version: 66.12
glider: 197
mission: 6
dive: 51
start: 8 2 114 9 3 9
data:
$ID,197
$MISSION,6
$DIVE,51
$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,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-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,674.87756
$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,-7158.5645
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2470
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,-65.523643
$PRESSURE_SLOPE,0.000117962
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,020814,084956,7127.140,-14536.386,37,2.7,57,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.2
$GPS2,020814,090251,7127.011,-14536.510,14,0.9,34,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,317.6,18420,-22.6,-11.628,-25.63,1932
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-145.9,153,2494,404,601,0.0,0.0,0,73,0.00,0.00,-53.20,0.000,16386,0.000,0.000,151,2490,1806,1819,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.81,-145.9,152,2494,1821,1794,3.1,-2.5,5,136,11.00,0.00,-43.42,0.000,18950,0.461,0.000,2223,2494,3779,3758,3801,0,0,0,0,0,0,14.20,28.83,14.63
$GC,440,-0.76,-145.9,2223,2495,3760,3807,85.8,-19.7,45,448,0.00,2.12,0.00,0.000,260,0.000,0.112,2216,3699,3783,3758,3808,0,0,0,0,0,0,28.83,14.47,28.83
$GC,497,-0.69,-145.9,2217,3700,3758,3806,97.9,-21.0,56,506,0.22,2.03,0.00,0.000,3078,0.308,0.060,2265,2460,3782,3758,3806,0,0,0,0,0,0,14.40,14.57,28.83
$GC,802,-0.69,-145.9,2266,2462,3760,3807,144.8,-14.5,87,810,0.00,2.38,0.00,0.000,516,0.000,0.084,2265,1067,3783,3759,3807,0,0,0,0,0,0,28.83,14.59,28.83
$GC,844,-0.71,-145.9,2266,1064,3759,3807,150.5,-13.3,95,852,0.00,2.47,0.00,0.000,1030,0.000,0.107,2263,2459,3782,3758,3807,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1156,-0.73,-145.9,2263,2460,3759,3807,191.5,-12.3,127,1164,0.00,2.38,0.00,0.000,516,0.000,0.083,2263,1065,3783,3759,3807,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1234,-0.76,-145.9,2263,1064,3758,3806,200.6,-10.9,142,1244,0.00,2.50,0.00,0.000,1030,0.000,0.109,2257,2472,3782,3758,3807,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1539,-0.79,-145.9,2257,2473,3758,3808,235.1,-11.0,173,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2472,3782,3757,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.82,-145.9,2257,2473,3754,3808,269.4,-10.5,193,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2472,3781,3756,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,-0.85,-145.9,2257,2472,3755,3807,299.6,-10.0,203,2167,0.12,2.40,0.00,0.000,4612,0.154,0.082,2195,1068,3780,3754,3807,0,0,0,0,0,0,14.71,14.66,28.83
$GC,2261,-0.85,-145.9,2202,1066,3754,3807,312.1,-12.3,223,2269,0.00,2.47,0.00,0.000,1030,0.000,0.109,2191,2469,3780,3754,3806,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2583,-0.84,-145.9,2191,2472,3754,3808,354.1,-13.0,237,2591,0.12,2.38,0.00,0.000,2564,0.333,0.080,2218,1073,3780,3753,3807,0,0,0,0,0,0,14.57,14.69,28.83
$GC,2635,-0.86,-145.9,2218,1070,3753,3807,360.3,-11.3,247,2644,0.00,2.45,0.00,0.000,1030,0.000,0.108,2214,2469,3780,3753,3807,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2948,-0.86,-145.9,2214,2470,3754,3807,396.8,-11.7,259,2956,0.00,2.38,0.00,0.000,516,0.000,0.083,2214,1065,3779,3752,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3005,-0.87,-145.9,2214,1064,3753,3807,403.5,-11.6,270,3016,0.00,2.47,0.00,0.000,1030,0.000,0.107,2209,2469,3779,3752,3806,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3311,-0.87,-145.9,2209,2470,3753,3807,439.4,-11.8,281,3319,0.00,2.38,0.00,0.000,516,0.000,0.082,2208,1067,3780,3753,3807,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3383,-0.87,-145.9,2209,1068,3752,3807,448.0,-12.0,295,3391,0.00,2.47,0.00,0.000,1030,0.000,0.108,2203,2470,3779,3752,3807,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3705,-0.87,-145.9,2204,2471,3753,3807,487.0,-12.2