version: 66.12
glider: 217
mission: 3
dive: 249
start: 10 29 114 21 36 31
data:
$ID,217
$MISSION,3
$DIVE,249
$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,61
$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
$GPS1,291014,212952,6703.525,-5654.488,41,0.7,41,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-71.7
$GPS2,291014,213555,6703.522,-5654.310,4,0.9,5,-32.6
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,268.2,159028,-17.5,-9.167,-20.44,2275
$D_GRID,564
$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,-136.3,162,2438,1303,1230,0.0,0.0,0,73,0.00,0.00,-52.45,0.000,16386,0.000,0.000,161,2437,2620,2633,2608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-136.3,160,2436,2633,2608,3.1,-1.7,5,111,12.05,2.40,-17.05,0.000,18948,0.399,0.087,2791,1062,3266,3297,3235,0,0,0,0,0,0,14.28,14.54,14.78
$GC,157,-0.92,-136.3,2791,1062,3302,3235,15.0,-17.6,18,166,0.00,2.35,0.00,0.000,1030,0.000,0.062,2786,2439,3268,3302,3235,0,0,0,0,0,0,28.83,14.54,28.83
$GC,485,-0.92,-136.3,2786,2439,3302,3235,73.3,-16.9,33,492,0.00,2.38,0.00,0.000,260,0.000,0.093,2786,3786,3268,3301,3235,0,0,0,0,0,0,28.83,14.56,28.83
$GC,592,-0.92,-136.3,2786,3786,3301,3234,90.8,-15.7,53,599,0.00,2.20,0.00,0.000,1030,0.000,0.050,2786,2440,3267,3301,3233,0,0,0,0,0,0,28.83,14.67,28.83
$GC,908,-0.92,-136.3,2786,2441,3301,3233,131.2,-12.1,68,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2441,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.92,-136.3,2786,2441,3302,3233,170.4,-13.2,83,1216,0.00,2.30,0.00,0.000,516,0.000,0.063,2786,1069,3267,3302,3233,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1222,-0.92,-136.3,2786,1069,3302,3233,172.6,-13.2,85,1229,0.00,2.35,0.00,0.000,1030,0.000,0.060,2786,2457,3269,3302,3237,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1537,-0.92,-136.3,2785,2457,3301,3233,214.1,-13.4,102,1545,0.00,2.33,0.00,0.000,260,0.000,0.093,2785,3784,3267,3302,3233,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1659,-0.92,-136.3,2786,3784,3298,3233,230.6,-13.6,125,1666,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2446,3267,3302,3233,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1963,-0.92,-136.3,2785,2445,3302,3233,269.8,-12.9,141,1970,0.00,2.38,0.00,0.000,260,0.000,0.093,2785,3785,3271,3309,3233,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2023,-0.92,-136.3,2786,3784,3302,3233,278.0,-13.8,152,2030,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2447,3267,3302,3232,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2329,-0.92,-136.3,2785,2446,3302,3231,316.3,-12.5,168,2336,0.00,2.33,0.00,0.000,516,0.000,0.063,2785,1062,3266,3302,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2363,-0.92,-136.3,2785,1061,3302,3230,321.0,-13.3,174,2371,0.00,2.35,0.00,0.000,1030,0.000,0.059,2785,2458,3266,3302,3230,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2680,-0.92,-136.3,2785,2458,3302,3230,359.7,-11.7,191,2687,0.00,2.33,0.00,0.000,260,0.000,0.093,2785,3786,3266,3302,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2715,-0.92,-136.3,2785,3786,3302,3230,364.1,-12.0,197,2722,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2443,3266,3302,3230,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3030,-0.92,-136.3,2786,2442,3302,3230,398.7,-10.8,214,3038,0.00,2.38,0.00,0.000,260,0.000,0.090,2785,3781,3267,3303,3231,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3051,-0.92,-136.3,2786,3781,3302,3231,401.1,-10.7,217,3058,0.00,2.15,0.00,0.000,1030,0.000,0.048,2792,2447,3266,3302,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3356,-0.92,-136.3,2785,2447,3302,3231,433.6,-10.8,233,3363,0.00,2.35,0.00,0.000,260,0.000,0.090,2785,3780,3266,3301,3231,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3385,-0.92,-136.3,2786,3