version: 67.00
glider: 675
mission: 3
dive: 242
start: 3 28 122 19 24 4
data:
$ID,675
$MISSION,3
$DIVE,242
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,15
$T_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,390
$T_MISSION,580
$T_ABORT,700
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,90
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53587
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0025118899
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-54
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,0
$RAFOS_HIT_WINDOW,0
$RAFOS_MMODEM,0
$PITCH_MIN,162
$PITCH_MAX,3892
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031260001
$PITCH_GAIN,33
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,206
$ROLL_MAX,3820
$ROLL_DEG,30
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,623
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0.5
$LOITER_DBDW,200
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,1
$SHORTING_PLUG,1
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,13.593945
$FG_AHR_24V,33.249012
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.96762
$PRESSURE_SLOPE,0.000108611
$COMPASS_USE,0
$ALTIM_PING_FIT,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,30
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,92
$INT_PRESSURE_SLOPE,1.96e-06
$INT_PRESSURE_YINT,2.5599999
$DEEPGLIDER,0
$MOTHERBOARD,6
$DEVICE1,10
$DEVICE2,70
$DEVICE3,35
$DEVICE4,55
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,18
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,5
$SIM_W,0
$SEABIRD_T_G,0.0044220379
$SEABIRD_T_H,0.00064413931
$SEABIRD_T_I,2.6853917e-05
$SEABIRD_T_J,3.402645e-06
$SEABIRD_C_G,-10.01496
$SEABIRD_C_H,1.1201342
$SEABIRD_C_I,-0.0031396081
$SEABIRD_C_J,0.00029222821
$SEABIRD_C_Z,0
$GPS1,280322,190838,-5344.481,155.760,108,1.1,148,-21.5
$_CALLS,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.8
$GPS2,280322,192344,-5344.385,155.756,19,1.2,60,-21.5
$SPEED_LIMITS,0.141,0.178
$TGT_NAME,CB
$TGT_LATLONG,-5400.000,0.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.064,-0.195
$KALMAN_X,6098.8,118.7,-323.8,-5622.1,1406.5
$KALMAN_Y,7297.4,35.4,157.5,-35327.9,228.7
$MHEAD_RNG_PITCHd_Wd,285.1,129285,-19.5,-8.120,-24.57
$D_GRID,950
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,1,end surface,CONTROL_FINISHED_OK
$STATE,1,begin dive
$GC,2.29,2,-87.59,-0.70,0.00,2150.1,2198.5,2101.6,132.9,2100.8,0.00,0.00,0,65.13,61.49,0.00,0.00,0.005,0.000,0.000,3176.53,3196.12,3156.94,133.06,2095.31,0,0,0,15.16,30.00,30.00
$GC,65.38,35,-87.59,-0.70,0.00,3176.1,3195.4,3156.9,132.9,2096.4,3.58,-4.92,12,87.75,4.20,14.06,0.00,0.010,0.381,0.000,3324.44,3344.62,3304.25,2374.06,2096.81,0,0,0,15.29,15.14,30.00
$GC,265.49,516,-87.59,-0.70,-30.00,3327.4,3349.6,3305.2,2374.6,2096.9,38.21,-15.92,52,270.65,0.00,0.00,1.75,0.000,0.000,0.075,3327.47,3349.50,3305.44,2374.62,1055.50,0,0,0,30.00,30.00,15.59
$GC,335.48,1028,-87.59,-0.70,0.00,3327.7,3349.6,3305.8,2375.2,1055.0,48.98,-15.54,66,340.67,0.00,0.00,1.86,0.000,0.000,0.066,3328.00,3350.06,3305.94,2374.81,2163.75,0,0,0,30.00,30.00,15.60
$GC,520.59,516,-87.59,-0.70,-30.00,3327.7,3349.8,3305.6,2373.8,2163.4,80.73,-17.94,103,524.79,0.00,0.00,1.88,0.000,0.000,0.068,3327.88,3350.12,3305.62,2374.50,1053.81,0,0,0,30.00,30.00,15.63
$GC,550.55,1028,-87.59,-0.70,0.00,3327.7,3350.0,3305.3,2374.9,1053.5,85.80,-16.69,109,554.74,0.00,0.00,1.85,0.000,0.000,0.064,3328.28,3350.44,3306.12,2374.81,2164.12,0,0,0,30.00,30.00,15.65
