version: 66.12
glider: 217
mission: 3
dive: 116
start: 10 7 114 6 52 12
data:
$ID,217
$MISSION,3
$DIVE,116
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$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,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,071014,064604,6700.550,-5654.247,38,0.7,38,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-69.5
$GPS2,071014,065137,6700.535,-5654.175,4,0.9,4,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,41.6,6382,-17.5,-9.167,-20.44,2275
$D_GRID,632
$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,-0.92,-136.3,172,2464,1305,1227,0.0,0.0,0,73,0.00,0.00,-53.90,0.000,16386,0.000,0.000,170,2464,2657,2669,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,168,2464,2670,2646,3.1,-1.6,5,108,12.23,0.00,-17.52,0.000,18694,0.414,0.000,2796,2464,3265,3296,3234,0,0,0,0,0,0,14.36,28.83,14.76
$GC,407,-0.92,-136.3,2792,2464,3303,3234,57.9,-17.3,27,413,0.00,2.33,0.00,0.000,260,0.000,0.094,2786,3776,3269,3304,3235,0,0,0,0,0,0,28.83,14.62,28.83
$GC,425,-0.92,-136.3,2786,3776,3303,3234,61.2,-16.7,30,434,0.00,2.22,0.00,0.000,1030,0.000,0.057,2786,2443,3268,3303,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,747,-0.92,-136.3,2786,2443,3305,3234,103.3,-13.1,43,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3269,3304,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.92,-136.3,2790,2438,3305,3234,144.9,-13.2,56,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2442,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-0.92,-136.3,2786,2442,3305,3234,184.5,-12.8,71,1366,0.00,2.38,0.00,0.000,260,0.000,0.096,2785,3780,3269,3305,3234,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1436,-0.92,-136.3,2786,3780,3305,3234,195.0,-13.5,85,1443,0.00,2.20,0.00,0.000,1030,0.000,0.057,2785,2444,3269,3305,3234,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1750,-0.92,-136.3,2786,2444,3305,3234,234.7,-12.7,102,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.92,-136.3,2785,2443,3306,3233,271.4,-12.2,117,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.92,-136.3,2785,2443,3309,3233,307.0,-11.7,132,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-0.92,-136.3,2786,2443,3305,3234,340.9,-11.3,147,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.92,-136.3,2785,2444,3306,3234,373.6,-10.9,162,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-0.92,-136.3,2785,2443,3305,3234,406.3,-10.9,177,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.92,-136.3,2786,2444,3305,3234,439.1,-11.1,192,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3269,3305,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3852,-0.92,-136.3,2786,2444,3305,3233,472.0,-11.2,207,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4154,-0.92,-136.3,2785,2443,3306,3233,505.4,-10.9,222,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.92,-136.3,2786,2444,3305,3234,537.9,-10.7,237,4459,0.00,2.33,0.00,0.000,516,0.000,0.073,2785,1063,3269,3305,3233,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4497,-0.92,-136.3,2786,1063,3306,3233,543.0,-11.4,245,4504,0.00,2.35,0.00,0.000,1030,0.000,0.070,2785,2449,3267,3301,3233,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4821,-0.92,-136.3,2785,2449,3305,3232,576.9,-10.4,264,4828,0.00,2.35,0.00,0.000,516,0.000,0.070,2786,1063,3268,3305,3232,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4861,-0.92,-136.3,2785,1065,3305,3232,581.1,-11.0,271,4868,0.00,2.35,0.00,0.000,1030,0.000,0.068,2785,2452,3269,3306,3232,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5167,-0.92,-136.3,2785,2452,3305,3231,613.0,-10.4,287,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3268,3305,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5468,-0.92,-136.3,2785,2452,3305,3232,629.0,-0.1,302,5476,0.00,2.35,0.00,0.000,516,0.000,0.070,2785,1062,3268,3305,3232,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,5529,end dive,NO_VERTICAL_VELOCITY
