version: 66.13
glider: 224
mission: 11
dive: 15
start: 10 15 118 9 57 47
data:
$ID,224
$MISSION,11
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,330
$T_MISSION,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53757
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,643.96979
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,25200
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3900
$C_PITCH,2460
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$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,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.33157
$PRESSURE_SLOPE,0.00010780373
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044007064
$SEABIRD_T_H,0.00063350337
$SEABIRD_T_I,2.4352601e-05
$SEABIRD_T_J,2.8452994e-06
$SEABIRD_C_G,-9.9909048
$SEABIRD_C_H,1.136714
$SEABIRD_C_I,-0.0017763629
$SEABIRD_C_J,0.00021546939
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,151018,081035,7426.3672,-14538.9131,0,7255.0,0,18.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.72
$_SM_ANGLEo,-14.9
$GPS2,151018,081035,7426.3672,-14538.9131,0,7255.0,0,18.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,145.2,182241,-17.6,-10.000,-21.24,2209
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.80,-146.0,2553,2710,1515,1441,0.0,0.0,0,42,0.00,0.00,-31.88,0.004,16386,0.000,0.000,2553,2709,3115,3174,3057,0,0,0,0,0,0,14.64,28.83,14.69
$GC,45,-0.80,-146.0,2554,2710,3175,3060,19.3,-6.8,3,56,1.05,2.53,-4.07,0.028,20740,0.099,0.266,2187,3877,3349,3409,3289,0,0,0,0,0,0,14.42,13.81,14.47
$GC,272,-0.80,-146.0,2188,3878,3409,3293,77.8,-23.7,48,278,0.00,2.22,0.00,0.000,1030,0.000,0.137,2187,2692,3350,3408,3292,0,0,0,0,0,0,14.57,14.45,14.59
$GC,457,-0.80,-146.0,2187,2692,3410,3293,114.9,-18.8,67,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2692,3350,3408,3293,0,0,0,0,0,0,14.73,14.74,14.74
$GC,637,-0.80,-146.0,2186,2692,3409,3293,147.6,-17.6,85,642,0.00,2.50,0.00,0.000,260,0.000,0.232,2180,3876,3350,3408,3293,0,0,0,0,0,0,14.76,14.45,14.78
$GC,712,-0.80,-146.0,2180,3877,3408,3293,161.2,-17.6,100,719,0.00,2.20,0.00,0.000,1030,0.000,0.134,2179,2696,3350,3408,3292,0,0,0,0,0,0,14.60,14.52,14.62
$GC,898,-0.80,-146.0,2175,2696,3409,3293,192.8,-16.8,119,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2696,3350,3408,3293,0,0,0,0,0,0,14.79,14.81,14.81
$GC,1078,-0.80,-146.0,2179,2696,3408,3293,222.2,-16.0,137,1083,0.00,2.53,0.00,0.000,260,0.000,0.246,2170,3875,3350,3408,3293,0,0,0,0,0,0,14.81,14.54,14.83
$GC,1119,-0.80,-146.0,2170,3876,3409,3293,229.0,-16.8,145,1125,0.12,2.20,0.00,0.000,3078,0.300,0.138,2194,2693,3347,3402,3293,0,0,0,0,0,0,14.48,14.57,14.66
$GC,1312,-0.80,-146.0,2194,2693,3408,3293,256.1,-13.6,163,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2693,3350,3408,3293,0,0,0,0,0,0,14.83,14.85,14.85
$GC,1610,-0.80,-146.0,2194,2693,3409,3293,293.5,-12.0,178,1615,0.00,2.67,0.00,0.000,516,0.000,0.164,2194,1289,3350,3408,3292,0,0,0,0,0,0,14.87,14.59,14.89
$GC,1645,-0.80,-146.0,2194,1290,3409,3293,297.7,-11.9,185,1653,0.00,2.90,0.00,0.000,1030,0.000,0.208,2186,2707,3350,3408,3293,0,0,0,0,0,0,14.73,14.57,14.76
$GC,1950,-0.80,-146.0,2186,2708,3408,3293,334.6,-12.1,201,1956,0.00,2.45,0.00,0.000,260,0.000,0.244,2176,3874,3350,3407,3293,0,0,0,0,0,0,14.89,14.57,14.91
$GC,2001,-0.80,-146.0,2176,3874,3408,3293,341.2,-13.0,211,2006,0.00,2.20,0.00,0.000,1030,0.000,0.138,2176,2690,3350,3408,3293,0,0,0,0,0,0,14.76,14.64,14.78
$GC,2312,-0.80,-146.0,2176,2690,3414,3292,378.4,-11.9,228,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2690,3349,3407,3292,0,0,0,0,0,0,14.91,14.93,14.92
