version: 66.12
glider: 197
mission: 6
dive: 42
start: 7 31 114 23 16 57
data:
$ID,197
$MISSION,6
$DIVE,42
$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,0.0037
$HD_B,0.013
$HD_C,3.1e-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,-7147.21
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$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,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,0.69999999
$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
$GPS1,310714,230343,7116.705,-14515.064,68,1.4,88,28.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.2
$GPS2,310714,231639,7116.775,-14515.052,12,1.1,32,28.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,307.9,41050,-22.6,-11.628,-25.63,1932
$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,16,begin dive
$GC,17,-0.81,-145.9,152,2499,394,600,0.0,0.0,0,73,0.00,0.00,-52.78,0.000,16386,0.000,0.000,150,2499,1829,1838,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.81,-145.9,151,2500,1840,1822,3.3,-2.8,5,140,11.20,2.50,-40.60,0.000,19204,0.470,0.114,2225,1089,3780,3758,3802,0,0,0,0,0,0,14.23,14.43,14.65
$GC,365,-0.76,-145.9,2225,1089,3759,3808,65.5,-19.4,59,373,0.00,2.50,0.00,0.000,1030,0.000,0.106,2218,2494,3782,3758,3807,0,0,0,0,0,0,28.83,14.51,28.83
$GC,677,-0.72,-145.9,2218,2496,3759,3808,125.2,-18.2,91,685,0.17,2.40,0.00,0.000,2564,0.329,0.086,2253,1086,3782,3758,3807,0,0,0,0,0,0,14.45,14.57,28.83
$GC,909,-0.74,-145.9,2254,1085,3757,3808,159.3,-13.7,137,918,0.00,2.50,0.00,0.000,1030,0.000,0.107,2245,2501,3782,3758,3807,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1223,-0.75,-145.9,2246,2501,3758,3808,201.4,-13.0,169,1233,0.00,2.42,0.00,0.000,516,0.000,0.088,2245,1085,3782,3757,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1458,-0.78,-145.9,2245,1084,3758,3808,228.9,-11.5,215,1465,0.00,2.50,0.00,0.000,1030,0.000,0.108,2237,2500,3781,3756,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1790,-0.79,-145.9,2238,2501,3755,3808,267.9,-11.4,239,1797,0.00,2.42,0.00,0.000,516,0.000,0.089,2238,1086,3781,3755,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1916,-0.82,-145.9,2238,1086,3755,3808,282.1,-11.0,264,1924,0.00,2.50,0.00,0.000,1030,0.000,0.108,2229,2501,3781,3755,3807,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2244,-0.83,-145.9,2230,2503,3754,3808,320.5,-11.7,279,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2502,3780,3753,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,-0.85,-145.9,2231,2503,3754,3808,355.6,-11.7,289,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2502,3780,3753,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3078,-0.86,-145.9,2230,2503,3752,3808,387.7,-11.3,299,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2502,3780,3753,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3377,-0.88,-145.9,2230,2503,3753,3808,421.2,-11.2,309,3386,0.00,2.42,0.00,0.000,516,0.000,0.090,2230,1088,3779,3752,3807,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3486,-0.91,-145.9,2231,1087,3752,3808,433.3,-11.0,330,3494,0.00,2.50,0.00,0.000,1030,0.000,0.106,2221,2502,3779,3752,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3804,-0.92,-145.9,2223,2503,3752,3808,469.4,-11.3,343,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2502,3780,3752,3808,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801000838.888414,3,1168,00,0222,0150,255,02,02,05,05,-1,-01,-01,1,3,0,0,150,18.2,1.0,-100,2.0,-01,0.5,31,900,0025*1B
$GC,4104,-0.94,-145.9,2222,2503,3753,3808,503.7,-11.5,353,4113,0.00,2.42,0.00,0.000,516,0.000,0.090,2222,1087,3779,3752,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4222,-0.96,-145.9,2222,1091,3752,3808,517.0,-10.9,376,4231,0.00,2.50,0.00,0.000,1030,0.000,0.109,2218,2502,3779,3752,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4528,-0.97,-145.9,2218,2503,3752,3808,552.1,-11.6,387,4531,0.12,0.00,0.00,0.000,4102,0.164,0.000,2170,2503,3779,3752,3807,0,0,0,0,0,0,14.69,28.83,28.83
