version: 66.11
glider: 108
mission: 21
dive: 234
start: 7 31 112 7 19 8
data:
$ID,108
$MISSION,21
$DIVE,234
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,440
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51396
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-191378.83
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.860044
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,310712,071122,6701.722,-5657.448,40,0.9,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-76.3
$GPS2,310712,071835,6701.805,-5657.462,14,1.4,14,-33.5
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,322.9,156081,-16.9,-9.167
$D_GRID,656
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-146.6,0.0,0.0,0,81,0.00,0.00,-61.60,0.000,2,0.000,0.000,345,2124,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.75,-146.6,3.1,-1.3,11,123,10.27,2.15,-19.62,0.000,4,0.253,0.050,2895,713,3879,0,0,0,0,0,0,25.75,26.41,26.79
$GC,354,-0.75,-146.6,38.1,-10.0,62,361,0.00,2.12,0.00,0.000,6,0.000,0.037,2888,2095,3884,0,0,0,0,0,0,28.83,26.44,28.83
$GC,665,-0.75,-146.6,72.6,-11.5,123,672,0.00,2.12,0.00,0.000,4,0.000,0.048,2878,3504,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,752,-0.75,-146.6,82.8,-12.1,139,759,0.00,2.05,0.00,0.000,6,0.000,0.028,2877,2096,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1062,-0.75,-146.6,117.6,-10.9,184,1071,0.00,2.17,0.00,0.000,4,0.000,0.047,2867,3515,3886,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1174,-0.75,-146.6,130.4,-11.6,195,1183,0.00,2.05,0.00,0.000,6,0.000,0.029,2867,2111,3886,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1485,-0.75,-146.6,165.7,-11.1,226,1493,0.00,2.12,0.00,0.000,4,0.000,0.048,2857,3500,3886,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1662,-0.75,-146.6,186.6,-12.2,243,1669,0.12,1.98,0.00,0.000,6,0.169,0.029,2888,2138,3885,0,0,0,0,0,0,26.25,26.60,28.83
$GC,1969,-0.75,-146.6,216.7,-9.3,274,1978,0.00,2.08,0.00,0.000,4,0.000,0.048,2880,3515,3884,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2053,-0.75,-146.6,224.7,-9.5,282,2061,0.00,2.00,0.00,0.000,6,0.000,0.028,2880,2142,3884,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2362,-0.75,-146.6,252.7,-8.7,313,2371,0.00,2.08,0.00,0.000,4,0.000,0.047,2870,3523,3884,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2455,-0.75,-146.6,261.7,-9.7,322,2464,0.00,2.00,0.00,0.000,6,0.000,0.029,2870,2146,3883,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2764,-0.75,-146.6,291.9,-9.8,353,2774,0.00,2.10,0.00,0.000,4,0.000,0.048,2860,3513,3882,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2850,-0.75,-146.6,300.7,-10.7,361,2857,0.00,1.95,0.00,0.000,6,0.000,0.029,2860,2165,3882,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3157,-0.75,-146.6,333.2,-10.1,392,3166,0.00,2.05,0.00,0.000,4,0.000,0.047,2850,3518,3882,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3252,-0.75,-146.6,343.2,-11.1,401,3261,0.15,1.95,0.00,0.000,6,0.158,0.028,2892,2163,3882,0,0,0,0,0,0,26.24,26.64,28.83
$GC,3559,-0.75,-146.6,369.3,-8.2,432,3568,0.00,2.03,0.00,0.000,4,0.000,0.046,2884,3501,3882,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3615,-0.75,-146.6,373.8,-9.0,437,3622,0.00,1.90,0.00,0.000,6,0.000,0.028,2884,2179,3882,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3921,-0.75,-146.6,401.8,-9.3,468,3930,0.00,2.00,0.00,0.000,4,0.000,0.046,2874,3505,3882,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3966,-0.75,-146.6,405.9,-10.0,472,3972,0.00,1.90,0.00,0.000,6,0.000,0.028,2874,2185,3882,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4273,-0.75,-146.6,436.0,-9.8,503,4281,0.00,2.00,0.00,0.000,4,0.000,0.047,2864,3505,3882,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4356,-0.75,-146.6,444.6,-10.3,511,4359,0.00,1.90,0.00,0.000,6,0.000,0.028,2864,2199,3882,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4668,-0.75,-146.6,476.0,-9.9,542,4676,0.00,1.98,0.00,0.000,4,0.000,0.046,2854,3508,3882,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4740,-0.75,-146.6,483.6,-10.7,549,4750,0.12,1.88,0.00,0.000,6,0.158,0.028,2886,2208,3883,0,0,0,0,0,0,26.31,26.66,28.83
