version: 66.12
glider: 198
mission: 5
dive: 39
start: 7 31 114 13 58 50
data:
$ID,198
$MISSION,5
$DIVE,39
$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,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,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,648.87579
$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,-3371.9436
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,310714,134424,7117.034,-14420.514,26,0.8,46,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.2
$GPS2,310714,135832,7117.052,-14420.430,5,0.8,25,22.5
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,348.4,35618,-21.4,-11.628,-26.45,1932
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.70,-145.9,207,2751,470,533,0.0,0.0,0,74,0.00,0.00,-52.70,0.000,16386,0.000,0.000,205,2750,1875,1906,1845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.70,-145.9,208,2751,1908,1846,3.8,-4.0,5,132,11.40,1.88,-35.75,0.000,18692,0.465,0.148,2358,3787,3782,3878,3687,0,0,0,0,0,0,14.09,14.28,14.49
$GC,356,-0.62,-145.9,2358,3787,3875,3694,65.5,-19.7,58,366,0.12,1.80,0.00,0.000,3078,0.320,0.075,2388,2745,3785,3875,3695,0,0,0,0,0,0,14.27,14.40,28.83
$GC,661,-0.62,-145.9,2389,2745,3874,3696,111.6,-14.7,89,669,0.00,1.88,0.00,0.000,260,0.000,0.127,2381,3787,3784,3874,3695,0,0,0,0,0,0,28.83,14.41,28.83
$GC,887,-0.62,-145.9,2382,3787,3874,3697,145.4,-14.9,134,897,0.00,1.77,0.00,0.000,1030,0.000,0.077,2378,2750,3783,3872,3695,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1193,-0.62,-145.9,2389,2750,3871,3696,183.4,-11.3,165,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2750,3783,3871,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1493,-0.64,-145.9,2381,2751,3871,3695,215.3,-10.1,195,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2750,3783,3870,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1793,-0.66,-145.9,2382,2750,3870,3696,244.6,-9.5,225,1800,0.00,2.38,0.00,0.000,516,0.000,0.085,2382,1335,3781,3868,3695,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1835,-0.70,-145.9,2387,1335,3869,3696,248.7,-9.4,233,1842,0.00,2.50,0.00,0.000,1030,0.000,0.115,2374,2749,3782,3868,3696,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2157,-0.72,-145.9,2375,2748,3868,3696,280.5,-9.9,246,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2749,3781,3867,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-0.75,-145.9,2376,2749,3867,3697,309.2,-9.5,256,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2748,3781,3866,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.78,-145.9,2376,2749,3866,3697,337.9,-9.5,266,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2748,3780,3865,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3057,-0.80,-145.9,2375,2749,3866,3701,366.2,-9.4,276,3060,0.12,0.00,0.00,0.000,4102,0.156,0.000,2324,2748,3780,3864,3696,0,0,0,0,0,0,14.64,28.83,28.83
$GC,3356,-0.80,-145.9,2324,2749,3865,3697,401.2,-11.9,286,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2748,3779,3863,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.80,-145.9,2325,2749,3871,3696,436.4,-11.8,296,3664,0.00,2.38,0.00,0.000,516,0.000,0.082,2324,1333,3779,3863,3696,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3733,-0.80,-145.9,2325,1333,3864,3695,445.0,-11.1,311,3743,0.00,2.50,0.00,0.000,1030,0.000,0.113,2318,2751,3779,3863,3696,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4052,-0.80,-145.9,2318,2751,3864,3696,483.1,-12.0,324,4060,0.00,2.38,0.00,0.000,516,0.000,0.081,2317,1331,3779,3863,3695,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4109,-0.80,-145.9,2318,1333,3864,3696,489.7,-11.2,335,4120,0.00,2.50,0.00,0.000,1030,0.000,0.113,2309,2753,3779,3862,3696,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4414,-0.80,-145.9,2310,2753,3864,3696,526.8,-12.2,346,4417,0.12,0.00,0.00,0.000,2054,0.347,0.000,2333,2753,3779,3862,3696,0,0,0,0,0,0,14.54,28.83,28.83
