version: 66.12
glider: 199
mission: 5
dive: 61
start: 8 3 114 9 48 50
data:
$ID,199
$MISSION,5
$DIVE,61
$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,180
$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,-21697.914
$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,29
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$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
$GPS1,030814,093714,7132.037,-14536.942,40,0.8,60,22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.3
$GPS2,030814,094836,7131.959,-14536.966,5,0.8,25,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,299.4,10680,-19.5,-11.628,-22.92,2318
$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,-0.72,-175.1,190,2364,544,465,0.0,0.0,0,95,0.00,0.00,-73.45,0.000,16386,0.000,0.000,191,2364,2313,2317,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.72,-175.1,191,2364,2320,2311,3.7,-3.6,7,144,11.18,0.00,-31.95,0.000,18950,0.478,0.000,2187,2364,3946,4003,3889,0,0,0,0,0,0,14.07,28.83,14.47
$GC,448,-0.72,-175.1,2192,2364,4003,3898,87.3,-20.1,45,456,0.00,2.55,0.00,0.000,260,0.000,0.128,2182,3771,3950,4003,3897,0,0,0,0,0,0,28.83,14.34,28.83
$GC,475,-0.72,-175.1,2183,3772,4002,3898,92.8,-20.7,50,484,0.00,2.42,0.00,0.000,1030,0.000,0.083,2182,2358,3948,4003,3894,0,0,0,0,0,0,28.83,14.38,28.83
$GC,780,-0.72,-175.1,2183,2359,4002,3898,151.9,-18.1,81,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2358,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1080,-0.72,-175.1,2182,2359,4003,3898,201.3,-14.8,111,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2358,3950,4003,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1380,-0.72,-175.1,2181,2357,4004,3898,243.0,-13.2,141,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2358,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1680,-0.72,-175.1,2181,2359,4004,3893,282.2,-13.0,155,1689,0.00,2.53,0.00,0.000,260,0.000,0.129,2167,3767,3949,4002,3897,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1784,-0.72,-175.1,2173,3767,4002,3897,297.2,-14.7,175,1794,0.12,2.40,0.00,0.000,3078,0.319,0.082,2194,2350,3949,4002,3897,0,0,0,0,0,0,14.38,14.52,28.83
$GC,2108,-0.72,-175.1,2195,2350,4002,3896,336.1,-11.7,189,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2350,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2408,-0.72,-175.1,2195,2350,4002,3898,370.5,-11.4,199,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2350,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2708,-0.72,-175.1,2195,2350,4002,3895,404.8,-11.4,209,2717,0.00,2.53,0.00,0.000,260,0.000,0.127,2185,3767,3948,4003,3894,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2756,-0.72,-175.1,2185,3767,4002,3895,410.6,-12.5,218,2764,0.00,2.38,0.00,0.000,1030,0.000,0.081,2185,2354,3948,4003,3894,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3074,-0.72,-175.1,2186,2355,4003,3895,448.8,-12.0,231,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2354,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.72,-175.1,2186,2354,4002,3895,484.5,-11.9,241,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2354,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.72,-175.1,2185,2355,4006,3895,519.9,-11.7,251,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2354,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,-0.72,-175.1,2185,2355,4004,3895,554.5,-11.5,261,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2354,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4273,-0.72,-175.1,2186,2354,4002,3895,588.7,-11.4,271,4283,0.00,2.53,0.00,0.000,260,0.000,0.127,2175,3773,3948,4003,3894,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4322,-0.72,-175.1,2175,3774,4