$GC,734.67,260,-87.59,-0.70,30.00,3327.9,3350.5,3305.4,2374.2,2165.7,114.44,-14.78,146,737.42,0.00,0.00,1.79,0.000,0.000,0.084,3326.97,3349.38,3304.56,2374.75,3220.19,0,0,0,30.00,30.00,15.67
$GC,779.65,1028,-87.59,-0.70,0.00,3328.2,3350.9,3305.4,2374.5,3220.0,121.07,-14.89,154,782.42,0.00,0.00,1.83,0.000,0.000,0.051,3327.06,3349.25,3304.88,2374.25,2105.44,0,0,0,30.00,30.00,15.70
$GC,1084.76,516,-87.59,-0.70,-30.00,3328.9,3352.2,3305.5,2374.9,2103.3,162.85,-13.03,170,1087.50,0.00,0.00,1.74,0.000,0.000,0.072,3329.47,3352.94,3306.00,2374.12,1055.00,0,0,0,30.00,30.00,15.76
$GC,1164.72,1028,-87.59,-0.70,0.00,3328.7,3352.1,3305.2,2374.6,1054.2,174.20,-14.03,174,1167.49,0.00,0.00,1.84,0.000,0.000,0.065,3329.47,3352.50,3306.44,2373.81,2165.31,0,0,0,30.00,30.00,15.78
$GC,1474.79,516,-87.59,-0.70,-30.00,3328.7,3352.1,3305.2,2374.7,2165.6,219.08,-15.10,190,1477.55,0.00,0.00,1.84,0.000,0.000,0.069,3329.78,3352.62,3306.94,2371.69,1051.00,0,0,0,30.00,30.00,15.81
$GC,1490.76,1028,-87.59,-0.70,0.00,3328.9,3352.4,3305.4,2374.5,1051.0,221.32,-15.01,191,1494.93,0.00,0.00,1.83,0.000,0.000,0.063,3330.09,3353.62,3306.56,2374.50,2165.62,0,0,0,30.00,30.00,15.81
$GC,1810.71,516,-87.59,-0.70,-30.00,3328.6,3351.8,3305.3,2374.2,2165.6,268.78,-15.23,207,1814.88,0.00,0.00,1.85,0.000,0.000,0.070,3329.34,3352.25,3306.44,2374.19,1055.00,0,0,0,30.00,30.00,15.84
$GC,1874.83,1028,-87.59,-0.70,0.00,3328.7,3352.1,3305.3,2374.6,1053.9,278.31,-14.85,210,1877.59,0.00,0.00,1.82,0.000,0.000,0.064,3328.53,3351.94,3305.12,2374.38,2164.31,0,0,0,30.00,30.00,15.85
$GC,2184.93,260,-87.59,-0.70,30.00,3328.3,3351.6,3305.0,2374.2,2164.2,319.34,-12.84,226,2187.68,0.00,0.00,1.77,0.000,0.000,0.083,3328.81,3351.75,3305.88,2373.19,3224.25,0,0,0,30.00,30.00,15.85
$GC,2219.90,1028,-87.59,-0.70,0.00,3328.4,3351.9,3305.0,2373.9,3225.0,323.62,-12.49,228,2222.67,0.00,0.00,1.83,0.000,0.000,0.050,3327.50,3351.00,3304.00,2374.50,2103.62,0,0,0,30.00,30.00,15.87
$GC,2534.95,0,-87.59,-0.70,0.00,3328.7,3351.9,3305.4,2374.2,2100.8,362.03,-11.94,244,2536.29,0.00,0.00,0.00,0.000,0.000,0.000,3329.50,3352.94,3306.06,2371.69,2100.38,0,0,0,30.00,30.00,30.00
$GC,2835.88,260,-87.59,-0.70,30.00,3328.4,3351.8,3305.0,2373.9,2100.6,399.43,-12.60,259,2840.04,0.00,0.00,1.88,0.000,0.000,0.082,3329.72,3353.44,3306.00,2373.69,3221.75,0,0,0,30.00,30.00,15.89
$GC,2855.07,1028,-87.59,-0.70,0.00,3328.4,3352.1,3304.8,2374.2,3221.9,401.93,-12.58,260,2857.83,0.00,0.00,1.82,0.000,0.000,0.051,3327.22,3350.56,3303.88,2374.75,2103.69,0,0,0,30.00,30.00,15.89
$GC,3170.04,516,-87.59,-0.70,-30.00,3328.3,3351.8,3304.9,2374.5,2101.2,442.02,-13.04,276,3172.78,0.00,0.00,1.72,0.000,0.000,0.071,3328.50,3351.88,3305.12,2374.00,1053.69,0,0,0,30.00,30.00,15.90
$GC,3210.02,1028,-87.59,-0.70,0.00,3328.2,3351.6,3304.9,2374.8,1053.3,447.43,-13.19,278,3212.78,0.00,0.00,1.82,0.000,0.000,0.064,3328.09,3351.19,3305.00,2373.94,2164.69,0,0,0,30.00,30.00,15.91
$GC,3520.09,0,-87.59,-0.70,0.00,3328.5,3351.7,3305.3,2374.2,2164.9,489.47,-13.95,294,3521.43,0.00,0.00,0.00,0.000,0.000,0.000,3329.28,3352.62,3305.94,2372.19,2165.75,0,0,0,30.00,30.00,30.00
$GC,3821.04,0,-87.59,-0.70,0.00,3328.0,3351.7,3304.4,2375.0,2165.3,532.07,-14.24,309,3822.38,0.00,0.00,0.00,0.000,0.000,0.000,3328.38,3352.00,3304.75,2372.06,2165.81,0,0,0,30.00,30.00,30.00
$GC,4120.16,0,-87.59,-0.70,0.00,3328.6,3352.1,3305.1,2374.4,2165.2,572.94,-13.21,324,4121.50,0.00,0.00,0.00,0.000,0.000,0.000,3329.22,3352.50,3305.94,2371.69,2165.12,0,0,0,30.00,30.00,30.00
