version: 66.13
glider: 221
mission: 7
dive: 467
start: 10 10 118 16 18 4
data:
$ID,221
$MISSION,7
$DIVE,467
$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,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,101018,151512,-7354.8438,-11237.3799,0,4118.3,0,53.1,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.96
$_SM_ANGLEo,-2.0
$GPS2,101018,151512,-7354.8438,-11237.3799,0,4118.3,0,53.1,0.0,0.0,0,0.0
$SPEED_LIMITS,0.083,0.174
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,106.6,18088,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-0.91,-107.1,2733,2810,3614,3615,0.0,0.0,0,22,0.00,0.00,-9.93,0.011,16390,0.000,0.000,2732,2810,3963,3956,3970,0,0,0,0,0,0,14.83,12.31,14.76
$GC,24,-0.91,-107.1,2733,2810,3960,3974,0.0,0.0,0,26,0.93,0.00,0.00,0.000,4102,0.099,0.000,2432,2810,3967,3959,3975,0,0,0,0,0,0,14.21,14.43,14.38
$PING,11.7,13.7,9000.0,0.00,0.00
$PING,25.1,27.7,9000.0,0.00,0.00
$GC,347,-0.91,-107.1,2431,2811,3965,3981,50.9,-12.9,12,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2810,3972,3964,3980,0,0,0,0,0,0,14.91,14.91,14.90
$GC,683,-0.91,-107.1,2432,2810,3966,3980,90.7,-11.9,24,691,0.00,2.53,0.00,0.000,516,0.000,0.050,2431,1388,3972,3965,3980,0,0,0,0,0,0,14.91,14.25,14.91
$GC,732,-0.91,-107.1,2431,1389,3966,3980,96.6,-12.0,31,740,0.00,2.58,0.00,0.000,1030,0.000,0.068,2430,2805,3972,3965,3980,0,0,0,0,0,0,14.30,14.21,14.35
$GC,1075,-0.91,-107.1,2431,2806,3966,3980,136.8,-11.9,44,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2805,3972,3965,3980,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1412,-0.91,-107.1,2431,2806,3966,3980,175.8,-10.9,56,1418,0.00,2.50,0.00,0.000,516,0.000,0.050,2430,1395,3972,3965,3980,0,0,0,0,0,0,14.80,14.09,14.80
$GC,1446,-0.91,-107.1,2430,1396,3965,3981,179.6,-10.9,61,1454,0.00,2.58,0.00,0.000,1030,0.000,0.068,2430,2801,3973,3965,3981,0,0,0,0,0,0,14.30,14.21,14.35
$GC,1803,-0.91,-107.1,2430,2800,3967,3981,219.6,-11.4,73,1811,0.00,2.50,0.00,0.000,516,0.000,0.050,2429,1392,3973,3965,3981,0,0,0,0,0,0,14.91,14.13,14.92
$GC,1839,-0.91,-107.1,2430,1393,3965,3982,223.6,-11.2,78,1845,0.00,2.60,0.00,0.000,1030,0.000,0.069,2430,2810,3973,3965,3981,0,0,0,0,0,0,14.42,14.18,14.48
$GC,2196,-0.91,-107.1,2429,2811,3965,3982,265.7,-12.0,87,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2810,3973,3965,3981,0,0,0,0,0,0,14.77,14.77,14.77
$GC,2532,-0.91,-107.1,2430,2810,3966,3981,305.4,-11.7,93,2539,0.00,2.47,0.00,0.000,516,0.000,0.050,2430,1386,3973,3965,3981,0,0,0,0,0,0,14.78,14.30,14.79
$GC,2573,-0.91,-107.1,2430,1387,3966,3981,310.0,-11.2,99,2580,0.00,2.60,0.00,0.000,1030,0.000,0.069,2429,2808,3973,3965,3981,0,0,0,0,0,0,14.27,14.18,14.35
