version: 66.12
glider: 217
mission: 3
dive: 243
start: 10 29 114 3 58 34
data:
$ID,217
$MISSION,3
$DIVE,243
$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,-3
$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,63
$R_STBD_OVSHOOT,45
$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
$GPS1,291014,035034,6702.914,-5651.835,35,0.9,35,-32.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.2
$GPS2,291014,035754,6702.951,-5651.877,5,1.0,5,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.4,2801,-17.5,-9.167,-20.44,2275
$D_GRID,555
$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,18,-0.92,-136.3,192,2472,1301,1231,0.0,0.0,0,63,0.00,0.00,-43.25,0.000,16386,0.000,0.000,191,2471,2379,2398,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,191,2472,2400,2361,3.0,-2.0,4,115,11.82,2.35,-31.70,0.000,18692,0.395,0.116,2786,3762,3266,3300,3233,0,0,0,0,0,0,14.27,14.50,14.78
$GC,143,-0.92,-136.3,2785,3762,3301,3234,8.6,-15.4,16,152,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2446,3267,3301,3234,0,0,0,0,0,0,28.83,14.59,28.83
$GC,450,-0.92,-136.3,2786,2446,3302,3233,62.5,-17.3,33,457,0.00,2.35,0.00,0.000,516,0.000,0.064,2786,1062,3267,3302,3233,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-1741.1
$GC,515,-0.92,-136.3,2786,1062,3302,3233,73.3,-15.2,45,524,0.00,2.35,0.00,0.000,1030,0.000,0.061,2786,2434,3270,3308,3233,0,0,0,0,0,0,28.83,14.60,28.83
$GC,852,-0.92,-136.3,2785,2435,3302,3233,119.9,-13.7,61,859,0.00,2.38,0.00,0.000,260,0.000,0.092,2785,3781,3267,3302,3233,0,0,0,0,0,0,28.83,14.58,28.83
$GC,917,-0.92,-136.3,2786,3781,3302,3233,128.7,-12.8,73,924,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2446,3267,3302,3233,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1243,-0.92,-136.3,2786,2446,3303,3233,170.1,-12.8,92,1250,0.00,2.40,0.00,0.000,260,0.000,0.092,2785,3784,3267,3302,3233,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1279,-0.92,-136.3,2785,3784,3302,3234,175.0,-13.7,98,1285,0.00,2.17,0.00,0.000,1030,0.000,0.051,2785,2451,3267,3302,3233,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-2408.2
$GC,1596,-0.92,-136.3,2784,2450,3302,3232,214.7,-12.7,115,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.92,-136.3,2785,2451,3302,3233,251.4,-11.8,130,1902,0.00,2.35,0.00,0.000,260,0.000,0.093,2785,3784,3267,3302,3233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1941,-0.92,-136.3,2785,3781,3302,3233,257.0,-11.8,138,1948,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2445,3267,3302,3232,0,0,0,0,0,0,28.83,14.74,28.83
$EKF,range,-4431.4
$GC,2266,-0.92,-136.3,2785,2445,3302,3232,294.5,-11.4,157,2272,0.00,2.33,0.00,0.000,516,0.000,0.063,2785,1062,3267,3302,3232,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2285,-0.92,-136.3,2786,1062,3302,3232,296.8,-11.5,160,2293,0.00,2.35,0.00,0.000,1030,0.000,0.060,2785,2455,3267,3302,3232,0,0,0,0,0,0,28.83,14.67,28.83
$EKF,range,-2888.3
$GC,2591,-0.92,-136.3,2784,2455,3302,3231,330.4,-10.7,176,2598,0.00,2.35,0.00,0.000,260,0.000,0.093,2785,3784,3266,3302,3230,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2631,-0.92,-136.3,2785,3785,3302,3230,335.0,-11.5,183,2640,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2447,3266,3302,3230,0,0,0,0,0,0,28.83,14.76,28.83
$EKF,range,-4366.6
$GC,2939,-0.92,-136.3,2785,2447,3302,3231,368.4,-10.9,199,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2447,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.92,-136.3,2785,2447,3302,3230,401.3,-10.9,214,3245,0.00,2.38,0.00,0.000,260,0.000,0.091,2785,3786,3266,3302,3230,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3277,-0.92,-136.3,2785,3786,3302,3230,405.8,-11.8,221,3285,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2451,3266,3302,3230,0,0,0,0,0,0,28.83,14.76,28.83
