version: 67.01
glider: 242
mission: 9
dive: 116
start: 9 13 123 5 51 44
data:
$ID,242
$MISSION,9
$DIVE,116
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,900
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,6
$SURFACE_URGENCY_TRY,6
$SURFACE_URGENCY_FORCE,12
$T_DIVE,280
$T_MISSION,560
$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,0.07
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72651
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,180
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,699.10498
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,129
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,3
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3610
$C_PITCH,1700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,13.240061
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,195
$ROLL_MAX,3800
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1997
$HEAD_ERRBAND,20
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3350
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,400
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,5
$FG_AHR_10V,56.323204
$FG_AHR_24V,77.862785
$PHONE_SUPPLY,2
$PRESSURE_YINT,-182.09355
$PRESSURE_SLOPE,0.00022512203
$COMPASS_USE,114692
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,96
$NAV_DEVICE,6
$NAV2_DEVICE,6
$NAV3_DEVICE,-1
$NAV4_DEVICE,-1
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,130923,054540,7440.135,-15232.513,26,1.2,28,12.6
$_CALLS,1
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-58.5
$GPS2,130923,055101,7440.151,-15232.543,2,0.6,5,12.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,7429.352,-15232.543
$TGT_RADIUS,1852.000
$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,167.4,20000,-17.6,-10.000,-21.24,2209,0.126
$D_GRID,840
$IRON,1.000000,-0.007310,-0.029849,0.018912,1.040709,-0.047248,0.025302,-0.047706,0.938033,742.188416,-941.817322,-685.902893
$OSC,8000225
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
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$NAV,1694584744,71.9,start
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$MODEM_MSG,CACST,8,1,20230913060502.114084,18,523,21,0185,0000,246,00,00,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*20
$MODEM_MSG,CACST,8,1,20230913061519.068840,18,1506,19,0167,0000,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*13
$NAV,1694586017,212.5,2,stop
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$GC,6874.45,32,-145.99,-1.69,0.00,3949.9,3926.1,3973.8,1277.2,2074.9,599.71,-7.91,587,6876.24,0.00,0.00,0.00,0.000,0.000,0.000,3949.28,3925.38,3973.19,1277.25,2075.00,0,0,0,30.00,30.00,30.00
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$NAV,1694591951,663.5,start
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$GC,8304.68,1060,-145.99,-1.68,0.00,3949.8,3926.4,3973.1,1275.7,3565.9,718.63,-9.53,682,8312.01,0.00,0.00,3.44,0.000,0.000,0.041,3948.97,3924.62,3973.31,1276.12,2068.00,0,0,0,30.00,30.00,15.94
