version: 67.00
glider: 236
mission: 2
dive: 659
start: 2 21 121 15 27 10
data:
$ID,236
$MISSION,2
$DIVE,659
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,170
$T_MISSION,190
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$HD_C,1.6e-05
$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,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,60.239777
$FG_AHR_24V,163.71396
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.66119
$PRESSURE_SLOPE,0.00022638284
$COMPASS_USE,4
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,210221,152021,4738.389,-12548.356,3,1.9,11,15.8
$_CALLS,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.8
$GPS2,210221,152653,4738.381,-12548.268,3,1.9,6,15.8
$SPEED_LIMITS,0.170,0.192
$TGT_NAME,IN7
$TGT_LATLONG,4737.940,-12540.550
$TGT_RADIUS,7000.000
$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,79.1,9667,-24.0,-9.804,-27.02
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7.58,16386,-77.86,-1.43,0.00,762.4,763.8,761.1,172.9,2083.0,0.00,0.00,0,82.69,74.49,0.00,0.00,0.005,0.000,0.000,2414.59,2394.44,2434.75,172.62,2082.56,0,0,0,14.91,30.00,30.00
$GC,82.95,18727,-77.86,-1.43,80.00,2414.0,2393.8,2434.1,172.8,2082.6,3.36,-4.36,14,115.97,10.28,14.38,3.86,0.007,0.258,0.112,2814.50,2808.19,2820.81,1793.12,3474.62,0,0,0,15.09,15.24,14.93
$GC,338.84,1028,-77.86,-1.43,0.00,2815.9,2809.6,2822.2,1792.9,3474.3,58.29,-20.76,65,344.58,0.00,0.00,3.47,0.000,0.000,0.061,2816.88,2810.56,2823.19,1793.38,2084.06,0,0,0,30.00,30.00,15.59
$GC,523.98,260,-77.86,-1.43,80.00,2815.6,2809.5,2821.8,1793.5,2084.1,86.62,-13.16,102,529.71,0.00,0.00,3.84,0.000,0.000,0.108,2816.41,2810.50,2822.31,1792.88,3474.69,0,0,0,30.00,30.00,15.54
$GC,754.00,1028,-77.86,-1.43,0.00,2815.9,2809.4,2822.3,1792.6,3474.1,118.26,-13.62,148,758.64,0.00,0.00,3.46,0.000,0.000,0.058,2815.94,2809.25,2822.62,1792.62,2081.19,0,0,0,30.00,30.00,15.65
$GC,1064.07,260,-77.86,-1.43,80.00,2815.9,2809.4,2822.4,1792.8,2080.9,157.84,-13.11,180,1069.84,0.00,0.00,3.83,0.000,0.000,0.108,2817.66,2810.50,2824.81,1793.25,3475.56,0,0,0,30.00,30.00,15.57
$GC,1199.11,1028,-77.86,-1.43,0.00,2816.3,2809.8,2822.8,1793.2,3475.5,177.41,-15.10,207,1203.68,0.00,0.00,3.46,0.000,0.000,0.058,2814.97,2808.88,2821.06,1792.69,2081.38,0,0,0,30.00,30.00,15.67
$GC,1509.19,516,-77.86,-1.43,-80.00,2815.8,2809.2,2822.4,1792.9,2082.4,216.22,-11.58,239,1514.86,0.00,0.00,4.13,0.000,0.000,0.153,2816.69,2810.31,2823.06,1792.25,662.75,0,0,0,30.00,30.00,15.45
$GC,1568.03,1028,-77.86,-1.43,0.00,2816.4,2810.4,2822.3,1793.2,663.1,224.49,-14.12,251,1574.96,0.00,0.00,3.52,0.000,0.000,0.051,2816.81,2810.50,2823.12,1793.06,2121.56,0,0,0,30.00,30.00,15.72
$GC,1874.23,260,-77.86,-1.43,80.00,2816.0,2810.1,2822.0,1792.8,2122.2,258.85,-11.79,282,1879.95,0.00,0.00,3.68,0.000,0.000,0.111,2815.50,2809.38,2821.62,1792.81,3473.94,0,0,0,30.00,30.00,15.56