,309,3714,0.00,2.35,0.00,0.000,516,0.000,0.081,2203,1074,3779,3752,3807,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3763,-0.87,-145.9,2203,1074,3753,3812,493.9,-11.1,320,3772,0.00,2.45,0.00,0.000,1030,0.000,0.108,2200,2469,3779,3751,3807,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4068,-0.87,-145.9,2200,2470,3752,3807,531.1,-12.3,331,4075,0.00,2.35,0.00,0.000,516,0.000,0.082,2200,1073,3779,3752,3807,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4124,-0.87,-145.9,2200,1073,3752,3807,538.1,-12.1,342,4136,0.00,2.45,0.00,0.000,1030,0.000,0.107,2194,2469,3779,3751,3807,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4430,-0.87,-145.9,2195,2470,3752,3807,576.0,-12.4,353,4437,0.00,2.35,0.00,0.000,516,0.000,0.083,2194,1077,3779,3752,3806,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4501,-0.87,-145.9,2195,1077,3752,3807,584.8,-12.3,367,4509,0.00,2.45,0.00,0.000,1030,0.000,0.109,2190,2470,3779,3752,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4824,-0.87,-145.9,2190,2471,3752,3807,625.0,-12.5,381,4832,0.00,2.35,0.00,0.000,516,0.000,0.082,2190,1073,3779,3752,3807,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4911,-0.87,-145.9,2191,1073,3748,3807,635.8,-12.4,398,4922,0.00,2.45,0.00,0.000,1030,0.000,0.109,2188,2469,3779,3752,3806,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5216,-0.87,-145.9,2188,2470,3753,3808,673.5,-12.4,409,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2469,3779,3752,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-0.87,-145.9,2188,2470,3752,3807,710.0,-12.2,419,5524,0.00,2.35,0.00,0.000,516,0.000,0.082,2188,1073,3779,3752,3807,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5642,-0.87,-145.9,2188,1074,3751,3807,725.4,-11.7,444,5651,0.00,2.45,0.00,0.000,1030,0.000,0.109,2188,2473,3779,3752,3806,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,5849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5849,begin apogee
$GC,5852,-0.16,0.0,2188,2401,3753,3807,750.4,-12.1,455,5980,0.95,0.00,123.12,1.797,10246,0.281,0.000,2442,2398,3182,3134,3230,0,0,0,0,0,0,14.62,28.83,13.28
$STATE,5983,end apogee,CONTROL_FINISHED_OK
$STATE,5983,begin climb
$GC,5985,0.81,145.9,2436,2399,3121,3224,753.4,0.0,459,6116,1.05,0.00,121.62,1.793,10246,0.147,0.000,2749,2398,2585,2502,2668,0,0,0,0,0,0,14.00,28.83,13.10
$GC,6390,0.77,145.9,2749,2399,2486,2654,701.7,15.2,473,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2398,2570,2486,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,0.73,145.9,2749,2399,2486,2654,656.4,15.2,483,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2398,2569,2485,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,0.69,145.9,2748,2399,2486,2654,611.6,14.9,493,6993,0.15,0.00,0.00,0.000,4102,0.308,0.000,2718,2398,2568,2485,2652,0,0,0,0,0,0,14.43,28.83,28.83
$GC,7291,0.68,145.9,2719,2399,2485,2653,572.8,12.8,503,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2398,2569,2485,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7590,0.67,145.9,2718,2398,2485,2654,534.9,12.6,513,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2398,2568,2484,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7890,0.66,145.9,2719,2399,2480,2654,496.9,12.6,523,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2398,2568,2484,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8190,0.65,145.9,2719,2399,2485,2653,459.0,12.6,533,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2398,2571,2484,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8490,0.65,145.9,2718,2399,2485,2653,421.0,12.6,543,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2398,2569,2485,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8790,0.65,145.9,2719,2398,2485,2654,383.2,12.7,553,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2398,2570,2487,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9090,0.65,145.9,2719,2399,2484,2653,345.3,12.7,563,9098,0.00,2.33,0.00,0.000,260,0.000,0.112,2718,3717,2569,2485,2653,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9112,0.62,145.9,2719,3717,2485,2653,342.3,13.3,567,9120,0.15,2.15,0.00,0.000,5126,0.302,0.059,2692,2388,2569,2485,2653,0,0,0,0,0,0,14.63,14.76,28.83
