version: 66.07.10.p01
glider: 573
mission: 12
dive: 272
start: 9 23 115 10 23 48
data:
$ID,573
$MISSION,12
$DIVE,272
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,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,390
$T_MISSION,420
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-21871.967
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,271
$GPS1,230915,101621,-4455.963,624.346,43,0.9,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-60.0
$GPS2,230915,102328,-4455.950,624.351,19,0.9,20,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$TGT_RADIUS,1000.000
$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,114.7,15273,-17.9,-8.547
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.76,-116.8,0.0,0.0,0,77,0.00,0.00,-49.78,0.000,2,0.000,0.000,60,2068,1446,0,0,0,0,0,0
$GC,79,-0.76,-116.8,3.1,-2.0,8,149,11.45,2.35,-50.38,0.000,4,0.227,0.069,2936,661,2424,0,0,0,0,0,0
$GC,426,-0.63,-116.8,39.7,-13.3,64,434,0.12,2.28,0.00,0.000,6,0.153,0.045,2966,2046,2426,0,0,0,0,0,0
$GC,573,-0.63,-116.8,56.5,-9.4,89,578,0.00,2.25,0.00,0.000,4,0.000,0.054,2965,658,2426,0,0,0,0,0,0
$GC,655,-0.58,-116.8,64.9,-10.5,103,660,0.12,2.28,0.00,0.000,6,0.177,0.044,2988,2078,2426,0,0,0,0,0,0
$GC,986,-0.58,-116.8,97.9,-9.7,137,990,0.00,2.25,0.00,0.000,4,0.000,0.061,2978,3471,2426,0,0,0,0,0,0
$GC,1093,-0.58,-116.8,108.9,-10.9,142,1098,0.05,2.22,0.00,0.000,6,0.212,0.043,2989,2058,2426,0,0,0,0,0,0
$GC,1420,-0.62,-116.8,140.1,-9.3,158,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2058,2426,0,0,0,0,0,0
$GC,1731,-0.67,-116.8,169.6,-8.9,173,1736,0.08,2.25,0.00,0.000,4,0.129,0.056,2945,653,2427,0,0,0,0,0,0
$GC,1843,-0.61,-116.8,182.1,-11.4,178,1848,0.17,2.25,0.00,0.000,6,0.161,0.046,2983,2064,2426,0,0,0,0,0,0
$GC,2164,-0.65,-116.8,210.5,-9.6,194,2168,0.00,2.30,0.00,0.000,4,0.000,0.067,2972,3469,2427,0,0,0,0,0,0
$GC,2247,-0.70,-116.8,219.2,-10.0,197,2253,0.00,2.22,0.00,0.000,6,0.000,0.042,2973,2062,2427,0,0,0,0,0,0
$GC,2565,-0.70,-116.8,248.4,-9.3,213,2569,0.00,2.25,0.00,0.000,4,0.000,0.055,2972,648,2427,0,0,0,0,0,0
$GC,2614,-0.70,-116.8,253.7,-10.4,215,2619,0.00,2.25,0.00,0.000,6,0.000,0.041,2964,2061,2427,0,0,0,0,0,0
$GC,2938,-0.70,-116.8,283.7,-9.6,231,2942,0.00,2.28,0.00,0.000,4,0.000,0.066,2953,3463,2427,0,0,0,0,0,0
$GC,2981,-0.70,-116.8,288.0,-10.3,233,2985,0.00,2.20,0.00,0.000,6,0.000,0.041,2953,2052,2427,0,0,0,0,0,0
$GC,3308,-0.70,-116.8,322.1,-10.2,249,3312,0.00,2.22,0.00,0.000,4,0.000,0.056,2953,655,2427,0,0,0,0,0,0
$GC,3351,-0.66,-116.8,326.7,-10.6,251,3356,0.10,2.25,0.00,0.000,6,0.177,0.044,2969,2064,2427,0,0,0,0,0,0
