version: 66.12
glider: 197
mission: 6
dive: 62
start: 8 4 114 0 9 57
data:
$ID,197
$MISSION,6
$DIVE,62
$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,-7173.0327
$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,41
$R_STBD_OVSHOOT,21
$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
$GPS1,030814,235725,7137.131,-14550.073,26,1.1,46,28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-71.9
$GPS2,040814,000939,7137.150,-14550.422,13,0.8,33,28.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,145.3,2145,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.93,-101.4,170,2478,422,574,0.0,0.0,0,79,0.00,0.00,-54.17,0.000,16386,0.000,0.000,169,2477,1815,1825,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.96,-145.9,170,2478,1826,1805,3.1,-2.5,6,150,10.68,2.20,-47.15,0.000,18692,0.458,0.130,2168,3711,3778,3760,3797,0,0,0,0,0,0,14.19,14.38,14.59
$GC,374,-0.89,-145.9,2169,3711,3763,3804,81.2,-24.3,61,383,0.17,2.05,0.00,0.000,3078,0.327,0.058,2202,2462,3783,3762,3804,0,0,0,0,0,0,14.28,14.47,28.83
$GC,679,-0.89,-145.9,2203,2462,3762,3805,141.6,-19.5,92,688,0.00,2.20,0.00,0.000,260,0.000,0.111,2200,3708,3783,3762,3805,0,0,0,0,0,0,28.83,14.47,28.83
$MODEM_MSG,CACST,6,1,20140804001640.573704,3,87,-4,0100,0150,255,02,02,04,05,-1,-01,-01,1,3,0,0,150,15.2,1.4,-100,1.6,-01,-0.2,32,900,0025*21
$GC,912,-0.89,-145.9,2196,3708,3763,3805,186.9,-18.2,138,920,0.00,2.03,0.00,0.000,1030,0.000,0.059,2195,2473,3783,3762,3804,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1225,-0.91,-145.9,2194,2473,3762,3805,234.2,-15.3,170,1232,0.00,2.17,0.00,0.000,260,0.000,0.114,2186,3708,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1456,-0.91,-145.9,2186,3708,3761,3805,270.7,-14.9,216,1465,0.00,2.03,0.00,0.000,1030,0.000,0.060,2186,2470,3782,3760,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1770,-0.94,-145.9,2186,2470,3760,3805,313.9,-13.6,228,1780,0.00,2.17,0.00,0.000,260,0.000,0.114,2177,3712,3781,3758,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1849,-0.94,-145.9,2177,3713,3759,3805,326.0,-15.7,243,1858,0.00,2.03,0.00,0.000,1030,0.000,0.060,2177,2463,3781,3758,3805,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2167,-0.97,-145.9,2174,2461,3758,3805,371.0,-14.1,256,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2463,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2467,-0.99,-145.9,2178,2463,3758,3805,412.5,-13.7,266,2475,0.00,2.35,0.00,0.000,516,0.000,0.083,2180,1072,3781,3757,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2554,-1.02,-145.9,2177,1072,3758,3805,424.1,-13.7,283,2563,0.00,2.45,0.00,0.000,1030,0.000,0.106,2173,2466,3781,3757,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2860,-1.04,-145.9,2173,2470,3758,3805,465.8,-13.5,294,2868,0.00,2.35,0.00,0.000,516,0.000,0.082,2173,1075,3779,3757,3801,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2917,-1.08,-145.9,2173,1075,3758,3805,473.6,-13.8,305,2926,0.00,2.45,0.00,0.000,1030,0.000,0.104,2165,2473,3780,3757,3804,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3222,-1.09,-145.9,2165,2474,3756,3806,516.1,-14.1,316,3232,0.00,2.38,0.00,0.000,516,0.000,0.082,2164,1066,3780,3756,3805,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3277,-1.12,-145.9,2162,1066,3757,3805,523.6,-13.6,326,3284,0.00,2.47,0.00,0.000,1030,0.000,0.105,2159,2477,3780,3756,3805,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3589,-1.14,-145.9,2160,2479,3757,3805,567.6,-14.0,338,3597,0.00,2.38,0.00,0.000,516,0.000,0.081,2159,1070,3778,3756,3801,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3651,-1.16,-145.9,2160,1069,3756,3805,576.4,-13.8,350,3659,0.00,2.45,0.00,0.000,1030,0.000,0.104,2150,2470,3781,3757,3805,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3983,-1.17,-145.9,2151,2471,3757,3805,624.3,-14.5,366,3991,0.12,2.38,0.00,0.000,4612,0.164,0.079,2100,1067,3780,3756,3805,0,0,0,0,0,0,14.73,14.73,28.83