$GC,8690.56,292,-145.99,-1.68,80.00,3949.8,3925.7,3973.8,1275.5,2068.5,749.17,-7.83,699,8699.13,0.00,0.00,3.73,0.000,0.000,0.117,3950.12,3926.56,3973.69,1275.56,3566.12,0,0,0,30.00,30.00,15.83
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$GC,9162.75,292,-145.99,-1.68,80.00,3949.9,3925.7,3974.1,1275.2,2072.1,786.96,-7.77,728,9171.33,0.00,0.00,3.74,0.000,0.000,0.117,3949.03,3925.50,3972.56,1275.50,3565.88,0,0,0,30.00,30.00,15.81
$GC,9249.95,1060,-145.99,-1.68,0.00,3949.7,3925.6,3973.8,1275.9,3566.1,794.85,-9.22,745,9257.30,0.00,0.00,3.47,0.000,0.000,0.041,3950.00,3927.44,3972.56,1275.62,2072.56,0,0,0,30.00,30.00,15.88
$GC,9635.88,292,-145.99,-1.68,80.00,3949.6,3925.8,3973.3,1276.2,2071.6,824.61,-7.58,762,9644.45,0.00,0.00,3.74,0.000,0.000,0.117,3949.00,3925.06,3972.94,1275.50,3565.88,0,0,0,30.00,30.00,15.80
$GC,9717.31,1060,-145.99,-1.68,0.00,3949.4,3925.6,3973.2,1276.0,3565.9,831.81,-8.99,778,9725.09,0.00,0.00,3.47,0.000,0.000,0.041,3949.88,3926.81,3972.94,1276.38,2073.25,0,0,0,30.00,30.00,15.85
$STATE,9843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9843,begin apogee
$GC,9844.79,10243,0.00,-0.38,0.00,3949.6,3926.1,3973.1,1275.8,1966.2,841.50,-7.72,783,9982.71,122.51,2.38,0.10,2.234,0.118,0.231,3349.47,3267.75,3431.19,1610.94,2035.12,0,0,0,10.78,15.76,15.22
$STATE,9984,end apogee,CONTROL_FINISHED_OK
$STATE,9984,begin climb
$GC,9984.51,10243,145.99,1.51,0.00,3348.0,3266.1,3429.9,1610.9,2035.0,842.38,0.00,787,10127.49,125.17,3.04,0.00,2.166,0.057,0.000,2752.28,2647.94,2856.62,2077.25,2035.69,0,0,0,11.45,15.31,30.00
$NAV,1694594717,778.7,0,stop
$GC,10503.14,21127,145.99,1.43,-80.00,2742.0,2642.2,2841.8,2077.5,2035.0,763.04,17.44,810,10512.19,0.00,0.29,3.97,0.000,0.177,0.125,2742.81,2645.12,2840.50,2042.94,531.50,0,0,0,30.00,15.50,15.54
$GC,10640.13,17542,145.99,1.33,0.00,2738.6,2641.9,2835.2,2043.2,531.4,736.77,19.28,837,10648.18,0.00,0.00,3.46,0.000,0.000,0.040,2737.16,2640.56,2833.75,2043.56,2022.38,0,0,0,30.00,30.00,15.70
$GC,11035.91,21127,145.99,1.28,-80.00,2738.4,2642.1,2834.8,2043.0,2022.5,675.23,15.42,851,11044.82,0.00,0.25,3.88,0.000,0.169,0.121,2740.28,2644.19,2836.38,2004.88,530.50,0,0,0,30.00,15.69,15.74
$GC,11097.74,17542,145.99,1.20,0.00,2737.8,2641.8,2833.8,2004.6,530.3,664.83,17.00,863,11105.78,0.00,0.00,3.44,0.000,0.000,0.040,2736.47,2640.81,2832.12,2003.94,2026.25,0,0,0,30.00,30.00,15.84
$GC,11479.39,16514,145.99,1.16,0.00,2737.5,2641.7,2833.4,2004.5,2026.1,612.18,13.56,879,11481.19,0.00,0.00,0.00,0.000,0.000,0.000,2736.75,2641.50,2832.00,2004.94,2026.31,0,0,0,30.00,30.00,30.00
$GC,11869.41,21127,145.99,1.13,-80.00,2737.3,2641.7,2832.9,2004.1,2026.8,560.20,13.16,892,11878.34,0.00,0.23,3.90,0.000,0.168,0.121,2736.69,2641.75,2831.62,1968.62,531.31,0,0,0,30.00,15.79,15.84
$GC,11991.28,17542,145.99,1.07,0.00,2737.7,2642.3,2833.1,1968.4,531.4,542.66,14.62,916,11999.24,0.00,0.00,3.40,0.000,0.000,0.040,2738.78,2642.88,2834.69,1967.94,2022.50,0,0,0,30.00,30.00,15.92
