version: 66.07
glider: 542
mission: 6
dive: 33
start: 12 15 112 3 18 28
data:
$ID,542
$MISSION,6
$DIVE,33
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52816
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10375.774
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-48.034508
$PRESSURE_SLOPE,0.00011816985
$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,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,151212,030658,-4645.123,358.731,39,0.8,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-34.9
$GPS2,151212,031730,-4645.149,358.698,13,0.8,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.079,0.284
$KALMAN_X,-27462.1,411.8,405.0,3484.0,-7127.4
$KALMAN_Y,7195.3,825.6,484.1,2806.1,-3452.1
$MHEAD_RNG_PITCHd_Wd,38.9,28106,-14.9,-10.010
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-194.7,0.0,0.0,0,171,0.00,0.00,-141.85,0.000,2,0.000,0.000,56,2944,3323,0,0,0,0,0,0
$GC,177,-0.64,-194.7,3.1,-2.4,18,196,6.57,2.35,-7.07,0.000,4,0.249,0.057,1660,1504,3615,0,0,0,0,0,0
$GC,270,-0.64,-194.7,20.7,-9.8,31,278,0.00,2.35,0.00,0.000,6,0.000,0.057,1651,2914,3617,0,0,0,0,0,0
$GC,357,-0.64,-194.7,30.7,-12.7,44,367,0.00,1.60,0.00,0.000,4,0.000,0.063,1643,3897,3617,0,0,0,0,0,0
$GC,385,-0.64,-194.7,34.4,-12.7,47,392,0.00,1.55,0.00,0.000,6,0.000,0.037,1643,2904,3617,0,0,0,0,0,0
$GC,635,-0.64,-194.7,67.8,-13.2,88,642,0.00,2.12,0.00,0.000,4,0.000,0.042,1643,1527,3617,0,0,0,0,0,0
$GC,676,-0.64,-194.7,73.2,-12.1,94,683,0.00,2.28,0.00,0.000,6,0.000,0.056,1632,2932,3617,0,0,0,0,0,0
$GC,1023,-0.64,-194.7,115.1,-12.1,140,1027,0.10,1.58,0.00,0.000,4,0.202,0.064,1649,3897,3617,0,0,0,0,0,0
$GC,1045,-0.64,-194.7,117.6,-12.3,141,1049,0.00,1.50,0.00,0.000,6,0.000,0.037,1649,2928,3617,0,0,0,0,0,0
$GC,1379,-0.64,-194.7,153.5,-11.1,162,1383,0.00,2.15,0.00,0.000,4,0.000,0.042,1649,1523,3618,0,0,0,0,0,0
$GC,1430,-0.64,-194.7,158.8,-10.1,165,1434,0.00,2.25,0.00,0.000,6,0.000,0.057,1639,2922,3618,0,0,0,0,0,0
$GC,1757,-0.64,-194.7,196.5,-11.7,186,1761,0.00,2.17,0.00,0.000,4,0.000,0.041,1639,1519,3617,0,0,0,0,0,0
$GC,1779,-0.64,-194.7,199.0,-12.2,187,1783,0.12,2.28,0.00,0.000,6,0.180,0.057,1660,2936,3617,0,0,0,0,0,0
$GC,2116,-0.64,-194.7,230.8,-8.9,208,2120,0.00,2.17,0.00,0.000,4,0.000,0.041,1660,1525,3617,0,0,0,0,0,0
$GC,2157,-0.64,-194.7,235.0,-8.2,210,2166,0.00,2.28,0.00,0.000,6,0.000,0.057,1651,2927,3618,0,0,0,0,0,0
$GC,2490,-0.64,-194.7,268.0,-10.3,229,2493,0.00,2.17,0.00,0.000,4,0.000,0.041,1652,1517,3617,0,0,0,0,0,0
$GC,2511,-0.64,-194.7,270.3,-10.5,230,2515,0.00,2.25,0.00,0.000,6,0.000,0.057,1641,2920,3618,0,0,0,0,0,0
