version: 66.11
glider: 615
mission: 5
dive: 212
start: 10 15 115 21 10 26
data:
$ID,615
$MISSION,5
$DIVE,212
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19238.564
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,93
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,151015,210719,1801.113,8921.854,3,0.8,3,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.4
$GPS2,151015,210959,1801.114,8921.844,5,0.9,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$TGT_RADIUS,3000.000
$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,5.0,10281,-21.4,-9.167,-25.88,2022
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,194,2235,533,494,0.0,0.0,0,64,0.00,0.00,-46.60,0.000,16386,0.000,0.000,194,2235,1822,1813,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,194,2235,1813,1832,3.4,-7.7,7,119,10.82,2.20,-31.52,0.000,18692,0.361,0.077,2663,3558,3390,3401,3380,0,0,0,0,0,0,14.31,14.54,14.88
$GC,182,-0.82,-126.5,2663,3558,3401,3380,38.2,-29.2,27,189,0.08,2.08,0.00,0.000,3078,0.307,0.036,2675,2217,3390,3401,3380,0,0,0,0,0,0,14.47,14.69,28.83
$GC,372,-0.82,-126.5,1680,2214,3386,3377,83.8,-19.8,64,379,0.00,2.30,0.00,0.000,516,0.000,0.054,2675,813,3390,3401,3380,0,0,0,0,0,0,28.83,14.62,28.83
$GC,452,-0.82,-126.5,2675,813,3401,3380,98.1,-15.7,79,458,0.00,2.10,0.00,0.000,1030,0.000,0.041,2667,2147,3390,3401,3380,0,0,0,0,0,0,28.83,14.71,28.83
$GC,641,-0.82,-126.5,1680,2145,3386,3378,127.3,-13.1,116,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2147,3390,3401,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-0.82,-126.5,2667,2147,3400,3380,156.4,-16.8,153,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2148,3390,3401,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1022,-0.82,-126.5,2667,2147,3400,3379,185.0,-15.4,190,1029,0.00,2.20,0.00,0.000,516,0.000,0.055,2667,812,3389,3400,3379,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1062,-0.82,-126.5,2667,811,3400,3378,191.1,-15.5,197,1070,0.10,2.10,0.00,0.000,3078,0.279,0.043,2679,2146,3389,3400,3378,0,0,0,0,0,0,14.53,14.75,28.83
$GC,1254,-0.82,-126.5,2679,2146,3400,3376,218.7,-14.2,221,1264,0.00,2.25,0.00,0.000,260,0.000,0.060,2670,3555,3388,3400,3376,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1289,-0.82,-126.5,2670,3555,3400,3375,224.1,-13.8,228,1298,0.00,2.15,0.00,0.000,1030,0.000,0.037,2670,2206,3387,3400,3375,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1597,-0.82,-126.5,2670,2206,3400,3371,266.8,-13.9,259,1607,0.00,2.25,0.00,0.000,516,0.000,0.057,2670,802,3385,3400,3371,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1693,-0.82,-126.5,2670,801,3400,3369,280.4,-14.6,277,1703,0.10,2.12,0.00,0.000,3078,0.274,0.045,2682,2144,3385,3400,3370,0,0,0,0,0,0,14.55,14.76,28.83
$GC,2001,-0.82,-126.5,2682,2144,3400,3364,324.8,-14.6,309,2011,0.00,2.28,0.00,0.000,260,0.000,0.065,2672,3548,3381,3400,3363,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2055,-0.82,-126.5,2673,3548,3400,3362,332.5,-13.8,319,2065,0.00,2.10,0.00,0.000,1030,0.000,0.039,2673,2201,3381,3400,3362,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2365,-0.82,-126.5,2673,2201,3400,3356,376.5,-14.1,342,2371,0.00,2.25,0.00,0.000,516,0.000,0.062,2673,810,3378,3400,3356,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2427,-0.82,-126.5,2673,810,3398,3356,385.7,-13.9,355,2432,0.00,2.17,0.00,0.000,1030,0.000,0.050,2663,2136,3376,3398,3355,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2746,-0.82,-126.5,2663,2137,3396,3351,432.0,-14.9,373,2747,0.08,0.00,0.00,0.000,2054,0.310,0.000,2677,2136,3374,3397,3352,0,0,0,0,0,0,14.66,28.83,28.83
