version: 66.11
glider: 615
mission: 5
dive: 532
start: 1 6 116 6 49 55
data:
$ID,615
$MISSION,5
$DIVE,532
$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,579.63446
$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,7
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29121.543
$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,34
$R_STBD_OVSHOOT,51
$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,315
$AH0_10V,0
$MINV_24V,11
$MINV_10V,9.8000002
$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,48
$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
$GPS1,060116,044108,1747.716,8938.581,42,1.0,42,-0.9
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.3
$GPS2,060116,064923,1747.637,8938.395,27,0.8,27,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1730.000,8900.000
$TGT_RADIUS,500.000
$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,240.6,75272,-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,17,-0.82,-126.5,140,2223,553,505,0.0,0.0,0,75,0.00,0.00,-55.78,0.000,16386,0.000,0.000,140,2226,2012,2014,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.82,-126.5,140,2226,2015,2011,3.1,-7.0,9,132,10.82,2.33,-31.98,0.000,18692,0.331,0.081,2665,3592,3390,3401,3379,0,0,0,0,0,0,14.10,14.40,14.92
$GC,222,-0.82,-126.5,1640,3591,3386,3376,39.9,-29.3,34,230,0.00,2.30,0.00,0.000,1030,0.000,0.037,2665,2185,3389,3401,3378,0,0,0,0,0,0,28.83,14.50,28.83
$GC,416,-0.82,-126.5,2665,2183,3401,3377,95.2,-20.6,71,423,0.00,2.20,0.00,0.000,516,0.000,0.052,2665,804,3389,3401,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,447,-0.82,-126.5,2665,804,3401,3377,101.4,-19.4,76,455,0.08,2.25,0.00,0.000,3078,0.220,0.043,2676,2183,3388,3401,3376,0,0,0,0,0,0,14.23,14.45,28.83
$GC,642,-0.82,-126.5,2676,2183,3401,3377,134.0,-13.8,113,650,0.00,2.33,0.00,0.000,260,0.000,0.062,2667,3605,3389,3401,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,743,-0.82,-126.5,1664,3604,3386,3375,149.2,-14.6,132,750,0.00,2.28,0.00,0.000,1030,0.000,0.037,2667,2201,3389,3401,3377,0,0,0,0,0,0,28.83,14.50,28.83
$GC,939,-0.82,-126.5,2667,2200,3401,3377,174.8,-11.9,169,946,0.00,2.25,0.00,0.000,516,0.000,0.059,2667,809,3389,3401,3377,0,0,0,0,0,0,28.83,14.57,28.83
$GC,996,-0.82,-126.5,2667,809,3401,3377,182.2,-13.3,179,1004,0.10,2.22,0.00,0.000,3078,0.274,0.046,2678,2212,3389,3401,3377,0,0,0,0,0,0,14.37,14.64,28.83
$GC,1192,-0.82,-126.5,2678,2211,3401,3377,206.7,-12.4,211,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2212,3389,3401,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.82,-126.5,2678,2212,3401,3375,244.3,-12.9,242,1514,0.00,2.25,0.00,0.000,260,0.000,0.067,2669,3590,3388,3401,3375,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1628,-0.82,-126.5,2669,3591,3400,3373,259.5,-12.2,266,1637,0.00,2.20,0.00,0.000,1030,0.000,0.037,2669,2193,3387,3401,3373,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1938,-0.82,-126.5,2669,2192,3401,3372,300.1,-13.4,298,1947,0.00,2.33,0.00,0.000,260,0.000,0.068,2661,3598,3385,3401,3370,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1964,-0.82,-126.5,2660,3598,3401,3369,304.1,-13.7,303,1972,0.08,2.22,0.00,0.000,3078,0.260,0.037,2675,2199,3385,3401,3369,0,0,0,0,0,0,14.45,14.67,28.83
$GC,2271,-0.82,-126.5,2676,2199,3400,3364,344.2,-13.0,334,2280,0.00,2.25,0.00,0.000,516,0.000,0.064,2676,814,3382,3400,3364,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2357,-0.82,-126.5,2676,814,3400,3364,355.7,-12.6,351,2361,0.00,2.22,0.00,0.000,1030,0.000,0.050,2668,2195,3382,3400,3364,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2671,-0.82,-126.5,2668,2196,3400,3356,396.8,-13.3,368,2676,0.00,2.28,0.00,0.000,516,0.000,0.064,2668,810,3378,3400,3356,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2734,-0.82,-126.5,2668,810,3398,3356,405.6,-12.9,381,2739,0.10,2.25,0.00,0.000,3078,0.265,0.051,2679,2203,3377,3398,3356,0,0,0,0,0,0,14.33,14.58,28.83
