version: 66.12
glider: 217
mission: 3
dive: 296
start: 11 7 114 11 12 44
data:
$ID,217
$MISSION,3
$DIVE,296
$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,54
$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
$GPS1,071114,110604,6641.104,-6000.079,33,0.7,33,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-69.3
$GPS2,071114,111208,6641.088,-6000.084,6,0.8,6,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,351.4,19711,-17.5,-9.167,-20.44,2275
$D_GRID,616
$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,-136.3,171,2443,1306,1226,0.0,0.0,0,64,0.00,0.00,-43.40,0.000,16386,0.000,0.000,169,2443,2349,2373,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.92,-136.3,167,2443,2370,2328,3.1,-1.2,4,112,12.60,0.00,-29.80,0.000,19206,0.418,0.000,2789,2444,3267,3297,3237,0,0,0,0,0,0,14.10,28.83,14.71
$GC,430,-0.92,-136.3,2789,2443,3302,3235,66.7,-18.5,28,437,0.00,2.40,0.00,0.000,260,0.000,0.096,2785,3769,3268,3302,3235,0,0,0,0,0,0,28.83,14.42,28.83
$GC,575,-0.92,-136.3,2786,3769,3302,3235,92.1,-17.1,55,582,0.00,2.20,0.00,0.000,1030,0.000,0.052,2786,2449,3268,3302,3235,0,0,0,0,0,0,28.83,14.59,28.83
$GC,888,-0.92,-136.3,2786,2447,3301,3235,144.5,-16.5,70,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3268,3302,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1187,-0.92,-136.3,2785,2447,3302,3236,192.2,-16.0,85,1195,0.00,2.40,0.00,0.000,260,0.000,0.096,2785,3773,3268,3302,3234,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1233,-0.92,-136.3,2786,3773,3302,3235,199.9,-16.2,93,1241,0.00,2.20,0.00,0.000,1030,0.000,0.052,2785,2444,3268,3302,3234,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1560,-0.92,-136.3,2785,2444,3302,3235,248.6,-14.5,112,1566,0.00,2.35,0.00,0.000,516,0.000,0.067,2785,1070,3268,3302,3234,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1585,-0.92,-136.3,2785,1070,3302,3235,252.4,-15.1,116,1592,0.00,2.35,0.00,0.000,1030,0.000,0.063,2785,2439,3268,3302,3235,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1910,-0.92,-136.3,2785,2439,3302,3235,295.3,-12.8,135,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3268,3302,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.92,-136.3,2791,2439,3302,3234,335.8,-13.6,150,2219,0.00,2.42,0.00,0.000,260,0.000,0.098,2785,3788,3268,3302,3234,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2311,-0.92,-136.3,2785,3788,3302,3234,350.4,-14.8,168,2318,0.00,2.22,0.00,0.000,1030,0.000,0.053,2785,2447,3268,3302,3234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2626,-0.92,-136.3,2785,2446,3302,3233,391.8,-12.7,185,2634,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3788,3268,3303,3233,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2661,-0.92,-136.3,2785,3788,3302,3234,396.6,-13.8,191,2668,0.00,2.22,0.00,0.000,1030,0.000,0.052,2785,2442,3267,3303,3232,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2976,-0.92,-136.3,2785,2441,3302,3233,437.7,-13.2,208,2983,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3783,3266,3301,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3155,-0.92,-136.3,2785,3783,3301,3232,461.7,-13.1,242,3162,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2445,3267,3302,3232,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3470,-0.92,-136.3,2784,2445,3302,3232,503.1,-13.0,259,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.92,-136.3,2785,2444,3302,3232,543.7,-13.2,274,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.92,-136.3,2785,2445,3302,3232,579.8,-12.2,289,4079,0.00,2.38,0.00,0.000,516,0.000,0.065,2785,1056,3267,3303,3232,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4132,-0.92,-136.3,2785,1056,3303,3232,587.3,-11.5,300,4140,0.00,2.40,0.00,0.000,1030,0.000,0.061,2785,2459,3268,3303,3233,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,4376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4376,begin apogee
