version: 66.11
glider: 192
mission: 2
dive: 552
start: 12 29 113 7 11 17
data:
$ID,192
$MISSION,2
$DIVE,552
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,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,1.0275
$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,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,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-12223.014
$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,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,16
$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,10
$MINV_10V,9.5
$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,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,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$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
$GPS1,291213,065135,6616.899,-5814.868,39,0.8,39,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-22.9
$GPS2,291213,071035,6616.570,-5814.966,30,1.2,30,-32.9
$SPEED_LIMITS,0.143,0.247
$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,15.8,108488,-15.5,-8.250,-18.49,2720
$D_GRID,592
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,20,-0.89,-146.0,142,2513,1160,1032,0.0,0.0,0,165,0.00,0.00,-139.80,0.000,16390,0.000,0.000,141,2513,3336,3509,3164,0,0,0,0,0,0,28.83,28.83,14.62
$GC,173,-0.89,-146.0,142,2513,3510,3164,1.1,0.1,24,187,7.68,1.60,0.00,0.000,2564,0.239,0.097,2219,1650,3337,3510,3164,0,0,0,0,0,0,13.81,14.12,28.83
$GC,428,-0.82,-146.0,2219,1650,3510,3164,1.0,0.4,71,435,0.12,1.58,0.00,0.000,3078,0.302,0.106,2239,2506,3337,3510,3165,0,0,0,0,0,0,13.74,13.99,28.83
$GC,751,-0.75,-146.0,2239,2507,3510,3164,1.0,0.5,132,759,0.12,1.55,0.00,0.000,2564,0.315,0.093,2270,1649,3337,3510,3164,0,0,0,0,0,0,13.81,13.99,28.83
$GC,998,-0.67,-146.0,1408,1647,3503,3161,1.1,-0.4,178,1005,0.00,1.58,0.00,0.000,1030,0.000,0.106,2266,2505,3337,3510,3164,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1318,-0.60,-146.0,2265,2505,3510,3164,1.0,0.2,239,1326,0.17,1.55,0.00,0.000,2564,0.288,0.093,2308,1654,3337,3510,3164,0,0,0,0,0,0,13.62,13.95,28.83
$GC,1567,-0.53,-146.0,2308,1654,3511,3164,1.0,0.0,285,1575,0.15,1.58,0.00,0.000,3078,0.298,0.106,2334,2505,3337,3510,3164,0,0,0,0,0,0,13.58,13.89,28.83
$GC,1895,-0.45,-146.0,2334,2505,3510,3164,0.9,0.4,346,1902,0.00,1.55,0.00,0.000,516,0.000,0.096,2334,1651,3337,3510,3164,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2141,-0.38,-146.0,2334,1651,3510,3164,1.0,0.4,392,2149,0.22,1.58,0.00,0.000,3078,0.269,0.106,2380,2505,3337,3511,3164,0,0,0,0,0,0,13.54,13.87,28.83
$GC,2467,-0.30,-146.0,2380,2505,3510,3164,1.0,-0.5,453,2475,0.12,1.55,0.00,0.000,2564,0.308,0.093,2410,1653,3337,3511,3164,0,0,0,0,0,0,13.78,13.90,28.83
$GC,2714,-0.23,-146.0,2411,1653,3511,3164,1.0,-0.2,499,2721,0.00,1.58,0.00,0.000,1030,0.000,0.106,2406,2506,3337,3510,3165,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3036,-0.16,-146.0,1488,2504,3503,3161,1.1,-0.3,560,3045,0.20,1.55,0.00,0.000,2564,0.301,0.093,2452,1660,3337,3510,3164,0,0,0,0,0,0,13.42,13.88,28.83
$GC,3282,-0.16,-146.0,2452,1660,3510,3164,1.0,-0.6,606,3288,0.00,1.55,0.00,0.000,1030,0.000,0.102,2448,2501,3337,3510,3164,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3610,-0.09,-146.0,2448,2502,3511,3164,1.0,-0.2,667,3618,0.12,1.55,0.00,0.000,2564,0.315,0.092,2476,1650,3337,3510,3164,0,0,0,0,0,0,13.70,13.86,28.83
$GC,3857,-0.01,-146.0,2476,1650,3510,3164,0.9,-0.1,713,3864,0.15,1.58,0.00,0.000,3078,0.288,0.106,2501,2500,3337,3511,3164,0,0,0,0,0,0,13.53,13.83,28.83