$GC,3049,-0.82,-126.5,2679,2204,3396,3352,444.0,-12.5,398,3055,0.00,2.28,0.00,0.000,516,0.000,0.067,2679,819,3374,3396,3352,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3111,-0.82,-126.5,2679,819,3395,3353,451.9,-12.1,410,3116,0.00,2.22,0.00,0.000,1030,0.000,0.052,2672,2199,3373,3395,3352,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3431,-0.82,-126.5,2672,2199,3393,3351,492.1,-12.1,429,3437,0.00,2.30,0.00,0.000,516,0.000,0.065,2672,814,3372,3394,3350,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3459,-0.82,-126.5,2672,814,3393,3350,495.8,-12.4,435,3469,0.00,2.28,0.00,0.000,1030,0.000,0.054,2667,2208,3371,3393,3350,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3781,-0.82,-126.5,2668,2208,3391,3346,534.6,-12.0,448,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2208,3368,3391,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4081,-0.82,-126.5,2667,2208,3389,3344,571.5,-12.3,458,4087,0.00,2.30,0.00,0.000,516,0.000,0.067,2667,817,3366,3389,3344,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4164,-0.82,-126.5,2667,817,3389,3344,582.4,-12.7,475,4171,0.00,2.28,0.00,0.000,1030,0.000,0.054,2666,2198,3366,3388,3344,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4471,-0.82,-126.5,2666,2198,3387,3341,620.1,-12.2,486,4477,0.00,2.38,0.00,0.000,260,0.000,0.077,2665,3602,3364,3387,3341,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4514,-0.82,-126.5,2666,3602,3386,3341,625.5,-11.6,495,4519,0.00,2.28,0.00,0.000,1030,0.000,0.042,2665,2200,3363,3386,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4828,-0.82,-126.5,2666,2199,3385,3338,662.6,-11.9,507,4834,0.00,2.30,0.00,0.000,516,0.000,0.067,2665,813,3362,3385,3339,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4897,-0.82,-126.5,2666,813,3384,3338,671.1,-11.5,521,4903,0.00,2.30,0.00,0.000,1030,0.000,0.055,2666,2208,3361,3384,3338,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5219,-0.82,-126.5,2666,2209,3382,3337,708.2,-11.6,535,5225,0.00,2.35,0.00,0.000,516,0.000,0.069,2666,804,3359,3382,3336,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5257,-0.82,-126.5,2666,805,3381,3336,713.1,-12.1,543,5262,0.00,2.33,0.00,0.000,1030,0.000,0.055,2666,2210,3358,3381,3336,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5582,-0.82,-126.5,2665,2210,3380,3335,750.2,-11.5,557,5586,0.00,2.38,0.00,0.000,516,0.000,0.069,2666,807,3357,3380,3335,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5608,-0.82,-126.5,2666,807,3380,3335,753.7,-12.5,562,5615,0.00,2.38,0.00,0.000,1030,0.000,0.056,2665,2199,3357,3379,3335,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5915,-0.82,-126.5,2666,2199,3379,3334,788.6,-11.4,573,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2199,3356,3379,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,-0.82,-126.5,2666,2199,3378,3333,823.9,-11.9,583,6219,0.00,2.38,0.00,0.000,516,0.000,0.070,2666,806,3355,3378,3333,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6262,-0.82,-126.5,2666,806,3378,3333,830.0,-12.0,592,6268,0.00,2.33,0.00,0.000,1030,0.000,0.057,2666,2205,3355,3378,3333,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6580,-0.82,-126.5,2666,2206,3377,3330,867.7,-12.0,605,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2206,3353,3377,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6880,-0.82,-126.5,2665,2206,3377,3329,904.2,-12.2,615,6884,0.00,2.40,0.00,0.000,516,0.000,0.072,2666,809,3352,3377,3328,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6921,-0.82,-126.5,2665,809,3377,3329,909.7,-12.4,623,6928,0.00,2.33,0.00,0.000,1030,0.000,0.058,2666,2201,3352,3377,3328,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7244,-0.82,-126.5,2665