$GC,4421.17,0,-87.59,-0.70,0.00,3328.5,3352.0,3305.0,2374.1,2165.4,609.97,-11.90,339,4422.51,0.00,0.00,0.00,0.000,0.000,0.000,3328.28,3351.75,3304.81,2371.69,2165.31,0,0,0,30.00,30.00,30.00
$GC,4720.33,0,-87.59,-0.70,0.00,3328.0,3351.7,3304.3,2374.1,2165.4,645.14,-11.55,354,4721.67,0.00,0.00,0.00,0.000,0.000,0.000,3328.78,3351.94,3305.62,2372.12,2165.56,0,0,0,30.00,30.00,30.00
$GC,5021.12,260,-87.59,-0.70,30.00,3328.3,3351.8,3304.8,2374.6,2165.8,679.95,-11.74,369,5025.26,0.00,0.00,1.77,0.000,0.000,0.084,3330.75,3354.06,3307.44,2373.94,3222.88,0,0,0,30.00,30.00,15.92
$GC,5040.29,1028,-87.59,-0.70,0.00,3328.3,3351.9,3304.8,2374.5,3223.6,682.23,-11.64,370,5043.06,0.00,0.00,1.81,0.000,0.000,0.051,3327.97,3350.75,3305.19,2374.25,2103.25,0,0,0,30.00,30.00,15.94
$GC,5355.27,516,-87.59,-0.70,-30.00,3328.2,3351.8,3304.6,2374.6,2100.8,717.43,-11.11,386,5358.02,0.00,0.00,1.71,0.000,0.000,0.072,3327.44,3350.88,3304.00,2374.31,1053.25,0,0,0,30.00,30.00,15.94
$GC,5405.26,1028,-87.59,-0.70,0.00,3328.3,3352.1,3304.6,2374.0,1053.4,723.15,-11.16,388,5408.02,0.00,0.00,1.80,0.000,0.000,0.063,3327.16,3350.62,3303.69,2374.50,2166.81,0,0,0,30.00,30.00,15.94
$GC,5706.19,260,-87.59,-0.70,30.00,3328.2,3351.8,3304.5,2374.1,2167.2,756.84,-11.30,403,5710.34,0.00,0.00,1.76,0.000,0.000,0.083,3328.66,3352.38,3304.94,2374.12,3225.38,0,0,0,30.00,30.00,15.92
$GC,5740.35,1028,-87.59,-0.70,0.00,3328.3,3352.0,3304.7,2374.6,3225.1,760.75,-11.28,404,5743.12,0.00,0.00,1.81,0.000,0.000,0.051,3327.53,3351.00,3304.06,2374.56,2102.69,0,0,0,30.00,30.00,15.95
$GC,6041.20,516,-87.59,-0.70,-30.00,3328.4,3352.1,3304.7,2374.1,2100.4,794.84,-11.41,419,6045.35,0.00,0.00,1.72,0.000,0.000,0.073,3328.81,3352.44,3305.19,2374.62,1053.38,0,0,0,30.00,30.00,15.94
$GC,6081.26,1028,-87.59,-0.70,0.00,3328.3,3351.9,3304.8,2374.7,1053.3,799.44,-11.45,421,6085.42,0.00,0.00,1.80,0.000,0.000,0.061,3329.84,3353.81,3305.88,2373.50,2165.56,0,0,0,30.00,30.00,15.95
$GC,6401.23,516,-87.59,-0.70,-30.00,3328.6,3352.0,3305.1,2374.1,2166.6,834.33,-10.63,437,6405.39,0.00,0.00,1.85,0.000,0.000,0.070,3328.41,3352.06,3304.75,2373.88,1052.50,0,0,0,30.00,30.00,15.94
$GC,6420.42,1028,-87.59,-0.70,0.00,3328.6,3352.3,3304.9,2374.9,1052.1,836.53,-10.65,438,6423.19,0.00,0.00,1.80,0.000,0.000,0.060,3328.41,3352.25,3304.56,2374.38,2168.12,0,0,0,30.00,30.00,15.95
$GC,6735.39,260,-87.59,-0.70,30.00,3328.6,3352.2,3304.9,2374.9,2169.0,869.42,-10.30,454,6738.14,0.00,0.00,1.75,0.000,0.000,0.084,3328.53,3351.56,3305.50,2374.19,3222.12,0,0,0,30.00,30.00,15.93
$GC,6765.43,1028,-87.59,-0.70,0.00,3328.8,3352.7,3304.9,2374.2,3221.7,872.33,-10.22,455,6768.19,0.00,0.00,1.80,0.000,0.000,0.051,3327.25,3351.06,3303.44,2374.50,2101.62,0,0,0,30.00,30.00,15.95
$GC,7065.42,516,-87.59,-0.70,-30.00,3328.5,3352.1,3304.9,2374.4,2099.9,902.03,-9.77,470,7068.16,0.00,0.00,1.72,0.000,0.000,0.072,3330.66,3353.19,3308.12,2372.12,1052.62,0,0,0,30.00,30.00,15.94
$GC,7115.40,1028,-87.59,-0.70,0.00,3328.7,3352.8,3304.6,2374.6,1052.0,907.06,-9.82,472,7118.17,0.00,0.00,1.80,0.000,0.000,0.060,3327.50,3351.62,3303.38,2374.88,2165.88,0,0,0,30.00,30.00,15.95
$GC,7416.32,260,-87.59,-0.70,30.00,3328.9,3352.9,3304.8,2374.7,2165.8,935.49,-9.52,487,7420.47,0.00,0.00,1.75,0.000,0.000,0.077,3329.31,3353.31,3305.31,2374.25,3224.75,0,0,0,30.00,30.00,15.93
$GC,7450.49,1028,-87.59,-0.70,0.00,3329.0,3352.9,3305.1,2375.1,3224.2,938.82,-9.61,488,7453.23,0.00,0.00,1.79,0.000,0.000,0.050,3328.50,3352.06,3304.94,2374.44,2106.00,0,0,0,30.00,30.00,15.95
