version: 66.13
glider: 221
mission: 7
dive: 299
start: 4 22 118 17 36 44
data:
$ID,221
$MISSION,7
$DIVE,299
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,150
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,300
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,2
$EXEC_DT,0
$EXEC_T,10011800
$EXEC_N,6
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00184
$HD_B,0.0133
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3600
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,0
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$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,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220418,151304,-7401.5566,-11232.1895,0,4130.0,0,53.1,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.09
$_SM_ANGLEo,2.0
$GPS2,220418,151304,-7401.5566,-11232.1895,0,4130.0,0,53.1,0.0,0.0,0,0.0
$SPEED_LIMITS,0.083,0.174
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,88.0,5817,-17.0,-8.333,-25.60,1830
$D_GRID,750
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.91,-107.1,2740,2792,3589,3594,0.0,0.0,0,21,0.00,0.00,-11.10,0.010,16390,0.000,0.000,2739,2792,3963,3954,3972,0,0,0,0,0,0,14.84,12.76,14.78
$GC,23,-0.91,-107.1,2740,2792,3956,3976,0.0,0.0,0,29,0.95,2.40,0.00,0.000,4612,0.135,0.050,2441,1386,3969,3960,3978,0,0,0,0,0,0,14.26,14.45,14.39
$PING,10.3,11.4,9000.0,0.00,0.00
$GC,82,-0.91,-107.1,2440,1386,3965,3980,13.6,-7.0,9,91,0.00,2.55,0.00,0.000,1030,0.000,0.067,2440,2800,3972,3964,3980,0,0,0,0,0,0,14.54,14.40,14.59
$PING,20.9,21.9,9000.0,0.00,0.00
$PING,32.3,33.9,33.8,1.02,1.00
$PING,42.7,45.0,44.9,1.05,1.00
$GC,441,-0.91,-107.1,2440,2801,3966,3982,45.4,-9.5,24,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2800,3973,3965,3982,0,0,0,0,0,0,14.87,14.88,14.88
$GC,775,-0.91,-107.1,2440,2801,3967,3982,79.1,-9.3,36,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2800,3973,3965,3982,0,0,0,0,0,0,14.88,14.89,14.88
$GC,1111,-0.91,-107.1,2440,2802,3966,3983,107.9,-9.6,48,1118,0.00,2.05,0.00,0.000,260,0.000,0.091,2440,3915,3973,3965,3982,0,0,0,0,0,0,14.89,14.32,14.89
$GC,1146,-0.91,-107.1,2440,3915,3966,3984,111.8,-11.4,53,1154,0.00,1.95,0.00,0.000,1030,0.000,0.050,2440,2784,3973,3965,3982,0,0,0,0,0,0,14.61,14.54,14.64
$GC,1504,-0.91,-107.1,2440,2788,3967,3983,148.2,-9.7,68,1511,0.00,2.42,0.00,0.000,516,0.000,0.050,2440,1396,3974,3965,3983,0,0,0,0,0,0,14.87,14.41,14.87
$GC,1567,-0.91,-107.1,2440,1396,3967,3983,154.4,-9.6,77,1575,0.00,2.55,0.00,0.000,1030,0.000,0.069,2440,2805,3974,3965,3983,0,0,0,0,0,0,14.52,14.37,14.56
$GC,1926,-0.91,-107.1,2440,2805,3967,3983,188.9,-9.7,92,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2805,3974,3965,3983,0,0,0,0,0,0,14.78,14.78,14.79
