version: 66.06
glider: 503
mission: 5
dive: 218
start: 5 2 110 11 56 37
data:
$ID,503
$MISSION,5
$DIVE,218
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$D_ABORT,1070
$D_NO_BLEED,200
$D_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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14500.357
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.589809
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,114537,3648.306,-12214.899,25,1.2,25,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.6
$GPS2,115632,3648.245,-12214.896,13,1.1,13,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,THREE
$TGT_LATLONG,3650.000,-12215.000
$TGT_RADIUS,2000.000
$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,342.5,3253,-24.3,-7.865
$D_GRID,850
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.72,-53.5,0.0,0.0,0,63,0.00,0.00,-48.67,0.000,2,0.000,0.000,137,1807,2837,0,0,0,0,0,0
$GC,65,-0.75,-73.9,3.3,-5.8,9,87,8.73,2.28,-6.15,0.000,4,0.208,0.051,2455,399,3096,0,0,0,0,0,0
$GC,167,-0.70,-73.9,22.1,-16.6,28,172,0.00,2.17,0.00,0.000,6,0.000,0.025,2446,1813,3097,0,0,0,0,0,0
$GC,492,-0.70,-73.9,78.9,-14.1,89,500,0.00,2.22,0.00,0.000,4,0.000,0.036,2446,396,3097,0,0,0,0,0,0
$GC,558,-0.65,-73.9,88.7,-14.9,101,564,0.15,2.12,0.00,0.000,6,0.124,0.024,2487,1793,3098,0,0,0,0,0,0
$GC,885,-0.73,-73.9,128.0,-11.9,162,891,0.00,2.20,0.00,0.000,4,0.000,0.048,2487,401,3098,0,0,0,0,0,0
$GC,954,-0.78,-73.9,136.5,-12.2,175,961,0.00,2.10,0.00,0.000,6,0.000,0.023,2479,1799,3098,0,0,0,0,0,0
$GC,1282,-0.84,-73.9,170.7,-10.1,236,1287,0.15,2.22,0.00,0.000,4,0.075,0.048,2390,392,3099,0,0,0,0,0,0
$GC,1324,-0.71,-73.9,177.0,-16.3,244,1331,0.25,2.10,0.00,0.000,6,0.130,0.023,2464,1788,3099,0,0,0,0,0,0
$GC,1647,-0.71,-73.9,214.2,-11.4,293,1650,0.00,2.17,0.00,0.000,4,0.000,0.031,2454,3202,3098,0,0,0,0,0,0
$GC,1683,-0.79,-73.9,218.4,-10.9,296,1690,0.00,2.17,0.00,0.000,6,0.000,0.025,2454,1787,3098,0,0,0,0,0,0
$GC,1999,-0.79,-73.9,257.6,-12.9,327,2003,0.00,2.15,0.00,0.000,4,0.000,0.037,2456,402,3098,0,0,0,0,0,0
$GC,2030,-0.79,-73.9,261.9,-13.7,330,2035,0.00,2.10,0.00,0.000,6,0.000,0.022,2447,1806,3098,0,0,0,0,0,0
$GC,2352,-0.79,-73.9,306.6,-14.2,361,2355,0.00,2.10,0.00,0.000,4,0.000,0.030,2437,3180,3098,0,0,0,0,0,0
$GC,2383,-0.84,-73.9,311.1,-14.2,364,2387,0.00,2.10,0.00,0.000,6,0.000,0.025,2436,1804,3098,0,0,0,0,0,0
$GC,2704,-0.84,-73.9,357.1,-13.3,395,2708,0.00,2.17,0.00,0.000,4,0.000,0.037,2437,399,3098,0,0,0,0,0,0
$GC,2826,-0.84,-73.9,375.3,-14.6,406,2834,0.00,2.10,0.00,0.000,6,0.000,0.022,2426,1798,3098,0,0,0,0,0,0
$GC,3142,-0.84,-73.9,420.2,-13.7,437,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1798,3098,0,0,0,0,0,0