$STATE,7570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7570,begin apogee
$GC,7571.71,3,0.00,-0.15,0.00,3328.7,3352.6,3304.8,2374.8,1985.1,950.38,-9.61,494,7692.54,115.10,0.98,0.14,1.568,0.293,0.150,2966.94,3026.88,2907.00,2549.56,2097.31,0,0,0,12.01,15.60,15.13
$STATE,7692,end apogee,CONTROL_FINISHED_OK
$STATE,7692,begin loiter
$GC,7991.35,2,0.00,-0.15,0.00,2956.1,3019.8,2892.4,2549.4,2097.4,952.04,0.52,515,7992.69,0.00,0.00,0.00,0.000,0.000,0.000,2957.19,3021.00,2893.38,2547.75,2096.88,0,0,0,30.00,30.00,30.00
$GC,8290.51,2,0.00,-0.15,0.00,2955.3,3019.6,2891.0,2550.2,2097.7,950.00,0.66,530,8291.85,0.00,0.00,0.00,0.000,0.000,0.000,2956.03,3020.12,2891.94,2547.31,2097.31,0,0,0,30.00,30.00,30.00
$GC,8591.41,2,0.00,-0.15,0.00,2955.1,3019.8,2890.4,2549.8,2097.8,948.66,0.56,545,8592.75,0.00,0.00,0.00,0.000,0.000,0.000,2955.47,3020.81,2890.12,2547.75,2096.56,0,0,0,30.00,30.00,30.00
$GC,8890.59,2,0.00,-0.15,0.00,2954.8,3019.7,2889.8,2549.8,2097.5,947.66,0.39,560,8891.93,0.00,0.00,0.00,0.000,0.000,0.000,2955.22,3020.12,2890.31,2547.00,2097.06,0,0,0,30.00,30.00,30.00
$GC,9191.47,2,0.00,-0.15,0.00,2954.8,3019.2,2890.2,2549.9,2097.6,946.92,0.28,575,9192.81,0.00,0.00,0.00,0.000,0.000,0.000,2955.03,3020.44,2889.62,2547.25,2096.06,0,0,0,30.00,30.00,30.00
$GC,9490.67,2,0.00,-0.15,0.00,2954.6,3019.4,2889.9,2549.9,2097.5,946.20,0.24,590,9492.01,0.00,0.00,0.00,0.000,0.000,0.000,2954.72,3019.19,2890.25,2548.19,2097.31,0,0,0,30.00,30.00,30.00
$GC,9791.54,2,0.00,-0.15,0.00,2954.4,3019.1,2889.7,2549.6,2097.9,945.54,0.23,605,9792.88,0.00,0.00,0.00,0.000,0.000,0.000,2954.50,3018.81,2890.19,2548.25,2097.19,0,0,0,30.00,30.00,30.00
$GC,10090.71,2,0.00,-0.15,0.00,2954.6,3019.3,2889.8,2550.0,2097.9,944.42,0.30,620,10092.05,0.00,0.00,0.00,0.000,0.000,0.000,2954.34,3019.00,2889.69,2548.56,2097.44,0,0,0,30.00,30.00,30.00
$GC,10391.61,2,0.00,-0.15,0.00,2954.4,3018.7,2890.1,2549.4,2097.4,943.01,0.42,635,10392.96,0.00,0.00,0.00,0.000,0.000,0.000,2954.22,3018.75,2889.69,2547.88,2097.19,0,0,0,30.00,30.00,30.00
$GC,10690.79,2,0.00,-0.15,0.00,2954.0,3018.6,2889.4,2549.8,2097.6,941.49,0.50,650,10692.13,0.00,0.00,0.00,0.000,0.000,0.000,2954.44,3019.50,2889.38,2547.56,2096.62,0,0,0,30.00,30.00,30.00
$GC,10991.69,2,0.00,-0.15,0.00,2954.3,3018.8,2889.8,2549.6,2097.0,940.09,0.49,665,10993.03,0.00,0.00,0.00,0.000,0.000,0.000,2955.41,3020.31,2890.50,2547.69,2096.88,0,0,0,30.00,30.00,30.00
$GC,11290.86,2,0.00,-0.15,0.00,2954.1,3018.7,2889.4,2549.9,2097.6,939.34,0.36,680,11292.20,0.00,0.00,0.00,0.000,0.000,0.000,2954.62,3019.50,2889.75,2547.56,2097.19,0,0,0,30.00,30.00,30.00
$GC,11591.76,2,0.00,-0.15,0.00,2954.2,3018.8,2889.6,2549.6,2097.8,939.68,0.06,695,11593.10,0.00,0.00,0.00,0.000,0.000,0.000,2955.25,3020.44,2890.06,2547.12,2097.25,0,0,0,30.00,30.00,30.00
$GC,11890.96,2,0.00,-0.15,0.00,2954.2,3018.9,2889.5,2550.2,2097.6,941.03,-0.29,710,11892.30,0.00,0.00,0.00,0.000,0.000,0.000,2954.66,3019.25,2890.06,2548.12,2097.12,0,0,0,30.00,30.00,30.00
$GC,12191.84,34,1.46,-0.15,0.00,2954.2,3018.9,2889.6,2549.3,2097.6,943.50,-0.75,725,12193.18,0.00,0.00,0.00,0.000,0.000,0.000,2955.19,3020.69,2889.69,2548.00,2097.25,0,0,0,30.00,30.00,30.00
$GC,12491.00,32,4.11,-0.15,0.00,2954.0,3018.6,2889.5,2549.4,2097.5,947.52,-1.36,740,12492.35,0.00,0.00,0.00,0.000,0.000,0.000,2954.78,3019.69,2889.88,2547.69,2097.44,0,0,0,30.00,30.00,30.00
