03 19 105 06 17 03
$ID,22
$DIVE,531
$D_SURF,5
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$T_DIVE,550
$T_MISSION,580
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,7200
$USE_BATHY,0
$D_OFFGRID,1001
$APOGEE_PITCH,-5
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$KALMAN_USE,1
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0028355001
$HD_B,0.012471
$HD_C,1.1158e-005
$SM_CC,350
$N_FILEKB,4
$TEL_PREFIX,1206
$TEL_NUM,6165938
$ALT_TEL_PREFIX,1206
$ALT_TEL_NUM,6165938
$CALL_NDIVES,1
$N_NOCOMM,1
$CALL_TRIES,5
$CALL_WAIT,60
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-167.87558
$T_RSLEEP,2
$C_PITCH,2822
$PITCH_K,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.1
$PITCH_AD_RATE,75
$C_ROLL_DIVE,2141
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,15
$ROLL_K,0.028270001
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$C_VBD,2497
$VBD_K,-0.24529999
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$AH0_24V,91.800003
$AH0_10V,61.200001
$CAPTURING,1
$COMM_SEQ,0
$UNCOM_BLEED,20
$GPS1,060837,2144.237,-15924.121,27,1.9,27
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-51.5
$GPS2,061544,2144.208,-15924.133,12,1.8,17,10.1
$SPEED_LIMITS,0.104,0.185
$TGT_NAME,WP4
$TGT_LATLONG,2152.500,-15942.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.168,0.078
$KALMAN_X,11659.1,-127.1,-460.7,-414755.1,689.6
$KALMAN_Y,-109057.5,99.5,-697.2,-554856.8,-20.1
$MHEAD_RNG_PITCHd_Wd,284.7,34333,-10.9,-6.000
$D_GRID,990
$GC,14,-0.78,-132.0,0.0,0,85,0.00,0.00,-70.30,0.000,2,0.000,0.000,333,2159,2296
$GC,86,-0.78,-132.0,-3.9,14,125,13.98,2.58,-21.67,0.000,4,0.197,0.073,2649,3555,3036
$GC,301,-0.78,-132.0,-13.0,57,305,0.00,2.53,0.00,0.000,6,0.000,0.044,2649,2134,3038
$GC,486,-0.78,-132.0,-10.8,94,495,0.00,2.53,0.00,0.000,4,0.000,0.058,2649,726,3038
$GC,516,-0.78,-132.0,-10.8,97,525,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,2150,3038
$GC,826,-0.78,-132.0,-9.1,128,835,0.00,2.55,0.00,0.000,4,0.000,0.062,2649,3558,3039
$GC,896,-0.78,-132.0,-8.5,135,905,0.00,2.53,0.00,0.000,6,0.000,0.045,2649,2113,3039
$GC,1206,-0.78,-132.0,-8.7,166,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2113,3040
$GC,1516,-0.78,-132.0,-6.9,197,1525,0.00,2.50,0.00,0.000,4,0.000,0.059,2649,720,3040
$GC,1556,-0.78,-132.0,-8.0,201,1565,0.00,2.53,0.00,0.000,6,0.000,0.050,2650,2148,3040
$GC,1886,-0.78,-132.0,-8.0,219,1895,0.00,2.55,0.00,0.000,4,0.000,0.064,2649,3555,3041
$GC,1936,-0.78,-132.0,-8.9,221,1945,0.00,2.50,0.00,0.000,6,0.000,0.047,2649,2122,3042
$GC,2246,-0.78,-132.0,-8.2,234,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2122,3042
$GC,2571,-0.78,-132.0,-7.9,247,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2122,3042
$GC,2896,-0.78,-132.0,-7.0,260,2905,0.00,2.53,0.00,0.000,4,0.000,0.064,2649,729,3042
$GC,2976,-0.78,-132.0,-7.3,264,2985,0.00,2.53,0.00,0.000,6,0.000,0.052,2649,2147,3042
$GC,3296,-0.78,-132.0,-7.1,277,3305,0.00,2.60,0.00,0.000,4,0.000,0.063,2649,726,3042
