version: 66.12
glider: 217
mission: 3
dive: 380
start: 11 20 114 20 28 50
data:
$ID,217
$MISSION,3
$DIVE,380
$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,50
$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
$GPS1,201114,201952,6700.092,-5652.717,34,0.9,34,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-69.2
$GPS2,201114,202815,6700.108,-5652.582,5,1.1,5,-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,37.7,6295,-17.5,-9.167,-20.44,2275
$D_GRID,615
$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,-136.3,149,2468,1312,1228,0.0,0.0,0,83,0.00,0.00,-62.00,0.000,16386,0.000,0.000,148,2468,2784,2786,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,142,2468,2790,2782,3.1,-2.2,6,121,12.23,2.47,-11.38,0.000,19204,0.395,0.084,2789,1059,3267,3300,3234,0,0,0,0,0,0,14.17,14.47,14.76
$GC,275,-0.92,-136.3,2789,1059,3302,3233,34.8,-16.9,41,283,0.00,2.38,0.00,0.000,1030,0.000,0.060,2786,2440,3268,3303,3233,0,0,0,0,0,0,28.83,14.49,28.83
$GC,581,-0.92,-136.3,2786,2440,3302,3232,83.2,-16.0,52,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2440,3267,3303,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.92,-136.3,2786,2440,3302,3230,126.1,-13.8,63,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2440,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1193,-0.92,-136.3,2786,2440,3302,3235,165.1,-13.3,78,1201,0.00,2.38,0.00,0.000,260,0.000,0.090,2786,3779,3265,3302,3229,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1255,-0.92,-136.3,2785,3780,3302,3229,173.7,-14.1,89,1263,0.00,2.22,0.00,0.000,1030,0.000,0.049,2786,2430,3265,3302,3229,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1561,-0.92,-136.3,2786,2430,3302,3229,210.6,-11.7,105,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2429,3266,3303,3229,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,1597,4020.340088,-3412.535400,212.861099,0.267001,-0.020736,0.114048,0.000036,0.000238,0.000100,0.006025,0.006025,0.000093
$GC,1862,-0.92,-136.3,2785,2430,3302,3229,245.5,-11.9,120,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2430,3265,3302,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.92,-136.3,2786,2430,3302,3229,279.2,-10.7,135,2170,0.00,2.42,0.00,0.000,260,0.000,0.087,2787,3787,3265,3302,3229,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2204,-0.92,-136.3,2785,3787,3302,3229,283.8,-10.5,142,2213,0.00,2.20,0.00,0.000,1030,0.000,0.049,2786,2444,3263,3298,3228,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2510,-0.92,-136.3,2785,2444,3302,3229,314.1,-10.1,158,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3265,3302,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,-0.92,-136.3,2782,2444,3303,3230,343.5,-9.3,173,2818,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3788,3265,3302,3229,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2881,-0.92,-136.3,2785,3788,3303,3229,351.3,-10.8,186,2889,0.00,2.20,0.00,0.000,1030,0.000,0.047,2784,2443,3266,3303,3229,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3202,-0.92,-136.3,2785,2442,3304,3229,386.0,-10.5,204,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3264,3299,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,-0.92,-136.3,2785,2443,3305,3229,417.3,-10.4,219,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3267,3305,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.92,-136.3,2785,2443,3306,3230,450.6,-11.1,234,3812,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3788,3267,3306,3229,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3865,-0.92,-136.3,2785,3788,3306,3230,457.8,-11.2,245,3873,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2439,3268,3306,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4171,-0.92,-136.3,2785,2440,3306,3230,489.0,-10.3,261,4177,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3787,3268,3306,3230,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