$GC,12791.91,34,7.42,-0.14,0.00,2953.9,3018.7,2889.1,2549.6,2097.9,952.51,-1.70,755,12800.48,7.46,0.00,0.00,1.367,0.000,0.000,2936.19,3002.12,2870.25,2549.69,2097.00,0,0,0,12.08,30.00,30.00
$GC,13091.16,32,9.24,-0.14,0.00,2934.1,3001.3,2866.9,2549.6,2097.3,954.68,-0.93,770,13092.50,0.00,0.00,0.00,0.000,0.000,0.000,2934.97,3002.19,2867.75,2547.94,2097.38,0,0,0,30.00,30.00,30.00
$GC,13391.98,32,10.49,-0.14,0.00,2934.1,3000.6,2867.5,2549.9,2097.5,956.89,-0.64,785,13393.32,0.00,0.00,0.00,0.000,0.000,0.000,2933.84,3001.12,2866.56,2548.19,2097.50,0,0,0,30.00,30.00,30.00
$GC,13691.20,34,12.20,-0.14,0.00,2934.2,3001.3,2867.2,2549.9,2097.2,959.54,-0.88,800,13698.76,6.93,0.00,0.00,1.319,0.000,0.000,2918.19,2986.81,2849.56,2549.75,2097.62,0,0,0,12.14,30.00,30.00
$GC,13992.10,32,13.31,-0.14,0.00,2915.9,2984.8,2846.9,2549.8,2097.9,960.37,-0.57,815,13993.44,0.00,0.00,0.00,0.000,0.000,0.000,2916.41,2985.50,2847.31,2549.62,2097.56,0,0,0,30.00,30.00,30.00
$GC,14291.20,0,13.31,-0.14,0.00,2915.6,2984.6,2846.7,2550.4,2097.8,961.25,-0.27,830,14292.54,0.00,0.00,0.00,0.000,0.000,0.000,2916.00,2984.88,2847.12,2547.56,2097.12,0,0,0,30.00,30.00,30.00
$GC,14592.11,0,13.31,-0.14,0.00,2915.4,2984.7,2846.2,2549.8,2097.2,962.08,-0.29,845,14593.45,0.00,0.00,0.00,0.000,0.000,0.000,2916.22,2986.44,2846.00,2547.31,2097.19,0,0,0,30.00,30.00,30.00
$STATE,14891,end loiter,LOITER_COMPLETE
$STATE,14891,begin climb
$GC,14891.38,263,87.59,0.70,30.00,2915.4,2984.6,2846.3,2550.2,2097.8,962.47,0.00,860,14994.25,94.55,1.46,1.82,1.666,0.255,0.081,2608.12,2705.50,2510.75,2822.06,3133.50,0,0,0,12.17,15.67,15.16
$GC,15141.32,1062,105.12,0.72,0.00,2597.7,2695.6,2499.8,2821.8,3133.5,949.95,7.03,872,15168.18,23.47,0.00,1.89,1.534,0.000,0.060,2539.75,2639.81,2439.69,2822.50,2019.81,0,0,0,12.25,30.00,15.50
$GC,15466.30,2,105.12,0.72,0.00,2527.2,2627.1,2427.2,2822.5,2019.3,922.35,8.87,888,15467.64,0.00,0.00,0.00,0.000,0.000,0.000,2528.00,2628.44,2427.56,2820.88,2019.12,0,0,0,30.00,30.00,30.00
$GC,15767.19,262,105.12,0.72,30.00,2526.1,2626.2,2426.0,2822.6,2019.2,894.85,9.17,903,15771.36,0.00,0.00,1.89,0.000,0.000,0.074,2526.81,2626.94,2426.69,2822.75,3133.31,0,0,0,30.00,30.00,15.71
$GC,15796.40,1030,105.12,0.72,0.00,2524.6,2623.9,2425.2,2822.7,3133.7,891.92,9.28,904,15799.17,0.00,0.00,1.87,0.000,0.000,0.060,2526.56,2625.38,2427.75,2822.00,2015.69,0,0,0,30.00,30.00,15.72
$GC,16101.34,262,105.12,0.72,30.00,2524.5,2624.4,2424.7,2823.4,2016.1,864.06,9.16,920,16104.11,0.00,0.00,1.88,0.000,0.000,0.073,2523.31,2623.00,2423.62,2822.75,3134.06,0,0,0,30.00,30.00,15.78
$GC,16126.42,1030,105.12,0.72,0.00,2523.2,2622.6,2423.9,2822.2,3134.4,861.60,9.28,921,16129.19,0.00,0.00,1.85,0.000,0.000,0.059,2522.00,2621.44,2422.56,2822.31,2015.88,0,0,0,30.00,30.00,15.78
$GC,16432.28,262,105.12,0.72,30.00,2523.5,2623.1,2423.9,2822.5,2016.1,832.31,9.64,937,16436.45,0.00,0.00,1.88,0.000,0.000,0.073,2525.09,2624.69,2425.50,2821.81,3135.38,0,0,0,30.00,30.00,15.82
$GC,16456.42,1030,105.12,0.72,0.00,2522.9,2622.1,2423.7,2822.9,3135.7,829.82,9.74,938,16459.19,0.00,0.00,1.84,0.000,0.000,0.058,2522.31,2621.69,2422.94,2822.56,2017.31,0,0,0,30.00,30.00,15.83
$GC,16766.41,262,105.12,0.72,30.00,2522.7,2621.8,2423.5,2822.5,2017.3,800.77,9.32,954,16769.18,0.00,0.00,1.88,0.000,0.000,0.073,2521.12,2620.50,2421.75,2822.38,3135.94,0,0,0,30.00,30.00,15.84
$GC,16801.40,1030,105.12,0.72,0.00,2522.2,2621.2,2423.3,2822.7,3135.5,797.47,9.39,956,16804.17,0.00,0.00,1.83,0.000,0.000,0.057,2523.81,2622.50,2425.12,2821.81,2016.00,0,0,0,30.00,30.00,15.86
