version: 66.11
glider: 165
mission: 7
dive: 65
start: 8 22 112 17 43 11
data:
$ID,165
$MISSION,7
$DIVE,65
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51833
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-274458.12
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2967
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.425434
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563917
$SEABIRD_T_H,0.00062612642
$SEABIRD_T_I,2.3748129e-05
$SEABIRD_T_J,2.537425e-06
$SEABIRD_C_G,-9.8483667
$SEABIRD_C_H,1.1161635
$SEABIRD_C_I,-0.0015063961
$SEABIRD_C_J,0.00020304731
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,220812,173436,1850.458,12215.101,31,1.3,31,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.5
$GPS2,220812,174243,1850.516,12214.923,14,1.6,14,-2.1
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,MMIDA
$TGT_LATLONG,1845.000,12228.200
$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,128.1,25427,-13.1,-8.250
$D_GRID,1245
$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,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,86,0.00,0.00,-65.18,0.000,2,0.000,0.000,132,2516,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.61,-194.6,3.4,-8.0,11,127,9.95,2.22,-21.40,0.000,4,0.239,0.051,2694,1089,3763,0,0,0,0,0,0,25.86,26.14,26.41
$GC,350,-0.51,-194.6,93.5,-36.3,37,357,0.17,2.22,0.00,0.000,6,0.178,0.049,2732,2498,3764,0,0,0,0,0,0,26.13,26.26,28.83
$GC,670,-0.47,-194.6,166.3,-18.7,53,675,0.00,1.85,0.00,0.000,4,0.000,0.057,2726,3690,3766,0,0,0,0,0,0,28.83,26.35,28.83
$GC,742,-0.42,-194.6,177.7,-18.0,56,749,0.12,1.77,0.00,0.000,6,0.155,0.031,2759,2486,3766,0,0,0,0,0,0,26.30,26.43,28.83
$GC,1058,-0.41,-194.6,223.3,-12.7,72,1063,0.00,2.08,0.00,0.000,4,0.000,0.043,2759,1102,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1101,-0.40,-194.6,228.4,-12.0,74,1106,0.00,2.20,0.00,0.000,6,0.000,0.046,2756,2510,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1424,-0.40,-194.6,261.1,-9.6,90,1430,0.00,1.83,0.00,0.000,4,0.000,0.057,2755,3690,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1477,-0.40,-194.6,265.4,-9.7,92,1482,0.00,1.75,0.00,0.000,6,0.000,0.030,2754,2505,3767,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1790,-0.40,-194.6,292.9,-8.9,108,1795,0.00,1.88,0.00,0.000,4,0.000,0.057,2755,3694,3767,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1842,-0.40,-194.6,296.9,-9.4,110,1847,0.00,1.77,0.00,0.000,6,0.000,0.031,2755,2486,3766,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2155,-0.40,-194.6,325.1,-7.2,126,2160,0.00,2.05,0.00,0.000,4,0.000,0.041,2755,1109,3764,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2198,-0.40,-194.6,328.3,-7.2,128,2203,0.00,2.20,0.00,0.000,6,0.000,0.049,2755,2507,3764,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2522,-0.40,-194.6,350.4,-5.0,144,2527,0.00,1.83,0.00,0.000,4,0.000,0.057,2755,3699,3763,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2616,-0.41,-194.6,355.2,-5.8,148,2621,0.00,1.77,0.00,0.000,6,0.000,0.031,2755,2506,3762,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2929,-0.42,-194.6,373.4,-6.6,164,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2498,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.42,-194.6,394.9,-7.3,179,3237,0.00,1.85,0.00,0.000,4,0.000,0.058,2754,3689,3758,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3295,-0.44,-194.6,399.7,-7.3,182,3301,0.00,1.80,0.00,0.000,6,0.000,0.032,2755,2491,3757,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3619,-0.44,-194.6,422.7,-7.0,198,3624,0.00,1.88,0.00,0.000,4,0.000,0.059,2755,3688,3754,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3671,-0.45,-194.6,425.7,-6.8,200,3678,0.00,1.77,0.00,0.000,6,0.000,0.032,2755,2503,3754,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3987,-0.46,-194.6,447.0,-6.5,216