4220,-0.92,-136.3,2785,3787,3306,3230,494.4,-10.7,270,4228,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2442,3268,3307,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4542,-0.92,-136.3,2785,2442,3307,3229,528.4,-10.7,288,4548,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3780,3268,3307,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4649,-0.92,-136.3,2781,3780,3307,3230,539.8,-10.6,308,4656,0.00,2.17,0.00,0.000,1030,0.000,0.047,2786,2445,3267,3306,3229,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4976,-0.92,-136.3,2785,2445,3307,3230,574.2,-10.7,327,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2447,3268,3307,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5276,-0.92,-136.3,2785,2445,3307,3230,603.5,-9.5,342,5284,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3780,3268,3307,3229,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5352,-0.92,-136.3,2785,3780,3307,3230,611.2,-9.7,356,5358,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2445,3268,3307,3230,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,5404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5404,begin apogee
$GC,5410,-0.18,0.0,2785,2445,3307,3230,616.9,-10.4,360,5527,0.82,0.00,109.85,1.590,10246,0.188,0.000,3031,2445,2706,2775,2637,0,0,0,0,0,0,14.38,28.83,13.50
$STATE,5528,end apogee,CONTROL_FINISHED_OK
$STATE,5528,begin climb
$GC,5531,0.92,136.3,3031,2445,2774,2636,617.6,0.0,366,5653,1.10,2.53,110.43,1.556,10500,0.151,0.083,3372,3781,2149,2220,2079,0,0,0,0,0,0,14.16,13.90,13.26
$GC,5678,0.92,136.3,3372,3781,2217,2078,607.5,10.7,389,5686,0.00,2.40,0.00,0.000,1030,0.000,0.046,3383,2395,2147,2217,2078,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5984,0.92,136.3,3383,2389,2214,2078,572.5,11.6,405,5990,0.00,2.42,0.00,0.000,516,0.000,0.062,3393,974,2145,2213,2078,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6050,0.92,136.3,3394,974,2213,2078,565.3,10.6,417,6056,0.00,2.40,0.00,0.000,1030,0.000,0.053,3394,2388,2145,2213,2078,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6375,0.92,136.3,3393,2388,2212,2081,528.5,11.3,436,6381,0.00,2.42,0.00,0.000,516,0.000,0.062,3404,975,2144,2211,2078,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6440,0.92,136.3,3404,976,2212,2078,521.0,11.4,448,6447,0.00,2.35,0.00,0.000,1030,0.000,0.053,3404,2377,2142,2207,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6767,0.92,136.3,3404,2377,2211,2077,483.1,11.8,467,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2377,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7067,0.92,136.3,3405,2377,2211,2077,447.3,12.0,482,7076,0.00,2.40,0.00,0.000,516,0.000,0.063,3415,976,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7128,0.92,136.3,3415,976,2211,2077,439.6,12.0,493,7136,0.00,2.35,0.00,0.000,1030,0.000,0.053,3415,2379,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7434,0.92,136.3,3415,2379,2210,2078,402.2,11.8,509,7441,0.00,2.38,0.00,0.000,516,0.000,0.063,3425,976,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7484,0.92,136.3,3425,976,2211,2078,396.1,12.7,518,7493,0.12,2.35,0.00,0.000,5126,0.240,0.054,3395,2380,2144,2210,2078,0,0,0,0,0,0,14.40,14.62,28.83
$GC,7807,0.92,136.3,3396,2380,2211,2078,357.5,11.8,536,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2380,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,0.92,136.3,3396,2380,2212,2078,324.2,10.9,551,8116,0.00,2.38,0.00,0.000,516,0.000,0.063,3406,980,2144,2210,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8171,0.92,136.3,3407,979,2210,2078,316.9,11.2,562,8180,0.00,2.33,0.00,0.000,1030,0.000,0.054,3406,2373,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8477,0.92,136.3,3406,2374,2211,2078,282.5,11.1,578,8485,0.00,2.38,0.00,0.000,516,0.000,0.063,3417,973,2144,2210,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8533,0.92,136.3,3417,974,2210,2078,276.