$GC,12372.84,16514,145.99,1.06,0.00,2737.3,2641.7,2832.9,1968.4,2022.1,497.32,11.78,932,12374.64,0.00,0.00,0.00,0.000,0.000,0.000,2736.31,2640.94,2831.69,1967.81,2022.31,0,0,0,30.00,30.00,30.00
$GC,12762.88,17030,145.99,1.04,-80.00,2737.9,2642.5,2833.4,1968.2,2022.4,450.90,11.91,945,12771.45,0.00,0.00,3.87,0.000,0.000,0.120,2736.81,2641.81,2831.81,1968.25,530.38,0,0,0,30.00,30.00,15.90
$GC,12839.38,21639,145.99,0.99,0.00,2737.5,2642.0,2833.1,1968.6,530.1,440.08,14.30,960,12847.67,0.00,0.22,3.40,0.000,0.163,0.040,2736.62,2640.88,2832.38,1933.81,2024.94,0,0,0,30.00,15.87,15.98
$GC,13235.00,16386,145.99,0.99,0.00,2737.5,2642.2,2832.8,1933.6,2024.5,398.37,10.37,974,13236.80,0.00,0.00,0.00,0.000,0.000,0.000,2736.25,2641.12,2831.38,1933.44,2024.94,0,0,0,30.00,30.00,30.00
$GC,13625.02,16902,145.99,0.99,-80.00,2737.7,2642.3,2833.0,1932.8,2025.2,358.58,10.13,987,13633.76,0.00,0.00,3.88,0.000,0.000,0.120,2736.06,2640.31,2831.81,1933.38,531.38,0,0,0,30.00,30.00,15.92
$GC,13701.69,17542,145.99,0.96,0.00,2737.6,2642.3,2832.9,1933.3,531.4,349.28,12.27,1002,13709.87,0.00,0.00,3.41,0.000,0.000,0.040,2736.06,2641.12,2831.00,1933.50,2026.44,0,0,0,30.00,30.00,16.01
$GC,14097.39,8226,153.20,0.97,0.00,2737.7,2642.1,2833.4,1933.2,2025.9,310.06,9.66,1016,14104.79,5.64,0.00,0.00,1.100,0.000,0.000,2724.56,2628.38,2820.75,1933.62,2026.06,0,0,0,10.98,30.00,30.00
$GC,14487.54,8870,180.41,1.01,-80.00,2726.6,2630.3,2822.9,1933.3,2026.0,273.62,8.73,1029,14523.17,25.51,0.00,3.92,1.532,0.000,0.121,2611.84,2516.19,2707.50,1933.44,530.44,0,0,0,11.00,30.00,15.84
$GC,14611.08,1156,180.41,1.00,0.00,2608.9,2513.1,2704.8,1933.2,530.1,261.31,10.31,1053,14619.12,0.00,0.00,3.43,0.000,0.000,0.039,2607.38,2511.69,2703.06,1934.19,2024.38,0,0,0,30.00,30.00,15.90
$NAV,1694599146,243.4,start
$GC,14987.38,10919,248.00,1.11,-80.00,2608.2,2512.6,2703.8,1933.2,2024.2,233.80,6.86,1084,15058.27,56.03,0.26,3.98,1.492,0.059,0.120,2337.47,2236.75,2438.19,1993.12,531.44,0,0,0,11.05,15.89,15.59
$GC,15146.20,21639,248.00,1.09,0.00,2330.0,2230.4,2429.6,1992.4,531.2,217.38,11.48,1115,15154.27,0.00,0.26,3.49,0.000,0.155,0.039,2330.09,2230.94,2429.25,1957.62,2023.19,0,0,0,30.00,15.60,15.68
$GC,15522.08,10919,310.86,1.21,-80.00,2326.2,2226.1,2426.2,1958.1,2022.8,189.54,7.08,1153,15585.26,49.89,0.25,4.00,1.426,0.058,0.120,2078.88,1975.81,2181.94,2013.38,531.50,0,0,0,10.83,15.76,15.51
$GC,15638.18,1156,310.86,1.20,0.00,2075.2,1972.6,2177.9,2014.0,531.4,177.80,11.88,1175,15645.98,0.00,0.00,3.51,0.000,0.000,0.039,2077.06,1974.56,2179.56,2013.06,2023.69,0,0,0,30.00,30.00,15.63
$GC,16014.07,8354,335.61,1.25,0.00,2070.0,1967.6,2172.4,2012.9,2023.9,142.40,8.85,1213,16037.88,20.53,0.00,0.00,1.344,0.000,0.000,1981.28,1877.56,2085.00,2013.19,2023.19,0,0,0,11.09,30.00,30.00
$MODEM_MSG,CACST,8,1,20230913100502.649427,18,879,17,0145,0000,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*2B
$MODEM_MSG,CACST,8,1,20230913101520.914583,18,1101,18,0176,0000,246,00,00,02,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*14
$NAV,1694600417,133.4,2,stop