780,3302,3230,436.9,-11.7,238,3393,0.00,2.15,0.00,0.000,1030,0.000,0.050,2786,2451,3266,3302,3231,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3706,-0.92,-136.3,2786,2450,3303,3231,471.9,-10.7,256,3713,0.00,2.35,0.00,0.000,260,0.000,0.090,2785,3782,3267,3303,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3746,-0.92,-136.3,2786,3783,3303,3231,476.3,-11.3,263,3754,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2442,3266,3302,3231,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4052,-0.92,-136.3,2785,2442,3303,3231,509.5,-10.5,279,4059,0.00,2.38,0.00,0.000,260,0.000,0.090,2785,3787,3267,3303,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4081,-0.92,-136.3,2785,3787,3303,3230,513.0,-11.4,284,4088,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2443,3267,3304,3231,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4401,-0.92,-136.3,2786,2443,3305,3231,546.4,-10.2,302,4409,0.00,2.33,0.00,0.000,516,0.000,0.061,2786,1060,3267,3304,3230,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4427,-0.92,-136.3,2785,1061,3305,3231,549.1,-10.4,306,4436,0.00,2.33,0.00,0.000,1030,0.000,0.057,2785,2451,3268,3305,3231,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,4572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4572,begin apogee
$GC,4577,-0.18,0.0,2786,2388,3305,3231,564.1,-10.2,316,4694,0.88,0.00,107.28,1.543,10246,0.242,0.000,3028,2388,2705,2769,2642,0,0,0,0,0,0,14.45,28.83,13.59
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4697,0.92,136.3,3028,2388,2769,2642,566.9,0.0,322,4814,1.15,2.65,108.85,1.506,10500,0.163,0.086,3373,3784,2149,2218,2080,0,0,0,0,0,0,14.17,13.95,13.38
$GC,4837,0.92,136.3,3373,3784,2213,2079,556.5,11.0,340,4845,0.00,2.42,0.00,0.000,1030,0.000,0.047,3383,2373,2146,2213,2079,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5144,0.92,136.3,3383,2371,2208,2079,520.6,11.6,356,5150,0.00,2.38,0.00,0.000,516,0.000,0.064,3393,979,2144,2209,2079,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5212,0.92,136.3,3393,979,2209,2079,512.2,12.4,369,5219,0.00,2.38,0.00,0.000,1030,0.000,0.054,3393,2381,2144,2209,2079,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5533,0.92,136.3,3394,2381,2208,2079,474.4,11.7,387,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2381,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,0.92,136.3,3393,2381,2208,2079,440.1,11.3,402,5841,0.00,2.38,0.00,0.000,516,0.000,0.064,3404,979,2143,2208,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5899,0.92,136.3,3404,979,2208,2079,432.4,10.8,414,5907,0.00,2.33,0.00,0.000,1030,0.000,0.056,3404,2375,2143,2208,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6225,0.92,136.3,3404,2374,2208,2076,393.1,11.9,433,6232,0.00,2.35,0.00,0.000,516,0.000,0.063,3415,972,2141,2208,2075,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6260,0.92,136.3,3416,973,2208,2079,388.8,12.5,439,6267,0.00,2.35,0.00,0.000,1030,0.000,0.055,3415,2383,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6575,0.92,136.3,3414,2382,2208,2079,352.1,11.6,456,6582,0.00,2.38,0.00,0.000,516,0.000,0.063,3426,974,2143,2208,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6595,0.92,136.3,3426,974,2208,2079,349.7,11.5,459,6603,0.12,2.33,0.00,0.000,5126,0.256,0.054,3396,2376,2143,2208,2079,0,0,0,0,0,0,14.50,14.71,28.83
