Info from Sergio regarding MRU_P files:

Kongsberg was used on motion compensation
MRUP replaced the crossbow and it was located at the base of the stabilizer table, disregarding Lat and Log data, gps was not connected to the system (was not compensated for motion).

MRUP instrument data format is a follows:
$PAPS,LLmm.mmmm,n,YYYmm.mmmm,x,AAAA.aa,B,RRRR.rr,PPP.pp,
HHH.hh,GGGG.xx,GGGG.yy,GGGG.zz,AA.xxxx,AA.yyyy,AA.zzzz,ttttttttt,
TTT.t,VV.v,SSSS*CC<CR><LF>
where PAPS is identifier and other fields are listed below:
- LLmm.mmmm is unsigned latitude, where LL are degrees, mm.mmmm are minutes;
- n is N or S (North or South);
- YYYmm.mmmm is unsigned longitude, where YYY are degrees, mm.mmmm are
minutes;
- x is E or W (East or West);
- AAAA.aa is altitude or heave in meters;
 B denotes kind of height data that is defined by switch h_output (see section 6.5 for
details):
‘a’ – altitude;
‘h’ – heave.
- RRRR.rr is roll in degrees;
- PPP.pp is pitch in degrees;
- HHH.hh is heading in degrees;
- GGGG.xx is gyro X data in degrees/s;
- GGGG.yy is gyro Y data in degrees/s;
- GGGG.zz is gyro Z data in degrees/s;
- AA.xxxx is accelerometer X data in g;
- AA.yyyy is accelerometer Y data in g;
- AA.zzzz is accelerometer Z data in g;
- ttttttttt is timestamp (milliseconds from the beginning of the GPS reference week);
- TTT.t is temperature inside MRU in 􀁱C (averaged value for 3 gyros);
- VV.v is input voltage of the MRU, in Volts;
- SSSS is unit status word, USW (see Appendix C for details). It is hex written with
ASCII;
- CC is check sum that consists of a "*" and two hex digits representing XOR of all
characters between, but not including "$" and "*".