2,10.7,588,8539,0.00,2.35,0.00,0.000,1030,0.000,0.053,3417,2378,2144,2211,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8848,0.92,136.3,3417,2383,2211,2078,239.6,11.8,605,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2378,2144,2210,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9150,0.92,136.3,3417,2378,2210,2078,204.2,11.7,620,9156,0.00,2.38,0.00,0.000,516,0.000,0.063,3428,974,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9251,0.92,136.3,3428,974,2210,2078,192.8,11.3,639,9260,0.12,2.35,0.00,0.000,5126,0.240,0.053,3396,2381,2144,2210,2078,0,0,0,0,0,0,14.41,14.64,28.83
$GC,9556,0.92,136.3,3397,2381,2211,2077,163.0,9.3,655,9563,0.00,2.38,0.00,0.000,516,0.000,0.063,3408,979,2144,2211,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9608,0.93,137.6,3408,980,2211,2078,158.3,9.1,664,9615,0.00,2.33,0.00,0.000,1030,0.000,0.053,3408,2376,2144,2210,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9928,0.94,142.4,3408,2376,2211,2078,129.6,8.9,682,9935,0.00,0.00,5.28,0.799,8198,0.000,0.000,3408,2376,2127,2193,2061,0,0,0,0,0,0,28.83,28.83,14.01
$GC,10230,0.94,142.4,3408,2376,2190,2059,102.3,9.4,694,10238,0.00,2.38,0.00,0.000,516,0.000,0.063,3418,978,2125,2191,2060,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10297,0.94,142.4,3418,978,2190,2060,95.6,10.3,706,10305,0.00,2.35,0.00,0.000,1030,0.000,0.054,3418,2385,2125,2191,2059,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10636,0.95,147.9,3418,2385,2191,2059,64.3,8.9,722,10643,0.00,0.00,5.43,0.766,8198,0.000,0.000,3419,2384,2106,2173,2040,0,0,0,0,0,0,28.83,28.83,14.07
$GC,10934,1.04,188.7,3419,2385,2168,2039,40.5,7.3,732,10972,0.00,2.47,32.97,0.874,8452,0.000,0.084,3419,3774,1936,2003,1870,0,0,0,0,0,0,28.83,14.63,14.16
$GC,11037,1.04,188.7,3419,3774,1999,1868,30.5,11.1,750,11045,0.00,2.33,0.00,0.000,1030,0.000,0.047,3427,2358,1933,1999,1868,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11354,1.13,228.0,3427,2357,1999,1867,2.2,7.4,782,11364,0.00,0.00,7.43,0.078,8706,0.000,0.000,3427,2357,1864,1935,1794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11365,end climb,SURFACE_DEPTH_REACHED
$STATE,11365,begin surface coast
$FINISH,1.3,1.013968
$STATE,11392,end surface coast,CONTROL_FINISHED_OK
$STATE,11392,begin surface
$SM_CCo,11412,66.43,0.083,0,0,1282,350.04
$SM_GC,2.19,9.32,0.15,66.43,0.078,0.103,0.083,208,2464,1282,-8.97,-0.90,350.04,0,0,0,0,0,0,14.54,14.66,14.54
$RAFOS_CLK,-19
$RAFOS,6,1416516546,20.833334,20.818333,70,63,57,55,53,52,200,181,160,126,169,109
$RAFOS,5,1416516088,20.700001,20.691111,66,57,54,53,52,52,193,214,139,88,117,148
$RAFOS,4,1416515587,20.566668,20.551945,63,53,51,50,50,49,188,204,171,144,119,154
$RAFOS,2,1416514624,20.299999,20.284445,62,57,55,54,53,52,200,187,173,211,119,157
$RAFOS_FIX,6700.900879,-5708.847656,201114,040444,3,75,0.59
$IRIDIUM_FIX,6631.12,-5650.71,201114,164753
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.69
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$SC_FREEKB,3898432
$24V_AH,13.26,91.563
$10V_AH,12.89,0.000
$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,23.725,89.500,271.375,66.425,0.000,0.000,0.000,312.525,0.000,0.000,6.543,2399.743,7215.533,552.339,1558.120,255.971,0.000,1517.890,0.000,1177.987,1080.000,0.537,0.000
$DEVICE_MAMPS,394.740,102.510,1589.670,82.620,0.000,0.000,0.000,163.710,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11410.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.158,0.000,0.000,0.000
$MEM,143220
$DATA_FILE_SIZE,26712,786
$CAP_FILE_SIZE,127048,0
$CFSIZE,1024409600,973635584
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13007.18,0x23769e,7,5
$INTR,1,5407.12,0x23769e,2,5
$SOUNDSPEED,1473.5
$EKF,11591,4021.665039,-3412.024170,1.261163,0.216040,0.330207,-0.030417,0.000174,0.001141,0.000099,0.003425,0.003425,0.000050
$CURRENT,0.212,327.19,1
$GPS,201114,234158,6702.806,-5653.775,54,0.7,54,-32.6