version: 66.12
glider: 197
mission: 6
dive: 60
start: 8 3 114 17 35 27
data:
$ID,197
$MISSION,6
$DIVE,60
$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,0.07
$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,8
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,674.87756
$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,-7169.9253
$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,40
$R_STBD_OVSHOOT,17
$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
$GPS1,030814,172226,7136.674,-14550.229,39,1.0,59,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.5
$GPS2,030814,173509,7136.662,-14550.143,11,0.9,31,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.0,1230,-27.3,-11.628,-30.00,1343
$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,-0.93,-101.4,164,2476,440,566,0.0,0.0,0,83,0.00,0.00,-63.05,0.000,16386,0.000,0.000,163,2476,2053,2055,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.96,-145.9,164,2476,2056,2052,3.2,-1.8,6,140,10.73,2.28,-35.97,0.000,18692,0.461,0.130,2168,3720,3780,3760,3800,0,0,0,0,0,0,14.21,14.40,14.61
$GC,364,-0.88,-145.9,2168,3720,3763,3805,77.7,-25.2,59,374,0.17,2.05,0.00,0.000,3078,0.330,0.058,2201,2463,3784,3762,3806,0,0,0,0,0,0,14.35,14.52,28.83
$GC,669,-0.88,-145.9,2201,2463,3763,3806,139.4,-19.1,90,679,0.00,2.20,0.00,0.000,260,0.000,0.109,2194,3717,3783,3762,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,903,-0.88,-145.9,2194,3717,3763,3802,184.4,-17.6,136,912,0.00,2.03,0.00,0.000,1030,0.000,0.060,2194,2474,3783,3762,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1216,-0.90,-145.9,2194,2474,3762,3806,232.8,-14.7,168,1224,0.00,2.38,0.00,0.000,516,0.000,0.082,2194,1075,3783,3761,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1243,-0.93,-145.9,2194,1074,3762,3806,236.8,-14.8,173,1253,0.00,2.47,0.00,0.000,1030,0.000,0.105,2187,2475,3783,3761,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1548,-0.95,-145.9,2188,2475,3759,3806,280.6,-14.3,190,1558,0.00,2.38,0.00,0.000,516,0.000,0.081,2187,1073,3785,3766,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1592,-0.99,-145.9,2188,1074,3760,3806,286.8,-13.8,198,1601,0.00,2.47,0.00,0.000,1030,0.000,0.104,2180,2476,3782,3759,3806,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1916,-1.01,-145.9,2180,2477,3758,3805,332.4,-13.9,212,1924,0.00,2.38,0.00,0.000,516,0.000,0.081,2179,1073,3781,3758,3805,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1983,-1.04,-145.9,2180,1073,3758,3805,341.7,-12.7,225,1991,0.00,2.47,0.00,0.000,1030,0.000,0.106,2174,2476,3781,3758,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2311,-1.06,-145.9,2174,2477,3757,3804,387.8,-14.1,240,2318,0.00,2.38,0.00,0.000,516,0.000,0.080,2174,1070,3783,3762,3805,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2373,-1.08,-145.9,2173,1070,3753,3806,396.6,-13.3,252,2380,0.00,2.45,0.00,0.000,1030,0.000,0.105,2168,2472,3781,3757,3805,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2705,-1.10,-145.9,2169,2472,3758,3805,444.1,-14.3,268,2713,0.00,2.38,0.00,0.000,516,0.000,0.081,2168,1065,3780,3756,3805,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2747,-1.12,-145.9,2168,1065,3757,3805,450.1,-13.9,276,2755,0.00,2.47,0.00,0.000,1030,0.000,0.105,2162,2476,3780,3756,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3069,-1.14,-145.9,2163,2477,3756,3805,496.5,-14.5,290,3073,0.12,0.00,0.00,0.000,4102,0.164,0.000,2118,2476,3780,3755,3805,0,0,0,0,0,0,14.72,28.83,28.83
