version: 66.07
glider: 513
mission: 7
dive: 459
start: 9 14 111 16 9 54
data:
$ID,513
$MISSION,7
$DIVE,459
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$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,350
$T_MISSION,700
$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,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-432501.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,458
$AR_SAMPLENUM,4
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,140911,155514,1925.629,-15622.613,13,1.7,13,9.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.1
$GPS2,140911,160855,1925.340,-15622.310,44,1.3,44,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.018,0.238
$KALMAN_X,-84288.6,-1330.7,831.7,139454.2,5275.2
$KALMAN_Y,-555139.6,714.9,712.7,490058.9,-8962.4
$MHEAD_RNG_PITCHd_Wd,333.7,92842,-15.7,-8.571
$D_GRID,900
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.60,0.000,2,0.000,0.000,39,2112,3776,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.5,-8.2,9,114,10.05,2.20,-1.30,0.000,4,0.245,0.050,2339,694,3861,0,0,0,0,0,0
$GC,154,-0.80,-136.7,33.1,-30.5,19,158,0.00,2.20,0.00,0.000,6,0.000,0.041,2331,2105,3863,0,0,0,0,0,0
$GC,418,-0.80,-136.7,105.1,-25.5,43,422,0.00,2.12,0.00,0.000,4,0.000,0.039,2329,703,3863,0,0,0,0,0,0
$GC,471,-0.80,-136.7,117.5,-21.5,47,475,0.00,2.15,0.00,0.000,6,0.000,0.041,2317,2101,3865,0,0,0,0,0,0
$GC,735,-0.80,-136.7,177.5,-21.7,71,739,0.00,2.17,0.00,0.000,4,0.000,0.051,2310,3508,3867,0,0,0,0,0,0
$GC,765,-0.80,-136.7,184.2,-21.1,73,770,0.12,2.10,0.00,0.000,6,0.174,0.031,2345,2106,3867,0,0,0,0,0,0
$GC,1032,-0.80,-136.7,234.1,-17.1,89,1036,0.00,2.10,0.00,0.000,4,0.000,0.040,2340,702,3868,0,0,0,0,0,0
$GC,1105,-0.80,-136.7,245.5,-15.5,92,1110,0.00,2.15,0.00,0.000,6,0.000,0.046,2332,2101,3868,0,0,0,0,0,0
$GC,1365,-0.80,-136.7,285.1,-15.0,105,1369,0.00,2.12,0.00,0.000,4,0.000,0.038,2332,697,3868,0,0,0,0,0,0
$GC,1386,-0.80,-136.7,288.6,-15.4,106,1391,0.00,2.17,0.00,0.000,6,0.000,0.042,2322,2118,3868,0,0,0,0,0,0
$GC,1670,-0.80,-136.7,332.3,-15.7,115,1674,0.00,2.20,0.00,0.000,4,0.000,0.054,2310,3518,3868,0,0,0,0,0,0
$GC,1736,-0.80,-136.7,343.0,-14.8,116,1741,0.10,2.12,0.00,0.000,6,0.174,0.033,2334,2104,3868,0,0,0,0,0,0
$GC,1998,-0.80,-136.7,378.4,-13.6,123,2002,0.00,2.12,0.00,0.000,4,0.000,0.042,2335,695,3872,0,0,0,0,0,0
$GC,2093,-0.80,-136.7,391.7,-13.2,125,2097,0.00,2.15,0.00,0.000,6,0.000,0.044,2326,2100,3867,0,0,0,0,0,0
$GC,2377,-0.80,-136.7,430.6,-13.9,132,2381,0.00,2.12,0.00,0.000,4,0.000,0.041,2327,698,3865,0,0,0,0,0,0
$GC,2405,-0.80,-136.7,434.9,-14.8,132,2410,0.00,2.15,0.00,0.000,6,0.000,0.044,2316,2098,3865,0,0,0,0,0,0
$GC,2655,-0.80,-136.7,469.7,-13.6,138,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2098,3863,0,0,0,0,0,0
$GC,2899,-0.80,-136.7,504.7,-15.0,144,2903,0.00,2.20,0.00,0.000,4,0.000,0.053,2305,3515,3861,0,0,0,0,0,0
$GC,2954,-0.80,-136.7,513.5,-16.0,145,2959,0.12,2.15,0.00,0.000,6,0.170,0.032,2337,2091,3860,0,0,0,0,0,0
$GC,3221,-0.80,-136.7,548.6,-13.1,152,3225,0.00,2.12,0.00,0.000,4,0.000,0.044,2337,703,3858,0,0,0,0,0,0
$GC,3262,-0.80,-136.7,554.1,-12.7,153,3266,0.00,2.17,0.00,0.000,6,0.000,0.048,2329,2105,3857,0,0,0,0,0,0
$GC,3546,-0.80,-136.7,591.6,-13.1,160,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2104,3853,0,0,0,0,0,0
