version: 66.11
glider: 108
mission: 21
dive: 226
start: 7 30 112 6 7 56
data:
$ID,108
$MISSION,21
$DIVE,226
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51396
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-191368.83
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.860044
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,300712,060004,6657.943,-5656.889,37,0.8,37,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-72.8
$GPS2,300712,060723,6658.016,-5656.972,17,1.2,17,-33.4
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,35.6,11278,-16.9,-9.167
$D_GRID,675
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,79,0.00,0.00,-60.83,0.000,2,0.000,0.000,333,2122,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.75,-146.6,3.2,-2.4,10,121,9.90,2.10,-20.10,0.000,4,0.239,0.063,2873,3492,3879,0,0,0,0,0,0,25.76,26.36,26.82
$GC,352,-0.75,-146.6,42.5,-13.7,61,359,0.00,2.00,0.00,0.000,6,0.000,0.029,2879,2105,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,665,-0.75,-146.6,80.9,-11.5,122,672,0.00,2.12,0.00,0.000,4,0.000,0.047,2871,3498,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,884,-0.75,-146.6,106.6,-11.7,159,891,0.00,2.03,0.00,0.000,6,0.000,0.029,2872,2109,3887,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1192,-0.75,-146.6,140.1,-10.2,190,1201,0.00,2.12,0.00,0.000,4,0.000,0.048,2864,3493,3887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1324,-0.75,-146.6,154.3,-11.1,203,1333,0.00,2.00,0.00,0.000,6,0.000,0.029,2864,2121,3887,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1634,-0.75,-146.6,189.9,-11.4,234,1643,0.00,2.10,0.00,0.000,4,0.000,0.048,2853,3502,3886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1758,-0.75,-146.6,204.6,-12.0,246,1767,0.15,1.98,0.00,0.000,6,0.166,0.030,2892,2146,3886,0,0,0,0,0,0,26.21,26.62,28.83
$GC,2068,-0.75,-146.6,234.7,-9.8,277,2077,0.00,2.05,0.00,0.000,4,0.000,0.047,2884,3494,3885,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2143,-0.75,-146.6,242.3,-10.5,284,2150,0.00,1.95,0.00,0.000,6,0.000,0.030,2884,2144,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2450,-0.75,-146.6,273.4,-9.9,315,2458,0.00,2.05,0.00,0.000,4,0.000,0.047,2874,3496,3884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2501,-0.75,-146.6,278.8,-11.0,320,2505,0.00,1.92,0.00,0.000,6,0.000,0.029,2874,2163,3884,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2813,-0.75,-146.6,310.4,-9.8,351,2817,0.00,2.05,0.00,0.000,4,0.000,0.047,2865,3507,3884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2909,-0.75,-146.6,319.8,-10.3,360,2917,0.00,1.95,0.00,0.000,6,0.000,0.029,2864,2159,3884,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3218,-0.75,-146.6,350.8,-10.1,391,3227,0.00,2.03,0.00,0.000,4,0.000,0.047,2854,3494,3884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3342,-0.75,-146.6,364.0,-10.5,403,3351,0.12,1.92,0.00,0.000,6,0.160,0.029,2885,2167,3884,0,0,0,0,0,0,26.31,26.65,28.83
$GC,3650,-0.75,-146.6,390.4,-8.3,434,3654,0.00,2.03,0.00,0.000,4,0.000,0.047,2878,3493,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3725,-0.75,-146.6,397.1,-9.4,441,3732,0.00,1.90,0.00,0.000,6,0.000,0.028,2878,2176,3884,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4033,-0.75,-146.6,424.2,-8.4,472,4042,0.00,2.00,0.00,0.000,4,0.000,0.047,2869,3495,3884,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4126,-0.75,-146.6,432.7,-9.3,481,4130,0.00,1.88,0.00,0.000,6,0.000,0.029,2868,2206,3884,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4438,-0.75,-146.6,460.9,-8.9,512,4447,0.00,1.98,0.00,0.000,4,0.000,0.047,2859,3503,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4511,-0.75,-146.6,468.0,-10.0,519,4520,0.12,1.88,0.00,0.000,6,0.158,0.029,2890,2206,3884,0,0,0,0,0,0,26.32,26.66,28.83