$EKF,range,-10251.4
$EKF,3421,4022.707031,-3411.014893,419.657684,-0.112347,0.228811,0.109707,0.000060,0.000396,0.000100,0.000025,0.000025,0.000093
$GC,3583,-0.92,-136.3,2785,2447,3302,3230,439.1,-10.7,237,3590,0.00,2.35,0.00,0.000,260,0.000,0.090,2784,3786,3266,3302,3230,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3623,-0.92,-136.3,2785,3786,3302,3230,443.6,-12.3,244,3631,0.00,2.17,0.00,0.000,1030,0.000,0.049,2785,2445,3265,3301,3230,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3929,-0.92,-136.3,2785,2445,3302,3230,476.6,-10.8,260,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4230,-0.92,-136.3,2785,2445,3302,3231,508.5,-10.6,275,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4529,-0.92,-136.3,2785,2445,3305,3231,539.6,-9.4,290,4536,0.00,2.38,0.00,0.000,260,0.000,0.091,2784,3785,3267,3304,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4545,-0.92,-136.3,2785,3787,3305,3230,540.9,-9.3,292,4552,0.00,2.17,0.00,0.000,1030,0.000,0.049,2785,2446,3267,3304,3231,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4703,-0.18,0.0,2785,2446,3305,3231,557.1,-11.0,301,4820,0.88,0.00,107.32,1.535,10246,0.233,0.000,3029,2445,2707,2771,2643,0,0,0,0,0,0,14.45,28.83,13.59
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4824,0.92,136.3,3029,2445,2770,2642,559.4,0.0,307,4943,1.10,2.58,108.55,1.499,10756,0.156,0.065,3380,998,2150,2218,2082,0,0,0,0,0,0,14.17,13.97,13.38
$GC,5096,0.92,136.3,3380,998,2212,2080,536.0,11.1,355,5105,0.00,2.38,0.00,0.000,1030,0.000,0.054,3380,2378,2146,2212,2080,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5423,0.92,136.3,3380,2378,2210,2079,499.4,11.0,374,5430,0.00,2.40,0.00,0.000,516,0.000,0.065,3390,987,2144,2210,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5452,0.92,136.3,3390,987,2210,2079,495.9,11.3,379,5460,0.00,2.35,0.00,0.000,1030,0.000,0.054,3390,2381,2144,2210,2079,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5773,0.92,136.3,3390,2379,2209,2079,459.3,11.5,397,5780,0.00,2.38,0.00,0.000,516,0.000,0.064,3401,994,2144,2209,2079,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5814,0.92,136.3,3401,994,2209,2079,454.5,11.7,404,5822,0.00,2.30,0.00,0.000,1030,0.000,0.054,3400,2373,2144,2210,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6119,0.92,136.3,3400,2373,2209,2079,417.9,12.0,420,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2373,2142,2205,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6420,0.92,136.3,3400,2373,2208,2079,381.8,12.0,435,6428,0.00,2.33,0.00,0.000,516,0.000,0.065,3411,996,2144,2209,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6475,0.92,136.3,3412,993,2209,2079,375.1,11.7,445,6482,0.00,2.33,0.00,0.000,1030,0.000,0.054,3411,2378,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6790,0.92,136.3,3411,2378,2209,2079,336.0,12.3,462,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2379,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,0.92,136.3,3411,2379,2209,2078,298.8,12.4,477,7098,0.00,2.33,0.00,0.000,516,0.000,0.064,3422,994,2144,2209,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7136,0.92,136.3,3422,994,2208,2079,293.1,12.8,485,7143,0.00,2.30,0.00,0.000,1030,0.000,0.055,3422,2377,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7462,0.92,136.3,3422,2377,2209,2079,253.1,11.9,504,7469,0.00,2.33,0.00,0.000,516,0.000,0.063,3433,995,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7534,0.92,136.3,3433,995,2210,2079,244.1,12.5,517,7542,0.15,2.30,0.00,0.000,5126,0.249,0.054,3396,2380,2144,2210,2079,0,0,0,0,0,0,14.51,14.73,28.83
