version: 66.12
glider: 199
mission: 5
dive: 50
start: 8 1 114 17 45 18
data:
$ID,199
$MISSION,5
$DIVE,50
$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,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,688.85968
$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,-21684.055
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,010814,173348,7119.354,-14505.432,42,0.8,62,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.6
$GPS2,010814,174500,7119.368,-14505.463,5,0.7,26,22.2
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,311.7,40331,-21.5,-11.628,-24.76,1932
$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,-0.75,-145.9,195,2360,532,468,0.0,0.0,0,75,0.00,0.00,-52.95,0.000,16386,0.000,0.000,196,2359,1856,1860,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.75,-145.9,195,2360,1862,1854,3.3,-3.2,5,134,11.07,2.53,-40.00,0.000,19204,0.478,0.118,2187,952,3825,3881,3769,0,0,0,0,0,0,14.04,14.26,14.47
$GC,358,-0.75,-145.9,2189,953,3882,3777,63.4,-18.9,58,367,0.00,2.50,0.00,0.000,1030,0.000,0.103,2178,2362,3828,3881,3776,0,0,0,0,0,0,28.83,14.33,28.83
$GC,663,-0.75,-145.9,2180,2363,3882,3777,124.3,-19.5,89,671,0.00,2.45,0.00,0.000,516,0.000,0.094,2179,952,3829,3882,3776,0,0,0,0,0,0,28.83,14.40,28.83
$GC,745,-0.75,-145.9,2180,951,3882,3777,139.2,-17.3,105,754,0.00,2.47,0.00,0.000,1030,0.000,0.102,2169,2357,3829,3882,3777,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1058,-0.75,-145.9,2168,2361,3883,3777,191.2,-15.0,137,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2361,3829,3882,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1358,-0.75,-145.9,2170,2359,3881,3777,233.6,-13.3,167,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2361,3829,3882,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1668,-0.75,-145.9,2169,2361,3883,3776,274.8,-13.4,186,1676,0.00,2.53,0.00,0.000,260,0.000,0.129,2157,3776,3827,3879,3775,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1715,-0.75,-145.9,2158,3777,3882,3776,281.5,-15.0,195,1726,0.15,2.42,0.00,0.000,3078,0.322,0.085,2186,2349,3826,3882,3771,0,0,0,0,0,0,14.37,14.51,28.83
$GC,2035,-0.75,-145.9,2186,2350,3884,3770,319.1,-11.6,208,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2349,3828,3882,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,-0.75,-145.9,2187,2350,3882,3773,353.6,-11.3,218,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2349,3827,3882,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-0.75,-145.9,2192,2350,3883,3771,386.9,-11.1,228,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2349,3827,3882,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-0.75,-145.9,2187,2350,3882,3772,419.6,-10.9,238,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2349,3826,3882,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3235,-0.75,-145.9,2187,2349,3882,3771,451.7,-10.7,248,3242,0.00,2.55,0.00,0.000,260,0.000,0.129,2177,3771,3826,3882,3770,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3306,-0.75,-145.9,2177,3772,3883,3771,460.3,-12.1,262,3314,0.00,2.40,0.00,0.000,1030,0.000,0.084,2177,2351,3826,3882,3770,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3629,-0.75,-145.9,2179,2352,3881,3771,496.7,-11.3,276,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2351,3826,3882,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3928,-0.75,-145.9,2179,2351,3881,3771,530.2,-11.2,286,3936,0.00,2.55,0.00,0.000,260,0.000,0.129,2167,3776,3826,3882,3770,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3970,-0.75,-145.9,2166,3777,3883,3770,535.3,-13.0,294,3978,0.00,2.40,0.00,0.000,1030,0.000,0.083,2166,2353,3826,3882,3770,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4292,-0.75,-145.9,2166,2354,3883,3770,572.7,-11.6,308,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2353,3826,3882,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4592,-0.75,-145.9,2168,2353,3881,3770,607.1,-11.5,318,4600,0.00,2.53,0.00,0.000,260,0.000,0.128,2156,3770,3825,3882,3769,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4644,-0.75,-145.9,2155,3771,3882,3770,613.9,-13.0,328,4652,0.15,2.38,0.00,0.000,3078,0.324,0.083,2185,2360,3825,3882,3769,0,0,0,0,0,0,14.47,14.60,28.83