$GC,3678,-0.66,-116.8,356.3,-8.9,267,3682,0.00,2.30,0.00,0.000,4,0.000,0.067,2959,3469,2427,0,0,0,0,0,0
$GC,3727,-0.69,-116.8,361.1,-9.2,269,3731,0.00,2.22,0.00,0.000,6,0.000,0.043,2959,2064,2427,0,0,0,0,0,0
$GC,4048,-0.69,-116.8,394.3,-11.0,285,4052,0.00,2.25,0.00,0.000,4,0.000,0.055,2959,649,2427,0,0,0,0,0,0
$GC,4080,-0.69,-116.8,398.4,-11.9,286,4087,0.00,2.25,0.00,0.000,6,0.000,0.041,2950,2064,2427,0,0,0,0,0,0
$GC,4396,-0.69,-116.8,436.3,-12.6,302,4400,0.00,2.28,0.00,0.000,4,0.000,0.067,2939,3463,2427,0,0,0,0,0,0
$GC,4434,-0.69,-116.8,441.1,-12.8,304,4439,0.08,2.20,0.00,0.000,6,0.183,0.041,2957,2046,2427,0,0,0,0,0,0
$GC,4765,-0.69,-116.8,478.8,-10.8,320,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2046,2427,0,0,0,0,0,0
$GC,5076,-0.69,-116.8,511.4,-10.3,335,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2046,2427,0,0,0,0,0,0
$GC,5385,-0.69,-116.8,544.0,-10.7,350,5389,0.00,2.25,0.00,0.000,4,0.000,0.056,2957,647,2426,0,0,0,0,0,0
$GC,5433,-0.69,-116.8,549.6,-11.3,352,5438,0.00,2.25,0.00,0.000,6,0.000,0.041,2948,2067,2426,0,0,0,0,0,0
$GC,5754,-0.69,-116.8,584.8,-10.8,368,5758,0.00,2.25,0.00,0.000,4,0.000,0.065,2937,3462,2426,0,0,0,0,0,0
$GC,5817,-0.69,-116.8,591.5,-11.0,371,5821,0.08,2.17,0.00,0.000,6,0.187,0.041,2955,2058,2426,0,0,0,0,0,0
$GC,6143,-0.69,-116.8,624.1,-9.7,387,6147,0.00,2.25,0.00,0.000,4,0.000,0.058,2955,650,2426,0,0,0,0,0,0
$GC,6185,-0.69,-116.8,628.7,-10.2,389,6190,0.00,2.25,0.00,0.000,6,0.000,0.044,2948,2055,2426,0,0,0,0,0,0
$GC,6513,-0.69,-116.8,658.9,-8.6,405,6517,0.00,2.30,0.00,0.000,4,0.000,0.063,2936,3477,2425,0,0,0,0,0,0
$GC,6553,-0.69,-116.8,662.3,-8.3,407,6558,0.10,2.20,0.00,0.000,6,0.171,0.042,2961,2062,2425,0,0,0,0,0,0
$GC,6881,-0.69,-116.8,688.3,-8.3,423,6885,0.00,2.25,0.00,0.000,4,0.000,0.056,2961,657,2425,0,0,0,0,0,0
$GC,6941,-0.69,-116.8,694.0,-9.1,426,6946,0.00,2.25,0.00,0.000,6,0.000,0.044,2952,2065,2425,0,0,0,0,0,0
$GC,7272,-0.69,-116.8,722.9,-8.6,442,7276,0.00,2.33,0.00,0.000,4,0.000,0.068,2942,3468,2425,0,0,0,0,0,0
$GC,7304,-0.69,-116.8,725.8,-8.9,443,7310,0.03,2.22,0.00,0.000,6,0.168,0.042,2952,2061,2425,0,0,0,0,0,0
$GC,7626,-0.69,-116.8,753.8,-8.5,459,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2061,2425,0,0,0,0,0,0
$GC,7936,-0.69,-116.8,779.6,-8.5,474,7940,0.00,2.25,0.00,0.000,4,0.000,0.057,2952,654,2425,0,0,0,0,0,0
$GC,7974,-0.69,-116.8,783.3,-10.7,476,7978,0.05,2.22,0.00,0.000,6,0.221,0.044,2955,2061,2425,0,0,0,0,0,0
$GC,8306,-0.69,-116.8,813.6,-9.1,492,8310,0.00,2.30,0.00,0.000,4,0.000,0.067,2945,3465,2424,0,0,0,0,0,0
