version: 66.04
glider: 108
mission: 11
dive: 462
start: 12 14 108 23 5 18
data:
$ID,108
$MISSION,11
$DIVE,462
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$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,-121706.25
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,224758,6648.443,-5729.914,40,2.3,59,-37.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-61.8
$GPS2,224758,6648.443,-5729.914,40,2.3,59,-37.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.155,0.175
$KALMAN_X,170654.5,-869.2,266.8,-260885.9,-589.8
$KALMAN_Y,-355053.3,2216.7,1768.4,233643.6,-9091.2
$MHEAD_RNG_PITCHd_Wd,302.6,141948,-13.0,-7.021
$D_GRID,699
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,88,0.00,0.00,-66.53,0.000,2,0.000,0.000,329,2246,2929
$GC,91,-0.99,-146.0,3.1,-1.1,12,122,8.82,2.28,-12.65,0.000,4,0.244,0.090,2453,3593,3248
$GC,360,-0.62,-146.0,41.6,-13.0,59,367,0.32,2.17,0.00,0.000,6,0.160,0.051,2545,2215,3252
$GC,705,-0.62,-146.0,70.8,-8.0,120,711,0.00,2.22,0.00,0.000,4,0.000,0.063,2547,821,3253
$GC,803,-0.62,-146.0,79.6,-8.7,137,809,0.00,2.33,0.00,0.000,6,0.000,0.065,2539,2235,3253
$GC,1146,-0.62,-146.0,106.0,-7.2,187,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2234,3253
$GC,1456,-0.67,-146.0,126.3,-6.2,202,1459,0.00,2.30,0.00,0.000,4,0.000,0.064,2538,821,3253
$GC,1557,-0.67,-146.0,132.2,-5.6,206,1562,0.00,2.33,0.00,0.000,6,0.000,0.066,2529,2231,3253
$GC,1874,-0.73,-146.0,147.4,-4.4,221,1878,0.00,2.25,0.00,0.000,4,0.000,0.080,2518,3601,3253
$GC,1976,-0.84,-146.0,152.3,-4.4,225,1980,0.00,2.17,0.00,0.000,6,0.000,0.051,2518,2218,3252
$GC,2298,-0.92,-146.0,168.7,-5.9,241,2300,0.12,0.00,0.00,0.000,6,0.088,0.000,2465,2218,3252
$GC,2607,-0.81,-146.0,191.9,-7.5,256,2612,0.15,2.25,0.00,0.000,4,0.150,0.064,2510,818,3252
$GC,2703,-0.81,-146.0,198.4,-6.1,260,2707,0.00,2.35,0.00,0.000,6,0.000,0.067,2503,2241,3252
$GC,3019,-0.81,-146.0,217.3,-5.9,275,3023,0.00,2.25,0.00,0.000,4,0.000,0.081,2492,3604,3251
$GC,3081,-0.81,-146.0,221.1,-6.0,277,3087,0.00,2.17,0.00,0.000,6,0.000,0.053,2492,2228,3251
$GC,3397,-0.81,-146.0,238.8,-5.2,293,3401,0.00,2.25,0.00,0.000,4,0.000,0.064,2492,824,3251
$GC,3556,-0.81,-146.0,247.9,-6.3,300,3560,0.00,2.35,0.00,0.000,6,0.000,0.067,2482,2245,3251
$GC,3883,-0.81,-146.0,265.4,-5.3,316,3886,0.00,2.22,0.00,0.000,4,0.000,0.080,2472,3597,3251
$GC,4019,-0.81,-146.0,273.5,-5.9,322,4023,0.12,2.17,0.00,0.000,6,0.147,0.052,2504,2215,3251
$GC,4352,-0.90,-146.0,289.4,-4.9,338,4356,0.00,2.22,0.00,0.000,4,0.000,0.063,2505,819,3251
$GC,4459,-0.96,-146.0,295.4,-5.4,342,4466,0.10,2.33,0.00,0.000,6,0.085,0.064,2454,2233,3251
$GC,4777,-0.88,-146.0,315.6,-6.5,358,4781,0.15,2.25,0.00,0.000,4,0.149,0.076,2487,3601,3252
$GC,4857,-0.94,-146.0,320.1,-5.3,361,4863,0.00,2.17,0.00,0.000,6,0.000,0.050,2487,2211,3252
$GC,5174,-0.94,-146.0,336.0,-5.0,377,5177,0.00,2.22,0.00,0.000,4,0.000,0.062,2487,815,3252
$GC,5297,-0.94,-146.0,342.9,-5.6,382,5301,0.00,2.33,0.00,0.000,6,0.000,0.062,2478,2236,3252
$GC,5621,-0.94,-146.0,360.4,-5.4,398,5625,0.00,2.30,0.00,0.000,4,0.000,0.061,2476,814,3252
$GC,5690,-0.94,-146.0,364.3,-5.6,401,5694,0.00,2.33,0.00,0.000,6,0.000,0.062,2467,2236,3253
