0.100,2599,598,1992
$GC,18508,0.85,127.1,7.7,721,18517,0.00,2.75,0.00,0.000,6,0.000,0.072,2599,2017,1992
$GC,18838,0.85,127.1,6.8,730,18846,0.00,2.88,0.00,0.000,4,0.000,0.104,2599,3433,1992
$GC,18878,0.85,127.1,6.6,731,18887,0.00,2.80,0.00,0.000,6,0.000,0.075,2599,2006,1992
$GC,19198,0.85,127.1,6.7,739,19207,0.00,2.83,0.00,0.000,4,0.000,0.097,2599,588,1992
$GC,19228,0.85,127.1,6.8,739,19237,0.00,2.75,0.00,0.000,6,0.000,0.068,2599,2024,1992
$GC,19558,0.85,127.1,6.4,748,19567,0.00,2.75,0.00,0.000,4,0.000,0.084,2599,3429,1992
$GC,19588,0.85,127.1,6.7,748,19597,0.00,2.78,0.00,0.000,6,0.000,0.072,2599,2007,1992
$GC,19918,0.85,127.1,6.9,757,19956,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,1992
$GC,20278,0.85,127.1,6.8,766,20316,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,1992
$GC,20638,0.85,127.1,6.8,775,20676,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,1992
$GC,20998,0.85,127.1,6.9,784,21036,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,1992
$GC,21358,0.85,127.1,6.9,793,21396,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2007,1992
$GC,21718,0.85,127.1,7.1,802,21727,0.00,2.83,0.00,0.000,4,0.000,0.084,2599,3440,1993
$GC,21758,0.85,127.1,7.5,803,21767,0.00,2.78,0.00,0.000,6,0.000,0.067,2599,1997,1993
$GC,22078,0.85,127.1,7.2,811,22087,0.00,2.88,0.00,0.000,4,0.000,0.116,2599,596,1993
$GC,22108,0.85,127.1,7.2,811,22117,0.00,2.67,0.00,0.000,6,0.000,0.058,2599,2025,1993
$GC,22438,0.85,127.1,6.7,820,22476,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2024,1993
$GC,22798,0.85,127.1,6.3,829,22836,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2025,1993
$GC,23158,0.85,127.1,6.2,838,23167,0.00,2.80,0.00,0.000,4,0.000,0.081,2599,587,1993
$GC,23188,0.85,127.1,6.5,838,23197,0.00,2.65,0.00,0.000,6,0.000,0.056,2599,2021,1993
$GC,23518,0.85,127.1,6.5,847,23527,0.00,2.78,0.00,0.000,4,0.000,0.089,2599,3435,1993
$GC,23548,0.85,127.1,6.4,847,23557,0.00,2.72,0.00,0.000,6,0.000,0.062,2600,2005,1993
$GC,23878,0.85,127.1,6.3,856,23887,0.00,2.78,0.00,0.000,4,0.000,0.091,2599,587,1993
$GC,23908,0.85,127.1,6.5,856,23917,0.00,2.67,0.00,0.000,6,0.000,0.056,2599,2024,1993
$GC,24238,0.85,127.1,6.0,865,24276,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2024,1994
$GC,24598,0.85,127.1,6.0,874,24636,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2024,1994
$GC,24958,0.85,130.3,5.9,883,24967,0.00,2.83,3.15,1.230,4,0.000,0.083,2599,589,1983
$GC,24998,0.86,130.3,6.2,884,25007,0.00,2.70,0.00,0.000,6,0.000,0.055,2599,2031,1983
$GC,25318,0.86,150.4,5.3,892,25357,0.00,0.00,17.85,1.134,6,0.000,0.000,2599,2031,1899
$GC,25678,0.88,150.4,6.2,901,25716,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2032,1899
$GC,26038,0.88,150.4,6.8,910,26076,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2031,1899
$GC,26398,0.88,150.4,6.7,919,26436,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2031,1899
