version: 66.12
glider: 196
mission: 7
dive: 37
start: 7 31 114 7 21 48
data:
$ID,196
$MISSION,7
$DIVE,37
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$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,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4720.6274
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2909
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3317
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,310714,071418,7115.815,-14411.752,38,0.7,58,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-79.0
$GPS2,310714,072130,7115.793,-14411.961,5,0.8,25,22.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,336.3,37441,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$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,14,-0.69,-145.9,209,2698,453,526,0.0,0.0,0,69,0.00,0.00,-53.60,0.000,16386,0.000,0.000,208,2699,1931,1943,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,209,2699,1945,1923,3.5,-4.3,5,124,12.12,2.00,-36.40,0.000,18692,0.409,0.130,2673,3788,3914,3976,3853,0,0,0,0,0,0,14.12,14.27,14.52
$GC,348,-0.69,-145.9,2674,3788,3977,3859,70.3,-22.8,58,356,0.00,1.83,0.00,0.000,1030,0.000,0.054,2673,2692,3917,3976,3859,0,0,0,0,0,0,28.83,14.42,28.83
$GC,653,-0.69,-145.9,2674,2691,3977,3859,127.5,-17.3,89,661,0.00,1.98,0.00,0.000,260,0.000,0.105,2664,3787,3917,3976,3859,0,0,0,0,0,0,28.83,14.42,28.83
$GC,885,-0.69,-145.9,2665,3788,3977,3859,168.7,-16.5,135,892,0.00,1.80,0.00,0.000,1030,0.000,0.055,2664,2698,3917,3976,3859,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1196,-0.69,-145.9,2664,2699,3976,3860,212.8,-13.6,167,1203,0.00,1.95,0.00,0.000,260,0.000,0.106,2655,3785,3917,3976,3859,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1427,-0.69,-145.9,2656,3784,3977,3859,247.4,-15.2,213,1436,0.08,1.80,0.00,0.000,3078,0.252,0.057,2676,2703,3917,3976,3859,0,0,0,0,0,0,14.40,14.54,28.83
$GC,1750,-0.69,-145.9,2676,2703,3976,3858,285.8,-11.6,226,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2703,3916,3975,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.69,-145.9,2676,2704,3975,3860,320.1,-11.5,236,2057,0.00,1.92,0.00,0.000,260,0.000,0.106,2669,3786,3916,3974,3858,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2120,-0.69,-145.9,2670,3787,3975,3859,329.3,-13.5,250,2127,0.00,1.80,0.00,0.000,1030,0.000,0.056,2669,2688,3916,3974,3858,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2441,-0.69,-145.9,2670,2689,3975,3859,367.6,-11.8,264,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2688,3916,3974,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-0.69,-145.9,2670,2689,3975,3858,402.7,-11.7,274,2749,0.00,1.92,0.00,0.000,260,0.000,0.106,2660,3791,3915,3973,3858,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2812,-0.69,-145.9,2661,3792,3974,3859,412.0,-13.4,288,2819,0.00,1.80,0.00,0.000,1030,0.000,0.056,2660,2702,3915,3973,3858,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3133,-0.69,-145.9,2661,2702,3974,3858,451.1,-12.1,302,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2698,3915,3973,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-0.69,-145.9,2661,2702,3974,3858,487.2,-12.0,312,3440,0.00,1.95,0.00,0.000,260,0.000,0.105,2652,3788,3915,3972,3858,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3494,-0.69,-145.9,2653,3789,3974,3859,495.3,-13.9,324,3501,0.10,1.80,0.00,0.000,3078,0.248,0.056,2678,2702,3914,3971,3858,0,0,0,0,0,0,14.38,14.52,28.83
$MODEM_MSG,CACST,6,1,20140731080433.407452,3,378,01,0260,0150,255,02,02,04,04,1,000,000,2,5,1,0,150,18.6,3.3,-100,-0.3,-01,0.0,28,900,0025*27
$MODEM_MSG,CACST,6,1,20140731081628.018123,3,587,09,0224,0150,217,02,02,03,02,1,000,000,2,5,1,0,150,26.6,3.8,-100,-0.8,-01,0.7,21,900,0025*2C