$GC,3346,-0.78,-132.0,-7.7,279,3355,0.00,2.55,0.00,0.000,6,0.000,0.054,2649,2151,3042
$GC,3656,-0.78,-132.0,-6.0,292,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2151,3042
$GC,3981,-0.78,-132.0,-5.2,305,3990,0.00,2.63,0.00,0.000,4,0.000,0.064,2649,722,3042
$GC,4081,-0.78,-132.0,-6.7,310,4090,0.00,2.55,0.00,0.000,6,0.000,0.054,2649,2145,3042
$GC,4401,-0.78,-132.0,-6.8,323,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3040
$GC,4726,-0.78,-132.0,-6.0,336,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2145,3040
$GC,5051,-0.78,-132.0,-6.3,349,5060,0.00,2.63,0.00,0.000,4,0.000,0.067,2649,724,3038
$GC,5121,-0.78,-132.0,-6.4,352,5130,0.00,2.58,0.00,0.000,6,0.000,0.058,2649,2148,3038
$GC,5431,-0.78,-132.0,-6.0,365,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2149,3036
$GC,5756,-0.78,-132.0,-7.1,378,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2148,3035
$GC,6081,-0.78,-132.0,-5.9,391,6090,0.00,2.63,0.00,0.000,4,0.000,0.067,2649,728,3033
$GC,6161,-0.78,-132.0,-6.6,395,6170,0.00,2.58,0.00,0.000,6,0.000,0.059,2649,2148,3032
$GC,6481,-0.78,-132.0,-6.5,408,6490,0.00,2.63,0.00,0.000,4,0.000,0.067,2649,726,3030
$GC,6551,-0.78,-132.0,-7.4,411,6560,0.00,2.58,0.00,0.000,6,0.000,0.060,2649,2145,3030
$GC,6861,-0.78,-132.0,-5.4,424,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3028
$GC,7186,-0.78,-132.0,-5.7,437,7195,0.00,2.63,0.00,0.000,4,0.000,0.068,2649,731,3027
$GC,7236,-0.78,-132.0,-6.9,439,7245,0.00,2.58,0.00,0.000,6,0.000,0.061,2649,2144,3027
$GC,7546,-0.78,-132.0,-6.7,452,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2144,3026
$GC,7871,-0.78,-132.0,-5.5,465,7880,0.00,2.63,0.00,0.000,4,0.000,0.070,2648,732,3024
$GC,7931,-0.78,-132.0,-5.8,468,7940,0.00,2.60,0.00,0.000,6,0.000,0.062,2649,2150,3024
$GC,8251,-0.78,-132.0,-5.6,481,8260,0.00,2.65,0.00,0.000,4,0.000,0.070,2649,725,3023
$GC,8311,-0.78,-132.0,-6.2,484,8320,0.00,2.60,0.00,0.000,6,0.000,0.062,2649,2147,3023
$GC,8631,-0.78,-132.0,-6.1,497,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3022
$GC,8956,-0.78,-132.0,-6.1,510,8965,0.00,2.63,0.00,0.000,4,0.000,0.071,2649,732,3021
$GC,8996,-0.78,-132.0,-6.4,512,9005,0.00,2.58,0.00,0.000,6,0.000,0.064,2649,2139,3021
$GC,9316,-0.78,-132.0,-5.9,525,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2139,3019
$GC,9641,-0.78,-132.0,-4.4,538,9650,0.00,2.63,0.00,0.000,4,0.000,0.071,2649,733,3018
$GC,9671,-0.78,-132.0,-4.8,539,9680,0.00,2.60,0.00,0.000,6,0.000,0.064,2649,2144,3018
$GC,9981,-0.78,-132.0,-5.2,552,9990,0.00,2.65,0.00,0.000,4,0.000,0.072,2649,724,3017
$GC,10011,-0.78,-132.0,-5.5,553,10020,0.00,2.63,0.00,0.000,6,0.000,0.065,2649,2145,3017
$GC,10321,-0.78,-132.0,-5.1,566,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3015
$GC,10646,-0.78,-132.0,-3.8,579,10655,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,730,3014
$GC,10686,-0.78,-132.0,-4.4,581,10695,0.00,2.63,0.00,0.000,6,0.000,0.066,2649,2147,3014