$GC,5050,-0.75,-146.6,510.3,-8.3,580,5058,0.00,1.98,0.00,0.000,4,0.000,0.047,2878,3525,3883,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5085,-0.75,-146.6,513.2,-9.1,583,5092,0.00,1.90,0.00,0.000,6,0.000,0.028,2878,2204,3883,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5392,-0.75,-146.6,540.3,-8.7,614,5397,0.00,1.95,0.00,0.000,4,0.000,0.046,2869,3506,3883,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5446,-0.75,-146.6,545.4,-9.6,619,5450,0.00,1.85,0.00,0.000,6,0.000,0.028,2869,2212,3883,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5758,-0.75,-146.6,574.7,-9.3,650,5762,0.00,1.98,0.00,0.000,4,0.000,0.047,2859,3513,3882,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5814,-0.75,-146.6,579.9,-10.2,655,5821,0.12,1.85,0.00,0.000,6,0.156,0.028,2891,2220,3883,0,0,0,0,0,0,26.32,26.66,28.83
$GC,6123,-0.75,-146.6,605.6,-8.2,682,6128,0.00,1.95,0.00,0.000,4,0.000,0.047,2883,3507,3883,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6175,-0.75,-146.6,608.4,-8.3,683,6182,0.00,1.83,0.00,0.000,6,0.000,0.028,2883,2232,3883,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6482,-0.75,-146.6,635.4,-8.3,694,6485,0.00,1.95,0.00,0.000,4,0.000,0.047,2874,3502,3883,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6502,-0.75,-146.6,635.4,-8.3,694,6505,0.00,1.83,0.00,0.000,6,0.000,0.030,2873,2250,3883,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,6721,end dive,NO_VERTICAL_VELOCITY
$STATE,6721,begin apogee
$GC,6729,-0.17,0.0,636.6,0.0,702,6854,0.57,0.00,119.85,1.261,4,0.088,0.000,3080,1916,3278,0,0,0,0,0,0,26.33,28.83,23.89
$STATE,6858,end apogee,CONTROL_FINISHED_OK
$STATE,6858,begin climb
$GC,6861,0.75,146.6,636.5,0.0,706,6993,0.80,0.00,123.12,1.213,6,0.070,0.000,3370,1907,2680,0,0,0,0,0,0,24.91,28.83,23.13
$GC,7294,0.75,146.6,590.7,13.3,725,7303,0.00,2.22,0.00,0.000,4,0.000,0.037,3380,496,2671,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7531,0.75,146.6,559.9,13.1,748,7538,0.00,2.17,0.00,0.000,6,0.000,0.034,3380,1895,2668,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7838,0.75,146.6,517.3,13.5,779,7847,0.00,2.17,0.00,0.000,4,0.000,0.037,3389,499,2667,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7891,0.75,146.6,510.1,13.9,784,7899,0.00,2.15,0.00,0.000,6,0.000,0.034,3389,1886,2666,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8200,0.75,146.6,466.8,13.5,815,8209,0.00,2.15,0.00,0.000,4,0.000,0.037,3398,491,2665,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8233,0.75,146.6,462.4,13.5,818,8242,0.00,2.15,0.00,0.000,6,0.000,0.034,3398,1884,2665,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8542,0.75,146.6,418.3,14.9,849,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1883,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,0.75,146.6,373.9,14.8,879,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1883,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9155,0.75,146.6,328.2,14.8,910,9163,0.00,2.15,0.00,0.000,4,0.000,0.037,3407,495,2664,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9197,0.75,146.6,321.6,15.0,914,9207,0.10,2.12,0.00,0.000,6,0.151,0.034,3376,1886,2664,0,0,0,0,0,0,26.11,26.44,28.83
