version: 66.12
glider: 217
mission: 3
dive: 307
start: 11 8 114 20 15 31
data:
$ID,217
$MISSION,3
$DIVE,307
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,081114,200918,6639.771,-6003.826,14,0.7,14,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-70.8
$GPS2,081114,201455,6639.688,-6003.782,5,0.7,5,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,60.8,147828,-17.5,-9.167,-20.44,2275
$D_GRID,599
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.92,-136.3,165,2469,1303,1228,0.0,0.0,0,73,0.00,0.00,-52.55,0.000,16386,0.000,0.000,162,2469,2575,2583,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-136.3,162,2469,2586,2567,3.3,-1.6,5,113,12.60,2.50,-18.23,0.000,18948,0.419,0.087,2787,1065,3266,3296,3236,0,0,0,0,0,0,14.11,14.45,14.70
$GC,146,-0.92,-136.3,2788,1065,3301,3236,15.1,-20.7,16,156,0.00,2.40,0.00,0.000,1030,0.000,0.066,2783,2438,3266,3301,3231,0,0,0,0,0,0,28.83,14.42,28.83
$EKF,range,-5443.6
$GC,477,-0.92,-136.3,2786,2438,3301,3236,77.4,-17.7,31,483,0.00,2.38,0.00,0.000,516,0.000,0.065,2786,1071,3269,3302,3236,0,0,0,0,0,0,28.83,14.45,28.83
$GC,497,-0.92,-136.3,2787,1072,3302,3236,81.0,-16.4,34,503,0.00,2.40,0.00,0.000,1030,0.000,0.063,2792,2459,3268,3301,3235,0,0,0,0,0,0,28.83,14.46,28.83
$GC,818,-0.92,-136.3,2786,2459,3302,3236,133.2,-16.2,48,826,0.00,2.40,0.00,0.000,260,0.000,0.097,2786,3790,3269,3302,3236,0,0,0,0,0,0,28.83,14.45,28.83
$GC,878,-0.92,-136.3,2786,3791,3302,3235,143.6,-16.2,59,886,0.00,2.22,0.00,0.000,1030,0.000,0.051,2786,2453,3268,3302,3235,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-7616.9
$GC,1185,-0.92,-136.3,2785,2453,3302,3235,191.0,-15.5,75,1191,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3790,3268,3302,3235,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1230,-0.92,-136.3,2786,3790,3302,3235,198.3,-16.0,83,1237,0.00,2.22,0.00,0.000,1030,0.000,0.051,2785,2444,3268,3302,3235,0,0,0,0,0,0,28.83,14.63,28.83
$EKF,range,-5412.3
$GC,1555,-0.92,-136.3,2785,2444,3302,3235,247.5,-15.0,102,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-0.92,-136.3,2785,2445,3302,3235,290.4,-14.0,117,1864,0.00,2.45,0.00,0.000,260,0.000,0.096,2785,3789,3268,3301,3235,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1897,-0.92,-136.3,2786,3789,3302,3235,296.6,-14.3,124,1907,0.00,2.22,0.00,0.000,1030,0.000,0.052,2785,2447,3267,3300,3235,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2204,-0.92,-136.3,2786,2447,3301,3234,338.0,-13.0,140,2212,0.00,2.42,0.00,0.000,260,0.000,0.096,2786,3785,3267,3302,3233,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2275,-0.92,-136.3,2786,3785,3302,3234,347.5,-12.9,153,2282,0.00,2.22,0.00,0.000,1030,0.000,0.053,2784,2445,3267,3301,3234,0,0,0,0,0,0,28.83,14.64,28.83
$EKF,range,-4403.2
$EKF,2392,4000.043213,-3603.218506,360.478394,0.235297,0.084247,0.122504,0.000049,0.000311,0.000100,0.006025,0.006025,0.000093
$GC,2595,-0.92,-136.3,2785,2445,3302,3233,387.8,-12.3,171,2602,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3784,3267,3301,3233,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2641,-0.92,-136.3,2785,3784,3301,3233,393.7,-13.5,179,2647,0.00,2.22,0.00,0.000,1030,0.000,0.054,2786,2445,3267,3302,3233,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2966,-0.92,-136.3,2785,2445,3301,3232,433.6,-12.3,198,2972,0.00,2.38,0.00,0.000,516,0.000,0.066,2786,1058,3266,3300,3233,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3000,-0.92,-136.3,2786,1058,3301,3232,437.9,-12.6,204,3009,0.00,2.38,0.00,0.000,1030,0.000,0.060,2785,2453,3266,3301,3232,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3318