$GC,2840,-0.64,-194.7,306.5,-10.8,246,2844,0.00,2.12,0.00,0.000,4,0.000,0.042,1641,1525,3618,0,0,0,0,0,0
$GC,2876,-0.64,-194.7,310.3,-10.1,247,2883,0.10,2.22,0.00,0.000,6,0.190,0.057,1656,2922,3618,0,0,0,0,0,0
$GC,3197,-0.64,-194.7,336.9,-8.3,263,3201,0.00,2.17,0.00,0.000,4,0.000,0.042,1656,1522,3617,0,0,0,0,0,0
$GC,3226,-0.64,-194.7,339.7,-8.3,264,3230,0.00,2.25,0.00,0.000,6,0.000,0.057,1648,2928,3618,0,0,0,0,0,0
$GC,3547,-0.64,-194.7,368.3,-9.1,279,3551,0.00,2.15,0.00,0.000,4,0.000,0.041,1647,1517,3617,0,0,0,0,0,0
$GC,3567,-0.64,-194.7,370.6,-9.7,280,3571,0.00,2.22,0.00,0.000,6,0.000,0.057,1637,2923,3618,0,0,0,0,0,0
$GC,3892,-0.64,-194.7,403.7,-10.3,295,3896,0.00,2.12,0.00,0.000,4,0.000,0.042,1637,1525,3617,0,0,0,0,0,0
$GC,3915,-0.64,-194.7,406.5,-10.7,295,3923,0.12,2.22,0.00,0.000,6,0.181,0.057,1659,2922,3618,0,0,0,0,0,0
$GC,4232,-0.64,-194.7,433.5,-8.6,306,4236,0.00,2.15,0.00,0.000,4,0.000,0.042,1659,1523,3617,0,0,0,0,0,0
$GC,4273,-0.64,-194.7,437.3,-8.0,307,4277,0.00,2.25,0.00,0.000,6,0.000,0.059,1650,2927,3617,0,0,0,0,0,0
$GC,4600,-0.64,-194.7,468.0,-9.7,318,4604,0.00,2.12,0.00,0.000,4,0.000,0.041,1651,1524,3617,0,0,0,0,0,0
$GC,4624,-0.64,-194.7,470.6,-10.2,318,4630,0.00,2.22,0.00,0.000,6,0.000,0.057,1640,2922,3617,0,0,0,0,0,0
$GC,4940,-0.64,-194.7,503.7,-10.6,329,4944,0.00,2.15,0.00,0.000,4,0.000,0.043,1640,1524,3617,0,0,0,0,0,0
$GC,4975,-0.64,-194.7,507.8,-10.0,330,4980,0.12,2.25,0.00,0.000,6,0.181,0.058,1662,2930,3617,0,0,0,0,0,0
$GC,5308,-0.64,-194.7,535.5,-8.3,341,5312,0.00,2.15,0.00,0.000,4,0.000,0.042,1663,1513,3617,0,0,0,0,0,0
$GC,5344,-0.64,-194.7,538.6,-7.9,342,5348,0.00,2.25,0.00,0.000,6,0.000,0.059,1654,2924,3617,0,0,0,0,0,0
$GC,5676,-0.64,-194.7,566.4,-8.2,353,5680,0.00,2.12,0.00,0.000,4,0.000,0.043,1653,1523,3617,0,0,0,0,0,0
$GC,5708,-0.64,-194.7,569.0,-8.4,354,5712,0.00,2.22,0.00,0.000,6,0.000,0.059,1644,2928,3617,0,0,0,0,0,0
$GC,6046,-0.64,-194.7,599.8,-9.2,365,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2929,3617,0,0,0,0,0,0
$GC,6352,-0.64,-194.7,628.1,-9.2,375,6356,0.00,2.15,0.00,0.000,4,0.000,0.043,1644,1517,3617,0,0,0,0,0,0
$GC,6409,-0.64,-194.7,633.6,-9.4,376,6414,0.00,2.25,0.00,0.000,6,0.000,0.059,1634,2924,3616,0,0,0,0,0,0
$GC,6727,-0.64,-194.7,664.7,-9.9,386,6731,0.00,2.12,0.00,0.000,4,0.000,0.043,1634,1522,3616,0,0,0,0,0,0
$GC,6762,-0.64,-194.7,668.5,-9.4,387,6767,0.12,2.25,0.00,0.000,6,0.183,0.059,1655,2930,3616,0,0,0,0,0,0
$GC,7095,-0.64,-194.7,693.9,-7.5,398,7099,0.00,2.15,0.00,0.000,4,0.000,0.044,1656,1515,3617,0,0,0,0,0,0
