version: 66.12
glider: 217
mission: 3
dive: 174
start: 10 17 114 10 11 1
data:
$ID,217
$MISSION,3
$DIVE,174
$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,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,171014,100441,6643.337,-6010.688,15,0.8,15,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-76.0
$GPS2,171014,101026,6643.322,-6010.848,22,0.8,22,-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,321.1,11155,-17.5,-9.167,-20.44,2275
$D_GRID,558
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.92,-136.3,189,2457,1301,1231,0.0,0.0,0,74,0.00,0.00,-53.55,0.000,16386,0.000,0.000,186,2457,2616,2624,2608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.92,-136.3,186,2457,2627,2609,3.2,-1.9,5,112,12.43,2.38,-15.25,0.000,19204,0.423,0.122,2785,3778,3266,3296,3237,0,0,0,0,0,0,14.25,14.47,14.73
$GC,155,-0.92,-136.3,2785,3779,3296,3237,18.4,-19.8,18,163,0.00,2.22,0.00,0.000,1030,0.000,0.057,2785,2451,3266,3296,3237,0,0,0,0,0,0,28.83,14.56,28.83
$GC,463,-0.92,-136.3,2785,2450,3300,3237,76.1,-17.5,31,471,0.00,2.40,0.00,0.000,260,0.000,0.096,2775,3787,3268,3300,3237,0,0,0,0,0,0,28.83,14.56,28.83
$GC,518,-0.92,-136.3,2775,3787,3300,3236,86.0,-17.0,41,525,0.00,2.25,0.00,0.000,1030,0.000,0.057,2774,2439,3267,3299,3236,0,0,0,0,0,0,28.83,14.64,28.83
$GC,844,-0.92,-136.3,2774,2439,3301,3236,139.0,-15.8,55,852,0.00,2.35,0.00,0.000,516,0.000,0.070,2775,1064,3269,3301,3237,0,0,0,0,0,0,28.83,14.64,28.83
$GC,895,-0.92,-136.3,2775,1063,3301,3236,147.1,-16.0,64,902,0.00,2.38,0.00,0.000,1030,0.000,0.069,2772,2450,3268,3301,3236,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1215,-0.92,-136.3,2772,2450,3301,3236,196.2,-14.8,82,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2450,3268,3301,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1515,-0.92,-136.3,2773,2450,3300,3236,240.6,-14.8,97,1522,0.00,2.40,0.00,0.000,516,0.000,0.070,2773,1055,3268,3301,3236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1560,-0.92,-136.3,2773,1055,3301,3236,247.5,-14.7,105,1566,0.00,2.38,0.00,0.000,1030,0.000,0.067,2772,2451,3268,3301,3236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1886,-0.92,-136.3,2772,2450,3301,3236,293.3,-14.0,124,1892,0.00,2.38,0.00,0.000,516,0.000,0.069,2773,1062,3267,3300,3235,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1899,-0.92,-136.3,2772,1062,3301,3237,295.4,-14.1,126,1906,0.00,2.38,0.00,0.000,1030,0.000,0.068,2772,2455,3267,3300,3235,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2213,-0.92,-136.3,2772,2454,3300,3234,338.0,-13.2,143,2222,0.00,2.35,0.00,0.000,260,0.000,0.103,2772,3778,3267,3301,3234,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2266,-0.92,-136.3,2772,3779,3300,3234,345.2,-14.0,152,2272,0.00,2.20,0.00,0.000,1030,0.000,0.058,2772,2447,3267,3300,3234,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2585,-0.92,-136.3,2773,2444,3300,3233,385.4,-11.9,170,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2448,3266,3300,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-0.92,-136.3,2772,2447,3300,3233,420.9,-11.9,185,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2448,3265,3297,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3187,-0.92,-136.3,2772,2448,3300,3233,457.4,-12.0,200,3194,0.00,2.35,0.00,0.000,516,0.000,0.070,2772,1059,3267,3301,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3285,-0.92,-136.3,2772,1060,3300,3233,469.4,-11.6,218,3292,0.00,2.38,0.00,0.000,1030,0.000,0.067,2772,2457,3267,3301,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3599,-0.92,-136.3,2772,2457,3299,3233,505.0,-11.5,235,3608,0.00,2.38,0.00,0.000,516,0.000,0.067,2772,1061,3266,3300,3233,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3630,-0.92,-136.3,2772,1062,3298,3233,508.7,-11.9,240,3637,0.00,2.38,0.00,0.000,1030,0.000,0.067,2772,2451,3266,3300,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3950,-0.92,-136.3,2772,2451,3301,3233,544.7,-11.0,258,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2451,3266,3300,3233,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4069,begin apogee
