version: 66.12
glider: 198
mission: 5
dive: 55
start: 8 3 114 3 19 39
data:
$ID,198
$MISSION,5
$DIVE,55
$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,-3392.1096
$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,29
$R_STBD_OVSHOOT,15
$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
$GPS1,030814,030548,7137.813,-14408.783,35,0.8,56,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.6
$GPS2,030814,031921,7137.870,-14408.957,6,0.7,26,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7147.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,339.9,16921,-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,19,-0.70,-145.9,205,2672,463,530,0.0,0.0,0,75,0.00,0.00,-53.00,0.000,16386,0.000,0.000,203,2671,1814,1843,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.70,-145.9,204,2672,1845,1786,3.1,-2.5,5,133,11.23,2.12,-39.53,0.000,18692,0.460,0.154,2349,3793,3783,3851,3715,0,0,0,0,0,0,14.10,14.28,14.50
$GC,357,-0.61,-145.9,2349,3795,3852,3721,68.3,-20.8,58,367,0.15,1.95,0.00,0.000,3078,0.319,0.078,2386,2672,3786,3851,3721,0,0,0,0,0,0,14.26,14.45,28.83
$GC,662,-0.61,-145.9,2387,2673,3852,3722,116.2,-14.6,89,670,0.00,2.03,0.00,0.000,260,0.000,0.133,2386,3787,3786,3851,3722,0,0,0,0,0,0,28.83,14.42,28.83
$GC,895,-0.61,-145.9,2387,3788,3852,3722,151.1,-14.4,135,904,0.00,1.88,0.00,0.000,1030,0.000,0.081,2386,2672,3786,3851,3722,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1208,-0.61,-145.9,2387,2673,3851,3722,189.4,-11.2,167,1217,0.00,2.03,0.00,0.000,260,0.000,0.135,2386,3789,3786,3851,3721,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1442,-0.61,-145.9,2387,3788,3854,3720,216.0,-11.1,213,1450,0.00,1.88,0.00,0.000,1030,0.000,0.083,2386,2675,3784,3850,3719,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1755,-0.64,-145.9,2387,2675,3852,3719,247.1,-10.1,245,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2675,3787,3855,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,-0.67,-145.9,2390,2676,3851,3719,276.0,-9.6,257,2063,0.00,2.00,0.00,0.000,260,0.000,0.136,2386,3786,3784,3851,3718,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2128,-0.69,-145.9,2386,3786,3852,3718,283.4,-10.4,271,2137,0.00,1.88,0.00,0.000,1030,0.000,0.083,2386,2672,3783,3850,3717,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2451,-0.73,-145.9,2387,2672,3851,3720,312.7,-8.9,285,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2672,3783,3850,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.77,-145.9,2387,2673,3851,3717,339.0,-8.8,295,2761,0.15,2.03,0.00,0.000,4356,0.136,0.131,2313,3790,3783,3850,3716,0,0,0,0,0,0,14.56,14.51,28.83
$GC,2810,-0.73,-145.9,2313,3789,3852,3716,346.4,-13.4,306,2819,0.15,1.88,0.00,0.000,3078,0.308,0.082,2345,2677,3783,3850,3716,0,0,0,0,0,0,14.42,14.54,28.83
$GC,3116,-0.73,-145.9,2347,2676,3852,3716,379.7,-11.0,317,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3415,-0.73,-145.9,2347,2678,3852,3716,412.0,-10.7,327,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-0.73,-145.9,2347,2675,3850,3716,444.0,-10.6,337,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140803040441.567396,3,458,26,0161,0150,100,00,00,00,02,1,000,000,2,5,1,0,150,20.9,2.0,-100,1.0,-01,0.2,23,900,0025*01
$MODEM_MSG,CACST,6,1,20140803041634.292544,3,461,20,0116,0150,100,00,00,01,03,-1,-01,-01,1,3,1,0,150,14.6,1.9,-100,1.1,-01,0.2,21,900,0025*2B
