version: 66.12
glider: 196
mission: 7
dive: 58
start: 8 3 114 7 49 20
data:
$ID,196
$MISSION,7
$DIVE,58
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,1
$ICE_FREEZE_MARGIN,0.1
$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,8
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,681.01007
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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,-4737.0244
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$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,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,0
$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
$GPS1,030814,074750,7135.655,-14411.276,0,10135.8,0,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.09
$_SM_ANGLEo,-24.4
$GPS2,030814,074750,7135.655,-14411.276,0,10135.8,0,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,26.8,982,-27.9,-11.628,-30.00,1240
$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,15,-0.80,-93.6,2977,2751,1779,1677,0.0,0.0,0,30,0.00,0.00,-13.73,0.000,16386,0.000,0.000,2976,2751,2405,2456,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.80,-93.6,2977,2751,2457,2361,11.2,0.0,1,64,1.00,2.42,-23.27,0.000,20996,0.073,0.099,2630,1368,3643,3699,3587,0,0,0,0,0,0,14.37,14.38,14.58
$GC,213,-0.80,-93.6,2632,1369,3700,3592,52.0,-22.5,36,222,0.00,2.53,0.00,0.000,1030,0.000,0.102,2619,2758,3645,3700,3591,0,0,0,0,0,0,28.83,14.40,28.83
$GC,518,-0.80,-93.6,2620,2758,3701,3592,115.3,-19.6,67,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2758,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-0.80,-93.6,2620,2758,3701,3592,171.0,-17.5,97,829,0.00,1.85,0.00,0.000,260,0.000,0.106,2611,3789,3645,3699,3592,0,0,0,0,0,0,28.83,14.40,28.83
$GC,937,-0.80,-93.6,2612,3790,3700,3593,191.7,-17.3,120,945,0.00,1.73,0.00,0.000,1030,0.000,0.060,2611,2762,3645,3699,3592,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1243,-0.80,-93.6,2611,2762,3701,3592,235.4,-13.8,151,1251,0.00,1.85,0.00,0.000,260,0.000,0.106,2603,3785,3645,3699,3592,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1330,-0.80,-93.6,2603,3785,3701,3592,248.6,-15.0,168,1338,0.10,1.73,0.00,0.000,3078,0.288,0.061,2627,2766,3646,3700,3592,0,0,0,0,0,0,14.27,14.45,28.83
$GC,1645,-0.80,-93.6,2628,2766,3700,3593,287.8,-12.1,180,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2765,3645,3699,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.80,-93.6,2627,2766,3700,3593,323.9,-12.1,190,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2766,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140803081628.734166,3,129,03,0135,0150,250,03,03,03,05,-1,-01,-01,1,3,0,0,150,16.6,2.9,-100,0.1,-01,0.5,34,900,0025*2E
$GC,2246,-0.80,-93.6,2628,2766,3700,3591,359.2,-11.7,200,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.80,-95.4,2628,2766,3700,3592,394.0,-11.5,210,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2766,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.80,-100.1,2628,2766,3701,3591,427.9,-11.2,220,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3645,3699,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-0.81,-106.4,2628,2766,3701,3588,461.4,-11.1,230,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.81,-111.1,2628,2766,3700,3592,495.0,-11.2,240,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.82,-116.4,2628,2766,3701,3592,528.8,-11.2,250,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3646,3700,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.82,-122.5,2628,2766,3701,3592,562.6,-11.1,260,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3646,3700,