version: 66.12
glider: 187
mission: 4
dive: 292
start: 8 29 114 19 12 6
data:
$ID,187
$MISSION,4
$DIVE,292
$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,-1593791.8
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,290814,190231,4705.828,-12647.187,77,1.4,77,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.5
$GPS2,290814,191137,4705.756,-12647.219,16,1.5,16,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,220.9,19346,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,395,2384,1440,1225,0.0,0.0,0,81,0.00,0.00,-49.28,0.000,16386,0.000,0.000,397,2383,2638,2724,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,395,2384,2723,2553,3.5,-3.0,5,122,12.55,2.55,-13.23,0.000,18692,0.379,0.108,3127,3817,3335,3379,3291,0,0,0,0,0,0,13.93,14.21,14.48
$GC,222,-0.59,-116.8,3127,3816,3382,3294,38.1,-21.1,19,232,0.00,2.47,0.00,0.000,1030,0.000,0.063,3127,2384,3335,3377,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,473,-0.59,-116.8,3127,2382,3385,3295,71.3,-11.7,44,481,0.00,2.53,0.00,0.000,260,0.000,0.086,3124,3817,3339,3384,3295,0,0,0,0,0,0,28.83,14.25,28.83
$GC,572,-0.59,-116.8,3127,3818,3385,3296,83.4,-12.0,54,581,0.00,2.42,0.00,0.000,1030,0.000,0.060,3127,2394,3341,3385,3297,0,0,0,0,0,0,28.83,14.30,28.83
$GC,822,-0.59,-116.8,3127,2393,3386,3297,114.2,-11.4,79,832,0.00,2.40,0.00,0.000,516,0.000,0.074,3127,996,3341,3386,3297,0,0,0,0,0,0,28.83,14.26,28.83
$GC,892,-0.59,-116.8,3127,996,3387,3297,122.3,-11.6,86,901,0.00,2.42,0.00,0.000,1030,0.000,0.072,3127,2402,3345,3394,3297,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1142,-0.59,-116.8,3128,2402,3386,3297,147.7,-9.9,111,1151,0.00,2.47,0.00,0.000,260,0.000,0.089,3127,3814,3341,3386,3297,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1233,-0.59,-116.8,3124,3813,3385,3296,157.1,-10.0,120,1241,0.00,2.42,0.00,0.000,1030,0.000,0.065,3127,2393,3341,3386,3297,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1482,-0.59,-116.8,3127,2390,3386,3297,181.9,-9.5,145,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.59,-116.8,3127,2389,3386,3296,207.3,-10.2,170,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3341,3386,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1982,-0.59,-116.8,3127,2389,3386,3294,233.3,-10.2,195,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.59,-116.8,3127,2389,3386,3293,258.8,-9.2,216,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.59,-116.8,3127,2389,3386,3292,284.7,-8.4,226,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2853,-0.59,-116.8,3127,2389,3385,3290,309.4,-8.3,236,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3338,3386,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.59,-116.8,3128,2389,3384,3285,336.3,-9.2,246,3159,0.00,2.53,0.00,0.000,260,0.000,0.094,3127,3809,3336,3385,3288,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3212,-0.59,-116.8,3127,3811,3390,3288,342.2,-9.9,252,3220,0.00,2.42,0.00,0.000,1030,0.000,0.070,3127,2404,3332,3380,3284,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3545,-0.59,-116.8,3128,2404,3383,3293,372.4,-9.0,265,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3842,-0.59,-116.8,3124,2404,3383,3287,397.7,-8.2,275,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2404,3334,3383,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-0.59,-116.8,3124,2404,3383,3283,421.0,-7.6,285,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4442,-0.59,-116.8,3127,2404,3382,3282,444.2,-7.8,295,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4743,-0.59,-116.8,3127,2404,3381,3284,469.8,-8.8,305,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2404,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5042,-0.59,-116.8,3127,2404,3376,3282,495.7,-8.3,315,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2404,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5343,-0.59,-116.8,3127,2404,3380,3281,519.7,-7.8,325,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3332,3380,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5642,-0.59,-116.8,3127,2404,3380,3281,541.6,-7.1,335,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3333,3386,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,-0.59,-116.8,3124,2404,3375,3280,563.2,-7.2,345,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6242,-0.59,-116.8,3127,2404,3379,3279,585.0,-7.1,355,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,-0.59,-116.8,3124,2404,3378,3278,606.6,-7.2,365,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3325,3373,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6842,-0.59,-116.8,3127,2404,3378,3277,629.5,-7.8,375,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7142,-0.59,-116.8,3127,2404,3378,3276,652.5,-7.6,385,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,-0.59,-116.8,3127,2404,3377,3276,676.4,-8.0,395,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7742,-0.59,-116.8,3127,2404,3379,3275,699.5,-7.6,405,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