,-0.92,-136.3,2785,2453,3302,3232,474.9,-11.6,221,3324,0.00,2.40,0.00,0.000,516,0.000,0.064,2786,1061,3266,3301,3232,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3385,-0.92,-136.3,2786,1061,3301,3232,483.0,-11.7,233,3392,0.00,2.38,0.00,0.000,1030,0.000,0.060,2785,2451,3266,3301,3232,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3710,-0.92,-136.3,2785,2451,3302,3232,520.8,-11.6,252,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2451,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-0.92,-136.3,2785,2451,3302,3232,553.6,-10.1,267,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4311,-0.92,-136.3,2786,2451,3303,3233,587.4,-11.7,282,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4455,-0.18,0.0,2786,2389,3303,3232,600.6,-10.8,289,4571,0.93,0.00,111.95,1.610,10246,0.257,0.000,3031,2389,2707,2769,2645,0,0,0,0,0,0,14.26,28.83,13.43
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4575,0.92,136.3,3031,2389,2768,2643,605.7,0.0,295,4699,1.15,2.62,112.90,1.576,10756,0.177,0.070,3382,986,2150,2220,2080,0,0,0,0,0,0,14.02,13.70,13.07
$GC,4754,1.00,171.7,3381,986,2213,2080,598.6,7.6,324,4794,0.08,2.50,30.25,1.513,11270,0.213,0.056,3413,2380,2007,2075,1939,0,0,0,0,0,0,13.80,13.86,13.10
$GC,5102,1.00,171.7,3413,2379,2069,1938,557.4,11.9,346,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2380,2003,2068,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5404,1.00,171.7,3413,2380,2068,1938,519.8,12.7,361,5411,0.00,2.53,0.00,0.000,260,0.000,0.091,3413,3780,2003,2068,1938,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5451,1.00,171.7,3413,3780,2067,1938,513.1,14.6,369,5458,0.00,2.40,0.00,0.000,1030,0.000,0.050,3424,2364,2002,2067,1938,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5776,1.00,171.7,3424,2360,2067,1939,470.6,12.9,388,5785,0.00,2.38,0.00,0.000,516,0.000,0.067,3435,980,2002,2067,1938,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5862,1.00,171.7,3435,981,2067,1938,459.4,12.8,404,5871,0.00,2.40,0.00,0.000,1030,0.000,0.057,3435,2384,2002,2066,1938,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6189,1.00,171.7,3435,2383,2066,1938,417.3,12.5,423,6195,0.00,2.42,0.00,0.000,516,0.000,0.067,3446,983,2002,2067,1937,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6289,1.00,171.7,3446,983,2067,1938,405.1,11.8,442,6297,0.00,2.38,0.00,0.000,1030,0.000,0.057,3446,2383,2002,2067,1938,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6596,1.00,171.7,3446,2383,2067,1938,368.2,11.8,458,6602,0.00,2.42,0.00,0.000,516,0.000,0.065,3457,978,2002,2067,1938,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6664,1.00,171.7,3457,978,2067,1938,359.9,12.3,471,6672,0.15,2.38,0.00,0.000,5126,0.262,0.057,3421,2379,2002,2067,1938,0,0,0,0,0,0,14.35,14.59,28.83
$GC,6986,1.00,171.7,3421,2379,2067,1938,324.4,10.7,489,6993,0.00,2.40,0.00,0.000,516,0.000,0.065,3432,985,2002,2067,1938,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7065,1.00,171.7,3432,984,2067,1938,315.5,11.6,503,7072,0.00,2.35,0.00,0.000,1030,0.000,0.054,3432,2379,2002,2067,1938,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7380,1.00,171.7,3432,2378,2067,1938,278.2,12.3,520,7388,0.00,2.40,0.00,0.000,516,0.000,0.066,3442,985,2003,2068,1938,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7441,1.00,171.7,3443,985,2068,1938,270.6,12.1,531,7448,0.00,2.35,0.00,0.000,1030,0.000,0.054,3443,2380,2003,2068,1938,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7746,1.00,171.7,3443,2380,2068,1938,233.4,12.2,547,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2380,2003,2068,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,1.00,171.7,3442,2380,2068,1938,199.6,10.7,562,8055,0.00,2.40,0.00,0.000,516,0.000,0.067,3453,985,2003,2068,1938,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8183,1.00,171.7,3453,984,2068,1938,185.6,10.1,588,8193,0.15,2.38,0.00,0.000,5126,0.250,0.057,3417,2379,2003,2068,1938,0,0,0,0,0,0,14.37,14.61,28.83