$GC,4382,-0.18,0.0,2785,2386,3303,3232,616.1,-11.5,313,4499,0.90,0.00,111.45,1.626,10246,0.250,0.000,3027,2386,2709,2772,2647,0,0,0,0,0,0,14.26,28.83,13.41
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4500,begin climb
$GC,4502,0.92,136.3,3028,2385,2770,2646,621.5,0.0,319,4620,1.17,0.00,113.57,1.592,10502,0.174,0.000,3370,2385,2154,2224,2084,0,0,0,0,0,0,14.03,28.83,13.07
$GC,4919,0.93,138.6,3371,2385,2212,2079,589.8,9.1,346,4925,0.00,2.50,0.00,0.000,516,0.000,0.068,3381,976,2145,2212,2079,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4976,0.93,138.6,3381,976,2212,2079,584.2,10.0,356,4982,0.00,2.45,0.00,0.000,1030,0.000,0.056,3381,2381,2146,2212,2080,0,0,0,0,0,0,28.83,14.21,28.83
$EKF,range,-6023.8
$GC,5291,0.94,141.9,3381,2382,2211,2079,554.7,9.0,373,5307,0.00,2.47,5.50,1.154,8708,0.000,0.066,3392,982,2127,2192,2062,0,0,0,0,0,0,28.83,14.45,13.68
$GC,5345,0.94,141.9,3391,982,2191,2062,549.6,9.8,382,5352,0.00,2.42,0.00,0.000,1030,0.000,0.054,3391,2387,2126,2192,2061,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5665,0.94,142.2,3392,2387,2191,2062,519.1,9.2,400,5673,0.00,2.42,0.00,0.000,516,0.000,0.067,3402,981,2126,2191,2062,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5732,0.94,142.2,3402,981,2191,2062,512.6,9.8,412,5738,0.00,2.38,0.00,0.000,1030,0.000,0.056,3402,2379,2126,2191,2062,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6057,0.94,142.2,3402,2379,2191,2062,480.0,9.9,431,6063,0.00,2.42,0.00,0.000,516,0.000,0.066,3413,977,2126,2191,2062,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6131,0.94,142.2,3413,975,2191,2062,472.4,9.2,445,6139,0.00,2.38,0.00,0.000,1030,0.000,0.056,3413,2377,2127,2192,2062,0,0,0,0,0,0,28.83,14.54,28.83
$EKF,range,-10937.1
$EKF,6165,4001.870605,-3601.495850,470.677887,0.249118,-0.279174,-0.069319,0.000088,0.000563,0.000099,0.001125,0.001125,0.000053
$GC,6449,0.94,142.2,3413,2377,2191,2063,438.8,10.8,462,6455,0.00,2.42,0.00,0.000,516,0.000,0.064,3423,978,2126,2191,2062,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6505,0.94,142.2,3424,977,2191,2062,432.6,10.6,472,6511,0.00,2.38,0.00,0.000,1030,0.000,0.056,3424,2381,2126,2191,2062,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6819,0.94,142.2,3424,2381,2191,2062,399.3,10.9,489,6828,0.00,2.50,0.00,0.000,260,0.000,0.090,3424,3783,2126,2191,2062,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6921,0.94,142.2,3424,3782,2191,2062,386.9,12.1,508,6930,0.15,2.35,0.00,0.000,5126,0.263,0.049,3399,2360,2126,2191,2062,0,0,0,0,0,0,14.34,14.64,28.83
$GC,7227,0.95,146.6,3399,2360,2191,2062,357.8,9.0,524,7234,0.00,0.00,5.35,1.027,8198,0.000,0.000,3399,2360,2110,2175,2046,0,0,0,0,0,0,28.83,28.83,13.93
$GC,7527,0.99,167.7,3396,2361,2173,2045,331.9,8.2,539,7554,0.00,2.50,18.45,1.224,8452,0.000,0.087,3399,3774,2023,2087,1959,0,0,0,0,0,0,28.83,14.59,13.97
$GC,7577,0.99,168.2,3399,3774,2086,1959,327.5,9.1,547,7584,0.00,2.30,0.00,0.000,1030,0.000,0.049,3410,2360,2022,2086,1959,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7904,0.99,168.2,3410,2358,2085,1958,296.7,9.9,566,7910,0.00,2.35,0.00,0.000,516,0.000,0.065,3420,984,2021,2085,1958,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7933,0.99,168.2,3421,984,2085,1958,293.5,9.8,571,7940,0.00,2.35,0.00,0.000,1030,0.000,0.054,3421,2376,2021,2085,1958,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8253,0.99,168.2,3421,2375,2084,1958,260.5,10.4,589,8261,0.00,2.38,0.00,0.000,516,0.000,0.065,3435,990,2020,2083,1958,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8294,0.99,168.2,3431,990,2084,1957,256.1,10.4,596,8302,0.00,2.35,0.00,0.000,1030,0.000,0.054,3432,2381,2021,2084,1958,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8600,1.02,180.5,3432,2382,2084,1958,227.4,8.6,612,8620,0.00,2.50,11.65,1.087,8452,0.000,0.090,3432,3775,1971,2034,1908,0,0,0,0,0,0,28.83,14.66,14.02