$GC,17116.44,2,105.12,0.72,0.00,2522.3,2621.1,2423.4,2822.6,2015.9,768.42,9.14,972,17117.78,0.00,0.00,0.00,0.000,0.000,0.000,2523.25,2622.56,2423.94,2819.88,2015.44,0,0,0,30.00,30.00,30.00
$GC,17417.33,262,105.12,0.72,30.00,2522.3,2621.1,2423.4,2822.9,2015.9,741.05,9.28,987,17421.51,0.00,0.00,1.87,0.000,0.000,0.073,2522.19,2621.44,2422.94,2822.75,3133.31,0,0,0,30.00,30.00,15.89
$GC,17466.43,1030,105.12,0.72,0.00,2521.7,2620.6,2422.7,2823.1,3133.1,736.27,9.40,989,17469.20,0.00,0.00,1.85,0.000,0.000,0.059,2520.41,2619.31,2421.50,2822.81,2014.81,0,0,0,30.00,30.00,15.89
$GC,17772.36,518,105.12,0.72,-30.00,2521.7,2620.7,2422.6,2822.6,2014.3,708.63,9.07,1005,17776.51,0.00,0.00,1.75,0.000,0.000,0.085,2521.94,2621.19,2422.69,2822.88,966.62,0,0,0,30.00,30.00,15.88
$GC,17791.55,1030,105.12,0.72,0.00,2521.8,2620.8,2422.8,2822.8,966.8,706.85,8.99,1006,17794.30,0.00,0.00,1.79,0.000,0.000,0.053,2522.97,2622.00,2423.94,2821.56,2084.25,0,0,0,30.00,30.00,15.90
$GC,18106.52,262,105.12,0.72,30.00,2521.7,2620.6,2422.8,2822.6,2086.1,678.15,9.05,1022,18109.27,0.00,0.00,1.75,0.000,0.000,0.075,2520.88,2619.38,2422.38,2822.56,3134.62,0,0,0,30.00,30.00,15.89
$GC,18171.50,1030,105.12,0.72,0.00,2521.0,2620.2,2421.8,2822.7,3134.9,672.11,9.11,1025,18174.28,0.00,0.00,1.83,0.000,0.000,0.059,2519.50,2618.00,2421.00,2822.75,2015.88,0,0,0,30.00,30.00,15.92
$GC,18477.43,262,105.12,0.72,30.00,2521.2,2619.7,2422.7,2822.6,2015.8,645.79,8.48,1041,18481.59,0.00,0.00,1.87,0.000,0.000,0.072,2522.69,2621.88,2423.50,2821.44,3134.06,0,0,0,30.00,30.00,15.91
$GC,18511.54,1030,105.12,0.72,0.00,2521.2,2620.2,2422.3,2822.2,3134.2,642.58,8.60,1042,18514.31,0.00,0.00,1.84,0.000,0.000,0.057,2519.19,2617.69,2420.69,2822.44,2016.62,0,0,0,30.00,30.00,15.92
$GC,18812.48,262,105.12,0.72,30.00,2521.3,2619.9,2422.7,2822.4,2015.8,616.90,8.51,1057,18816.64,0.00,0.00,1.87,0.000,0.000,0.073,2521.50,2619.06,2423.94,2822.44,3133.88,0,0,0,30.00,30.00,15.92
$GC,18861.59,1030,105.12,0.72,0.00,2520.9,2619.6,2422.2,2822.4,3134.0,612.49,8.60,1059,18864.37,0.00,0.00,1.83,0.000,0.000,0.057,2519.84,2619.00,2420.69,2822.31,2015.31,0,0,0,30.00,30.00,15.93
$GC,19167.54,2,105.12,0.72,0.00,2520.9,2619.6,2422.2,2822.2,2014.9,587.16,8.31,1075,19168.88,0.00,0.00,0.00,0.000,0.000,0.000,2521.91,2621.06,2422.75,2820.12,2014.94,0,0,0,30.00,30.00,30.00
$GC,19466.72,262,105.12,0.72,30.00,2521.1,2619.8,2422.5,2822.6,2014.9,562.14,8.36,1090,19469.49,0.00,0.00,1.87,0.000,0.000,0.074,2521.59,2619.88,2423.31,2820.62,3133.62,0,0,0,30.00,30.00,15.93
$GC,19566.72,1030,105.12,0.72,0.00,2520.2,2618.7,2421.7,2822.6,3134.4,553.85,8.29,1095,19569.50,0.00,0.00,1.82,0.000,0.000,0.057,2518.78,2617.25,2420.31,2822.69,2012.31,0,0,0,30.00,30.00,15.93
$GC,19877.66,2,105.12,0.72,0.00,2520.4,2618.6,2422.2,2822.2,2011.8,528.07,8.43,1111,19879.00,0.00,0.00,0.00,0.000,0.000,0.000,2520.56,2619.56,2421.56,2820.50,2011.00,0,0,0,30.00,30.00,30.00
$GC,20176.85,262,105.12,0.72,30.00,2520.3,2618.6,2421.9,2822.6,2011.5,502.08,8.88,1126,20179.62,0.00,0.00,1.88,0.000,0.000,0.073,2518.78,2617.38,2420.19,2822.62,3135.88,0,0,0,30.00,30.00,15.94
$GC,20216.81,1030,105.12,0.72,0.00,2520.2,2618.8,2421.6,2822.8,3136.2,498.40,9.05,1128,20219.59,0.00,0.00,1.83,0.000,0.000,0.057,2518.38,2616.31,2420.44,2822.50,2013.50,0,0,0,30.00,30.00,15.95
$GC,20526.88,2,105.12,0.72,0.00,2520.3,2618.8,2421.9,2822.8,2012.7,470.95,8.87,1144,20528.23,0.00,0.00,0.00,0.000,0.000,0.000,2521.06,2620.06,2422.06,2820.81,2012.25,0,0,0,30.00,30.00,30.00
