version: 66.12
glider: 199
mission: 5
dive: 45
start: 7 31 114 23 5 56
data:
$ID,199
$MISSION,5
$DIVE,45
$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,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,688.85968
$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,-21677.75
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3349
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,310714,225454,7116.205,-14457.177,35,0.9,55,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.7
$GPS2,310714,230539,7116.282,-14457.210,5,1.0,25,22.3
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,289.2,47810,-21.5,-11.628,-24.76,1932
$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,-0.75,-145.9,185,2363,544,465,0.0,0.0,0,75,0.00,0.00,-53.30,0.000,16386,0.000,0.000,185,2362,1891,1896,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.75,-145.9,187,2363,1895,1889,3.4,-3.4,5,134,11.15,2.55,-39.08,0.000,19204,0.480,0.121,2185,949,3946,4002,3891,0,0,0,0,0,0,14.04,14.25,14.47
$GC,358,-0.75,-145.9,2186,950,4001,3898,66.1,-21.2,58,367,0.00,2.50,0.00,0.000,1030,0.000,0.103,2177,2362,3949,4001,3897,0,0,0,0,0,0,28.83,14.33,28.83
$GC,663,-0.75,-145.9,2176,2363,4009,3898,127.9,-19.9,89,673,0.00,2.45,0.00,0.000,516,0.000,0.097,2177,952,3949,4002,3897,0,0,0,0,0,0,28.83,14.40,28.83
$GC,897,-0.75,-145.9,2177,953,4002,3900,168.9,-16.6,135,905,0.00,2.47,0.00,0.000,1030,0.000,0.105,2166,2361,3949,4001,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1209,-0.75,-145.9,2166,2362,4001,3898,218.8,-15.3,167,1217,0.00,2.53,0.00,0.000,260,0.000,0.129,2155,3773,3949,4001,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1281,-0.75,-145.9,2155,3774,4003,3898,230.9,-17.0,181,1290,0.15,2.42,0.00,0.000,3078,0.321,0.086,2184,2354,3949,4001,3897,0,0,0,0,0,0,14.31,14.43,28.83
$GC,1594,-0.75,-145.9,2185,2355,4001,3894,273.3,-12.7,201,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-0.75,-145.9,2184,2355,4003,3896,310.9,-12.6,211,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2354,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,-0.75,-145.9,2185,2355,4001,3894,348.9,-12.5,221,2204,0.00,2.53,0.00,0.000,260,0.000,0.130,2175,3767,3947,4001,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2223,-0.75,-145.9,2177,3767,4001,3892,352.7,-14.2,226,2232,0.00,2.40,0.00,0.000,1030,0.000,0.086,2175,2350,3946,4001,3892,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2529,-0.75,-145.9,2176,2351,4001,3893,392.5,-12.9,237,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2350,3951,4011,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2828,-0.75,-145.9,2176,2350,4000,3892,430.6,-12.7,247,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2350,3946,4001,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-0.75,-145.9,2176,2351,4001,3891,468.1,-12.4,257,3137,0.00,2.55,0.00,0.000,260,0.000,0.129,2165,3770,3945,4001,3889,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3171,-0.75,-145.9,2166,3771,4001,3890,473.9,-13.9,265,3181,0.00,2.38,0.00,0.000,1030,0.000,0.086,2164,2361,3945,4002,3889,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3495,-0.75,-145.9,2164,2362,4003,3890,515.6,-12.7,279,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2361,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3795,-0.75,-145.9,2165,2362,4001,3890,553.6,-12.7,289,3798,0.12,0.00,0.00,0.000,2054,0.322,0.000,2187,2361,3944,4001,3887,0,0,0,0,0,0,14.38,28.83,28.83
