version: 66.12
glider: 197
mission: 6
dive: 53
start: 8 2 114 16 35 50
data:
$ID,197
$MISSION,6
$DIVE,53
$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,-7161.0928
$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,2470
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,28
$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
$GPS1,020814,162225,7130.093,-14542.509,58,1.2,78,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-71.0
$GPS2,020814,163532,7130.050,-14542.445,15,1.3,35,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,326.8,11871,-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,-145.9,156,2484,411,601,0.0,0.0,0,93,0.00,0.00,-72.50,0.000,16386,0.000,0.000,153,2483,2291,2305,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.81,-145.9,153,2484,2306,2280,3.8,-3.6,7,142,11.00,0.00,-27.92,0.000,18950,0.461,0.000,2220,2484,3780,3757,3803,0,0,0,0,0,0,14.21,28.83,14.62
$GC,439,-0.75,-145.9,2220,2484,3757,3805,84.2,-20.1,43,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2484,3783,3757,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-0.72,-145.9,2221,2484,3758,3809,140.0,-17.1,73,741,0.15,0.00,0.00,0.000,2054,0.325,0.000,2252,2484,3782,3756,3809,0,0,0,0,0,0,14.46,28.83,28.83
$GC,1038,-0.73,-145.9,2253,2484,3757,3810,182.8,-13.9,103,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2483,3784,3758,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.76,-145.9,2252,2484,3757,3810,220.2,-12.0,133,1346,0.00,2.15,0.00,0.000,260,0.000,0.116,2246,3703,3780,3752,3809,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1410,-0.76,-145.9,2246,3703,3757,3810,229.4,-12.6,147,1420,0.00,2.03,0.00,0.000,1030,0.000,0.061,2246,2467,3782,3756,3809,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1744,-0.78,-145.9,2246,2463,3754,3810,267.8,-11.3,171,1753,0.00,2.35,0.00,0.000,516,0.000,0.083,2245,1072,3782,3754,3810,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1817,-0.81,-145.9,2246,1073,3754,3810,275.8,-10.7,185,1826,0.00,2.45,0.00,0.000,1030,0.000,0.106,2234,2466,3783,3753,3814,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2141,-0.83,-145.9,2238,2467,3753,3810,311.9,-11.1,199,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2466,3780,3752,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.85,-145.9,2238,2467,3752,3810,345.2,-11.1,209,2448,0.00,2.38,0.00,0.000,516,0.000,0.082,2238,1070,3777,3746,3809,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2482,-0.88,-145.9,2240,1071,3752,3810,349.9,-10.6,217,2491,0.00,2.47,0.00,0.000,1030,0.000,0.106,2231,2475,3780,3751,3809,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2806,-0.90,-145.9,2231,2475,3752,3810,386.0,-11.2,231,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2475,3780,3751,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3106,-0.92,-145.9,2232,2476,3751,3810,419.7,-11.2,241,3114,0.12,2.40,0.00,0.000,4612,0.155,0.080,2176,1061,3779,3750,3809,0,0,0,0,0,0,14.73,14.72,28.83
$GC,3169,-0.91,-145.9,2176,1065,3751,3809,428.1,-13.9,253,3177,0.15,2.47,0.00,0.000,3078,0.317,0.107,2195,2471,3779,3750,3809,0,0,0,0,0,0,14.56,14.70,28.83
$GC,3501,-0.91,-145.9,2196,2471,3751,3809,469.9,-12.4,269,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2470,3780,3751,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.91,-145.9,2196,2471,3751,3810,506.3,-12.0,279,3810,0.00,2.33,0.00,0.000,516,0.000,0.081,2195,1075,3779,3750,3808,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3859,-0.91,-145.9,2196,1076,3751,3809,513.4,-11.9,290,3869,0.00,2.45,0.00,0.000,1030,0.000,0.103,2188,2478,3779,3750,3809,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4166,-0.89,-145.9,2187,2478,3751,3809,551.1,-12.4,301,4174,0.00,2.38,0.00,0.000,516,0.000,0.081,2187,1070,3779,3750,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4208,-0.89,-145.9,2188,1070,3752,3809,556.7,-12.5,309,4216,0.00,2.45,0.00,0.000,1030,0.000,0.104,2178,2469,3779,3750,3809,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4531,-0.88,-145.9,2178,2471,3749,3809,597.9,-12.8,323,4534,0.15,0.00,0.00,0.000,2054,0.327,0.000,2207,2470,3779,3750,3809,0,0,0,0,0,0,14.60,28.83,28.83