$GC,4714,-0.80,-145.9,2334,2753,3863,3696,559.8,-10.9,356,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2753,3778,3860,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,-0.80,-145.9,2334,2753,3858,3696,592.2,-10.8,366,5022,0.00,2.38,0.00,0.000,516,0.000,0.082,2334,1334,3779,3862,3696,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5081,-0.80,-145.9,2334,1335,3864,3696,599.1,-10.4,379,5090,0.00,2.50,0.00,0.000,1030,0.000,0.113,2325,2757,3779,3862,3696,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5410,-0.80,-145.9,2326,2758,3863,3696,635.5,-11.2,394,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2757,3778,3862,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5710,-0.80,-145.9,2325,2758,3863,3695,668.6,-11.0,404,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2757,3778,3862,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.80,-145.9,2325,2757,3861,3696,701.5,-11.0,414,6018,0.00,2.38,0.00,0.000,516,0.000,0.082,2325,1340,3776,3861,3691,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6077,-0.80,-145.9,2326,1341,3863,3696,708.8,-10.5,427,6087,0.00,2.47,0.00,0.000,1030,0.000,0.113,2317,2748,3779,3862,3696,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6407,-0.80,-145.9,2318,2749,3862,3696,745.4,-11.1,442,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2748,3776,3857,3695,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6465,begin apogee
$GC,6468,-0.14,0.0,2317,3058,3863,3696,752.0,-11.1,444,6651,0.90,0.00,177.95,1.554,10246,0.293,0.000,2553,3058,3185,3262,3109,0,0,0,0,0,0,14.56,28.83,13.28
$STATE,6653,end apogee,CONTROL_FINISHED_OK
$STATE,6653,begin climb
$GC,6654,0.70,145.9,2550,3058,3258,3105,755.7,0.0,450,6794,0.93,1.45,125.75,1.783,10500,0.184,0.124,2814,3783,2584,2647,2521,0,0,0,0,0,0,13.84,13.61,13.02
$GC,6903,0.64,145.9,2815,3783,2630,2505,728.1,16.0,492,6911,0.00,1.30,0.00,0.000,1030,0.000,0.079,2820,3051,2566,2628,2505,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7248,0.61,145.9,2820,3050,2630,2503,680.8,14.1,508,7255,0.00,1.38,0.00,0.000,260,0.000,0.125,2820,3782,2565,2629,2501,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7310,0.55,145.9,2820,3783,2629,2503,669.3,15.8,520,7317,0.15,1.27,0.00,0.000,5126,0.272,0.079,2789,3048,2565,2627,2503,0,0,0,0,0,0,14.18,14.29,28.83
$GC,7641,0.55,145.9,2786,3049,2628,2503,627.9,12.4,536,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3048,2565,2628,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,0.55,145.9,2785,3048,2629,2502,590.5,12.6,546,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3048,2564,2627,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,0.55,145.9,2785,3049,2629,2503,553.0,12.5,556,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3048,2565,2628,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,0.55,145.9,2784,3048,2629,2507,516.2,12.1,566,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3053,2564,2628,2501,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140731160435.250978,3,631,28,0099,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,26.5,1.7,-100,1.4,-01,0.8,22,900,0025*2E
$MODEM_MSG,CACST,6,1,20140731161632.328128,3,711,22,0132,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,17.5,0.5,-100,2.5,-01,0.5,24,900,0025*2D
$GC,8841,0.55,145.9,2785,3048,2628,2502,479.7,12.1,576,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3048,2564,2628,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9141,0.55,145.9,2785,3047,2629,2501,443.1,12.1,586,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3048,2564,2628,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9441,0.55,145.9,2785,3048,2629,2496,407.3,11.9,596,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3048,2564,2628,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9741,0.55,145.9,2785,3049,2637,2502,371.7,11.8,606,