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4345,-0.83,-131.3,2628,2766,3701,3592,595.8,-10.9,270,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3646,3700,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.83,-141.6,2628,2766,3701,3592,628.2,-10.8,280,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2765,3646,3700,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.84,-145.9,2627,2766,3701,3592,659.8,-10.4,290,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3646,3700,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.84,-145.9,2628,2767,3700,3593,691.3,-10.5,300,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3646,3700,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5545,-0.84,-145.9,2628,2767,3700,3593,722.5,-10.1,310,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2766,3645,3699,3592,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5844,begin apogee
$GC,5847,-0.13,0.0,2625,2767,3705,3593,752.9,-10.1,320,5938,0.82,0.00,82.28,1.969,10244,0.255,0.000,2847,2765,3250,3276,3224,0,0,0,0,0,0,14.58,28.83,13.30
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5940,0.84,145.9,2847,2765,3277,3224,754.7,0.0,323,6072,1.02,0.00,124.40,1.909,11270,0.142,0.000,3157,2764,2656,2662,2650,0,0,0,0,0,0,13.97,28.83,12.98
$GC,6387,0.84,145.9,3158,2765,2663,2645,689.9,16.8,357,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2764,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,0.84,145.9,3158,2764,2663,2643,640.2,16.5,367,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2764,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,0.84,145.9,3158,2764,2663,2643,591.0,16.3,377,6994,0.00,1.85,0.00,0.000,260,0.000,0.105,3157,3787,2652,2661,2643,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7008,0.84,145.9,3164,3787,2663,2643,587.2,17.8,381,7015,0.00,1.77,0.00,0.000,1030,0.000,0.058,3164,2731,2652,2662,2643,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7319,0.84,145.9,3165,2731,2659,2643,535.7,16.4,393,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2736,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,0.84,145.9,3165,2731,2663,2641,486.8,16.3,403,7627,0.00,1.90,0.00,0.000,260,0.000,0.104,3165,3792,2652,2662,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7651,0.84,145.9,3165,3792,2663,2643,480.9,18.5,409,7658,0.00,1.75,0.00,0.000,1030,0.000,0.058,3172,2740,2651,2661,2642,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7983,0.84,145.9,3173,2740,2662,2643,425.8,16.6,425,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2740,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8282,0.84,145.9,3173,2739,2663,2642,376.3,16.5,435,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2739,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8582,0.84,145.9,3173,2740,2663,2643,327.1,16.3,445,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2739,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,0.84,145.9,3173,2740,2663,2643,279.2,15.8,455,8890,0.00,1.88,0.00,0.000,260,0.000,0.106,3172,3792,2652,2662,2642,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8939,0.84,145.9,3173,3792,2662,2643,268.9,18.0,466,8947,0.00,1.75,0.00,0.000,1030,0.000,0.058,3180,2734,2651,2661,2642,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9244,0.84,145.9,3181,2735,2663,2643,221.9,14.8,489,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2734,2652,2662,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9544,0.84,145.9,3180,2734,2663,2642,181.1,12.7,519,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2734,2649,2657,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9845,0.85,171.9,3181,2734,2663,2643,149.8,9.5,549,9868,0.00,0.00,21.67,1.403,8198,0.000,0.000,3180,2734,2554,2560,2549,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10165,0.87,192.3,3180,2734,2557,2542,118.5,9.9,581,10186,0.00,1.95,15.05,1.382,8452,0.000,0.106,3179,3791,2468,2471,2465,0,0,0,0,0,0,28.83,14.36,13.81