$GC,3369,-1.12,-145.9,2123,2477,3755,3806,545.8,-16.5,300,3377,0.00,2.38,0.00,0.000,516,0.000,0.082,2118,1071,3780,3755,3805,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3446,-1.12,-145.9,2119,1071,3755,3805,558.3,-15.7,315,3454,0.00,2.45,0.00,0.000,1030,0.000,0.104,2108,2469,3779,3754,3805,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3764,-1.09,-145.9,2108,2470,3755,3806,611.3,-16.7,328,3771,0.12,2.35,0.00,0.000,2564,0.356,0.076,2133,1073,3779,3754,3805,0,0,0,0,0,0,14.59,14.73,28.83
$GC,3815,-1.09,-145.9,2133,1074,3755,3805,619.4,-15.0,338,3825,0.00,2.45,0.00,0.000,1030,0.000,0.100,2125,2476,3779,3754,3805,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4130,-1.08,-145.9,2125,2477,3754,3806,668.8,-15.9,350,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2476,3779,3754,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-1.07,-145.9,2125,2476,3754,3805,716.3,-15.8,360,4437,0.00,2.38,0.00,0.000,516,0.000,0.080,2125,1064,3779,3753,3805,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4531,-1.07,-145.9,2125,1064,3748,3805,731.7,-14.9,380,4539,0.15,2.45,0.00,0.000,3078,0.330,0.101,2143,2472,3779,3753,3805,0,0,0,0,0,0,14.59,14.73,28.83
$STATE,4672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4672,begin apogee
$GC,4675,-0.16,0.0,2143,2398,3754,3805,752.3,-14.4,388,4802,1.12,0.00,122.30,1.811,10246,0.294,0.000,2431,2396,3181,3134,3228,0,0,0,0,0,0,14.59,28.83,13.28
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4805,0.96,145.9,2432,2396,3126,3223,755.9,0.0,392,4937,1.20,0.00,121.35,1.802,10502,0.148,0.000,2793,2396,2584,2507,2662,0,0,0,0,0,0,13.99,28.83,13.09
$GC,5213,0.93,145.9,2793,2397,2494,2653,696.2,17.4,411,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2396,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,0.90,145.9,2793,2397,2493,2652,644.3,17.2,421,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2396,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,0.87,145.9,2793,2397,2494,2652,592.7,17.2,431,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2396,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6113,0.84,145.9,2793,2396,2493,2652,541.2,17.2,441,6116,0.15,0.00,0.00,0.000,4102,0.319,0.000,2764,2396,2571,2492,2651,0,0,0,0,0,0,14.49,28.83,28.83
$GC,6413,0.84,145.9,2765,2397,2494,2652,495.1,15.2,451,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2396,2572,2494,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,0.84,145.9,2765,2397,2493,2652,449.7,15.2,461,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2396,2568,2488,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7013,0.84,145.9,2768,2397,2493,2652,404.8,14.9,471,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2396,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,0.84,145.9,2765,2396,2493,2652,360.5,14.8,481,7321,0.00,2.40,0.00,0.000,516,0.000,0.083,2770,994,2571,2492,2651,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7350,0.85,145.9,2770,995,2493,2651,355.1,14.7,488,7358,0.00,2.42,0.00,0.000,1030,0.000,0.094,2770,2401,2571,2492,2650,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7678,0.85,145.9,2771,2401,2492,2657,305.6,15.2,503,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2401,2571,2493,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7977,0.85,145.9,2770,2402,2493,2651,261.5,14.5,513,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2403,2571,2493,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,0.85,145.9,2766,2401,2493,2651,219.6,13.1,537,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2401,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,0.87,161.2,2770,2400,2493,2651,183.0,10.5,567,8598,0.00,2.40,12.73,1.273,8708,0.000,0.081,2779,1001,2515,2440,2591,0,0,0,0,0,0,28.83,14.61,14.09
$GC,9522,0.91,182.2,2780,1001,2438,2588,170.8,10.0,588,9546,0.00,2.45,17.70,1.216,9222,0.000,0.093,2779,2403,2439,2363,2516,0,0,0,0,0,0,28.83,14.57,13.99
