version: 66.12
glider: 199
mission: 5
dive: 56
start: 8 2 114 15 42 11
data:
$ID,199
$MISSION,5
$DIVE,56
$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,180
$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,-21691.617
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,020814,153124,7125.258,-14520.027,27,0.8,47,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.6
$GPS2,020814,154158,7125.203,-14519.976,5,1.0,25,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,310.1,26606,-19.5,-11.628,-22.92,2318
$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,-0.72,-175.1,198,2357,546,468,0.0,0.0,0,85,0.00,0.00,-63.50,0.000,16386,0.000,0.000,197,2357,2074,2082,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.72,-175.1,198,2357,2082,2067,3.4,-2.9,6,144,11.15,2.53,-37.92,0.000,18948,0.479,0.116,2193,952,3947,4005,3890,0,0,0,0,0,0,14.04,14.25,14.46
$GC,353,-0.72,-175.1,2193,953,4004,3895,65.7,-20.6,56,361,0.00,2.50,0.00,0.000,1030,0.000,0.103,2185,2359,3949,4003,3895,0,0,0,0,0,0,28.83,14.35,28.83
$GC,664,-0.72,-175.1,2186,2360,4002,3895,126.6,-18.7,88,673,0.00,2.53,0.00,0.000,260,0.000,0.129,2173,3769,3948,4002,3895,0,0,0,0,0,0,28.83,14.36,28.83
$GC,702,-0.72,-175.1,2173,3770,4004,3896,134.1,-21.1,95,711,0.00,2.42,0.00,0.000,1030,0.000,0.081,2170,2344,3948,4002,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1007,-0.72,-175.1,2173,2345,4004,3896,188.2,-16.1,126,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2344,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-0.72,-175.1,2175,2345,4002,3895,232.8,-13.8,156,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2344,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1621,-0.72,-175.1,2175,2345,4003,3894,274.6,-13.4,175,1629,0.00,2.58,0.00,0.000,260,0.000,0.129,2163,3772,3948,4002,3894,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1683,-0.72,-175.1,2163,3771,4001,3895,283.8,-15.4,187,1692,0.15,2.40,0.00,0.000,3078,0.314,0.083,2193,2361,3948,4002,3895,0,0,0,0,0,0,14.28,14.41,28.83
$GC,2016,-0.72,-175.1,2194,2361,4002,3895,324.0,-11.8,203,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2360,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.72,-175.1,2197,2361,4004,3895,360.0,-12.0,213,2323,0.00,2.55,0.00,0.000,260,0.000,0.128,2183,3769,3948,4002,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2382,-0.72,-175.1,2183,3769,4001,3895,369.0,-13.9,226,2392,0.00,2.40,0.00,0.000,1030,0.000,0.081,2183,2357,3947,4002,3893,0,0,0,0,0,0,28.83,14.42,28.83
$MODEM_MSG,CACST,6,1,20140802160419.924902,3,989,29,0186,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,19.8,0.9,-100,2.1,-01,0.9,28,900,0025*22
$MODEM_MSG,CACST,6,1,20140802161638.210308,3,1176,24,0091,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,14.0,1.4,-100,1.7,-01,-0.1,29,900,0025*3D
$GC,2711,-0.72,-175.1,2183,2358,4004,3895,409.0,-11.9,241,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.72,-175.1,2184,2358,4004,3895,444.2,-11.9,251,3019,0.00,2.55,0.00,0.000,260,0.000,0.128,2173,3771,3947,4002,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3078,-0.72,-175.1,2173,3771,4004,3894,453.0,-13.3,264,3086,0.00,2.40,0.00,0.000,1030,0.000,0.082,2173,2354,3947,4002,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3405,-0.72,-175.1,2173,2355,3999,3894,493.8,-12.5,279,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2354,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-0.72,-175.1,2174,2355,4002,3894,531.1,-12.4,289,3712,0.00,2.53,0.00,0.000,260,0.000,0.128,2162,3768,3947,4002,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3726,-0.72,-175.1,2163,3769,4002,3900,534.1,-14.0,293,3735,0.15,2.38,0.00,0.000,3078,0.312,0.081,2192,2357,3947,4002,3893,0,0,0,0,0,0,14.42,14.56,28.83