$GC,3825,-0.69,-145.9,2679,2702,3973,3858,531.1,-10.7,340,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2702,3915,3972,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4127,-0.69,-145.9,2679,2703,3973,3859,562.4,-10.4,350,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2702,3915,3972,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4425,-0.69,-145.9,2679,2702,3973,3858,593.2,-10.1,360,4432,0.00,1.92,0.00,0.000,260,0.000,0.105,2672,3782,3915,3973,3858,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4517,-0.69,-145.9,2672,3782,3973,3858,603.6,-11.6,378,4523,0.00,1.80,0.00,0.000,1030,0.000,0.056,2672,2690,3915,3972,3858,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4847,-0.69,-145.9,2673,2691,3973,3859,639.2,-10.8,394,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2690,3915,3972,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5148,-0.69,-145.9,2673,2690,3973,3858,671.3,-10.6,404,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2690,3915,3972,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5449,-0.69,-145.9,2673,2691,3973,3859,702.9,-10.5,414,5455,0.00,1.90,0.00,0.000,260,0.000,0.106,2663,3789,3915,3972,3858,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5534,-0.69,-145.9,2671,3789,3973,3858,713.2,-12.3,431,5542,0.00,1.77,0.00,0.000,1030,0.000,0.056,2663,2701,3914,3971,3858,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5839,-0.69,-145.9,2664,2700,3973,3858,746.8,-11.0,442,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2700,3914,3971,3858,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5868,begin apogee
$GC,5871,-0.13,0.0,2663,2848,3973,3859,750.1,-11.0,443,5999,0.73,0.00,124.93,2.030,10246,0.233,0.000,2858,2847,3317,3339,3296,0,0,0,0,0,0,14.56,28.83,13.08
$STATE,6000,end apogee,CONTROL_FINISHED_OK
$STATE,6000,begin climb
$GC,6001,0.69,145.9,2859,2848,3337,3293,753.1,0.0,447,6130,0.93,0.00,125.95,1.927,10246,0.135,0.000,3129,2848,2720,2727,2714,0,0,0,0,0,0,13.76,28.83,12.93
$GC,6409,0.69,145.9,3130,2849,2725,2704,705.2,14.1,461,6417,0.00,2.47,0.00,0.000,516,0.000,0.068,3140,1445,2713,2724,2703,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6436,0.69,145.9,3141,1446,2725,2704,701.4,13.0,466,6445,0.00,2.55,0.00,0.000,1030,0.000,0.094,3140,2834,2713,2724,2703,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6742,0.69,145.9,3141,2834,2726,2702,656.0,15.0,477,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2835,2713,2724,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,0.69,145.9,3140,2835,2724,2703,611.4,14.8,487,7048,0.00,2.40,0.00,0.000,516,0.000,0.068,3150,1447,2713,2724,2702,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7092,0.69,145.9,3151,1447,2725,2703,604.2,14.0,497,7101,0.00,2.50,0.00,0.000,1030,0.000,0.096,3151,2840,2713,2724,2702,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7405,0.69,145.9,3151,2840,2725,2702,556.2,15.3,509,7413,0.00,2.40,0.00,0.000,516,0.000,0.068,3161,1444,2713,2724,2702,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7442,0.69,145.9,3162,1445,2725,2703,550.8,14.0,516,7450,0.08,2.50,0.00,0.000,5126,0.266,0.096,3142,2841,2716,2724,2709,0,0,0,0,0,0,14.38,14.48,28.83
$GC,7769,0.69,145.9,3142,2841,2725,2701,503.1,14.6,531,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2841,2712,2724,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,0.69,145.9,3142,2841,2725,2702,459.2,14.6,541,8077,0.00,2.38,0.00,0.000,516,0.000,0.068,3151,1450,2712,2724,2701,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8116,0.69,145.9,3150,1451,2725,2701,452.7,13.6,550,8123,0.00,2.47,0.00,0.000,1030,0.000,0.096,3151,2850,2712,2724,2701,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8432,0.69,145.9,3152,2846,2725,2702,405.9,14.8,563,8439,0.00,2.35,0.00,0.000,516,0.000,0.067,3161,1443,2712,2724,2701,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8452,0.69,145.9,3161,1444,2725,2702,402.9,14.5,567,8460,0.00,2.47,0.00,0.000,1030,0.000,0.095,3162,2837,2712,2724,2701,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8764,0.69,145.9,3162,2837,2725,2701,355.1,15.4,579,8770,0.00,2.38,0.00,0.000,516,0.000,0.068,3170,1442,2715,2724,2707,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8794,0.69,145.9,3171,1443,2725,2702,350.5,13.8,585,8803,0.12,2.47,0.00,0.000,5126,0.272,0.095,3138,2841,2712,2724,2701,0,0,0,0,0,0,14.49,14.59,28.83
