version: 66.12
glider: 197
mission: 6
dive: 38
start: 7 31 114 8 8 11
data:
$ID,197
$MISSION,6
$DIVE,38
$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,-7142.1553
$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,2450
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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
$GPS1,310714,075056,7112.625,-14506.527,63,1.1,83,28.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-74.6
$GPS2,310714,080757,7112.646,-14506.922,14,1.0,34,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.0,50047,-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,-145.9,183,2460,401,615,0.0,0.0,0,58,0.00,0.00,-34.10,0.000,16386,0.000,0.000,182,2460,1397,1401,1393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.78,-145.9,186,2460,1402,1395,3.2,-2.8,4,141,10.98,2.28,-58.22,0.000,19204,0.463,0.135,2222,3705,3889,3865,3914,0,0,0,0,0,0,14.18,14.36,14.59
$GC,365,-0.60,-145.9,2222,3706,3866,3921,74.2,-22.6,61,375,0.30,2.10,0.00,0.000,3078,0.308,0.061,2289,2439,3893,3866,3921,0,0,0,0,0,0,14.33,14.47,28.83
$GC,671,-0.64,-145.9,2289,2441,3867,3922,120.2,-13.6,92,678,0.00,2.25,0.00,0.000,260,0.000,0.117,2283,3707,3894,3866,3922,0,0,0,0,0,0,28.83,14.47,28.83
$GC,903,-0.69,-145.9,2286,3704,3866,3922,152.7,-13.2,138,910,0.00,2.08,0.00,0.000,1030,0.000,0.064,2283,2449,3893,3865,3922,0,0,0,0,0,0,28.83,14.54,28.83
$MODEM_MSG,CACST,6,1,20140731081632.140302,3,607,03,0135,0150,217,03,03,04,03,-1,-01,-01,1,3,0,0,150,21.5,4.8,-100,-1.8,-01,0.0,20,900,0025*07
$GC,1215,-0.77,-145.9,2285,2449,3866,3922,189.4,-11.1,170,1223,0.12,2.22,0.00,0.000,4356,0.148,0.115,2218,3699,3894,3866,3922,0,0,0,0,0,0,14.56,14.55,28.83
$GC,1447,-0.74,-145.9,2223,3700,3867,3924,223.3,-14.5,216,1455,0.12,2.08,0.00,0.000,3078,0.304,0.066,2246,2441,3893,3864,3922,0,0,0,0,0,0,14.49,14.62,28.83
$GC,1770,-0.79,-145.9,2247,2440,3862,3922,261.0,-11.4,243,1779,0.00,2.22,0.00,0.000,260,0.000,0.119,2239,3704,3891,3861,3921,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1834,-0.82,-145.9,2240,3707,3860,3922,268.9,-12.9,255,1843,0.00,2.08,0.00,0.000,1030,0.000,0.066,2238,2442,3890,3860,3921,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2168,-0.86,-145.9,2240,2442,3860,3921,307.4,-11.5,271,2177,0.00,2.38,0.00,0.000,516,0.000,0.089,2239,1046,3890,3859,3922,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2227,-0.92,-145.9,2240,1046,3859,3922,314.1,-11.4,282,2237,0.12,2.47,0.00,0.000,5126,0.146,0.110,2182,2445,3890,3859,3921,0,0,0,0,0,0,14.69,14.66,28.83
$GC,2532,-0.87,-145.9,2182,2446,3859,3921,357.7,-14.5,293,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2445,3890,3859,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.83,-145.9,2182,2446,3859,3922,400.8,-14.4,303,2835,0.17,0.00,0.00,0.000,2054,0.318,0.000,2218,2446,3889,3858,3921,0,0,0,0,0,0,14.59,28.83,28.83
$GC,3132,-0.86,-145.9,2218,2446,3858,3921,436.9,-11.9,313,3140,0.00,2.38,0.00,0.000,516,0.000,0.086,2218,1044,3889,3858,3921,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3184,-0.89,-145.9,2218,1045,3859,3921,443.1,-11.8,323,3193,0.00,2.47,0.00,0.000,1030,0.000,0.107,2206,2450,3889,3858,3921,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3498,-0.89,-145.9,2211,2450,3853,3921,481.5,-12.3,335,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2450,3887,3854,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3797,-0.89,-145.9,2211,2451,3858,3923,518.0,-12.1,345,3805,0.00,2.38,0.00,0.000,516,0.000,0.085,2210,1043,3889,3858,3921,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3854,-0.92,-145.9,2210,1043,3858,3922,525.0,-12.0,356,3863,0.00,2.47,0.00,0.000,1030,0.000,0.108,2197,2455,3889,3858,3921,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