$GC,4039,-0.72,-175.1,2192,2357,4004,3894,569.7,-11.4,305,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2356,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4339,-0.72,-175.1,2193,2357,4007,3894,603.0,-11.1,315,4346,0.00,2.53,0.00,0.000,260,0.000,0.128,2183,3769,3947,4002,3893,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4380,-0.72,-175.1,2183,3770,4004,3894,608.1,-12.5,323,4388,0.00,2.38,0.00,0.000,1030,0.000,0.081,2182,2355,3947,4002,3893,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4703,-0.72,-175.1,2184,2356,4009,3894,644.7,-11.2,337,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5002,-0.72,-175.1,2182,2356,4003,3894,678.9,-11.3,347,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5302,-0.72,-175.1,2184,2356,4002,3894,712.4,-11.1,357,5310,0.00,2.53,0.00,0.000,260,0.000,0.128,2172,3770,3947,4002,3893,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5344,-0.72,-175.1,2169,3771,4004,3894,717.5,-12.5,365,5352,0.00,2.38,0.00,0.000,1030,0.000,0.082,2178,2354,3948,4003,3894,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,5635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5635,begin apogee
$GC,5639,-0.14,0.0,2171,2607,4004,3894,751.8,-11.6,378,5864,0.82,0.00,219.70,1.675,10246,0.291,0.000,2379,2607,3231,3286,3176,0,0,0,0,0,0,14.47,28.83,13.09
$STATE,5866,end apogee,CONTROL_FINISHED_OK
$STATE,5866,begin climb
$GC,5868,0.72,175.1,2380,2607,3280,3170,757.3,0.0,385,6034,1.00,0.00,157.32,2.010,10246,0.181,0.000,2659,2606,2513,2580,2447,0,0,0,0,0,0,13.68,28.83,12.50
$GC,6326,0.72,175.1,2660,2607,2568,2423,705.9,13.0,401,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2606,2495,2568,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,0.72,175.1,2659,2607,2569,2422,666.7,12.9,411,6634,0.00,2.50,0.00,0.000,516,0.000,0.090,2670,1194,2495,2570,2421,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6663,0.72,175.1,2670,1195,2569,2422,661.9,12.3,418,6672,0.00,2.53,0.00,0.000,1030,0.000,0.101,2670,2598,2494,2568,2421,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6992,0.72,175.1,2671,2598,2567,2421,617.9,13.4,433,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2598,2494,2567,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7291,0.72,175.1,2669,2599,2569,2421,577.4,13.5,443,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2598,2493,2567,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7591,0.72,175.1,2668,2603,2567,2421,536.5,13.7,453,7599,0.00,2.42,0.00,0.000,516,0.000,0.090,2680,1191,2492,2567,2417,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7623,0.72,175.1,2680,1193,2570,2421,532.3,13.0,459,7632,0.00,2.47,0.00,0.000,1030,0.000,0.101,2680,2601,2494,2568,2420,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7956,0.72,175.1,2685,2602,2567,2420,485.7,14.0,475,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2601,2493,2567,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,0.72,175.1,2681,2602,2567,2420,444.0,13.8,485,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2601,2494,2568,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,0.72,175.1,2680,2602,2569,2421,402.5,13.8,495,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2601,2493,2567,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8856,0.72,175.1,2680,2601,2568,2420,360.7,14.0,505,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2600,2493,2567,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,0.72,175.1,2680,2599,2569,2420,319.7,13.5,515,9164,0.00,2.42,0.00,0.000,516,0.000,0.090,2690,1188,2493,2567,2420,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9228,0.72,175.1,2690,1188,2574,2420,310.0,13.3,529,9237,0.00,2.47,0.00,0.000,1030,0.000,0.101,2690,2608,2495,2571,2420,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9551,0.72,175.1,2691,2608,2567,2420,266.2,13.6,543,9560,0.00,2.42,0.00,0.000,516,0.000,0.090,2700,1193,2493,2567,2420,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9589,0.72,175.1,2701,1193,2567,2420,261.1,13.2,550,9599,0.15,2.47,0.00,0.000,5126,0.291,0.101,2670,2610,2493,2567,2420,0,0,0,0,0,0,14.47,14.55,28.83