$GC,8368,-0.69,-116.8,819.5,-9.7,495,8372,0.00,2.20,0.00,0.000,6,0.000,0.043,2944,2057,2424,0,0,0,0,0,0
$GC,8694,-0.69,-116.8,851.7,-9.8,511,8698,0.00,2.28,0.00,0.000,4,0.000,0.058,2945,650,2424,0,0,0,0,0,0
$GC,8737,-0.69,-116.8,856.4,-10.3,513,8742,0.05,2.28,0.00,0.000,6,0.154,0.046,2952,2064,2424,0,0,0,0,0,0
$GC,9064,-0.69,-116.8,885.3,-8.4,529,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2064,2424,0,0,0,0,0,0
$GC,9372,-0.69,-116.8,911.3,-7.9,544,9376,0.00,2.30,0.00,0.000,4,0.000,0.067,2943,3471,2424,0,0,0,0,0,0
$GC,9426,-0.69,-116.8,916.1,-8.6,546,9431,0.03,2.22,0.00,0.000,6,0.177,0.044,2952,2069,2424,0,0,0,0,0,0
$GC,9748,-0.72,-116.8,941.3,-8.0,562,9752,0.00,2.28,0.00,0.000,4,0.000,0.057,2952,652,2424,0,0,0,0,0,0
$GC,9781,-0.72,-116.8,944.2,-9.1,563,9785,0.00,2.25,0.00,0.000,6,0.000,0.044,2943,2071,2424,0,0,0,0,0,0
$GC,10097,-0.72,-116.8,970.5,-8.4,579,10100,0.00,2.28,0.00,0.000,4,0.000,0.064,2933,3472,2423,0,0,0,0,0,0
$GC,10163,-0.72,-116.8,976.7,-8.7,582,10168,0.05,2.22,0.00,0.000,6,0.213,0.044,2945,2052,2423,0,0,0,0,0,0
$STATE,10432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10432,begin apogee
$GC,10438,-0.19,0.0,1000.1,8.9,595,10543,0.57,0.00,102.53,1.272,6,0.142,0.000,3120,1598,1950,0,0,0,0,0,0
$STATE,10544,end apogee,CONTROL_FINISHED_OK
$STATE,10544,begin climb
$GC,10546,0.76,116.8,1003.7,0.0,600,10666,0.90,0.00,113.45,1.251,6,0.087,0.000,3421,1599,1474,0,0,0,0,0,0
$GC,10976,0.77,129.4,975.8,7.9,621,10991,0.00,0.00,12.40,1.083,6,0.000,0.000,3421,1598,1423,0,0,0,0,0,0
$GC,11285,0.77,140.4,951.0,8.0,636,11298,0.00,0.00,12.07,1.119,6,0.000,0.000,3421,1598,1377,0,0,0,0,0,0
$GC,11615,0.78,151.2,923.9,8.0,652,11628,0.00,0.00,11.80,1.115,6,0.000,0.000,3421,1598,1332,0,0,0,0,0,0
$GC,11925,0.78,152.0,897.5,8.5,667,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1598,1332,0,0,0,0,0,0
$GC,12233,0.78,155.6,871.5,8.4,682,12243,0.00,2.33,5.20,0.825,4,0.000,0.058,3432,188,1314,0,0,0,0,0,0
$GC,12276,0.78,155.6,867.6,9.4,684,12281,0.00,2.28,0.00,0.000,6,0.000,0.037,3432,1615,1316,0,0,0,0,0,0
$GC,12602,0.78,155.6,838.8,8.5,700,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1616,1316,0,0,0,0,0,0
$GC,12913,0.78,158.3,813.0,8.4,715,12922,0.00,2.25,4.10,0.767,4,0.000,0.057,3432,2990,1304,0,0,0,0,0,0
$GC,12944,0.78,158.3,810.0,9.4,716,12949,0.00,2.20,0.00,0.000,6,0.000,0.037,3441,1599,1304,0,0,0,0,0,0
$GC,13265,0.78,158.3,779.8,9.8,732,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1599,1305,0,0,0,0,0,0
