version: 66.12
glider: 198
mission: 5
dive: 56
start: 8 3 114 7 25 0
data:
$ID,198
$MISSION,5
$DIVE,56
$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,-3393.3711
$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,32
$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
$GPS1,030814,071048,7139.367,-14409.442,38,0.8,59,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.7
$GPS2,030814,072442,7139.280,-14409.526,5,0.9,25,22.6
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7147.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,349.7,14300,-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,-145.9,205,2674,467,532,0.0,0.0,0,75,0.00,0.00,-53.17,0.000,16386,0.000,0.000,204,2674,1849,1876,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.70,-145.9,206,2675,1877,1823,3.5,-3.3,5,132,11.30,2.50,-37.40,0.000,18948,0.462,0.112,2355,1270,3783,3851,3716,0,0,0,0,0,0,14.09,14.31,14.49
$GC,292,-0.62,-145.9,2355,1269,3851,3718,50.2,-21.1,45,301,0.17,2.55,0.00,0.000,3078,0.351,0.113,2382,2688,3786,3850,3722,0,0,0,0,0,0,14.23,14.33,28.83
$GC,605,-0.62,-145.9,2383,2689,3851,3723,102.3,-15.4,77,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2688,3786,3850,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,905,-0.62,-145.9,2383,2689,3851,3724,145.8,-14.0,107,913,0.00,1.98,0.00,0.000,260,0.000,0.129,2375,3789,3786,3850,3723,0,0,0,0,0,0,28.83,14.46,28.83
$GC,951,-0.62,-145.9,2376,3790,3851,3724,152.7,-14.5,116,960,0.00,1.92,0.00,0.000,1030,0.000,0.080,2375,2674,3786,3850,3723,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1257,-0.62,-145.9,2375,2675,3851,3722,191.7,-12.0,147,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2674,3786,3850,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-0.62,-145.9,2372,2676,3847,3722,226.2,-10.6,177,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2675,3785,3850,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1877,-0.64,-145.9,2375,2676,3851,3720,260.0,-10.4,203,1886,0.00,2.03,0.00,0.000,260,0.000,0.135,2374,3789,3784,3849,3719,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1960,-0.64,-145.9,2374,3789,3851,3719,269.1,-10.7,219,1967,0.00,1.88,0.00,0.000,1030,0.000,0.083,2374,2674,3784,3850,3719,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2272,-0.67,-145.9,2375,2674,3851,3719,299.9,-9.7,231,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2670,3784,3850,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2572,-0.70,-145.9,2374,2674,3851,3719,328.9,-9.6,241,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2673,3784,3850,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2872,-0.72,-145.9,2379,2674,3851,3717,357.6,-9.4,251,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2674,3783,3850,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,-0.75,-145.9,2377,2679,3851,3717,385.0,-9.2,261,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2678,3783,3850,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3472,-0.78,-145.9,2375,2674,3851,3716,412.5,-9.2,271,3480,0.12,2.03,0.00,0.000,4356,0.155,0.129,2311,3789,3782,3850,3715,0,0,0,0,0,0,14.52,14.46,28.83
$GC,3539,-0.75,-145.9,2312,3790,3850,3717,421.1,-13.9,284,3547,0.15,1.88,0.00,0.000,3078,0.308,0.081,2342,2673,3783,3850,3716,0,0,0,0,0,0,14.38,14.52,28.83
$MODEM_MSG,CACST,6,1,20140803080443.322024,3,416,26,0113,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,22.3,3.0,-100,0.0,-01,0.1,21,900,0025*2A
$MODEM_MSG,CACST,6,1,20140803081634.269067,3,5152,31,0304,0150,100,00,00,01,02,-1,-01,-01,1,3,0,0,150,23.2,3.8,-100,-0.8,-01,0.6,22,900,0025*3B