$GC,3788,-0.80,-136.7,622.0,-12.3,166,3792,0.00,2.22,0.00,0.000,4,0.000,0.055,2318,3514,3852,0,0,0,0,0,0
$GC,3849,-0.80,-136.7,629.9,-12.7,167,3853,0.00,2.12,0.00,0.000,6,0.000,0.031,2318,2109,3852,0,0,0,0,0,0
$GC,4122,-0.80,-136.7,664.0,-12.5,174,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2103,3850,0,0,0,0,0,0
$GC,4367,-0.80,-136.7,695.4,-13.2,180,4371,0.00,2.17,0.00,0.000,4,0.000,0.040,2318,680,3847,0,0,0,0,0,0
$GC,4394,-0.80,-136.7,699.3,-13.8,180,4399,0.12,2.17,0.00,0.000,6,0.184,0.041,2337,2103,3847,0,0,0,0,0,0
$GC,4644,-0.80,-136.7,728.1,-11.6,186,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2102,3846,0,0,0,0,0,0
$GC,4889,-0.80,-136.7,754.9,-10.9,192,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2102,3841,0,0,0,0,0,0
$GC,5131,-0.80,-136.7,780.2,-10.3,198,5135,0.00,2.22,0.00,0.000,4,0.000,0.056,2328,3508,3841,0,0,0,0,0,0
$GC,5175,-0.80,-136.7,785.0,-10.5,199,5179,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2108,3840,0,0,0,0,0,0
$GC,5458,-0.80,-136.7,815.2,-10.7,206,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2102,3840,0,0,0,0,0,0
$GC,5703,-0.80,-136.7,841.3,-10.6,212,5707,0.00,2.20,0.00,0.000,4,0.000,0.043,2328,678,3836,0,0,0,0,0,0
$GC,5753,-0.80,-136.7,847.2,-10.6,213,5757,0.00,2.20,0.00,0.000,6,0.000,0.044,2318,2101,3837,0,0,0,0,0,0
$GC,6026,-0.80,-136.7,878.5,-11.7,220,6030,0.00,2.22,0.00,0.000,4,0.000,0.054,2305,3509,3834,0,0,0,0,0,0
$GC,6049,-0.80,-136.7,881.4,-12.7,220,6053,0.12,2.17,0.00,0.000,6,0.171,0.031,2338,2086,3834,0,0,0,0,0,0
$STATE,6226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6226,begin apogee
$GC,6233,-0.28,0.0,900.8,10.6,225,6349,0.55,0.00,112.90,1.070,6,0.143,0.000,2503,1910,3300,0,0,0,0,0,0
$STATE,6351,end apogee,CONTROL_FINISHED_OK
$STATE,6351,begin climb
$GC,6354,0.80,136.7,905.2,0.0,228,6479,1.02,0.00,120.82,1.045,6,0.095,0.000,2844,1910,2743,0,0,0,0,0,0
$GC,6720,0.80,136.7,853.6,17.5,237,6724,0.00,2.38,0.00,0.000,4,0.000,0.054,2845,3364,2735,0,0,0,0,0,0
$GC,6755,0.80,136.7,847.1,18.8,237,6760,0.00,2.15,0.00,0.000,6,0.000,0.031,2855,1966,2735,0,0,0,0,0,0
$GC,7006,0.80,136.7,800.1,18.7,244,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1970,2732,0,0,0,0,0,0
$GC,7248,0.80,136.7,754.2,18.9,250,7252,0.00,2.15,0.00,0.000,4,0.000,0.039,2866,560,2731,0,0,0,0,0,0
$GC,7264,0.80,136.7,750.8,19.2,250,7268,0.00,2.20,0.00,0.000,6,0.000,0.037,2867,1971,2729,0,0,0,0,0,0
$GC,7532,0.80,136.7,698.3,19.4,257,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1972,2729,0,0,0,0,0,0
$GC,7776,0.80,136.7,649.7,20.1,263,7780,0.00,2.22,0.00,0.000,4,0.000,0.054,2866,3372,2728,0,0,0,0,0,0
$GC,7798,0.80,136.7,644.7,19.8,263,7802,0.00,2.15,0.00,0.000,6,0.000,0.033,2876,1963,2728,0,0,0,0,0,0
$GC,8064,0.80,136.7,594.6,18.5,270,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1962,2725,0,0,0,0,0,0
$GC,8309,0.80,136.7,550.5,18.5,276,8313,0.00,2.12,0.00,0.000,4,0.000,0.039,2887,559,2727,0,0,0,0,0,0
$GC,8342,0.80,136.7,544.0,18.8,276,8349,0.12,2.15,0.00,0.000,6,0.196,0.035,2859,1959,2724,0,0,0,0,0,0
$GC,8592,0.80,136.7,502.8,16.1,283,8596,0.00,2.22,0.00,0.000,4,0.000,0.052,2859,3367,2724,0,0,0,0,0,0
$GC,8653,0.80,136.7,492.1,18.1,284,8657,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1957,2725,0,0,0,0,0,0