$GC,7127,-0.64,-194.7,696.3,-7.9,399,7131,0.00,2.25,0.00,0.000,6,0.000,0.060,1648,2924,3616,0,0,0,0,0,0
$GC,7465,-0.64,-194.7,722.5,-7.7,410,7469,0.00,2.12,0.00,0.000,4,0.000,0.043,1648,1522,3616,0,0,0,0,0,0
$GC,7483,-0.64,-194.7,724.2,-8.1,410,7487,0.00,2.25,0.00,0.000,6,0.000,0.059,1637,2931,3616,0,0,0,0,0,0
$GC,7801,-0.64,-194.7,752.5,-9.5,420,7805,0.00,2.15,0.00,0.000,4,0.000,0.043,1637,1524,3616,0,0,0,0,0,0
$GC,7847,-0.64,-194.7,757.2,-8.9,421,7852,0.12,2.25,0.00,0.000,6,0.182,0.060,1659,2931,3616,0,0,0,0,0,0
$GC,8169,-0.64,-194.7,781.3,-7.5,432,8173,0.00,2.17,0.00,0.000,4,0.000,0.044,1660,1514,3616,0,0,0,0,0,0
$GC,8187,-0.64,-194.7,782.8,-7.1,432,8191,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2927,3616,0,0,0,0,0,0
$GC,8508,-0.64,-194.7,807.3,-7.8,443,8512,0.00,2.15,0.00,0.000,4,0.000,0.043,1652,1518,3616,0,0,0,0,0,0
$GC,8538,-0.64,-194.7,809.7,-7.5,443,8544,0.00,2.25,0.00,0.000,6,0.000,0.060,1643,2930,3616,0,0,0,0,0,0
$GC,8853,-0.64,-194.7,835.5,-8.3,454,8857,0.00,2.12,0.00,0.000,4,0.000,0.042,1643,1522,3616,0,0,0,0,0,0
$GC,8885,-0.64,-194.7,838.3,-8.8,455,8889,0.00,2.25,0.00,0.000,6,0.000,0.060,1634,2932,3616,0,0,0,0,0,0
$GC,9223,-0.64,-194.7,869.2,-9.1,466,9227,0.00,2.15,0.00,0.000,4,0.000,0.043,1634,1524,3615,0,0,0,0,0,0
$GC,9254,-0.64,-194.7,872.0,-9.0,467,9259,0.12,2.25,0.00,0.000,6,0.177,0.060,1657,2932,3616,0,0,0,0,0,0
$GC,9593,-0.64,-194.7,896.1,-7.1,478,9597,0.00,2.15,0.00,0.000,4,0.000,0.042,1657,1522,3615,0,0,0,0,0,0
$GC,9634,-0.64,-194.7,899.2,-7.5,479,9638,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2928,3616,0,0,0,0,0,0
$GC,9960,-0.64,-194.7,922.2,-6.8,490,9964,0.00,2.12,0.00,0.000,4,0.000,0.042,1649,1522,3616,0,0,0,0,0,0
$GC,9995,-0.64,-194.7,924.8,-6.8,491,9999,0.00,2.25,0.00,0.000,6,0.000,0.060,1640,2930,3616,0,0,0,0,0,0
$GC,10328,-0.64,-194.7,948.5,-7.3,502,10332,0.00,2.15,0.00,0.000,4,0.000,0.043,1640,1523,3616,0,0,0,0,0,0
$GC,10368,-0.64,-194.7,951.5,-6.5,503,10373,0.10,2.25,0.00,0.000,6,0.186,0.060,1657,2931,3616,0,0,0,0,0,0
$STATE,10446,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10446,begin apogee
$GC,10457,-0.19,0.0,956.1,5.5,506,10651,0.47,0.00,186.05,1.834,6,0.152,0.000,1803,2730,2818,0,0,0,0,1,0
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10653,begin climb
$GC,10658,0.64,194.7,961.4,0.0,512,10870,0.77,2.60,197.73,1.795,4,0.067,0.050,2085,1348,2026,0,0,0,0,1,0
$GC,11121,0.64,194.7,856.5,25.5,526,11125,0.00,2.38,0.00,0.000,6,0.000,0.056,2085,2734,2018,0,0,0,0,0,0
$GC,11459,0.64,194.7,759.1,29.2,537,11463,0.00,2.33,0.00,0.000,4,0.000,0.052,2096,1337,2017,0,0,0,0,0,0