$GC,4046,-1.15,-145.9,2101,1067,3756,3805,634.3,-16.2,378,4054,0.15,2.45,0.00,0.000,3078,0.347,0.103,2118,2471,3780,3756,3804,0,0,0,0,0,0,14.58,14.72,28.83
$GC,4378,-1.14,-145.9,2119,2472,3756,3804,686.7,-15.7,394,4385,0.00,2.35,0.00,0.000,516,0.000,0.078,2118,1075,3780,3755,3805,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4434,-1.14,-145.9,2118,1074,3756,3805,695.4,-14.9,405,4443,0.00,2.42,0.00,0.000,1030,0.000,0.099,2109,2472,3780,3755,3805,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4740,-1.12,-145.9,2110,2473,3756,3805,744.1,-16.0,416,4749,0.00,2.35,0.00,0.000,516,0.000,0.079,2110,1072,3779,3755,3804,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,4777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4777,begin apogee
$GC,4782,-0.16,0.0,2100,2405,3756,3805,750.3,-15.5,423,4908,1.35,0.00,121.12,1.829,10246,0.316,0.000,2434,2404,3182,3137,3228,0,0,0,0,0,0,14.59,28.83,13.33
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4912,0.96,145.9,2435,2406,3129,3225,753.9,0.0,427,5051,1.17,2.50,121.50,1.800,10500,0.148,0.104,2790,3707,2578,2501,2656,0,0,0,0,0,0,13.97,13.71,13.07
$GC,5075,0.89,145.9,2791,3708,2498,2656,736.3,19.0,452,5085,0.00,2.25,0.00,0.000,1030,0.000,0.056,2800,2398,2576,2497,2655,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5410,0.85,145.9,2801,2400,2496,2656,675.9,18.1,468,5412,0.15,0.00,0.00,0.000,4102,0.320,0.000,2773,2399,2575,2496,2655,0,0,0,0,0,0,14.20,28.83,28.83
$GC,5709,0.84,145.9,2774,2399,2496,2654,626.8,16.2,478,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2394,2574,2495,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,0.84,145.9,2773,2400,2496,2654,578.7,16.0,488,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2399,2574,2495,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6309,0.83,145.9,2773,2400,2496,2654,530.8,15.9,498,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2399,2575,2496,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6609,0.82,145.9,2773,2399,2496,2654,483.6,15.6,508,6618,0.00,2.30,0.00,0.000,260,0.000,0.107,2773,3715,2577,2495,2659,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6637,0.78,145.9,2769,3716,2496,2652,478.5,17.0,513,6647,0.17,2.15,0.00,0.000,5126,0.308,0.059,2744,2397,2574,2495,2653,0,0,0,0,0,0,14.53,14.70,28.83
$GC,6943,0.80,145.9,2745,2398,2504,2654,435.1,14.1,524,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2397,2576,2495,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7243,0.81,145.9,2745,2398,2496,2654,392.8,14.1,534,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2397,2574,2495,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7543,0.83,145.9,2745,2398,2496,2654,351.0,13.9,544,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2397,2574,2495,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,0.84,145.9,2745,2398,2497,2654,309.7,13.7,554,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2397,2573,2495,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8143,0.86,145.9,2745,2394,2496,2654,269.0,13.6,564,8152,0.00,2.30,0.00,0.000,260,0.000,0.109,2744,3716,2574,2496,2653,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8171,0.85,145.9,2745,3715,2496,2654,264.7,15.7,569,8180,0.00,2.15,0.00,0.000,1030,0.000,0.058,2751,2391,2574,2495,2653,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8476,0.87,145.9,2752,2392,2496,2654,223.7,13.4,592,8485,0.00,2.30,0.00,0.000,260,0.000,0.109,2752,3709,2574,2495,2653,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8514,0.85,145.9,2753,3710,2496,2654,218.0,14.7,599,8523,0.00,2.12,0.00,0.000,1030,0.000,0.057,2761,2397,2574,2496,2653,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8820,0.88,162.8,2762,2397,2497,2654,183.0,10.3,630,8843,0.00,2.40,14.07,1.268,8452,0.000,0.108,2761,3718,2509,2433,2586,0,0,0,0,0,0,28.83,14.57,14.10