$GC,4831,-0.88,-145.9,2208,2470,3750,3809,631.4,-11.1,333,4838,0.00,2.35,0.00,0.000,516,0.000,0.081,2207,1072,3779,3750,3809,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4913,-0.89,-145.9,2208,1071,3751,3809,640.3,-10.8,349,4921,0.00,2.45,0.00,0.000,1030,0.000,0.104,2201,2473,3779,3750,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5226,-0.89,-145.9,2202,2474,3750,3809,675.3,-11.2,361,5233,0.00,2.38,0.00,0.000,516,0.000,0.080,2201,1062,3779,3750,3808,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5283,-0.89,-145.9,2199,1062,3750,3813,681.7,-11.1,372,5292,0.00,2.47,0.00,0.000,1030,0.000,0.103,2197,2479,3779,3750,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5587,-0.89,-145.9,2191,2481,3750,3809,717.5,-11.8,383,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2480,3779,3750,3808,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5886,begin apogee
$GC,5890,-0.16,0.0,2192,2393,3750,3809,752.5,-11.7,393,6016,0.93,0.00,122.57,1.806,10246,0.275,0.000,2430,2392,3182,3135,3230,0,0,0,0,0,0,14.64,28.83,13.28
$STATE,6019,end apogee,CONTROL_FINISHED_OK
$STATE,6019,begin climb
$GC,6020,0.81,145.9,2434,2393,3124,3224,755.2,0.0,397,6153,1.08,0.00,121.32,1.796,10502,0.150,0.000,2752,2392,2580,2498,2663,0,0,0,0,0,0,14.00,28.83,13.09
$GC,6472,0.77,145.9,2753,2393,2487,2654,695.3,15.4,422,6480,0.00,2.38,0.00,0.000,260,0.000,0.108,2753,3714,2570,2487,2654,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6524,0.69,145.9,2752,3707,2488,2654,686.2,18.4,432,6532,0.22,2.20,0.00,0.000,5126,0.295,0.059,2714,2395,2570,2487,2653,0,0,0,0,0,0,14.23,14.35,28.83
$GC,6837,0.68,145.9,2714,2391,2487,2654,644.2,13.3,444,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2393,2569,2486,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7136,0.67,145.9,2714,2394,2486,2654,604.7,13.2,454,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2393,2570,2486,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7436,0.65,145.9,2714,2394,2486,2653,566.3,12.8,464,7445,0.00,2.30,0.00,0.000,260,0.000,0.111,2714,3714,2569,2485,2653,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7464,0.62,145.9,2714,3714,2486,2654,562.4,14.0,469,7473,0.00,2.17,0.00,0.000,1030,0.000,0.060,2717,2393,2569,2486,2653,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7770,0.60,145.9,2717,2393,2486,2653,522.9,12.9,480,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2393,2569,2485,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,0.59,145.9,2717,2393,2486,2653,484.6,12.7,490,8072,0.15,0.00,0.00,0.000,4102,0.293,0.000,2685,2393,2569,2485,2653,0,0,0,0,0,0,14.59,28.83,28.83
$GC,8370,0.62,162.0,2685,2393,2485,2654,451.8,10.8,500,8388,0.00,0.00,12.75,1.493,8454,0.000,0.000,2685,2392,2515,2433,2597,0,0,0,0,0,0,28.83,28.83,14.00
$GC,8703,0.65,175.6,2685,2393,2428,2592,415.3,10.9,516,8722,0.00,2.35,11.75,1.458,8452,0.000,0.109,2685,3719,2461,2380,2542,0,0,0,0,0,0,28.83,14.54,13.96