,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2498,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4289,-0.48,-194.6,465.5,-6.1,231,4295,0.00,1.85,0.00,0.000,4,0.000,0.059,2754,3687,3749,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4363,-0.49,-194.6,469.6,-5.9,234,4369,0.00,1.77,0.00,0.000,6,0.000,0.032,2755,2484,3749,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4678,-0.50,-194.6,488.9,-6.1,250,4683,0.00,1.90,0.00,0.000,4,0.000,0.058,2755,3695,3746,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4706,-0.51,-194.6,490.3,-6.1,251,4712,0.00,1.77,0.00,0.000,6,0.000,0.032,2754,2500,3745,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5026,-0.53,-194.6,511.9,-7.1,267,5032,0.00,1.88,0.00,0.000,4,0.000,0.059,2754,3687,3744,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5070,-0.54,-194.6,515.2,-7.4,269,5075,0.00,1.80,0.00,0.000,6,0.000,0.032,2755,2492,3743,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5395,-0.55,-194.6,541.4,-8.2,285,5400,0.00,1.88,0.00,0.000,4,0.000,0.059,2754,3687,3741,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5453,-0.57,-194.6,545.1,-8.0,287,5461,0.05,1.77,0.00,0.000,6,0.076,0.033,2686,2499,3740,0,0,0,0,0,0,26.60,26.65,28.83
$GC,5758,-0.54,-194.6,584.4,-12.8,303,5760,0.12,0.00,0.00,0.000,6,0.158,0.000,2720,2498,3739,0,0,0,0,0,0,26.51,28.83,28.83
$GC,6070,-0.54,-194.6,617.2,-10.5,316,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2499,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.53,-194.6,651.1,-11.9,326,6375,0.00,2.12,0.00,0.000,4,0.000,0.043,2720,1109,3736,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6411,-0.53,-194.6,655.2,-12.1,327,6416,0.00,2.20,0.00,0.000,6,0.000,0.049,2716,2507,3736,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6737,-0.52,-194.6,695.0,-11.4,338,6743,0.00,1.85,0.00,0.000,4,0.000,0.060,2714,3692,3734,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6780,-0.52,-194.6,699.1,-11.3,339,6786,0.00,1.77,0.00,0.000,6,0.000,0.033,2713,2510,3733,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7105,-0.51,-194.6,732.2,-9.3,350,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2503,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7406,-0.50,-194.6,757.6,-7.9,360,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2503,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7704,-0.49,-194.6,781.5,-8.0,370,7709,0.00,1.88,0.00,0.000,4,0.000,0.061,2713,3698,3730,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7778,-0.49,-194.6,786.4,-7.9,372,7784,0.00,1.80,0.00,0.000,6,0.000,0.034,2713,2493,3729,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8103,-0.48,-194.6,810.4,-6.8,383,8110,0.12,2.12,0.00,0.000,4,0.150,0.041,2754,1104,3729,0,0,0,0,0,0,26.52,26.60,28.83
$GC,8139,-0.48,-194.6,812.4,-6.5,384,8145,0.00,2.22,0.00,0.000,6,0.000,0.049,2755,2510,3729,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8475,-0.50,-194.6,826.2,-4.3,395,8480,0.00,1.83,0.00,0.000,4,0.000,0.060,2754,3687,3726,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8564,-0.52,-194.6,829.0,-4.4,397,8570,0.00,1.77,0.00,0.000,6,0.000,0.034,2754,2495,3726,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8871,-0.55,-194.6,843.5,-4.3,408,8876,0.00,1.88,0.00,0.000,4,0.000,0.060,2754,3689,3725,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8905,-0.57,-194.6,845.1,-4.3,409,8911,0.12,1.77,0.00,0.000,6,0.093,0.034,2684,2499,3724,0,0,0,0,0,0,26.61,26.65,28.83
$GC,9240,-0.55,-194.6,875.2,-9.4,420,9242,0.15,0.00,0.00,0.000,6,0.149,0.000,2726,2498,3724,0,0,0,0,0,0,26.49,28.83,28.83
