version: 66.12
glider: 197
mission: 6
dive: 31
start: 7 30 114 6 9 33
data:
$ID,197
$MISSION,6
$DIVE,31
$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,54283
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0029
$HD_B,0.013
$HD_C,1.7e-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,674.87756
$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,-6976.1802
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3292
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$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,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-65.523643
$PRESSURE_SLOPE,0.000117962
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,640
$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,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,300714,055626,7103.212,-14448.519,32,1.0,52,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-73.1
$GPS2,300714,060915,7103.155,-14448.511,12,1.1,32,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,306.0,70655,-21.8,-11.628,-25.61,1935
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.78,-145.9,175,2562,393,610,0.0,0.0,0,83,0.00,0.00,-62.92,0.000,16386,0.000,0.000,175,2560,2074,2077,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.78,-145.9,176,2561,2078,2072,3.1,-2.2,6,141,11.02,2.12,-36.72,0.000,18692,0.465,0.142,2222,3712,3891,3866,3916,0,0,0,0,0,0,14.22,14.41,14.63
$GC,350,-0.62,-145.9,2222,3713,3867,3918,70.2,-21.8,56,360,0.28,1.95,0.00,0.000,3078,0.304,0.069,2284,2538,3892,3866,3918,0,0,0,0,0,0,14.36,14.50,28.83
$GC,664,-0.65,-145.9,2284,2538,3862,3920,119.9,-14.4,88,673,0.00,2.38,0.00,0.000,516,0.000,0.088,2285,1149,3892,3866,3919,0,0,0,0,0,0,28.83,14.57,28.83
$GC,717,-0.72,-145.9,2284,1149,3867,3920,127.4,-13.2,98,725,0.00,2.50,0.00,0.000,1030,0.000,0.115,2279,2548,3892,3866,3919,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1030,-0.77,-145.9,2279,2544,3867,3920,167.6,-11.9,130,1037,0.12,2.08,0.00,0.000,4356,0.151,0.119,2217,3715,3895,3872,3919,0,0,0,0,0,0,14.64,14.56,28.83
$GC,1067,-0.71,-145.9,2217,3716,3867,3919,173.4,-17.5,137,1076,0.17,1.92,0.00,0.000,3078,0.288,0.070,2255,2542,3892,3866,3919,0,0,0,0,0,0,14.51,14.66,28.83
$GC,1372,-0.76,-145.9,2255,2543,3866,3920,211.7,-12.5,168,1381,0.00,2.38,0.00,0.000,516,0.000,0.090,2254,1153,3892,3865,3919,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1466,-0.83,-145.9,2255,1153,3865,3920,222.7,-10.5,186,1474,0.00,2.50,0.00,0.000,1030,0.000,0.116,2249,2553,3891,3864,3919,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1799,-0.88,-145.9,2249,2554,3862,3919,260.9,-11.3,214,1801,0.12,0.00,0.00,0.000,4102,0.152,0.000,2200,2554,3890,3861,3919,0,0,0,0,0,0,14.69,28.83,28.83
$GC,2099,-0.86,-145.9,2200,2555,3860,3917,302.3,-13.7,224,2108,0.00,2.40,0.00,0.000,516,0.000,0.092,2199,1153,3888,3859,3918,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2172,-0.86,-145.9,2199,1153,3860,3919,312.2,-13.1,238,2180,0.00,2.50,0.00,0.000,1030,0.000,0.117,2189,2553,3889,3860,3918,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2495,-0.83,-145.9,2190,2554,3860,3919,357.3,-13.9,252,2504,0.12,2.40,0.00,0.000,2564,0.347,0.085,2217,1151,3886,3859,3914,0,0,0,0,0,0,14.57,14.70,28.83
$GC,2563,-0.86,-145.9,2222,1150,3859,3919,365.9,-11.7,265,2572,0.00,2.50,0.00,0.000,1030,0.000,0.114,2209,2557,3888,3859,3918,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2892,-0.86,-145.9,2211,2558,3859,3919,407.1,-12.7,280,2901,0.00,2.40,0.00,0.000,516,0.000,0.088,2211,1145,3888,3859,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2950,-0.88,-145.9,2211,1145,3858,3919,414.5,-12.7,291,2959,0.00,2.50,0.00,0.000,1030,0.000,0.114,2202,2558,3888,3858,3918,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3255,-0.88,-145.9,2203,2557,3858,3919,454.3,-13.0,302,