$GC,4821,-0.75,-146.6,492.6,-7.6,550,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2207,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5125,-0.75,-146.6,516.9,-8.3,580,5128,0.00,1.98,0.00,0.000,4,0.000,0.047,2883,3491,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5197,-0.75,-146.6,523.5,-8.8,587,5201,0.00,1.90,0.00,0.000,6,0.000,0.029,2883,2177,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5510,-0.75,-146.6,550.6,-8.6,618,5514,0.00,2.03,0.00,0.000,4,0.000,0.047,2873,3494,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5575,-0.75,-146.6,556.6,-9.6,624,5582,0.00,1.85,0.00,0.000,6,0.000,0.028,2873,2208,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5882,-0.75,-146.6,584.9,-9.2,655,5886,0.00,1.98,0.00,0.000,4,0.000,0.047,2864,3492,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5924,-0.75,-146.6,588.9,-9.8,659,5927,0.00,1.85,0.00,0.000,6,0.000,0.029,2863,2220,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6256,-0.75,-146.6,620.4,-9.5,678,6259,0.00,1.98,0.00,0.000,4,0.000,0.047,2853,3500,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6310,-0.75,-146.6,623.7,-9.8,679,6318,0.12,1.85,0.00,0.000,6,0.158,0.029,2885,2218,3884,0,0,0,0,0,0,26.33,26.67,28.83
$GC,6621,-0.75,-146.6,652.4,-8.5,690,6626,0.00,1.98,0.00,0.000,4,0.000,0.047,2878,3506,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6663,-0.75,-146.6,655.2,-8.5,691,6667,0.00,1.83,0.00,0.000,6,0.000,0.028,2878,2223,3884,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,6828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6828,begin apogee
$GC,6835,-0.17,0.0,670.3,-8.2,697,6961,0.60,0.00,120.15,1.289,4,0.135,0.000,3070,1896,3279,0,0,0,0,0,0,26.12,28.83,23.85
$STATE,6965,end apogee,CONTROL_FINISHED_OK
$STATE,6965,begin climb
$GC,6968,0.75,146.6,674.0,0.0,701,7102,0.85,2.25,124.00,1.242,4,0.074,0.036,3367,517,2681,0,0,0,0,0,0,24.90,24.94,23.06
$GC,7329,0.75,146.6,639.5,12.7,713,7334,0.00,2.22,0.00,0.000,6,0.000,0.034,3367,1898,2670,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7643,0.75,146.6,598.6,12.6,724,7653,0.00,2.17,0.00,0.000,4,0.000,0.044,3367,3305,2667,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7859,0.75,146.6,567.4,14.9,745,7866,0.00,2.10,0.00,0.000,6,0.000,0.030,3377,1906,2666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8166,0.75,146.6,524.8,13.8,776,8175,0.00,2.15,0.00,0.000,4,0.000,0.038,3387,509,2665,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8281,0.75,146.6,508.8,14.1,787,8289,0.00,2.15,0.00,0.000,6,0.000,0.035,3387,1891,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8589,0.75,146.6,464.4,14.5,818,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1891,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,0.75,146.6,420.4,14.8,848,8899,0.00,2.15,0.00,0.000,4,0.000,0.037,3396,508,2663,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8925,0.75,146.6,415.7,14.4,851,8932,0.00,2.15,0.00,0.000,6,0.000,0.034,3397,1897,2663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9232,0.75,146.6,368.9,15.4,882,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1897,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9536,0.75,146.6,322.7,15.4,912,9545,0.00,2.12,0.00,0.000,4,0.000,0.038,3405,515,2662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9571,0.75,146.6,317.0,15.7,915,9578,0.15,2.12,0.00,0.000,6,0.169,0.034,3368,1898,2662,0,0,0,0,0,0,26.12,26.45,28.83