$GC,13575,0.78,158.3,749.0,10.0,747,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1599,1305,0,0,0,0,0,0
$GC,13883,0.78,158.3,718.4,9.7,762,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1599,1305,0,0,0,0,0,0
$GC,14194,0.78,158.3,690.3,8.7,777,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1599,1305,0,0,0,0,0,0
$GC,14502,0.78,159.6,664.3,8.5,792,14506,0.00,2.28,0.00,0.000,4,0.000,0.058,3452,196,1305,0,0,0,0,0,0
$GC,14565,0.73,159.6,658.8,9.1,795,14570,0.12,2.20,0.00,0.000,6,0.158,0.037,3417,1611,1305,0,0,0,0,0,0
$GC,14893,0.79,191.6,635.2,7.0,811,14931,0.08,0.00,32.60,1.052,6,0.122,0.000,3461,1611,1167,0,0,0,0,0,0
$GC,15240,0.76,191.6,601.8,9.9,828,15245,0.10,2.35,0.00,0.000,4,0.156,0.056,3443,196,1165,0,0,0,0,0,0
$GC,15272,0.76,191.6,598.5,9.7,829,15278,0.03,2.22,0.00,0.000,6,0.166,0.036,3433,1593,1165,0,0,0,0,0,0
$GC,15589,0.80,191.6,570.0,8.9,845,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1593,1164,0,0,0,0,0,0
$GC,15896,0.80,191.6,542.7,8.9,860,15900,0.00,2.30,0.00,0.000,4,0.000,0.056,3442,192,1164,0,0,0,0,0,0
$GC,15941,0.80,191.6,538.4,9.9,862,15945,0.00,2.20,0.00,0.000,6,0.000,0.037,3442,1612,1164,0,0,0,0,0,0
$GC,16272,0.80,191.6,507.5,9.3,878,16276,0.00,2.33,0.00,0.000,4,0.000,0.055,3452,190,1164,0,0,0,0,0,0
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$GC,18052,0.80,191.6,329.2,10.6,964,18056,0.00,2.30,0.00,0.000,4,0.000,0.055,3453,195,1164,0,0,0,0,0,0
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$STATE,21422,end climb,SURFACE_DEPTH_REACHED
$STATE,21422,begin surface coast
$FINISH,1.6,1.013556
$STATE,21460,end surface coast,CONTROL_FINISHED_OK
$STATE,21460,begin surface
$SM_CCo,21538,0.00,0.000,0,0,1098,208.75
$SM_GC,2.67,9.00,0.00,0.00,0.045,0.000,0.000,69,2054,1098,-9.59,-0.20,208.75
$IRIDIUM_FIX,-4438.33,624.11,190708,191917
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.2746
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,22.6,34.238
$10V_AH,9.9,36.173
$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,23.650,179.900,308.600,0.000,0.000,28.075,19.577,253.769,0.000,0.000,21.859,2668.620,15365.121,458.004,3261.373,210.596,0.000,1726.528,0.000,2815.417,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,68.850,1272.195,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.356,1744.121,950.153,546.084,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,90683,1230
$CAP_FILE_SIZE,183847,0
$CFSIZE,2097086464,2056388608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230915,162403,-4457.271,628.203,44,0.8,44,-24.4