$GC,9507,0.75,146.6,280.1,13.0,945,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1886,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9810,0.75,146.6,240.9,12.7,975,9819,0.00,2.12,0.00,0.000,4,0.000,0.044,3376,3301,2663,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9852,0.75,146.6,234.4,14.1,979,9860,0.00,2.12,0.00,0.000,6,0.000,0.030,3383,1865,2663,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10162,0.75,146.6,192.3,13.1,1010,10171,0.00,2.05,0.00,0.000,4,0.000,0.037,3394,503,2664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10227,0.75,146.6,184.5,12.6,1016,10234,0.00,2.10,0.00,0.000,6,0.000,0.033,3394,1876,2664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10534,0.75,146.6,147.3,12.1,1047,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1876,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10838,0.75,146.6,113.3,11.4,1077,10847,0.00,2.12,0.00,0.000,4,0.000,0.038,3402,499,2664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10881,0.75,146.6,108.0,11.4,1081,10891,0.08,2.10,0.00,0.000,6,0.145,0.033,3377,1885,2664,0,0,0,0,0,0,26.26,26.54,28.83
$GC,11192,0.75,146.6,76.9,9.4,1135,11199,0.00,2.15,0.00,0.000,4,0.000,0.044,3377,3303,2664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11216,0.75,146.6,74.4,10.2,1139,11223,0.00,2.12,0.00,0.000,6,0.000,0.029,3384,1862,2664,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11531,0.76,156.8,43.2,8.7,1200,11546,0.00,2.10,7.22,0.780,4,0.000,0.038,3394,513,2639,0,0,0,0,0,0,28.83,26.50,25.47
$GC,11646,0.77,165.1,32.2,8.8,1221,11660,0.00,2.08,8.02,0.784,6,0.000,0.034,3394,1858,2605,0,0,0,0,0,0,28.83,26.48,25.41
$GC,11967,0.95,315.1,15.8,2.9,1283,12047,0.12,2.08,70.68,0.095,4,0.101,0.036,3459,514,1989,0,0,0,0,0,0,26.44,26.28,26.10
$FREEZE,8.47,5.955,-1.764,0,1,0
$FREEZE,7.63,5.952,-1.764,0,1,0
$FREEZE,7.06,5.952,-1.763,0,1,0
$FREEZE,6.14,5.955,-1.762,0,1,0
$FREEZE,5.25,5.954,-1.762,0,1,0
$FREEZE,4.56,5.955,-1.761,0,1,0
$FREEZE,3.91,5.952,-1.761,0,1,0
$STATE,12091,end climb,SURFACE_DEPTH_REACHED
$STATE,12091,begin surface coast
$FREEZE,3.20,5.953,-1.760,0,1,0
$FREEZE,2.24,5.954,-1.759,0,1,0
$FREEZE,1.50,5.958,-1.759,0,1,0
$FREEZE,1.46,5.914,-1.761,0,1,0
$FREEZE,1.45,5.676,-0.977,0,1,0
$FINISH,1.4,1.014208
$STATE,12120,end surface coast,CONTROL_FINISHED_OK
$STATE,12120,begin surface
$SM_CCo,12142,36.15,0.069,0,0,1647,400.08
$SM_GC,2.26,8.35,2.53,36.15,0.052,0.037,0.069,340,2107,1647,-8.65,-1.24,400.08,0,0,0,0,0,0,26.23,26.29,26.14
$RAFOS_CLK,587
$RAFOS,6,1343724544,8.833333,8.817778,42,42,42,42,41,41,1145,1632,1068,1685,579,755
$RAFOS,5,1343724065,8.700000,8.684722,48,42,42,41,41,40,1635,1025,1396,1299,673,1591
$RAFOS,4,1343723583,8.566667,8.550834,48,45,42,42,41,39,1831,727,1229,1799,368,558
$RAFOS,3,1343723102,8.433333,8.417222,52,50,46,41,39,39,589,61,925,394,553,1808
$RAFOS,2,1343722624,8.300000,8.284445,47,46,43,42,41,40,1162,728,412,366,1214,928
$RAFOS,1,1343722143,8.166667,8.150833,52,46,43,43,42,41,461,1890,822,604,1539,828
$RAFOS,0,1343721670,8.033334,8.019444,46,42,42,41,41,41,609,112,1335,309,677,1330
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5650.71,310712,040449
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.55
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.60
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.8,18.8
$24V_AH,23.1,28.029
$10V_AH,10.1,31.459
$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,20.825,111.025,328.900,36.150,0.000,0.000,0.000,302.750,4.500,0.000,16.110,3321.348,5881.986,557.526,2523.764,329.488,0.000,2049.828,0.000,2193.325,2520.000,17.854,0.000
$DEVICE_MAMPS,253.215,49.725,1261.485,68.850,0.000,0.000,0.000,273.401,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,934.536,898.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151600
$DATA_FILE_SIZE,60097,1309
$CAP_FILE_SIZE,144279,0
$CFSIZE,260165632,226828288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.9
$CURRENT,0.148, 84.8,1
$GPS,310712,104335,6702.613,-5657.993,37,0.9,37,-33.5