$GC,2289,-0.91,-107.1,2440,2805,3967,3983,222.8,-9.4,101,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2805,3974,3965,3983,0,0,0,0,0,0,14.79,14.79,14.78
$GC,2623,-0.91,-107.1,2439,2804,3967,3984,254.2,-9.1,107,2634,0.00,2.47,0.00,0.000,516,0.000,0.050,2440,1394,3974,3966,3983,0,0,0,0,0,0,14.91,14.41,14.90
$GC,2666,-0.91,-107.1,2440,1399,3966,3984,258.1,-9.2,113,2675,0.00,2.58,0.00,0.000,1030,0.000,0.070,2440,2813,3974,3965,3983,0,0,0,0,0,0,14.52,14.37,14.57
$GC,3017,-0.91,-107.1,2440,2813,3966,3983,290.3,-9.3,121,3025,0.00,2.03,0.00,0.000,260,0.000,0.093,2440,3914,3974,3965,3984,0,0,0,0,0,0,14.80,14.24,14.80
$GC,3051,-0.91,-107.1,2440,3915,3966,3985,293.7,-9.9,126,3058,0.00,1.95,0.00,0.000,1030,0.000,0.050,2440,2787,3974,3965,3983,0,0,0,0,0,0,14.59,14.52,14.62
$GC,3408,-0.91,-107.1,2440,2788,3966,3985,326.7,-9.2,135,3415,0.00,2.10,0.00,0.000,260,0.000,0.091,2439,3913,3975,3966,3984,0,0,0,0,0,0,14.90,14.30,14.89
$GC,3450,-0.91,-107.1,2440,3913,3967,3984,330.8,-9.8,141,3458,0.00,1.95,0.00,0.000,1030,0.000,0.049,2439,2787,3974,3965,3983,0,0,0,0,0,0,14.59,14.52,14.62
$GC,3801,-0.91,-107.1,2439,2788,3966,3985,362.0,-8.9,149,3809,0.00,2.45,0.00,0.000,516,0.000,0.050,2439,1382,3975,3966,3984,0,0,0,0,0,0,14.88,14.40,14.88
$GC,3828,-0.91,-107.1,2439,1383,3966,3984,364.5,-9.0,153,3837,0.00,2.58,0.00,0.000,1030,0.000,0.069,2439,2803,3974,3965,3983,0,0,0,0,0,0,14.51,14.36,14.57
$GC,4192,-0.91,-107.1,2440,2803,3967,3984,397.4,-9.1,163,4200,0.00,2.47,0.00,0.000,516,0.000,0.050,2437,1395,3975,3966,3984,0,0,0,0,0,0,14.89,14.40,14.90
$GC,4242,-0.91,-107.1,2439,1395,3967,3984,401.8,-9.1,170,4251,0.00,2.58,0.00,0.000,1030,0.000,0.070,2438,2811,3974,3965,3984,0,0,0,0,0,0,14.50,14.35,14.54
$GC,4584,-0.91,-107.1,2439,2811,3967,3984,432.2,-8.8,177,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2810,3974,3966,3983,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4920,-0.91,-107.1,2438,2812,3967,3985,460.9,-8.6,183,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2810,3975,3966,3984,0,0,0,0,0,0,14.89,14.89,14.89
$GC,5256,-0.91,-107.1,2440,2810,3967,3984,489.0,-8.2,189,5264,0.00,2.50,0.00,0.000,516,0.000,0.050,2439,1388,3974,3966,3983,0,0,0,0,0,0,14.90,14.39,14.90
$GC,5305,-0.91,-107.1,2439,1389,3966,3985,493.2,-8.6,196,5314,0.00,2.58,0.00,0.000,1030,0.000,0.070,2438,2803,3975,3966,3984,0,0,0,0,0,0,14.50,14.35,14.54
$GC,5648,-0.91,-107.1,2439,2803,3967,3984,521.0,-8.0,203,5655,0.00,2.05,0.00,0.000,260,0.000,0.092,2438,3916,3975,3966,3984,0,0,0,0,0,0,14.90,14.28,14.89
$GC,5697,-0.91,-107.1,2438,3917,3966,3985,525.0,-8.4,210,5706,0.00,1.95,0.00,0.000,1030,0.000,0.050,2438,2792,3974,3965,3984,0,0,0,0,0,0,14.58,14.50,14.60
$GC,6040,-0.91,-107.1,2438,2794,3966,3985,552.5,-8.0,217,6049,0.00,2.45,0.00,0.000,516,0.000,0.050,2438,1384,3975,3966,3984,0,0,0,0,0,0,14.92,14.40,14.91