$GC,3454,-0.84,-73.9,462.0,-13.2,467,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1798,3097,0,0,0,0,0,0
$GC,3765,-0.84,-73.9,500.3,-11.3,497,3769,0.00,2.12,0.00,0.000,4,0.000,0.037,2426,401,3097,0,0,0,0,0,0
$GC,3828,-0.84,-73.9,508.7,-12.7,500,3832,0.00,2.10,0.00,0.000,6,0.000,0.022,2418,1805,3097,0,0,0,0,0,0
$GC,4149,-0.84,-73.9,547.9,-12.1,516,4153,0.00,2.17,0.00,0.000,4,0.000,0.036,2418,403,3096,0,0,0,0,0,0
$GC,4202,-0.79,-73.9,555.1,-14.5,518,4207,0.10,2.08,0.00,0.000,6,0.130,0.023,2442,1790,3096,0,0,0,0,0,0
$GC,4518,-0.84,-73.9,588.8,-11.1,534,4522,0.00,2.15,0.00,0.000,4,0.000,0.037,2443,404,3096,0,0,0,0,0,0
$GC,4560,-0.84,-73.9,594.2,-13.1,536,4564,0.00,2.10,0.00,0.000,6,0.000,0.024,2434,1807,3096,0,0,0,0,0,0
$GC,4886,-0.84,-73.9,634.5,-12.0,552,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1807,3095,0,0,0,0,0,0
$GC,5193,-0.84,-73.9,672.0,-12.2,567,5196,0.00,2.12,0.00,0.000,4,0.000,0.038,2434,401,3095,0,0,0,0,0,0
$GC,5282,-0.84,-73.9,683.7,-12.5,571,5286,0.00,2.10,0.00,0.000,6,0.000,0.023,2424,1802,3094,0,0,0,0,0,0
$GC,5605,-0.84,-73.9,722.0,-12.2,587,5608,0.00,2.15,0.00,0.000,4,0.000,0.038,2424,400,3094,0,0,0,0,0,0
$GC,5720,-0.84,-73.9,738.4,-14.4,592,5728,0.00,2.10,0.00,0.000,6,0.000,0.023,2414,1810,3094,0,0,0,0,0,0
$GC,6031,-0.84,-73.9,778.5,-12.8,608,6035,0.00,2.20,0.00,0.000,4,0.000,0.038,2414,399,3094,0,0,0,0,0,0
$GC,6131,-0.84,-73.9,792.8,-14.2,612,6139,0.00,2.10,0.00,0.000,6,0.000,0.023,2404,1804,3093,0,0,0,0,0,0
$GC,6442,-0.84,-73.9,834.5,-13.3,628,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1805,3093,0,0,0,0,0,0
$STATE,6585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6585,begin apogee
$GC,6588,-0.14,0.0,852.4,12.6,635,6651,0.75,0.00,60.72,1.112,6,0.115,0.000,2650,1805,2792,0,0,0,0,0,0
$STATE,6652,end apogee,CONTROL_FINISHED_OK
$STATE,6652,begin climb
$GC,6653,0.75,73.9,854.4,0.0,638,6723,0.77,2.17,64.80,1.079,4,0.059,0.031,2941,3145,2489,0,0,0,0,0,0
$GC,6809,0.71,88.2,847.7,6.5,645,6827,0.00,2.25,12.98,0.996,6,0.000,0.028,2952,1757,2432,0,0,0,0,0,0
$GC,7139,0.71,88.2,817.8,9.6,662,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1757,2427,0,0,0,0,0,0
$GC,7444,0.71,88.2,791.1,8.0,677,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1757,2425,0,0,0,0,0,0
$GC,7749,0.74,109.9,770.5,5.7,692,7771,0.00,0.00,18.62,1.025,6,0.000,0.000,2952,1757,2343,0,0,0,0,0,0
$GC,8074,0.74,111.3,747.2,7.7,708,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1757,2341,0,0,0,0,0,0
$GC,8380,0.74,111.3,720.4,9.1,723,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1757,2340,0,0,0,0,0,0