$GC,1899.29,1028,-77.86,-1.43,0.00,2815.7,2808.9,2822.6,1792.9,3474.4,261.93,-11.54,287,1904.79,0.00,0.00,3.42,0.000,0.000,0.057,2815.12,2808.75,2821.50,1793.19,2082.06,0,0,0,30.00,30.00,15.67
$GC,2204.27,0,-77.86,-1.43,0.00,2816.3,2809.6,2823.1,1793.2,2082.6,296.50,-11.26,318,2205.60,0.00,0.00,0.00,0.000,0.000,0.000,2817.06,2810.12,2824.00,1792.44,2082.19,0,0,0,30.00,30.00,30.00
$GC,2504.31,0,-77.86,-1.43,0.00,2816.1,2810.2,2822.0,1793.1,2082.2,331.09,-10.89,348,2505.64,0.00,0.00,0.00,0.000,0.000,0.000,2816.66,2809.88,2823.44,1792.50,2081.44,0,0,0,30.00,30.00,30.00
$GC,2804.33,260,-77.86,-1.43,80.00,2816.2,2809.2,2823.1,1793.1,2081.7,364.68,-10.64,378,2810.10,0.00,0.00,3.81,0.000,0.000,0.113,2815.56,2808.06,2823.06,1792.88,3474.44,0,0,0,30.00,30.00,15.54
$GC,2839.33,1028,-77.86,-1.43,0.00,2815.8,2809.2,2822.4,1792.9,3474.2,369.32,-12.21,385,2843.90,0.00,0.00,3.45,0.000,0.000,0.058,2815.09,2808.25,2821.94,1792.94,2081.31,0,0,0,30.00,30.00,15.66
$GC,3149.38,0,-77.86,-1.43,0.00,2816.2,2809.3,2823.2,1793.0,2081.1,405.25,-11.49,417,3150.71,0.00,0.00,0.00,0.000,0.000,0.000,2814.91,2808.88,2820.94,1793.38,2080.94,0,0,0,30.00,30.00,30.00
$GC,3449.40,0,-77.86,-1.43,0.00,2816.1,2809.6,2822.6,1792.6,2080.9,440.22,-12.12,447,3450.73,0.00,0.00,0.00,0.000,0.000,0.000,2816.31,2809.94,2822.69,1792.94,2080.62,0,0,0,30.00,30.00,30.00
$GC,3749.44,260,-77.86,-1.43,80.00,2815.6,2809.4,2821.8,1792.7,2081.2,475.74,-11.48,477,3755.21,0.00,0.00,3.88,0.000,0.000,0.113,2816.94,2810.75,2823.12,1792.31,3475.25,0,0,0,30.00,30.00,15.51
$GC,3774.52,1028,-77.86,-1.43,0.00,2815.8,2809.6,2822.1,1792.8,3475.4,478.66,-11.78,482,3780.01,0.00,0.00,3.48,0.000,0.000,0.059,2818.56,2812.19,2824.94,1791.88,2082.88,0,0,0,30.00,30.00,15.63
$STATE,3970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3970,begin apogee
$GC,3970.69,10243,0.00,-0.25,0.00,2816.0,2809.6,2822.3,1792.8,2121.1,500.18,-10.81,502,4041.32,64.70,2.20,0.09,1.631,0.147,0.236,2500.56,2506.88,2494.25,2079.75,2084.06,0,0,0,10.96,15.52,15.21
$STATE,4044,end apogee,CONTROL_FINISHED_OK
$STATE,4044,begin climb
$GC,4043.73,10759,77.86,1.43,-80.00,2498.2,2505.4,2491.0,2079.8,2084.3,502.49,0.00,509,4121.93,68.93,2.93,4.22,1.592,0.085,0.140,2180.53,2193.19,2167.88,2492.38,662.81,0,0,0,12.01,15.32,14.96
$GC,4135.11,11303,144.02,1.63,0.00,2178.2,2190.1,2166.4,2492.1,663.2,498.29,4.26,526,4200.92,60.67,0.28,3.63,1.557,0.070,0.045,1912.25,1935.75,1888.75,2546.56,2125.12,0,0,0,12.01,15.13,15.17
$GC,4505.08,16646,144.02,1.63,80.00,1901.5,1930.1,1872.9,2546.2,2124.9,457.90,11.60,570,4510.68,0.00,0.00,3.71,0.000,0.000,0.113,1901.38,1930.31,1872.44,2545.44,3472.56,0,0,0,30.00,30.00,15.48