$GC,9898,0.72,175.1,2669,2612,2569,2421,223.7,11.9,577,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2610,2494,2568,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10198,0.77,175.1,2669,2611,2569,2420,190.3,10.4,607,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2610,2493,2567,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10498,0.83,230.5,2671,2611,2567,2420,161.5,9.2,637,10552,0.00,0.00,47.53,1.329,8198,0.000,0.000,2670,2611,2281,2355,2207,0,0,0,0,0,0,28.83,28.83,13.71
$GC,10848,0.89,289.4,2671,2610,2347,2191,128.2,9.0,672,10909,0.17,2.58,51.45,1.295,10756,0.141,0.092,2736,1200,2036,2124,1948,0,0,0,0,0,0,14.34,14.04,13.54
$GC,10948,0.89,289.4,2737,1201,2117,1941,116.0,12.7,689,10957,0.00,2.53,0.00,0.000,1030,0.000,0.100,2736,2600,2028,2117,1939,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11254,0.89,289.4,2737,2600,2117,1935,77.6,12.0,720,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2600,2026,2117,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11554,0.96,362.3,2736,2600,2118,1934,46.0,8.4,750,11597,0.00,2.15,32.90,0.304,8452,0.000,0.131,2736,3763,1754,1845,1663,0,0,0,0,0,0,28.83,14.29,14.21
$GC,11661,1.00,362.3,2736,3765,1851,1678,35.8,10.6,769,11671,0.00,2.05,1.67,0.223,9222,0.000,0.087,2745,2597,1751,1839,1663,0,0,0,0,0,0,28.83,14.35,14.27
$GC,11966,1.13,495.4,2744,2597,1856,1678,11.0,5.7,800,12042,0.15,2.50,66.30,0.206,10756,0.147,0.092,2811,1193,1207,1302,1112,0,0,0,0,0,0,14.41,14.33,14.26
$GC,12231,1.34,701.4,2811,1193,1306,1121,2.5,2.5,849,12257,0.17,2.50,18.90,0.194,11266,0.132,0.104,2876,2605,1057,1146,969,0,0,0,0,0,0,14.39,14.36,28.83
$STATE,12257,end climb,SURFACE_DEPTH_REACHED
$STATE,12257,begin surface coast
$FINISH,1.1,1.020330
$STATE,12260,end surface coast,CONTROL_FINISHED_OK
$STATE,12260,begin surface
$SM_CCo,12280,68.55,0.187,0,0,498,669.67
$SM_CCo,12351,-0.15,0.000,0,0,498,669.67
$SM_CCo,12353,0.00,0.000,0,0,500,669.67
$SM_GC,1.97,8.05,0.45,0.00,0.087,0.100,0.000,201,2358,500,-6.94,0.71,669.67,0,0,0,0,0,0,14.36,14.40,28.83
$RAFOS_CLK,493
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7052.36,-14543.04,020814,120044
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.27
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4010680
$TM_FREEKB,7153664
$24V_AH,12.50,70.531
$10V_AH,12.78,0.000
$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,21.975,74.500,595.775,68.550,0.000,0.000,0.000,386.300,0.000,0.000,26.709,0.000,9588.726,843.292,2438.759,111.407,0.000,1995.651,0.000,1268.694,1494.000,0.538,0.000
$DEVICE_MAMPS,478.890,131.580,2009.655,186.660,0.000,0.000,0.000,197.370,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12284.000,12333.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.086,12.710,0.000,0.000
$MEM,287616
$DATA_FILE_SIZE,30038,853
$CAP_FILE_SIZE,147385,0
$CFSIZE,2097872896,2079588352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12857.01,0x2378b6,7,5
$INTR,1,12353.71,0x2378b6,7,5
$SOUNDSPEED,1451.2
$EKF,12455,4286.758301,-8722.143555,1.053672,0.125469,0.000366,-0.018975,0.000278,0.002739,0.000100,0.001925,0.001925,0.000065
$CURRENT,0.045,225.98,1
$GPS,020814,190943,7126.562,-14522.824,42,0.8,62,22.1