version: 66.12
glider: 217
mission: 3
dive: 61
start: 9 28 114 5 43 29
data:
$ID,217
$MISSION,3
$DIVE,61
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$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,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280914,053735,6642.065,-6007.334,23,1.0,23,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.8
$GPS2,280914,054258,6642.015,-6007.505,3,0.7,4,-32.9
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,305.3,14021,-17.5,-9.167,-20.44,2275
$D_GRID,571
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.92,-136.3,192,2454,1305,1225,0.0,0.0,0,82,0.00,0.00,-63.08,0.000,16386,0.000,0.000,191,2455,2839,2845,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.92,-136.3,191,2455,2846,2832,3.4,-2.8,6,114,12.43,2.40,-8.90,0.000,18692,0.430,0.128,2780,3782,3266,3293,3240,0,0,0,0,0,0,14.33,14.49,14.72
$GC,352,-0.92,-136.3,2780,3781,3297,3241,59.6,-17.5,55,360,0.00,2.28,0.00,0.000,1030,0.000,0.067,2780,2443,3268,3297,3240,0,0,0,0,0,0,28.83,14.59,28.83
$GC,683,-0.92,-136.3,2780,2443,3301,3240,115.7,-16.9,70,690,0.00,2.40,0.00,0.000,516,0.000,0.079,2780,1051,3270,3301,3240,0,0,0,0,0,0,28.83,14.64,28.83
$GC,753,-0.92,-136.3,2780,1050,3300,3240,126.9,-16.1,83,761,0.00,2.40,0.00,0.000,1030,0.000,0.078,2772,2435,3270,3301,3239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1074,-0.92,-136.3,2772,2435,3301,3240,178.3,-15.2,101,1080,0.00,2.42,0.00,0.000,260,0.000,0.109,2772,3786,3270,3301,3240,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1127,-0.92,-136.3,2772,3786,3301,3240,187.2,-15.8,111,1136,0.00,2.28,0.00,0.000,1030,0.000,0.068,2772,2439,3270,3300,3240,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1444,-0.92,-136.3,2773,2439,3301,3240,236.0,-15.5,128,1451,0.00,2.45,0.00,0.000,260,0.000,0.111,2772,3790,3270,3301,3239,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1469,-0.92,-136.3,2772,3790,3301,3239,240.1,-16.3,132,1476,0.00,2.25,0.00,0.000,1030,0.000,0.069,2772,2452,3269,3300,3239,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1794,-0.92,-136.3,2772,2451,3301,3239,288.9,-14.5,151,1802,0.00,2.40,0.00,0.000,516,0.000,0.080,2772,1051,3273,3308,3239,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1813,-0.92,-136.3,2772,1052,3301,3239,292.0,-14.5,154,1821,0.00,2.42,0.00,0.000,1030,0.000,0.080,2772,2452,3269,3301,3238,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2119,-0.92,-136.3,2772,2453,3301,3238,332.7,-12.6,170,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2452,3269,3301,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.92,-136.3,2772,2452,3301,3237,369.0,-11.9,185,2427,0.00,2.42,0.00,0.000,516,0.000,0.080,2772,1050,3268,3301,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2448,-0.92,-136.3,2772,1051,3301,3236,372.6,-12.6,190,2455,0.00,2.42,0.00,0.000,1030,0.000,0.080,2772,2453,3269,3301,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2768,-0.92,-136.3,2772,2453,3301,3236,411.7,-12.3,208,2775,0.00,2.42,0.00,0.000,516,0.000,0.079,2772,1051,3268,3301,3236,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2803,-0.92,-136.3,2772,1051,3301,3238,416.1,-12.8,214,2810,0.00,2.40,0.00,0.000,1030,0.000,0.080,2772,2440,3268,3301,3236,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3117,-0.92,-136.3,2772,2442,3301,3236,453.5,-11.8,231,3126,0.00,2.40,0.00,0.000,516,0.000,0.078,2772,1051,3268,3301,3236,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3198,-0.92,-136.3,2772,1050,3301,3236,463.2,-12.1,246,3206,0.00,2.33,0.00,0.000,1030,0.000,0.079,2772,2411,3268,3301,3236,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3504,-0.92,-136.3,2772,2412,3301,3236,497.9,-11.0,262,3510,0.00,2.45,0.00,0.000,260,0.000,0.109,2772,3784,3268,3301,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