$GC,11006,-0.78,-132.0,-4.9,594,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3012
$GC,11331,-0.78,-132.0,-4.9,607,11340,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,731,3012
$GC,11391,-0.78,-132.0,-5.4,610,11400,0.00,2.60,0.00,0.000,6,0.000,0.065,2649,2140,3011
$GC,11711,-0.78,-132.0,-4.7,623,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2140,3011
$GC,12036,-0.78,-132.0,-4.9,636,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2140,3010
$GC,12361,-0.78,-132.0,-6.3,649,12370,0.00,2.65,0.00,0.000,4,0.000,0.075,2649,726,3009
$GC,12411,-0.78,-132.0,-7.2,651,12420,0.00,2.63,0.00,0.000,6,0.000,0.067,2649,2148,3009
$GC,12721,-0.78,-132.0,-4.9,664,12744,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2148,3009
$GC,13046,-0.78,-132.0,-4.6,677,13055,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,736,3009
$GC,13086,-0.78,-132.0,-5.1,679,13095,0.00,2.60,0.00,0.000,6,0.000,0.066,2649,2139,3009
$GC,13406,-0.78,-132.0,-4.2,692,13415,0.00,2.67,0.00,0.000,4,0.000,0.086,2649,3545,3009
$GC,13436,-0.78,-132.0,-4.4,693,13445,0.00,2.60,0.00,0.000,6,0.000,0.063,2649,2127,3008
$GC,13746,-0.78,-132.0,-3.4,706,13755,0.00,2.63,0.00,0.000,4,0.000,0.079,2649,733,3007
$GC,13796,-0.78,-132.0,-4.2,708,13805,0.00,2.63,0.00,0.000,6,0.000,0.067,2649,2145,3007
$GC,14106,-0.78,-132.0,-3.5,721,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3007
$GC,14431,-0.78,-132.0,-3.5,734,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3007
$GC,14756,-0.78,-132.0,-5.2,747,14765,0.00,2.67,0.00,0.000,4,0.000,0.087,2648,3546,3007
$GC,14876,-0.78,-132.0,-5.3,753,14885,0.00,2.60,0.00,0.000,6,0.000,0.061,2649,2124,3007
$GC,15196,-0.78,-132.0,-5.7,766,15205,0.00,2.72,0.00,0.000,4,0.000,0.087,2649,3548,3006
$GC,15246,-0.78,-132.0,-5.9,768,15255,0.00,2.60,0.00,0.000,6,0.000,0.063,2649,2134,3006
$GC,15556,-0.78,-132.0,-5.5,781,15565,0.00,2.70,0.00,0.000,4,0.000,0.086,2649,3545,3006
$GC,15616,-0.78,-132.0,-5.5,784,15625,0.00,2.60,0.00,0.000,6,0.000,0.064,2649,2131,3006
$GC,15936,-0.78,-132.0,-4.6,797,15945,0.00,2.72,0.00,0.000,4,0.000,0.087,2649,3553,3006
$GC,15996,-0.78,-132.0,-4.0,800,16005,0.00,2.63,0.00,0.000,6,0.000,0.064,2649,2123,3006
$GC,16316,-0.78,-132.0,-4.3,813,16325,0.00,2.72,0.00,0.000,4,0.000,0.087,2649,3546,3006
$GC,16376,-0.78,-132.0,-3.4,816,16385,0.00,2.60,0.00,0.000,6,0.000,0.064,2649,2135,3006
$GC,16472,-0.29,0.0,3.6,820,16595,0.55,0.00,108.78,1.500,6,0.132,0.000,2759,2135,2497
$GC,16596,0.78,132.0,1.4,825,16715,1.20,2.33,113.47,1.463,4,0.125,0.085,2991,3290,1959
$GC,16816,0.78,132.0,8.9,836,16825,0.00,2.63,0.00,0.000,6,0.000,0.065,2992,1894,1958
$GC,17136,0.78,132.0,7.4,849,17145,0.00,2.75,0.00,0.000,4,0.000,0.094,2991,482,1957
$GC,17206,0.78,132.0,7.9,852,17215,0.00,2.63,0.00,0.000,6,0.000,0.065,2991,1889,1958
$GC,17516,0.78,132.0,7.2,865,17525,0.00,2.75,0.00,0.000,4,0.000,0.087,2992,482,1958
$GC,17556,0.78,132.0,7.0,867,17565,0.00,2.63,0.00,0.000,6,0.000,0.066,2991,1887,1957
