version: 66.11
glider: 192
mission: 2
dive: 277
start: 11 5 113 19 38 5
data:
$ID,192
$MISSION,2
$DIVE,277
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,0
$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,400
$T_MISSION,430
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1525.799
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,36
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-62.7798
$PRESSURE_SLOPE,0.0001164018
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,051113,193105,6703.058,-5653.274,27,1.2,27,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.0
$GPS2,051113,193719,6703.075,-5653.190,5,1.2,5,-33.5
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,134.0,3751,-15.5,-8.250,-18.49,2720
$D_GRID,567
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.89,-146.0,104,2517,1125,1072,0.0,0.0,0,111,0.00,0.00,-87.80,0.000,16386,0.000,0.000,102,2518,2902,2961,2843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,102,2517,2963,2843,3.6,-4.2,15,145,9.95,2.25,-9.57,0.000,18948,0.408,0.119,2213,1223,3339,3498,3180,0,0,0,0,0,0,14.12,14.42,14.75
$GC,372,-0.81,-146.0,2213,1223,3501,3178,63.1,-21.0,62,379,0.17,2.33,0.00,0.000,3078,0.275,0.122,2244,2504,3339,3501,3177,0,0,0,0,0,0,14.23,14.38,28.83
$GC,691,-0.74,-146.0,2244,2503,3501,3175,118.1,-15.3,112,699,0.00,2.28,0.00,0.000,260,0.000,0.133,2237,3767,3338,3501,3175,0,0,0,0,0,0,28.83,14.32,28.83
$GC,807,-0.68,-146.0,2237,3766,3501,3175,136.6,-16.3,123,817,0.20,2.17,0.00,0.000,3078,0.261,0.086,2290,2494,3338,3501,3175,0,0,0,0,0,0,14.18,14.50,28.83
$GC,1119,-0.65,-146.0,2290,2494,3501,3174,179.7,-14.1,154,1128,0.00,2.17,0.00,0.000,516,0.000,0.103,2290,1232,3337,3501,3174,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1197,-0.64,-146.0,1408,1231,3493,3171,190.3,-14.0,161,1205,0.00,2.30,0.00,0.000,1030,0.000,0.122,2283,2501,3337,3501,3174,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1507,-0.61,-146.0,2283,2501,3501,3174,231.6,-11.3,192,1515,0.00,2.30,0.00,0.000,260,0.000,0.135,2273,3775,3337,3501,3174,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1563,-0.58,-146.0,2274,3775,3501,3174,238.2,-12.0,197,1573,0.17,2.17,0.00,0.000,3078,0.249,0.084,2316,2498,3338,3501,3175,0,0,0,0,0,0,14.29,14.54,28.83
$GC,1875,-0.58,-146.0,2317,2498,3502,3174,270.0,-11.0,228,1884,0.00,2.20,0.00,0.000,516,0.000,0.102,2317,1229,3338,3502,3174,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1910,-0.58,-146.0,2317,1229,3502,3174,273.9,-11.2,231,1919,0.00,2.30,0.00,0.000,1030,0.000,0.118,2311,2505,3337,3502,3173,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2221,-0.58,-146.0,2311,2505,3502,3174,310.4,-11.4,262,2230,0.00,2.28,0.00,0.000,260,0.000,0.132,2301,3774,3338,3502,3174,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2280,-0.58,-146.0,1424,3773,3495,3171,317.1,-11.6,267,2287,0.00,2.15,0.00,0.000,1030,0.000,0.083,2301,2501,3338,3502,3175,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2589,-0.57,-146.0,2302,2501,3503,3175,348.6,-9.9,298,2598,0.00,2.20,0.00,0.000,516,0.000,0.099,2300,1228,3338,3503,3174,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2667,-0.57,-146.0,1424,1227,3496,3171,356.4,-10.5,305,2675,0.12,2.30,0.00,0.000,3078,0.262,0.117,2322,2506,3339,3504,3174,0,0,0,0,0,0,14.32,14.43,28.83