$GC,4956,-0.75,-145.9,2184,2361,3883,3770,647.3,-10.5,340,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2360,3825,3882,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,-0.75,-145.9,2185,2361,3883,3770,678.7,-10.4,350,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2359,3825,3882,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5556,-0.75,-145.9,2184,2361,3883,3769,710.4,-10.5,360,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2360,3825,3882,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5856,-0.75,-145.9,2186,2364,3881,3769,741.4,-10.3,370,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2360,3825,3882,3769,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5945,begin apogee
$GC,5948,-0.14,0.0,2184,2618,3883,3769,750.8,-10.3,373,6132,0.77,0.00,179.82,1.665,10246,0.289,0.000,2381,2612,3229,3283,3175,0,0,0,0,0,0,14.50,28.83,13.16
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6135,0.75,145.9,2382,2613,3276,3169,754.4,0.0,379,6282,1.05,0.00,129.05,1.870,10246,0.181,0.000,2672,2609,2620,2677,2564,0,0,0,0,0,0,13.76,28.83,12.87
$GC,6576,0.75,145.9,2672,2613,2676,2553,703.3,13.4,394,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2612,2614,2677,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,0.75,145.9,2673,2613,2676,2552,663.6,13.2,404,6885,0.00,2.50,0.00,0.000,516,0.000,0.094,2683,1194,2613,2676,2551,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6924,0.75,145.9,2684,1195,2676,2551,657.4,12.8,413,6932,0.00,2.53,0.00,0.000,1030,0.000,0.103,2683,2606,2614,2677,2551,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7241,0.75,145.9,2683,2607,2678,2551,613.9,13.8,426,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2606,2613,2677,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7541,0.75,145.9,2684,2606,2676,2550,573.2,13.4,436,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2607,2613,2677,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7841,0.75,145.9,2683,2607,2677,2550,532.6,13.6,446,7850,0.00,2.45,0.00,0.000,516,0.000,0.094,2693,1196,2613,2677,2550,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7869,0.75,145.9,2693,1196,2678,2550,528.9,12.7,451,7880,0.00,2.47,0.00,0.000,1030,0.000,0.104,2693,2605,2613,2676,2550,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8174,0.75,145.9,2694,2605,2676,2550,485.8,14.2,462,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2604,2613,2677,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,0.75,145.9,2694,2605,2675,2550,444.0,13.8,472,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2604,2612,2676,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,0.75,145.9,2693,2605,2678,2550,402.6,13.7,482,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2605,2612,2676,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9074,0.75,145.9,2694,2605,2676,2549,361.8,13.7,492,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2605,2612,2676,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9374,0.75,145.9,2693,2605,2678,2549,321.1,13.5,502,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2605,2612,2676,2549,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801200412.042259,3,938,29,0220,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,8.3,1.2,-100,1.8,-01,0.4,35,900,0025*1F