$GC,4560.10,17414,144.02,1.63,0.00,1901.0,1929.0,1873.0,2546.1,3473.3,450.90,13.60,581,4565.66,0.00,0.00,3.45,0.000,0.000,0.056,1900.41,1927.19,1873.62,2545.06,2078.00,0,0,0,30.00,30.00,15.58
$GC,4865.16,16902,144.02,1.63,-80.00,1899.5,1929.1,1869.9,2546.4,2078.6,417.77,10.93,612,4870.95,0.00,0.00,4.01,0.000,0.000,0.140,1899.72,1929.12,1870.31,2546.38,663.00,0,0,0,30.00,30.00,15.48
$GC,4920.18,17414,144.02,1.63,0.00,1899.1,1928.2,1869.9,2546.1,662.8,409.62,16.49,623,4925.82,0.00,0.00,3.52,0.000,0.000,0.047,1897.34,1926.44,1868.25,2546.00,2124.44,0,0,0,30.00,30.00,15.69
$GC,5225.20,16646,144.02,1.63,80.00,1898.3,1928.3,1868.2,2546.6,2125.3,371.03,12.32,654,5230.79,0.00,0.00,3.67,0.000,0.000,0.111,1898.12,1927.88,1868.38,2546.56,3474.31,0,0,0,30.00,30.00,15.56
$GC,5250.27,17414,144.02,1.63,0.00,1898.0,1927.8,1868.3,2545.8,3475.0,367.64,14.56,659,5255.76,0.00,0.00,3.41,0.000,0.000,0.055,1896.56,1926.06,1867.06,2546.75,2077.31,0,0,0,30.00,30.00,15.68
$GC,5555.23,16646,144.02,1.63,80.00,1897.6,1927.4,1867.7,2546.4,2078.1,333.16,11.09,690,5560.85,0.00,0.00,3.82,0.000,0.000,0.109,1896.16,1926.00,1866.31,2546.44,3473.00,0,0,0,30.00,30.00,15.57
$GC,5574.12,17414,144.02,1.63,0.00,1897.3,1926.9,1867.7,2546.2,3473.4,330.55,12.08,694,5580.97,0.00,0.00,3.40,0.000,0.000,0.054,1898.53,1928.38,1868.69,2545.56,2080.69,0,0,0,30.00,30.00,15.67
$GC,5880.25,16386,144.02,1.63,0.00,1896.8,1927.4,1866.1,2546.6,2080.2,293.04,12.73,725,5881.59,0.00,0.00,0.00,0.000,0.000,0.000,1897.06,1927.94,1866.19,2546.00,2079.44,0,0,0,30.00,30.00,30.00
$GC,6180.27,16386,144.02,1.63,0.00,1896.4,1927.2,1865.5,2546.3,2079.8,258.91,10.94,755,6181.60,0.00,0.00,0.00,0.000,0.000,0.000,1896.59,1927.81,1865.38,2545.94,2080.06,0,0,0,30.00,30.00,30.00
$GC,6480.30,16386,144.02,1.63,0.00,1895.9,1927.2,1864.6,2546.2,2080.1,224.93,11.33,785,6481.63,0.00,0.00,0.00,0.000,0.000,0.000,1896.28,1927.56,1865.00,2545.88,2079.88,0,0,0,30.00,30.00,30.00
$GC,6780.33,16386,144.02,1.63,0.00,1895.6,1927.2,1863.9,2546.9,2080.5,193.90,10.83,815,6781.66,0.00,0.00,0.00,0.000,0.000,0.000,1895.75,1927.50,1864.00,2545.88,2080.25,0,0,0,30.00,30.00,30.00
$GC,7080.37,16710,144.02,1.68,80.00,1895.4,1927.2,1863.6,2546.3,2079.8,166.26,8.01,845,7085.98,0.00,0.00,3.83,0.000,0.000,0.109,1894.25,1925.69,1862.81,2546.56,3474.12,0,0,0,30.00,30.00,15.52
$GC,7129.20,17414,144.02,1.68,0.00,1895.2,1927.4,1863.1,2546.4,3474.8,161.51,9.91,855,7136.11,0.00,0.00,3.43,0.000,0.000,0.055,1895.56,1928.00,1863.12,2546.56,2077.50,0,0,0,30.00,30.00,15.68
$GC,7435.41,16710,144.02,1.73,80.00,1894.9,1927.2,1862.6,2545.6,2077.8,135.77,8.41,886,7441.02,0.00,0.00,3.81,0.000,0.000,0.106,1897.03,1929.44,1864.62,2544.94,3473.69,0,0,0,30.00,30.00,15.52
$GC,7534.25,17414,144.02,1.73,0.00,1894.2,1926.0,1862.5,2546.3,3474.1,126.67,9.67,906,7541.42,0.00,0.00,3.42,0.000,0.000,0.052,1894.81,1926.38,1863.25,2546.06,2075.88,0,0,0,30.00,30.00,15.67