$GC,8883,0.86,162.8,2768,3718,2431,2585,175.7,12.9,641,8892,0.00,2.15,0.00,0.000,1030,0.000,0.058,2770,2401,2508,2431,2585,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9188,0.90,180.0,2771,2401,2431,2584,143.7,10.3,672,9212,0.00,0.00,14.73,1.219,8198,0.000,0.000,2770,2401,2441,2366,2517,0,0,0,0,0,0,28.83,28.83,14.04
$GC,9508,0.96,222.4,2771,2401,2362,2515,115.0,8.4,704,9551,0.00,0.00,34.75,1.091,8198,0.000,0.000,2770,2400,2266,2189,2344,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9848,1.02,251.4,2770,2401,2183,2344,81.3,9.4,738,9863,0.15,0.00,11.80,0.415,10246,0.129,0.000,2830,2400,2156,2073,2239,0,0,0,0,0,0,14.56,28.83,14.28
$GC,10159,1.08,312.7,2830,2400,2085,2245,47.3,6.9,769,10194,0.00,2.40,27.83,0.311,8452,0.000,0.111,2830,3709,1906,1813,1999,0,0,0,0,0,0,28.83,14.50,14.38
$GC,10418,1.10,332.1,2830,3710,1819,2000,18.2,10.1,819,10435,0.00,2.15,9.10,0.231,9222,0.000,0.059,2839,2400,1825,1730,1920,0,0,0,0,0,0,28.83,14.56,14.46
$GC,10730,1.28,483.4,2837,2404,1737,1921,11.5,0.0,851,10808,0.17,2.40,66.55,0.207,11012,0.116,0.111,2916,3716,1207,1097,1318,0,0,0,0,0,0,14.62,14.49,14.43
$FREEZE,8.84,3.408,-1.358,2,1,0
$FREEZE,8.65,3.391,-1.368,2,1,0
$FREEZE,8.16,3.391,-1.367,2,1,0
$FREEZE,7.91,3.358,-1.378,2,1,0
$FREEZE,7.43,3.358,-1.378,2,1,0
$FREEZE,6.96,3.310,-1.386,2,1,0
$GC,10837,1.39,587.0,2916,3717,1096,1319,8.8,3.7,868,10889,0.00,2.17,45.10,0.200,9222,0.000,0.058,2925,2395,784,671,897,0,0,0,0,0,0,28.83,14.55,14.40
$FREEZE,5.65,3.277,-1.387,2,1,0
$FREEZE,4.80,3.248,-1.386,2,1,0
$FREEZE,3.90,3.242,-1.385,2,1,0
$FREEZE,3.08,3.234,-1.385,2,1,0
$FREEZE,2.30,3.230,-1.384,2,1,0
$FREEZE,1.35,3.161,-1.387,2,1,0
$STATE,10942,end climb,SURFACE_DEPTH_REACHED
$STATE,10942,begin surface coast
$FREEZE,1.38,3.201,-1.383,2,1,0
$FREEZE,1.43,3.165,-0.248,2,1,0
$FINISH,1.4,1.003580
$STATE,10962,end surface coast,CONTROL_FINISHED_OK
$STATE,10962,begin surface
$SM_CCo,10983,30.77,0.187,0,0,497,657.89
$SM_CCo,11016,-0.17,0.000,0,0,500,657.89
$SM_CCo,11018,0.00,0.000,0,0,500,657.89
$SM_GC,2.43,8.35,0.15,0.00,0.100,0.167,0.000,182,2478,500,-7.18,-0.48,657.89,0,0,0,0,0,0,14.49,14.52,28.83
$RAFOS_CLK,1051490
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7105.60,-14554.04,030814,204314
$TT8_MAMPS,0.041944,0.041944
$HUMID,45.31
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3910400
$TM_FREEKB,7003096
$24V_AH,13.07,30.046
$10V_AH,12.75,0.000
$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,22.650,82.375,466.550,30.775,0.000,0.000,0.000,450.375,0.000,0.000,36.040,0.000,8365.209,660.955,2592.750,123.054,0.000,1938.800,0.000,1305.369,812.000,0.531,0.000
$DEVICE_MAMPS,458.235,166.770,1829.115,186.660,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10989.000,11061.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.577,13.694,0.000,0.000
$MEM,286624
$DATA_FILE_SIZE,30106,882
$CAP_FILE_SIZE,152651,0
$CFSIZE,1047117824,1031503872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11879.20,0x2378b6,7,5
$INTR,1,11018.59,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,11102,4296.029785,-8750.316406,1.434125,-0.085940,-0.232356,0.002522,0.000206,0.002074,0.000099,0.001025,0.001025,0.000050
$GPS,040814,031456,7136.295,-14550.991,33,0.9,53,28.1