version: 66.12
glider: 187
mission: 4
dive: 285
start: 8 27 114 17 16 5
data:
$ID,187
$MISSION,4
$DIVE,285
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$N_FILEKB,4
$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,-1593782.9
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,270814,170554,4717.605,-12622.956,94,1.5,94,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.5
$GPS2,270814,171536,4717.529,-12622.950,13,1.7,17,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,215.9,56955,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$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
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.59,-116.8,393,2400,1451,1207,0.0,0.0,0,79,0.00,0.00,-47.53,0.000,16386,0.000,0.000,393,2402,2577,2665,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,393,2402,2667,2491,3.2,-2.5,5,123,12.48,2.58,-14.75,0.000,18692,0.377,0.110,3127,3816,3337,3382,3293,0,0,0,0,0,0,13.95,14.23,14.50
$GC,353,-0.59,-116.8,3127,3813,3383,3298,55.2,-14.4,32,364,0.00,2.45,0.00,0.000,1030,0.000,0.062,3127,2389,3342,3386,3298,0,0,0,0,0,0,28.83,14.30,28.83
$GC,603,-0.59,-116.8,3127,2384,3387,3298,87.2,-12.7,57,614,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.59,-116.8,3127,2385,3387,3299,116.9,-10.5,82,865,0.00,2.38,0.00,0.000,516,0.000,0.074,3127,993,3343,3387,3299,0,0,0,0,0,0,28.83,14.33,28.83
$GC,978,-0.59,-116.8,3127,993,3388,3299,129.3,-10.4,94,989,0.00,2.42,0.00,0.000,1030,0.000,0.071,3127,2398,3343,3388,3299,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1229,-0.59,-116.8,3128,2398,3391,3302,155.5,-9.4,119,1240,0.00,2.47,0.00,0.000,260,0.000,0.089,3127,3821,3342,3387,3298,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1320,-0.59,-116.8,3127,3821,3387,3298,164.1,-9.5,128,1331,0.00,2.40,0.00,0.000,1030,0.000,0.061,3127,2404,3343,3387,3299,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1570,-0.59,-116.8,3128,2402,3387,3298,186.3,-9.5,153,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3342,3387,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1821,-0.59,-116.8,3128,2403,3387,3297,210.7,-9.4,178,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3344,3392,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-0.59,-116.8,3128,2402,3387,3295,235.1,-10.1,203,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.59,-116.8,3127,2401,3387,3294,262.6,-10.0,222,2351,0.00,2.42,0.00,0.000,516,0.000,0.076,3128,987,3340,3387,3293,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2391,-0.59,-116.8,3128,987,3383,3293,267.7,-10.6,227,2401,0.00,2.45,0.00,0.000,1030,0.000,0.073,3127,2404,3338,3384,3293,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2704,-0.59,-116.8,3127,2404,3387,3293,296.9,-9.3,238,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,-0.59,-116.8,3128,2404,3387,3293,321.9,-8.1,248,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3336,3383,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-0.59,-116.8,3133,2404,3387,3288,346.8,-8.5,258,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2404,3338,3388,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.59,-116.8,3128,2404,3385,3287,373.9,-9.1,268,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3338,3392,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-0.59,-116.8,3127,2404,3385,3287,401.2,-9.0,278,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-0.59,-116.8,3127,2404,3384,3286,427.1,-8.2,288,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-0.59,-116.8,3128,2403,3383,3286,451.8,-8.3,298,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,-0.59,-116.8,3128,2404,3382,3285,475.9,-7.9,308,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2403,3336,3382,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5101,-0.59,-116.8,3128,2404,3381,3282,499.7,-8.0,318,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5402,-0.59,-116.8,3126,2401,3381,3282,524.1,-8.2,328,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5701,-0.59,-116.8,3128,2404,3382,3281,547.6,-7.7,338,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-0.59,-116.8,3128,2404,3381,3281,570.3,-7.5,348,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.59,-116.8,3128,2402,3380,3280,592.9,-7.7,358,6312,0.00,2.50,0.00,0.000,260,0.000,0.099,3127,3814,3330,3381,3279,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6362,-0.59,-116.8,3128,3814,3380,3281,597.6,-7.8,364,6372,0.00,2.45,0.00,0.000,1030,0.000,0.070,3127,2390,3330,3380,3280,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6691,-0.59,-116.8,3127,2385,3379,3279,622.9,-7.7,377,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6992,-0.59,-116.8,3125,2385,3379,3278,645.5,-7.7,387,7002,0.00,2.42,0.00,0.000,516,0.000,0.084,3127,995,3328,3378,3278,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7052,-0.59,-116.8,3128,994,3379,3278,650.4,-8.2,393,7062,0.00,2.45,0.00,0.000,1030,0.000,0.079,3127,2397,3328,3379,3278,