$GC,8684,0.74,111.3,693.2,8.3,738,8688,0.00,2.22,0.00,0.000,4,0.000,0.040,2963,350,2339,0,0,0,0,0,0
$GC,8738,0.67,111.3,688.5,8.9,740,8742,0.12,2.10,0.00,0.000,6,0.137,0.025,2922,1743,2338,0,0,0,0,0,0
$GC,9053,0.68,116.9,666.1,7.3,756,9063,0.00,2.17,6.45,0.854,4,0.000,0.031,2922,3151,2315,0,0,0,0,0,0
$GC,9079,0.68,119.5,664.1,7.6,757,9090,0.00,2.17,4.18,0.687,6,0.000,0.028,2931,1752,2305,0,0,0,0,0,0
$GC,9395,0.68,119.5,638.5,7.9,773,9398,0.00,2.15,0.00,0.000,4,0.000,0.031,2931,3151,2304,0,0,0,0,0,0
$GC,9447,0.68,119.5,633.7,9.6,775,9451,0.00,2.17,0.00,0.000,6,0.000,0.027,2942,1751,2304,0,0,0,0,0,0
$GC,9764,0.68,119.5,603.0,9.7,791,9767,0.00,2.20,0.00,0.000,4,0.000,0.041,2953,342,2303,0,0,0,0,0,0
$GC,9789,0.68,119.5,600.4,10.3,792,9794,0.08,2.12,0.00,0.000,6,0.130,0.024,2926,1750,2303,0,0,0,0,0,0
$GC,10105,0.68,119.5,572.4,8.6,808,10109,0.00,2.17,0.00,0.000,4,0.000,0.031,2926,3146,2303,0,0,0,0,0,0
$GC,10127,0.68,119.5,570.4,9.1,809,10130,0.00,2.15,0.00,0.000,6,0.000,0.028,2936,1726,2302,0,0,0,0,0,0
$GC,10453,0.68,120.4,544.7,7.8,825,10456,0.00,2.17,0.00,0.000,4,0.000,0.030,2935,3150,2302,0,0,0,0,0,0
$GC,10564,0.68,120.4,535.7,8.1,830,10568,0.00,2.17,0.00,0.000,6,0.000,0.028,2947,1744,2302,0,0,0,0,0,0
$GC,10885,0.69,124.0,510.7,7.5,846,10891,0.00,0.00,5.00,0.723,6,0.000,0.000,2946,1745,2286,0,0,0,0,0,0
$GC,11193,0.69,126.3,488.5,7.6,868,11205,0.00,2.20,3.72,0.600,4,0.000,0.030,2946,3150,2277,0,0,0,0,0,0
$GC,11306,0.69,126.3,479.7,8.4,878,11312,0.10,2.17,0.00,0.000,6,0.133,0.028,2923,1749,2277,0,0,0,0,0,0
$GC,11622,0.75,138.6,456.2,6.6,909,11642,0.00,2.22,12.23,0.841,4,0.000,0.030,2923,3153,2226,0,0,0,0,0,0
$GC,11667,0.77,147.2,452.6,7.0,913,11685,0.00,2.20,9.07,0.790,6,0.000,0.027,2932,1746,2192,0,0,0,0,0,0
$GC,11994,0.82,147.2,426.7,8.0,945,11997,0.00,2.15,0.00,0.000,4,0.000,0.029,2932,3149,2192,0,0,0,0,0,0
$GC,12062,0.82,147.2,421.1,8.4,951,12068,0.00,2.17,0.00,0.000,6,0.000,0.027,2943,1752,2191,0,0,0,0,0,0
$GC,12377,0.82,147.2,394.3,8.9,982,12382,0.00,2.15,0.00,0.000,4,0.000,0.029,2943,3139,2191,0,0,0,0,0,0
$GC,12468,0.82,147.2,385.6,8.9,990,12475,0.00,2.15,0.00,0.000,6,0.000,0.027,2954,1752,2190,0,0,0,0,0,0
$GC,12785,0.82,147.2,354.2,9.8,1021,12788,0.00,2.15,0.00,0.000,4,0.000,0.030,2954,3153,2190,0,0,0,0,0,0
$GC,12901,0.82,147.2,342.1,10.5,1032,12905,0.00,2.15,0.00,0.000,6,0.000,0.027,2965,1758,2190,0,0,0,0,0,0
$GC,13222,0.82,147.2,309.6,9.3,1063,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1757,2190,0,0,0,0,0,0
$GC,13533,0.82,147.2,283.1,8.3,1093,13537,0.00,2.12,0.00,0.000,4,0.000,0.030,2965,3149,2190,0,0,0,0,0,0
