version: 66.12
glider: 198
mission: 5
dive: 61
start: 8 4 114 3 45 31
data:
$ID,198
$MISSION,5
$DIVE,61
$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,0.1
$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,8
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,648.87579
$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,-3399.6741
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$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,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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
$GPS1,040814,033112,7144.568,-14410.786,36,0.7,56,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.9
$GPS2,040814,034513,7144.590,-14411.000,5,0.8,25,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.3,15919,-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,19,-0.70,-145.9,198,2692,455,530,0.0,0.0,0,75,0.00,0.00,-53.17,0.000,16386,0.000,0.000,197,2692,1844,1873,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.70,-145.9,199,2693,1877,1817,3.7,-3.9,5,133,11.23,2.55,-36.33,0.000,19204,0.457,0.110,2356,1262,3783,3874,3693,0,0,0,0,0,0,14.10,14.30,14.50
$GC,357,-0.65,-145.9,2357,1262,3875,3698,64.0,-18.1,58,366,0.12,2.53,0.00,0.000,3078,0.348,0.109,2372,2682,3785,3874,3697,0,0,0,0,0,0,14.27,14.38,28.83
$GC,662,-0.65,-145.9,2373,2682,3880,3699,115.8,-16.0,89,670,0.00,2.42,0.00,0.000,516,0.000,0.085,2372,1260,3786,3874,3698,0,0,0,0,0,0,28.83,14.47,28.83
$GC,828,-0.65,-145.9,2373,1262,3876,3697,139.7,-14.0,120,837,0.00,2.53,0.00,0.000,1030,0.000,0.110,2362,2684,3785,3874,3697,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1133,-0.65,-145.9,2363,2685,3873,3697,182.6,-13.6,151,1143,0.00,2.42,0.00,0.000,516,0.000,0.086,2362,1270,3784,3871,3698,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1167,-0.65,-145.9,2363,1271,3873,3696,187.3,-13.6,157,1175,0.00,2.53,0.00,0.000,1030,0.000,0.113,2357,2685,3782,3871,3693,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1479,-0.65,-145.9,2361,2685,3871,3694,225.6,-11.7,189,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3784,3871,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.65,-145.9,2362,2684,3871,3695,260.0,-10.9,214,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3783,3870,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,-0.65,-145.9,2362,2685,3869,3698,291.6,-10.5,224,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2683,3783,3869,3697,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140804041625.043813,3,1949,26,0201,0150,100,00,00,01,01,-1,-01,-01,1,3,0,0,150,14.9,0.6,-100,2.4,-01,0.5,26,900,0025*18
$GC,2390,-0.65,-145.9,2362,2684,3869,3697,322.5,-10.2,234,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3782,3867,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.65,-145.9,2362,2685,3867,3698,352.6,-10.1,244,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3781,3866,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.65,-145.9,2362,2685,3874,3698,382.8,-10.1,254,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3782,3866,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.65,-145.9,2361,2683,3866,3698,412.4,-9.8,264,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3781,3865,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-0.67,-145.9,2362,2685,3868,3698,442.0,-9.9,274,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2682,3779,3865,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-0.69,-145.9,2362,2684,3865,3698,472.1,-10.0,284,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2691,3780,3864,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-0.71,-145.9,2362,2684,3865,3698,501.5,-9.8,294,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3781,3865,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