$GC,2923,-0.91,-107.1,2430,2808,3966,3981,349.7,-11.4,107,2930,0.00,2.50,0.00,0.000,516,0.000,0.049,2429,1399,3973,3965,3981,0,0,0,0,0,0,14.90,14.23,14.90
$GC,2959,-0.91,-107.1,2430,1400,3966,3982,353.7,-11.6,112,2965,0.00,2.58,0.00,0.000,1030,0.000,0.070,2429,2802,3973,3965,3981,0,0,0,0,0,0,14.26,14.16,14.32
$GC,3316,-0.91,-107.1,2430,2802,3966,3981,395.4,-11.6,121,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2801,3973,3965,3981,0,0,0,0,0,0,14.78,14.79,14.79
$GC,3652,-0.91,-107.1,2429,2802,3966,3982,433.8,-11.3,127,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2802,3973,3965,3981,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3988,-0.91,-107.1,2430,2802,3966,3986,470.0,-10.8,133,3995,0.00,2.50,0.00,0.000,516,0.000,0.050,2430,1389,3973,3965,3981,0,0,0,0,0,0,14.78,14.22,14.78
$GC,4036,-0.91,-107.1,2430,1390,3966,3982,475.6,-11.5,140,4044,0.00,2.60,0.00,0.000,1030,0.000,0.069,2429,2809,3973,3965,3981,0,0,0,0,0,0,14.27,14.17,14.32
$GC,4379,-0.91,-107.1,2430,2808,3966,3982,514.6,-11.5,147,4386,0.00,2.50,0.00,0.000,516,0.000,0.050,2430,1391,3973,3965,3982,0,0,0,0,0,0,14.90,14.24,14.90
$GC,4421,-0.91,-107.1,2430,1391,3966,3981,519.2,-10.9,153,4429,0.00,2.60,0.00,0.000,1030,0.000,0.069,2430,2811,3973,3965,3981,0,0,0,0,0,0,14.27,14.17,14.31
$GC,4773,-0.91,-107.1,2429,2812,3966,3982,554.9,-10.1,161,4779,0.00,2.47,0.00,0.000,516,0.000,0.050,2429,1395,3973,3966,3981,0,0,0,0,0,0,14.78,14.14,14.78
$GC,4813,-0.91,-107.1,2429,1396,3966,3983,559.6,-11.2,167,4820,0.00,2.60,0.00,0.000,1030,0.000,0.070,2429,2809,3973,3965,3982,0,0,0,0,0,0,14.25,14.16,14.30
$GC,5163,-0.91,-107.1,2429,2810,3966,3983,595.9,-10.2,175,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2809,3973,3965,3982,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5499,-0.91,-107.1,2430,2809,3968,3982,628.7,-9.7,181,5507,0.00,2.50,0.00,0.000,516,0.000,0.050,2429,1391,3973,3965,3982,0,0,0,0,0,0,14.89,14.23,14.89
$GC,5583,-0.91,-107.1,2430,1392,3968,3982,636.8,-9.5,193,5591,0.00,2.60,0.00,0.000,1030,0.000,0.070,2429,2804,3973,3965,3982,0,0,0,0,0,0,14.26,14.15,14.31
$GC,5947,-0.91,-107.1,2429,2805,3966,3984,671.9,-9.7,203,5954,0.00,2.05,0.00,0.000,260,0.000,0.091,2428,3909,3973,3964,3982,0,0,0,0,0,0,14.90,14.09,14.90
$GC,6003,-0.91,-107.1,2429,3909,3967,3983,677.8,-10.6,211,6010,0.00,1.98,0.00,0.000,1030,0.000,0.050,2428,2789,3974,3966,3982,0,0,0,0,0,0,14.50,14.42,14.52
$GC,6396,-0.91,-107.1,2429,2790,3967,3983,713.7,-8.9,225,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2789,3974,3966,3983,0,0,0,0,0,0,14.74,14.74,14.73