$GC,20827.79,262,105.12,0.72,30.00,2520.2,2618.5,2421.9,2822.1,2012.4,444.78,8.72,1159,20831.97,0.00,0.00,1.86,0.000,0.000,0.073,2520.41,2618.88,2421.94,2822.44,3136.19,0,0,0,30.00,30.00,15.94
$GC,20876.91,1030,105.12,0.72,0.00,2519.8,2618.1,2421.6,2822.7,3136.1,440.40,8.64,1161,20879.68,0.00,0.00,1.83,0.000,0.000,0.057,2521.03,2618.81,2423.25,2822.31,2013.69,0,0,0,30.00,30.00,15.95
$GC,21182.86,34,106.97,0.72,0.00,2520.0,2618.1,2421.8,2822.5,2012.8,415.64,8.00,1177,21184.21,0.00,0.00,0.00,0.000,0.000,0.000,2520.88,2619.94,2421.81,2820.31,2012.75,0,0,0,30.00,30.00,30.00
$GC,21482.04,292,111.62,0.73,30.00,2520.0,2618.6,2421.5,2822.5,2013.1,391.63,7.83,1192,21484.80,0.00,0.00,1.88,0.000,0.000,0.073,2521.97,2620.19,2423.75,2821.88,3138.75,0,0,0,30.00,30.00,15.95
$GC,21512.01,1062,115.39,0.73,0.00,2519.8,2617.8,2421.7,2822.6,3138.8,389.14,7.89,1193,21527.68,10.88,0.00,1.83,1.106,0.000,0.056,2497.09,2596.06,2398.12,2822.69,2013.94,0,0,0,12.17,30.00,15.96
$GC,21837.10,294,125.04,0.75,30.00,2490.6,2587.9,2393.2,2822.8,2013.9,364.08,7.52,1210,21854.80,14.76,0.00,1.88,1.114,0.000,0.074,2458.28,2557.06,2359.50,2820.38,3133.56,0,0,0,12.33,30.00,15.75
$GC,21892.10,1060,128.71,0.75,0.00,2450.7,2548.2,2353.2,2822.5,3134.4,359.60,7.89,1212,21894.88,0.00,0.00,1.84,0.000,0.000,0.057,2449.25,2546.69,2351.81,2822.88,2015.94,0,0,0,30.00,30.00,15.85
$GC,22207.13,516,128.71,0.75,-30.00,2449.2,2548.2,2350.2,2822.9,2014.8,333.76,8.43,1228,22209.89,0.00,0.00,1.75,0.000,0.000,0.084,2448.59,2547.69,2349.50,2822.00,966.81,0,0,0,30.00,30.00,15.85
$GC,22227.17,1028,128.71,0.75,0.00,2449.3,2548.4,2350.2,2822.9,966.8,332.11,8.42,1229,22229.92,0.00,0.00,1.79,0.000,0.000,0.053,2450.75,2549.25,2352.25,2821.00,2085.12,0,0,0,30.00,30.00,15.87
$GC,22538.04,260,128.71,0.75,30.00,2448.9,2547.7,2350.1,2822.3,2087.2,304.59,9.37,1245,22542.19,0.00,0.00,1.74,0.000,0.000,0.074,2449.91,2548.50,2351.31,2821.38,3135.06,0,0,0,30.00,30.00,15.87
$GC,22587.15,1028,128.71,0.75,0.00,2447.6,2545.5,2349.6,2822.4,3135.6,299.71,9.57,1247,22589.91,0.00,0.00,1.83,0.000,0.000,0.058,2449.22,2546.75,2351.69,2820.38,2017.06,0,0,0,30.00,30.00,15.90
$GC,22893.08,260,128.71,0.75,30.00,2447.5,2545.6,2349.4,2823.0,2016.6,270.19,9.51,1263,22897.25,0.00,0.00,1.88,0.000,0.000,0.073,2448.81,2547.00,2350.62,2822.56,3135.06,0,0,0,30.00,30.00,15.90
$GC,22933.09,1028,128.71,0.75,0.00,2447.3,2544.9,2349.6,2822.5,3134.6,266.35,9.47,1265,22937.26,0.00,0.00,1.83,0.000,0.000,0.057,2447.38,2544.75,2350.00,2822.75,2014.44,0,0,0,30.00,30.00,15.91
$GC,23253.13,34,136.66,0.76,0.00,2447.3,2545.1,2349.5,2822.4,2013.7,240.02,7.62,1281,23269.88,16.10,0.00,0.00,1.036,0.000,0.000,2410.19,2499.62,2320.75,2822.38,2013.69,0,0,0,12.11,30.00,30.00
$GC,23552.28,292,139.16,0.76,30.00,2400.2,2486.1,2314.2,2822.8,2013.6,216.66,7.96,1296,23555.05,0.00,0.00,1.87,0.000,0.000,0.073,2400.53,2486.25,2314.81,2822.19,3135.56,0,0,0,30.00,30.00,15.86
$GC,23648.21,1062,145.15,0.77,0.00,2399.3,2484.4,2314.1,2822.7,3135.9,209.28,7.75,1301,23664.00,12.30,0.00,1.83,0.986,0.000,0.059,2373.84,2459.69,2288.00,2822.62,2013.94,0,0,0,12.31,30.00,15.86
$GC,23962.34,262,145.15,0.77,30.00,2366.8,2453.2,2280.4,2822.6,2014.1,183.74,8.73,1316,23965.11,0.00,0.00,1.88,0.000,0.000,0.073,2368.06,2453.62,2282.50,2821.44,3135.31,0,0,0,30.00,30.00,15.84
$GC,24018.20,1030,145.15,0.77,0.00,2365.9,2451.2,2280.6,2822.2,3136.1,179.02,8.71,1319,24022.37,0.00,0.00,1.84,0.000,0.000,0.058,2368.09,2454.19,2282.00,2822.19,2015.44,0,0,0,30.00,30.00,15.85