$GC,8639,1.02,180.5,3432,3776,2033,1908,223.8,9.7,618,8645,0.00,2.33,0.00,0.000,1030,0.000,0.048,3440,2366,1970,2033,1908,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8954,1.02,181.7,3439,2365,2032,1907,194.5,9.1,635,8960,0.00,2.35,0.00,0.000,516,0.000,0.067,3451,989,1969,2032,1906,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8999,1.02,181.7,3451,989,2032,1907,190.3,9.6,643,9005,0.00,2.38,0.00,0.000,1030,0.000,0.056,3451,2384,1969,2032,1907,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9325,1.02,181.7,3451,2384,2031,1907,158.2,9.8,662,9332,0.00,2.47,0.00,0.000,260,0.000,0.091,3451,3777,1969,2031,1907,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9393,1.02,181.7,3451,3777,2033,1906,151.0,11.0,674,9401,0.15,2.33,0.00,0.000,5126,0.263,0.050,3426,2369,1969,2032,1907,0,0,0,0,0,0,14.35,14.63,28.83
$GC,9719,1.03,184.3,3426,2368,2031,1906,122.2,9.0,693,9729,0.00,2.40,4.30,0.807,8708,0.000,0.066,3437,988,1955,2019,1892,0,0,0,0,0,0,28.83,14.69,14.01
$GC,9793,1.05,193.6,3437,988,2018,1892,115.9,8.7,706,9811,0.00,2.35,9.27,0.970,9222,0.000,0.056,3437,2380,1916,1980,1853,0,0,0,0,0,0,28.83,14.57,14.02
$GC,10125,1.08,204.8,3437,2380,1978,1853,87.1,8.7,721,10139,0.00,0.00,10.65,0.959,8454,0.000,0.000,3437,2380,1871,1936,1807,0,0,0,0,0,0,28.83,28.83,14.03
$GC,10464,1.09,211.1,3437,2380,1934,1805,55.8,8.9,737,10479,0.00,2.42,6.60,0.877,8708,0.000,0.068,3447,972,1846,1911,1781,0,0,0,0,0,0,28.83,14.63,14.01
$GC,10538,1.16,241.8,3447,972,1910,1781,50.3,7.8,750,10576,0.00,2.38,28.90,0.950,9222,0.000,0.057,3447,2374,1721,1788,1654,0,0,0,0,0,0,28.83,14.59,14.01
$GC,10885,1.18,250.9,3447,2374,1784,1650,20.8,8.8,773,10896,0.00,0.00,4.20,0.171,8198,0.000,0.000,3448,2374,1688,1758,1619,0,0,0,0,0,0,28.83,28.83,14.40
$STATE,11082,end climb,SURFACE_DEPTH_REACHED
$STATE,11083,begin surface coast
$FINISH,1.8,1.025796
$STATE,11094,end surface coast,CONTROL_FINISHED_OK
$STATE,11094,begin surface
$SM_CCo,11114,47.47,0.093,0,0,1281,350.04
$SM_GC,2.64,9.62,0.12,47.47,0.095,0.160,0.093,214,2454,1281,-8.96,-0.76,350.04,0,0,0,0,0,0,14.50,14.51,14.51
$RAFOS_CLK,-120
$RAFOS,6,1415364558,12.833333,12.821667,79,65,60,60,58,53,713,218,188,205,167,234
$RAFOS,5,1415364066,12.700000,12.685000,69,57,56,55,53,52,200,209,158,120,176,141
$RAFOS,4,1415363599,12.566667,12.555278,92,79,69,62,58,55,596,203,220,155,189,122
$RAFOS,3,1415363119,12.433333,12.421945,64,57,54,52,52,50,177,211,191,144,121,161
$RAFOS,2,1415362631,12.300000,12.286389,66,66,61,57,50,49,195,565,213,137,153,231
$RAFOS,1,1415362152,12.166667,12.153334,68,67,61,57,51,51,195,217,164,121,204,185
$RAFOS,0,1415361679,12.033333,12.021944,61,59,58,56,55,53,214,148,168,543,188,115
$RAFOS_FIX,6646.988770,-5954.950195,071114,121244,2,86,2.10
$IRIDIUM_FIX,6609.62,-6001.83,071114,073937
$TT8_MAMPS,0.036701,0.036701
$HUMID,44.05
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3925312
$24V_AH,13.07,72.809
$10V_AH,13.17,0.000
$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,24.600,100.075,329.900,47.475,0.000,0.000,0.000,216.975,0.000,0.000,6.955,2432.720,6843.720,593.866,1487.926,198.846,0.000,1475.924,0.000,1189.674,2520.000,0.535,0.000
$DEVICE_MAMPS,417.690,159.885,1625.625,93.330,0.000,0.000,0.000,149.940,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11097.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.249,0.000,0.000,0.000
$MEM,143188
$DATA_FILE_SIZE,26736,794
$CAP_FILE_SIZE,127694,0
$CFSIZE,1024409600,983203840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12516.24,0x23769e,7,5
$SOUNDSPEED,1452.8
$EKF,11267,4002.280029,-3602.521973,1.850849,1.835628,-0.514066,-0.019840,0.000160,0.001023,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.193,322.08,1
$GPS,071114,142028,6643.389,-6004.485,38,0.7,38,-32.9