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7383,-0.59,-116.8,3127,2397,3379,3277,674.6,-7.1,406,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.59,-116.8,3127,2397,3374,3276,694.7,-6.5,416,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3329,3378,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7983,-0.59,-116.8,3127,2397,3378,3276,713.3,-6.4,426,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8282,-0.59,-116.8,3128,2397,3378,3275,733.0,-6.7,436,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,-0.59,-116.8,3127,2397,3377,3274,753.0,-6.9,446,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,-0.59,-116.8,3127,2398,3377,3274,774.7,-7.3,456,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2397,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9183,-0.59,-116.8,3127,2397,3377,3273,797.4,-7.7,466,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,-0.59,-116.8,3127,2397,3376,3272,820.0,-7.5,476,9492,0.00,2.53,0.00,0.000,260,0.000,0.097,3127,3822,3324,3376,3272,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9552,-0.59,-116.8,3127,3823,3376,3272,825.4,-7.7,483,9562,0.00,2.45,0.00,0.000,1030,0.000,0.068,3127,2396,3324,3376,3273,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9875,-0.59,-116.8,3127,2392,3375,3272,850.1,-7.9,495,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2391,3324,3376,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10176,-0.59,-116.8,3127,2396,3375,3271,872.6,-7.5,505,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3322,3376,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10475,-0.59,-116.8,3127,2391,3375,3270,893.4,-6.6,515,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3323,3375,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10775,-0.59,-116.8,3127,2392,3375,3274,911.8,-5.9,525,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2391,3322,3375,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11075,-0.59,-116.8,3127,2391,3375,3265,928.9,-5.5,535,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3320,3370,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11375,-0.59,-116.8,3127,2393,3374,3269,946.2,-6.0,545,11386,0.00,2.47,0.00,0.000,516,0.000,0.089,3127,987,3322,3375,3269,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11445,-0.59,-116.8,3127,987,3374,3269,951.0,-6.7,552,11455,0.00,2.50,0.00,0.000,1030,0.000,0.082,3128,2399,3322,3375,3269,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11766,-0.59,-116.8,3128,2398,3374,3266,971.8,-6.7,564,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3319,3374,3265,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12033,begin apogee
$GC,12042,-0.25,0.0,3127,2328,3374,3269,990.9,-7.3,573,12156,0.38,0.00,102.05,1.916,10246,0.181,0.000,3234,2328,2855,2931,2780,0,0,0,0,0,0,14.19,28.83,13.14
$STATE,12158,end apogee,CONTROL_FINISHED_OK
$STATE,12158,begin climb
$GC,12162,0.59,116.8,3237,2328,2930,2778,995.7,0.0,577,12279,0.88,0.00,110.03,1.893,10246,0.125,0.000,3507,2328,2380,2514,2246,0,0,0,0,0,0,13.89,28.83,12.91
$GC,12576,0.59,116.8,3511,2332,2510,2239,971.7,7.7,591,12586,0.00,2.53,0.00,0.000,516,0.000,0.089,3519,928,2374,2511,2238,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12645,0.59,116.8,3519,928,2510,2235,966.3,7.9,598,12656,0.00,2.53,0.00,0.000,1030,0.000,0.080,3519,2340,2374,2511,2237,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12966,0.59,116.8,3520,2339,2510,2235,940.9,7.9,610,12975,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2339,2372,2510,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13269,0.59,116.8,3520,2340,2509,2235,916.3,8.3,620,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2339,2372,2510,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25137,end climb,SURFACE_DEPTH_REACHED
$STATE,25137,begin surface coast
$FINISH,0.9,1.022012
$STATE,25165,end surface coast,CONTROL_FINISHED_OK
$STATE,25165,begin surface
$SM_CCo,25251,0.00,0.000,0,0,1180,411.61
$SM_GC,2.51,9.27,0.10,0.00,0.054,0.177,0.000,393,2397,1180,-9.09,-0.82,411.61,0,0,0,0,0,0,14.26,14.20,28.83
$IRIDIUM_FIX,4700.70,-12628.71,270814,090951
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.33
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3846816
$PM_FREEKB,54423168
$24V_AH,12.9,68.956
$10V_AH,13.3,0.000
$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,23.250,104.675,432.800,0.000,0.000,0.000,0.000,306.425,0.000,0.000,21.120,3118.382,18313.660,639.532,2938.688,803.147,0.000,2591.557,0.000,1966.792,0.000,0.536,0.000
$DEVICE_MAMPS,377.145,182.070,1916.325,0.000,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25178.000,477.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.782,5.693,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,43366,1277
$CAP_FILE_SIZE,257008,0
$CFSIZE,260034560,229470208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25933.81,0x2378ba,7,5
$CURRENT,0.069,327.3,1
$GPS,280814,001823,4716.772,-12627.025,39,1.1,39,18.6