$GC,3866,-0.75,-145.9,2343,2674,3851,3716,457.3,-11.0,299,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2674,3782,3849,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-0.75,-145.9,2343,2674,3851,3716,490.4,-11.0,309,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2674,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-0.75,-145.9,2343,2674,3851,3716,523.2,-10.7,319,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2674,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4766,-0.75,-145.9,2349,2674,3849,3715,554.6,-10.6,329,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2674,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-0.75,-145.9,2343,2674,3851,3716,586.2,-10.6,339,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2672,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.75,-145.9,2343,2678,3850,3717,617.0,-10.1,349,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2673,3782,3850,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5666,-0.75,-145.9,2342,2674,3851,3723,647.8,-10.5,359,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2674,3780,3845,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,-0.75,-145.9,2342,2674,3851,3715,679.0,-10.3,369,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2674,3783,3850,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6266,-0.75,-145.9,2348,2673,3851,3716,709.8,-10.1,379,6274,0.00,1.98,0.00,0.000,260,0.000,0.130,2334,3787,3782,3850,3715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6313,-0.75,-145.9,2335,3787,3851,3715,715.2,-12.2,388,6321,0.00,1.85,0.00,0.000,1030,0.000,0.081,2334,2675,3782,3850,3715,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6631,-0.75,-145.9,2335,2675,3851,3715,748.3,-10.4,401,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2675,3781,3850,3712,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6663,-0.14,0.0,2335,3054,3850,3716,751.3,-10.4,402,6794,0.77,0.00,127.57,1.734,10246,0.284,0.000,2537,3053,3182,3260,3105,0,0,0,0,0,0,14.55,28.83,13.25
$STATE,6796,end apogee,CONTROL_FINISHED_OK
$STATE,6796,begin climb
$GC,6797,0.70,145.9,2538,3054,3257,3094,754.8,0.0,406,6935,0.95,0.00,123.78,1.712,10502,0.189,0.000,2805,3054,2580,2648,2513,0,0,0,0,0,0,13.88,28.83,13.07
$GC,7231,0.70,145.9,2806,3055,2639,2504,706.9,13.0,426,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,3054,2570,2638,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,0.70,145.9,2801,3052,2639,2502,667.9,13.1,436,7538,0.00,1.38,0.00,0.000,260,0.000,0.128,2804,3792,2570,2638,2502,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7587,0.66,145.9,2805,3792,2639,2502,659.8,14.7,447,7596,0.00,1.27,0.00,0.000,1030,0.000,0.083,2809,3056,2570,2638,2502,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7893,0.64,145.9,2806,3057,2639,2502,619.1,13.3,458,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3057,2570,2638,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8193,0.61,145.9,2810,3063,2639,2502,579.1,13.3,468,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3057,2569,2637,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,0.59,145.9,2809,3056,2639,2502,539.0,13.4,478,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,3057,2569,2638,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,0.57,145.9,2809,3057,2640,2501,498.8,13.4,488,8796,0.15,0.00,0.00,0.000,4102,0.304,0.000,2776,3057,2569,2638,2501,0,0,0,0,0,0,14.50,28.83,28.83
$GC,9093,0.58,151.8,2777,3057,2646,2502,464.5,11.3,498,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,3057,2569,2638,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,0.58,158.6,2777,3057,2639,2501,430.9,11.3,508,9401,0.00,2.45,3.53,0.961,8708,0.000,0.084,2786,1642,2543,2617,2469,0,0,0,0,0,0,28.83,14.60,13.88
$GC,9441,0.62,179.6,2786,1641,2645,2469,425.8,10.5,517,9476,0.00,2.50,25.58,1.334,9222,0.000,0.115,2786,3058,2445,2518,2373,0,0,0,0,0,0,28.83,14.59,13.90