$GC,2612,-0.80,-146.0,2176,2690,3407,3293,413.5,-11.5,243,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2690,3350,3407,3293,0,0,0,0,0,0,14.92,14.95,14.94
$GC,2912,-0.80,-146.0,2176,2689,3407,3293,448.0,-11.5,258,2917,0.00,2.62,0.00,0.000,516,0.000,0.152,2176,1288,3349,3407,3292,0,0,0,0,0,0,14.94,14.66,14.95
$GC,2942,-0.80,-146.0,2176,1288,3408,3292,451.5,-11.9,264,2948,0.12,2.88,0.00,0.000,3078,0.311,0.205,2194,2711,3350,3407,3293,0,0,0,0,0,0,14.56,14.59,14.73
$GC,3253,-0.80,-146.0,2194,2711,3407,3293,484.9,-10.7,281,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2711,3349,3406,3293,0,0,0,0,0,0,14.94,14.96,14.95
$GC,3553,-0.80,-146.0,2194,2711,3407,3293,516.8,-10.6,296,3558,0.00,2.70,0.00,0.000,516,0.000,0.159,2194,1286,3349,3406,3292,0,0,0,0,0,0,14.95,14.65,14.97
$GC,3583,-0.80,-146.0,2194,1287,3408,3293,520.1,-10.9,302,3588,0.00,2.88,0.00,0.000,1030,0.000,0.207,2187,2707,3350,3407,3293,0,0,0,0,0,0,14.81,14.64,14.83
$GC,3893,-0.80,-146.0,2187,2708,3407,3293,553.8,-10.7,319,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2707,3350,3407,3293,0,0,0,0,0,0,14.96,14.98,14.98
$GC,4193,-0.80,-146.0,2187,2708,3407,3293,585.6,-10.5,334,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2707,3349,3406,3293,0,0,0,0,0,0,14.97,15.00,14.99
$GC,4493,-0.80,-146.0,2187,2707,3408,3294,617.2,-10.5,349,4500,0.00,2.67,0.00,0.000,516,0.000,0.151,2186,1285,3349,3406,3293,0,0,0,0,0,0,14.98,14.70,15.00
$GC,4540,-0.80,-146.0,2187,1285,3407,3293,622.1,-10.4,358,4545,0.00,2.85,0.00,0.000,1030,0.000,0.203,2180,2707,3350,3407,3293,0,0,0,0,0,0,14.83,14.67,14.85
$GC,4855,-0.80,-146.0,2180,2708,3407,3294,656.1,-10.9,376,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2706,3349,3406,3293,0,0,0,0,0,0,14.97,15.00,15.00
$GC,5155,-0.80,-146.0,2180,2708,3415,3294,688.3,-10.8,391,5160,0.00,2.67,0.00,0.000,516,0.000,0.151,2180,1277,3350,3407,3293,0,0,0,0,0,0,14.98,14.70,15.00
$GC,5190,-0.80,-146.0,2180,1278,3407,3294,692.2,-10.8,398,5197,0.00,2.97,0.00,0.000,1030,0.000,0.236,2176,2700,3349,3406,3293,0,0,0,0,0,0,14.83,14.67,14.85
$GC,5495,-0.80,-146.0,2176,2700,3408,3294,725.3,-10.9,414,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2700,3350,3407,3293,0,0,0,0,0,0,14.99,15.00,15.00
$GC,5795,-0.80,-146.0,2176,2699,3407,3294,757.6,-10.7,429,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2700,3350,3406,3294,0,0,0,0,0,0,15.00,15.01,15.01
$GC,6095,-0.80,-146.0,2176,2700,3407,3294,789.5,-10.6,444,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2696,3350,3407,3293,0,0,0,0,0,0,15.00,15.02,15.02
$GC,6395,-0.80,-146.0,2181,2700,3408,3294,821.4,-10.6,459,6400,0.00,2.65,0.00,0.000,516,0.000,0.152,2175,1277,3349,3405,3293,0,0,0,0,0,0,15.00,14.71,15.02
$GC,6431,-0.80,-146.0,2176,1276,3407,3294,825.2,-10.7,466,6437,0.12,2.88,0.00,0.000,3078,0.313,0.209,2195,2703,3350,3407,3294,0,0,0,0,0,0,14.65,14.69,14.83
$GC,6736,-0.80,-146.0,2195,2703,3407,3294,854.2,-9.5,482,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2702,3350,3407,3293,0,0,0,0,0,0,14.99,15.01,15.01
$GC,7036,-0.80,-146.0,2195,2703,3405,3293,882.7,-9.5,497,7042,0.00,2.72,0.00,0.000,516,0.000,0.169,2195,1278,3350,3407,3294,0,0,0,0,0,0,15.00,14.70,15.01
$GC,7092,-0.80,-146.0,2195,1279,3407,3294,888.1,-9.5,508,7098,0.00,2.88,0.00,0.000,1030,0.000,0.208,2190,2700,3350,3407,3294,0,0,0,0,0,0,14.81,14.61,14.84
$GC,7399,-0.80,-146.0,2190,2700,3408,3294,918.1,-9.8,524,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2700,3350,3407,3294,0,0,0,0,0,0,14.93,14.95,14.95
$GC,7697,-0.80,-146.0,2189,2700,3408,3294,947.4,-9.8,539,7702,0.00,2.72,0.00,0.000,516,0.000,0.165,2190,1278,3350,3406,3294,0,0,0,0,0,0,14.88,14.62,14.90
$GC,7732,-0.80,-146.0,2190,1278,3408,3294,950.9,-9.9,546,7738,0.00,2.88,0.00,0.000,1030,0.000,0.201,2182,2704,3350,3407,3294,0,0,0,0,0,0,14.73,14.57,14.76