$GC,4181,-0.01,-146.0,2501,2500,3511,3164,1.0,-1.5,774,4188,0.00,1.52,0.00,0.000,516,0.000,0.096,2501,1651,3337,3510,3164,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4426,0.06,-146.0,2501,1651,3510,3164,1.0,0.0,820,4434,0.12,1.58,0.00,0.000,3078,0.298,0.106,2520,2502,3337,3510,3164,0,0,0,0,0,0,13.54,13.81,28.83
$GC,4755,0.13,-146.0,2520,2502,3510,3164,1.0,0.2,881,4762,0.12,1.52,0.00,0.000,2564,0.314,0.091,2550,1659,3337,3511,3164,0,0,0,0,0,0,13.69,13.85,28.83
$GC,5000,0.21,-146.0,2551,1659,3511,3164,1.0,0.2,927,5007,0.00,1.55,0.00,0.000,1030,0.000,0.101,2546,2500,3337,3510,3165,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5328,0.28,-146.0,2546,2500,3510,3164,1.0,0.0,988,5335,0.17,1.55,0.00,0.000,2564,0.291,0.092,2588,1653,3337,3510,3164,0,0,0,0,0,0,13.50,13.86,28.83
$GC,5575,0.36,-146.0,2588,1653,3510,3164,1.0,0.0,1034,5583,0.15,1.58,0.00,0.000,3078,0.285,0.105,2614,2500,3337,3510,3164,0,0,0,0,0,0,13.50,13.80,28.83
$GC,5903,0.43,-146.0,2614,2501,3511,3164,1.0,-0.4,1095,5911,0.12,1.55,0.00,0.000,2564,0.315,0.091,2645,1652,3337,3511,3164,0,0,0,0,0,0,13.68,13.83,28.83
$GC,6150,0.50,-146.0,2645,1651,3511,3164,1.0,0.4,1141,6156,0.00,1.58,0.00,0.000,1030,0.000,0.105,2640,2501,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6478,0.57,-146.0,2640,2501,3511,3164,1.1,-0.5,1202,6485,0.17,1.55,0.00,0.000,2564,0.298,0.090,2681,1650,3337,3510,3164,0,0,0,0,0,0,13.48,13.85,28.83
$GC,6726,0.65,-146.0,2681,1650,3511,3164,1.0,-0.4,1248,6733,0.15,1.58,0.00,0.000,3078,0.288,0.103,2707,2500,3337,3510,3164,0,0,0,0,0,0,13.50,13.80,28.83
$GC,7053,0.72,-146.0,1696,2498,3503,3161,0.9,0.1,1309,7062,0.12,1.55,0.00,0.000,2564,0.311,0.090,2738,1649,3337,3510,3164,0,0,0,0,0,0,13.71,13.84,28.83
$GC,7304,0.79,-146.0,2738,1649,3510,3165,1.0,-0.3,1355,7310,0.00,1.60,0.00,0.000,1030,0.000,0.105,2733,2506,3337,3511,3164,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7624,0.87,-146.0,2733,2506,3510,3164,1.0,-0.2,1416,7631,0.17,1.55,0.00,0.000,2564,0.302,0.090,2774,1660,3337,3510,3164,0,0,0,0,0,0,13.45,13.84,28.83
$GC,7872,0.94,-146.0,2774,1659,3511,3164,1.1,-0.1,1462,7880,0.17,1.55,0.00,0.000,3078,0.274,0.100,2806,2500,3337,3510,3164,0,0,0,0,0,0,13.47,13.80,28.83
$GC,8200,1.02,-146.0,2806,2500,3510,3164,1.0,-0.0,1523,8208,0.00,1.52,0.00,0.000,516,0.000,0.094,2806,1660,3337,3510,3164,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8447,1.09,-146.0,2807,1659,3511,3164,1.0,-0.5,1569,8454,0.22,1.55,0.00,0.000,3078,0.276,0.101,2851,2501,3337,3511,3163,0,0,0,0,0,0,13.40,13.78,28.83
$GC,8774,1.16,-146.0,2851,2501,3511,3164,1.0,0.0,1630,8781,0.00,1.52,0.00,0.000,516,0.000,0.094,2851,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9018,1.16,-146.0,2851,1659,3510,3164,0.9,0.0,1676,9026,0.15,1.55,0.00,0.000,3078,0.294,0.101,2875,2501,3337,3510,3164,0,0,0,0,0,0,13.45,13.78,28.83
$GC,9347,1.24,-146.0,2876,2501,3511,3163,1.0,0.1,1737,9355,0.00,1.52,0.00,0.000,516,0.000,0.094,2877,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9594,1.31,-146.0,2876,1659,3510,3164,1.1,-0.2,1783,9601,0.22,1.55,0.00,0.000,3078,0.272,0.100,2921,2499,3337,3510,3164,0,0,0,0,0,0,13.40,13.78,28.83
$GC,9922,1.39,-146.0,2920,2499,3511,3164,1.0,-0.1,1844,9929,0.12,1.55,0.00,0.000,2564,0.322,0.090,2950,1654,3337,3511,3164,0,0,0,0,0,0,13.69,13.82,28.83
$GC,10168,1.46,-146.0,2950,1654,3510,3164,1.0,0.3,1890,10175,0.00,1.58,0.00,0.000,1030,0.000,0.104,2946,2499,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10501,1.53,-146.0,2946,2498,3510,3164,1.0,0.3,1951,10509,0.20,1.55,0.00,0.000,2564,0.294,0.090,2992,1654,3337,3511,3164,0,0,0,0,0,0,13.38,13.82,28.83
$GC,10749,1.61,-146.0,2993,1654,3510,3164,1.0,0.2,1997,10756,0.15,1.58,0.00,0.000,3078,0.291,0.105,3017,2501,3337,3510,3164,0,0,0,0,0,0,13.45,13.76,28.83