$GC,17876,0.78,132.0,7.1,880,17885,0.00,2.72,0.00,0.000,4,0.000,0.086,2991,487,1957
$GC,17926,0.78,132.0,7.6,882,17935,0.00,2.63,0.00,0.000,6,0.000,0.065,2991,1896,1958
$GC,18236,0.78,132.0,7.8,895,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1895,1957
$GC,18561,0.78,132.0,7.8,908,18570,0.00,2.72,0.00,0.000,4,0.000,0.084,2991,486,1957
$GC,18621,0.78,132.0,8.6,911,18630,0.00,2.60,0.00,0.000,6,0.000,0.064,2992,1889,1956
$GC,18941,0.78,132.0,8.0,924,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1889,1955
$GC,19266,0.78,132.0,7.6,937,19275,0.00,2.72,0.00,0.000,4,0.000,0.084,2992,479,1955
$GC,19326,0.78,132.0,7.7,940,19335,0.00,2.63,0.00,0.000,6,0.000,0.064,2992,1896,1955
$GC,19646,0.78,145.5,5.6,953,19670,0.00,0.00,10.63,1.417,6,0.000,0.000,2991,1896,1903
$GC,19971,0.79,149.8,5.9,966,19995,0.00,0.00,3.70,1.449,6,0.000,0.000,2991,1896,1884
$GC,20296,0.80,156.4,5.8,979,20305,0.00,2.80,5.30,1.420,4,0.000,0.082,2991,482,1859
$GC,20366,0.81,156.4,6.9,982,20375,0.00,2.63,0.00,0.000,6,0.000,0.061,2991,1894,1859
$GC,20676,0.81,156.4,6.7,995,20699,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1894,1859
$GC,21001,0.81,156.4,8.3,1008,21010,0.00,2.72,0.00,0.000,4,0.000,0.081,2991,477,1859
$GC,21051,0.81,156.4,9.0,1010,21060,0.00,2.63,0.00,0.000,6,0.000,0.062,2991,1897,1859
$GC,21361,0.81,156.4,7.2,1023,21384,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1897,1859
$GC,21686,0.81,180.2,5.3,1036,21715,0.00,2.78,19.33,1.297,4,0.000,0.080,2993,485,1761
$GC,21746,0.83,187.2,5.8,1039,21755,0.00,2.63,5.57,1.324,6,0.000,0.061,2991,1892,1734
$GC,22066,0.84,187.2,6.4,1052,22089,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1891,1733
$GC,22391,0.84,187.2,7.1,1065,22400,0.00,2.70,0.00,0.000,4,0.000,0.080,2992,488,1733
$GC,22421,0.84,187.2,7.8,1066,22430,0.00,2.60,0.00,0.000,6,0.000,0.061,2991,1892,1733
$GC,22731,0.84,187.2,7.8,1079,22740,0.00,2.70,0.00,0.000,4,0.000,0.079,2991,485,1733
$GC,22781,0.84,187.2,9.0,1081,22790,0.00,2.60,0.00,0.000,6,0.000,0.061,2991,1894,1733
$GC,23091,0.84,187.2,7.0,1094,23100,0.00,2.70,0.00,0.000,4,0.000,0.078,2991,481,1733
$GC,23141,0.84,187.2,7.4,1096,23150,0.00,2.60,0.00,0.000,6,0.000,0.061,2992,1892,1733
$GC,23451,0.84,187.2,6.9,1109,23460,0.00,2.63,0.00,0.000,4,0.000,0.074,2992,3299,1733
$GC,23491,0.84,187.2,7.2,1111,23500,0.00,2.58,0.00,0.000,6,0.000,0.059,2992,1893,1733
$GC,23811,0.84,187.2,6.7,1124,23834,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1893,1732
$GC,24136,0.84,187.2,6.6,1137,24159,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1893,1732
$GC,24461,0.84,187.2,6.2,1150,24470,0.00,2.65,0.00,0.000,4,0.000,0.077,2992,483,1732
$GC,24561,0.84,187.2,6.6,1155,24570,0.00,2.58,0.00,0.000,6,0.000,0.058,2991,1892,1732
$GC,24881,0.84,192.8,5.8,1168,24890,0.00,2.67,4.63,1.188,4,0.000,0.071,2991,3298,1708
$GC,24921,0.85,197.1,5.9,1170,24930,0.00,2.60,3.33,1.191,6,0.000,0.057,2992,1886,1693