002,3894,594.5,-12.1,280,4330,0.00,2.38,0.00,0.000,1030,0.000,0.081,2175,2360,3948,4003,3894,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4640,-0.72,-175.1,2176,2360,4002,3894,632.2,-11.8,293,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2360,3946,3998,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4939,-0.72,-175.1,2176,2360,4002,3894,667.2,-11.7,303,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2359,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5239,-0.72,-175.1,2174,2361,4004,3895,702.0,-11.5,313,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-0.72,-175.1,2176,2360,4002,3894,736.3,-11.4,323,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3952,4003,3901,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5688,begin apogee
$GC,5691,-0.14,0.0,2173,2603,4000,3894,753.3,-11.3,328,5917,0.82,0.00,220.50,1.664,10246,0.289,0.000,2381,2602,3229,3282,3177,0,0,0,0,0,0,14.49,28.83,13.14
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5921,0.72,175.1,2382,2602,3276,3170,758.5,0.0,335,6090,0.98,2.38,154.93,1.909,10500,0.175,0.125,2657,3773,2507,2570,2444,0,0,0,0,0,0,13.69,13.22,12.58
$GC,6119,0.72,175.1,2656,3768,2564,2435,739.9,15.1,366,6127,0.00,2.15,0.00,0.000,1030,0.000,0.080,2665,2600,2497,2562,2433,0,0,0,0,0,0,28.83,13.43,28.83
$GC,6447,0.72,175.1,2667,2600,2561,2430,694.5,13.8,381,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,0.72,175.1,2666,2600,2562,2430,653.0,13.9,391,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2495,2562,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,0.72,175.1,2667,2600,2562,2429,612.1,13.7,401,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2495,2562,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7346,0.72,175.1,2666,2600,2562,2429,571.5,13.5,411,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2495,2562,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,0.72,175.1,2667,2600,2562,2428,531.5,13.3,421,7654,0.00,2.42,0.00,0.000,516,0.000,0.090,2676,1189,2495,2562,2428,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7688,0.72,175.1,2677,1189,2562,2428,526.1,13.3,429,7696,0.00,2.47,0.00,0.000,1030,0.000,0.101,2676,2599,2495,2562,2428,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8010,0.72,175.1,2676,2600,2563,2429,481.8,13.7,443,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2600,2494,2562,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,0.72,175.1,2677,2600,2562,2428,441.4,13.4,453,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2495,2562,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,0.72,175.1,2677,2599,2562,2428,401.4,13.3,463,8619,0.00,2.42,0.00,0.000,516,0.000,0.087,2686,1193,2494,2562,2427,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8648,0.72,175.1,2688,1191,2562,2428,396.5,13.0,470,8656,0.00,2.47,0.00,0.000,1030,0.000,0.100,2686,2600,2494,2562,2427,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8976,0.72,175.1,2689,2603,2563,2428,350.6,14.0,485,8983,0.00,2.42,0.00,0.000,516,0.000,0.086,2696,1189,2494,2562,2427,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9002,0.72,175.1,2696,1190,2563,2428,346.8,13.7,490,9011,0.00,2.47,0.00,0.000,1030,0.000,0.099,2696,2599,2494,2562,2427,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9307,0.72,175.1,2696,2601,2564,2428,302.0,14.7,501,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2599,2494,2561,2427,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140803120422.783507,3,499,26,0170,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,16.2,1.9,-100,1.1,-01,-0.1,26,900,0025*07
$MODEM_MSG,CACST,6,1,20140803121637.057855,3,475,26,0124,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,17.7,1.6,-100,1.5,-01,-0.3,26,900,0025*02
