version: 66.12
glider: 217
mission: 3
dive: 379
start: 11 20 114 16 52 2
data:
$ID,217
$MISSION,3
$DIVE,379
$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,43
$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
$GPS1,201114,164500,6659.322,-5657.336,72,0.9,72,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-66.7
$GPS2,201114,165127,6659.318,-5657.202,5,0.9,5,-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,70.2,9521,-17.5,-9.167,-20.44,2275
$D_GRID,680
$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,-136.3,141,2465,1311,1229,0.0,0.0,0,93,0.00,0.00,-72.45,0.000,16386,0.000,0.000,133,2465,3055,3058,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-136.3,133,2465,3060,3052,3.6,-2.9,7,120,12.25,2.47,-4.25,0.000,18948,0.393,0.085,2788,1067,3268,3290,3246,0,0,0,0,0,0,14.10,14.50,14.76
$GC,236,-0.92,-136.3,2788,1067,3296,3244,34.1,-16.8,32,243,0.00,2.38,0.00,0.000,1030,0.000,0.061,2786,2440,3270,3296,3244,0,0,0,0,0,0,28.83,14.40,28.83
$GC,568,-0.92,-136.3,2786,2440,3296,3244,87.8,-14.2,47,575,0.00,2.40,0.00,0.000,260,0.000,0.091,2785,3783,3269,3295,3243,0,0,0,0,0,0,28.83,14.45,28.83
$GC,678,-0.92,-136.3,2786,3783,3296,3242,103.6,-14.2,68,685,0.00,2.22,0.00,0.000,1030,0.000,0.050,2786,2442,3269,3296,3243,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1000,-0.92,-136.3,2786,2442,3296,3240,145.2,-13.1,84,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2442,3267,3295,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.92,-136.3,2786,2443,3291,3240,182.8,-12.7,99,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3265,3291,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.92,-136.3,2785,2442,3296,3239,218.8,-12.0,114,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2442,3268,3296,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.92,-136.3,2786,2442,3296,3240,255.3,-12.3,129,1908,0.00,2.42,0.00,0.000,260,0.000,0.089,2789,3782,3268,3296,3240,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2008,-0.92,-136.3,2785,3782,3297,3240,269.2,-13.3,149,2017,0.00,2.20,0.00,0.000,1030,0.000,0.050,2786,2449,3267,3296,3239,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2335,-0.92,-136.3,2785,2449,3298,3240,306.8,-11.4,168,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3269,3298,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-0.92,-136.3,2785,2449,3300,3240,340.5,-11.1,183,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3269,3298,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,-0.92,-136.3,2785,2449,3300,3240,373.7,-10.8,198,2946,0.00,2.40,0.00,0.000,260,0.000,0.087,2785,3790,3270,3300,3240,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2980,-0.92,-136.3,2785,3789,3300,3240,378.6,-11.5,205,2989,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2445,3270,3300,3240,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3286,-0.92,-136.3,2785,2445,3301,3240,410.8,-10.5,221,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2445,3270,3300,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-0.92,-136.3,2785,2445,3301,3240,441.3,-10.1,236,3594,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3787,3270,3301,3240,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3633,-0.92,-136.3,2785,3787,3301,3240,446.5,-11.2,244,3640,0.00,2.22,0.00,0.000,1030,0.000,0.047,2785,2438,3270,3301,3240,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3958,-0.92,-136.3,2785,2438,3309,3240,479.7,-10.2,263,3965,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3785,3270,3301,3240,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4013,-0.92,-136.3,2785,3784,3302,3240,485.9,-11.7,273,4021,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2451,3271,3302,3240,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4331,-0.92,-136.3,2785,2451,3302,3240,518.2,-10.1,290,