.73,-145.9,2362,2684,3865,3697,531.2,-9.8,304,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2684,3781,3865,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4789,-0.76,-145.9,2362,2684,3865,3697,560.5,-9.7,314,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3780,3864,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5089,-0.78,-145.9,2362,2684,3865,3697,589.2,-9.5,324,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3781,3864,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5389,-0.81,-145.9,2361,2685,3865,3697,617.3,-9.5,334,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2681,3780,3863,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5689,-0.83,-145.9,2361,2684,3865,3698,645.9,-9.6,344,5693,0.12,0.00,0.00,0.000,4102,0.153,0.000,2308,2683,3780,3863,3697,0,0,0,0,0,0,14.69,28.83,28.83
$GC,5989,-0.83,-145.9,2309,2684,3864,3698,681.6,-12.1,354,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2684,3780,3863,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,-0.83,-145.9,2308,2683,3863,3697,717.5,-12.0,364,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2683,3779,3862,3697,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6588,begin apogee
$GC,6591,-0.14,0.0,2306,3052,3864,3698,752.4,-11.5,374,6720,0.90,0.00,125.03,1.786,10246,0.285,0.000,2540,3052,3184,3263,3106,0,0,0,0,0,0,14.54,28.83,13.25
$STATE,6723,end apogee,CONTROL_FINISHED_OK
$STATE,6723,begin climb
$GC,6724,0.70,145.9,2540,3052,3259,3101,755.6,0.0,378,6863,0.95,0.00,124.18,1.756,10246,0.186,0.000,2807,3052,2582,2646,2519,0,0,0,0,0,0,13.88,28.83,13.05
$GC,7159,0.70,145.9,2808,3050,2641,2511,706.4,13.2,393,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,3052,2575,2639,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7459,0.70,145.9,2808,3050,2641,2511,666.8,13.2,403,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3052,2575,2640,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7759,0.70,145.9,2808,3052,2641,2510,627.2,13.1,413,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3052,2574,2639,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8059,0.70,145.9,2808,3049,2639,2509,587.4,13.4,423,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3052,2575,2640,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,0.70,145.9,2808,3051,2642,2510,547.6,13.3,433,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3053,2574,2639,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,0.70,145.9,2808,3052,2641,2509,508.0,13.1,443,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3052,2574,2640,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8959,0.70,145.9,2808,3053,2640,2510,468.7,13.2,453,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3050,2574,2639,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,0.70,145.9,2803,3053,2640,2511,429.7,13.0,463,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3052,2573,2638,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9559,0.70,145.9,2808,3052,2642,2508,390.9,13.0,473,9567,0.00,1.33,0.00,0.000,260,0.000,0.125,2807,3782,2574,2639,2509,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9606,0.66,145.9,2808,3783,2641,2509,384.2,14.3,482,9614,0.00,1.25,0.00,0.000,1030,0.000,0.083,2812,3048,2574,2640,2509,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9924,0.64,145.9,2813,3049,2640,2510,342.8,13.0,495,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3048,2574,2640,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10223,0.64,145.9,2813,3049,2640,2509,304.5,12.7,505,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3048,2574,2639,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10523,0.64,145.9,2813,3049,2641,2509,266.4,12.7,515,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3048,2574,2640,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10823,0.64,145.9,2814,3049,2640,2509,229.6,12.0,535,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,3048,2573,2639,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11123,0.65,163.6,2813,3049,2641,2509,196.5,10.7,565,11146,0.00,2.45,14.15,1.183,8708,0.000,0.081,2822,1638,2510,2578,2443,0,0,0,0,0,0,28.83,14.50,14.07