$GC,16404.11,8870,368.54,1.33,-80.00,1973.4,1870.0,2076.8,2013.6,2023.6,108.47,8.47,1252,16443.09,27.64,0.00,3.98,1.333,0.000,0.122,1845.78,1739.31,1952.25,2012.56,528.94,0,0,0,11.01,30.00,15.63
$GC,16516.94,1156,368.54,1.34,0.00,1840.9,1735.0,1946.8,2013.1,529.1,97.18,10.74,1274,16525.16,0.00,0.00,3.51,0.000,0.000,0.039,1840.97,1735.19,1946.75,2013.31,2026.50,0,0,0,30.00,30.00,15.75
$GC,16891.90,10403,434.11,1.48,0.00,1837.7,1730.9,1944.4,2013.1,2025.8,67.49,6.95,1312,16950.68,52.80,0.28,0.00,1.305,0.060,0.000,1579.44,1473.06,1685.81,2074.94,2025.94,0,0,0,11.00,15.84,30.00
$GC,17314.38,10403,543.03,1.67,0.00,1569.3,1467.1,1671.4,2074.8,2026.9,37.94,4.93,1374,17410.90,87.96,0.19,0.00,1.259,0.076,0.000,1137.34,1046.12,1228.56,2119.44,2026.12,0,0,0,11.10,15.79,30.00
$GC,17594.57,10403,674.00,1.92,0.00,1128.7,1042.8,1214.6,2119.6,2025.9,24.90,3.91,1429,17714.06,109.07,0.29,0.00,1.217,0.065,0.000,601.16,522.00,680.31,2178.25,2026.50,0,0,0,11.25,15.66,30.00
$GC,17897.75,10919,841.09,2.25,-80.00,595.1,513.5,676.8,2178.8,2027.2,14.97,2.23,1488,17932.71,23.93,0.41,4.05,1.181,0.063,0.122,498.94,437.38,560.50,2252.69,531.31,0,0,0,11.36,15.63,15.49
$GC,18016.46,11431,948.11,2.42,0.00,493.9,431.2,556.6,2253.4,531.5,9.71,5.02,1511,18024.99,0.00,0.21,3.51,0.000,0.066,0.038,493.75,431.38,556.12,2303.62,2025.81,0,0,0,30.00,15.63,15.66
$STATE,18143,end climb,SURFACE_DEPTH_REACHED
$STATE,18143,begin surface coast
$FINISH,0.5,1.020261
$STATE,18183,end surface coast,CONTROL_FINISHED_OK
$STATE,18184,begin surface
$SM_CCo,18272.49,0.00,0.000,0,490.6,428.6,552.5,701.42
$SM_GC,2.47,0.00,13.20,0.19,0.000,0.049,0.111,490.6,428.6,552.5,200.4,2130.4,0,0,0,30.00,15.72,15.70
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,7443.27,-15235.01,130923,003138
$TCM_TEMP,4.13
$SC_FREEKB,3841984
$RAFOS_CLK,-3
$MODEM,10,1694600120,77.49360,-139.94749,320.915,470139.9
$MODEM,9,1694599502,74.24940,-137.99570,302.649,443381.4
$MODEM,10,1694585719,77.49360,-139.94749,319.069,467435.9
$MODEM,9,1694585102,74.24940,-137.99570,302.114,442597.1
$RAFOS_FIX,7436.642090,-15249.683594,130923,101020,2,510,0.67
$HUMID,49.51
$TEMP,0.55
$INTERNAL_PRESSURE,7.662
$24V_AH,14.33,93.871
$10V_AH,15.00,0.000
$FG_AHR_24Vo,78.196
$FG_AHR_10Vo,56.425
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,834.395,31.385,210.975,224.820,0.000,14.453,5497.857,4.182,0.000,13053.744,2944.882,5317.162,0.000,0.000,5.078
$DEVICE_MAMPS,2234.088,244.440,230.664,241.973,0.000,15.000,5.120,0.000,0.000,0.320,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18189.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.063,0.000,0.000,0.000
$MEM0,59796,1,0,0
$MEM1,65508,1,0,0
$MEM2,1026684,27,19964,69
$DATA_FILE_SIZE,44854,1544
$CAP_FILE_SIZE,401102,0
$SDSIZE,3887104,3827136
$SDFILEDIR,855,117
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.020, 12.8,1
$IMPLIED_C_PITCH,1666,12.01,842,0.0,0.00
$IMPLIED_C_VBD,3336,56.231068,842,0
$GPS,130923,105801,7438.157,-15234.291,80,0.6,81,12.6