$GC,4095,-0.75,-145.9,2188,2362,4005,3890,587.2,-11.2,299,4103,0.00,2.53,0.00,0.000,260,0.000,0.130,2178,3770,3945,4001,3889,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4137,-0.75,-145.9,2179,3772,4001,3889,592.4,-12.7,307,4145,0.00,2.40,0.00,0.000,1030,0.000,0.086,2178,2361,3945,4002,3889,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4459,-0.75,-145.9,2179,2362,4001,3889,630.2,-11.6,321,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3944,4001,3888,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140801000427.455184,3,461,26,0154,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,16.9,2.6,-100,0.4,-01,0.3,25,900,0025*20
$MODEM_MSG,CACST,6,1,20140801001631.663098,3,432,26,0123,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,14.7,2.7,-100,0.3,-01,0.3,24,900,0025*2B
$GC,4759,-0.75,-145.9,2178,2362,4003,3890,665.1,-11.7,331,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-0.75,-145.9,2178,2362,4003,3889,699.8,-11.4,341,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2361,3945,4001,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.75,-145.9,2178,2362,4002,3889,733.3,-11.2,351,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3944,4001,3887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5538,begin apogee
$GC,5541,-0.14,0.0,2176,2603,4003,3889,753.1,-11.0,357,5733,0.80,0.00,186.57,1.744,10246,0.288,0.000,2379,2602,3345,3400,3290,0,0,0,0,0,0,14.45,28.83,13.11
$STATE,5735,end apogee,CONTROL_FINISHED_OK
$STATE,5735,begin climb
$GC,5736,0.75,145.9,2379,2603,3396,3287,757.6,0.0,363,5874,1.05,0.00,128.48,1.887,10246,0.177,0.000,2672,2602,2754,2803,2705,0,0,0,0,0,0,13.73,28.83,12.80
$GC,6169,0.75,145.9,2672,2603,2787,2676,711.0,13.0,378,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2602,2731,2786,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,0.75,145.9,2673,2608,2786,2674,672.1,12.8,388,6477,0.00,2.50,0.00,0.000,516,0.000,0.097,2683,1190,2730,2786,2675,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6511,0.75,145.9,2684,1191,2786,2675,666.8,12.4,396,6519,0.00,2.53,0.00,0.000,1030,0.000,0.104,2683,2599,2730,2786,2674,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6834,0.75,145.9,2683,2600,2787,2675,624.2,13.1,410,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2599,2729,2785,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7133,0.75,145.9,2684,2600,2785,2673,585.5,12.8,420,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2599,2729,2785,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7433,0.75,145.9,2682,2599,2786,2675,547.7,12.5,430,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2599,2730,2786,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7733,0.75,145.9,2683,2600,2786,2675,510.2,12.4,440,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2600,2729,2785,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8033,0.75,145.9,2684,2600,2784,2675,472.7,12.5,450,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2599,2728,2784,2673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8333,0.75,145.9,2682,2599,2786,2675,435.1,12.5,460,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2599,2730,2784,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8633,0.75,145.9,2685,2600,2783,2674,398.1,12.3,470,8641,0.00,2.42,0.00,0.000,516,0.000,0.097,2693,1194,2728,2783,2674,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8665,0.75,145.9,2693,1195,2785,2675,394.3,12.0,476,8673,0.00,2.47,0.00,0.000,1030,0.000,0.104,2693,2608,2728,2783,2674,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8997,0.75,145.9,2694,2609,2783,2674,353.0,12.4,492,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2608,2732,2791,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9297,0.75,145.9,2692,2609,2787,2672,315.9,12.3,502,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2605,2728,2783,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9597,0.75,145.9,2694,2608,2783,2674,279.6,12.0,512,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2608,2728,2783,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