$GC,6089,-0.91,-107.1,2438,1386,3966,3985,556.6,-8.2,224,6098,0.00,2.58,0.00,0.000,1030,0.000,0.070,2438,2801,3975,3966,3984,0,0,0,0,0,0,14.50,14.35,14.54
$GC,6432,-0.91,-107.1,2437,2802,3966,3985,582.4,-7.4,231,6440,0.00,2.47,0.00,0.000,516,0.000,0.050,2438,1388,3975,3966,3984,0,0,0,0,0,0,14.91,14.40,14.92
$GC,6502,-0.91,-107.1,2438,1387,3967,3984,588.0,-7.7,241,6511,0.00,2.58,0.00,0.000,1030,0.000,0.070,2438,2801,3975,3966,3984,0,0,0,0,0,0,14.50,14.34,14.54
$GC,6880,-0.91,-107.1,2438,2802,3966,3985,615.1,-7.3,253,6888,0.00,2.05,0.00,0.000,260,0.000,0.093,2438,3912,3974,3965,3984,0,0,0,0,0,0,14.92,14.27,14.92
$GC,6943,-0.91,-107.1,2438,3913,3966,3985,620.2,-8.3,262,6950,0.00,1.95,0.00,0.000,1030,0.000,0.050,2438,2788,3975,3966,3984,0,0,0,0,0,0,14.57,14.50,14.60
$GC,7329,-0.91,-107.1,2438,2788,3967,3984,652.8,-8.7,275,7336,0.00,2.42,0.00,0.000,516,0.000,0.050,2434,1391,3974,3966,3983,0,0,0,0,0,0,14.79,14.32,14.79
$GC,7377,-0.91,-107.1,2437,1392,3967,3985,657.2,-9.1,282,7386,0.00,2.58,0.00,0.000,1030,0.000,0.070,2438,2806,3975,3966,3984,0,0,0,0,0,0,14.50,14.35,14.52
$GC,7720,-0.91,-107.1,2438,2807,3967,3984,685.8,-8.1,289,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2807,3975,3966,3984,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8056,-0.91,-107.1,2438,2807,3967,3984,710.5,-7.3,295,8064,0.00,2.47,0.00,0.000,516,0.000,0.050,2438,1395,3975,3966,3984,0,0,0,0,0,0,14.90,14.40,14.90
$GC,8140,-0.91,-107.1,2438,1396,3966,3985,716.2,-6.8,307,8148,0.00,2.58,0.00,0.000,1030,0.000,0.070,2436,2808,3974,3965,3984,0,0,0,0,0,0,14.50,14.35,14.54
$GC,8505,-0.91,-107.1,2438,2809,3966,3985,742.4,-7.3,317,8513,0.00,2.03,0.00,0.000,260,0.000,0.092,2437,3914,3975,3966,3984,0,0,0,0,0,0,14.79,14.21,14.79
$GC,8532,-0.91,-107.1,2438,3914,3967,3985,744.3,-6.8,321,8541,0.00,1.95,0.00,0.000,1030,0.000,0.050,2438,2793,3975,3966,3984,0,0,0,0,0,0,14.58,14.50,14.60
$STATE,8615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8615,begin apogee
$GC,8620,-0.23,0.0,2439,2545,3967,3984,750.2,-7.0,326,8731,0.82,0.00,108.78,3.088,10246,0.229,0.000,2656,2545,3599,3600,3598,0,0,0,0,0,0,14.02,13.49,12.20
$STATE,8732,end apogee,CONTROL_FINISHED_OK
$STATE,8732,begin climb
$GC,8734,0.91,107.1,2658,2544,3603,3598,752.2,0.0,328,8862,1.27,0.00,125.60,3.091,10246,0.140,0.000,3022,2545,3172,3179,3165,0,0,0,0,0,0,13.45,13.07,11.80
$GC,9178,0.91,107.1,3023,2545,3168,3154,708.9,11.1,336,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2545,3160,3166,3154,0,0,0,0,0,0,14.36,14.36,14.36
$GC,9513,0.91,107.1,3023,2546,3166,3154,670.0,11.8,342,9520,0.00,2.53,0.00,0.000,260,0.000,0.094,3022,3904,3159,3166,3152,0,0,0,0,0,0,14.68,14.26,14.68
