version: 66.12
glider: 198
mission: 5
dive: 49
start: 8 2 114 6 37 7
data:
$ID,198
$MISSION,5
$DIVE,49
$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,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,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,648.87579
$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,-3384.5437
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,020814,062318,7134.078,-14410.698,58,0.7,78,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-75.3
$GPS2,020814,063649,7133.997,-14410.678,6,0.8,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,352.1,3730,-21.4,-11.628,-26.45,1932
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.70,-145.9,204,2679,461,513,0.0,0.0,0,65,0.00,0.00,-43.58,0.000,16386,0.000,0.000,203,2677,1581,1611,1552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.70,-145.9,204,2679,1613,1552,3.1,-3.5,4,129,11.20,2.53,-44.92,0.000,18948,0.458,0.107,2355,1259,3784,3840,3728,0,0,0,0,0,0,14.11,14.33,14.50
$GC,354,-0.64,-145.9,2357,1259,3840,3734,59.8,-18.2,58,364,0.15,2.53,0.00,0.000,3078,0.354,0.107,2376,2682,3786,3840,3733,0,0,0,0,0,0,14.27,14.38,28.83
$GC,668,-0.64,-145.9,2377,2683,3840,3733,111.3,-15.4,90,677,0.00,2.42,0.00,0.000,516,0.000,0.083,2376,1255,3786,3839,3733,0,0,0,0,0,0,28.83,14.47,28.83
$GC,746,-0.64,-145.9,2377,1255,3841,3732,122.6,-14.3,105,755,0.00,2.53,0.00,0.000,1030,0.000,0.110,2374,2681,3786,3839,3733,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1051,-0.64,-145.9,2375,2682,3840,3734,165.3,-13.1,136,1059,0.00,1.98,0.00,0.000,260,0.000,0.125,2367,3789,3785,3837,3733,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1123,-0.64,-145.9,2368,3790,3840,3729,175.6,-14.5,150,1133,0.00,1.92,0.00,0.000,1030,0.000,0.076,2367,2665,3785,3839,3731,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1437,-0.64,-145.9,2368,2666,3840,3732,213.0,-11.2,182,1447,0.00,2.00,0.00,0.000,260,0.000,0.128,2361,3788,3784,3839,3730,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1491,-0.64,-145.9,2362,3787,3841,3730,219.7,-12.4,192,1500,0.00,1.90,0.00,0.000,1030,0.000,0.076,2361,2678,3784,3839,3730,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1824,-0.64,-145.9,2361,2678,3840,3729,257.2,-11.1,222,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2677,3784,3839,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-0.64,-145.9,2361,2677,3840,3728,289.6,-10.7,232,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3783,3839,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-0.64,-145.9,2362,2678,3840,3728,321.6,-10.5,242,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3783,3839,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-0.64,-145.9,2362,2678,3840,3727,352.5,-10.1,252,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2677,3782,3839,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3024,-0.64,-145.9,2362,2684,3840,3726,382.9,-10.0,262,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3782,3839,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,-0.64,-145.9,2362,2678,3840,3726,413.1,-10.1,272,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2678,3781,3838,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-0.64,-145.9,2362,2685,3840,3725,442.9,-9.8,282,3634,0.00,2.00,0.00,0.000,260,0.000,0.132,2361,3793,3782,3840,3724,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3673,-0.64,-145.9,2361,3793,3840,3723,448.1,-10.9,291,3681,0.00,1.85,0.00,0.000,1030,0.000,0.078,2361,2676,3781,3838,3724,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3991,-0.66,-145.9,2361,2677,3840,3724,478.8,-9.6,304,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2676,3781,3839,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4290,-0.69,-145.9,2361,2677,3840,3724,507.5,-9.6,314,