$GC,4828,-0.94,-145.9,2166,2504,3752,3808,593.0,-13.6,397,4837,0.00,2.40,0.00,0.000,516,0.000,0.090,2170,1093,3779,3751,3807,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4896,-0.93,-145.9,2171,1094,3752,3808,602.2,-12.8,410,4905,0.15,2.47,0.00,0.000,3078,0.326,0.109,2189,2500,3779,3752,3807,0,0,0,0,0,0,14.57,14.69,28.83
$GC,5224,-0.93,-145.9,2189,2502,3751,3808,642.9,-12.4,425,5233,0.00,2.40,0.00,0.000,516,0.000,0.087,2189,1086,3779,3751,3807,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5292,-0.93,-145.9,2190,1087,3752,3808,651.3,-12.0,438,5300,0.00,2.47,0.00,0.000,1030,0.000,0.106,2181,2501,3779,3751,3807,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5620,-0.92,-145.9,2186,2502,3753,3808,693.5,-13.0,453,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2501,3779,3751,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5920,-0.90,-145.9,2181,2502,3752,3808,731.3,-12.4,463,5927,0.00,2.40,0.00,0.000,516,0.000,0.088,2181,1086,3779,3751,3807,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6017,-0.90,-145.9,2181,1085,3752,3808,743.1,-11.2,482,6024,0.00,2.47,0.00,0.000,1030,0.000,0.106,2171,2501,3779,3751,3807,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,6072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6072,begin apogee
$GC,6075,-0.16,0.0,2172,2387,3751,3807,750.1,-12.2,488,6205,1.02,0.00,124.65,1.795,10246,0.286,0.000,2436,2386,3181,3133,3230,0,0,0,0,0,0,14.62,28.83,13.28
$STATE,6207,end apogee,CONTROL_FINISHED_OK
$STATE,6207,begin climb
$GC,6208,0.81,145.9,2436,2387,3122,3225,752.8,0.0,492,6349,1.05,0.00,124.32,1.775,10758,0.148,0.000,2754,2387,2574,2490,2658,0,0,0,0,0,0,13.99,28.83,13.10
$GC,6643,0.77,145.9,2755,2387,2483,2653,695.0,15.4,512,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2387,2568,2483,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,0.72,145.9,2755,2387,2483,2652,649.3,15.1,522,6951,0.00,2.45,0.00,0.000,516,0.000,0.093,2764,992,2567,2483,2652,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6985,0.69,145.9,2765,992,2483,2652,643.1,14.8,530,6993,0.20,2.50,0.00,0.000,5126,0.288,0.098,2721,2406,2566,2482,2651,0,0,0,0,0,0,14.36,14.47,28.83
$GC,7308,0.67,145.9,2721,2407,2484,2653,600.0,13.2,544,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2406,2567,2483,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7608,0.66,145.9,2721,2407,2483,2652,560.8,13.1,554,7616,0.00,2.45,0.00,0.000,516,0.000,0.093,2729,996,2566,2482,2651,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7634,0.65,145.9,2730,996,2483,2652,557.1,13.2,559,7644,0.00,2.45,0.00,0.000,1030,0.000,0.099,2729,2401,2566,2482,2651,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7940,0.63,145.9,2730,2401,2483,2652,515.8,13.5,570,7944,0.15,0.00,0.00,0.000,4102,0.299,0.000,2698,2401,2566,2482,2651,0,0,0,0,0,0,14.57,28.83,28.83
$GC,8240,0.63,152.4,2698,2401,2483,2652,481.2,11.3,580,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2401,2566,2482,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8540,0.64,161.5,2698,2401,2482,2652,447.7,11.1,590,8556,0.00,0.00,12.50,1.386,8198,0.000,0.000,2698,2401,2523,2440,2607,0,0,0,0,0,0,28.83,28.83,14.05
$GC,8840,0.65,161.5,2698,2401,2425,2593,413.0,11.7,600,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2401,2509,2426,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9140,0.66,161.5,2697,2401,2426,2594,378.2,11.7,610,9148,0.00,2.40,0.00,0.000,516,0.000,0.093,2704,1000,2509,2425,2593,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9182,0.68,161.5,2704,1001,2426,2588,373.2,11.7,618,9190,0.00,2.45,0.00,0.000,1030,0.000,0.099,2704,2404,2511,2426,2597,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9505,0.68,161.5,2704,2404,2426,2592,334.6,12.0,632,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2404,2511,2426,