4159,-0.92,-145.9,2201,2453,3858,3922,563.2,-12.7,367,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2455,3889,3858,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.92,-145.9,2201,2455,3858,3921,600.9,-12.4,377,4467,0.00,2.38,0.00,0.000,516,0.000,0.086,2201,1050,3889,3857,3921,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4516,-0.92,-145.9,2202,1050,3857,3922,608.2,-12.7,388,4526,0.00,2.45,0.00,0.000,1030,0.000,0.109,2193,2449,3888,3856,3921,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4822,-0.92,-145.9,2193,2450,3858,3921,647.3,-12.7,399,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2449,3889,3857,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,-0.92,-145.9,2193,2449,3857,3921,685.6,-12.8,409,5129,0.00,2.38,0.00,0.000,516,0.000,0.086,2193,1047,3887,3853,3921,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5193,-0.92,-145.9,2193,1048,3857,3921,694.7,-12.9,423,5203,0.00,2.45,0.00,0.000,1030,0.000,0.110,2188,2448,3888,3857,3920,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5517,-0.92,-145.9,2188,2448,3857,3921,736.2,-12.8,437,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2448,3886,3857,3916,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5636,begin apogee
$GC,5639,-0.16,0.0,2188,2405,3857,3921,751.7,-12.9,441,5769,0.95,0.00,125.57,1.781,10246,0.279,0.000,2438,2404,3293,3244,3342,0,0,0,0,0,0,14.64,28.83,13.32
$STATE,5772,end apogee,CONTROL_FINISHED_OK
$STATE,5772,begin climb
$GC,5773,0.78,145.9,2438,2405,3233,3333,755.0,0.0,445,5915,0.98,2.65,124.65,1.770,10756,0.141,0.087,2745,993,2683,2608,2759,0,0,0,0,0,0,14.00,13.78,13.12
$GC,5924,0.69,163.2,2746,994,2599,2757,745.5,10.7,462,5945,0.00,2.60,15.60,1.636,9222,0.000,0.096,2746,2396,2626,2542,2710,0,0,0,0,0,0,28.83,13.88,13.16
$GC,6250,0.60,163.2,2746,2400,2523,2696,698.8,14.5,476,6253,0.25,0.00,0.00,0.000,4102,0.288,0.000,2690,2400,2608,2522,2695,0,0,0,0,0,0,14.21,28.83,28.83
$GC,6550,0.60,165.3,2690,2400,2521,2696,663.8,11.5,486,6557,0.00,2.35,0.00,0.000,260,0.000,0.111,2690,3720,2608,2522,2695,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6566,0.57,165.3,2690,3721,2521,2696,661.7,11.7,489,6575,0.00,2.22,0.00,0.000,1030,0.000,0.063,2698,2388,2608,2521,2695,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6885,0.57,165.3,2697,2390,2521,2695,624.4,11.7,502,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2387,2608,2521,2695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,0.57,166.6,2696,2388,2522,2695,589.7,11.6,512,7192,0.00,2.33,0.00,0.000,260,0.000,0.112,2696,3715,2607,2521,2694,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7211,0.50,166.6,2696,3715,2521,2695,586.3,12.8,517,7220,0.22,2.17,0.00,0.000,5126,0.282,0.064,2653,2394,2607,2521,2694,0,0,0,0,0,0,14.52,14.64,28.83
$GC,7517,0.60,219.4,2654,2395,2521,2695,558.6,8.8,528,7568,0.00,0.00,48.42,1.520,8198,0.000,0.000,2653,2394,2396,2312,2480,0,0,0,0,0,0,28.83,28.83,13.72
$GC,7846,0.70,251.1,2650,2394,2292,2460,526.1,9.9,539,7880,0.17,0.00,26.83,1.468,10502,0.116,0.000,2726,2393,2259,2172,2347,0,0,0,0,0,0,14.54,28.83,13.74
$GC,8184,0.67,251.1,2726,2394,2159,2337,475.3,15.4,555,8194,0.00,2.35,0.00,0.000,260,0.000,0.112,2726,3720,2248,2158,2338,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8213,0.60,251.1,2727,3715,2158,2334,470.3,18.4,560,8222,0.20,2.20,0.00,0.000,5126,0.277,0.064,2691,2395,2247,2158,2336,0,0,0,0,0,0,14.43,14.54,28.83