$STATE,5529,begin apogee
$GC,5535,-0.18,0.0,2786,2384,3305,3232,629.0,0.0,313,5652,0.80,0.00,109.05,1.645,10246,0.180,0.000,3030,2385,2706,2769,2643,0,0,0,0,0,0,14.71,28.83,13.56
$STATE,5654,end apogee,CONTROL_FINISHED_OK
$STATE,5654,begin climb
$GC,5655,0.92,136.3,3030,2385,2769,2643,628.9,0.0,319,5777,1.15,2.55,110.40,1.608,11012,0.181,0.072,3379,987,2148,2217,2079,0,0,0,0,0,0,14.11,13.92,13.35
$GC,6018,0.92,136.3,3381,987,2210,2078,598.2,9.6,383,6025,0.00,2.42,0.00,0.000,1030,0.000,0.063,3381,2377,2144,2211,2078,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6342,0.92,136.3,3380,2377,2208,2078,565.2,10.2,402,6350,0.00,2.40,0.00,0.000,516,0.000,0.073,3390,991,2143,2208,2078,0,0,0,0,0,0,28.83,14.51,28.83
$EKF,range,-1958.4
$GC,6436,0.92,136.3,3391,990,2208,2077,555.5,11.1,419,6443,0.00,2.38,0.00,0.000,1030,0.000,0.063,3391,2379,2143,2208,2078,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6755,0.92,136.3,3391,2379,2207,2077,519.8,11.0,437,6762,0.00,2.40,0.00,0.000,516,0.000,0.073,3401,985,2142,2207,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6800,0.92,136.3,3401,984,2207,2077,514.7,10.8,445,6807,0.00,2.38,0.00,0.000,1030,0.000,0.062,3402,2385,2142,2207,2077,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7124,0.92,136.3,3402,2385,2206,2077,478.3,10.8,464,7131,0.00,2.40,0.00,0.000,516,0.000,0.072,3412,981,2141,2206,2077,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7158,0.92,136.3,3412,982,2206,2077,474.4,10.6,470,7166,0.00,2.38,0.00,0.000,1030,0.000,0.062,3412,2386,2141,2206,2077,0,0,0,0,0,0,28.83,14.69,28.83
$EKF,range,-9035.3
$EKF,7392,4021.509277,-3413.791260,449.675720,0.266941,0.049066,-0.107560,0.000113,0.000744,0.000100,0.006025,0.006025,0.000093
$GC,7475,0.92,136.3,3412,2388,2205,2077,438.3,11.3,487,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2388,2141,2205,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7774,0.92,136.3,3412,2387,2205,2077,404.1,11.3,502,7783,0.00,2.38,0.00,0.000,516,0.000,0.073,3423,990,2141,2206,2077,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7845,0.92,136.3,3423,990,2205,2077,395.7,11.7,515,7853,0.12,2.35,0.00,0.000,5126,0.267,0.064,3394,2385,2141,2205,2077,0,0,0,0,0,0,14.62,14.75,28.83
$GC,8165,0.92,136.3,3395,2385,2204,2077,359.8,11.2,533,8172,0.00,2.40,0.00,0.000,516,0.000,0.072,3406,984,2140,2204,2077,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8210,0.92,136.3,3406,985,2205,2077,355.0,10.5,541,8217,0.00,2.35,0.00,0.000,1030,0.000,0.063,3406,2383,2140,2204,2077,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8534,0.92,136.3,3406,2383,2204,2077,317.2,11.8,560,8541,0.00,2.38,0.00,0.000,516,0.000,0.072,3417,984,2139,2205,2073,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8579,0.92,136.3,3417,984,2204,2077,311.8,12.5,568,8585,0.00,2.35,0.00,0.000,1030,0.000,0.063,3417,2381,2140,2204,2077,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8904,0.92,136.3,3417,2381,2204,2077,272.9,11.9,587,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2381,2140,2204,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9204,0.92,136.3,3417,2381,2203,2077,238.6,11.5,602,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2381,2140,2203,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9505,0.92,136.3,3417,2381,2203,2077,205.3,11.0,617,9512,0.00,2.38,0.00,0.000,516,0.000,0.073,3428,980,2140,2203,2077,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9554,0.92,136.3,3428,980,2203,2076,199.6,11.3,626,9562,0.15,2.35,0.00,0.000,5126,0.263,0.064,3392,2380,2139,2203,2076,0,0,0,0,0,0,14.67,14.81,28.83