$MODEM_MSG,CACST,6,1,20140801201633.865260,3,184,22,0133,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,11.3,0.6,-100,2.4,-01,-0.4,24,900,0025*02
$GC,9674,0.75,145.9,2693,2605,2678,2550,280.6,13.5,512,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2605,2611,2676,2547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,0.75,145.9,2694,2605,2676,2549,240.9,12.6,526,9983,0.00,2.45,0.00,0.000,516,0.000,0.093,2703,1193,2612,2676,2549,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10012,0.75,145.9,2705,1193,2676,2549,236.2,12.4,533,10021,0.00,2.47,0.00,0.000,1030,0.000,0.103,2703,2601,2612,2676,2549,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10317,0.75,145.9,2704,2602,2676,2549,197.0,11.7,564,10325,0.00,2.45,0.00,0.000,516,0.000,0.092,2713,1188,2612,2676,2549,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10379,0.75,145.9,2714,1188,2676,2549,190.2,11.1,576,10387,0.15,2.47,0.00,0.000,5126,0.284,0.103,2682,2602,2612,2676,2549,0,0,0,0,0,0,14.40,14.48,28.83
$GC,10692,0.80,196.9,2682,2602,2678,2546,160.7,8.9,608,10744,0.00,0.00,43.70,1.265,8198,0.000,0.000,2682,2602,2411,2477,2346,0,0,0,0,0,0,28.83,28.83,13.74
$GC,11041,0.85,241.4,2682,2602,2472,2333,129.2,9.3,643,11091,0.00,2.58,38.53,1.190,8708,0.000,0.093,2691,1192,2228,2301,2156,0,0,0,0,0,0,28.83,14.14,13.69
$GC,11150,0.92,241.4,2694,1197,2297,2145,119.2,9.7,662,11160,0.12,2.55,0.00,0.000,3078,0.166,0.103,2733,2606,2220,2295,2145,0,0,0,0,0,0,14.22,14.20,28.83
$GC,11456,0.95,241.4,2734,2605,2295,2143,83.8,11.0,693,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2605,2219,2295,2143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,1.02,316.6,2732,2606,2296,2144,54.9,7.6,723,11798,0.00,2.08,33.97,0.328,8452,0.000,0.130,2733,3764,1941,2026,1856,0,0,0,0,0,0,28.83,14.30,14.22
$GC,11927,1.08,316.6,2732,3765,2038,1877,38.8,10.1,755,11939,0.12,2.00,2.15,0.228,11270,0.162,0.089,2781,2600,1938,2022,1854,0,0,0,0,0,0,14.38,14.40,14.28
$GC,12243,1.18,411.1,2782,2602,2041,1873,11.3,6.6,787,12299,0.00,2.20,46.97,0.208,8452,0.000,0.132,2781,3768,1550,1643,1457,0,0,0,0,0,0,28.83,14.37,14.30
$GC,12373,1.39,618.7,2782,3769,1651,1463,10.9,0.6,810,12399,0.28,2.05,19.73,0.213,11266,0.122,0.090,2883,2600,1395,1492,1298,0,0,0,0,0,0,14.39,14.40,28.83
$FREEZE,10.79,3.848,-1.403,0,1,0
$STATE,12400,end climb,NO_VERTICAL_VELOCITY
$STATE,12400,begin surface
$SM_CCo,12403,112.03,0.207,0,0,497,669.67
$SM_CCo,12657,0.25,0.487,0,0,498,669.67
$SM_CCo,12659,-0.17,0.000,0,0,501,669.67
$SM_CCo,12661,0.28,0.466,0,0,498,669.67
$SM_GC,3.10,8.65,0.43,0.28,0.145,0.106,0.466,199,2354,498,-6.95,0.74,669.67,0,0,0,0,0,0,14.34,14.40,14.32
$RAFOS_CLK,198
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7045.80,-14509.81,010814,135613
$TT8_MAMPS,0.045689,0.045689
$HUMID,52.91
$INTERNAL_PRESSURE,8.47526
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,4011376
$TM_FREEKB,7270528
$24V_AH,12.87,68.261
$10V_AH,13.12,0.000
$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,22.525,63.850,493.925,112.550,0.000,0.000,0.000,420.825,0.000,0.000,27.538,0.000,10022.908,784.780,2418.898,106.244,0.000,1945.093,0.000,1211.632,1470.000,0.538,0.000
$DEVICE_MAMPS,478.125,133.110,1870.425,487.305,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12416.000,12459.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.017,12.695,0.000,0.000
$MEM,290256
$DATA_FILE_SIZE,26699,813
$CAP_FILE_SIZE,147441,0
$CFSIZE,2097872896,2081292288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13332.83,0x2378b6,7,5
$SOUNDSPEED,1450.6
$EKF,12761,4280.738281,-8707.522461,10.791009,0.006160,-0.000140,-0.022940,0.000299,0.002923,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.077,191.12,1
$GPS,010814,211756,7120.215,-14507.845,41,0.8,61,22.2