$GC,2977,-0.57,-146.0,2322,2506,3504,3175,386.0,-9.7,336,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2506,3339,3504,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.58,-146.0,2322,2506,3505,3175,415.9,-9.3,367,3297,0.00,2.25,0.00,0.000,260,0.000,0.131,2314,3764,3339,3505,3174,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3336,-0.58,-146.0,2314,3764,3505,3174,420.2,-9.0,371,3343,0.00,2.15,0.00,0.000,1030,0.000,0.084,2314,2495,3340,3505,3175,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3645,-0.58,-146.0,2314,2494,3506,3174,449.5,-9.4,402,3649,0.00,2.20,0.00,0.000,516,0.000,0.101,2313,1233,3340,3506,3175,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3680,-0.58,-146.0,2314,1232,3506,3174,452.9,-9.6,405,3690,0.00,2.30,0.00,0.000,1030,0.000,0.119,2307,2504,3340,3506,3174,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3992,-0.58,-146.0,2307,2505,3506,3175,482.9,-9.8,436,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2505,3340,3506,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4302,-0.58,-146.0,2307,2504,3506,3174,510.6,-8.9,467,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2504,3340,3506,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-0.67,-146.0,2307,2505,3507,3174,533.8,0.3,498,4627,0.00,2.30,0.00,0.000,260,0.000,0.137,2300,3770,3340,3507,3174,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,4734,end dive,NO_VERTICAL_VELOCITY
$STATE,4734,begin apogee
$GC,4749,-0.22,0.0,2300,2511,3506,3174,533.6,0.0,509,4910,0.43,0.00,149.77,2.348,10246,0.148,0.000,2436,2508,2742,2852,2632,0,0,0,0,0,0,14.40,28.83,12.87
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4917,0.89,146.0,2436,2508,2853,2633,533.3,0.0,526,5094,1.17,2.55,163.07,2.304,10500,0.155,0.129,2786,3780,2145,2239,2052,0,0,0,0,0,0,13.70,13.23,12.45
$GC,5225,0.90,203.1,2786,3780,2233,2051,530.3,6.1,556,5295,0.00,2.30,63.45,2.267,9222,0.000,0.086,2795,2505,1913,2009,1818,0,0,0,0,0,0,28.83,13.83,12.62
$GC,5607,0.85,203.1,2795,2505,2008,1809,480.5,13.0,595,5616,0.00,2.25,0.00,0.000,516,0.000,0.105,2804,1242,1908,2008,1809,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5644,0.81,203.1,2805,1242,2006,1807,475.7,13.3,598,5653,0.10,2.33,0.00,0.000,5126,0.221,0.117,2776,2520,1907,2008,1807,0,0,0,0,0,0,14.07,14.17,28.83
$GC,5955,0.78,203.1,2776,2520,2008,1806,438.8,11.7,629,5964,0.00,2.28,0.00,0.000,260,0.000,0.133,2776,3782,1907,2008,1806,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6011,0.74,203.1,2776,3782,2007,1805,431.5,13.6,634,6021,0.15,2.20,0.00,0.000,5126,0.248,0.089,2749,2507,1906,2007,1805,0,0,0,0,0,0,14.33,14.47,28.83
$GC,6323,0.74,203.1,2749,2507,2006,1804,400.7,9.1,665,6332,0.00,2.17,0.00,0.000,516,0.000,0.105,2756,1245,1906,2007,1805,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6381,0.74,203.1,1792,1245,1965,1800,395.5,9.4,670,6388,0.00,2.28,0.00,0.000,1030,0.000,0.117,2756,2517,1905,2006,1804,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6690,0.72,203.1,2756,2517,2007,1803,367.8,9.4,701,6699,0.00,2.22,0.00,0.000,516,0.000,0.107,2766,1238,1905,2007,1803,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6726,0.71,203.1,2766,1238,2007,1803,364.5,9.2,704,6736,0.00,2.25,0.00,0.000,1030,0.000,0.118,2766,2502,1905,2007,1803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7037,0.69,203.1,2765,2504,2007,1803,333.9,10.3,735,7047,0.12,2.30,0.00,0.000,4356,0.259,0.132,2732,3784,1905,2007,1803,0,0,0,0,0,0,14.42,14.38,28.83
$GC,7074,0.68,203.1,2732,3783,2007,1802,330.1,10.4,738,7078,0.00,2.20,0.00,0.000,1030,0.000,0.087,2739,2498,1904,2007,1802,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7390,0.68,203.1,2740,2497,2007,1802,300.9,8.9,769,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2497,1905,2007,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7705,0.68,203.1,2739,2498,2007,1802,273.9,8.5,800,7715,0.00,2.17,0.00,0.000,516,0.000,0.106,2749,1243,1904,2007,1802,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7734,0.68,203.1,2749,1243,2006,1802,271.3,8.6,802,7741,0.00,2.28,0.00,0.000,1030,0.000,0.118,2749,2512,1904,2007,1802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8043,0.68,203.1,2749,2513,2007,1802,243.6,8.7,833,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2513,1904,2007,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