$GC,4074,-0.18,0.0,2772,2379,3301,3233,558.8,-11.7,264,4191,0.95,0.00,109.85,1.551,10246,0.259,0.000,3029,2378,2707,2769,2645,0,0,0,0,0,0,14.52,28.83,13.54
$STATE,4193,end apogee,CONTROL_FINISHED_OK
$STATE,4193,begin climb
$GC,4194,0.92,136.3,3030,2378,2768,2645,563.7,0.0,270,4311,1.15,0.00,111.78,1.512,11014,0.181,0.000,3369,2378,2150,2220,2080,0,0,0,0,0,0,14.08,28.83,13.29
$GC,4610,0.92,136.3,3369,2378,2210,2079,529.2,9.9,297,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2379,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,0.92,136.3,3368,2378,2209,2079,500.4,9.7,312,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2378,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,0.92,136.3,3368,2378,2209,2079,471.2,9.5,327,5219,0.00,2.40,0.00,0.000,516,0.000,0.072,3379,975,2144,2209,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5286,0.94,143.1,3379,974,2209,2079,463.9,8.9,341,5301,0.00,2.40,6.03,1.133,9222,0.000,0.063,3379,2385,2122,2188,2057,0,0,0,0,0,0,28.83,14.57,13.88
$GC,5597,0.94,143.1,3379,2385,2186,2058,433.8,9.8,358,5604,0.00,2.42,0.00,0.000,516,0.000,0.070,3389,974,2122,2186,2058,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5646,0.94,143.1,3389,974,2186,2058,429.0,9.7,367,5655,0.00,2.38,0.00,0.000,1030,0.000,0.060,3389,2379,2122,2186,2058,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5967,0.94,143.1,3389,2379,2186,2058,396.8,9.9,385,5974,0.00,2.40,0.00,0.000,516,0.000,0.067,3400,973,2122,2186,2058,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6032,0.94,143.1,3400,973,2186,2058,390.5,9.4,397,6039,0.00,2.38,0.00,0.000,1030,0.000,0.061,3399,2383,2122,2186,2058,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6358,0.94,143.1,3400,2383,2181,2055,357.2,10.0,416,6365,0.00,2.42,0.00,0.000,516,0.000,0.069,3410,974,2122,2186,2058,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6388,0.94,143.1,3411,974,2186,2057,353.9,10.1,421,6394,0.00,2.38,0.00,0.000,1030,0.000,0.060,3411,2381,2122,2186,2058,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6707,0.94,143.1,3411,2381,2186,2058,321.1,10.2,439,6715,0.00,2.47,0.00,0.000,260,0.000,0.095,3411,3787,2122,2186,2058,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6787,0.94,143.1,3411,3787,2186,2058,311.5,12.1,454,6795,0.00,2.35,0.00,0.000,1030,0.000,0.052,3422,2356,2121,2186,2057,0,0,0,0,0,0,28.83,14.74,28.83
$EKF,range,-7239.6
$GC,7096,0.96,151.8,3422,2357,2186,2057,281.9,8.8,470,7110,0.00,0.00,8.38,1.086,8454,0.000,0.000,3422,2357,2088,2152,2024,0,0,0,0,0,0,28.83,28.83,14.08
$GC,7423,0.96,151.8,3422,2356,2150,2029,249.2,10.3,489,7430,0.00,2.35,0.00,0.000,516,0.000,0.070,3433,976,2087,2151,2024,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7484,0.96,151.8,3433,977,2150,2024,242.5,10.6,500,7492,0.00,2.35,0.00,0.000,1030,0.000,0.063,3433,2376,2086,2150,2023,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7790,0.96,151.8,3433,2376,2150,2023,210.6,10.3,516,7797,0.00,2.38,0.00,0.000,516,0.000,0.067,3443,984,2087,2151,2023,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7826,0.96,151.8,3443,984,2151,2026,206.7,10.5,522,7834,0.15,2.35,0.00,0.000,5126,0.262,0.060,3407,2385,2086,2150,2023,0,0,0,0,0,0,14.53,14.69,28.83
$EKF,range,-5734.0
$GC,8142,1.00,168.9,3408,2385,2150,2023,178.4,8.4,539,8163,0.00,2.53,15.10,1.057,8452,0.000,0.095,3407,3781,2017,2080,1954,0,0,0,0,0,0,28.83,14.64,14.12