$GC,4015,-0.73,-145.9,2347,2678,3852,3716,475.8,-10.6,347,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3783,3851,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.73,-145.9,2346,2678,3846,3714,507.0,-10.4,357,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3781,3848,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.73,-145.9,2347,2678,3851,3716,538.2,-10.3,367,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.73,-145.9,2346,2678,3851,3715,569.0,-10.2,377,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2677,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.73,-145.9,2347,2679,3851,3716,598.9,-10.0,387,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3780,3850,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-0.73,-145.9,2347,2678,3850,3716,628.3,-9.8,397,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,-0.73,-145.9,2346,2678,3851,3715,657.2,-9.6,407,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.73,-145.9,2347,2678,3851,3715,685.8,-9.5,417,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-0.73,-145.9,2347,2678,3851,3716,714.6,-9.6,427,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2678,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6715,-0.73,-145.9,2347,2678,3851,3715,743.3,-9.5,437,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2677,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6804,begin apogee
$GC,6807,-0.14,0.0,2345,3057,3851,3715,751.9,-9.6,440,6938,0.73,0.00,126.55,1.775,10246,0.275,0.000,2535,3056,3184,3264,3105,0,0,0,0,0,0,14.56,28.83,13.25
$STATE,6940,end apogee,CONTROL_FINISHED_OK
$STATE,6940,begin climb
$GC,6941,0.70,145.9,2536,3056,3259,3097,754.8,0.0,444,7080,0.95,1.48,124.10,1.750,10500,0.190,0.128,2806,3789,2583,2651,2515,0,0,0,0,0,0,13.87,13.63,13.05
$GC,7174,0.66,145.9,2807,3790,2640,2503,730.7,15.0,483,7183,0.00,1.33,0.00,0.000,1030,0.000,0.083,2811,3053,2571,2639,2504,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7493,0.63,145.9,2813,3053,2639,2505,688.1,13.3,496,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3052,2570,2638,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7792,0.61,145.9,2812,3052,2642,2498,647.7,13.4,506,7801,0.00,1.38,0.00,0.000,260,0.000,0.129,2811,3786,2570,2639,2502,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7895,0.56,145.9,2812,3786,2640,2503,632.6,15.3,526,7903,0.15,1.27,0.00,0.000,5126,0.260,0.085,2776,3052,2570,2638,2502,0,0,0,0,0,0,14.31,14.44,28.83
$GC,8217,0.57,152.6,2777,3049,2638,2503,595.4,11.3,540,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,3051,2570,2638,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8517,0.57,154.7,2775,3051,2640,2502,560.9,11.5,550,8522,0.00,0.00,1.70,0.225,8198,0.000,0.000,2776,3051,2554,2624,2485,0,0,0,0,0,0,28.83,28.83,14.49
$GC,8818,0.57,162.7,2777,3052,2653,2485,526.7,11.2,560,8835,0.00,0.00,13.82,1.465,8198,0.000,0.000,2776,3051,2521,2596,2447,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9117,0.57,162.7,2777,3052,2580,2436,491.4,11.7,570,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,3051,2507,2580,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9417,0.57,162.7,2776,3051,2580,2435,456.2,11.7,580,9426,0.00,2.38,0.00,0.000,516,0.000,0.086,2786,1638,2507,2579,2435,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9460,0.61,184.0,2787,1637,2580,2435,451.6,10.5,588,9487,0.00,2.50,18.77,1.382,9222,0.000,0.116,2786,3053,2426,2498,2355,0,0,0,0,0,0,28.83,14.56,13.90