3326,3377,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8042,-0.59,-116.8,3129,2404,3378,3275,721.4,-7.1,415,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3325,3377,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,-0.59,-116.8,3128,2402,3376,3274,743.1,-7.3,425,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3324,3376,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,-0.59,-116.8,3127,2404,3376,3273,764.8,-7.3,435,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3325,3376,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8943,-0.59,-116.8,3127,2404,3375,3272,787.4,-7.6,445,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3326,3375,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9242,-0.59,-116.8,3127,2404,3375,3268,809.7,-7.4,455,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3323,3375,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9543,-0.59,-116.8,3127,2404,3375,3271,832.0,-7.4,465,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3323,3375,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9842,-0.59,-116.8,3128,2404,3374,3270,852.8,-6.9,475,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3322,3374,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10143,-0.59,-116.8,3127,2404,3374,3270,872.2,-6.4,485,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2408,3322,3374,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10442,-0.59,-116.8,3127,2404,3373,3269,891.1,-6.3,495,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3321,3373,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10742,-0.59,-116.8,3127,2404,3374,3269,910.2,-6.6,505,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2404,3319,3373,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11042,-0.59,-116.8,3133,2404,3373,3271,930.5,-6.8,515,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3319,3373,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11342,-0.59,-116.8,3127,2404,3373,3269,951.2,-6.9,525,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3320,3373,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11642,-0.59,-116.8,3124,2404,3367,3268,970.9,-6.3,535,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3320,3372,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11942,-0.59,-116.8,3127,2404,3372,3271,989.7,-6.4,545,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3320,3372,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11968,begin apogee
$GC,11978,-0.25,0.0,3128,2313,3372,3268,991.7,-6.6,546,12084,0.38,0.00,101.32,1.919,10246,0.185,0.000,3235,2313,2858,2933,2784,0,0,0,0,0,0,14.16,28.83,13.12
$STATE,12087,end apogee,CONTROL_FINISHED_OK
$STATE,12087,begin climb
$GC,12091,0.59,116.8,3236,2313,2931,2781,994.7,0.0,549,12215,0.88,2.80,110.28,1.886,10500,0.129,0.096,3513,3744,2378,2513,2243,0,0,0,0,0,0,13.85,13.57,12.89
$GC,12248,0.59,116.8,3513,3744,2512,2242,988.0,7.6,559,12259,0.00,2.58,0.00,0.000,1030,0.000,0.073,3520,2346,2377,2513,2242,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12579,0.59,116.8,3519,2341,2507,2238,959.3,8.7,572,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2341,2378,2512,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12882,0.59,116.8,3519,2341,2519,2236,932.7,9.0,582,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2341,2372,2513,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13182,0.59,116.8,3519,2341,2512,2235,905.3,9.3,592,13192,0.00,2.55,0.00,0.000,516,0.000,0.092,3519,903,2373,2512,2234,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13252,0.59,116.8,3518,906,2512,2235,898.6,9.1,599,13262,0.00,2.50,0.00,0.000,1030,0.000,0.078,3519,2327,2370,2507,2234,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,25066,end climb,SURFACE_DEPTH_REACHED
$STATE,25066,begin surface coast
$FINISH,0.8,1.020783
$STATE,25107,end surface coast,CONTROL_FINISHED_OK
$STATE,25107,begin surface
$SM_CCo,25134,6.22,0.099,0,0,1328,375.06
$SM_GC,3.47,9.12,2.65,6.22,0.052,0.074,0.099,387,2402,1328,-9.11,-0.62,375.06,0,0,0,0,0,0,14.30,14.23,14.21
$IRIDIUM_FIX,4648.08,-12623.06,290814,121202
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.02
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3844576
$PM_FREEKB,54159200
$24V_AH,12.9,70.921
$10V_AH,13.2,0.000
$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,23.300,110.200,392.625,6.225,0.000,0.000,0.000,300.425,0.000,0.000,17.678,3135.269,18433.020,628.441,2714.576,758.452,0.000,2361.968,0.000,1943.081,0.000,0.537,0.000
$DEVICE_MAMPS,379.440,154.530,1919.385,98.685,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25131.000,12277.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.783,4.049,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,43255,1284
$CAP_FILE_SIZE,246728,0
$CFSIZE,260034560,228732928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25121.70,0x2378ba,7,5
$CURRENT,0.070,282.6,1
$GPS,300814,021238,4704.690,-12652.122,38,1.8,38,18.6