$GC,6731,-0.91,-107.1,2429,2790,3967,3984,743.2,-8.9,231,6738,0.00,2.45,0.00,0.000,516,0.000,0.050,2428,1395,3974,3965,3983,0,0,0,0,0,0,14.87,14.21,14.88
$GC,6773,-0.91,-107.1,2428,1397,3966,3984,746.9,-9.0,237,6781,0.00,2.58,0.00,0.000,1030,0.000,0.070,2428,2800,3974,3965,3984,0,0,0,0,0,0,14.23,14.14,14.29
$STATE,6842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6842,begin apogee
$GC,6848,-0.23,0.0,2429,2535,3966,3985,753.0,-8.7,240,6965,0.88,0.00,114.00,3.089,10246,0.229,0.000,2655,2537,3599,3602,3597,0,0,0,0,0,0,13.78,13.42,11.90
$STATE,6966,end apogee,CONTROL_FINISHED_OK
$STATE,6966,begin climb
$GC,6968,0.91,107.1,2656,2538,3603,3598,756.2,0.0,242,7111,1.25,2.80,131.82,3.088,10756,0.148,0.063,3025,1160,3171,3180,3163,0,0,0,0,0,0,13.40,12.83,11.37
$GC,7144,0.91,107.1,3025,1160,3177,3160,746.2,8.4,269,7152,0.00,2.75,0.00,0.000,1030,0.000,0.067,3025,2548,3168,3177,3160,0,0,0,0,0,0,13.29,13.22,13.32
$GC,7518,0.91,107.1,3025,2548,3171,3154,712.6,9.2,280,7523,0.00,2.55,0.00,0.000,260,0.000,0.096,3025,3920,3162,3169,3155,0,0,0,0,0,0,14.59,14.21,14.59
$GC,7550,0.91,107.1,3025,3921,3170,3155,709.2,10.0,285,7559,0.00,2.42,0.00,0.000,1030,0.000,0.054,3033,2543,3161,3169,3154,0,0,0,0,0,0,14.40,14.36,14.42
$GC,7907,0.91,107.1,3033,2544,3167,3153,679.7,8.1,294,7914,0.00,2.50,0.00,0.000,516,0.000,0.063,3043,1147,3158,3166,3151,0,0,0,0,0,0,14.83,14.35,14.83
$GC,7970,0.92,107.1,3044,1147,3168,3151,674.7,7.8,303,7977,0.00,2.55,0.00,0.000,1094,0.000,0.070,3043,2556,3159,3167,3151,0,0,0,0,0,0,14.46,14.37,14.50
$GC,8356,0.93,107.1,3044,2555,3167,3151,646.0,7.5,316,8362,0.00,2.53,0.00,0.000,324,0.000,0.094,3043,3914,3158,3166,3150,0,0,0,0,0,0,14.89,14.33,14.88
$GC,8439,0.93,107.1,3043,3916,3166,3152,638.9,8.2,328,8447,0.00,2.40,0.00,0.000,1030,0.000,0.054,3047,2537,3158,3166,3150,0,0,0,0,0,0,14.57,14.54,14.60
$GC,8804,0.95,107.1,3047,2538,3167,3151,612.0,7.5,338,8804,0.00,0.00,0.00,0.000,70,0.000,0.000,3047,2537,3158,3166,3150,0,0,0,0,0,0,14.90,14.90,14.91
$GC,9140,0.95,107.1,3047,2538,3167,3150,584.2,8.4,344,9146,0.00,2.47,0.00,0.000,516,0.000,0.065,3049,1153,3158,3166,3150,0,0,0,0,0,0,14.91,14.35,14.91
$GC,9167,0.95,107.1,3049,1153,3167,3149,581.9,8.1,348,9174,0.00,2.53,0.00,0.000,1030,0.000,0.068,3049,2558,3156,3166,3147,0,0,0,0,0,0,14.48,14.39,14.52
$GC,9531,0.95,107.1,3049,2558,3167,3150,550.6,8.9,358,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2557,3158,3166,3150,0,0,0,0,0,0,14.92,14.92,14.92
$GC,9867,0.95,107.1,3049,2559,3167,3150,518.5,9.6,364,9875,0.00,2.50,0.00,0.000,260,0.000,0.092,3048,3904,3158,3167,3150,0,0,0,0,0,0,14.93,14.30,14.93
