version: 66.13
glider: 198
mission: 13
dive: 89
start: 10 11 118 21 12 13
data:
$ID,198
$MISSION,13
$DIVE,89
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,390
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026
$HD_B,0.0129
$HD_C,2.4999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,25200
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2405
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.32826
$PRESSURE_SLOPE,0.00010704
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,111018,203359,7508.9712,-14528.9512,0,9255.0,0,22.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.04
$_SM_ANGLEo,-10.8
$GPS2,111018,203359,7508.9712,-14528.9512,0,9255.0,0,22.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.221
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,218.0,103850,-15.3,-8.462,-20.95,2646
$D_GRID,990
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-1.01,-146.0,2524,2233,1512,1736,0.0,0.0,0,55,0.00,0.00,-43.62,0.005,16390,0.000,0.000,2523,2233,3452,3428,3476,0,0,0,0,0,0,14.34,13.30,14.37
$GC,57,-1.01,-146.0,2524,2233,3429,3477,16.0,-6.2,4,62,1.12,2.38,0.00,0.000,4612,0.128,0.079,2162,861,3453,3431,3476,0,0,0,0,0,0,14.12,14.15,14.19
$GC,286,-1.01,-146.0,2163,862,3429,3477,68.1,-18.6,50,293,0.00,2.50,0.00,0.000,1030,0.000,0.086,2154,2261,3451,3427,3476,0,0,0,0,0,0,14.28,14.21,14.31
$GC,477,-1.01,-146.0,2155,2262,3428,3476,99.0,-14.8,70,484,0.00,2.47,0.00,0.000,516,0.000,0.081,2153,859,3451,3427,3476,0,0,0,0,0,0,14.46,14.24,14.48
$GC,603,-1.01,-146.0,2154,859,3428,3477,117.6,-14.7,95,610,0.00,2.47,0.00,0.000,1030,0.000,0.083,2152,2254,3452,3427,3477,0,0,0,0,0,0,14.33,14.27,14.37
$GC,788,-1.01,-146.0,2153,2254,3428,3477,142.6,-12.9,114,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2255,3451,3427,3476,0,0,0,0,0,0,14.52,14.54,14.54
$GC,968,-1.01,-146.0,2152,2255,3428,3477,165.5,-12.6,132,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2254,3452,3427,3477,0,0,0,0,0,0,14.54,14.57,14.57
$GC,1148,-1.01,-146.0,2152,2254,3428,3477,187.4,-12.0,150,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2254,3451,3427,3476,0,0,0,0,0,0,14.57,14.60,14.59
$GC,1328,-1.01,-146.0,2152,2255,3428,3477,208.7,-11.8,168,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3451,3427,3476,0,0,0,0,0,0,14.60,14.62,14.61
$GC,1508,-1.01,-146.0,2152,2255,3428,3477,229.1,-11.2,186,1515,0.00,2.42,0.00,0.000,516,0.000,0.079,2152,864,3451,3426,3477,0,0,0,0,0,0,14.60,14.39,14.62
$GC,1544,-1.01,-146.0,2152,864,3427,3477,233.4,-11.8,193,1551,0.00,2.45,0.00,0.000,1030,0.000,0.082,2152,2261,3451,3426,3476,0,0,0,0,0,0,14.42,14.36,14.45
$GC,1729,-1.01,-146.0,2153,2262,3428,3476,253.2,-10.2,210,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2261,3451,3427,3476,0,0,0,0,0,0,14.63,14.65,14.65
$GC,2029,-1.01,-146.0,2152,2262,3427,3477,282.3,-9.3,220,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2262,3451,3426,3476,0,0,0,0,0,0,14.66,14.69,14.69
$GC,2329,-1.01,-146.0,2152,2262,3427,3477,308.9,-8.7,230,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2262,3451,3426,3476,0,0,0,0,0,0,14.69,14.72,14.71
$GC,2629,-1.01,-146.0,2153,2262,3428,3477,334.2,-8.4,240,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2262,3451,3426,3476,0,0,0,0,0,0,14.69,14.73,14.73
$GC,2929,-1.01,-146.0,2153,2262,3427,3477,358.7,-8.1,250,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2262,3449,3426,3473,0,0,0,0,0,0,14.72,14.76,14.75
$GC,3229,-1.01,-146.0,2153,2262,3428,3477,382.6,-7.9,260,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2262,3451,3426,3477,0,0,0,0,0,0,14.74,14.76,14.76