$GC,8756,0.65,175.6,2686,3720,2376,2538,408.7,13.3,526,8764,0.00,2.17,0.00,0.000,1030,0.000,0.060,2692,2398,2456,2375,2537,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9069,0.67,175.9,2693,2398,2376,2538,372.3,11.6,538,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2398,2455,2375,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9369,0.68,177.2,2693,2398,2375,2537,337.6,11.6,548,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2397,2456,2375,2537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9669,0.70,177.2,2693,2398,2376,2538,302.2,12.0,558,9676,0.00,2.30,0.00,0.000,260,0.000,0.112,2692,3714,2455,2374,2537,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9715,0.69,177.2,2693,3714,2376,2537,295.6,14.8,567,9725,0.00,2.15,0.00,0.000,1030,0.000,0.060,2702,2393,2456,2375,2537,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10035,0.70,177.2,2702,2393,2376,2538,255.5,12.4,580,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2392,2456,2375,2537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10334,0.73,193.9,2702,2393,2376,2538,221.0,10.7,606,10357,0.00,2.40,16.25,1.255,8452,0.000,0.112,2702,3709,2386,2310,2462,0,0,0,0,0,0,28.83,14.57,14.09
$GC,10401,0.73,193.9,2699,3710,2299,2458,212.8,12.5,618,10410,0.00,2.15,0.00,0.000,1030,0.000,0.059,2712,2398,2377,2299,2455,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10714,0.78,224.8,2712,2398,2299,2458,179.2,10.0,650,10747,0.00,0.00,25.58,1.169,8454,0.000,0.000,2712,2397,2258,2174,2342,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11045,0.85,270.9,2712,2397,2164,2338,146.2,9.2,684,11092,0.12,2.38,38.95,1.103,10500,0.142,0.109,2774,3715,2066,1974,2159,0,0,0,0,0,0,14.59,14.32,13.90
$GC,11136,0.81,270.9,2775,3716,1969,2152,133.7,15.9,700,11144,0.15,2.20,0.00,0.000,5126,0.291,0.059,2754,2397,2058,1967,2150,0,0,0,0,0,0,14.26,14.38,28.83
$GC,11449,0.84,274.2,2755,2396,1966,2151,97.6,11.5,732,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2395,2058,1965,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11748,0.89,305.1,2755,2396,1963,2151,66.7,10.0,762,11764,0.00,0.00,13.18,0.362,8198,0.000,0.000,2755,2395,1937,1837,2037,0,0,0,0,0,0,28.83,28.83,14.38
$GC,12059,1.01,401.9,2755,2396,1856,2046,41.3,6.5,793,12114,0.17,2.40,44.53,0.292,10500,0.115,0.112,2828,3735,1540,1434,1647,0,0,0,0,0,0,14.61,14.49,14.40
$GC,12173,0.99,401.9,2828,3736,1445,1648,27.2,15.3,813,12181,0.00,2.22,0.00,0.000,1030,0.000,0.060,2838,2398,1546,1445,1648,0,0,0,0,0,0,28.83,14.55,28.83
$GC,13656,1.19,598.8,2838,2397,1445,1648,13.5,1.1,845,13754,0.12,2.35,87.12,0.214,10500,0.136,0.110,2895,3709,737,623,851,0,0,0,0,0,0,14.53,14.44,14.35
$STATE,13836,end climb,SURFACE_DEPTH_REACHED
$STATE,13836,begin surface coast
$FINISH,1.2,1.019959
$STATE,13842,end surface coast,CONTROL_FINISHED_OK
$STATE,13842,begin surface
$SM_CCo,13865,26.35,0.187,0,0,498,657.89
$SM_CCo,13893,-0.17,0.000,0,0,501,657.89
$SM_CCo,13895,0.25,0.508,0,0,497,657.89
$SM_GC,2.50,8.23,2.15,0.25,0.094,0.069,0.508,178,2460,497,-7.19,0.82,657.89,0,0,0,0,0,0,14.48,14.51,14.40
$RAFOS_CLK,52584
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14544.82,020814,123927
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.76
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3914432
$TM_FREEKB,7164944
$24V_AH,13.09,26.994
$10V_AH,13.14,0.000
$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,22.750,74.350,494.000,26.600,0.000,0.000,0.000,488.900,0.000,0.000,37.404,0.000,10039.144,694.979,2653.224,122.866,0.000,1987.118,0.000,1305.778,1496.000,0.532,0.000
$DEVICE_MAMPS,461.295,135.405,1806.165,507.960,0.000,0.000,0.000,192.015,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13860.000,13945.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.621,13.451,0.000,0.000
$MEM,291316
$DATA_FILE_SIZE,30031,877
$CAP_FILE_SIZE,161437,0
$CFSIZE,1047117824,1033191424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13652.22,0x2378b6,7,5
$SOUNDSPEED,1451.4
$EKF,12818,4291.971191,-8743.612305,1.222263,0.084241,-0.124111,-0.109642,0.004587,0.045699,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.056,239.05,1
$GPS,020814,200925,7131.757,-14544.738,33,1.0,53,28.1