3538,-0.92,-136.3,2772,3784,3301,3236,501.8,-12.4,268,3545,0.00,2.33,0.00,0.000,1030,0.000,0.067,2772,2399,3270,3301,3240,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3852,-0.92,-136.3,2772,2399,3301,3236,536.9,-11.3,285,3859,0.00,2.47,0.00,0.000,260,0.000,0.106,2772,3782,3268,3301,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3897,-0.92,-136.3,2772,3782,3301,3236,542.1,-12.2,293,3903,0.00,2.30,0.00,0.000,1030,0.000,0.067,2772,2408,3268,3301,3236,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,4160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4160,begin apogee
$GC,4165,-0.18,0.0,2771,2281,3301,3236,572.8,-11.6,309,4282,0.95,0.00,109.93,1.590,10244,0.265,0.000,3028,2280,2705,2766,2644,0,0,0,0,0,0,14.62,28.83,13.49
$STATE,4284,end apogee,CONTROL_FINISHED_OK
$STATE,4284,begin climb
$GC,4285,0.92,136.3,3029,2281,2765,2642,577.0,0.0,315,4406,1.17,2.53,110.75,1.549,10756,0.193,0.079,3369,878,2151,2219,2084,0,0,0,0,0,0,14.02,14.09,13.29
$GC,4478,0.92,136.3,3369,878,2213,2079,562.8,10.0,347,4487,0.00,2.50,0.00,0.000,1030,0.000,0.070,3370,2275,2146,2213,2079,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4805,0.92,136.3,3370,2274,2212,2077,529.6,9.9,366,4811,0.00,2.55,0.00,0.000,260,0.000,0.099,3369,3687,2144,2212,2077,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5013,0.92,136.3,3369,3687,2210,2077,504.8,12.7,406,5020,0.00,2.45,0.00,0.000,1030,0.000,0.064,3380,2258,2144,2211,2077,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5338,0.92,136.3,3380,2257,2211,2077,468.9,10.8,425,5345,0.00,2.40,0.00,0.000,516,0.000,0.083,3389,871,2144,2211,2077,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5366,0.92,136.3,3390,871,2210,2077,465.7,10.5,430,5373,0.00,2.42,0.00,0.000,1030,0.000,0.070,3390,2280,2144,2211,2077,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5686,0.92,136.3,3390,2280,2211,2077,432.3,10.2,448,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2280,2145,2213,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5986,0.92,136.3,3389,2280,2211,2077,402.0,10.0,463,5994,0.00,2.45,0.00,0.000,516,0.000,0.082,3401,869,2144,2211,2077,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6038,0.92,136.3,3401,869,2211,2077,396.8,10.2,472,6044,0.00,2.38,0.00,0.000,1030,0.000,0.070,3402,2258,2141,2205,2077,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6357,0.92,136.3,3401,2257,2211,2077,364.5,10.1,490,6364,0.00,2.50,0.00,0.000,260,0.000,0.099,3401,3680,2144,2211,2077,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6401,0.92,136.3,3401,3680,2210,2077,359.3,12.4,498,6408,0.00,2.42,0.00,0.000,1030,0.000,0.065,3412,2251,2143,2210,2077,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6726,0.92,136.3,3412,2248,2210,2077,325.0,10.9,517,6733,0.00,2.35,0.00,0.000,516,0.000,0.081,3423,872,2144,2211,2077,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6841,0.92,136.3,3424,872,2211,2077,311.9,11.1,539,6850,0.12,2.35,0.00,0.000,5126,0.278,0.070,3395,2254,2144,2211,2077,0,0,0,0,0,0,14.61,14.72,28.83
$GC,7158,0.92,136.3,3395,2254,2211,2077,277.2,10.8,556,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2254,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,0.92,136.3,3395,2254,2211,2077,247.7,9.5,571,7466,0.00,2.50,0.00,0.000,260,0.000,0.099,3394,3680,2144,2211,2077,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7528,0.92,136.3,3395,3680,2211,2077,240.4,10.4,584,7535,0.00,2.42,0.00,0.000,1030,0.000,0.064,3406,2236,2144,2211,2078,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7848,0.93,137.3,3406,2235,2211,2077,211.1,9.1,602,7855,0.00,2.58,0.00,0.000,260,0.000,0.101,3406,3684,2144,2211,2077,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7908,0.93,137.3,3407,3684,2211,2077,204.9,10.9,613,7916,0.00,2.40,0.00,0.000,1030,0.000,0.066,3418,2248,2144,2211,2078,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8214,0.95,147.9,3417,2248,2211,2077,176.9,8.7,629,8233,0.00,2.58,9.70,1.014,8452,0.000,0.099,3418,3672,2101,2168,2035,0,0,0,0,0,0,28.83,14.69,14.19