,2201,3376,3327,948.1,-12.0,637,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2201,3352,3376,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7544,-0.82,-126.5,2666,2201,3374,3327,983.3,-11.5,647,7548,0.00,2.42,0.00,0.000,516,0.000,0.073,2666,801,3350,3374,3327,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7578,-0.82,-126.5,2665,801,3374,3326,987.3,-12.2,653,7582,0.00,2.38,0.00,0.000,1030,0.000,0.059,2665,2208,3350,3374,3327,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,7595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7595,begin apogee
$GC,7604,-0.16,0.0,2666,2130,3374,3327,990.1,-11.3,657,7754,0.93,0.00,140.12,2.060,10246,0.304,0.000,2881,2130,2867,2914,2820,0,0,0,0,0,0,13.47,28.83,12.90
$STATE,7755,end apogee,CONTROL_FINISHED_OK
$STATE,7755,begin climb
$GC,7759,0.82,126.5,2881,2130,2910,2815,995.6,0.0,688,7880,1.23,0.00,114.65,2.366,10246,0.250,0.000,3191,2127,2350,2412,2288,0,0,0,0,0,0,13.90,28.83,12.97
$GC,8182,0.82,126.5,3192,2127,2402,2280,965.6,9.4,703,8188,0.08,2.35,0.00,0.000,2564,0.275,0.080,3205,753,2341,2402,2280,0,0,0,0,0,0,14.50,14.38,28.83
$GC,8326,0.82,126.5,3205,753,2402,2281,951.6,9.4,731,8335,0.00,2.25,0.00,0.000,1030,0.000,0.053,3198,2138,2341,2401,2281,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8637,0.82,126.5,3198,2138,2399,2279,922.5,9.3,743,8643,0.00,2.35,0.00,0.000,516,0.000,0.080,3198,756,2339,2399,2279,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8705,0.82,126.5,3198,756,2398,2279,915.9,9.3,757,8712,0.00,2.30,0.00,0.000,1030,0.000,0.054,3198,2153,2338,2398,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9029,0.84,135.3,3199,2153,2397,2278,887.6,8.7,771,9038,0.00,2.38,2.70,0.821,8708,0.000,0.079,3198,750,2322,2383,2262,0,0,0,0,0,0,28.83,14.44,13.24
$GC,9076,0.84,142.9,3198,750,2391,2273,883.3,8.8,781,9094,0.08,2.30,12.60,2.007,11270,0.291,0.054,3222,2152,2289,2350,2228,0,0,0,0,0,0,14.37,14.57,13.31
$GC,9416,0.84,142.9,3222,2152,2338,2218,849.1,10.3,798,9422,0.00,2.35,0.00,0.000,516,0.000,0.072,3232,752,2277,2338,2217,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9469,0.84,142.9,3233,752,2338,2218,843.2,10.4,809,9476,0.00,2.28,0.00,0.000,1030,0.000,0.051,3233,2138,2278,2338,2218,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9776,0.84,142.9,3233,2138,2337,2217,812.2,10.1,820,9782,0.00,2.35,0.00,0.000,516,0.000,0.072,3242,743,2276,2337,2216,0,0,0,0,0,0,28.83,14.34,28.83
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$GC,13740,0.85,144.6,3256,2135,2332,2216,405.0,9.1,1117,13746,0.00,2.38,0.00,0.000,516,0.000,0.072,3266,740,2274,2333,2216,0,0,0,0,0,0,28.83,14.13,28.83
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$STATE,18044,end climb,SURFACE_DEPTH_REACHED
$STATE,18044,begin surface coast
$FINISH,0.4,1.020316
$STATE,18068,end surface coast,CONTROL_FINISHED_OK
$STATE,18069,begin surface
$SM_CCo,18092,40.65,0.129,0,0,510,579.63
$SM_GC,1.07,9.07,0.10,40.65,0.065,0.151,0.129,180,2239,510,-8.58,-1.02,579.63,0,0,0,0,0,0,14.57,14.54,14.29
$IRIDIUM_FIX,1740.58,8948.68,011108,202042
$TT8_MAMPS,0.018725,0.018725
$HUMID,53.18
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.9,202.587
$10V_AH,10.4,0.000
$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,23.275,196.175,560.975,40.650,0.000,214.198,243.786,233.236,0.000,0.000,27.906,4146.066,10822.948,745.941,3874.713,6220.619,0.000,2235.077,0.000,2605.216,0.000,0.553,0.000
$DEVICE_MAMPS,331.245,150.705,2366.145,129.285,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.718,599.044,1563.222,955.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322508
$DATA_FILE_SIZE,144043,1772
$CAP_FILE_SIZE,193912,0
$CFSIZE,2097086464,1939832832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063, 24.9,1
$GPS,060116,115333,1747.447,8937.106,41,1.0,41,-0.9