version: 66.12
glider: 217
mission: 3
dive: 245
start: 10 29 114 10 1 20
data:
$ID,217
$MISSION,3
$DIVE,245
$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,59
$R_STBD_OVSHOOT,37
$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
$GPS1,291014,095459,6701.348,-5652.643,14,0.8,14,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.5
$GPS2,291014,100045,6701.316,-5652.515,6,0.7,6,-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,92.1,4512,-17.5,-9.167,-20.44,2275
$D_GRID,599
$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,17,-0.92,-136.3,173,2465,1304,1230,0.0,0.0,0,73,0.00,0.00,-53.20,0.000,16386,0.000,0.000,172,2465,2640,2653,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-136.3,172,2465,2653,2629,3.1,-1.8,5,118,11.88,2.40,-18.35,0.000,19204,0.395,0.116,2785,3780,3267,3300,3235,0,0,0,0,0,0,14.28,14.48,14.79
$GC,356,-0.92,-136.3,2786,3778,3302,3235,48.9,-17.8,56,364,0.00,2.20,0.00,0.000,1030,0.000,0.050,2785,2441,3268,3301,3235,0,0,0,0,0,0,28.83,14.64,28.83
$GC,678,-0.92,-136.3,2786,2440,3302,3234,99.3,-13.9,69,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2440,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-0.92,-136.3,2786,2439,3302,3234,141.8,-12.9,82,994,0.00,2.38,0.00,0.000,260,0.000,0.091,2785,3775,3268,3302,3234,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1047,-0.92,-136.3,2784,3777,3302,3234,149.6,-13.5,93,1055,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2443,3268,3302,3234,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1354,-0.92,-136.3,2786,2444,3302,3234,190.3,-13.4,109,1360,0.00,2.35,0.00,0.000,260,0.000,0.091,2785,3771,3268,3302,3234,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1422,-0.92,-136.3,2785,3772,3302,3234,199.7,-13.3,121,1428,0.00,2.15,0.00,0.000,1030,0.000,0.049,2785,2451,3268,3302,3234,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1746,-0.92,-136.3,2785,2451,3303,3234,240.9,-11.9,140,1755,0.00,2.35,0.00,0.000,516,0.000,0.063,2785,1058,3268,3303,3234,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1786,-0.92,-136.3,2785,1062,3303,3234,245.8,-12.4,147,1794,0.00,2.33,0.00,0.000,1030,0.000,0.059,2785,2443,3268,3303,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2093,-0.92,-136.3,2785,2443,3303,3234,283.7,-12.5,163,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2394,-0.92,-136.3,2785,2443,3303,3232,321.0,-12.2,178,2401,0.00,2.35,0.00,0.000,260,0.000,0.093,2785,3782,3265,3303,3228,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2439,-0.92,-136.3,2785,3783,3302,3232,326.9,-12.7,186,2445,0.00,2.17,0.00,0.000,1030,0.000,0.051,2786,2448,3266,3301,3232,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2765,-0.92,-136.3,2785,2447,3303,3231,365.9,-11.8,205,2772,0.00,2.35,0.00,0.000,260,0.000,0.091,2785,3778,3267,3303,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2815,-0.92,-136.3,2785,3779,3303,3231,372.0,-12.3,214,2822,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2438,3267,3303,3231,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3135,-0.92,-136.3,2785,2439,3303,3231,408.2,-11.3,232,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-0.92,-136.3,2785,2439,3303,3231,442.9,-11.6,247,3443,0.00,2.38,0.00,0.000,260,0.000,0.090,2785,3781,3267,3303,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3481,-0.92,-136.3,2785,3781,3303,3232,448.6,-12.9,255,3488,0.00,2.15,0.00,0.000,1030,0.000,0.050,2785,2451,3267,3303,3231,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3806,-0.92,-136.3,2785,2450,3303,3232,485.8,-11.5,274,3813,0.00,2.33,0.00,0.000,516,0.000,0.062,2785,1062,3267,3303,3232,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3846,-0.92,-136.3,2785,1062,3303,3232,490.5,