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,3048,2564,2628,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10041,0.55,145.9,2785,3049,2629,2502,336.3,11.8,616,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3048,2564,2628,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10341,0.55,148.6,2785,3048,2629,2501,301.6,11.5,626,10350,0.00,2.35,0.00,0.000,516,0.000,0.080,2795,1634,2564,2628,2501,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10374,0.58,179.0,2796,1633,2637,2501,298.1,10.0,632,10413,0.00,2.47,31.38,1.160,9222,0.000,0.112,2796,3047,2451,2518,2384,0,0,0,0,0,0,28.83,14.62,14.00
$GC,10704,0.58,179.0,2795,3046,2504,2374,256.8,12.4,648,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3046,2438,2503,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11004,0.58,179.0,2795,3047,2504,2374,219.7,12.2,674,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3046,2438,2502,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11304,0.58,183.6,2795,3047,2503,2374,184.0,11.4,704,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,3046,2436,2502,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11604,0.62,236.1,2796,3047,2503,2375,153.9,8.8,734,11665,0.00,2.45,51.12,1.102,8708,0.000,0.079,2804,1650,2210,2271,2149,0,0,0,0,0,0,28.83,14.25,13.85
$GC,11714,0.69,273.4,2805,1650,2263,2144,143.8,9.6,753,11755,0.00,2.53,32.60,1.070,9222,0.000,0.112,2805,3056,2063,2125,2001,0,0,0,0,0,0,28.83,14.31,13.75
$GC,12060,0.74,302.0,2806,3057,2108,1987,107.7,10.1,790,12095,0.10,2.47,24.55,1.022,10756,0.172,0.080,2857,1645,1943,2001,1885,0,0,0,0,0,0,14.41,14.27,13.85
$GC,12149,0.77,302.0,2854,1646,1992,1881,97.3,12.0,806,12156,0.00,2.53,0.00,0.000,1030,0.000,0.112,2857,3052,1935,1991,1879,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12461,0.77,302.0,2858,3053,1990,1871,58.3,11.8,838,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,3052,1930,1989,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12761,0.86,379.9,2857,3052,1989,1872,30.5,7.5,868,12807,0.00,0.00,38.67,0.265,8198,0.000,0.000,2857,3052,1638,1696,1581,0,0,0,0,0,0,28.83,28.83,14.33
$GC,13101,1.12,615.4,2856,3052,1715,1581,11.6,-0.9,902,13240,0.28,1.38,126.32,0.208,10500,0.118,0.130,2960,3782,678,647,710,0,0,0,0,0,0,14.50,14.31,14.28
$GC,13464,1.36,772.3,2961,3782,653,710,4.0,3.3,967,13494,0.20,1.25,24.70,0.189,11270,0.108,0.082,3036,3058,499,465,533,0,0,0,0,0,0,14.42,14.45,14.35
$STATE,13507,end climb,SURFACE_DEPTH_REACHED
$STATE,13507,begin surface coast
$FINISH,1.1,1.008457
$STATE,13547,end surface coast,CONTROL_FINISHED_OK
$STATE,13547,begin surface
$SM_CCo,13630,0.00,0.000,0,0,504,657.40
$SM_GC,2.03,8.65,0.52,0.00,0.110,0.089,0.000,198,2746,504,-7.44,0.79,657.40,0,0,0,0,0,0,14.45,14.45,28.83
$RAFOS_CLK,411
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7045.80,-14416.07,310714,094312
$TT8_MAMPS,0.04494,0.04494
$HUMID,53.46
$INTERNAL_PRESSURE,8.58355
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4002912
$TM_FREEKB,7420768
$24V_AH,13.02,13.855
$10V_AH,12.72,0.000
$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,22.975,55.575,633.050,0.000,0.000,0.000,0.000,543.150,0.000,0.000,26.254,0.000,10729.545,743.798,2896.388,103.535,0.000,2153.811,0.000,1452.489,1477.000,0.535,0.000
$DEVICE_MAMPS,465.120,148.410,1783.215,0.000,0.000,0.000,0.000,204.255,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13581.000,13673.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.020,13.275,0.000,0.000
$MEM,294480
$DATA_FILE_SIZE,33298,977
$CAP_FILE_SIZE,164805,0
$CFSIZE,2097872896,2083848192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14721.27,0x2378b6,7,5
$SOUNDSPEED,1451.2
$EKF,13717,4278.530762,-8659.344727,1.110397,0.208305,0.175001,0.002956,0.000304,0.002958,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.042,336.93,1
$GPS,310714,174724,7118.840,-14419.679,30,0.7,50,22.5