$GC,7855,0.92,136.3,3396,2380,2211,2079,212.1,9.7,535,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2379,2145,2210,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8156,0.92,136.3,3396,2379,2210,2080,182.6,9.5,550,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2381,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8456,0.93,139.9,3396,2380,2210,2079,155.0,9.0,565,8463,0.00,2.35,0.00,0.000,516,0.000,0.066,3407,993,2144,2210,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8485,0.95,149.0,3407,989,2210,2079,152.2,8.8,570,8507,0.00,2.30,10.40,0.962,9222,0.000,0.056,3407,2377,2097,2161,2033,0,0,0,0,0,0,28.83,14.69,14.19
$GC,8802,0.95,149.0,3407,2377,2160,2032,121.2,9.9,588,8809,0.00,2.35,0.00,0.000,516,0.000,0.064,3418,991,2096,2160,2033,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8863,0.95,149.0,3418,991,2160,2033,114.6,10.5,599,8872,0.00,2.30,0.00,0.000,1030,0.000,0.055,3418,2375,2096,2160,2033,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9169,0.95,149.0,3417,2375,2158,2033,84.7,9.3,610,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2375,2095,2158,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9470,0.95,149.0,3418,2376,2157,2032,56.1,10.0,620,9477,0.00,2.35,0.00,0.000,516,0.000,0.067,3428,991,2094,2157,2032,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9557,1.03,185.9,3428,991,2157,2032,49.3,7.5,636,9595,0.00,2.30,29.83,0.911,9222,0.000,0.055,3428,2376,1947,2012,1883,0,0,0,0,0,0,28.83,14.72,14.20
$GC,9898,1.04,187.7,3428,2376,2009,1876,18.4,9.1,657,9905,0.00,2.35,0.00,0.000,516,0.000,0.064,3437,995,1945,2009,1881,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9963,1.04,189.4,3438,995,2009,1881,12.6,9.1,669,9970,0.00,2.30,0.00,0.000,1030,0.000,0.055,3438,2375,1945,2009,1881,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,10087,end climb,SURFACE_DEPTH_REACHED
$STATE,10087,begin surface coast
$FINISH,1.6,1.013485
$STATE,10108,end surface coast,CONTROL_FINISHED_OK
$STATE,10108,begin surface
$SM_CCo,10127,75.35,0.086,0,0,1281,350.04
$SM_GC,2.60,9.20,0.10,75.35,0.070,0.155,0.086,212,2459,1281,-8.96,-1.07,350.04,0,0,0,0,0,0,14.64,14.66,14.62
$RAFOS_CLK,-35
$RAFOS,6,1414558148,4.833333,4.818889,80,58,55,52,52,51,792,200,224,150,210,113
$RAFOS,5,1414557662,4.700000,4.683889,91,57,54,53,53,51,660,173,214,92,188,155
$RAFOS,4,1414557197,4.566667,4.554722,132,68,56,56,55,54,808,160,218,121,201,181
$RAFOS,3,1414556704,4.433333,4.417778,70,65,64,58,55,54,978,195,211,220,177,166
$RAFOS,2,1414556233,4.300000,4.286944,80,65,55,51,50,48,1008,211,186,220,163,116
$RAFOS,1,1414555753,4.166667,4.153611,67,64,62,54,52,51,201,214,171,149,136,124
$RAFOS,0,1414555262,4.033333,4.017222,79,60,59,57,56,54,1181,155,188,166,212,142
$RAFOS_FIX,6703.664551,-5700.645996,291014,040434,6,89,3.31
$IRIDIUM_FIX,6631.12,-5655.33,291014,035253
$TT8_MAMPS,0.03745,0.03745
$HUMID,42.51
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,13.80
$XPDR_PINGS,0
$SC_FREEKB,3942304
$24V_AH,13.38,60.269
$10V_AH,12.98,0.000
$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,23.150,92.675,256.100,75.350,0.000,0.000,0.000,242.600,0.000,0.000,7.325,2152.753,6475.998,544.524,1352.972,162.727,0.000,1377.990,0.000,1027.390,2520.000,0.536,0.000
$DEVICE_MAMPS,394.740,155.295,1535.355,86.445,0.000,0.000,0.000,154.530,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10118.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.253,0.000,0.000,0.000
$MEM,143180
$DATA_FILE_SIZE,23379,684
$CAP_FILE_SIZE,117437,0
$CFSIZE,1024409600,989429760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11740.14,0x23769e,7,5
$INTR,1,4700.66,0x23769e,2,5
$SOUNDSPEED,1466.4
$EKF,10318,4022.210449,-3409.018311,1.650532,0.024806,0.042697,-0.004387,0.000164,0.001078,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.289,285.31,1
$GPS,291014,065029,6702.640,-5652.995,38,0.8,38,-32.5