$GC,9878,0.75,146.6,273.6,13.9,946,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1898,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10178,0.75,146.6,232.1,13.4,976,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1898,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10481,0.75,146.6,194.3,12.0,1006,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1897,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10791,0.75,146.6,159.5,10.8,1037,10800,0.00,2.10,0.00,0.000,4,0.000,0.044,3368,3305,2661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10847,0.75,146.6,153.1,11.7,1042,10854,0.00,2.08,0.00,0.000,6,0.000,0.029,3375,1876,2662,0,0,0,0,0,0,28.83,26.56,28.83
$GC,11153,0.75,146.6,116.8,11.5,1073,11162,0.00,2.05,0.00,0.000,4,0.000,0.038,3385,495,2661,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11216,0.75,146.6,109.7,11.5,1079,11225,0.00,2.10,0.00,0.000,6,0.000,0.033,3385,1878,2662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11527,0.75,146.6,76.3,10.8,1132,11535,0.00,2.15,0.00,0.000,4,0.000,0.044,3385,3320,2662,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11548,0.75,146.6,73.9,11.4,1135,11555,0.00,2.12,0.00,0.000,6,0.000,0.029,3395,1865,2662,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11860,0.75,146.6,42.7,9.3,1196,11867,0.00,2.05,0.00,0.000,4,0.000,0.039,3405,510,2662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12036,0.78,177.6,28.2,7.9,1230,12057,0.00,2.10,15.48,0.831,6,0.000,0.035,3405,1882,2555,0,0,0,0,0,0,28.83,26.57,25.48
$FREEZE,8.99,6.474,-1.772,0,1,0
$FREEZE,8.57,6.463,-1.772,0,1,0
$FREEZE,8.11,6.464,-1.772,0,1,0
$FREEZE,7.77,6.467,-1.771,0,1,0
$FREEZE,7.12,6.470,-1.771,0,1,0
$FREEZE,6.64,6.483,-1.770,0,1,0
$GC,12365,0.93,296.1,9.7,4.2,1293,12424,0.00,2.20,54.33,0.080,4,0.000,0.037,3414,505,2069,0,0,0,0,0,0,28.83,26.31,26.17
$FREEZE,5.12,6.454,-1.770,0,1,0
$FREEZE,4.54,6.454,-1.770,0,1,0
$FREEZE,3.93,6.451,-1.769,0,1,0
$STATE,12440,end climb,SURFACE_DEPTH_REACHED
$STATE,12442,begin surface coast
$FREEZE,3.10,6.416,-1.771,0,1,0
$FREEZE,2.59,6.453,-1.768,0,1,0
$FREEZE,2.05,6.453,-1.768,0,1,0
$FREEZE,1.60,6.445,-1.767,0,1,0
$FREEZE,1.48,5.694,-0.258,0,1,0
$FREEZE,1.31,6.269,-0.883,0,1,0
$FINISH,1.3,1.012795
$STATE,12473,end surface coast,CONTROL_FINISHED_OK
$STATE,12474,begin surface
$SM_CCo,12495,44.40,0.069,0,0,1647,400.08
$SM_GC,2.45,8.18,2.55,44.40,0.048,0.039,0.069,340,2111,1647,-8.66,-1.19,400.08,0,0,0,0,0,0,26.25,26.32,26.14
$RAFOS_CLK,614
$RAFOS,6,1343638142,8.833333,8.817223,55,50,43,43,42,42,1538,819,1887,796,1609,1870
$RAFOS,5,1343637667,8.700000,8.685278,43,42,41,41,39,39,1464,1911,1039,1326,539,689
$RAFOS,4,1343637183,8.566667,8.550834,48,44,44,43,43,40,517,432,1871,1337,1440,248
$RAFOS,3,1343636702,8.433333,8.417222,45,44,44,43,41,41,673,1634,1817,1665,552,1683
$RAFOS,2,1343636223,8.300000,8.284166,44,43,41,40,40,39,61,1054,89,1,1218,1727
$RAFOS,1,1343635744,8.166667,8.151111,51,43,43,43,42,42,272,1583,1037,1124,789,769
$RAFOS,0,1343635273,8.033334,8.020278,45,43,43,41,41,40,1419,1174,1737,101,348,187
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5711.93,300712,020259
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,652.4,32.9
$24V_AH,23.1,27.297
$10V_AH,10.1,30.688
$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,20.200,106.725,313.950,44.400,0.000,0.000,0.000,304.000,5.000,0.000,18.554,3359.940,6166.596,523.368,2592.820,337.075,0.000,2028.638,0.000,2261.251,2520.000,21.503,0.000
$DEVICE_MAMPS,238.680,63.495,1289.025,68.850,0.000,0.000,0.000,274.150,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.567,904.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,60080,1310
$CAP_FILE_SIZE,144141,0
$CFSIZE,260165632,227385344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.3
$CURRENT,0.103, 89.9,1
$GPS,300712,093824,6659.406,-5654.126,36,2.0,36,-33.4