$GC,9795,0.62,179.6,2786,3058,2506,2366,382.2,12.4,536,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,3054,2435,2505,2366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10095,0.62,179.6,2786,3058,2505,2366,345.2,12.3,546,10103,0.00,2.42,0.00,0.000,516,0.000,0.084,2796,1623,2435,2504,2366,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10137,0.64,184.9,2796,1626,2505,2366,340.3,11.3,554,10145,0.00,2.53,0.00,0.000,1030,0.000,0.114,2795,3056,2436,2504,2368,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10460,0.64,184.9,2797,3057,2504,2367,299.5,12.7,568,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3056,2435,2504,2366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10760,0.64,184.9,2796,3056,2505,2366,262.3,12.2,578,10767,0.00,2.38,0.00,0.000,516,0.000,0.083,2805,1635,2434,2503,2366,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10801,0.65,195.9,2806,1634,2505,2366,257.5,11.0,586,10821,0.00,2.50,13.35,1.145,9222,0.000,0.114,2805,3051,2385,2456,2315,0,0,0,0,0,0,28.83,14.59,14.06
$GC,11125,0.65,195.9,2806,3052,2440,2304,216.5,12.4,616,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3050,2371,2439,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11425,0.66,212.8,2806,3052,2440,2304,182.3,10.7,646,11447,0.00,2.47,14.52,1.064,8708,0.000,0.083,2814,1639,2311,2380,2242,0,0,0,0,0,0,28.83,14.47,14.01
$GC,11502,0.70,228.8,2814,1639,2373,2238,174.3,10.8,660,11524,0.00,2.50,13.73,1.045,9222,0.000,0.114,2813,3049,2246,2314,2179,0,0,0,0,0,0,28.83,14.45,13.97
$GC,11828,0.72,255.5,2814,3050,2302,2170,139.5,10.2,694,11854,0.00,0.00,23.50,1.005,8198,0.000,0.000,2814,3049,2143,2212,2075,0,0,0,0,0,0,28.83,28.83,13.93
$GC,12149,0.78,294.7,2814,3050,2192,2057,107.4,9.5,726,12191,0.00,2.50,33.42,0.969,8708,0.000,0.084,2820,1644,1975,2039,1911,0,0,0,0,0,0,28.83,14.28,13.90
$GC,12225,0.87,345.6,2820,1644,2032,1907,100.1,8.9,739,12261,0.15,2.53,24.52,0.462,11270,0.135,0.115,2885,3050,1783,1846,1721,0,0,0,0,0,0,14.35,14.30,14.06
$GC,12555,0.87,345.6,2885,3049,1865,1722,54.3,12.5,774,12560,0.00,0.00,2.20,0.216,8198,0.000,0.000,2885,3049,1776,1840,1712,0,0,0,0,0,0,28.83,28.83,14.34
$GC,12856,0.92,390.9,2885,3049,1866,1711,25.1,9.2,804,12890,0.00,0.00,26.52,0.248,8198,0.000,0.000,2884,3049,1592,1655,1530,0,0,0,0,0,0,28.83,28.83,14.34
$FREEZE,12.14,1.339,-1.416,0,1,0
$STATE,13185,end climb,NO_VERTICAL_VELOCITY
$STATE,13185,begin surface
$SM_CCo,13189,144.32,0.208,0,0,498,658.88
$SM_GC,2.07,7.88,0.65,0.00,0.077,0.084,0.000,198,2666,500,-7.40,0.65,658.63,0,0,0,0,0,0,14.50,14.50,28.83
$RAFOS_CLK,738
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7105.60,-14402.37,030814,031041
$TT8_MAMPS,0.045689,0.045689
$HUMID,51.18
$INTERNAL_PRESSURE,8.54449
$TCM_TEMP,12.10
$XPDR_PINGS,1
$SC_FREEKB,3995296
$TM_FREEKB,7079680
$24V_AH,13.07,19.942
$10V_AH,13.18,0.000
$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,21.650,49.350,432.225,144.325,0.000,0.000,0.000,525.975,0.250,0.000,27.118,0.000,10934.854,715.571,2630.799,115.336,0.000,1991.599,0.000,1251.193,1480.000,0.536,0.000
$DEVICE_MAMPS,462.060,135.405,1734.255,208.080,0.000,0.000,0.000,207.315,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13211.000,13301.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.459,13.376,0.000,0.000
$MEM,286896
$DATA_FILE_SIZE,30035,837
$CAP_FILE_SIZE,157615,0
$CFSIZE,2097872896,2078572544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14720.22,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,13647,4300.831543,-8648.136719,12.141602,0.006290,-0.032776,-0.010764,0.000311,0.003146,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.067,288.77,1
$GPS,030814,111224,7140.992,-14409.648,22,0.7,43,22.6