version: 66.12
glider: 197
mission: 6
dive: 34
start: 7 30 114 16 49 43
data:
$ID,197
$MISSION,6
$DIVE,34
$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,-6979.9604
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,300714,163628,7107.661,-14457.659,36,1.9,56,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.5
$GPS2,300714,164925,7107.601,-14457.689,31,1.2,51,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.3,60839,-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,16,-0.78,-145.9,183,2568,478,624,0.0,0.0,0,73,0.00,0.00,-53.83,0.000,16386,0.000,0.000,182,2573,1935,1938,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.78,-145.9,182,2569,1938,1933,3.8,-3.7,5,132,11.02,2.03,-36.20,0.000,18692,0.467,0.137,2224,3706,3888,3865,3912,0,0,0,0,0,0,14.22,14.42,14.64
$GC,356,-0.62,-145.9,2224,3707,3866,3915,74.5,-23.3,58,367,0.20,1.98,0.00,0.000,3078,0.298,0.067,2285,2537,3890,3865,3915,0,0,0,0,0,0,14.39,14.53,28.83
$GC,661,-0.65,-145.9,2286,2538,3866,3917,121.3,-14.6,89,669,0.00,2.05,0.00,0.000,260,0.000,0.119,2279,3699,3891,3865,3917,0,0,0,0,0,0,28.83,14.55,28.83
$GC,697,-0.65,-145.9,2279,3700,3865,3917,126.8,-15.8,96,707,0.00,1.95,0.00,0.000,1030,0.000,0.068,2278,2547,3890,3865,3916,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1003,-0.71,-145.9,2279,2547,3865,3917,167.8,-12.2,127,1011,0.00,2.40,0.00,0.000,516,0.000,0.088,2279,1141,3890,3865,3915,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1090,-0.79,-145.9,2279,1140,3865,3917,177.9,-11.5,144,1100,0.12,2.50,0.00,0.000,5126,0.147,0.113,2223,2540,3890,3865,3916,0,0,0,0,0,0,14.62,14.57,28.83
$GC,1395,-0.79,-145.9,2220,2541,3865,3917,219.7,-13.6,175,1403,0.00,2.38,0.00,0.000,516,0.000,0.088,2223,1148,3890,3864,3916,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1467,-0.79,-145.9,2224,1147,3864,3917,229.4,-13.5,189,1475,0.00,2.50,0.00,0.000,1030,0.000,0.112,2215,2552,3889,3863,3916,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1779,-0.79,-145.9,2215,2553,3862,3916,271.1,-13.3,211,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2552,3889,3862,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.79,-145.9,2215,2554,3861,3917,311.1,-13.3,221,2087,0.00,2.40,0.00,0.000,516,0.000,0.090,2215,1148,3887,3860,3915,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2176,-0.79,-145.9,2215,1147,3859,3916,323.9,-13.4,240,2184,0.12,2.50,0.00,0.000,3078,0.325,0.112,2231,2557,3888,3860,3916,0,0,0,0,0,0,14.57,14.67,28.83
$GC,2503,-0.82,-145.9,2230,2558,3861,3916,363.0,-11.7,255,2511,0.00,2.40,0.00,0.000,516,0.000,0.085,2231,1146,3887,3859,3916,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2565,-0.87,-145.9,2232,1146,3860,3917,370.2,-11.2,267,2573,0.00,2.47,0.00,0.000,1030,0.000,0.109,2223,2551,3887,3859,3916,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2898,-0.89,-145.9,2225,2552,3860,3918,410.1,-11.9,283,2906,0.00,2.38,0.00,0.000,516,0.000,0.085,2224,1147,3887,3859,3916,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2970,-0.93,-145.9,2225,1147,3860,3917,418.7,-11.7,297,2978,0.00,2.47,0.00,0.000,1030,0.000,0.109,2214,2551,3887,3859,3916,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3292,-0.93,-145.9,2215,2552,3860,3917,457.7,-12.2,311,3300,0.00,2.38,0.00,0.000,516,0.000,0.085,2214,1147,3887,3859,3916,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3349,-0.96,-145.9,2215,1147,3859,3916,464.7,-12.3,322,3360,0.00,2.47,0.00,0.000,1030,0.000,0.110,2208,2551,3885,3859,3911,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3654,-0.96,-145.9,2208,2552,3860,3917,503.2,-12.6,333,3662,0.00,2.38,0.00,0.000,516,0.000,0.084,2208,1145,3887,3859,3916,