$GC,3529,-1.01,-146.0,2153,2262,3427,3477,405.8,-7.7,270,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2262,3451,3426,3476,0,0,0,0,0,0,14.74,14.77,14.76
$GC,3829,-1.01,-146.0,2152,2262,3427,3477,428.4,-7.5,280,3835,0.00,2.42,0.00,0.000,516,0.000,0.076,2152,853,3450,3425,3476,0,0,0,0,0,0,14.76,14.49,14.78
$GC,3873,-1.01,-146.0,2153,853,3426,3477,432.0,-8.0,289,3880,0.00,2.42,0.00,0.000,1030,0.000,0.080,2152,2256,3451,3426,3477,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4189,-1.01,-146.0,2153,2256,3427,3477,455.3,-7.4,302,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2255,3451,3426,3476,0,0,0,0,0,0,14.75,14.78,14.76
$GC,4489,-1.01,-146.0,2153,2256,3427,3477,477.2,-7.2,312,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3450,3425,3476,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4789,-1.01,-146.0,2153,2256,3427,3477,498.5,-7.0,322,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2260,3451,3426,3476,0,0,0,0,0,0,14.76,14.79,14.78
$GC,5089,-1.01,-146.0,2153,2256,3428,3477,519.5,-7.0,332,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2255,3451,3427,3476,0,0,0,0,0,0,14.76,14.79,14.79
$GC,5389,-1.01,-146.0,2152,2256,3427,3477,540.7,-7.1,342,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2255,3451,3427,3476,0,0,0,0,0,0,14.77,14.80,14.80
$GC,5689,-1.01,-146.0,2153,2256,3429,3477,561.7,-7.0,352,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3452,3428,3476,0,0,0,0,0,0,14.78,14.81,14.80
$GC,5989,-1.01,-146.0,2152,2256,3428,3477,582.9,-7.1,362,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2255,3452,3428,3476,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6289,-1.01,-146.0,2152,2256,3429,3477,604.0,-7.1,372,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2255,3452,3428,3477,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6589,-1.01,-146.0,2153,2256,3429,3477,625.3,-7.1,382,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3452,3428,3477,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6889,-1.01,-146.0,2152,2256,3428,3477,646.7,-7.1,392,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3453,3429,3478,0,0,0,0,0,0,14.78,14.82,14.81
$GC,7189,-1.01,-146.0,2152,2260,3429,3477,668.1,-7.1,402,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3452,3428,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,7489,-1.01,-146.0,2152,2256,3429,3477,689.2,-7.0,412,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2256,3452,3428,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,7789,-1.01,-146.0,2153,2256,3430,3477,710.3,-7.0,422,7796,0.00,2.58,0.00,0.000,260,0.000,0.129,2152,3657,3453,3429,3477,0,0,0,0,0,0,14.79,14.53,14.81
$GC,7840,-1.01,-146.0,2152,3658,3429,3477,714.1,-7.4,432,7846,0.00,2.35,0.00,0.000,1030,0.000,0.051,2152,2244,3452,3428,3476,0,0,0,0,0,0,14.65,14.62,14.67
$GC,8150,-1.01,-146.0,2153,2244,3430,3477,735.6,-6.8,444,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2243,3453,3429,3477,0,0,0,0,0,0,14.79,14.82,14.81
$GC,8450,-1.01,-146.0,2152,2244,3429,3477,755.8,-6.7,454,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2243,3452,3428,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,8750,-1.01,-146.0,2153,2244,3430,3477,775.7,-6.6,464,8756,0.00,2.58,0.00,0.000,260,0.000,0.127,2147,3669,3453,3429,3477,0,0,0,0,0,0,14.78,14.54,14.81
$GC,8830,-1.01,-146.0,2148,3670,3430,3477,781.5,-7.3,480,8836,0.00,2.38,0.00,0.000,1030,0.000,0.051,2147,2236,3453,3429,3477,0,0,0,0,0,0,14.65,14.62,14.67
$GC,9140,-1.01,-146.0,2147,2236,3430,3477,802.8,-6.9,492,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2235,3452,3429,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,9440,-1.01,-146.0,2146,2236,3430,3477,823.0,-6.6,502,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2236,3453,3429,3477,0,0,0,0,0,0,14.79,14.82,14.82