$GC,8037,-0.80,-146.0,2182,2705,3407,3294,981.6,-10.0,562,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2704,3350,3407,3294,0,0,0,0,0,0,14.85,14.87,14.87
$STATE,8135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8135,begin apogee
$GC,8141,-0.19,0.0,2182,2396,3408,3294,991.5,-10.0,567,8285,0.80,0.00,141.35,2.470,10246,0.252,0.000,2396,2396,2750,2741,2759,0,0,0,0,0,0,14.52,13.71,12.82
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8286,begin climb
$GC,8289,0.80,146.0,2397,2396,2741,2757,996.2,0.0,574,8441,1.10,3.17,145.43,2.379,11012,0.175,0.182,2716,983,2152,2135,2170,0,0,0,0,0,0,13.70,13.30,12.48
$GC,8466,0.80,146.0,2716,984,2129,2168,984.5,9.6,593,8472,0.00,3.12,0.00,0.000,1030,0.000,0.189,2715,2402,2147,2128,2167,0,0,0,0,0,0,13.63,13.49,13.65
$GC,8782,0.80,146.0,2716,2402,2120,2160,952.6,10.1,611,8791,0.00,2.95,0.00,0.000,516,0.000,0.195,2721,988,2138,2118,2159,0,0,0,0,0,0,14.31,14.04,14.33
$GC,8861,0.80,146.0,2722,988,2117,2160,944.7,9.9,626,8868,0.00,2.97,0.00,0.000,1030,0.000,0.193,2722,2408,2138,2117,2159,0,0,0,0,0,0,14.23,14.09,14.26
$GC,9166,0.80,146.0,2722,2408,2114,2160,913.3,10.4,642,9171,0.00,2.85,0.00,0.000,516,0.000,0.172,2722,982,2136,2114,2159,0,0,0,0,0,0,14.52,14.26,14.54
$GC,9236,0.80,146.0,2722,982,2113,2160,906.1,10.1,656,9242,0.00,2.97,0.00,0.000,1030,0.000,0.200,2722,2409,2136,2113,2159,0,0,0,0,0,0,14.41,14.26,14.44
$MODEM_MSG,CACST,6,1,20181015120554.063406,18,3622,35,0139,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*04
$MODEM_MSG,CACST,6,1,20181015121036.376071,18,32767,45,0172,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3B
$MODEM_MSG,CACST,6,1,20181015121054.098766,18,10741,40,0072,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$GC,9547,0.80,146.0,2725,2410,2113,2160,874.0,10.3,673,9552,0.00,2.83,0.00,0.000,516,0.000,0.172,2722,986,2133,2112,2154,0,0,0,0,0,0,14.66,14.38,14.68
$GC,9622,0.80,146.0,2721,987,2111,2160,866.5,9.9,688,9629,0.00,2.90,0.00,0.000,1030,0.000,0.196,2722,2404,2134,2110,2159,0,0,0,0,0,0,14.54,14.38,14.57
$GC,9927,0.80,146.0,2722,2405,2111,2159,835.3,10.4,704,9932,0.00,2.78,0.00,0.000,516,0.000,0.174,2722,989,2134,2110,2159,0,0,0,0,0,0,14.78,14.46,14.79
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$STATE,18457,end climb,FINISH_DEPTH_REACHED
$STATE,18457,begin subsurface finish
$FINISH1,9.7,1.021328,316
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$FINISH2,8.6
$STATE,18495,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18495,begin surface
$RAFOS_CLK,439
$MODEM,2,1539605436,74.08163,-144.87579,36.376,52894.5
$MODEM,1,1539605154,74.42723,-147.94939,54.063,78613.6
$RAFOS_FIX,7431.634766,-14521.365234,151018,121236,4,255,0.91
$IRIDIUM_FIX,7359.63,-14605.62,141018,181347
$TT8_MAMPS,0.038948,0.549017
$HUMID,30.46
$INTERNAL_PRESSURE,9.23274
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,5.9
$SC_FREEKB,3901248
$24V_AH,12.48,6.652
$10V_AH,12.54,0.000
$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,6.800,225.075,537.950,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,14523.266,772.909,3022.395,285.071,0.000,1975.372,0.000,2242.069,2219.000,2.505,0.000
$DEVICE_MAMPS,312.885,269.280,2470.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18527.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.290,0.000,0.000,0.000
$MEM,303784
$DATA_FILE_SIZE,56515,1570
$CAP_FILE_SIZE,175128,0
$CFSIZE,1047117824,1035059200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8782.50,0x23561a,1,24
$SOUNDSPEED,1453.7
$CURRENT,2.041,30.57,1
$GPS,151018,121036,7431.635,-14521.365,0,5255.0,0,18.5,0.0,0.0,0,0.0