$GC,9425,0.64,157.7,2695,2388,2485,2653,307.0,11.0,579,9432,0.00,0.00,3.58,0.987,8198,0.000,0.000,2692,2388,2537,2454,2620,0,0,0,0,0,0,28.83,28.83,13.87
$GC,9725,0.68,180.0,2693,2388,2477,2642,274.9,10.4,589,9759,0.00,0.00,25.88,1.265,8198,0.000,0.000,2692,2388,2438,2357,2520,0,0,0,0,0,0,28.83,28.83,14.02
$GC,10055,0.72,202.4,2693,2388,2351,2513,238.9,10.4,606,10079,0.00,0.00,18.10,1.221,8198,0.000,0.000,2692,2388,2350,2269,2431,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10375,0.77,217.7,2692,2389,2260,2425,204.2,10.8,638,10398,0.12,2.40,12.68,1.205,10500,0.143,0.110,2750,3708,2283,2202,2364,0,0,0,0,0,0,14.60,14.45,14.00
$GC,10472,0.73,217.7,2750,3708,2199,2366,189.2,16.5,656,10481,0.15,2.15,0.00,0.000,5126,0.291,0.059,2728,2401,2281,2198,2365,0,0,0,0,0,0,14.42,14.53,28.83
$GC,11801,0.78,253.0,2728,2401,2198,2366,153.8,9.7,688,11836,0.00,0.00,30.48,1.119,8710,0.000,0.000,2728,2400,2142,2049,2235,0,0,0,0,0,0,28.83,28.83,13.89
$MODEM_MSG,CACST,6,1,20140802122119.734147,3,61,05,0160,0150,179,01,01,02,03,-1,-01,-01,1,3,0,0,150,16.2,2.9,-100,0.1,-01,0.4,21,900,0025*11
$GC,12131,0.84,282.4,2729,2401,2040,2224,119.6,10.1,723,12164,0.00,0.00,24.62,1.069,8198,0.000,0.000,2728,2400,2019,1921,2117,0,0,0,0,0,0,28.83,28.83,13.91
$GC,12461,0.92,329.7,2728,2400,1911,2112,86.9,9.1,756,12486,0.20,0.00,19.67,0.429,10246,0.108,0.000,2807,2400,1836,1735,1937,0,0,0,0,0,0,14.51,28.83,14.23
$GC,12781,0.94,360.0,2808,2400,1758,1940,47.6,10.0,788,12804,0.00,2.40,15.20,0.311,8452,0.000,0.113,2807,3708,1712,1611,1814,0,0,0,0,0,0,28.83,14.49,14.38
$GC,12854,0.94,360.0,2808,3708,1623,1816,39.2,12.2,801,12863,0.00,2.15,0.00,0.000,1030,0.000,0.060,2816,2402,1719,1624,1814,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13159,1.11,538.2,2816,2403,1634,1825,13.0,2.1,832,13248,0.00,2.33,80.20,0.215,8452,0.000,0.110,2816,3709,984,870,1098,0,0,0,0,0,0,28.83,14.47,14.36
$GC,13472,1.35,711.7,2817,3709,871,1098,4.6,2.4,890,13523,0.32,2.17,44.53,0.190,11266,0.083,0.060,2941,2388,576,466,687,0,0,0,0,0,0,14.58,14.57,28.83
$STATE,13524,end climb,SURFACE_DEPTH_REACHED
$STATE,13524,begin surface coast
$FINISH,1.3,1.019017
$STATE,13541,end surface coast,CONTROL_FINISHED_OK
$STATE,13541,begin surface
$SM_CCo,13563,8.73,0.195,0,0,497,657.89
$SM_CCo,13573,-0.15,0.000,0,0,500,657.89
$SM_CCo,13575,0.10,0.989,0,0,499,657.89
$SM_GC,3.01,8.18,0.15,0.10,0.080,0.156,0.989,181,2476,499,-7.18,-0.65,657.89,0,0,0,0,0,0,14.50,14.52,14.40
$RAFOS_CLK,193757
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7052.36,-14528.10,020814,050824
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.72
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3915328
$TM_FREEKB,7204532
$24V_AH,13.10,26.261
$10V_AH,13.22,0.000
$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,22.750,75.600,519.675,8.825,0.000,0.000,0.000,480.925,0.000,0.000,36.519,0.000,9797.680,724.010,2689.870,122.168,0.000,2013.122,0.000,1342.499,1498.000,0.532,0.000
$DEVICE_MAMPS,460.530,156.060,1796.985,989.145,0.000,0.000,0.000,192.015,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13561.000,13645.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.840,13.442,0.000,0.000
$MEM,292220
$DATA_FILE_SIZE,30047,901
$CAP_FILE_SIZE,160616,0
$CFSIZE,1047117824,1033584640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13547.14,0x2378b6,7,5
$SOUNDSPEED,1450.9
$EKF,12703,4288.690430,-8738.268555,1.266929,0.101000,-0.089045,0.006031,0.003140,0.031094,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.052,246.59,1
$GPS,020814,123449,7128.541,-14539.358,82,0.9,102,28.1