$GC,9740,-1.01,-146.0,2147,2236,3430,3477,842.9,-6.7,512,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2235,3452,3429,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,10040,-1.01,-146.0,2147,2236,3430,3477,862.8,-6.6,522,10047,0.00,2.62,0.00,0.000,260,0.000,0.130,2144,3661,3452,3429,3476,0,0,0,0,0,0,14.79,14.53,14.82
$GC,10100,-1.01,-146.0,2143,3662,3430,3477,867.0,-6.9,531,10106,0.00,2.35,0.00,0.000,1030,0.000,0.055,2144,2254,3452,3429,3476,0,0,0,0,0,0,14.60,14.57,14.63
$GC,10415,-1.01,-146.0,2145,2254,3430,3476,888.2,-6.7,544,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2254,3452,3429,3476,0,0,0,0,0,0,14.70,14.73,14.73
$GC,10715,-1.01,-146.0,2147,2254,3430,3477,908.2,-6.7,554,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2254,3452,3429,3476,0,0,0,0,0,0,14.66,14.69,14.69
$GC,11015,-1.01,-146.0,2144,2254,3430,3477,928.4,-6.8,564,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2254,3452,3429,3476,0,0,0,0,0,0,14.64,14.67,14.67
$GC,11315,-1.01,-146.0,2141,2254,3430,3477,948.3,-6.7,574,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2253,3452,3429,3476,0,0,0,0,0,0,14.62,14.67,14.65
$GC,11615,-1.01,-146.0,2145,2254,3429,3477,968.4,-6.7,584,11621,0.00,2.62,0.00,0.000,260,0.000,0.131,2144,3665,3453,3429,3477,0,0,0,0,0,0,14.62,14.36,14.64
$GC,11695,-1.01,-146.0,2144,3666,3430,3477,974.0,-7.2,600,11701,0.00,2.40,0.00,0.000,1030,0.000,0.056,2144,2240,3452,3429,3476,0,0,0,0,0,0,14.48,14.45,14.50
$STATE,11944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11944,begin apogee
$GC,11947,-0.25,0.0,2145,2601,3430,3477,990.7,-6.6,610,12089,0.75,0.00,139.40,2.378,10246,0.236,0.000,2349,2601,2854,2702,3007,0,0,0,0,0,0,14.31,13.56,12.75
$STATE,12090,end apogee,CONTROL_FINISHED_OK
$STATE,12090,begin climb
$GC,12092,1.01,146.0,2350,2601,2701,3007,992.7,0.0,614,12239,1.02,0.00,144.18,2.312,10246,0.153,0.000,2650,2603,2257,2067,2448,0,0,0,0,0,0,13.51,12.95,12.19
$MODEM_MSG,CACST,6,1,20181012000603.602893,18,42,10,0079,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*05
$MODEM_MSG,CACST,6,1,20181012001530.224352,18,18321,36,0328,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3A
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$FREEZE,9.75,-1.418,-1.471,2,3,0
$STATE,22306,end climb,FINISH_DEPTH_REACHED
$STATE,22306,begin subsurface finish
$FINISH1,9.8,1.021585,302
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$FINISH2,8.8
$STATE,22331,end subsurface finish,CONTROL_FINISHED_OK
$STATE,22331,begin surface
$RAFOS_CLK,661
$MODEM,3,1539303330,75.50000,-144.13333,30.224,43887.3
$MODEM,1,1539302763,74.43333,-147.95000,63.603,92354.6
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$IRIDIUM_FIX,7511.48,-14616.26,111018,083001
$TT8_MAMPS,0.038948,0.422436
$HUMID,51.81
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.8
$SC_FREEKB,3955200
$24V_AH,12.19,42.248
$10V_AH,12.71,0.000
$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,6.325,103.150,484.550,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,18919.926,676.034,2704.159,150.560,0.000,1695.666,0.000,1943.407,2158.000,2.519,0.000
$DEVICE_MAMPS,324.360,140.760,2378.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.720,28.700,35.440,0.000,11.000,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.902,0.000,0.000,0.000
$MEM,326364
$DATA_FILE_SIZE,46620,1358
$CAP_FILE_SIZE,159717,0
$CFSIZE,260157440,246001664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$CURRENT,0.738,323.63,1
$GPS,121018,001530,7511.158,-14547.146,0,8255.0,0,22.7,0.0,0.0,0,0.0