$GC,9841,0.94,197.2,2779,2404,2352,2504,137.0,10.5,621,9856,0.00,0.00,13.00,1.209,8198,0.000,0.000,2779,2403,2376,2300,2452,0,0,0,0,0,0,28.83,28.83,13.95
$MODEM_MSG,CACST,6,1,20140803201805.028050,3,236,00,0093,0150,217,03,03,04,03,-1,-01,-01,1,3,0,0,150,16.8,4.7,-100,-1.7,-01,-0.3,27,900,0025*21
$GC,10155,0.99,222.9,2779,2404,2290,2442,104.9,9.7,652,10186,0.00,0.00,21.05,1.095,8198,0.000,0.000,2784,2403,2263,2183,2343,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10481,1.05,251.8,2780,2404,2179,2341,71.8,9.4,685,10498,0.12,0.00,11.60,0.378,10502,0.142,0.000,2835,2403,2154,2071,2237,0,0,0,0,0,0,14.54,28.83,14.31
$GC,10793,1.10,304.8,2836,2404,2086,2245,41.7,7.6,717,10827,0.00,2.38,24.48,0.295,8452,0.000,0.111,2835,3711,1937,1845,2030,0,0,0,0,0,0,28.83,14.47,14.39
$GC,11042,1.12,334.1,2836,3711,1857,2031,16.6,9.4,765,11065,0.00,2.15,13.48,0.225,9222,0.000,0.060,2845,2402,1817,1722,1912,0,0,0,0,0,0,28.83,14.57,14.46
$GC,11369,1.30,483.7,2845,2402,1730,1914,13.7,0.2,799,11444,0.17,2.33,66.12,0.214,10500,0.117,0.107,2921,3713,1208,1103,1314,0,0,0,0,0,0,14.58,14.50,14.41
$FREEZE,8.86,4.331,-1.396,2,1,0
$FREEZE,8.65,4.331,-1.396,2,1,0
$FREEZE,8.27,3.663,-1.388,2,1,0
$FREEZE,7.97,3.663,-1.387,2,1,0
$FREEZE,7.66,3.515,-1.378,2,1,0
$FREEZE,7.27,3.515,-1.378,2,1,0
$FREEZE,7.15,3.533,-1.375,2,1,0
$FREEZE,6.84,3.533,-1.374,2,1,0
$FREEZE,6.66,3.537,-1.372,2,1,0
$FREEZE,6.46,3.537,-1.372,2,1,0
$FREEZE,6.19,3.539,-1.371,2,1,0
$FREEZE,6.00,3.539,-1.371,2,1,0
$FREEZE,5.79,3.542,-1.370,2,1,0
$FREEZE,5.53,3.542,-1.370,2,1,0
$FREEZE,5.41,3.541,-1.369,2,1,0
$FREEZE,5.18,3.541,-1.369,2,1,0
$FREEZE,4.91,3.540,-1.368,2,1,0
$FREEZE,4.64,3.540,-1.368,2,1,0
$FREEZE,4.40,3.541,-1.367,2,1,0
$FREEZE,4.04,3.541,-1.367,2,1,0
$FREEZE,3.83,3.545,-1.366,2,1,0
$FREEZE,3.58,3.545,-1.366,2,1,0
$FREEZE,3.22,3.543,-1.366,2,1,0
$FREEZE,3.06,3.543,-1.366,2,1,0
$FREEZE,2.85,3.544,-1.365,2,1,0
$FREEZE,2.61,3.544,-1.365,2,1,0
$FREEZE,2.41,3.546,-1.365,2,1,0
$FREEZE,2.22,3.546,-1.365,2,1,0
$FREEZE,2.03,3.545,-1.364,2,1,0
$FREEZE,1.71,3.545,-1.364,2,1,0
$STATE,11632,end climb,SURFACE_DEPTH_REACHED
$STATE,11632,begin surface coast
$FREEZE,1.41,3.430,-1.369,2,1,0
$FINISH,1.4,1.020016
$STATE,11638,end surface coast,CONTROL_FINISHED_OK
$STATE,11638,begin surface
$SM_CCo,11661,74.97,0.183,0,0,499,657.89
$SM_CCo,11737,0.00,0.000,0,0,497,657.89
$SM_CCo,11739,-0.20,0.000,0,0,501,657.89
$SM_GC,2.35,8.30,2.10,-0.20,0.100,0.061,0.000,184,2479,501,-7.17,1.33,657.89,0,0,0,0,0,0,14.54,14.58,14.62
$RAFOS_CLK,221144
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14557.85,030814,141247
$TT8_MAMPS,0.041944,0.041944
$HUMID,45.19
$INTERNAL_PRESSURE,8.63976
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3911296
$TM_FREEKB,7037580
$24V_AH,13.09,29.379
$10V_AH,12.73,0.000
$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,22.375,65.950,423.800,74.975,0.000,0.000,0.000,488.375,0.000,0.000,33.940,0.000,8344.647,669.980,2533.943,124.940,0.000,1899.326,0.000,1256.873,1498.000,0.531,0.000
$DEVICE_MAMPS,461.295,151.470,1810.755,182.835,0.000,0.000,0.000,183.600,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11665.000,11733.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.722,13.618,0.000,0.000
$MEM,287744
$DATA_FILE_SIZE,30001,849
$CAP_FILE_SIZE,147852,0
$CFSIZE,1047117824,1031864320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11669.31,0x2378b6,7,5
$INTR,1,11738.80,0x2378b6,7,5
$SOUNDSPEED,1449.7
$EKF,11005,4295.333984,-8750.128906,1.413871,-0.058129,0.006092,-0.060319,0.001736,0.017415,0.000095,0.001025,0.001025,0.000034
$GPS,030814,203849,7135.704,-14550.713,35,1.0,55,28.1