version: 66.12
glider: 197
mission: 6
dive: 69
start: 8 5 114 2 3 51
data:
$ID,197
$MISSION,6
$DIVE,69
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$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,8
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,674.87756
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$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,-7181.8643
$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,37
$R_STBD_OVSHOOT,18
$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
$GPS1,050814,014949,7148.622,-14555.328,38,0.8,58,28.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.2
$GPS2,050814,020333,7148.705,-14555.512,9,0.9,29,28.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7200.000,-14550.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,340.4,21155,-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,15,begin dive
$GC,17,-0.81,-145.9,181,2473,434,579,0.0,0.0,0,93,0.00,0.00,-72.62,0.000,16386,0.000,0.000,181,2473,2305,2309,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.81,-145.9,181,2473,2309,2295,3.6,-2.6,7,142,10.80,2.20,-29.08,0.000,18692,0.457,0.129,2217,3712,3779,3756,3803,0,0,0,0,0,0,14.19,14.39,14.62
$GC,367,-0.72,-145.9,2217,3713,3756,3808,69.4,-21.1,59,375,0.17,2.05,0.00,0.000,3078,0.313,0.057,2252,2458,3782,3758,3807,0,0,0,0,0,0,14.38,14.53,28.83
$GC,680,-0.72,-145.9,2252,2458,3758,3810,123.1,-16.7,91,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2457,3783,3758,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,979,-0.72,-145.9,2252,2458,3757,3810,170.6,-15.2,121,987,0.00,2.35,0.00,0.000,516,0.000,0.080,2252,1073,3783,3757,3809,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1037,-0.74,-145.9,2252,1074,3758,3809,179.0,-13.6,132,1046,0.00,2.47,0.00,0.000,1030,0.000,0.103,2249,2476,3783,3757,3809,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1342,-0.75,-145.9,2249,2477,3757,3810,219.6,-11.8,163,1350,0.00,2.38,0.00,0.000,516,0.000,0.078,2249,1073,3782,3756,3809,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1474,-0.78,-145.9,2249,1074,3757,3809,234.5,-11.3,189,1482,0.00,2.47,0.00,0.000,1030,0.000,0.103,2243,2478,3782,3756,3809,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1786,-0.80,-145.9,2243,2478,3754,3809,270.7,-11.3,209,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2478,3781,3754,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2086,-0.82,-145.9,2243,2478,3753,3809,302.3,-10.3,219,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2478,3780,3752,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,-0.85,-145.9,2243,2478,3753,3809,333.7,-10.5,229,2395,0.00,2.38,0.00,0.000,516,0.000,0.080,2243,1069,3779,3750,3809,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2444,-0.89,-145.9,2243,1070,3752,3805,339.9,-10.3,240,2453,0.00,2.47,0.00,0.000,1030,0.000,0.102,2238,2478,3780,3751,3809,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2750,-0.91,-145.9,2238,2478,3751,3809,372.2,-10.6,251,2753,0.12,0.00,0.00,0.000,4102,0.154,0.000,2188,2479,3779,3750,3809,0,0,0,0,0,0,14.72,28.83,28.83
$GC,3050,-0.90,-145.9,2189,2479,3751,3809,411.0,-12.9,261,3057,0.00,2.38,0.00,0.000,516,0.000,0.081,2188,1074,3779,3750,3809,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3111,-0.90,-145.9,2189,1074,3751,3809,419.0,-13.1,273,3119,0.00,2.45,0.00,0.000,1030,0.000,0.105,2176,2472,3778,3750,3806,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3444,-0.88,-145.9,2178,2473,3747,3809,463.4,-13.3,289,3452,0.00,2.35,0.00,0.000,516,0.000,0.080,2179,1078,3779,3750,3808,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3491,-0.87,-145.9,2178,1078,3751,3804,469.6,-12.8,298,3501,0.17,2.45,0.00,0.000,3078,0.307,0.103,2207,2476,3779,3750,3808,0,0,0,0,0,0,14.59,14.70,28.83