$GC,8266,0.95,147.9,3417,3671,2168,2035,171.8,10.2,638,8272,0.00,2.35,0.00,0.000,1030,0.000,0.065,3428,2273,2101,2168,2035,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8586,0.97,156.6,3428,2272,2168,2034,143.0,8.8,656,8600,0.00,2.58,7.90,0.973,8452,0.000,0.102,3428,3678,2068,2135,2001,0,0,0,0,0,0,28.83,14.66,14.16
$EKF,range,-5084.5
$GC,8638,0.97,156.6,3429,3678,2133,2001,137.6,10.8,665,8646,0.12,2.38,0.00,0.000,5126,0.285,0.067,3411,2276,2066,2133,2000,0,0,0,0,0,0,14.58,14.69,28.83
$GC,8948,0.97,157.6,3416,2277,2134,2001,110.0,9.1,681,8955,0.00,2.50,0.00,0.000,260,0.000,0.101,3410,3677,2066,2133,2000,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8962,0.98,160.5,3410,3678,2133,2000,108.6,9.0,683,8971,0.00,2.33,4.78,0.840,9222,0.000,0.067,3421,2293,2053,2119,1987,0,0,0,0,0,0,28.83,14.73,14.16
$GC,9289,1.01,173.2,3420,2293,2116,1984,78.6,8.6,697,9309,0.00,2.42,11.77,0.972,8708,0.000,0.083,3431,883,1999,2065,1933,0,0,0,0,0,0,28.83,14.65,14.17
$GC,9327,1.05,194.0,3432,884,2065,1933,75.5,8.2,703,9352,0.00,2.42,18.10,0.982,9222,0.000,0.073,3431,2299,1914,1981,1848,0,0,0,0,0,0,28.83,14.65,14.10
$EKF,range,-6411.4
$GC,9665,1.08,206.3,3431,2299,1978,1845,45.7,8.6,719,9685,0.00,2.53,11.15,0.933,8708,0.000,0.085,3442,891,1865,1933,1798,0,0,0,0,0,0,28.83,14.57,14.12
$GC,9765,1.08,206.3,3442,891,1930,1798,36.5,9.3,737,9772,0.00,2.40,0.00,0.000,1030,0.000,0.073,3442,2281,1864,1931,1797,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-4440.7
$GC,10080,1.18,251.5,3441,2281,1930,1795,16.2,7.1,761,10109,0.00,2.58,22.83,0.145,8452,0.000,0.106,3442,3680,1685,1758,1612,0,0,0,0,0,0,28.83,14.58,14.57
$GC,10126,1.25,282.2,3442,3680,1758,1613,12.7,7.8,768,10149,0.10,2.40,16.15,0.130,11270,0.201,0.068,3486,2271,1559,1635,1483,0,0,0,0,0,0,14.60,14.63,14.56
$STATE,10236,end climb,SURFACE_DEPTH_REACHED
$STATE,10236,begin surface coast
$FINISH,1.2,1.014776
$STATE,10247,end surface coast,CONTROL_FINISHED_OK
$STATE,10247,begin surface
$SM_CCo,10264,32.33,0.098,0,0,1281,350.04
$SM_GC,2.57,9.77,0.32,32.33,0.103,0.109,0.098,211,2460,1281,-8.97,-0.74,350.04,0,0,0,0,0,0,14.59,14.63,14.59
$RAFOS_CLK,-89
$RAFOS,3,1411892704,8.433333,8.417778,102,58,56,55,54,50,749,196,210,175,157,249
$RAFOS,2,1411892235,8.300000,8.287500,67,64,60,57,55,54,541,215,198,166,141,152
$RAFOS,1,1411891745,8.166667,8.151389,59,58,57,55,47,44,201,131,222,165,117,99
$RAFOS,0,1411891267,8.033334,8.018611,175,69,65,58,54,52,596,187,209,154,219,173
$RAFOS_FIX,6635.756836,-6014.842285,280914,080804,3,115,1.38
$IRIDIUM_FIX,6609.62,-6006.54,280914,024201
$TT8_MAMPS,0.041195,0.041195
$HUMID,44.68
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,4000544
$24V_AH,13.29,19.155
$10V_AH,13.37,0.000
$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,24.675,116.800,323.050,32.325,0.000,0.000,0.000,215.825,0.000,0.000,4.692,2371.920,6156.458,580.397,1459.357,81.659,0.000,1457.259,0.000,1157.484,1800.000,0.538,0.000
$DEVICE_MAMPS,429.930,127.755,1590.435,97.920,0.000,0.000,0.000,140.760,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10254.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.284,0.000,0.000,0.000
$MEM,143212
$DATA_FILE_SIZE,26737,781
$CAP_FILE_SIZE,125952,0
$CFSIZE,1024409600,1010483200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10830.00,0x23769e,7,5
$SOUNDSPEED,1453.4
$EKF,10389,4001.999756,-3610.284668,1.190329,0.000319,-0.001521,0.015758,0.000146,0.000930,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.286,159.59,1
$GPS,280914,083635,6640.493,-6008.867,27,0.9,27,-32.8