-12.2,281,3854,0.00,2.33,0.00,0.000,1030,0.000,0.058,2785,2451,3267,3303,3231,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4152,-0.92,-136.3,2785,2451,3303,3232,525.4,-11.2,297,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.92,-136.3,2785,2451,3304,3232,557.7,-10.4,312,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3268,3305,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.92,-136.3,2789,2451,3304,3232,588.5,-10.1,327,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3268,3305,3232,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4870,begin apogee
$GC,4876,-0.18,0.0,2785,2401,3305,3232,600.9,-10.4,333,4992,0.88,0.00,107.95,1.590,10246,0.239,0.000,3028,2401,2706,2771,2642,0,0,0,0,0,0,14.45,28.83,13.57
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4995,0.92,136.3,3028,2401,2770,2642,602.0,0.0,339,5115,1.12,2.60,109.15,1.550,11012,0.158,0.066,3382,982,2149,2218,2080,0,0,0,0,0,0,14.16,13.95,13.34
$GC,5347,0.92,136.3,3382,981,2211,2079,568.9,11.2,402,5354,0.00,2.40,0.00,0.000,1030,0.000,0.056,3382,2377,2145,2211,2079,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5653,0.92,136.3,3382,2377,2210,2079,533.9,11.3,418,5660,0.00,2.40,0.00,0.000,516,0.000,0.064,3392,976,2144,2210,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5708,0.92,136.3,3392,976,2210,2079,527.4,11.9,428,5716,0.00,2.38,0.00,0.000,1030,0.000,0.054,3393,2384,2144,2210,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6025,0.92,136.3,3392,2384,2209,2079,490.8,11.2,445,6032,0.00,2.40,0.00,0.000,516,0.000,0.063,3403,971,2142,2206,2079,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6060,0.92,136.3,3403,971,2210,2079,486.7,10.7,451,6067,0.00,2.35,0.00,0.000,1030,0.000,0.053,3402,2377,2144,2209,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6375,0.92,136.3,3403,2377,2209,2079,450.3,11.7,468,6383,0.00,2.38,0.00,0.000,516,0.000,0.063,3415,972,2144,2209,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6446,0.92,136.3,3413,972,2209,2079,441.6,12.0,481,6453,0.00,2.35,0.00,0.000,1030,0.000,0.052,3414,2383,2144,2209,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6766,0.92,136.3,3414,2382,2209,2079,403.3,11.9,499,6773,0.00,2.38,0.00,0.000,516,0.000,0.063,3425,974,2143,2209,2078,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6794,0.92,136.3,3424,974,2209,2079,399.8,12.1,504,6803,0.12,2.33,0.00,0.000,5126,0.255,0.054,3396,2375,2144,2209,2079,0,0,0,0,0,0,14.51,14.71,28.83
$GC,7116,0.92,136.3,3395,2375,2209,2078,364.8,11.0,522,7123,0.00,2.35,0.00,0.000,516,0.000,0.062,3406,971,2144,2209,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7157,0.92,136.3,3406,971,2209,2079,360.4,11.3,529,7164,0.00,2.33,0.00,0.000,1030,0.000,0.054,3406,2375,2144,2209,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7463,0.92,136.3,3406,2375,2209,2079,325.0,11.9,545,7469,0.00,2.35,0.00,0.000,516,0.000,0.063,3417,971,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7492,0.92,136.3,3417,971,2209,2079,321.2,12.3,550,7499,0.00,2.30,0.00,0.000,1030,0.000,0.052,3417,2368,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7812,0.92,136.3,3417,2368,2208,2079,281.5,12.2,568,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2368,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,0.92,136.3,3417,2368,2209,2079,245.7,11.8,583,8120,0.00,2.35,0.00,0.000,516,0.000,0.063,3428,973,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8170,0.92,136.3,3432,973,2210,2079,239.0,11.7,593,8177,0.15,2.33,0.00,0.000,5126,0.248,0.054,3392,2376,2144,2210,2079,0,0,0,0,0,0,14.52,14.73,28.83
$GC,8485,0.92,136.3,3392,2375,2210,2079,206.5,10.4,610,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2375,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-1430.7