3263,0.00,2.40,0.00,0.000,516,0.000,0.088,2202,1144,3888,3858,3918,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3342,-0.88,-145.9,2202,1145,3859,3919,465.4,-12.6,319,3351,0.00,2.50,0.00,0.000,1030,0.000,0.113,2194,2556,3888,3858,3918,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3647,-0.88,-145.9,2194,2557,3860,3918,506.6,-13.6,330,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2556,3888,3858,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3947,-0.88,-145.9,2194,2557,3859,3919,547.0,-13.4,340,3957,0.00,2.38,0.00,0.000,516,0.000,0.088,2194,1156,3887,3857,3918,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4066,-0.88,-145.9,2194,1156,3858,3919,562.2,-12.7,363,4075,0.00,2.47,0.00,0.000,1030,0.000,0.115,2188,2556,3892,3866,3918,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4371,-0.88,-145.9,2189,2557,3854,3918,602.4,-13.2,374,4379,0.00,2.40,0.00,0.000,516,0.000,0.088,2188,1148,3887,3857,3918,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4433,-0.88,-145.9,2189,1147,3857,3918,610.6,-13.1,386,4441,0.00,2.47,0.00,0.000,1030,0.000,0.114,2184,2549,3887,3857,3918,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4765,-0.86,-145.9,2184,2550,3858,3925,655.9,-13.7,402,4773,0.15,2.40,0.00,0.000,2564,0.340,0.087,2213,1144,3887,3857,3918,0,0,0,0,0,0,14.62,14.75,28.83
$GC,4832,-0.90,-145.9,2213,1145,3857,3918,664.0,-12.3,415,4840,0.00,2.47,0.00,0.000,1030,0.000,0.111,2207,2548,3887,3857,3918,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5159,-0.90,-145.9,2210,2551,3857,3918,703.6,-12.0,430,5167,0.00,2.38,0.00,0.000,516,0.000,0.086,2207,1151,3886,3855,3918,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5251,-0.93,-145.9,2207,1151,3857,3917,714.6,-12.1,448,5261,0.00,2.47,0.00,0.000,1030,0.000,0.113,2198,2554,3887,3856,3918,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,5554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5554,begin apogee
$GC,5557,-0.16,0.0,2199,2400,3856,3918,752.7,-12.5,463,5687,0.90,0.00,125.40,1.789,10246,0.271,0.000,2436,2398,3292,3246,3338,0,0,0,0,0,0,14.64,28.83,13.30
$STATE,5690,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5691,0.78,145.9,2437,2399,3236,3330,756.1,0.0,467,5829,1.02,0.00,125.20,1.774,10502,0.145,0.000,2744,2398,2686,2614,2758,0,0,0,0,0,0,14.00,28.83,13.11
$GC,6133,0.68,145.9,2745,2404,2603,2751,707.1,13.6,487,6142,0.15,2.38,0.00,0.000,4356,0.314,0.112,2715,3716,2675,2603,2748,0,0,0,0,0,0,14.23,14.32,28.83
$GC,6166,0.56,145.9,2715,3717,2603,2751,702.5,13.9,493,6174,0.20,2.22,0.00,0.000,5126,0.301,0.068,2675,2401,2676,2602,2750,0,0,0,0,0,0,14.26,14.38,28.83
$GC,6498,0.58,176.8,2676,2400,2601,2751,668.9,10.0,509,6532,0.00,0.00,26.73,1.627,8198,0.000,0.000,2675,2400,2560,2478,2642,0,0,0,0,0,0,28.83,28.83,13.65
$GC,7444,0.62,189.7,2676,2401,2470,2635,635.1,10.9,520,7451,0.00,0.00,4.00,1.142,8198,0.000,0.000,2675,2400,2517,2435,2599,0,0,0,0,0,0,28.83,28.83,13.66
$GC,7744,0.66,201.6,2672,2400,2455,2623,602.1,11.0,530,7770,0.00,0.00,19.08,1.545,8454,0.000,0.000,2675,2400,2460,2380,2541,0,0,0,0,0,0,28.83,28.83,13.72
$GC,8079,0.70,211.8,2676,2400,2371,2533,565.0,11.1,546,8088,0.12,0.00,2.60,0.659,10502,0.144,0.000,2728,2400,2428,2348,2508,0,0,0,0,0,0,14.53,28.83,13.69
$GC,8412,0.66,211.8,2730,2400,2369,2523,518.5,14.1,562,8417,0.00,0.00,2.17,0.413,8198,0.000,0.000,2730,2400,2425,2347,2504,0,0,0,0,0,0,28.83,28.83,13.76
$GC,8712,0.62,211.8,2727,2401,2367,2521,476.9,13.9,572,8718,0.15,0.00,1.92,0.225,12294,0.284,0.000,2698,2400,2425,2347,2504,0,0,0,0,0,0,14.54,28.83,14.56
$GC,9012,0.62,211.8,2698,2400,2367,2520,441.1,11.8,582,9017,0.00,0.00,1.80,0.230,8198,0.000,0.000,2698,2400,2427,2349,2505,0,0,0,0,0,0,28.83,28.83,14.59
$GC,9312,0.62,211.8,2698,2400,2368,2521,405.2,12.0,592,9318,0.00,0.00,1.92,0.228,8198,0.000,0.000,2698,2400,2425,2347,2503,0,0,0,0,0,0,28.83,28.83,14.63