,0.68,203.1,2749,2513,2007,1802,213.3,10.7,864,8369,0.00,2.30,0.00,0.000,260,0.000,0.134,2748,3785,1904,2007,1801,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8395,0.68,203.1,2749,3785,2007,1802,208.6,10.7,867,8404,0.00,2.15,0.00,0.000,1030,0.000,0.087,2758,2517,1904,2007,1802,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8706,0.68,203.1,2758,2517,2006,1802,177.5,8.6,898,8715,0.00,2.25,0.00,0.000,516,0.000,0.105,2767,1237,1904,2007,1801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8753,0.68,203.1,2767,1237,2007,1801,173.4,9.0,902,8762,0.10,2.28,0.00,0.000,5126,0.201,0.116,2737,2511,1904,2007,1801,0,0,0,0,0,0,14.31,14.41,28.83
$GC,9065,0.69,203.1,2737,2510,2007,1801,147.4,9.1,933,9074,0.00,2.28,0.00,0.000,260,0.000,0.132,2737,3778,1904,2007,1801,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9112,0.69,203.1,2737,3778,2007,1801,143.2,9.5,937,9121,0.00,2.15,0.00,0.000,1030,0.000,0.086,2744,2505,1903,2007,1800,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9423,0.73,217.6,2744,2505,2007,1801,119.1,7.7,968,9438,0.00,0.00,8.05,1.688,8198,0.000,0.000,2744,2505,1854,1956,1752,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9749,0.75,220.1,2744,2505,1956,1752,92.5,8.2,1008,9756,0.00,0.00,1.45,0.493,8198,0.000,0.000,2743,2504,1844,1946,1742,0,0,0,0,0,0,28.83,28.83,14.02
$GC,10070,0.80,236.9,2744,2505,1946,1742,68.5,7.6,1069,10088,0.00,2.25,9.48,0.379,8708,0.000,0.106,2752,1243,1775,1874,1676,0,0,0,0,0,0,28.83,14.45,14.19
$GC,10135,0.85,249.5,1760,1243,1834,1672,63.9,7.8,1080,10149,0.00,2.28,7.40,0.366,9222,0.000,0.117,2751,2510,1722,1818,1627,0,0,0,0,0,0,28.83,14.46,14.20
$GC,10468,1.02,338.5,1728,2508,1778,1623,42.3,4.9,1142,10524,0.22,2.38,49.50,0.282,10500,0.116,0.135,2838,3782,1358,1439,1278,0,0,0,0,0,0,14.47,14.45,14.29
$GC,10576,1.00,338.5,2839,3782,1434,1278,31.8,10.8,1159,10583,0.00,2.20,0.00,0.000,1030,0.000,0.089,2848,2504,1355,1434,1277,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,10808,end climb,SURFACE_DEPTH_REACHED
$STATE,10808,begin surface coast
$FINISH,1.3,1.025740
$STATE,10825,end surface coast,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$SM_CCo,10854,31.38,0.159,0,0,1108,400.08
$SM_GC,1.88,8.12,0.00,31.38,0.097,0.000,0.159,140,2502,1108,-7.36,0.06,400.08,0,0,0,0,0,0,14.47,28.83,14.37
$RAFOS_CLK,471
$RAFOS,6,1383684551,20.833334,20.819723,69,67,65,58,58,58,224,205,193,178,146,824
$RAFOS,5,1383684071,20.700001,20.686388,68,67,56,54,54,52,207,188,221,151,631,178
$RAFOS,4,1383683586,20.566668,20.551666,66,61,56,55,52,51,139,180,196,166,215,151
$RAFOS,3,1383683106,20.433332,20.418333,70,59,58,57,57,51,201,184,225,169,145,357
$RAFOS,2,1383682627,20.299999,20.285278,71,63,58,58,52,51,190,131,172,107,157,120
$RAFOS,1,1383682144,20.166666,20.151112,62,61,57,57,54,52,170,211,136,157,184,145
$RAFOS,0,1383681665,20.033333,20.018055,60,57,56,53,53,51,181,157,223,205,138,170
$RAFOS_FIX,6659.508301,-5718.634277,041113,121244,3,105,0.55
$IRIDIUM_FIX,6631.12,-5701.34,051113,161654
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.14
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.30
$XPDR_PINGS,59
$24V_AH,12.5,120.940
$10V_AH,12.8,0.000
$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,21.050,99.075,452.175,31.375,0.000,0.000,0.000,211.325,14.750,0.000,6.737,2920.522,4908.106,631.197,2137.843,667.733,0.000,1941.210,0.000,1945.979,2520.000,0.539,0.000
$DEVICE_MAMPS,407.745,136.935,2347.785,159.120,0.000,0.000,0.000,149.940,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.645,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150764
$DATA_FILE_SIZE,53329,1207
$CAP_FILE_SIZE,129569,0
$CFSIZE,259252224,229859328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.6
$CURRENT,0.118, 77.5,1
$GPS,051113,224105,6702.870,-5647.802,29,1.0,29,-33.5