$GC,9542,-0.55,-194.6,895.0,-6.5,430,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2498,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,-0.56,-194.6,914.8,-6.7,440,9844,0.00,1.88,0.00,0.000,4,0.000,0.061,2726,3693,3722,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9898,-0.57,-194.6,917.3,-6.8,441,9905,0.00,1.80,0.00,0.000,6,0.000,0.034,2726,2508,3721,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10205,-0.57,-194.6,939.5,-7.0,452,10210,0.00,1.88,0.00,0.000,4,0.000,0.060,2726,3686,3721,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10239,-0.58,-194.6,941.7,-6.9,453,10244,0.00,1.80,0.00,0.000,6,0.000,0.034,2726,2487,3722,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10575,-0.59,-194.6,964.0,-6.5,464,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2479,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10874,-0.59,-194.6,983.7,-6.9,474,10879,0.00,1.92,0.00,0.000,4,0.000,0.061,2726,3690,3719,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10911,-0.60,-194.6,986.2,-6.9,475,10917,0.00,1.80,0.00,0.000,6,0.000,0.035,2726,2501,3718,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,10968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10968,begin apogee
$GC,10974,-0.14,0.0,990.3,-6.7,477,11136,0.38,0.00,154.38,1.454,6,0.122,0.000,2853,2391,2967,0,0,0,0,0,0,26.48,28.83,23.64
$STATE,11138,end apogee,CONTROL_FINISHED_OK
$STATE,11138,begin climb
$GC,11140,0.61,194.6,995.1,0.0,482,11316,0.68,0.00,167.90,1.414,6,0.062,0.000,3104,2391,2172,0,0,0,0,0,0,24.79,28.83,23.31
$GC,11602,0.55,194.6,929.0,17.7,498,11607,0.00,2.15,0.00,0.000,4,0.000,0.058,3104,3685,2164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11740,0.48,194.6,903.8,20.2,502,11746,0.20,2.00,0.00,0.000,6,0.168,0.041,3060,2422,2163,0,0,0,0,0,0,25.72,25.86,28.83
$GC,12060,0.44,194.6,852.4,14.8,513,12066,0.00,2.08,0.00,0.000,4,0.000,0.057,3060,3695,2163,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12139,0.39,194.6,841.8,15.5,515,12145,0.15,2.03,0.00,0.000,6,0.171,0.041,3029,2401,2163,0,0,0,0,0,0,26.02,26.16,28.83
$GC,12460,0.37,194.6,801.4,11.6,526,12466,0.00,2.08,0.00,0.000,4,0.000,0.057,3029,3693,2161,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12623,0.34,194.6,781.0,13.1,531,12628,0.00,2.03,0.00,0.000,6,0.000,0.040,3036,2394,2161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12951,0.31,194.6,741.9,11.4,542,12956,0.12,2.05,0.00,0.000,4,0.174,0.053,2999,3687,2160,0,0,0,0,0,0,26.25,26.34,28.83
$GC,13008,0.28,194.6,737.8,11.2,543,13016,0.00,2.00,0.00,0.000,6,0.000,0.038,3005,2393,2160,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13316,0.27,194.6,707.7,8.9,554,13321,0.00,2.08,0.00,0.000,4,0.000,0.055,3005,3697,2160,0,0,0,0,0,0,28.83,26.38,28.83
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$GC,16081,0.35,289.6,458.8,11.4,669,16088,0.00,2.00,0.00,0.000,6,0.000,0.037,3031,2396,1780,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,20544,end climb,SURFACE_DEPTH_REACHED
$STATE,20544,begin surface coast
$FINISH,0.4,1.008281
$STATE,20582,end surface coast,CONTROL_FINISHED_OK
$STATE,20582,begin surface
$SM_CCo,20660,0.00,0.000,0,0,1013,479.32
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$IRIDIUM_FIX,1844.15,12215.53,220812,111119
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.60
$INTERNAL_PRESSURE,9.25853
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,7745024
$24V_AH,23.3,15.287
$10V_AH,9.9,10.423
$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,21.275,166.725,561.175,0.000,0.000,27.351,25.688,204.071,0.250,0.000,16.551,3156.901,14158.609,712.280,2677.516,428.786,0.000,2003.871,0.000,2292.840,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,75.735,1454.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20623.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.913,0.000,0.000,0.000
$MEM,306484
$DATA_FILE_SIZE,33323,936
$CAP_FILE_SIZE,233097,0
$CFSIZE,260165632,193839104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239,321.4,1
$GPS,220812,232854,1851.179,12216.354,41,1.0,41,-2.1