version: 66.11
glider: 170
mission: 10
dive: 514
start: 2 17 113 10 11 20
data:
$ID,170
$MISSION,10
$DIVE,514
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1040
$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,250
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,51760
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143958.03
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,5
$C_ROLL_DIVE,500
$C_ROLL_CLIMB,500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$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,21.5
$MINV_10V,8.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170213,100428,2150.804,11949.733,41,1.0,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-72.0
$GPS2,170213,101053,2150.880,11949.709,19,0.9,19,-3.0
$SPEED_LIMITS,0.219,0.339
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$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,120.0,20784,-18.8,-12.667,-20.49
$D_GRID,2432
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.70,-194.6,0.0,0.0,0,99,0.00,0.00,-75.82,0.000,2,0.000,0.000,126,480,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.70,-194.6,3.1,-1.1,5,164,11.32,0.32,-45.30,0.000,4,0.237,0.138,2800,734,3648,0,0,0,0,0,0,24.97,25.61,26.56
$GC,219,-0.67,-194.6,17.4,-14.5,12,221,0.00,0.38,0.00,0.000,6,0.000,0.037,2800,482,3648,0,0,0,0,0,0,28.83,26.29,28.83
$GC,521,-0.67,-194.6,62.0,-14.3,27,523,0.00,0.22,0.00,0.000,4,0.000,0.060,2800,317,3648,0,0,0,0,0,0,28.83,26.27,28.83
$GC,548,-0.67,-194.6,66.3,-14.5,29,551,0.00,0.50,0.00,0.000,6,0.000,0.031,2801,675,3648,0,0,0,0,0,0,28.83,26.30,28.83
$GC,872,-0.67,-194.6,109.3,-12.2,44,873,0.00,0.00,0.00,0.000,4,0.000,0.000,2800,677,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,884,-0.67,-194.6,111.2,-12.0,45,885,0.00,0.10,0.00,0.000,6,0.000,0.078,2801,812,3648,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1202,-0.73,-194.6,142.0,-9.4,56,1204,0.00,0.20,0.00,0.000,4,0.000,0.043,2800,651,3649,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1259,-0.77,-194.6,146.3,-9.6,58,1261,0.00,0.30,0.00,0.000,6,0.000,0.037,2801,890,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1562,-0.84,-194.6,179.7,-10.8,68,1565,0.12,0.30,0.00,0.000,4,0.096,0.034,2746,669,3650,0,0,0,0,0,0,26.35,26.29,28.83
$GC,1650,-0.88,-194.6,188.3,-11.3,71,1652,0.00,0.30,0.00,0.000,6,0.000,0.036,2745,913,3650,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1950,-0.88,-194.6,220.4,-9.8,81,1952,0.00,0.32,0.00,0.000,4,0.000,0.034,2746,674,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2009,-0.88,-194.6,225.4,-10.5,83,2011,0.00,0.28,0.00,0.000,6,0.000,0.038,2746,912,3650,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2310,-0.88,-194.6,260.8,-11.0,93,2312,0.00,0.32,0.00,0.000,4,0.000,0.034,2746,671,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2368,-0.88,-194.6,265.5,-10.8,95,2370,0.00,0.30,0.00,0.000,6,0.000,0.036,2746,917,3650,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2674,-0.90,-194.6,296.2,-9.5,105,2676,0.00,0.35,0.00,0.000,4,0.000,0.035,2746,658,3650,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2746,-0.92,-194.6,303.0,-9.0,108,2748,0.00,0.30,0.00,0.000,6,0.000,0.037,2746,901,3649,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3065,-0.95,-194.6,328.3,-8.0,119,3067,0.00,0.32,0.00,0.000,4,0.000,0.035,2746,664,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3137,-0.99,-194.6,335.1,-8.8,122,3139,0.00,0.30,0.00,0.000,6,0.000,0.037,2746,901,3648,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3455,-1.03,-194.6,370.7,-12.4,133,3458,0.12,0.32,0.00,0.000,4,0.105,0.034,2699,661,3647,0,0,0,0,0,0,26.33,26.27,28.83