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3781,3839,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.71,-145.9,2362,2676,3840,3724,536.0,-9.4,324,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2676,3781,3839,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4890,-0.73,-145.9,2362,2677,3840,3724,564.2,-9.5,334,4899,0.00,1.98,0.00,0.000,260,0.000,0.130,2361,3787,3781,3839,3723,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4942,-0.73,-145.9,2367,3787,3840,3723,569.5,-10.3,342,4951,0.00,1.90,0.00,0.000,1030,0.000,0.077,2361,2673,3780,3839,3722,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5266,-0.75,-145.9,2362,2673,3840,3722,600.0,-9.4,356,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2673,3780,3839,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5566,-0.78,-145.9,2362,2681,3840,3723,628.0,-9.3,366,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2673,3780,3839,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5866,-0.80,-145.9,2361,2673,3834,3722,655.8,-9.2,376,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2673,3780,3839,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6166,-0.83,-145.9,2361,2673,3840,3721,683.4,-9.2,386,6169,0.12,0.00,0.00,0.000,4102,0.165,0.000,2312,2673,3783,3846,3721,0,0,0,0,0,0,14.56,28.83,28.83
$MODEM_MSG,CACST,6,1,20140802080436.353098,3,364,19,0154,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,9.1,1.3,-100,1.7,-01,0.0,26,900,0025*1F
$MODEM_MSG,CACST,6,1,20140802081628.983159,3,322,25,0115,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,16.5,0.6,-100,2.4,-01,0.7,27,900,0025*2D
$GC,6469,-0.83,-145.9,2312,2673,3840,3721,717.1,-11.3,396,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2677,3780,3839,3721,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6765,begin apogee
$GC,6768,-0.14,0.0,2310,3054,3840,3722,750.9,-11.1,406,6899,0.88,0.00,125.60,1.799,10246,0.291,0.000,2535,3053,3182,3278,3087,0,0,0,0,0,0,14.48,28.83,13.21
$STATE,6901,end apogee,CONTROL_FINISHED_OK
$STATE,6901,begin climb
$GC,6902,0.70,145.9,2536,3054,3274,3084,754.0,0.0,410,7042,0.98,0.00,124.90,1.773,10246,0.194,0.000,2805,3053,2582,2664,2500,0,0,0,0,0,0,13.85,28.83,13.03
$GC,7335,0.70,145.9,2806,3054,2656,2495,703.9,13.5,425,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2574,2655,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7636,0.68,145.9,2806,3053,2656,2493,663.5,13.5,435,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2574,2655,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7935,0.68,145.9,2806,3054,2655,2494,623.4,13.4,445,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2573,2654,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8236,0.66,145.9,2805,3053,2655,2493,583.6,13.3,455,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2573,2654,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,0.66,145.9,2807,3054,2654,2493,543.6,13.2,465,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2572,2653,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8836,0.66,145.9,2806,3054,2653,2493,504.3,13.1,475,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3053,2573,2653,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,0.66,145.9,2806,3053,2655,2490,465.3,13.0,485,9143,0.00,1.33,0.00,0.000,260,0.000,0.125,2805,3781,2572,2653,2492,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9187,0.62,145.9,2806,3781,2654,2492,458.0,14.0,495,9195,0.00,1.25,0.00,0.000,1030,0.000,0.081,2810,3048,2572,2653,2492,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9499,0.59,145.9,2811,3053,2655,2492,416.9,13.1,507,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3048,2572,2653,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9799,0.57,145.9,2815,3049,2648,2493,377.7,13.0,517,9802,0.15,0.00,0.00,0.000,4102,0.314,0.000,2778,3048,2572,2653,2492,0,0,0,0,0,0,14.54,28.83,28.83