$GC,10325,0.87,192.3,3180,3793,2470,2466,100.0,11.9,612,10333,0.00,1.77,0.00,0.000,1030,0.000,0.059,3188,2735,2466,2469,2464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10630,0.90,230.4,3189,2736,2470,2463,71.4,8.5,643,10653,0.00,0.00,15.88,0.401,8198,0.000,0.000,3188,2735,2319,2319,2320,0,0,0,0,0,0,28.83,28.83,14.23
$GC,10950,0.95,307.2,3188,2735,2329,2319,44.9,5.3,675,10992,0.00,1.92,33.47,0.321,8452,0.000,0.108,3188,3786,2006,2007,2006,0,0,0,0,0,0,28.83,14.36,14.27
$GC,11156,0.97,331.3,3189,3786,2010,2003,27.3,9.6,714,11172,0.00,1.77,10.73,0.282,9222,0.000,0.060,3195,2733,1905,1904,1907,0,0,0,0,0,0,28.83,14.46,14.29
$GC,11477,1.06,467.2,3196,2734,1910,1905,11.8,0.4,747,11540,0.12,1.95,58.60,0.228,10500,0.142,0.109,3246,3785,1349,1357,1342,0,0,0,0,0,0,14.48,14.37,14.29
$GC,11689,1.16,607.9,3247,3787,1357,1335,10.5,-0.0,786,11758,0.00,1.73,61.08,0.226,9222,0.000,0.060,3247,2762,776,762,790,0,0,0,0,0,0,28.83,14.45,14.26
$FREEZE,8.77,2.906,-1.316,2,9,0
$FREEZE,8.40,3.552,-1.283,2,9,0
$FREEZE,8.15,3.977,-1.264,2,9,0
$FREEZE,7.80,4.073,-1.258,2,9,0
$FREEZE,7.64,4.127,-1.258,2,9,0
$FREEZE,7.26,4.121,-1.260,2,9,0
$FREEZE,6.79,4.119,-1.262,2,9,0
$FREEZE,6.38,4.126,-1.263,2,9,0
$FREEZE,5.86,4.157,-1.259,2,9,0
$FREEZE,5.51,4.211,-1.255,2,9,0
$FREEZE,5.19,4.231,-1.254,2,9,0
$FREEZE,4.92,4.241,-1.252,2,9,0
$FREEZE,4.68,4.218,-1.254,2,9,0
$FREEZE,4.43,4.259,-1.252,2,9,0
$FREEZE,4.06,4.267,-1.252,2,9,0
$FREEZE,3.72,4.255,-1.255,2,9,0
$FREEZE,3.59,4.194,-1.259,2,9,0
$FREEZE,3.26,4.172,-1.261,2,9,0
$FREEZE,3.03,4.243,-1.257,2,9,0
$FREEZE,2.75,4.199,-1.259,2,9,0
$FREEZE,2.54,4.265,-1.256,2,9,0
$FREEZE,2.21,4.173,-1.258,2,9,0
$FREEZE,1.81,4.229,-1.258,2,9,0
$STATE,11981,end climb,SURFACE_DEPTH_REACHED
$STATE,11982,begin surface coast
$FREEZE,1.37,4.240,-1.251,2,9,0
$FREEZE,1.08,4.230,-1.250,2,9,0
$FREEZE,0.59,4.181,-1.248,2,9,0
$FREEZE,0.55,4.198,-1.245,2,9,0
$FREEZE,0.53,4.099,-1.187,2,9,0
$FREEZE,0.63,4.172,-0.795,2,9,0
$FINISH,0.6,1.011653
$STATE,12042,end surface coast,CONTROL_FINISHED_OK
$STATE,12042,begin surface
$SM_CCo,12056,30.40,0.200,0,0,499,676.54
$SM_CCo,12087,-0.17,0.000,0,0,502,676.29
$SM_CCo,12089,0.05,1.779,0,0,500,676.54
$SM_GC,1.32,9.05,0.00,0.05,0.063,0.000,1.779,203,2762,500,-8.36,0.06,676.54,0,0,0,0,0,0,14.46,28.83,14.26
$RAFOS_CLK,571
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,021237
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.88
$INTERNAL_PRESSURE,8.5921
$TCM_TEMP,12.90
$XPDR_PINGS,3
$SC_FREEKB,3912160
$24V_AH,12.98,18.663
$10V_AH,12.90,0.000
$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,12.125,35.875,423.150,30.450,0.000,0.000,0.000,0.000,0.750,0.000,0.000,0.000,9813.373,540.026,1757.966,66.992,0.000,1167.106,0.000,1229.828,1493.000,0.538,0.000
$DEVICE_MAMPS,287.640,108.630,1969.110,1778.625,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12074.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.200,0.000,0.000,0.000
$MEM,289496
$DATA_FILE_SIZE,26725,825
$CAP_FILE_SIZE,125584,0
$CFSIZE,2097872896,2080047104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5845.31,0x2378b6,2,5
$INTR,1,12044.60,0x2378b6,7,5
$SOUNDSPEED,1449.4
$EKF,12187,4296.529297,-8648.323242,0.626631,-0.028110,-0.034469,0.012656,0.003037,0.030484,0.000099,0.001025,0.001025,0.000050
$GPS,030814,111224,7136.114,-14411.527,47,0.8,67,22.6