$GC,9127,0.69,145.9,3139,2842,2725,2702,304.3,13.6,601,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2841,2712,2724,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9427,0.69,145.9,3139,2841,2725,2700,263.4,13.6,611,9434,0.00,2.38,0.00,0.000,516,0.000,0.068,3147,1443,2712,2724,2700,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9478,0.69,145.9,3148,1442,2725,2700,257.1,12.6,621,9486,0.00,2.47,0.00,0.000,1030,0.000,0.095,3147,2842,2712,2724,2701,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9790,0.69,145.9,3149,2842,2725,2702,215.5,13.1,649,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2842,2712,2724,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10090,0.69,145.9,3154,2842,2725,2700,178.2,11.8,679,10097,0.00,2.38,0.00,0.000,516,0.000,0.067,3158,1449,2712,2724,2701,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10172,0.71,174.6,3158,1449,2725,2701,169.5,10.1,695,10200,0.00,2.45,23.83,1.297,9222,0.000,0.096,3158,2832,2603,2610,2597,0,0,0,0,0,0,28.83,14.59,13.88
$GC,10494,0.74,214.0,3158,2832,2607,2589,135.5,9.5,729,10530,0.00,0.00,32.70,1.366,8454,0.000,0.000,3157,2832,2441,2446,2436,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10824,0.76,246.0,3158,2833,2446,2430,101.2,9.9,763,10850,0.00,0.00,24.35,1.233,8198,0.000,0.000,3157,2833,2313,2316,2310,0,0,0,0,0,0,28.83,28.83,13.74
$GC,11145,0.79,285.3,3159,2833,2313,2299,68.1,9.5,795,11166,0.00,2.42,16.38,0.395,8708,0.000,0.068,3165,1449,2153,2156,2150,0,0,0,0,0,0,28.83,14.35,14.15
$GC,11240,0.82,327.8,3166,1449,2163,2151,58.7,9.4,813,11268,0.00,2.50,19.12,0.361,9222,0.000,0.096,3166,2831,1979,1973,1985,0,0,0,0,0,0,28.83,14.35,14.16
$GC,11562,0.87,400.7,3166,2832,1980,1983,28.0,7.8,847,11602,0.00,2.38,32.17,0.284,8708,0.000,0.070,3174,1448,1681,1677,1685,0,0,0,0,0,0,28.83,14.36,14.26
$GC,11656,0.92,479.1,3175,1448,1680,1683,20.8,7.5,864,11698,0.00,2.53,34.17,0.259,9222,0.000,0.098,3174,2842,1361,1362,1360,0,0,0,0,0,0,28.83,14.36,14.23
$FREEZE,10.60,0.652,-1.427,0,1,0
$STATE,11972,end climb,NO_VERTICAL_VELOCITY
$STATE,11972,begin surface
$SM_CCo,11974,93.57,0.229,0,0,499,691.01
$SM_GC,1.66,8.95,0.20,0.00,0.077,0.094,0.000,210,2703,492,-8.40,1.53,692.97,0,0,0,0,0,0,14.43,14.46,28.83
$RAFOS_CLK,495
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7039.27,-14414.55,310714,033914
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.31
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.30
$XPDR_PINGS,10
$SC_FREEKB,3921568
$24V_AH,12.93,13.143
$10V_AH,13.20,0.000
$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,23.100,79.250,433.600,93.575,0.000,0.000,0.000,288.325,7.000,0.000,26.774,0.000,9656.202,763.186,2241.346,92.195,0.000,1739.271,0.000,1332.019,1472.000,38.484,0.000
$DEVICE_MAMPS,409.275,130.050,2029.545,228.735,0.000,0.000,0.000,149.175,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11989.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.650,0.000,0.000,0.000
$MEM,298328
$DATA_FILE_SIZE,29964,898
$CAP_FILE_SIZE,145417,0
$CFSIZE,2097872896,2083913728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13068.05,0x2378b6,7,5
$SOUNDSPEED,1450.9
$EKF,12429,4277.228027,-8651.060547,10.598860,0.113906,-0.041423,-0.009632,0.000258,0.002501,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.014,27.04,1
$GPS,310714,104854,7117.340,-14410.960,53,0.8,73,22.5