$GC,9607,0.72,175.1,2696,2600,2564,2428,259.0,14.2,511,9617,0.00,2.42,0.00,0.000,516,0.000,0.086,2706,1187,2494,2562,2427,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9631,0.72,175.1,2706,1188,2564,2428,255.6,14.3,515,9641,0.15,2.47,0.00,0.000,5126,0.286,0.099,2681,2601,2494,2562,2427,0,0,0,0,0,0,14.38,14.49,28.83
$GC,9945,0.72,175.1,2676,2601,2562,2429,216.1,12.2,543,9954,0.00,2.05,0.00,0.000,260,0.000,0.129,2675,3763,2494,2562,2427,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10003,0.72,175.1,2675,3763,2563,2428,208.1,13.9,554,10013,0.00,1.98,0.00,0.000,1030,0.000,0.084,2682,2590,2494,2562,2427,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10309,0.80,175.1,2683,2590,2562,2427,174.2,9.8,585,10318,0.00,2.38,0.00,0.000,516,0.000,0.086,2690,1196,2494,2562,2427,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10377,0.86,234.3,2692,1197,2563,2428,167.8,9.0,598,10433,0.00,2.45,50.40,1.335,9222,0.000,0.100,2693,2598,2275,2345,2206,0,0,0,0,0,0,28.83,14.47,13.59
$GC,10737,0.90,234.3,2693,2601,2329,2177,128.9,10.5,637,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2597,2253,2328,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11037,0.96,287.0,2694,2599,2328,2176,99.2,9.3,667,11074,0.15,2.50,24.52,0.448,10756,0.151,0.088,2753,1195,2064,2149,1980,0,0,0,0,0,0,14.42,14.34,14.15
$GC,11098,0.96,287.0,2754,1195,2160,1988,92.2,12.4,677,11107,0.00,2.50,2.03,0.244,9222,0.000,0.101,2753,2603,2058,2142,1974,0,0,0,0,0,0,28.83,14.33,14.26
$GC,11411,0.96,287.0,2753,2603,2165,1989,53.7,11.2,709,11416,0.00,0.00,2.40,0.230,8198,0.000,0.000,2753,2603,2057,2142,1973,0,0,0,0,0,0,28.83,28.83,14.33
$GC,11711,1.07,398.8,2753,2603,2171,1993,31.4,6.7,739,11775,0.00,2.53,56.38,0.262,8708,0.000,0.090,2763,1194,1605,1696,1514,0,0,0,0,0,0,28.83,14.33,14.26
$GC,11819,1.13,398.8,2765,1195,1706,1513,22.1,10.0,757,11827,0.12,2.50,0.00,0.000,3078,0.164,0.101,2806,2603,1609,1706,1513,0,0,0,0,0,0,14.36,14.34,28.83
$GC,12132,1.39,651.0,2807,2604,1706,1514,10.7,0.4,789,12266,0.20,2.10,124.18,0.200,11012,0.132,0.128,2879,3768,573,610,537,0,0,0,0,0,0,14.43,14.26,14.23
$STATE,12279,end climb,SURFACE_DEPTH_REACHED
$STATE,12279,begin surface coast
$FINISH,1.1,1.010606
$STATE,12300,end surface coast,CONTROL_FINISHED_OK
$STATE,12300,begin surface
$SM_CCo,12323,9.65,0.199,0,0,499,669.67
$SM_CCo,12334,-0.17,0.000,0,0,501,669.67
$SM_CCo,12336,0.03,2.788,0,0,499,669.91
$SM_GC,1.91,8.12,2.50,0.03,0.088,0.087,2.788,197,2356,499,-6.96,0.88,669.91,0,0,0,0,0,0,14.29,14.35,14.07
$RAFOS_CLK,197
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7058.96,-14537.18,030814,060321
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.29
$INTERNAL_PRESSURE,8.4362
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4010104
$TM_FREEKB,7056544
$24V_AH,12.58,72.530
$10V_AH,12.65,0.000
$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,21.850,67.750,635.325,9.675,0.000,0.000,0.000,428.375,0.000,0.000,26.603,0.000,9710.547,778.205,2408.909,116.114,0.000,1974.039,0.000,1216.041,1481.000,0.537,0.000
$DEVICE_MAMPS,478.125,131.580,1908.675,2787.660,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12326.000,12377.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.197,12.689,0.000,0.000
$MEM,285520
$DATA_FILE_SIZE,26783,816
$CAP_FILE_SIZE,145234,0
$CFSIZE,2097872896,2078113792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13082.72,0x2378b6,7,5
$SOUNDSPEED,1450.8
$EKF,12428,4293.360840,-8739.996094,1.104442,-0.069837,-0.043879,-0.022402,0.000277,0.002761,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.050,276.52,1
$GPS,030814,131555,7133.394,-14541.060,32,0.8,52,22.1