$GC,9917,0.95,107.1,3048,3904,3167,3150,513.3,10.8,371,9925,0.00,2.38,0.00,0.000,1030,0.000,0.054,3049,2540,3157,3165,3149,0,0,0,0,0,0,14.52,14.47,14.56
$GC,10260,0.95,107.1,3049,2540,3163,3149,481.2,9.3,378,10266,0.00,2.50,0.00,0.000,516,0.000,0.064,3049,1147,3157,3166,3149,0,0,0,0,0,0,14.85,14.31,14.85
$GC,10315,0.95,107.1,3049,1148,3166,3150,476.3,8.6,386,10322,0.00,2.55,0.00,0.000,1030,0.000,0.068,3049,2560,3157,3166,3149,0,0,0,0,0,0,14.45,14.35,14.50
$GC,10707,0.95,107.1,3049,2561,3167,3150,442.2,8.7,400,10716,0.00,2.50,0.00,0.000,260,0.000,0.092,3049,3906,3157,3166,3149,0,0,0,0,0,0,14.93,14.25,14.93
$GC,10791,0.95,107.1,3049,3906,3167,3150,433.9,9.8,412,10798,0.00,2.38,0.00,0.000,1030,0.000,0.052,3049,2542,3157,3166,3149,0,0,0,0,0,0,14.48,14.43,14.50
$GC,11156,0.95,107.1,3049,2544,3166,3151,402.5,8.6,422,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2542,3157,3166,3149,0,0,0,0,0,0,14.84,14.84,14.84
$GC,11493,0.95,107.1,3050,2542,3167,3149,374.0,8.5,428,11498,0.00,2.53,0.00,0.000,260,0.000,0.092,3049,3914,3157,3166,3149,0,0,0,0,0,0,14.85,14.30,14.85
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$PING,10.7,11.3,11.2,1.04,1.00
$FREEZE,8.33,-1.869,-1.879,2,180,0
$STATE,15942,end climb,FINISH_DEPTH_REACHED
$STATE,15942,begin subsurface finish
$FINISH1,8.3,1.027475,1
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$FINISH2,7.6
$STATE,15974,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15974,begin surface
$RAFOS_CLK,669
$RAFOS,2,1539195185,18.233334,18.218056,58,56,54,54,51,51,222,192,117,179,143,134
$RAFOS,1,1539194846,18.133333,18.123888,127,69,63,62,60,57,501,222,195,208,233,153
$RAFOS,0,1539194510,18.032778,18.030556,78,66,63,63,53,51,380,205,131,170,180,189
$RAFOS_FIX,-7356.107422,-11241.481445,101018,181808,2,102,0.30
$IRIDIUM_FIX,-7357.74,-11230.01,200418,201805
$TT8_MAMPS,0.03745,0.256158
$HUMID,50.19
$INTERNAL_PRESSURE,7.89988
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.7,11.2
$24V_AH,11.37,149.954
$10V_AH,11.80,0.000
$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,4.675,135.575,283.575,0.000,0.000,0.000,0.000,0.000,31.500,0.000,0.000,0.000,13958.924,532.761,1390.940,191.712,0.000,1069.510,0.000,881.539,720.000,223.004,0.000
$DEVICE_MAMPS,250.920,95.625,3089.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.354,0.000,0.000,0.000
$MEM,280640
$DATA_FILE_SIZE,16711,614
$CAP_FILE_SIZE,114781,0
$CFSIZE,1024409600,964952064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,101018,181008,-7356.107,-11241.481,0,3102.5,0,53.1,0.0,0.0,0,0.0