$GC,6901,0.92,136.3,3396,2376,2208,2079,313.7,11.9,475,6907,0.00,2.35,0.00,0.000,516,0.000,0.061,3408,977,2143,2208,2078,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6972,0.92,136.3,3407,977,2208,2079,304.8,12.3,488,6979,0.00,2.33,0.00,0.000,1030,0.000,0.054,3408,2378,2143,2207,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7292,0.92,136.3,3407,2378,2208,2079,267.7,10.9,506,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2378,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,0.92,136.3,3408,2378,2208,2079,235.1,10.4,521,7599,0.00,2.35,0.00,0.000,516,0.000,0.063,3418,980,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7648,0.92,136.3,3418,981,2208,2079,228.9,10.6,531,7655,0.00,2.33,0.00,0.000,1030,0.000,0.054,3418,2381,2143,2208,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7963,0.92,136.3,3418,2381,2209,2079,194.7,11.1,548,7970,0.00,2.40,0.00,0.000,260,0.000,0.086,3418,3774,2144,2209,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8013,0.92,136.3,3418,3774,2209,2079,188.7,12.8,557,8021,0.15,2.30,0.00,0.000,5126,0.259,0.048,3393,2360,2144,2209,2079,0,0,0,0,0,0,14.50,14.77,28.83
$GC,8335,0.93,140.8,3393,2359,2209,2079,157.5,9.0,575,8343,0.00,2.28,1.35,0.146,8708,0.000,0.061,3402,992,2140,2206,2074,0,0,0,0,0,0,28.83,14.71,14.49
$GC,8355,0.96,150.6,3403,991,2209,2078,155.5,8.7,578,8372,0.00,2.30,11.48,0.978,9222,0.000,0.054,3403,2379,2094,2159,2030,0,0,0,0,0,0,28.83,14.73,14.17
$GC,8691,0.96,150.6,3403,2382,2152,2027,124.0,9.6,598,8699,0.00,2.45,0.00,0.000,260,0.000,0.088,3403,3781,2089,2151,2027,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8808,0.96,150.6,3403,3781,2152,2027,111.7,10.4,620,8814,0.00,2.30,0.00,0.000,1030,0.000,0.049,3412,2370,2089,2153,2026,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9124,0.96,150.6,3413,2370,2151,2026,82.3,9.3,632,9130,0.00,2.47,0.00,0.000,260,0.000,0.087,3413,3777,2088,2151,2026,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9174,0.96,150.6,3413,3777,2151,2026,77.1,10.3,641,9180,0.00,2.28,0.00,0.000,1030,0.000,0.048,3423,2374,2088,2151,2026,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9494,0.99,166.5,3422,2375,2151,2026,49.4,8.5,654,9515,0.00,2.30,13.73,0.891,8708,0.000,0.063,3429,990,2026,2090,1962,0,0,0,0,0,0,28.83,14.73,14.21
$GC,9649,1.10,217.4,3429,991,2088,1961,38.1,6.9,683,9701,0.00,2.33,42.53,0.893,9222,0.000,0.055,3429,2384,1819,1885,1753,0,0,0,0,0,0,28.83,14.65,14.12
$EKF,range,  507.5
$GC,10012,1.11,221.1,3429,2384,1879,1749,8.8,9.0,718,10020,0.00,2.45,0.00,0.000,260,0.000,0.090,3429,3773,1813,1879,1748,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,10077,end climb,SURFACE_DEPTH_REACHED
$STATE,10077,begin surface coast
$FINISH,1.5,1.025847
$STATE,10085,end surface coast,CONTROL_FINISHED_OK
$STATE,10085,begin surface
$SM_CCo,10105,60.88,0.088,0,0,1282,350.04
$SM_GC,2.44,9.48,2.22,60.88,0.091,0.051,0.088,207,2467,1282,-8.98,1.87,350.04,0,0,0,0,0,0,14.57,14.66,14.57
$RAFOS_CLK,-42
$RAFOS,2,1414628221,0.300000,0.283611,69,60,59,55,53,52,1071,204,169,138,120,232
$RAFOS,1,1414627741,0.166667,0.150278,73,58,55,55,52,50,218,143,191,160,123,108
$RAFOS,0,1414627278,0.033333,0.021667,63,61,59,55,55,53,210,155,121,187,170,201
$RAFOS_FIX,6706.636719,-5702.696289,291014,202001,3,92,1.25
$IRIDIUM_FIX,6631.12,-5655.33,291014,183932
$TT8_MAMPS,0.038199,0.038199
$HUMID,42.43
$INTERNAL_PRESSURE,8.53314
$TCM_TEMP,13.60
$XPDR_PINGS,0
$SC_FREEKB,3940384
$24V_AH,13.38,61.335
$10V_AH,13.47,0.000
$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,23.825,116.375,285.200,60.875,0.000,0.000,0.000,222.175,0.000,0.000,6.384,2213.506,6182.057,587.697,1389.802,176.377,0.000,1435.575,0.000,1095.712,1080.000,0.536,0.000
$DEVICE_MAMPS,399.330,157.590,1543.005,87.975,0.000,0.000,0.000,145.350,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.281,0.000,0.000,0.000
$MEM,143216
$DATA_FILE_SIZE,26704,731
$CAP_FILE_SIZE,121399,0
$CFSIZE,1024409600,988790784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10352.60,0x23769e,7,5
$SOUNDSPEED,1464.9
$EKF,10259,4022.933594,-3416.864746,1.514247,-0.714267,-1.610667,-0.038976,0.000147,0.000964,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.133,105.15,1
$GPS,301014,002727,6702.669,-5655.432,38,0.8,38,-32.6