$GC,3811,-0.87,-145.9,2208,2477,3750,3809,506.6,-11.5,311,3819,0.00,2.35,0.00,0.000,516,0.000,0.078,2208,1078,3778,3749,3808,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3859,-0.88,-145.9,2208,1078,3750,3809,512.2,-11.6,320,3867,0.00,2.45,0.00,0.000,1030,0.000,0.102,2201,2479,3778,3749,3808,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4177,-0.88,-145.9,2202,2480,3749,3808,549.9,-12.0,333,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2480,3778,3749,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4476,-0.88,-145.9,2201,2480,3750,3809,585.5,-11.8,343,4484,0.00,2.38,0.00,0.000,516,0.000,0.078,2201,1079,3778,3748,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4568,-0.88,-145.9,2201,1079,3753,3808,596.4,-11.8,361,4576,0.00,2.42,0.00,0.000,1030,0.000,0.102,2192,2471,3778,3748,3808,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4901,-0.88,-145.9,2191,2472,3748,3809,637.2,-12.3,377,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2471,3778,3748,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5201,-0.88,-145.9,2192,2471,3748,3808,673.8,-12.2,387,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2471,3778,3748,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.88,-145.9,2192,2472,3749,3808,709.7,-12.0,397,5508,0.00,2.35,0.00,0.000,516,0.000,0.079,2192,1078,3778,3748,3808,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5603,-0.88,-145.9,2192,1077,3748,3808,721.5,-11.5,417,5610,0.00,2.42,0.00,0.000,1030,0.000,0.103,2183,2476,3777,3747,3808,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,5863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5863,begin apogee
$GC,5867,-0.16,0.0,2183,2406,3748,3809,753.1,-12.1,429,5993,0.98,0.00,121.32,1.829,10246,0.282,0.000,2437,2403,3179,3129,3230,0,0,0,0,0,0,14.62,28.83,13.30
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5997,0.81,145.9,2437,2405,3126,3226,756.0,0.0,433,6129,1.05,0.00,122.15,1.810,10246,0.147,0.000,2751,2405,2584,2504,2665,0,0,0,0,0,0,14.00,28.83,13.07
$GC,6405,0.77,145.9,2751,2405,2492,2655,703.5,15.2,447,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2405,2574,2492,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.73,145.9,2751,2405,2493,2656,657.9,15.3,457,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2405,2573,2492,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7652,0.82,340.2,2752,2405,2493,2656,614.9,1.3,467,7817,0.00,0.00,161.80,1.613,8198,0.000,0.000,2751,2405,1794,1696,1893,0,0,0,0,0,0,28.83,28.83,13.20
$GC,8101,0.81,340.2,2751,2405,1677,1876,528.7,20.2,482,8110,0.00,2.47,0.00,0.000,516,0.000,0.083,2761,1004,1776,1677,1876,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8135,0.81,340.2,2762,1004,1677,1876,522.0,19.8,488,8142,0.00,2.50,0.00,0.000,1030,0.000,0.093,2761,2399,1776,1677,1876,0,0,0,0,0,0,28.83,14.23,28.83
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;5726ba7050;,*3A
$MODEM_MSG,CACST,6,0,20140805041536.647291,3,873,00,0346,0150,217,03,03,05,03,1,013,000,0,5,1,0,150,15.0,6.0,-100,-3.0,-01,0.4,21,900,0025*28
$EKF,range,961955.2
$EKF,8469,4310.941895,-8755.348633,458.521027,0.408124,0.058967,-0.208989,0.001285,0.013237,0.000100,0.000025,0.000025,0.000139
$GC,8471,0.79,340.2,2762,2403,1675,1876,452.3,20.9,504,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2400,1775,1675,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8766,0.77,340.2,2761,2400,1675,1876,390.0,20.6,514,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2400,1774,1674,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,0.76,340.2,2762,2400,1674,1876,328.4,20.5,524,9074,0.00,2.40,0.00,0.000,516,0.000,0.083,2769,1004,1774,1674,1875,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9093,0.76,340.2,2770,1004,1674,1875,323.1,20.1,529,9103,0.15,2.45,0.00,0.000,5126,0.284,0.093,2738,2404,1774,1674,1874,0,0,0,0,0,0,14.48,14.58,28.83