$GC,11078,1.61,-146.0,3018,2502,3510,3164,0.9,0.4,2058,11086,0.00,1.55,0.00,0.000,516,0.000,0.093,3018,1651,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11325,1.61,-146.0,3018,1651,3510,3164,1.0,-0.2,2104,11332,0.00,1.58,0.00,0.000,1030,0.000,0.103,3013,2500,3337,3511,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11651,1.61,-146.0,2000,2498,3502,3161,1.0,0.2,2165,11657,0.00,1.55,0.00,0.000,516,0.000,0.093,3013,1650,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11895,1.61,-146.0,2048,1649,3503,3161,0.9,0.2,2211,11903,0.00,1.60,0.00,0.000,1030,0.000,0.103,3007,2507,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,12224,1.61,-146.0,3007,2508,3510,3164,1.0,-0.0,2272,12232,0.00,1.55,0.00,0.000,516,0.000,0.093,3007,1658,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,12471,1.61,-146.0,2048,1657,3503,3161,0.9,0.6,2318,12477,0.00,1.55,0.00,0.000,1030,0.000,0.100,3001,2500,3337,3511,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12799,1.61,-146.0,1984,2498,3502,3161,1.0,0.1,2379,12806,0.00,1.52,0.00,0.000,516,0.000,0.093,3001,1653,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.07,-3.416,-0.564,2,1,0
$GC,12923,-0.22,0.0,2994,2517,3510,3164,0.9,0.0,2400,12935,1.67,0.00,7.22,0.179,12290,0.094,0.000,2439,2517,3279,3455,3104,0,0,0,0,0,0,13.91,28.83,28.83
$STATE,12936,end apogee,SURFACE_DEPTH_REACHED
$STATE,12936,begin surface coast
$FREEZE,0.95,-3.415,-0.564,2,1,0
$FREEZE,1.07,-3.415,-0.564,2,1,0
$FREEZE,0.96,-3.415,-0.565,2,1,0
$FREEZE,0.96,-3.415,-0.565,2,1,0
$FREEZE,1.00,-3.414,-0.565,2,1,0
$FREEZE,0.98,-3.415,-0.565,2,1,0
$FREEZE,0.92,-3.415,-0.565,2,1,0
$FREEZE,1.09,-3.414,-0.566,2,1,0
$FREEZE,0.98,-3.414,-0.566,2,1,0
$FREEZE,1.03,-3.414,-0.566,2,1,0
$FREEZE,1.05,-3.414,-0.566,2,1,0
$FREEZE,0.94,-3.414,-0.567,2,1,0
$FREEZE,0.92,-3.414,-0.567,2,1,0
$FREEZE,1.01,-3.414,-0.567,2,1,0
$FREEZE,0.99,-3.414,-0.567,2,1,0
$FREEZE,1.11,-3.414,-0.567,2,1,0
$FINISH,1.1,1.008112
$STATE,13033,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13033,begin surface
$SM_CCo,13061,274.92,0.163,0,0,1108,400.08
$SM_GC,1.13,7.03,0.00,274.92,0.086,0.000,0.163,138,2517,1108,-7.36,0.48,400.08,0,0,0,0,0,0,14.00,28.83,13.95
$RAFOS_CLK,663
$RAFOS,6,1388306942,8.833333,8.817223,56,55,50,50,49,49,175,201,127,218,162,189
$RAFOS,5,1388306463,8.700000,8.684167,63,59,55,55,55,54,212,195,152,130,143,170
$RAFOS,4,1388305984,8.566667,8.551111,61,59,58,58,55,55,206,174,192,224,128,157
$RAFOS,3,1388305508,8.433333,8.418889,59,59,59,58,56,53,191,200,648,162,118,213
$RAFOS,2,1388305022,8.300000,8.283889,62,56,55,55,54,54,151,163,120,223,193,203
$RAFOS,1,1388304547,8.166667,8.151944,62,61,55,54,53,51,193,209,157,182,173,141
$RAFOS,0,1388304064,8.033334,8.017777,69,64,55,53,52,52,216,161,193,128,203,178
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6553.70,-5804.23,291213,030330
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.51
$INTERNAL_PRESSURE,8.60578
$TCM_TEMP,11.90
$XPDR_PINGS,23
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,13.4,234.661
$10V_AH,13.4,0.000
$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,20.350,71.725,7.225,274.925,0.000,0.000,0.000,733.375,6.000,0.000,31.346,6015.989,2630.019,588.445,4022.219,1193.810,0.000,2933.579,0.000,3426.903,2520.000,2.815,0.000
$DEVICE_MAMPS,322.065,106.335,179.010,162.945,0.000,0.000,0.000,165.240,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1732.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150640
$DATA_FILE_SIZE,96453,2417
$CAP_FILE_SIZE,195967,0
$CFSIZE,259252224,207814656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.527,173.7,1
$GPS,291213,105505,6612.786,-5814.033,33,1.6,34,-32.9