$GC,3512,-1.03,-194.6,377.1,-13.1,135,3514,0.00,0.30,0.00,0.000,6,0.000,0.036,2698,895,3647,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3812,-1.00,-194.6,422.3,-13.9,145,3815,0.00,0.88,0.00,0.000,4,0.000,0.036,2698,323,3644,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3888,-0.97,-194.6,432.3,-13.5,148,3890,0.00,0.85,0.00,0.000,6,0.000,0.033,2698,883,3644,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4205,-0.94,-194.6,469.1,-11.0,159,4207,0.12,0.00,0.00,0.000,6,0.187,0.000,2728,884,3643,0,0,0,0,0,0,26.05,28.83,28.83
$GC,4503,-0.94,-194.6,498.4,-10.0,169,4506,0.00,0.85,0.00,0.000,4,0.000,0.033,2729,317,3641,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4561,-0.94,-194.6,503.1,-10.2,171,4564,0.00,0.85,0.00,0.000,6,0.000,0.027,2728,905,3641,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4862,-0.94,-194.6,537.3,-11.1,181,4865,0.00,0.88,0.00,0.000,4,0.000,0.033,2729,320,3639,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4922,-0.94,-194.6,542.6,-11.5,183,4924,0.00,0.85,0.00,0.000,6,0.000,0.027,2729,908,3639,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5223,-0.94,-194.6,577.9,-10.9,193,5225,0.00,0.90,0.00,0.000,4,0.000,0.034,2729,312,3637,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5252,-0.94,-194.6,579.5,-10.8,194,5254,0.00,0.85,0.00,0.000,6,0.000,0.026,2729,885,3637,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5582,-0.94,-194.6,613.9,-9.7,203,5585,0.00,0.85,0.00,0.000,4,0.000,0.034,2729,317,3636,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5596,-0.94,-194.6,613.9,-9.7,203,5599,0.00,0.85,0.00,0.000,6,0.000,0.027,2729,893,3635,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5913,-0.94,-194.6,641.8,-8.2,209,5916,0.00,0.88,0.00,0.000,4,0.000,0.034,2729,310,3633,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5941,-0.94,-194.6,641.8,-8.2,209,5944,0.00,0.85,0.00,0.000,6,0.000,0.027,2729,890,3633,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6242,-0.94,-194.6,669.7,-8.6,214,6245,0.00,0.85,0.00,0.000,4,0.000,0.033,2728,320,3631,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6289,-0.94,-194.6,674.0,-8.8,215,6291,0.00,0.85,0.00,0.000,6,0.000,0.027,2729,892,3631,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6632,-0.94,-194.6,709.0,-10.5,221,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,894,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6932,-0.94,-194.6,744.4,-11.9,226,6934,0.00,0.88,0.00,0.000,4,0.000,0.034,2729,313,3628,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6978,-0.94,-194.6,750.2,-12.2,227,6981,0.00,0.85,0.00,0.000,6,0.000,0.026,2729,883,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7323,-0.94,-194.6,793.4,-12.5,233,7325,0.00,0.30,0.00,0.000,4,0.000,0.037,2728,662,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7396,-0.94,-194.6,798.8,-12.3,234,7398,0.00,0.30,0.00,0.000,6,0.000,0.037,2729,882,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7713,-0.94,-194.6,837.6,-11.1,240,7715,0.00,0.30,0.00,0.000,4,0.000,0.041,2729,651,3625,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7741,-0.94,-194.6,837.6,-11.1,240,7743,0.00,0.32,0.00,0.000,6,0.000,0.036,2731,886,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8042,-0.94,-194.6,871.8,-10.4,245,8044,0.00,0.30,0.00,0.000,4,0.000,0.041,2729,652,3623,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8088,-0.94,-194.6,876.4,-10.3,246,8090,0.00,0.32,0.00,0.000,6,0.000,0.036,2729,888,3623,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8432,-0.94,-194.6,909.7,-9.6,252,8434,0.00,0.30,0.00,0.000,4,0.000,0.043,2729,657,3622,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8446,-0.94,-194.6,909.7,-9.6,252,8448,0.00,0.30,0.00,0.000,6,0.000,0.037,2728,877,3622,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8764,-0.94,-194.6,940.0,-9.1,258,8766,0.00,0.28,0.00,0.000,4,0.000,0.042,2729,667,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8791,-0.94,-194.6,940.0,-9.1,258,8793,0.00,0.30,0.00,0.000,6,0.000,0.037,2729,887,3621,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,8909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8909,begin apogee