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3271,3303,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4631,-0.92,-136.3,2785,2451,3303,3240,547.8,-9.7,305,4640,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3783,3271,3303,3240,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4683,-0.92,-136.3,2785,3783,3303,3240,553.2,-10.2,314,4690,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2450,3271,3303,3240,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5003,-0.92,-136.3,2785,2451,3303,3240,586.3,-10.4,332,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2456,3271,3303,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-0.92,-136.3,2785,2451,3302,3240,617.1,-10.2,347,5311,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3782,3271,3303,3240,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5380,-0.92,-136.3,2785,3782,3303,3239,625.3,-11.0,361,5388,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2452,3271,3303,3240,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5698,-0.92,-136.3,2785,2452,3304,3240,657.1,-9.9,378,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3272,3304,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5999,-0.92,-136.3,2785,2451,3307,3238,673.6,0.1,393,6006,0.00,2.35,0.00,0.000,516,0.000,0.061,2784,1067,3272,3307,3238,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,6057,end dive,NO_VERTICAL_VELOCITY
$STATE,6057,begin apogee
$GC,6065,-0.18,0.0,2785,2389,3307,3238,673.7,0.0,404,6181,0.80,0.00,111.68,1.669,10246,0.142,0.000,3039,2389,2706,2775,2638,0,0,0,0,0,0,14.45,28.83,13.45
$STATE,6183,end apogee,CONTROL_FINISHED_OK
$STATE,6183,begin climb
$GC,6186,0.92,136.3,3039,2389,2774,2636,673.5,0.0,410,6307,1.05,2.58,111.75,1.633,10500,0.133,0.082,3374,3775,2150,2222,2079,0,0,0,0,0,0,14.14,13.83,13.15
$GC,6364,0.92,136.3,3374,3776,2218,2079,657.7,12.3,439,6371,0.00,2.42,0.00,0.000,1030,0.000,0.046,3385,2379,2148,2218,2079,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6684,0.92,136.3,3385,2376,2214,2079,622.3,11.1,457,6692,0.00,2.42,0.00,0.000,516,0.000,0.064,3395,974,2146,2214,2078,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6760,0.92,136.3,3395,974,2214,2077,614.2,10.7,471,6766,0.00,2.40,0.00,0.000,1030,0.000,0.054,3395,2381,2146,2214,2078,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7075,0.92,136.3,3395,2381,2212,2078,579.3,11.4,488,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2381,2144,2210,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7376,0.92,136.3,3394,2381,2211,2078,544.8,11.7,503,7383,0.00,2.40,0.00,0.000,516,0.000,0.064,3406,982,2145,2212,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7417,0.92,136.3,3406,981,2212,2078,540.0,11.6,510,7425,0.00,2.38,0.00,0.000,1030,0.000,0.054,3406,2382,2145,2212,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7723,0.92,136.3,3406,2382,2211,2078,502.2,12.5,526,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2382,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,0.92,136.3,3406,2382,2211,2078,465.4,12.0,541,8032,0.00,2.40,0.00,0.000,516,0.000,0.063,3417,979,2144,2210,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8070,0.92,136.3,3417,979,2210,2078,459.7,11.9,549,8078,0.00,2.35,0.00,0.000,1030,0.000,0.054,3417,2377,2144,2210,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8397,0.92,136.3,3417,2377,2210,2078,419.6,12.4,568,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2377,2144,2210,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,0.92,136.3,3417,2377,2209,2078,383.9,11.5,583,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2377,2144,2210,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8999,0.92,136.3,3417,2376,2210,2078,347.5,12.4,598,9005,0.00,2.38,0.00,0.000,516,0.000,0.063,3428,981,2144,2210,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9093,0.92,136.3,3428,982,2217,2078,335.4,13.0,615,9100,0.15,2.35,0.00,0.000,5126,0.236,0.054,3391,2381,2143,2209,2078,0,0,0,0,0,0,14.37,14.62,28.83