$GC,11180,0.67,197.2,2823,1639,2581,2443,191.1,9.8,575,11217,0.00,2.50,28.42,1.112,9222,0.000,0.112,2822,3054,2374,2440,2309,0,0,0,0,0,0,28.83,14.51,13.94
$GC,11521,0.69,219.4,2823,3055,2429,2303,154.5,10.4,611,11551,0.00,2.47,18.65,1.092,8708,0.000,0.081,2832,1647,2283,2346,2220,0,0,0,0,0,0,28.83,14.36,13.92
$GC,11625,0.75,265.3,2833,1646,2340,2219,144.8,9.2,630,11675,0.00,2.50,39.03,1.039,9222,0.000,0.112,2832,3052,2096,2158,2034,0,0,0,0,0,0,28.83,14.37,13.79
$GC,11969,0.76,286.5,2839,3050,2149,2025,107.3,10.5,667,11998,0.00,2.47,17.70,1.035,8708,0.000,0.083,2836,1644,2009,2070,1949,0,0,0,0,0,0,28.83,14.27,13.89
$GC,12038,0.83,324.5,2837,1644,2066,1946,100.6,9.6,679,12082,0.00,2.53,33.58,0.995,9222,0.000,0.113,2836,3048,1854,1912,1796,0,0,0,0,0,0,28.83,14.30,13.78
$GC,12376,0.89,351.8,2837,3051,1900,1788,63.8,10.2,715,12393,0.12,0.00,12.38,0.366,10246,0.148,0.000,2891,3050,1751,1809,1693,0,0,0,0,0,0,14.40,28.83,14.17
$GC,12688,0.91,386.0,2891,3051,1830,1693,29.1,9.8,746,12716,0.00,1.33,20.27,0.269,8452,0.000,0.125,2891,3788,1614,1674,1554,0,0,0,0,0,0,28.83,14.35,14.29
$GC,12750,0.92,398.2,2891,3789,1683,1554,22.6,11.0,757,12765,0.00,1.27,8.20,0.249,9222,0.000,0.082,2895,3056,1562,1622,1503,0,0,0,0,0,0,28.83,14.44,14.28
$GC,13070,1.15,612.9,2896,3057,1638,1500,13.7,0.2,790,13195,0.17,1.42,115.38,0.220,11012,0.132,0.130,2973,3797,687,662,713,0,0,0,0,0,0,14.47,14.31,14.26
$GC,13204,1.37,790.5,2973,3797,672,722,11.2,2.2,810,13239,0.12,1.30,25.88,0.217,11270,0.103,0.083,3029,3052,500,465,536,0,0,0,0,0,0,14.33,14.36,14.24
$FREEZE,8.45,4.129,-1.247,2,1,0
$FREEZE,7.77,4.126,-1.246,2,1,0
$FREEZE,7.14,4.115,-1.244,2,1,0
$FREEZE,6.42,4.112,-1.243,2,1,0
$FREEZE,5.64,4.107,-1.243,2,1,0
$FREEZE,5.02,4.111,-1.242,2,1,0
$FREEZE,4.38,4.105,-1.241,2,1,0
$FREEZE,3.61,4.109,-1.241,2,1,0
$FREEZE,2.79,4.103,-1.240,2,1,0
$FREEZE,2.01,4.096,-1.240,2,1,0
$FREEZE,1.18,4.023,-1.241,2,1,0
$STATE,13363,end climb,SURFACE_DEPTH_REACHED
$STATE,13363,begin surface coast
$FREEZE,1.20,3.955,-0.309,2,1,0
$FREEZE,1.17,3.973,-0.727,2,1,0
$FINISH,1.2,1.010656
$STATE,13383,end surface coast,CONTROL_FINISHED_OK
$STATE,13383,begin surface
$SM_CCo,13465,0.00,0.000,0,0,498,659.12
$SM_GC,2.53,8.45,0.65,0.00,0.092,0.100,0.000,206,2682,498,-7.39,0.82,659.12,0,0,0,0,0,0,14.43,14.40,28.83
$RAFOS_CLK,809
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7112.27,-14406.95,030814,233322
$TT8_MAMPS,0.045689,0.045689
$HUMID,52.12
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3993056
$TM_FREEKB,6972512
$24V_AH,13.05,21.861
$10V_AH,13.18,0.000
$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,22.200,39.100,582.825,0.000,0.000,0.000,0.000,527.525,0.000,0.000,27.038,0.000,10888.218,691.435,2604.331,117.375,0.000,1970.536,0.000,1239.717,1497.000,0.535,0.000
$DEVICE_MAMPS,457.470,130.050,1785.510,0.000,0.000,0.000,0.000,207.315,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13409.000,13502.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.786,13.393,0.000,0.000
$MEM,283376
$DATA_FILE_SIZE,26719,830
$CAP_FILE_SIZE,154673,0
$CFSIZE,2097872896,2076934144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14571.77,0x2378b6,7,5
$SOUNDSPEED,1449.3
$EKF,13556,4303.073242,-8650.492188,1.167327,0.357495,0.035593,-0.007690,0.000340,0.003460,0.000099,0.002025,0.002025,0.000050
$GPS,040814,073124,7143.022,-14411.385,32,0.8,52,22.6