version: 66.12
glider: 197
mission: 6
dive: 54
start: 8 2 114 20 24 56
data:
$ID,197
$MISSION,6
$DIVE,54
$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,-7162.353
$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,36
$R_STBD_OVSHOOT,19
$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
$GPS1,020814,200925,7131.757,-14544.738,33,1.0,53,28.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.3
$GPS2,020814,202439,7131.682,-14544.849,13,1.0,33,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,324.3,8545,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.81,-145.9,160,2459,416,592,0.0,0.0,0,83,0.00,0.00,-62.55,0.000,16386,0.000,0.000,158,2458,2028,2032,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.81,-145.9,159,2458,2032,2027,3.1,-2.3,6,142,11.00,2.47,-35.88,0.000,18948,0.463,0.106,2223,1068,3780,3756,3805,0,0,0,0,0,0,14.20,14.41,14.62
$GC,246,-0.74,-145.9,2224,1067,3758,3806,41.6,-22.5,36,254,0.17,2.50,0.00,0.000,3078,0.334,0.104,2249,2469,3782,3758,3806,0,0,0,0,0,0,14.33,14.45,28.83
$GC,559,-0.72,-145.9,2246,2471,3759,3809,100.4,-17.3,68,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2470,3783,3758,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-0.72,-145.9,2249,2471,3759,3810,148.6,-15.3,98,866,0.00,2.40,0.00,0.000,516,0.000,0.080,2249,1065,3783,3758,3809,0,0,0,0,0,0,28.83,14.59,28.83
$GC,905,-0.73,-145.9,2250,1064,3758,3809,155.6,-14.4,107,916,0.00,2.50,0.00,0.000,1030,0.000,0.105,2242,2475,3783,3758,3809,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1210,-0.73,-145.9,2242,2475,3757,3808,198.9,-13.7,138,1218,0.00,2.40,0.00,0.000,516,0.000,0.080,2241,1067,3786,3764,3808,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1283,-0.74,-145.9,2242,1067,3756,3809,208.4,-13.0,152,1292,0.00,2.47,0.00,0.000,1030,0.000,0.105,2231,2471,3783,3757,3809,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1596,-0.74,-145.9,2232,2471,3756,3809,246.7,-12.4,184,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2471,3782,3756,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.75,-145.9,2232,2471,3753,3809,282.7,-11.9,196,1905,0.00,2.38,0.00,0.000,516,0.000,0.082,2231,1067,3781,3753,3809,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1964,-0.77,-145.9,2232,1068,3754,3808,290.8,-11.3,209,1972,0.00,2.47,0.00,0.000,1030,0.000,0.107,2223,2470,3780,3753,3808,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2292,-0.77,-145.9,2224,2471,3752,3809,329.2,-11.5,224,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2471,3780,3752,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.78,-145.9,2229,2471,3752,3809,363.7,-11.5,234,2599,0.00,2.38,0.00,0.000,516,0.000,0.083,2223,1066,3780,3752,3809,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2714,-0.80,-145.9,2224,1066,3752,3809,377.9,-11.3,258,2723,0.00,2.47,0.00,0.000,1030,0.000,0.108,2214,2472,3780,3751,3809,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3047,-0.80,-145.9,2215,2472,3751,3808,417.5,-12.0,274,3055,0.00,2.38,0.00,0.000,516,0.000,0.083,2215,1066,3779,3751,3808,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3154,-0.81,-145.9,2215,1066,3751,3809,430.3,-11.8,295,3164,0.00,2.47,0.00,0.000,1030,0.000,0.107,2208,2473,3780,3751,3809,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3474,-0.81,-145.9,2208,2474,3751,3809,469.1,-12.1,308,3481,0.00,2.38,0.00,0.000,516,0.000,0.083,2208,1067,3779,3751,3808,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3555,-0.81,-145.9,2209,1067,3751,3809,479.0,-12.1,324,3563,0.12,2.47,0.00,0.000,3078,0.330,0.108,2224,2470,3779,3750,3809,0,0,0,0,0,0,14.59,14.70,28.83