$GC,9612,0.62,211.8,2698,2400,2368,2520,369.4,12.0,602,9616,0.00,0.00,1.85,0.230,8198,0.000,0.000,2698,2400,2426,2348,2504,0,0,0,0,0,0,28.83,28.83,14.64
$GC,9912,0.64,211.8,2698,2400,2367,2520,333.5,11.9,612,9917,0.00,0.00,1.70,0.233,8198,0.000,0.000,2698,2400,2427,2350,2505,0,0,0,0,0,0,28.83,28.83,14.65
$GC,10212,0.64,211.8,2699,2397,2367,2520,297.7,11.9,622,10217,0.00,0.00,1.85,0.231,8198,0.000,0.000,2698,2400,2426,2348,2504,0,0,0,0,0,0,28.83,28.83,14.66
$GC,10512,0.67,217.8,2698,2400,2367,2520,263.6,11.3,632,10527,0.00,0.00,11.48,1.192,8198,0.000,0.000,2698,2400,2405,2325,2485,0,0,0,0,0,0,28.83,28.83,14.14
$GC,10812,0.71,223.1,2698,2401,2314,2470,228.8,11.3,654,10816,0.00,0.00,1.05,0.259,8198,0.000,0.000,2698,2400,2378,2302,2454,0,0,0,0,0,0,28.83,28.83,14.62
$GC,11112,0.76,235.1,2698,2400,2315,2464,195.8,11.0,684,11135,0.12,2.40,15.38,1.140,10500,0.149,0.116,2756,3713,2325,2247,2403,0,0,0,0,0,0,14.69,14.55,14.07
$GC,11159,0.65,235.1,2757,3714,2241,2400,188.8,16.5,692,11169,0.28,2.20,0.00,0.000,5126,0.276,0.069,2701,2390,2319,2239,2400,0,0,0,0,0,0,14.46,14.61,28.83
$GC,11474,0.74,274.8,2702,2390,2236,2400,157.3,9.5,724,11517,0.00,2.42,34.88,1.082,8708,0.000,0.093,2704,999,2158,2072,2245,0,0,0,0,0,0,28.83,14.42,13.97
$GC,11532,0.88,338.9,2704,999,2068,2239,152.3,8.2,733,11594,0.22,2.50,55.35,1.046,11270,0.102,0.104,2795,2400,1906,1808,2004,0,0,0,0,0,0,14.47,14.42,13.76
$GC,11888,0.88,338.9,2796,2400,1781,1983,99.5,14.5,772,11898,0.00,2.35,0.00,0.000,260,0.000,0.116,2796,3716,1879,1776,1982,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11927,0.81,338.9,2796,3717,1781,1983,93.3,16.2,779,11936,0.22,2.20,0.00,0.000,5126,0.275,0.068,2755,2399,1881,1781,1982,0,0,0,0,0,0,14.38,14.48,28.83
$GC,12232,0.89,362.7,2756,2400,1779,1983,59.8,10.4,810,12246,0.00,0.00,7.97,0.324,8198,0.000,0.000,2755,2399,1811,1710,1912,0,0,0,0,0,0,28.83,28.83,14.37
$GC,12542,1.03,428.6,2756,2400,1737,1925,32.8,8.1,841,12584,0.20,2.45,32.40,0.270,10756,0.109,0.093,2846,994,1543,1438,1648,0,0,0,0,0,0,14.61,14.50,14.42
$GC,12627,1.03,428.6,2846,995,1452,1649,22.6,13.0,856,12639,0.00,2.50,0.00,0.000,1030,0.000,0.103,2846,2401,1550,1452,1648,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12933,1.25,634.5,2847,2401,1456,1648,13.7,0.7,887,12969,0.12,0.00,32.03,0.221,10754,0.142,0.000,2905,2401,1267,1158,1376,0,0,0,0,0,0,14.62,28.83,28.83
$FREEZE,13.47,4.100,-1.435,0,1,0
$STATE,12970,end climb,NO_VERTICAL_VELOCITY
$STATE,12970,begin surface
$SM_CCo,12973,85.25,0.213,0,0,499,684.88
$SM_GC,2.49,8.52,0.28,0.00,0.129,0.129,0.000,183,2558,502,-7.18,-0.59,684.14,0,0,0,0,0,0,14.52,14.54,28.83
$RAFOS_CLK,574195
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7026.32,-14446.94,300714,021130
$TT8_MAMPS,0.042693,0.042693
$HUMID,46.25
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3924288
$TM_FREEKB,7584212
$24V_AH,13.11,18.652
$10V_AH,13.22,0.000
$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,24.250,81.025,506.750,85.250,0.000,0.000,0.000,481.050,1.500,0.000,34.249,0.000,9756.770,805.755,2675.862,102.284,0.000,2091.867,0.000,1324.598,1481.000,11.788,0.000
$DEVICE_MAMPS,465.120,142.290,1788.570,212.670,0.000,0.000,0.000,195.075,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12989.000,13074.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.287,13.430,0.000,0.000
$MEM,301392
$DATA_FILE_SIZE,30062,892
$CAP_FILE_SIZE,163669,0
$CFSIZE,1047117824,1037434880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13859.56,0x2378b6,7,5
$SOUNDSPEED,1451.8
$EKF,12674,4264.667969,-8691.169922,13.475814,-0.006072,0.006182,-0.033392,0.001230,0.011682,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.024,264.09,1
$GPS,300714,094044,7104.651,-14451.679,41,0.9,62,28.3