$GC,8921,0.80,136.7,447.1,16.8,291,8925,0.00,2.28,0.00,0.000,4,0.000,0.054,2868,3370,2724,0,0,0,0,0,0
$GC,8953,0.80,136.7,441.0,17.9,291,8959,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1956,2724,0,0,0,0,0,0
$GC,9203,0.80,136.7,400.1,16.4,298,9207,0.00,2.12,0.00,0.000,4,0.000,0.040,2889,561,2724,0,0,0,0,0,0
$GC,9249,0.80,136.7,392.7,17.0,299,9254,0.15,2.17,0.00,0.000,6,0.189,0.035,2853,1972,2722,0,0,0,0,0,0
$GC,9526,0.80,136.7,355.7,13.2,306,9530,0.00,2.20,0.00,0.000,4,0.000,0.051,2853,3360,2722,0,0,0,0,0,0
$GC,9628,0.80,136.7,341.5,14.4,308,9632,0.00,2.12,0.00,0.000,6,0.000,0.031,2862,1951,2723,0,0,0,0,0,0
$GC,9894,0.80,136.7,307.6,12.6,315,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1949,2722,0,0,0,0,0,0
$GC,10141,0.80,136.7,274.2,13.6,325,10145,0.00,2.28,0.00,0.000,4,0.000,0.051,2862,3364,2724,0,0,0,0,0,0
$GC,10168,0.80,136.7,269.7,17.0,326,10172,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,1949,2722,0,0,0,0,0,0
$GC,10428,0.80,136.7,231.3,14.6,339,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1947,2723,0,0,0,0,0,0
$GC,10674,0.80,136.7,201.7,11.3,351,10679,0.00,2.22,0.00,0.000,4,0.000,0.049,2872,3362,2722,0,0,0,0,0,0
$GC,10772,0.80,136.7,191.9,10.9,359,10776,0.00,2.15,0.00,0.000,6,0.000,0.030,2877,1943,2722,0,0,0,0,0,0
$GC,11043,0.80,136.7,166.6,10.5,384,11046,0.00,2.10,0.00,0.000,4,0.000,0.040,2882,562,2722,0,0,0,0,0,0
$GC,11162,0.80,136.7,154.3,10.6,394,11166,0.00,2.15,0.00,0.000,6,0.000,0.031,2882,1971,2721,0,0,0,0,0,0
$GC,11427,0.80,136.7,128.1,9.3,418,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1971,2722,0,0,0,0,0,0
$GC,11692,0.86,188.2,107.3,6.4,443,11739,0.00,0.00,40.50,0.512,6,0.000,0.000,2882,1971,2532,0,0,0,0,0,0
$GC,11995,0.86,188.2,73.0,11.8,472,11999,0.00,2.20,0.00,0.000,4,0.000,0.048,2882,3362,2529,0,0,0,0,0,0
$GC,12006,0.86,188.2,71.3,11.5,472,12015,0.00,2.17,0.00,0.000,6,0.000,0.030,2882,1965,2530,0,0,0,0,0,0
$GC,12273,0.88,205.2,45.6,7.9,497,12298,0.00,2.20,15.05,0.437,4,0.000,0.038,2890,552,2463,0,0,0,0,0,0
$GC,12453,0.88,205.2,29.5,9.3,513,12460,0.00,2.15,0.00,0.000,6,0.000,0.031,2896,1950,2461,0,0,0,0,0,0
$STATE,12703,end climb,SURFACE_DEPTH_REACHED
$STATE,12703,begin surface coast
$FINISH,0.1,1.007173
$STATE,12737,end surface coast,CONTROL_FINISHED_OK
$STATE,12737,begin surface
$SM_CCo,12759,49.03,0.423,0,0,2076,300.24
$SM_GC,2.02,0.00,0.00,49.03,0.000,0.000,0.423,54,2150,2076,-7.94,1.33,300.24
$IRIDIUM_FIX,1916.08,-15624.98,090313,060649
$TT8_MAMPS,0.253877
$HUMID,1078906442
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,100
$AR_DIVENUM,459
$AR_SAMPLENUM,4
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$24V_AH,23.5,62.767
$10V_AH,9.8,56.768
$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,20.125,121.950,289.275,49.025,0.000,27.385,32.070,496.892,25.000,0.000,46.190,1207.880,9159.805,418.895,2321.643,534.636,33.358,1179.057,0.000,1829.464,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,64.428,1069.965,422.617,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,386.910,0.000,968.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353992
$DATA_FILE_SIZE,26952,566
$CAP_FILE_SIZE,121279,0
$CFSIZE,260165632,172187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,153.5,1
$GPS,140911,194500,1926.116,-15622.533,33,2.0,33,9.6