$GC,7840.46,10791,170.25,1.81,-80.00,1894.2,1925.6,1862.8,2546.2,2076.6,101.93,7.61,937,7867.62,21.14,0.20,3.94,1.152,0.088,0.135,1804.12,1833.75,1774.50,2589.25,663.19,0,0,0,11.10,15.73,15.53
$GC,7970.48,1028,170.25,1.81,0.00,1802.7,1832.2,1773.1,2590.3,662.8,88.67,11.52,963,7976.25,0.00,0.00,3.51,0.000,0.000,0.047,1802.97,1832.62,1773.31,2589.25,2128.50,0,0,0,30.00,30.00,15.67
$GC,8155.54,580,170.25,1.86,-80.00,1801.2,1831.8,1770.5,2589.9,2127.6,71.29,7.82,1000,8161.52,0.00,0.00,4.11,0.000,0.000,0.127,1803.31,1833.75,1772.88,2588.81,661.94,0,0,0,30.00,30.00,15.44
$GC,8235.54,11303,218.41,2.01,0.00,1801.3,1831.6,1771.0,2589.8,662.1,66.67,5.77,1016,8282.25,41.72,0.25,3.49,1.138,0.068,0.044,1608.44,1639.50,1577.38,2638.50,2132.12,0,0,0,11.82,15.50,15.70
$GC,8460.60,324,218.41,2.05,80.00,1603.5,1636.7,1570.2,2638.3,2132.1,51.94,8.44,1061,8466.37,0.00,0.00,3.72,0.000,0.000,0.110,1603.12,1636.25,1570.00,2638.81,3474.75,0,0,0,30.00,30.00,15.44
$GC,8475.60,1092,218.41,2.10,0.00,1602.7,1635.1,1570.3,2638.9,3474.6,50.66,8.24,1064,8481.55,0.00,0.00,3.45,0.000,0.000,0.053,1602.78,1635.44,1570.12,2639.00,2078.19,0,0,0,30.00,30.00,15.57
$GC,8660.70,10535,278.13,2.28,80.00,1602.5,1635.4,1569.5,2638.9,2077.7,40.84,4.80,1101,8718.61,52.24,0.35,3.88,1.092,0.068,0.108,1366.03,1398.12,1333.94,2698.31,3474.56,0,0,0,11.61,15.61,15.31
$GC,8821.41,1028,278.13,2.28,0.00,1362.8,1393.5,1332.1,2699.7,3473.6,21.90,14.47,1133,8827.14,0.00,0.00,3.48,0.000,0.000,0.055,1363.66,1394.25,1333.06,2699.25,2077.75,0,0,0,30.00,30.00,15.48
$STATE,8982,end climb,SURFACE_DEPTH_REACHED
$STATE,8982,begin surface coast
$STATE,8997,end surface coast,CONTROL_FINISHED_OK
$STATE,8997,begin surface
$SM_CCo,9149.93,127.11,1.041,0,768.2,768.4,768.1,424.81
$SM_CCo,9151.10,0.00,2.655,0,769.3,771.2,767.5,424.53
$SM_CCo,9154.30,2.10,0.280,0,768.6,770.8,766.4,424.71
$SM_GC,0.69,2.10,16.93,0.08,0.280,0.050,0.138,768.6,770.8,766.4,181.0,2130.8,0,0,0,12.12,15.56,15.63
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4738.23,-12546.38,210221,124218
$TCM_TEMP,194.38
$XPDR_PINGS,2,14.0,11.5
$SC_FREEKB,3607072
$HUMID,57.32
$TEMP,8.30
$INTERNAL_PRESSURE,7.8024
$24V_AH,14.06,193.733
$10V_AH,14.71,0.000
$FG_AHR_24Vo,163.891
$FG_AHR_10Vo,60.274
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,523.380,37.515,132.570,211.919,0.500,15.690,3607.549,5734.280,1996.802,0.000,0.000,0.000
$DEVICE_MAMPS,2654.912,257.888,236.240,208.136,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.553,0.000,0.000,0.000
$MEM,1100044,49,75724,114
$DATA_FILE_SIZE,44966,1168
$CAP_FILE_SIZE,450586,0
$SDSIZE,3918848,3737792
$SDFILEDIR,3321,1
$ERRORS,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210221,180026,4738.511,-12547.093,32,1.0,33,15.8