$GC,9561,0.91,107.1,3023,3904,3167,3151,663.4,13.6,349,9571,0.00,2.40,0.00,0.000,1030,0.000,0.055,3033,2537,3159,3166,3153,0,0,0,0,0,0,14.50,14.42,14.52
$GC,9904,0.91,107.1,3033,2537,3167,3153,622.5,11.7,356,9912,0.00,2.47,0.00,0.000,516,0.000,0.065,3043,1147,3161,3166,3157,0,0,0,0,0,0,14.80,14.40,14.80
$GC,9960,0.91,107.1,3044,1147,3167,3152,616.0,11.3,364,9968,0.00,2.55,0.00,0.000,1030,0.000,0.070,3043,2564,3159,3166,3152,0,0,0,0,0,0,14.55,14.42,14.59
$GC,10352,0.91,107.1,3044,2565,3167,3153,571.2,11.2,378,10360,0.00,2.50,0.00,0.000,260,0.000,0.096,3044,3917,3159,3166,3152,0,0,0,0,0,0,14.86,14.40,14.86
$GC,10401,0.91,107.1,3043,3918,3167,3153,565.1,12.5,385,10411,0.15,2.40,0.00,0.000,5126,0.306,0.055,3021,2537,3161,3166,3157,0,0,0,0,0,0,14.14,14.55,14.51
$GC,10745,0.91,107.1,3021,2538,3168,3153,530.9,9.9,392,10752,0.00,2.45,0.00,0.000,516,0.000,0.065,3031,1151,3159,3166,3152,0,0,0,0,0,0,14.82,14.39,14.82
$GC,10779,0.91,107.1,3031,1152,3166,3154,527.5,9.6,397,10787,0.00,2.53,0.00,0.000,1030,0.000,0.070,3031,2559,3159,3166,3152,0,0,0,0,0,0,14.60,14.47,14.64
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$FREEZE,8.77,-1.871,-1.871,2,12,0
$STATE,16567,end climb,FINISH_DEPTH_REACHED
$STATE,16567,begin subsurface finish
$FINISH1,8.8,1.027366,7
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$FINISH2,8.4
$STATE,16591,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16591,begin surface
$RAFOS_CLK,692
$RAFOS,2,1524431587,21.233334,21.218611,96,64,57,54,52,51,500,227,203,166,655,146
$RAFOS,1,1524431251,21.133333,21.125278,112,68,58,53,53,53,438,216,187,118,154,173
$RAFOS,0,1524430859,21.032778,21.016388,130,67,60,58,56,55,604,811,147,188,122,203
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$RAFOS,1,1524420442,18.133333,18.122778,145,67,58,55,54,51,494,189,206,111,132,172
$RAFOS,0,1524420079,18.032778,18.021944,132,60,58,56,55,53,507,208,177,142,223,127
$RAFOS_FIX,-7402.337402,-11225.948242,220418,212144,3,113,0.16
$IRIDIUM_FIX,-7357.74,-11230.01,200418,201805
$TT8_MAMPS,0.03745,0.262899
$HUMID,49.40
$INTERNAL_PRESSURE,7.88035
$TCM_TEMP,12.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,25.0,25.7
$24V_AH,11.80,95.943
$10V_AH,12.22,0.000
$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
$DEVICE_SECS,4.775,153.150,234.375,0.000,0.000,0.000,0.000,0.000,32.000,0.000,0.000,0.000,14470.212,595.634,1466.788,145.457,0.000,1145.089,0.000,935.083,1440.000,224.615,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16557.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.167,0.000,0.000,0.000
$MEM,280640
$DATA_FILE_SIZE,16722,652
$CAP_FILE_SIZE,123329,0
$CFSIZE,1024409600,986169344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$GPS,220418,211544,-7402.337,-11225.948,0,4112.7,0,53.1,0.0,0.0,0,0.0