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9804,0.68,161.5,2704,2405,2426,2593,298.5,12.1,642,9813,0.00,2.30,0.00,0.000,260,0.000,0.114,2704,3710,2509,2426,2592,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9847,0.65,161.5,2705,3711,2426,2591,292.9,13.1,650,9855,0.00,2.20,0.00,0.000,1030,0.000,0.064,2710,2400,2508,2425,2592,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10169,0.65,161.5,2711,2399,2425,2592,253.2,11.9,664,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2399,2509,2426,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10469,0.66,176.0,2711,2399,2426,2593,219.8,10.9,692,10491,0.00,2.47,12.38,1.170,8708,0.000,0.095,2717,998,2455,2375,2536,0,0,0,0,0,0,28.83,14.63,14.14
$GC,10521,0.70,193.8,2718,997,2373,2532,214.2,10.7,701,10544,0.00,2.45,15.60,1.155,9222,0.000,0.099,2717,2401,2385,2304,2466,0,0,0,0,0,0,28.83,14.62,14.04
$GC,10838,0.73,213.7,2717,2402,2294,2458,179.0,10.6,734,10867,0.00,2.38,16.80,1.131,8452,0.000,0.113,2717,3705,2299,2214,2385,0,0,0,0,0,0,28.83,14.44,14.03
$GC,10891,0.73,213.7,2717,3706,2212,2381,172.7,12.1,743,10900,0.00,2.17,0.00,0.000,1030,0.000,0.064,2717,2400,2295,2211,2380,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11197,0.80,266.6,2717,2400,2211,2380,142.7,8.8,774,11252,0.00,2.42,45.53,1.068,8452,0.000,0.112,2717,3709,2081,1987,2176,0,0,0,0,0,0,28.83,14.33,13.90
$GC,11301,0.82,266.6,2717,3709,1981,2170,131.9,12.0,792,11309,0.12,2.20,0.00,0.000,3078,0.145,0.065,2771,2400,2073,1978,2169,0,0,0,0,0,0,14.41,14.39,28.83
$GC,11613,0.82,266.6,2772,2399,1979,2168,92.9,12.0,824,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2398,2072,1977,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11913,0.86,306.2,2772,2398,1977,2168,60.2,9.5,854,11940,0.00,2.38,15.55,0.347,8452,0.000,0.114,2771,3703,1932,1831,2033,0,0,0,0,0,0,28.83,14.52,14.37
$GC,12014,0.88,328.0,2772,3703,1854,2036,48.5,10.5,872,12032,0.00,2.17,11.60,0.310,9222,0.000,0.065,2781,2394,1843,1741,1945,0,0,0,0,0,0,28.83,14.58,14.36
$GC,12337,0.98,407.3,2780,2394,1765,1951,23.0,7.4,905,12381,0.00,2.50,37.08,0.243,8708,0.000,0.096,2790,999,1518,1410,1627,0,0,0,0,0,0,28.83,14.52,14.44
$GC,12406,1.08,456.9,2789,998,1416,1630,17.3,9.0,916,12435,0.15,2.47,23.15,0.226,11270,0.125,0.102,2855,2400,1316,1205,1428,0,0,0,0,0,0,14.52,14.49,14.43
$FREEZE,9.37,0.527,-1.373,0,1,0
$STATE,12668,end climb,NO_VERTICAL_VELOCITY
$STATE,12668,begin surface
$SM_CCo,12672,90.60,0.206,0,0,499,657.89
$SM_CCo,12873,0.00,0.000,0,0,499,657.89
$SM_CCo,12875,0.00,0.000,0,0,500,657.89
$SM_CCo,12877,0.00,0.000,0,0,499,657.89
$SM_GC,3.33,8.10,0.17,0.00,0.102,0.148,0.000,183,2503,499,-7.18,-0.76,657.89,0,0,0,0,0,0,14.52,14.57,28.83
$RAFOS_CLK,960104
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7045.80,-14509.81,310714,191828
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.77
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3919360
$TM_FREEKB,7381624
$24V_AH,13.10,22.948
$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,22.450,87.450,439.150,90.600,0.000,0.000,0.000,487.325,0.000,0.000,34.788,0.000,9773.423,739.488,2768.812,115.116,0.000,2065.392,0.000,1401.043,1421.000,0.531,0.000
$DEVICE_MAMPS,469.710,272.340,1794.690,205.785,0.000,0.000,0.000,167.535,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12695.000,12775.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.460,13.425,0.000,0.000
$MEM,296224
$DATA_FILE_SIZE,33346,944
$CAP_FILE_SIZE,165401,0
$CFSIZE,1047117824,1035321344
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,129.76,0x234484,0,24
$INTR,1,12874.56,0x2378b6,7,5
$INTR,2,12876.30,0x2378b6,7,5
$INTR,3,12878.04,0x2378b6,7,5
$SOUNDSPEED,1450.4
$EKF,12751,4277.968262,-8717.457031,9.365893,0.006926,0.001215,-0.001362,0.000371,0.003605,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.064,169.55,1
$GPS,010814,024925,7117.537,-14517.209,68,0.9,88,28.2