$GC,9414,0.92,136.3,3390,2380,2210,2078,300.2,10.9,633,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2381,2143,2210,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,0.92,136.3,3391,2378,2210,2078,268.2,10.8,648,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2381,2144,2210,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,0.92,136.3,3391,2380,2210,2078,236.6,10.3,663,10022,0.00,2.40,0.00,0.000,516,0.000,0.063,3402,974,2144,2210,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10090,0.92,136.3,3403,974,2211,2079,228.2,11.1,677,10098,0.00,2.35,0.00,0.000,1030,0.000,0.054,3402,2376,2144,2210,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10408,0.92,136.3,3402,2376,2211,2078,193.8,10.6,694,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2376,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10708,0.92,136.3,3402,2375,2210,2079,161.4,10.6,709,10717,0.00,2.38,0.00,0.000,516,0.000,0.063,3412,982,2144,2210,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10755,0.92,136.3,3413,982,2211,2078,156.4,10.2,717,10763,0.00,2.35,0.00,0.000,1030,0.000,0.054,3412,2378,2145,2211,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11082,0.92,136.3,3412,2378,2212,2078,122.3,10.0,736,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2378,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11392,0.92,136.3,3414,2378,2211,2078,90.3,10.3,747,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2378,2145,2211,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11692,1.00,172.4,3412,2378,2211,2078,66.5,7.5,757,11725,0.00,2.45,27.42,0.900,8708,0.000,0.063,3423,972,2003,2070,1936,0,0,0,0,0,0,28.83,14.70,14.12
$GC,11872,1.05,191.3,3423,972,2066,1935,48.5,8.3,790,11898,0.00,2.38,15.82,0.857,9222,0.000,0.053,3423,2383,1929,1992,1866,0,0,0,0,0,0,28.83,14.57,14.07
$GC,12207,1.31,310.8,3423,2383,1990,1859,18.9,3.8,813,12277,0.20,2.38,60.55,0.130,10756,0.111,0.061,3521,985,1443,1519,1368,0,0,0,0,0,0,14.60,14.51,14.46
$STATE,12329,end climb,SURFACE_DEPTH_REACHED
$STATE,12329,begin surface coast
$FINISH,1.4,1.026281
$STATE,12341,end surface coast,CONTROL_FINISHED_OK
$STATE,12341,begin surface
$SM_CCo,12364,17.48,0.083,0,0,1282,350.04
$SM_GC,2.04,9.55,2.53,17.48,0.073,0.050,0.083,210,2464,1282,-8.96,-0.90,350.04,0,0,0,0,0,0,14.52,14.58,14.52
$RAFOS_CLK,447
$RAFOS,1,1416514143,20.166666,20.150833,57,52,49,47,46,45,216,176,118,187,226,146
$RAFOS,0,1416513680,20.033333,20.022223,64,62,60,57,54,53,213,169,224,198,111,136
$RAFOS,5,1416501665,16.700001,16.684723,66,61,58,56,52,51,197,173,239,207,225,161
$RAFOS_FIX,6700.900879,-5708.847656,201114,040444,3,75,0.59
$IRIDIUM_FIX,6625.71,-5701.34,201114,130348
$TT8_MAMPS,0.040446,0.040446
$HUMID,41.53
$INTERNAL_PRESSURE,8.59174
$TCM_TEMP,14.30
$XPDR_PINGS,0
$SC_FREEKB,3898752
$24V_AH,13.15,91.371
$10V_AH,12.84,0.000
$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,24.000,84.925,327.225,17.475,0.000,0.000,0.000,221.000,0.000,0.000,13.138,2543.389,7916.004,530.188,1550.256,246.874,0.000,1437.398,0.000,1249.876,1080.000,0.536,0.000
$DEVICE_MAMPS,393.210,91.035,1669.230,82.620,0.000,0.000,0.000,149.175,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12360.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.035,0.000,0.000,0.000
$MEM,143176
$DATA_FILE_SIZE,30030,835
$CAP_FILE_SIZE,128653,1
$CFSIZE,1024409600,973750272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13391.40,0x23769e,7,5
$SOUNDSPEED,1472.2
$EKF,12473,4020.576904,-3414.199219,1.372845,1.284413,0.875505,0.034054,0.000195,0.001277,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.115,138.48,1
$GPS,201114,201952,6700.092,-5652.717,34,0.9,34,-32.5