$GC,13553,0.83,151.6,281.4,7.4,1094,13563,0.00,2.15,5.07,0.622,6,0.000,0.027,2976,1752,2174,0,0,0,0,0,0
$GC,13879,0.83,151.6,254.1,7.9,1126,13884,0.00,2.15,0.00,0.000,4,0.000,0.029,2976,3148,2174,0,0,0,0,0,0
$GC,13927,0.83,151.6,249.8,9.1,1130,13934,0.00,2.15,0.00,0.000,6,0.000,0.027,2987,1755,2174,0,0,0,0,0,0
$GC,14243,0.83,151.6,220.8,9.4,1161,14247,0.00,2.15,0.00,0.000,4,0.000,0.030,2987,3147,2174,0,0,0,0,0,0
$GC,14286,0.83,151.6,216.7,10.1,1165,14290,0.12,2.12,0.00,0.000,6,0.169,0.028,2963,1751,2174,0,0,0,0,0,0
$GC,14605,0.83,151.6,192.3,8.0,1204,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1751,2174,0,0,0,0,0,0
$GC,14930,0.83,153.4,167.9,7.7,1265,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1750,2174,0,0,0,0,0,0
$GC,15255,0.83,153.4,139.0,8.8,1326,15261,0.00,2.17,0.00,0.000,4,0.000,0.029,2963,3148,2174,0,0,0,0,0,0
$GC,15336,0.83,153.4,131.7,8.7,1341,15341,0.00,2.15,0.00,0.000,6,0.000,0.028,2973,1751,2174,0,0,0,0,0,0
$GC,15662,0.83,153.4,102.9,8.2,1402,15669,0.00,2.20,3.60,0.453,4,0.000,0.030,2973,3154,2165,0,0,0,0,0,0
$GC,15791,0.83,153.5,92.2,7.9,1426,15797,0.00,2.17,0.00,0.000,6,0.000,0.037,2984,1751,2165,0,0,0,0,0,0
$GC,16117,0.83,153.5,69.2,8.1,1487,16123,0.00,2.15,0.00,0.000,4,0.000,0.029,2984,3149,2165,0,0,0,0,0,0
$GC,16176,0.83,153.5,63.7,9.5,1498,16182,0.00,2.15,0.00,0.000,6,0.000,0.027,2995,1752,2165,0,0,0,0,0,0
$GC,16503,0.83,154.4,38.5,7.8,1559,16509,0.00,2.15,0.00,0.000,4,0.000,0.030,2995,3148,2165,0,0,0,0,0,0
$GC,16711,0.83,154.4,19.6,10.6,1598,16718,0.10,2.15,0.00,0.000,6,0.133,0.027,2971,1752,2165,0,0,0,0,0,0
$STATE,16924,end climb,SURFACE_DEPTH_REACHED
$STATE,16924,begin surface coast
$FINISH,1.2,1.025894
$STATE,16962,end surface coast,CONTROL_FINISHED_OK
$STATE,16962,begin surface
$SM_CCo,16974,56.90,0.568,0,0,1772,250.20
$SM_GC,0.87,0.00,0.00,56.90,0.000,0.000,0.568,184,1751,1772,-7.86,-1.39,250.20
$IRIDIUM_FIX,3634.97,-12218.57,270799,111139
$TT8_MAMPS,0.052156
$HUMID,53.81
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.80
$XPDR_PINGS,120
$24V_AH,23.8,30.423
$10V_AH,9.7,47.696
$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,18.900,142.300,206.450,56.900,0.000,57.627,77.125,320.493,32.000,0.000,15.419,0.000,12129.290,440.771,4345.392,735.807,0.000,1808.624,0.000,3733.379,0.000,16.912,0.000
$DEVICE_MAMPS,207.857,50.622,1112.150,567.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1143.043,3457.417,2512.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286652
$DATA_FILE_SIZE,114005,1645
$CAP_FILE_SIZE,184424,0
$CFSIZE,260165632,232534016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,164130,3649.686,-12215.050,40,1.8,40,14.8