$GC,26758,0.88,150.4,6.8,928,26796,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2031,1899
$GC,27118,0.88,150.4,6.4,937,27156,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2031,1899
$GC,27478,0.88,150.4,6.2,946,27487,0.00,2.80,0.00,0.000,4,0.000,0.081,2599,592,1899
$GC,27508,0.88,150.4,6.3,946,27517,0.00,2.67,0.00,0.000,6,0.000,0.057,2599,2023,1899
$GC,27838,0.88,150.4,6.7,955,27847,0.00,2.72,0.00,0.000,4,0.000,0.076,2599,3441,1899
$GC,27868,0.88,150.4,6.7,955,27877,0.00,2.75,0.00,0.000,6,0.000,0.062,2599,1996,1899
$GC,28198,0.88,160.6,5.7,964,28217,0.00,0.00,8.98,1.047,6,0.000,0.000,2599,1996,1858
$GC,28518,0.89,160.6,6.2,980,28527,0.00,2.83,0.00,0.000,4,0.000,0.077,2599,3438,1858
$GC,28548,0.89,160.6,6.7,981,28557,0.00,2.75,0.00,0.000,6,0.000,0.062,2599,2000,1858
$GC,28858,0.89,160.6,6.8,997,28867,0.00,2.80,0.00,0.000,4,0.000,0.076,2599,3435,1858
$GC,28888,0.89,160.6,7.4,998,28897,0.00,2.75,0.00,0.000,6,0.000,0.065,2599,2002,1858
$GC,29198,0.89,160.6,6.7,1014,29216,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2002,1858
$GC,29518,0.89,160.6,7.3,1030,29536,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2002,1858
$GC,29838,0.89,160.6,6.4,1046,29847,0.00,2.80,0.00,0.000,4,0.000,0.079,2599,3435,1858
$GC,29878,0.89,160.6,7.0,1048,29887,0.00,2.72,0.00,0.000,6,0.000,0.061,2599,1999,1858
$GC,30198,0.89,160.6,7.4,1064,30216,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1999,1858
$GC,30518,0.89,174.4,5.5,1086,30537,0.00,0.00,11.18,0.933,6,0.000,0.000,2599,2000,1802
$GC,30838,0.90,200.2,5.1,1118,30867,0.00,2.90,21.48,0.880,4,0.000,0.080,2598,3431,1695
$GC,30898,0.93,200.2,7.1,1124,30907,0.00,2.78,0.00,0.000,6,0.000,0.065,2599,2005,1696
$GC,31208,0.93,200.2,6.1,1155,31217,0.00,2.70,0.00,0.000,4,0.000,0.077,2599,597,1695
$GC,31248,0.93,200.2,6.7,1159,31257,0.00,2.75,0.00,0.000,6,0.000,0.069,2599,2027,1696
$GC,31558,0.93,200.2,9.8,1190,31567,0.00,2.75,0.00,0.000,4,0.000,0.084,2599,3427,1695
$GC,31598,0.93,200.2,9.9,1194,31607,0.00,2.75,0.00,0.000,6,0.000,0.064,2599,1996,1695
$GC,31908,0.93,273.0,3.5,1225,31977,0.00,0.00,58.72,0.788,6,0.000,0.000,2599,1996,1400
$GC,32278,1.01,426.3,0.8,1271,32342,0.17,0.00,63.75,0.743,2,0.094,0.000,2634,1996,1073
$SM_CCo,32443,0.00,0.000,0,0,1066,354.46
$HUMID,3082
$TCM_TEMP,-3.00
$24V_AH,22.7,73.862
$10V_AH,10.0,37.513
$DEVICE_SECS,26.575,272.025,421.250,0.000,32.346,40.959,189.521,120.259,917.238,27771.215,2488.223,1344.566,441.040,0.000,3517.733,0.000
$DEVICE_MAMPS,161.070,115.817,1410.513,0.000,103.000,160.000,223.000,93.000,18.650,1.040,18.650,38.650,45.300,80.650,12.000,3.000
$SENSOR_SECS,1160.264,1024.498,1027.720,298.062,0.000,0.000,0.000
$SENSOR_MAMPS,26.000,15.000,10.000,105.000,33.000,105.000,3.000
$DATA_FILE_SIZE,38836,1289
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0