$GC,10099,0.58,153.2,2779,3049,2653,2493,343.5,11.2,527,10104,0.00,0.00,1.10,0.246,8198,0.000,0.000,2778,3048,2561,2643,2479,0,0,0,0,0,0,28.83,28.83,14.59
$GC,10399,0.58,163.4,2779,3045,2663,2479,310.1,11.1,537,10416,0.00,0.00,14.00,1.277,8198,0.000,0.000,2777,3048,2519,2606,2432,0,0,0,0,0,0,28.83,28.83,14.06
$GC,10699,0.59,171.6,2778,3048,2591,2422,276.2,11.2,547,10705,0.00,0.00,2.70,0.666,8198,0.000,0.000,2778,3048,2485,2571,2399,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10999,0.60,182.0,2779,3049,2600,2395,243.1,11.1,561,11022,0.00,2.38,15.20,1.197,8708,0.000,0.078,2788,1638,2435,2523,2347,0,0,0,0,0,0,28.83,14.49,14.04
$GC,11062,0.65,208.2,2789,1637,2517,2347,236.6,10.2,572,11091,0.00,2.50,22.67,1.156,9222,0.000,0.112,2788,3052,2333,2417,2250,0,0,0,0,0,0,28.83,14.48,13.92
$GC,11395,0.68,219.1,2788,3052,2399,2240,198.3,11.1,607,11402,0.00,0.00,3.67,0.912,8198,0.000,0.000,2788,3052,2291,2372,2211,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11697,0.74,264.8,2789,3052,2402,2211,167.7,9.2,637,11752,0.12,2.42,46.15,1.064,10756,0.149,0.080,2849,1645,2095,2175,2016,0,0,0,0,0,0,14.50,14.23,13.83
$GC,11816,0.74,264.8,2850,1646,2167,2014,153.2,12.1,658,11827,0.00,2.53,0.00,0.000,1030,0.000,0.110,2849,3054,2088,2165,2011,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12121,0.74,264.8,2849,3054,2165,2008,114.6,12.1,689,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,3054,2086,2164,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12422,0.75,276.1,2851,3055,2164,2008,79.5,11.0,719,12428,0.00,0.00,3.25,0.272,8198,0.000,0.000,2849,3054,2059,2140,1979,0,0,0,0,0,0,28.83,28.83,14.32
$GC,12722,0.81,340.8,2850,3055,2166,1981,50.2,8.2,749,12766,0.00,1.38,37.33,0.324,8452,0.000,0.127,2849,3787,1796,1872,1721,0,0,0,0,0,0,28.83,14.42,14.31
$GC,12811,0.87,380.4,2850,3787,1884,1722,42.9,9.5,764,12841,0.00,1.27,22.95,0.295,9222,0.000,0.082,2850,3047,1635,1706,1564,0,0,0,0,0,0,28.83,14.48,14.30
$GC,13145,0.98,453.0,2852,3048,1721,1566,15.4,7.8,799,13193,0.15,2.40,39.95,0.216,10756,0.144,0.079,2923,1643,1337,1400,1275,0,0,0,0,0,0,14.45,14.43,14.33
$GC,13242,1.27,693.6,2924,1644,1411,1276,11.9,-1.2,816,13363,0.22,2.50,110.75,0.210,11270,0.135,0.113,2997,3050,499,467,531,0,0,0,0,0,0,14.45,14.42,14.26
$STATE,13537,end climb,SURFACE_DEPTH_REACHED
$STATE,13537,begin surface coast
$FINISH,1.0,1.017860
$STATE,13576,end surface coast,CONTROL_FINISHED_OK
$STATE,13576,begin surface
$SM_CCo,13657,0.00,0.000,0,0,494,660.35
$SM_GC,2.04,8.40,0.65,0.00,0.096,0.093,0.000,202,2674,494,-7.40,0.79,660.35,0,0,0,0,0,0,14.45,14.45,28.83
$RAFOS_CLK,557
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,022034
$TT8_MAMPS,0.046438,0.046438
$HUMID,53.15
$INTERNAL_PRESSURE,8.56402
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3998432
$TM_FREEKB,7208384
$24V_AH,13.03,17.639
$10V_AH,13.14,0.000
$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,22.375,46.825,570.225,0.000,0.000,0.000,0.000,504.850,0.000,0.000,27.439,0.000,11012.505,698.249,2645.638,107.558,0.000,1974.851,0.000,1283.443,1496.000,0.535,0.000
$DEVICE_MAMPS,458.235,132.345,1799.280,0.000,0.000,0.000,0.000,208.845,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13600.000,13697.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.719,13.339,0.000,0.000
$MEM,290080
$DATA_FILE_SIZE,30021,855
$CAP_FILE_SIZE,158146,0
$CFSIZE,2097872896,2080636928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14860.36,0x2378b6,7,5
$SOUNDSPEED,1450.0
$EKF,13760,4295.628906,-8649.382812,0.956222,0.204367,-0.216519,0.005504,0.000336,0.003365,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.041,280.25,1
$GPS,020814,102624,7135.704,-14410.402,46,0.8,66,22.6