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3716,-0.96,-145.9,2208,1148,3859,3917,511.0,-12.5,345,3724,0.00,2.47,0.00,0.000,1030,0.000,0.111,2199,2553,3887,3859,3916,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4048,-0.96,-145.9,2199,2551,3860,3917,554.3,-13.2,361,4056,0.00,2.38,0.00,0.000,516,0.000,0.086,2199,1148,3887,3859,3916,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4110,-0.96,-145.9,2198,1148,3859,3917,562.2,-12.8,373,4118,0.00,2.47,0.00,0.000,1030,0.000,0.111,2187,2550,3886,3859,3913,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4443,-0.93,-145.9,2190,2550,3859,3917,606.6,-13.2,389,4450,0.00,2.38,0.00,0.000,516,0.000,0.086,2190,1144,3887,3859,3916,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4529,-0.93,-145.9,2191,1143,3859,3917,618.0,-13.5,406,4540,0.00,2.47,0.00,0.000,1030,0.000,0.110,2182,2553,3887,3859,3916,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4835,-0.90,-145.9,2182,2554,3859,3916,658.8,-13.4,417,4842,0.00,2.38,0.00,0.000,516,0.000,0.086,2182,1147,3887,3859,3916,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4896,-0.90,-145.9,2182,1146,3860,3915,667.0,-13.2,429,4904,0.00,2.47,0.00,0.000,1030,0.000,0.110,2174,2549,3887,3859,3916,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5229,-0.86,-145.9,2175,2554,3859,3923,712.3,-13.7,445,5237,0.15,2.40,0.00,0.000,2564,0.340,0.081,2207,1137,3887,3859,3916,0,0,0,0,0,0,14.62,14.72,28.83
$GC,5316,-0.89,-145.9,2208,1137,3859,3916,722.5,-11.3,462,5327,0.00,2.50,0.00,0.000,1030,0.000,0.108,2200,2561,3887,3858,3916,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5563,-0.16,0.0,2201,2400,3859,3917,752.0,-12.1,471,5747,0.90,0.00,179.62,1.486,10246,0.274,0.000,2437,2399,3291,3246,3337,0,0,0,0,0,0,14.64,28.83,13.36
$STATE,5750,end apogee,CONTROL_FINISHED_OK
$STATE,5750,begin climb
$GC,5751,0.78,145.9,2437,2400,3240,3331,757.3,0.0,477,5894,1.00,2.62,125.53,1.773,10756,0.143,0.088,2750,1002,2685,2615,2755,0,0,0,0,0,0,13.97,13.74,13.09
$GC,6018,0.70,145.9,2750,1002,2607,2748,732.9,13.1,523,6026,0.15,2.55,0.00,0.000,5126,0.292,0.097,2720,2404,2676,2605,2747,0,0,0,0,0,0,14.01,14.12,28.83
$GC,6331,0.63,145.9,2721,2406,2604,2748,692.5,13.0,535,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2406,2675,2603,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,0.57,145.9,2720,2406,2604,2744,653.8,12.8,545,6633,0.17,0.00,0.00,0.000,4102,0.296,0.000,2681,2406,2675,2603,2747,0,0,0,0,0,0,14.40,28.83,28.83
$GC,6930,0.58,165.6,2681,2406,2603,2752,621.6,10.6,555,6950,0.00,0.00,16.60,1.560,8198,0.000,0.000,2681,2406,2616,2539,2694,0,0,0,0,0,0,28.83,28.83,13.81
$GC,7231,0.59,172.2,2682,2406,2519,2682,588.0,11.3,565,7239,0.00,2.30,1.25,0.243,8452,0.000,0.109,2681,3711,2586,2504,2668,0,0,0,0,0,0,28.83,14.54,14.50
$GC,7283,0.53,172.2,2681,3711,2518,2671,581.4,12.8,575,7290,0.00,2.17,0.00,0.000,1030,0.000,0.066,2689,2397,2593,2517,2670,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7595,0.54,179.1,2689,2397,2520,2677,545.6,11.3,587,7602,0.00,0.00,4.62,1.202,8198,0.000,0.000,2688,2396,2562,2481,2644,0,0,0,0,0,0,28.83,28.83,13.91
$GC,7895,0.54,182.2,2689,2396,2503,2661,511.1,11.5,597,7902,0.00,0.00,3.85,1.078,8198,0.000,0.000,2688,2396,2548,2468,2629,0,0,0,0,0,0,28.83,28.83,13.83
$GC,8195,0.54,188.4,2689,2397,2492,2652,476.9,11.3,607,8212,0.00,0.00,14.70,1.421,8198,0.000,0.000,2688,2396,2522,2442,2602,0,0,0,0,0,0,28.83,28.83,13.96
$GC,8494,0.54,188.4,2689,2396,2425,2587,441.5,11.9,617,8502,0.00,2.33,0.00,0.000,260,0.000,0.114,2688,3714,2505,2425,2586,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8527,0.49,188.4,2689,3715,2426,2586,437.2,14.1,623,8534,0.20,2.17,0.00,0.000,5126,0.281,0.067,2654,2394,2505,2424,2586,0,0,0,0,0,0,14.53,14.65,28.83