$GC,11477,0.64,194.7,753.6,27.8,537,11481,0.00,2.35,0.00,0.000,6,0.000,0.055,2096,2737,2017,0,0,0,0,0,0
$GC,11798,0.64,194.7,663.0,28.2,548,11802,0.00,2.28,0.00,0.000,4,0.000,0.053,2106,1337,2016,0,0,0,0,0,0
$GC,11850,0.64,194.7,648.9,24.3,549,11854,0.00,2.33,0.00,0.000,6,0.000,0.056,2106,2735,2016,0,0,0,0,0,0
$GC,12165,0.64,194.7,559.1,29.2,559,12169,0.00,2.28,0.00,0.000,4,0.000,0.053,2116,1336,2016,0,0,0,0,0,0
$GC,12183,0.64,194.7,553.2,29.5,559,12188,0.15,2.30,0.00,0.000,6,0.247,0.055,2085,2743,2015,0,0,0,0,0,0
$GC,12498,0.64,194.7,469.8,26.3,569,12502,0.00,2.25,0.00,0.000,4,0.000,0.053,2093,1337,2016,0,0,0,0,0,0
$GC,12516,0.64,194.7,464.7,25.7,569,12520,0.00,2.30,0.00,0.000,6,0.000,0.056,2093,2745,2015,0,0,0,0,0,0
$GC,12832,0.64,194.7,381.0,27.2,580,12836,0.00,2.28,0.00,0.000,4,0.000,0.053,2105,1333,2015,0,0,0,0,0,0
$GC,12856,0.64,194.7,374.2,26.4,581,12860,0.00,2.30,0.00,0.000,6,0.000,0.057,2104,2745,2015,0,0,0,0,0,0
$GC,13187,0.64,194.7,283.8,27.6,597,13191,0.00,2.25,0.00,0.000,4,0.000,0.054,2114,1338,2014,0,0,0,0,0,0
$GC,13212,0.64,194.7,276.6,26.1,598,13217,0.15,2.28,0.00,0.000,6,0.239,0.057,2082,2739,2015,0,0,0,0,0,0
$GC,13547,0.64,194.7,195.2,24.2,617,13551,0.00,2.25,0.00,0.000,4,0.000,0.052,2091,1332,2014,0,0,0,0,0,0
$GC,13580,0.64,194.7,185.7,24.2,619,13584,0.00,2.25,0.00,0.000,6,0.000,0.057,2091,2736,2014,0,0,0,0,0,0
$GC,13909,0.64,194.7,103.8,24.8,640,13912,0.00,1.83,0.00,0.000,4,0.000,0.063,2091,3895,2014,0,0,0,0,0,0
$GC,13944,0.64,194.7,95.0,26.7,643,13949,0.00,1.80,0.00,0.000,6,0.000,0.045,2100,2744,2014,0,0,0,0,0,0
$STATE,14292,end climb,SURFACE_DEPTH_REACHED
$STATE,14293,begin surface coast
$FINISH,0.5,1.008379
$STATE,14312,end surface coast,CONTROL_FINISHED_OK
$STATE,14312,begin surface
$SM_CCo,14334,159.65,0.800,1,0,515,564.18
$SM_GC,0.89,0.00,0.00,159.65,0.000,0.000,0.800,66,2949,515,-5.64,0.74,564.18
$IRIDIUM_FIX,-4629.23,358.87,141212,222247
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.6,8.297
$10V_AH,10.1,3.438
$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,14.800,166.375,383.775,159.650,0.000,27.238,44.147,342.334,0.000,0.000,17.543,1825.487,9542.471,696.965,2351.460,706.245,33.361,1602.602,0.000,1886.094,0.000,1.009,0.000
$DEVICE_MAMPS,249.390,64.260,1834.470,800.190,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.253,1409.113,756.012,276.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,50324,704
$CAP_FILE_SIZE,136099,0
$CFSIZE,259252224,225812480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,151212,072135,-4643.586,358.134,40,0.9,40,-23.3