$GC,3046,-0.82,-126.5,2677,2137,3394,3347,474.0,-13.8,388,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2137,3370,3394,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3365,-0.82,-126.5,2677,2137,3392,3344,518.4,-13.9,402,3369,0.00,2.17,0.00,0.000,516,0.000,0.065,2677,816,3367,3392,3343,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3404,-0.82,-126.5,2677,816,3391,3343,524.2,-13.6,410,3409,0.00,2.15,0.00,0.000,1030,0.000,0.054,2669,2141,3367,3391,3344,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3727,-0.82,-126.5,2670,2142,3389,3340,570.2,-14.5,424,3733,0.00,2.33,0.00,0.000,260,0.000,0.073,2658,3550,3365,3389,3341,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3765,-0.82,-126.5,2658,3550,3389,3340,576.0,-14.2,432,3769,0.10,2.12,0.00,0.000,3078,0.253,0.041,2681,2206,3364,3389,3340,0,0,0,0,0,0,14.57,14.81,28.83
$GC,4087,-0.82,-126.5,2681,2205,3388,3338,618.7,-13.3,446,4093,0.00,2.30,0.00,0.000,516,0.000,0.065,2681,804,3362,3388,3337,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4149,-0.82,-126.5,1792,803,3374,3335,627.3,-12.4,459,4154,0.00,2.20,0.00,0.000,1030,0.000,0.055,2673,2130,3362,3387,3337,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4476,-0.82,-126.5,2673,2130,3384,3336,670.7,-13.2,474,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2130,3360,3384,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4776,-0.82,-126.5,2673,2130,3382,3334,710.5,-13.3,484,4782,0.00,2.35,0.00,0.000,260,0.000,0.076,2662,3544,3358,3382,3334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4807,-0.82,-126.5,2663,3544,3381,3334,714.5,-13.8,490,4813,0.08,2.12,0.00,0.000,3078,0.278,0.044,2677,2205,3358,3382,3334,0,0,0,0,0,0,14.59,14.80,28.83
$GC,5136,-0.82,-126.5,2677,2204,3380,3332,756.6,-12.7,506,5140,0.00,2.30,0.00,0.000,516,0.000,0.071,2677,807,3356,3380,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5226,-0.82,-126.5,2677,806,3379,3332,768.1,-12.4,524,5230,0.00,2.22,0.00,0.000,1030,0.000,0.061,2670,2135,3355,3379,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5554,-0.82,-126.5,2669,2134,3378,3329,809.0,-12.6,539,5558,0.00,2.38,0.00,0.000,260,0.000,0.082,2659,3543,3353,3378,3329,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5603,-0.82,-126.5,2658,3543,3378,3329,815.6,-12.3,549,5608,0.10,2.15,0.00,0.000,3078,0.274,0.043,2679,2196,3353,3378,3328,0,0,0,0,0,0,14.50,14.78,28.83
$GC,5916,-0.82,-126.5,2679,2195,3378,3327,851.3,-11.5,561,5922,0.00,2.33,0.00,0.000,516,0.000,0.072,2679,799,3352,3378,3326,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6029,-0.82,-126.5,2679,799,3377,3327,864.6,-11.3,584,6036,0.00,2.25,0.00,0.000,1030,0.000,0.057,2671,2133,3351,3377,3326,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6336,-0.82,-126.5,2672,2133,3377,3325,900.8,-12.1,595,6340,0.00,2.35,0.00,0.000,260,0.000,0.078,2661,3545,3351,3377,3325,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6381,-0.82,-126.5,2661,3544,3377,3325,906.5,-12.4,604,6386,0.08,2.15,0.00,0.000,3078,0.281,0.042,2675,2198,3351,3377,3325,0,0,0,0,0,0,14.54,14.76,28.83
$GC,6698,-0.82,-126.5,2675,2197,3376,3322,943.0,-11.7,617,6703,0.00,2.30,0.00,0.000,516,0.000,0.070,2675,807,3349,3376,3322,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6783,-0.82,-126.5,2675,807,3376,3322,953.2,-11.4,634,6791,0.00,2.25,0.00,0.000,1030,0.000,0.055,2666,2139,3349,3376,3322,0,0,0,0,0,0,28.83,14.53,28.83
$STATE,7090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7090,begin apogee
$GC,7094,-0.16,0.0,2667,2139,3374,3321,990.9,-12.6,645,7202,0.80,0.00,101.85,2.330,10246,0.248,0.000,2887,2139,2867,2915,2820,0,0,0,0,0,0,14.33,28.83,13.26
$STATE,7203,end apogee,CONTROL_FINISHED_OK
$STATE,7204,begin climb
$GC,7206,0.82,126.5,2887,2139,2914,2817,995.4,0.0,668,7325,1.05,2.50,110.60,2.317,10756,0.164,0.081,3212,749,2351,2409,2293,0,0,0,0,0,0,14.02,13.90,13.12