$GC,3868,-0.83,-145.9,2224,2472,3751,3809,513.6,-11.2,336,3876,0.00,2.38,0.00,0.000,516,0.000,0.080,2224,1059,3779,3750,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3930,-0.85,-145.9,2224,1060,3751,3811,520.5,-10.8,348,3938,0.00,2.47,0.00,0.000,1030,0.000,0.104,2216,2472,3779,3750,3809,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4263,-0.87,-145.9,2217,2473,3750,3810,557.8,-11.3,364,4271,0.00,2.38,0.00,0.000,516,0.000,0.080,2217,1060,3779,3750,3809,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4330,-0.89,-145.9,2216,1060,3751,3808,565.3,-11.4,377,4338,0.00,2.47,0.00,0.000,1030,0.000,0.105,2211,2473,3779,3749,3809,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4658,-0.89,-145.9,2207,2474,3751,3809,602.4,-11.3,392,4665,0.00,2.38,0.00,0.000,516,0.000,0.080,2211,1059,3779,3750,3808,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4745,-0.90,-145.9,2211,1059,3750,3810,612.3,-10.9,409,4753,0.00,2.47,0.00,0.000,1030,0.000,0.105,2201,2472,3778,3749,3808,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5049,-0.90,-145.9,2201,2473,3749,3810,647.9,-11.7,420,5057,0.00,2.38,0.00,0.000,516,0.000,0.080,2201,1066,3778,3749,3808,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5132,-0.90,-145.9,2201,1067,3750,3809,657.4,-11.3,436,5139,0.00,2.47,0.00,0.000,1030,0.000,0.107,2190,2477,3778,3749,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5444,-0.90,-145.9,2190,2478,3750,3809,694.6,-12.0,448,5452,0.00,2.38,0.00,0.000,516,0.000,0.081,2190,1066,3778,3749,3808,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5521,-0.90,-145.9,2191,1065,3749,3809,703.7,-11.4,463,5531,0.00,2.47,0.00,0.000,1030,0.000,0.107,2180,2479,3778,3749,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5841,-0.89,-145.9,2181,2480,3749,3809,743.1,-12.4,476,5848,0.00,2.38,0.00,0.000,516,0.000,0.082,2180,1066,3778,3749,3808,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,5896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5896,begin apogee
$GC,5901,-0.16,0.0,2173,2401,3749,3809,750.0,-11.9,487,6081,1.02,0.00,173.73,1.510,10246,0.288,0.000,2436,2401,3177,3126,3228,0,0,0,0,0,0,14.61,28.83,13.36
$STATE,6084,end apogee,CONTROL_FINISHED_OK
$STATE,6084,begin climb
$GC,6085,0.81,145.9,2436,2401,3125,3228,754.2,0.0,493,6217,1.02,0.00,121.70,1.787,10758,0.147,0.000,2747,2400,2585,2504,2666,0,0,0,0,0,0,13.97,28.83,13.05
$GC,6497,0.77,145.9,2748,2401,2490,2652,701.0,15.2,512,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2401,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6797,0.72,145.9,2748,2401,2489,2657,655.4,15.1,522,6805,0.00,2.45,0.00,0.000,516,0.000,0.084,2758,996,2572,2489,2655,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6840,0.69,145.9,2759,996,2490,2655,649.0,14.6,530,6848,0.20,2.50,0.00,0.000,5126,0.288,0.095,2715,2405,2571,2488,2654,0,0,0,0,0,0,14.32,14.42,28.83
$GC,7163,0.68,145.9,2715,2406,2489,2655,607.0,13.0,544,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2405,2571,2489,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7462,0.66,145.9,2716,2406,2488,2655,568.3,12.9,554,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2406,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7762,0.65,145.9,2716,2406,2490,2655,529.6,13.0,564,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2405,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8062,0.64,145.9,2716,2405,2488,2655,491.5,12.7,574,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2406,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8362,0.63,145.9,2716,2406,2488,2655,453.6,12.5,584,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2406,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8662,0.62,145.9,2716,2406,2489,2656,415.5,12.7,594,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2405,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8962,0.62,145.9,2716,2406,2488,2655,377.8,12.6,