$GC,8786,0.92,136.3,3392,2375,2210,2079,176.2,9.6,625,8793,0.00,2.42,0.00,0.000,260,0.000,0.086,3392,3775,2145,2211,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8858,0.92,136.3,3392,3776,2211,2079,168.7,10.4,638,8864,0.00,2.30,0.00,0.000,1030,0.000,0.048,3402,2362,2144,2210,2079,0,0,0,0,0,0,28.83,14.77,28.83
$EKF,range,-2534.3
$GC,9178,0.93,140.9,3402,2361,2211,2079,140.0,9.0,656,9182,0.00,0.00,2.92,0.597,8198,0.000,0.000,3402,2361,2135,2200,2070,0,0,0,0,0,0,28.83,28.83,14.00
$EKF,range,-1889.2
$GC,9490,0.93,140.9,3402,2361,2205,2071,110.0,9.7,670,9496,0.00,2.30,0.00,0.000,516,0.000,0.067,3411,991,2138,2205,2072,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9636,0.93,140.9,3412,990,2203,2071,94.9,10.9,698,9643,0.00,2.33,0.00,0.000,1030,0.000,0.056,3411,2374,2137,2204,2071,0,0,0,0,0,0,28.83,14.71,28.83
$EKF,range,-4582.4
$GC,9951,0.93,140.9,3412,2373,2202,2071,63.1,9.2,710,9959,0.00,2.42,0.00,0.000,260,0.000,0.088,3411,3775,2136,2202,2071,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10037,0.97,155.0,3412,3775,2201,2071,55.6,8.5,726,10059,0.00,2.30,13.55,0.903,9222,0.000,0.047,3421,2368,2073,2138,2009,0,0,0,0,0,0,28.83,14.72,14.21
$EKF,range,-7860.2
$EKF,10431,4021.916260,-3409.214111,28.526405,-0.000906,0.241199,-0.118624,0.000153,0.001002,0.000095,0.000525,0.000525,0.000034
$GC,10388,1.07,201.7,3422,2368,2136,2008,31.4,7.1,744,10436,0.00,2.25,38.42,0.889,8708,0.000,0.062,3432,994,1882,1948,1817,0,0,0,0,0,0,28.83,14.58,14.16
$GC,10511,1.07,201.7,3433,993,1943,1817,21.0,9.6,765,10519,0.00,2.35,0.00,0.000,1030,0.000,0.054,3432,2384,1880,1944,1816,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,10715,end climb,SURFACE_DEPTH_REACHED
$STATE,10715,begin surface coast
$FINISH,1.6,1.023216
$STATE,10736,end surface coast,CONTROL_FINISHED_OK
$STATE,10737,begin surface
$SM_CCo,10755,68.32,0.086,0,0,1281,350.04
$SM_GC,2.59,9.25,0.10,68.32,0.071,0.164,0.086,202,2462,1281,-8.98,-0.82,350.04,0,0,0,0,0,0,14.62,14.59,14.59
$RAFOS_CLK,-42
$RAFOS,6,1414586943,12.833333,12.817500,66,64,60,58,56,55,834,192,203,155,213,144
$RAFOS,5,1414586462,12.700000,12.683888,127,62,60,56,55,54,663,193,204,214,131,118
$RAFOS,4,1414585995,12.566667,12.554167,88,56,55,55,54,51,826,219,157,199,187,119
$RAFOS,3,1414585503,12.433333,12.417500,74,58,58,55,55,50,990,206,169,118,182,158
$RAFOS,2,1414585024,12.300000,12.284445,79,59,55,55,52,52,1062,210,167,190,117,135
$RAFOS,1,1414584549,12.166667,12.152500,63,60,57,56,53,49,185,116,194,213,158,87
$RAFOS,0,1414584079,12.033333,12.021944,59,57,56,55,54,54,188,117,141,1092,210,171
$RAFOS_FIX,6703.349121,-5659.001465,291014,121237,5,87,0.65
$IRIDIUM_FIX,6631.12,-5655.33,291014,065251
$TT8_MAMPS,0.03745,0.03745
$HUMID,42.40
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,14.00
$XPDR_PINGS,0
$SC_FREEKB,3941664
$24V_AH,13.34,60.632
$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,23.400,93.300,272.000,68.325,0.000,0.000,0.000,207.350,0.000,0.000,7.379,2412.509,6610.503,550.904,1468.917,165.867,0.000,1409.585,0.000,1180.556,2520.000,0.536,0.000
$DEVICE_MAMPS,394.740,335.070,1589.670,85.680,0.000,0.000,0.000,150.705,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10748.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.234,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,26731,788
$CAP_FILE_SIZE,122923,0
$CFSIZE,1024409600,989216768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11073.68,0x23769e,7,5
$SOUNDSPEED,1467.9
$EKF,10938,4021.931641,-3409.118896,1.597425,0.051637,0.198910,-0.016909,0.000154,0.001010,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.084,182.87,1
$GPS,291014,130335,6701.443,-5649.120,39,1.0,39,-32.5