$GC,7375,0.82,126.5,3213,749,2403,2291,986.7,9.4,702,7379,0.00,2.25,0.00,0.000,1030,0.000,0.054,3212,2077,2347,2403,2291,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7687,0.82,126.5,3212,2078,2403,2289,955.0,10.2,714,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2078,2345,2402,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,0.82,126.5,3212,2078,2400,2287,924.9,10.0,724,7994,0.00,2.28,0.00,0.000,516,0.000,0.081,3221,743,2344,2401,2287,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8055,0.82,126.5,3221,743,2400,2288,917.6,10.5,738,8059,0.00,2.20,0.00,0.000,1030,0.000,0.054,3221,2081,2343,2399,2288,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8377,0.82,126.5,3221,2082,2397,2287,884.8,10.0,752,8381,0.00,2.38,0.00,0.000,260,0.000,0.076,3221,3491,2342,2397,2287,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8411,0.82,126.5,3221,3491,2396,2286,880.9,11.0,759,8416,0.00,2.17,0.00,0.000,1030,0.000,0.047,3231,2150,2341,2396,2286,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8734,0.82,126.5,3231,2149,2395,2286,847.8,10.1,773,8740,0.00,2.40,0.00,0.000,516,0.000,0.080,3242,733,2340,2395,2286,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8868,0.82,126.5,3242,733,2396,2286,833.6,10.6,800,8872,0.00,2.20,0.00,0.000,1030,0.000,0.054,3241,2079,2341,2396,2286,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9179,0.82,126.5,3242,2080,2394,2285,801.6,10.4,812,9185,0.00,2.28,0.00,0.000,516,0.000,0.080,3251,738,2339,2394,2285,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9242,0.82,126.5,3251,736,2394,2285,794.8,10.2,825,9246,0.00,2.20,0.00,0.000,1030,0.000,0.054,3250,2084,2340,2395,2286,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9569,0.82,126.5,3251,2084,2394,2285,760.9,10.4,840,9573,0.00,2.35,0.00,0.000,260,0.000,0.075,3251,3484,2339,2393,2285,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9613,0.82,126.5,3251,3485,2393,2285,755.7,10.9,849,9618,0.10,2.20,0.00,0.000,5126,0.294,0.048,3241,2126,2339,2393,2285,0,0,0,0,0,0,14.41,14.69,28.83
$GC,9926,0.82,126.5,3242,2125,2393,2285,724.1,10.2,861,9932,0.00,2.33,0.00,0.000,516,0.000,0.075,3250,740,2339,2393,2285,0,0,0,0,0,0,28.83,14.60,28.83
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$GC,16125,0.94,216.5,2368,732,1993,1917,135.2,9.1,1458,16132,0.00,2.28,0.00,0.000,1030,0.000,0.050,3284,2085,1981,2040,1922,0,0,0,0,0,0,28.83,14.47,28.83
$GC,16321,0.99,260.1,3284,2085,2039,1920,118.2,7.0,1495,16365,0.00,2.45,34.70,1.277,8452,0.000,0.069,3284,3497,1798,1855,1741,0,0,0,0,0,0,28.83,14.37,13.84
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$STATE,17758,end climb,SURFACE_DEPTH_REACHED
$STATE,17758,begin surface coast
$FINISH,0.3,1.019265
$STATE,17780,end surface coast,CONTROL_FINISHED_OK
$STATE,17780,begin surface
$SM_CCo,17796,4.30,0.142,0,0,509,579.63
$SM_CCo,17803,0.00,0.000,0,0,511,579.63
$SM_CCo,17806,0.30,0.397,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8923.72,110808,101030
$TT8_MAMPS,0.017227,0.017227
$HUMID,47.08
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,6
$24V_AH,13.1,80.982
$10V_AH,12.2,0.000
$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
$DEVICE_SECS,23.125,181.225,511.475,4.600,0.000,0.000,0.000,0.000,1.500,0.000,5.956,3487.027,10450.318,648.751,3121.550,164.554,0.000,2111.194,0.000,2589.111,0.000,0.557,0.000
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$SENSOR_SECS,934.589,623.335,1623.437,991.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,140718,1762
$CAP_FILE_SIZE,198097,0
$CFSIZE,2097086464,2059567104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,289.1,1
$GPS,161015,020827,1802.973,8921.252,37,0.9,37,-0.9