$GC,24338.25,294,157.92,0.79,30.00,2366.0,2451.2,2280.8,2822.8,2014.9,153.71,7.32,1335,24362.64,19.22,0.00,1.88,0.982,0.000,0.075,2323.47,2411.69,2235.25,2822.19,3135.19,0,0,0,12.17,30.00,15.70
$GC,24397.44,1063,166.96,0.80,0.00,2316.7,2403.9,2229.6,2822.4,3136.4,149.04,7.56,1338,24415.15,13.78,0.15,1.84,0.937,0.128,0.058,2288.31,2378.56,2198.06,2866.00,2012.12,0,0,0,12.58,15.67,15.81
$GC,24712.40,518,166.96,0.80,-30.00,2277.2,2368.8,2185.5,2866.9,2012.1,116.97,9.90,1356,24715.15,0.00,0.00,1.76,0.000,0.000,0.086,2276.06,2367.75,2184.38,2867.69,969.38,0,0,0,30.00,30.00,15.77
$GC,24788.41,1030,166.96,0.80,0.00,2276.7,2368.1,2185.3,2867.5,968.2,110.55,8.23,1371,24792.58,0.00,0.00,1.79,0.000,0.000,0.054,2278.69,2369.81,2187.56,2867.38,2087.12,0,0,0,30.00,30.00,15.79
$GC,24972.50,294,174.77,0.81,30.00,2276.1,2367.0,2185.1,2867.4,2089.4,95.38,7.63,1408,24988.54,10.32,0.00,1.74,0.901,0.000,0.077,2256.81,2347.50,2166.12,2866.94,3134.31,0,0,0,12.17,30.00,15.65
$GC,25008.47,1062,192.46,0.83,0.00,2251.4,2341.0,2161.8,2867.6,3134.4,93.00,7.02,1415,25042.92,29.30,0.00,1.85,0.933,0.000,0.060,2184.31,2277.38,2091.25,2866.94,2015.81,0,0,0,12.48,30.00,15.76
$GC,25223.57,518,192.46,0.83,-30.00,2173.2,2265.8,2080.6,2867.6,2015.3,73.48,8.81,1458,25228.73,0.00,0.00,1.76,0.000,0.000,0.086,2173.66,2265.94,2081.38,2867.56,968.44,0,0,0,30.00,30.00,15.65
$GC,25243.57,1030,192.46,0.83,0.00,2172.9,2265.0,2080.8,2867.1,968.6,71.28,10.30,1462,25248.73,0.00,0.00,1.80,0.000,0.000,0.056,2173.50,2264.81,2082.19,2866.75,2082.25,0,0,0,30.00,30.00,15.67
$GC,25428.56,2,192.46,0.83,0.00,2172.0,2264.1,2079.9,2868.1,2085.9,49.21,10.99,1499,25429.90,0.00,0.00,0.00,0.000,0.000,0.000,2172.44,2265.00,2079.88,2865.25,2085.50,0,0,0,30.00,30.00,30.00
$GC,25608.64,550,222.58,0.87,-30.00,2171.2,2262.8,2079.6,2867.6,2086.8,34.25,6.24,1535,25676.14,60.85,0.00,1.94,0.902,0.000,0.090,2060.34,2155.12,1965.56,2867.62,970.62,0,0,0,12.16,30.00,14.89
$GC,25704.98,1028,222.58,0.87,0.00,2057.8,2150.5,1965.1,2867.7,969.6,24.82,8.56,1554,25710.16,0.00,0.00,1.83,0.000,0.000,0.054,2058.44,2150.88,1966.00,2867.62,2080.31,0,0,0,30.00,30.00,15.51
$STATE,25879,end climb,SURFACE_DEPTH_REACHED
$STATE,25879,begin surface coast
$FINISH,-0.2,1.026929
$STATE,25900,end surface coast,CONTROL_FINISHED_OK
$STATE,25900,begin surface
$SM_CCo,25976.97,0.00,0.000,0,2051.8,2134.8,1968.7,225.25
$SM_GC,0.98,0.00,12.58,0.12,0.000,0.066,0.097,2051.8,2134.8,1968.7,136.0,2190.1,0,0,0,30.00,15.51,15.58
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,-5345.10,221.94,280322,115621
$TCM_TEMP,9.10
$XPDR_PINGS,14
$ALTIM_TOP_PING,30.0,28.7
$HUMID,57.78
$TEMP,1.75
$INTERNAL_PRESSURE,8.60482
$24V_AH,14.83,73.616
$10V_AH,14.90,0.000
$FG_AHR_24Vo,33.379
$FG_AHR_10Vo,13.650
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,500.695,29.220,153.365,767.080,3.750,69.816,5135.173,21701.203,3461.847,0.000,1.000,0.000
$DEVICE_MAMPS,1665.992,380.888,149.648,249.883,420.000,12.720,8.350,2.190,15.750,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2604.810,1134.353,1977.624,730.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.620,100.000,43.580,6.610,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,1169240,29,14200,66
$DATA_FILE_SIZE,127123,1593
$CAP_FILE_SIZE,360308,0
$SDSIZE,3931136,3867776
$SDFILEDIR,774,2
$ERRORS,0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,257.5,1
$GPS,290322,023910,-5344.820,151.681,113,1.0,122,-21.5