$GC,9399,0.76,340.2,2738,2405,1674,1874,268.3,17.4,540,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2404,1774,1674,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9699,0.77,340.2,2738,2405,1670,1875,217.9,16.2,562,9708,0.00,2.30,0.00,0.000,260,0.000,0.109,2738,3715,1774,1674,1874,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9737,0.77,340.2,2739,3715,1674,1873,210.9,18.6,569,9746,0.00,2.15,0.00,0.000,1030,0.000,0.057,2745,2401,1773,1673,1873,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10043,0.80,340.2,2746,2398,1681,1873,166.6,13.5,600,10050,0.00,2.40,0.00,0.000,516,0.000,0.083,2754,991,1773,1674,1872,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10130,0.84,340.2,2754,992,1675,1873,155.2,12.8,617,10139,0.00,2.47,0.00,0.000,1030,0.000,0.093,2754,2408,1773,1674,1873,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10435,0.88,340.2,2755,2408,1681,1873,116.3,12.5,648,10443,0.00,2.40,0.00,0.000,516,0.000,0.083,2763,997,1773,1674,1873,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10472,0.92,340.2,2763,997,1674,1874,111.6,12.8,655,10481,0.00,2.45,0.00,0.000,1030,0.000,0.093,2763,2405,1773,1674,1873,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10778,0.95,340.2,2763,2407,1675,1873,72.9,12.4,686,10781,0.12,0.00,0.00,0.000,2054,0.138,0.000,2817,2407,1773,1674,1873,0,0,0,0,0,0,14.64,28.83,28.83
$GC,11078,0.98,358.7,2817,2404,1674,1873,34.4,10.6,716,11093,0.00,2.30,6.00,0.282,8452,0.000,0.109,2817,3716,1718,1619,1817,0,0,0,0,0,0,28.83,14.61,14.50
$GC,11158,0.96,358.7,2817,3717,1636,1818,25.2,12.5,731,11167,0.00,2.17,0.00,0.000,1030,0.000,0.057,2821,2389,1726,1636,1817,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11463,1.17,591.4,2826,2389,1637,1817,13.2,-0.8,762,11573,0.12,2.42,101.88,0.213,11012,0.140,0.110,2887,3708,767,663,872,0,0,0,0,0,0,14.64,14.48,14.44
$FREEZE,8.39,4.382,-1.393,2,1,0
$FREEZE,8.00,4.400,-1.397,2,1,0
$FREEZE,7.57,4.400,-1.397,2,1,0
$FREEZE,7.17,4.399,-1.398,2,1,0
$FREEZE,6.79,4.399,-1.398,2,1,0
$FREEZE,6.29,4.408,-1.398,2,1,0
$FREEZE,5.84,4.408,-1.398,2,1,0
$FREEZE,5.37,4.436,-1.397,2,1,0
$FREEZE,4.85,4.436,-1.397,2,1,0
$FREEZE,4.43,4.420,-1.396,2,1,0
$FREEZE,3.95,4.420,-1.396,2,1,0
$FREEZE,3.41,4.375,-1.395,2,1,0
$FREEZE,3.00,4.375,-1.395,2,1,0
$FREEZE,2.49,4.347,-1.394,2,1,0
$FREEZE,1.98,4.347,-1.394,2,1,0
$STATE,11646,end climb,SURFACE_DEPTH_REACHED
$STATE,11646,begin surface coast
$FREEZE,1.58,4.288,-1.394,2,1,0
$FREEZE,1.48,4.288,-1.394,2,1,0
$FREEZE,1.39,4.114,-0.732,2,1,0
$FREEZE,1.38,4.114,-0.732,2,1,0
$FINISH,1.4,1.010719
$STATE,11666,end surface coast,CONTROL_FINISHED_OK
$STATE,11666,begin surface
$SM_CCo,11689,28.58,0.188,0,0,497,657.89
$SM_CCo,11720,-0.17,0.000,0,0,500,657.89
$SM_CCo,11722,0.00,0.000,0,0,500,657.89
$SM_GC,2.57,8.20,2.10,0.00,0.099,0.060,0.000,183,2466,500,-7.17,1.22,657.89,0,0,0,0,0,0,14.54,14.58,28.83
$RAFOS_CLK,397878
$MODEM,13,1407212136,71.39420,-145.78560,696.647,1010835.0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7112.27,-14550.01,040814,220930
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.66
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3907264
$TM_FREEKB,6876020
$24V_AH,13.07,32.585
$10V_AH,13.21,0.000
$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,21.900,75.850,513.150,28.575,0.000,0.000,0.000,519.100,0.000,0.000,32.033,0.000,8501.980,738.794,2504.785,130.542,0.000,1970.793,0.000,1183.396,1496.000,0.531,0.000
$DEVICE_MAMPS,456.705,182.070,1829.115,188.190,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11686.000,11772.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.116,13.587,0.000,0.000
$MEM,280984
$DATA_FILE_SIZE,26743,797
$CAP_FILE_SIZE,147316,0
$CFSIZE,1047117824,1030176768
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13542.29,0x2378b6,7,5
$INTR,1,11723.62,0x2378b6,7,5
$SOUNDSPEED,1450.4
$EKF,11155,4311.453613,-8755.068359,1.377264,0.104529,-0.940941,-0.000884,0.001328,0.013680,0.000095,0.001025,0.001025,0.000034
$GPS,050814,050943,7150.553,-14554.589,39,1.0,59,28.2