$GC,8502,1.05,191.3,3416,2378,2068,1938,159.7,8.3,605,8529,0.00,2.45,16.60,1.045,8452,0.000,0.090,3416,3774,1926,1991,1862,0,0,0,0,0,0,28.83,14.63,14.05
$GC,8574,1.05,191.3,3417,3774,1989,1862,152.8,9.9,617,8581,0.00,2.33,0.00,0.000,1030,0.000,0.050,3428,2363,1925,1989,1862,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8900,1.06,195.7,3427,2362,1989,1861,122.4,9.0,636,8910,0.00,2.40,4.93,0.839,8708,0.000,0.068,3437,988,1909,1973,1845,0,0,0,0,0,0,28.83,14.64,13.98
$GC,8978,1.06,198.8,3436,988,1971,1845,115.4,9.0,650,8985,0.00,2.35,2.97,0.638,9222,0.000,0.057,3437,2374,1898,1962,1835,0,0,0,0,0,0,28.83,14.59,13.86
$GC,9305,1.06,199.0,3437,2374,1967,1836,85.6,9.2,664,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2374,1900,1966,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9604,1.07,200.5,3437,2374,1966,1836,58.3,9.1,674,9609,0.00,0.00,2.97,0.620,8198,0.000,0.000,3437,2374,1891,1956,1826,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9904,1.15,236.7,3437,2374,1961,1828,34.5,7.5,684,9949,0.00,2.53,35.28,0.937,8452,0.000,0.094,3436,3769,1740,1808,1673,0,0,0,0,0,0,28.83,14.52,14.03
$GC,10072,1.16,242.8,3437,3769,1804,1673,19.5,8.9,715,10081,0.00,2.33,2.50,0.161,9222,0.000,0.052,3445,2378,1720,1788,1653,0,0,0,0,0,0,28.83,14.52,14.35
$STATE,10297,end climb,SURFACE_DEPTH_REACHED
$STATE,10297,begin surface coast
$FINISH,1.7,1.025725
$STATE,10318,end surface coast,CONTROL_FINISHED_OK
$STATE,10318,begin surface
$SM_CCo,10338,51.22,0.092,0,0,1282,350.04
$SM_GC,2.61,9.68,0.12,51.22,0.094,0.146,0.092,197,2458,1282,-9.02,-0.90,350.04,0,0,0,0,0,0,14.46,14.52,14.49
$RAFOS_CLK,-124
$RAFOS,6,1415479752,20.833334,20.820000,97,76,64,57,57,56,783,144,165,204,188,135
$RAFOS,5,1415479263,20.700001,20.684166,64,58,54,52,52,50,210,156,115,184,173,137
$RAFOS,4,1415478792,20.566668,20.553333,135,60,59,59,50,49,647,167,219,184,193,150
$RAFOS,3,1415478304,20.433332,20.417778,76,60,58,58,54,52,714,206,229,158,196,124
$RAFOS,2,1415477824,20.299999,20.284445,120,59,57,56,54,53,583,196,142,169,210,179
$RAFOS,0,1415476879,20.033333,20.021944,60,58,55,55,52,49,197,207,157,538,182,148
$RAFOS_FIX,6639.587402,-5953.347168,081114,202036,4,107,6.84
$IRIDIUM_FIX,6614.97,-6003.82,081114,171436
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.50
$INTERNAL_PRESSURE,8.44525
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3921792
$24V_AH,13.07,75.012
$10V_AH,12.82,0.000
$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,24.725,95.725,320.350,51.225,0.000,0.000,0.000,187.000,0.000,0.000,6.979,2246.486,6386.057,564.852,1378.163,194.697,0.000,1381.008,0.000,1111.399,1800.000,0.535,0.000
$DEVICE_MAMPS,419.220,159.120,1609.560,91.800,0.000,0.000,0.000,150.705,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10331.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.308,0.000,0.000,0.000
$MEM,143108
$DATA_FILE_SIZE,26721,740
$CAP_FILE_SIZE,119841,0
$CFSIZE,1024409600,982007808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10620.84,0x23769e,7,5
$SOUNDSPEED,1452.5
$EKF,10507,4001.011719,-3601.799316,1.679196,0.137002,0.075023,-0.007479,0.000163,0.001038,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.320,185.02,1
$GPS,081114,231035,6639.212,-6002.183,39,0.9,39,-32.8