$GC,8859,0.59,227.8,2654,2393,2425,2586,404.9,9.5,639,8902,0.00,0.00,40.65,1.262,8198,0.000,0.000,2653,2393,2363,2284,2442,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9189,0.70,256.2,2654,2394,2268,2429,371.5,10.1,650,9224,0.20,0.00,25.40,1.307,10246,0.107,0.000,2730,2393,2234,2150,2318,0,0,0,0,0,0,14.59,28.83,13.85
$GC,9519,0.67,256.2,2731,2393,2142,2308,320.6,15.8,661,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2393,2225,2140,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9819,0.64,256.2,2731,2394,2142,2312,274.0,15.5,671,9822,0.15,0.00,0.00,0.000,4102,0.284,0.000,2699,2392,2225,2140,2311,0,0,0,0,0,0,14.53,28.83,28.83
$GC,10119,0.67,256.2,2698,2393,2139,2311,234.9,12.7,687,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2392,2225,2140,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10419,0.72,256.2,2700,2393,2138,2311,197.7,12.0,717,10427,0.00,2.33,0.00,0.000,260,0.000,0.114,2699,3715,2225,2139,2311,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10451,0.72,256.2,2700,3715,2139,2308,193.5,12.9,723,10459,0.00,2.17,0.00,0.000,1030,0.000,0.067,2704,2403,2224,2139,2310,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10764,0.79,277.8,2704,2402,2139,2312,159.1,10.5,755,10788,0.12,0.00,17.75,1.082,10246,0.145,0.000,2761,2401,2153,2067,2239,0,0,0,0,0,0,14.69,28.83,14.08
$GC,11084,0.79,277.8,2761,2401,2049,2230,119.3,12.2,787,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2400,2139,2049,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12476,0.94,491.5,2761,2401,2049,2232,85.7,0.3,817,12580,0.10,0.00,95.28,0.428,10758,0.161,0.000,2806,2400,1284,1177,1392,0,0,0,0,0,0,14.64,28.83,14.19
$GC,12876,1.00,491.5,2805,2405,1193,1397,29.6,12.0,858,12886,0.00,2.35,0.00,0.000,260,0.000,0.116,2805,3710,1294,1192,1397,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12905,1.03,491.5,2806,3711,1192,1397,25.8,13.2,863,12914,0.00,2.20,0.00,0.000,1030,0.000,0.067,2813,2397,1295,1193,1397,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13210,1.39,713.2,2813,2397,1192,1397,11.0,-0.2,894,13308,0.35,2.45,87.57,0.210,10756,0.083,0.092,2962,996,497,392,602,0,0,0,0,0,0,14.59,14.46,14.41
$STATE,13391,end climb,SURFACE_DEPTH_REACHED
$STATE,13391,begin surface coast
$FINISH,1.5,1.009123
$STATE,13422,end surface coast,CONTROL_FINISHED_OK
$STATE,13422,begin surface
$SM_CCo,13505,0.00,0.000,0,0,501,684.63
$SM_GC,2.75,8.38,2.85,0.00,0.093,0.106,0.000,178,2558,501,-7.19,-0.45,684.63,0,0,0,0,0,0,14.50,14.51,28.83
$RAFOS_CLK,102080
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14455.58,300714,130908
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.44
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3922944
$TM_FREEKB,7528404
$24V_AH,13.09,19.840
$10V_AH,12.75,0.000
$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,23.350,90.300,612.825,0.000,0.000,0.000,0.000,479.200,1.500,0.000,54.068,0.000,9533.981,807.761,2743.867,102.064,0.000,2120.962,0.000,1378.152,1495.000,12.387,0.000
$DEVICE_MAMPS,466.650,136.935,1772.505,0.000,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13446.000,13529.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.233,13.439,0.000,0.000
$MEM,300084
$DATA_FILE_SIZE,33385,931
$CAP_FILE_SIZE,160201,0
$CFSIZE,1047117824,1036861440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12759.32,0x2378b6,7,5
$SOUNDSPEED,1451.7
$EKF,12526,4269.259277,-8699.916992,1.480035,0.655854,0.080388,-0.005368,0.003745,0.035873,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.046,218.60,1
$GPS,300714,201826,7109.000,-14500.557,54,1.0,74,28.3