$GC,9875,0.92,136.3,3392,2379,2203,2077,169.2,9.5,644,9882,0.00,2.38,0.00,0.000,516,0.000,0.072,3403,987,2140,2203,2077,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9936,0.92,136.3,3403,987,2203,2077,163.3,9.6,655,9943,0.00,2.33,0.00,0.000,1030,0.000,0.063,3403,2377,2142,2207,2077,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10242,0.94,144.9,3403,2377,2203,2077,135.3,8.8,671,10254,0.00,0.00,6.50,0.901,8710,0.000,0.000,3403,2377,2114,2179,2050,0,0,0,0,0,0,28.83,28.83,14.24
$GC,10577,0.96,153.2,3403,2376,2178,2049,105.9,8.8,688,10587,0.00,0.00,7.90,0.925,8198,0.000,0.000,3403,2376,2082,2146,2019,0,0,0,0,0,0,28.83,28.83,14.23
$GC,10876,0.96,153.2,3403,2377,2144,2016,76.5,9.8,698,10885,0.00,2.40,0.00,0.000,516,0.000,0.072,3413,982,2080,2144,2016,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10957,0.96,153.2,3413,982,2144,2016,69.2,9.5,713,10964,0.00,2.35,0.00,0.000,1030,0.000,0.063,3413,2380,2083,2144,2023,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11278,1.04,188.0,3413,2379,2144,2016,41.9,7.6,726,11310,0.00,0.00,29.33,0.932,8710,0.000,0.000,3413,2379,1939,2004,1874,0,0,0,0,0,0,28.83,28.83,14.21
$GC,11618,1.19,258.1,3413,2379,1999,1872,17.4,6.0,748,11660,0.12,2.45,34.85,0.139,10756,0.164,0.073,3475,990,1658,1730,1587,0,0,0,0,0,0,14.70,14.67,14.62
$GC,11698,1.19,258.1,3475,990,1727,1587,10.5,11.1,761,11706,0.00,2.35,0.00,0.000,1030,0.000,0.063,3475,2380,1657,1727,1587,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,11762,end climb,SURFACE_DEPTH_REACHED
$STATE,11762,begin surface coast
$FINISH,1.6,1.014434
$STATE,11774,end surface coast,CONTROL_FINISHED_OK
$STATE,11774,begin surface
$SM_CCo,11792,42.83,0.091,0,0,1283,350.04
$SM_GC,2.13,9.52,0.10,42.83,0.087,0.162,0.091,211,2455,1283,-8.96,-0.96,350.04,0,0,0,0,0,0,14.66,14.68,14.66
$RAFOS_CLK,-33
$RAFOS,6,1412671754,8.833333,8.820556,91,65,60,58,57,55,760,147,201,219,186,165
$RAFOS,5,1412671265,8.700000,8.684722,62,61,58,57,55,55,216,637,156,193,165,136
$RAFOS,4,1412670792,8.566667,8.553333,72,64,58,57,55,52,831,199,188,169,208,114
$RAFOS,3,1412670319,8.433333,8.421945,62,57,56,56,54,53,193,206,144,162,217,183
$RAFOS,2,1412669835,8.300000,8.287500,58,56,53,46,45,45,185,196,126,166,149,112
$RAFOS,1,1412669351,8.166667,8.153055,59,56,55,55,53,49,216,162,207,126,176,108
$RAFOS,0,1412668880,8.033334,8.022223,60,57,57,56,52,48,181,202,220,154,117,1493
$RAFOS_FIX,6707.127930,-5703.381348,071014,080844,2,82,2.07
$IRIDIUM_FIX,6631.12,-5702.96,071014,032010
$TT8_MAMPS,0.036701,0.036701
$HUMID,43.34
$INTERNAL_PRESSURE,8.56244
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,3982944
$24V_AH,13.35,31.252
$10V_AH,13.00,0.000
$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,24.100,75.700,298.025,42.825,0.000,0.000,0.000,215.150,0.000,0.000,5.569,2416.081,7705.031,514.662,1452.438,109.623,0.000,1366.470,0.000,1146.743,2520.000,0.535,0.000
$DEVICE_MAMPS,413.865,162.180,1644.750,91.035,0.000,0.000,0.000,147.645,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11782.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.157,0.000,0.000,0.000
$MEM,143216
$DATA_FILE_SIZE,26661,769
$CAP_FILE_SIZE,123973,0
$CFSIZE,1024409600,1004191744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12494.65,0x23769e,7,5
$SOUNDSPEED,1462.2
$EKF,11959,4022.074951,-3413.396484,1.554544,0.186740,0.252610,0.003024,0.000185,0.001214,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.020,144.89,1
$GPS,071014,101128,6701.988,-5653.136,60,0.9,60,-32.5