$GC,8170,1.00,172.7,3407,3781,2080,1953,175.9,9.0,543,8180,0.00,2.33,3.30,0.707,9222,0.000,0.051,3416,2363,2007,2070,1944,0,0,0,0,0,0,28.83,14.70,14.07
$GC,8498,1.05,191.9,3418,2362,2070,1944,147.6,8.3,562,8527,0.00,2.35,17.88,1.037,8708,0.000,0.071,3428,988,1924,1988,1860,0,0,0,0,0,0,28.83,14.59,14.08
$GC,8607,1.05,191.9,3428,988,1985,1860,137.8,9.6,581,8615,0.00,2.35,0.00,0.000,1030,0.000,0.061,3428,2377,1922,1985,1860,0,0,0,0,0,0,28.83,14.60,28.83
$EKF,range,-2355.1
$GC,8913,1.05,191.9,3427,2377,1984,1859,107.2,10.0,595,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2377,1921,1984,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,1.05,193.9,3428,2377,1983,1860,79.1,9.1,605,9218,0.00,2.38,0.00,0.000,516,0.000,0.070,3437,988,1921,1983,1860,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9261,1.06,197.2,3436,989,1983,1859,74.7,9.0,614,9275,0.00,2.35,5.25,0.832,9222,0.000,0.060,3437,2381,1902,1965,1840,0,0,0,0,0,0,28.83,14.68,14.10
$EKF,range,-2379.0
$GC,9584,1.10,214.4,3437,2384,1965,1839,46.7,8.4,627,9609,0.00,2.42,16.60,0.944,8708,0.000,0.070,3446,995,1832,1897,1767,0,0,0,0,0,0,28.83,14.63,14.12
$GC,9632,1.12,223.3,3446,995,1894,1767,42.4,8.8,635,9647,0.00,2.35,9.07,0.887,9222,0.000,0.061,3446,2384,1795,1861,1730,0,0,0,0,0,0,28.83,14.61,14.09
$EKF,9866,4003.695068,-3613.923340,25.554071,0.063395,-0.211366,-0.080450,0.000158,0.001012,0.000100,0.003025,0.003025,0.000139
$GC,9950,1.15,239.2,3446,2383,1859,1729,16.4,8.4,654,9966,0.00,2.45,7.65,0.147,8708,0.000,0.071,3457,993,1734,1802,1667,0,0,0,0,0,0,28.83,14.62,14.55
$GC,10038,1.18,253.1,3456,998,1802,1667,8.5,8.5,669,10052,0.00,2.35,6.88,0.112,9222,0.000,0.062,3456,2374,1679,1750,1608,0,0,0,0,0,0,28.83,14.63,14.59
$STATE,10119,end climb,SURFACE_DEPTH_REACHED
$STATE,10119,begin surface coast
$FINISH,1.6,1.024805
$STATE,10142,end surface coast,CONTROL_FINISHED_OK
$STATE,10142,begin surface
$SM_CCo,10160,46.50,0.096,0,0,1282,350.04
$SM_GC,2.27,9.65,0.12,46.50,0.097,0.150,0.096,211,2465,1282,-8.96,-0.74,350.04,0,0,0,0,0,0,14.61,14.63,14.59
$RAFOS_CLK,-85
$RAFOS,6,1413550152,12.833333,12.820000,65,61,56,56,56,53,218,200,134,164,787,182
$RAFOS,5,1413549690,12.700000,12.691667,132,61,61,60,57,56,807,201,190,219,174,124
$RAFOS,4,1413549183,12.566667,12.550834,124,63,61,60,56,56,724,212,147,158,113,174
$RAFOS,3,1413548720,12.433333,12.422222,63,60,59,58,54,52,214,192,119,162,153,134
$RAFOS,2,1413548227,12.300000,12.285277,109,62,57,55,55,52,601,206,188,141,118,217
$RAFOS,1,1413547752,12.166667,12.153334,65,61,60,58,55,53,140,206,173,194,222,161
$RAFOS,0,1413547266,12.033333,12.018333,84,57,54,53,53,52,588,204,147,174,183,122
$RAFOS_FIX,6641.297852,-6010.329102,171014,121236,4,112,0.46
$IRIDIUM_FIX,6609.62,-6011.26,171014,070950
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.73
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,5.80
$XPDR_PINGS,0
$SC_FREEKB,3964384
$24V_AH,13.29,44.741
$10V_AH,12.94,0.000
$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,24.325,95.025,317.750,46.500,0.000,0.000,0.000,201.275,0.000,0.000,23.387,2131.267,6430.674,569.292,1319.909,134.105,0.000,1362.142,0.000,1019.292,2520.000,0.536,0.000
$DEVICE_MAMPS,423.045,149.940,1550.655,96.390,0.000,0.000,0.000,149.175,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10151.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.313,0.000,0.000,0.000
$MEM,143180
$DATA_FILE_SIZE,23381,680
$CAP_FILE_SIZE,118741,0
$CFSIZE,1024409600,997376000
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10810.38,0x23769e,7,5
$INTR,1,4082.63,0x2342fa,2,24
$SOUNDSPEED,1452.9
$EKF,10314,4003.715576,-3613.992188,1.585106,0.013778,0.028346,-0.002031,0.000160,0.001023,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.159,167.21,1
$GPS,171014,130252,6642.851,-6013.488,40,0.7,40,-32.9