$GC,8518,0.64,251.1,2692,2395,2155,2337,429.8,13.1,571,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2392,2246,2157,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8818,0.67,251.1,2692,2394,2157,2337,391.0,12.8,581,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2394,2246,2157,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9118,0.71,251.1,2692,2394,2157,2337,352.7,12.8,591,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2394,2246,2157,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9418,0.75,251.1,2692,2395,2158,2337,315.4,12.3,601,9421,0.15,0.00,0.00,0.000,2054,0.129,0.000,2754,2394,2246,2157,2336,0,0,0,0,0,0,14.73,28.83,28.83
$GC,9718,0.70,251.1,2755,2394,2158,2337,266.5,16.5,611,9721,0.15,0.00,0.00,0.000,4102,0.287,0.000,2722,2394,2246,2157,2336,0,0,0,0,0,0,14.62,28.83,28.83
$GC,10018,0.70,251.1,2722,2397,2157,2337,224.8,13.6,633,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2394,2246,2156,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10318,0.72,251.1,2723,2395,2158,2334,185.5,12.2,663,10328,0.00,2.33,0.00,0.000,260,0.000,0.114,2722,3719,2246,2157,2336,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10412,0.69,251.1,2723,3719,2157,2336,172.5,13.8,681,10420,0.00,2.17,0.00,0.000,1030,0.000,0.065,2729,2398,2246,2157,2336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10724,0.74,279.0,2730,2397,2157,2337,138.6,10.1,713,10758,0.00,2.47,23.67,1.060,8708,0.000,0.092,2740,997,2140,2049,2232,0,0,0,0,0,0,28.83,14.53,14.10
$GC,10772,0.81,307.4,2741,997,2047,2227,133.7,10.1,720,10808,0.00,2.47,24.35,1.031,9222,0.000,0.099,2740,2404,2026,1928,2125,0,0,0,0,0,0,28.83,14.55,13.98
$GC,11112,0.88,330.3,2740,2403,1915,2117,96.4,10.4,756,11128,0.12,2.38,8.40,0.403,10500,0.139,0.112,2799,3709,1944,1843,2045,0,0,0,0,0,0,14.55,14.52,14.31
$GC,11187,0.77,330.3,2800,3710,1869,2055,84.7,17.0,770,11197,0.28,2.17,2.05,0.230,13318,0.275,0.065,2745,2401,1945,1846,2045,0,0,0,0,0,0,14.45,14.57,14.42
$GC,11501,0.89,380.7,2746,2400,1866,2064,53.5,9.0,802,11537,0.12,2.38,25.05,0.328,10500,0.140,0.114,2804,3711,1737,1634,1841,0,0,0,0,0,0,14.57,14.52,14.40
$GC,11551,0.90,388.0,2804,3711,1649,1842,48.1,11.2,810,11567,0.15,2.17,4.28,0.309,13318,0.282,0.064,2781,2398,1712,1610,1814,0,0,0,0,0,0,14.44,14.54,14.40
$GC,11862,1.03,453.4,2782,2399,1636,1819,21.2,8.2,842,11905,0.15,2.33,31.90,0.237,10500,0.126,0.111,2841,3709,1442,1330,1555,0,0,0,0,0,0,14.59,14.53,14.45
$GC,11914,1.03,453.4,2842,3713,1330,1550,15.6,12.0,850,11922,0.00,2.17,0.00,0.000,1030,0.000,0.065,2851,2398,1440,1331,1549,0,0,0,0,0,0,28.83,14.57,28.83
$FREEZE,8.00,-0.365,-1.438,0,1,0
$STATE,12175,end climb,NO_VERTICAL_VELOCITY
$STATE,12175,begin surface
$SM_CCo,12179,105.28,0.200,0,0,496,684.88
$SM_GC,3.22,8.00,0.10,0.00,0.093,0.191,0.000,183,2458,502,-7.18,-0.68,684.63,0,0,0,0,0,0,14.57,14.57,28.83
$RAFOS_CLK,1190288
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7039.27,-14502.67,310714,075531
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.80
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3921152
$TM_FREEKB,7460352
$24V_AH,13.12,21.455
$10V_AH,12.80,0.000
$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,23.725,83.575,460.775,105.275,0.000,0.000,0.000,664.450,1.500,0.000,36.401,0.000,9772.984,751.183,2839.946,111.425,0.000,2237.415,0.000,1304.577,919.000,11.788,0.000
$DEVICE_MAMPS,462.825,250.920,1780.920,200.430,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12204.000,12288.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.175,13.412,0.000,0.000
$MEM,297968
$DATA_FILE_SIZE,30069,877
$CAP_FILE_SIZE,164419,0
$CFSIZE,1047117824,1036124160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13987.39,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,12618,4274.029785,-8708.333008,7.999932,0.002117,-0.001657,-0.009649,0.000264,0.002550,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.026,191.42,1
$GPS,310714,113826,7113.854,-14508.444,99,0.9,119,28.3