$GC,25241,0.85,197.1,6.1,1183,25264,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1886,1692
$GC,25566,0.85,219.2,5.3,1196,25590,0.00,0.00,17.58,1.083,6,0.000,0.000,2992,1886,1602
$GC,25891,0.87,274.9,4.3,1209,25940,0.00,0.00,44.38,1.035,6,0.000,0.000,2991,1886,1375
$GC,26241,0.93,274.9,6.7,1223,26250,0.17,2.65,0.00,0.000,4,0.093,0.075,3029,479,1373
$GC,26321,0.93,274.9,8.2,1227,26330,0.00,2.60,0.00,0.000,6,0.000,0.055,3030,1901,1373
$GC,26641,0.93,274.9,7.1,1240,26650,0.00,2.70,0.00,0.000,4,0.000,0.072,3029,474,1372
$GC,26671,0.93,274.9,7.5,1241,26680,0.00,2.58,0.00,0.000,6,0.000,0.054,3029,1887,1371
$GC,26981,0.93,274.9,7.1,1254,27004,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1889,1372
$GC,27306,0.93,274.9,6.9,1267,27329,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1888,1372
$GC,27631,0.93,274.9,8.2,1280,27640,0.00,2.65,0.00,0.000,4,0.000,0.070,3029,478,1372
$GC,27681,0.93,274.9,9.0,1282,27690,0.00,2.55,0.00,0.000,6,0.000,0.051,3029,1895,1372
$GC,27991,0.93,274.9,6.8,1295,28014,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1895,1372
$GC,28316,0.93,274.9,6.6,1308,28325,0.00,2.65,0.00,0.000,4,0.000,0.068,3029,474,1371
$GC,28376,0.93,274.9,7.6,1311,28384,0.00,2.55,0.00,0.000,6,0.000,0.050,3030,1901,1372
$GC,28696,0.93,304.1,5.1,1324,28720,0.00,0.00,22.52,0.830,6,0.000,0.000,3030,1902,1256
$GC,29026,0.97,304.1,6.6,1342,29035,0.00,2.65,0.00,0.000,4,0.000,0.065,3029,480,1256
$GC,29096,0.97,304.1,7.0,1349,29105,0.00,2.53,0.00,0.000,6,0.000,0.048,3029,1896,1255
$GC,29406,0.97,304.1,6.2,1380,29415,0.00,2.63,0.00,0.000,4,0.000,0.065,3029,482,1256
$GC,29456,0.97,304.1,6.7,1385,29465,0.00,2.53,0.00,0.000,6,0.000,0.048,3029,1906,1256
$GC,29766,0.97,383.8,3.5,1416,29835,0.00,2.58,63.00,0.732,4,0.000,0.058,3029,3306,932
$GC,29856,1.05,423.6,4.8,1425,29895,0.10,2.55,34.30,0.724,6,0.105,0.047,3054,1886,768
$GC,30196,1.10,423.6,6.3,1459,30205,0.00,2.60,0.00,0.000,4,0.000,0.066,3054,472,767
$GC,30266,1.10,423.6,7.0,1466,30275,0.00,2.53,0.00,0.000,6,0.000,0.046,3054,1896,768
$GC,30576,1.10,462.8,4.8,1497,30615,0.00,0.00,30.92,0.679,6,0.000,0.000,3054,1896,608
$GC,30916,1.14,462.8,6.5,1552,30920,0.00,2.65,0.00,0.000,4,0.000,0.064,3054,473,607
$GC,30966,1.14,462.8,6.8,1562,30970,0.00,2.55,0.00,0.000,6,0.000,0.046,3054,1902,608
$GC,31151,1.14,462.8,10.6,1599,31155,0.00,2.53,0.00,0.000,4,0.000,0.054,3054,3300,608
$SM_CCo,31382,0.00,0.000,0,0,607,463.62
$HUMID,2623
$TCM_TEMP,16.00
$RAFOS_CLK,-9882
$24V_AH,23.0,80.434
$10V_AH,9.9,41.869
$DEVICE_SECS,28.425,276.600,487.425,0.000,32.332,49.917,189.629,47.693,1119.314,26688.410,2036.284,1559.914,458.771,71.151,3270.632,0.000
$DEVICE_MAMPS,197.119,93.574,1500.252,0.000,103.000,160.000,223.000,93.000,18.650,1.040,18.650,38.650,45.300,80.650,12.000,3.000
$SENSOR_SECS,1386.789,1273.114,1317.207,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,26.000,15.000,10.000,105.000,33.000,105.000,2.000
$DATA_FILE_SIZE,43728,1630
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0