604,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2405,2571,2488,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9262,0.62,145.9,2716,2406,2489,2655,340.5,12.4,614,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2405,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,0.62,145.9,2720,2406,2489,2655,303.8,12.2,624,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2405,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9862,0.62,145.9,2716,2406,2488,2655,268.0,11.8,634,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2405,2571,2488,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10162,0.63,157.7,2716,2411,2488,2655,233.3,11.0,652,10169,0.00,0.00,3.83,1.144,8198,0.000,0.000,2712,2406,2540,2456,2624,0,0,0,0,0,0,28.83,28.83,13.80
$GC,10463,0.64,178.1,2716,2406,2477,2643,201.1,10.5,682,10499,0.00,2.38,24.25,1.213,8452,0.000,0.109,2715,3722,2444,2363,2525,0,0,0,0,0,0,28.83,14.51,14.05
$GC,10553,0.62,178.1,2716,3720,2360,2523,190.7,12.3,698,10560,0.00,2.17,0.00,0.000,1030,0.000,0.060,2717,2400,2441,2359,2523,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10865,0.68,237.2,2717,2399,2360,2522,160.8,8.5,730,10919,0.00,0.00,48.83,1.112,8198,0.000,0.000,2717,2398,2209,2123,2295,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11215,0.75,275.3,2717,2399,2109,2286,127.8,9.6,765,11249,0.00,0.00,31.38,1.083,8454,0.000,0.000,2717,2402,2059,1966,2153,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11553,0.84,326.1,2717,2399,1945,2140,96.0,8.9,801,11583,0.15,2.42,21.40,0.464,10500,0.130,0.111,2782,3715,1851,1752,1950,0,0,0,0,0,0,14.54,14.44,14.23
$GC,11637,0.81,326.1,2783,3716,1771,1951,84.4,15.6,816,11647,0.17,2.20,1.27,0.248,13318,0.279,0.062,2755,2395,1850,1754,1947,0,0,0,0,0,0,14.36,14.48,14.39
$GC,11942,0.88,356.0,2755,2395,1770,1957,51.5,10.0,847,11964,0.00,2.42,15.07,0.324,8708,0.000,0.086,2763,1001,1728,1628,1828,0,0,0,0,0,0,28.83,14.51,14.36
$GC,11989,0.98,400.6,2763,1002,1642,1829,47.4,9.3,854,12018,0.15,2.47,21.33,0.316,11270,0.120,0.099,2827,2403,1546,1441,1652,0,0,0,0,0,0,14.57,14.52,14.35
$GC,12313,1.16,574.7,2827,2404,1456,1653,14.2,2.4,888,12396,0.12,0.00,77.45,0.217,10502,0.138,0.000,2886,2403,836,724,948,0,0,0,0,0,0,14.60,28.83,14.38
$STATE,12569,end climb,SURFACE_DEPTH_REACHED
$STATE,12569,begin surface coast
$FINISH,1.3,1.010586
$STATE,12590,end surface coast,CONTROL_FINISHED_OK
$STATE,12590,begin surface
$SM_CCo,12612,36.60,0.187,0,0,501,657.89
$SM_CCo,12650,-0.12,0.000,0,0,501,657.89
$SM_CCo,12652,0.08,1.246,0,0,498,657.89
$SM_GC,2.61,8.23,0.12,0.08,0.102,0.178,1.246,175,2480,498,-7.20,-0.62,657.89,0,0,0,0,0,0,14.54,14.54,14.32
$RAFOS_CLK,1212545
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14529.84,020814,162706
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.58
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3913984
$TM_FREEKB,7145128
$24V_AH,13.05,27.340
$10V_AH,12.73,0.000
$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,22.375,82.325,540.225,36.675,0.000,0.000,0.000,554.550,0.000,0.000,35.274,0.000,9904.586,756.111,2776.757,121.720,0.000,2134.514,0.000,1365.799,0.000,0.532,0.000
$DEVICE_MAMPS,462.825,178.245,1787.040,1246.185,0.000,0.000,0.000,188.190,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12619.000,12703.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.558,13.431,0.000,0.000
$MEM,290828
$DATA_FILE_SIZE,29953,920
$CAP_FILE_SIZE,162357,0
$CFSIZE,1047117824,1032994816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13745.98,0x2378b6,7,5
$SOUNDSPEED,1451.4
$EKF,12747,4293.367676,-8745.765625,1.339335,0.006136,-0.014834,-0.006020,0.000261,0.002603,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.070,272.62,1
$GPS,020814,235720,7133.390,-14547.289,39,0.9,59,28.1