$GC,8917,-0.17,0.0,952.9,-8.7,260,9092,0.80,0.00,170.60,1.448,4,0.137,0.000,2974,494,2853,0,0,0,0,0,0,24.87,28.83,22.98
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9094,begin climb
$GC,9098,0.70,194.6,961.9,0.0,263,9286,0.80,0.28,182.40,1.409,4,0.060,0.040,3266,704,2059,0,0,0,0,0,0,24.72,24.94,22.46
$GC,9332,0.67,246.6,948.2,10.4,267,9384,0.00,0.30,48.55,1.360,6,0.000,0.053,3267,502,1847,0,0,0,0,0,0,28.83,25.20,23.08
$GC,9726,0.68,278.1,901.1,11.3,274,9758,0.00,0.30,28.55,1.340,4,0.000,0.040,3267,735,1718,0,0,0,0,0,0,28.83,25.49,23.75
$GC,9812,0.70,312.9,896.1,11.2,275,9848,0.00,0.20,33.35,1.340,6,0.000,0.063,3267,591,1577,0,0,0,0,0,0,28.83,25.98,23.62
$GC,10174,0.72,357.6,852.0,10.7,282,10219,0.00,0.43,41.40,1.347,4,0.000,0.054,3268,331,1395,0,0,0,0,0,0,28.83,25.32,23.69
$GC,10247,0.73,402.3,852.0,10.7,282,10294,0.00,0.62,43.08,1.327,6,0.000,0.029,3268,762,1211,0,0,0,0,0,0,28.83,25.84,23.53
$GC,10627,0.77,428.3,801.0,11.5,289,10655,0.00,0.73,24.38,1.293,4,0.000,0.045,3268,331,1107,0,0,0,0,0,0,28.83,25.60,23.84
$GC,10712,0.82,452.2,795.7,11.6,290,10741,0.00,0.82,23.60,1.278,6,0.000,0.027,3268,900,1009,0,0,0,0,0,0,28.83,26.06,23.76
$GC,11092,0.86,471.5,746.1,11.8,297,11117,0.12,0.93,19.40,1.252,4,0.091,0.042,3341,333,930,0,0,0,0,0,0,26.29,25.74,23.95
$GC,11133,0.91,490.7,746.1,11.8,297,11160,0.00,0.82,20.15,1.243,6,0.000,0.028,3341,874,851,0,0,0,0,0,0,28.83,25.98,23.75
$GC,11509,0.91,490.7,682.2,15.2,304,11512,0.00,0.85,0.00,0.000,4,0.000,0.039,3344,323,849,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11538,0.91,490.7,682.2,15.2,304,11541,0.00,0.82,0.00,0.000,6,0.000,0.028,3344,890,849,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11838,0.91,490.7,633.3,14.7,309,11840,0.00,0.30,0.00,0.000,4,0.000,0.039,3345,686,848,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11883,0.91,490.7,626.7,14.5,310,11885,0.00,0.28,0.00,0.000,6,0.000,0.041,3345,901,848,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12199,0.91,490.7,583.1,13.9,317,12202,0.00,0.90,0.00,0.000,4,0.000,0.042,3348,323,847,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12213,0.91,490.7,580.9,13.9,318,12215,0.00,0.85,0.00,0.000,6,0.000,0.028,3349,910,847,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,16304,1.34,615.8,41.4,14.6,465,16308,0.12,0.93,0.00,0.000,4,0.164,0.041,3470,328,458,0,0,0,0,0,0,26.06,26.00,28.83
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$STATE,16599,end climb,SURFACE_DEPTH_REACHED
$STATE,16599,begin surface coast
$FINISH,1.7,1.013699
$STATE,16618,end surface coast,CONTROL_FINISHED_OK
$STATE,16618,begin surface
$SM_CCo,16699,0.00,0.000,0,0,458,587.49
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$IRIDIUM_FIX,2141.13,11951.32,170213,050539
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.68
$INTERNAL_PRESSURE,9.37109
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3823104
$24V_AH,22.5,113.228
$10V_AH,10.1,54.599
$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,22.700,44.975,726.225,0.000,0.000,0.000,0.000,183.200,0.000,0.000,20.387,1577.802,13028.722,873.890,1138.253,458.482,0.000,1616.620,0.000,898.131,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,137.700,1448.145,0.000,0.000,0.000,0.000,127.755,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16589.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.288,0.000,0.000,0.000
$MEM,325076
$DATA_FILE_SIZE,20175,481
$CAP_FILE_SIZE,153955,0
$CFSIZE,260034560,195514368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,310.6,1
$GPS,170213,145058,2151.403,11948.870,39,1.0,39,-3.0