9897,0.75,145.9,2693,2609,2785,2675,243.4,12.0,524,9904,0.00,2.42,0.00,0.000,516,0.000,0.097,2703,1195,2728,2783,2674,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9949,0.75,145.9,2705,1196,2783,2673,237.3,11.6,534,9957,0.00,2.45,0.00,0.000,1030,0.000,0.105,2703,2599,2729,2784,2674,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10261,0.79,145.9,2703,2599,2785,2675,201.2,10.8,566,10270,0.00,2.05,0.00,0.000,260,0.000,0.132,2703,3765,2728,2782,2674,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10299,0.79,145.9,2705,3766,2783,2674,196.8,11.5,573,10309,0.00,2.03,0.00,0.000,1030,0.000,0.088,2712,2593,2726,2779,2674,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10604,0.84,199.9,2713,2593,2783,2674,167.7,8.8,604,10657,0.00,2.22,45.33,1.291,8452,0.000,0.131,2711,3766,2522,2581,2464,0,0,0,0,0,0,28.83,14.20,13.69
$GC,10706,0.84,199.9,2712,3767,2570,2452,156.7,12.7,620,10714,0.00,2.05,0.00,0.000,1030,0.000,0.087,2719,2580,2510,2570,2451,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11018,0.89,244.3,2722,2580,2570,2448,125.4,9.3,652,11063,0.00,2.53,37.75,1.220,8708,0.000,0.098,2731,1194,2345,2409,2281,0,0,0,0,0,0,28.83,14.12,13.69
$GC,11122,0.93,244.3,2732,1191,2397,2264,114.6,10.6,670,11130,0.00,2.53,0.00,0.000,1030,0.000,0.105,2730,2599,2330,2397,2263,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11435,0.95,244.3,2732,2599,2396,2260,80.2,11.0,702,11442,0.00,2.10,0.00,0.000,260,0.000,0.132,2731,3770,2326,2396,2256,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11466,0.95,244.3,2731,3771,2396,2260,76.3,11.9,708,11474,0.00,2.03,0.00,0.000,1030,0.000,0.089,2738,2591,2327,2396,2259,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11779,1.04,331.2,2740,2591,2396,2259,48.0,7.0,740,11829,0.00,2.20,39.72,0.311,8452,0.000,0.132,2738,3765,1998,2083,1914,0,0,0,0,0,0,28.83,14.31,14.23
$GC,11977,1.09,379.3,2738,3766,2096,1933,30.5,9.1,777,12015,0.08,2.03,25.70,0.259,11270,0.125,0.090,2789,2606,1799,1885,1714,0,0,0,0,0,0,14.35,14.35,14.24
$GC,12309,1.28,570.1,2788,2607,1900,1727,11.2,1.5,812,12412,0.17,2.55,95.15,0.207,10756,0.148,0.099,2855,1187,1022,1114,930,0,0,0,0,0,0,14.42,14.31,14.24
$GC,12636,1.48,775.5,2858,1188,1124,931,9.4,0.7,872,12712,0.15,2.50,66.43,0.204,11270,0.145,0.104,2913,2600,498,552,445,0,0,0,0,0,0,14.39,14.36,14.24
$STATE,12775,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,0.9,1.003953
$STATE,12795,end surface coast,CONTROL_FINISHED_OK
$STATE,12795,begin surface
$SM_CCo,12876,0.00,0.000,0,0,504,697.88
$SM_GC,2.27,8.30,0.43,0.00,0.101,0.105,0.000,200,2366,504,-6.94,0.99,697.88,0,0,0,0,0,0,14.35,14.37,28.83
$RAFOS_CLK,416
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7039.27,-14458.84,310714,191553
$TT8_MAMPS,0.047187,0.047187
$HUMID,52.48
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,4011972
$TM_FREEKB,7368928
$24V_AH,12.80,66.442
$10V_AH,13.01,0.000
$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,21.975,72.175,625.125,0.000,0.000,0.000,0.000,398.875,0.000,0.000,26.704,0.000,10109.297,776.775,2529.935,101.499,0.000,1976.485,0.000,1326.529,1431.000,0.537,0.000
$DEVICE_MAMPS,479.655,135.405,1887.255,0.000,0.000,0.000,0.000,195.840,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12817.000,12865.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.468,12.664,0.000,0.000
$MEM,292256
$DATA_FILE_SIZE,30036,892
$CAP_FILE_SIZE,149942,0
$CFSIZE,2097872896,2082701312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13323.38,0x2378b6,7,5
$SOUNDSPEED,1450.5
$EKF,12961,4277.214355,-8700.655273,0.907551,0.105397,0.160044,-0.009184,0.000302,0.002927,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.093,128.25,1
$GPS,010814,024154,7116.821,-14459.018,28,0.8,48,22.3