$GC,9780,0.61,184.0,2786,3053,2489,2348,411.7,12.5,602,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,3053,2417,2487,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,0.61,184.0,2785,3053,2488,2348,373.6,12.6,612,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,3053,2417,2487,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10380,0.61,184.0,2787,3054,2488,2348,336.4,12.3,622,10388,0.00,2.40,0.00,0.000,516,0.000,0.083,2796,1633,2416,2484,2348,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10412,0.63,184.0,2796,1633,2488,2349,332.5,11.9,628,10420,0.00,2.50,0.00,0.000,1030,0.000,0.114,2795,3053,2419,2491,2348,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10744,0.63,184.0,2797,3053,2488,2356,290.9,12.3,644,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,3053,2417,2487,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11044,0.63,184.0,2796,3053,2488,2349,254.7,12.0,654,11052,0.00,2.38,0.00,0.000,516,0.000,0.083,2805,1638,2417,2487,2348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11081,0.66,186.9,2806,1637,2489,2347,250.3,11.5,661,11089,0.00,2.50,0.00,0.000,1030,0.000,0.115,2805,3060,2415,2487,2343,0,0,0,0,0,0,28.83,14.60,28.83
$GC,11388,0.66,186.9,2806,3061,2488,2347,212.5,12.5,694,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3061,2417,2487,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11688,0.67,210.6,2806,3061,2487,2349,178.8,10.4,724,11714,0.00,0.00,22.65,1.080,8198,0.000,0.000,2805,3060,2326,2397,2256,0,0,0,0,0,0,28.83,28.83,14.02
$GC,12008,0.70,255.3,2806,3061,2375,2241,145.9,9.2,756,12054,0.00,0.00,38.15,1.030,8198,0.000,0.000,2805,3061,2135,2204,2067,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12349,0.76,289.6,2806,3060,2193,2056,112.6,9.8,790,12391,0.00,2.53,29.42,1.005,8708,0.000,0.083,2815,1638,1996,2058,1935,0,0,0,0,0,0,28.83,14.27,13.88
$GC,12445,0.85,338.2,2816,1638,2048,1926,103.7,9.0,807,12497,0.15,2.55,42.55,0.987,11270,0.134,0.116,2874,3049,1803,1865,1741,0,0,0,0,0,0,14.35,14.31,13.75
$GC,12791,0.85,338.2,2879,3051,1841,1725,56.8,13.3,844,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,3049,1780,1840,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13091,0.91,383.8,2879,3050,1840,1723,27.5,9.2,874,13121,0.00,2.50,21.30,0.262,8708,0.000,0.085,2892,1635,1623,1686,1561,0,0,0,0,0,0,28.83,14.41,14.31
$GC,13161,0.99,431.2,2886,1635,1704,1562,21.5,9.1,886,13195,0.00,2.55,27.95,0.234,9222,0.000,0.117,2886,3055,1426,1481,1372,0,0,0,0,0,0,28.83,14.40,14.31
$FREEZE,11.97,2.171,-1.370,0,1,0
$STATE,13428,end climb,NO_VERTICAL_VELOCITY
$STATE,13428,begin surface
$SM_CCo,13432,123.28,0.210,0,0,500,659.12
$SM_GC,2.26,7.90,0.65,0.00,0.080,0.084,0.000,204,2674,502,-7.40,0.82,658.39,0,0,0,0,0,0,14.47,14.49,28.83
$RAFOS_CLK,730
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7058.96,-14410.35,020814,230625
$TT8_MAMPS,0.046438,0.046438
$HUMID,50.43
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3995744
$TM_FREEKB,7100672
$24V_AH,13.05,19.588
$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,21.550,51.225,466.975,123.275,0.000,0.000,0.000,507.200,0.000,0.000,27.475,0.000,10998.837,727.242,2743.110,116.871,0.000,2045.525,0.000,1359.950,1472.000,0.535,0.000
$DEVICE_MAMPS,459.765,153.765,1774.800,210.375,0.000,0.000,0.000,206.550,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13458.000,13550.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.456,13.356,0.000,0.000
$MEM,287372
$DATA_FILE_SIZE,30045,915
$CAP_FILE_SIZE,161684,0
$CFSIZE,2097872896,2078900224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14699.01,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,13872,4299.250977,-8648.162109,11.967133,0.030807,0.014454,0.012867,0.000320,0.003224,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.056,285.00,1
$GPS,030814,071048,7139.367,-14409.442,38,0.8,59,22.6