$GC,6022,-0.94,-146.0,381.7,-5.0,417,6026,0.00,2.30,0.00,0.000,4,0.000,0.061,2466,814,3253
$GC,6107,-0.86,-146.0,386.5,-5.6,420,6114,0.15,2.33,0.00,0.000,6,0.134,0.061,2498,2235,3254
$GC,6425,-0.94,-146.0,400.0,-4.3,436,6427,0.10,0.00,0.00,0.000,6,0.091,0.000,2456,2236,3255
$GC,6749,-0.87,-146.0,419.1,-6.0,444,6751,0.15,0.00,0.00,0.000,6,0.147,0.000,2496,2235,3255
$GC,7074,-0.96,-146.0,435.6,-5.0,452,7076,0.10,0.00,0.00,0.000,6,0.093,0.000,2454,2236,3255
$GC,7399,-0.88,-146.0,456.0,-6.3,460,7403,0.12,2.30,0.00,0.000,4,0.150,0.059,2487,822,3255
$GC,7460,-0.88,-146.0,459.8,-5.7,461,7464,0.00,2.33,0.00,0.000,6,0.000,0.061,2480,2245,3255
$GC,7774,-0.88,-146.0,477.2,-5.5,469,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2245,3256
$GC,8098,-0.88,-146.0,495.9,-5.8,477,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2245,3256
$GC,8423,-0.88,-146.0,515.2,-6.1,485,8427,0.00,2.33,0.00,0.000,4,0.000,0.061,2479,813,3255
$GC,8491,-0.88,-146.0,519.5,-6.1,486,8495,0.00,2.33,0.00,0.000,6,0.000,0.061,2470,2232,3256
$GC,8839,-0.88,-146.0,540.5,-5.8,495,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2231,3255
$GC,9164,-0.88,-146.0,559.2,-5.8,503,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2232,3255
$GC,9489,-0.88,-146.0,578.2,-5.8,511,9493,0.00,2.28,0.00,0.000,4,0.000,0.059,2470,825,3256
$GC,9552,-0.83,-146.0,582.2,-6.6,512,9557,0.15,2.33,0.00,0.000,6,0.132,0.061,2501,2243,3256
$GC,9901,-0.96,-146.0,598.9,-4.6,521,9903,0.12,0.00,0.00,0.000,6,0.083,0.000,2449,2243,3256
$GC,10226,-0.88,-146.0,617.8,-5.8,529,10228,0.15,0.00,0.00,0.000,6,0.148,0.000,2491,2243,3256
$GC,10551,-0.97,-146.0,633.2,-4.6,537,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2243,3256
$GC,10876,-1.06,-146.0,647.7,-4.5,545,10881,0.15,2.33,0.00,0.000,4,0.081,0.059,2429,812,3257
$GC,10978,-0.87,-146.0,654.3,-6.5,547,10983,0.25,2.33,0.00,0.000,6,0.134,0.061,2492,2231,3257
$GC,11327,-0.97,-146.0,670.3,-4.5,556,11329,0.10,0.00,0.00,0.000,6,0.089,0.000,2449,2231,3256
$GC,11652,-0.90,-146.0,689.3,-6.1,564,11656,0.12,2.30,0.00,0.000,4,0.150,0.058,2484,826,3256
$GC,11743,-0.90,-146.0,694.2,-5.8,566,11747,0.00,2.35,0.00,0.000,6,0.000,0.063,2477,2230,3257
$STATE,11826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11826,begin apogee
$GC,11834,-0.31,0.0,699.1,5.7,568,11976,0.45,0.00,133.95,1.259,6,0.121,0.000,2618,1740,2650
$STATE,11977,end apogee,CONTROL_FINISHED_OK
$STATE,11977,begin climb
$GC,11981,0.99,146.0,701.1,0.0,571,12121,0.88,0.00,136.65,1.193,6,0.097,0.000,2895,1740,2055
$GC,12433,0.78,146.0,653.6,11.5,582,12438,0.17,2.40,0.00,0.000,4,0.130,0.064,2855,330,2045
$GC,12461,0.72,146.0,650.4,10.3,582,12465,0.00,2.40,0.00,0.000,6,0.000,0.054,2855,1739,2045
$GC,12799,0.66,146.0,619.1,8.9,591,12803,0.12,2.33,0.00,0.000,4,0.134,0.067,2819,3161,2044
$GC,12837,0.66,146.0,615.8,8.0,591,12844,0.00,2.28,0.00,0.000,6,0.000,0.050,2827,1731,2044
$GC,13169,0.67,156.2,592.6,6.7,600,13184,0.00,2.40,8.32,1.034,4,0.000,0.066,2827,3159,2013
$GC,13214,0.61,156.2,589.5,7.6,601,13219,0.10,2.28,0.00,0.000,6,0.143,0.051,2812,1727,2012
$GC,13545,0.77,186.5,569.7,6.0,609,13580,0.12,2.42,28.08,1.171,4,0.075,0.066,2868,3151,1889
$GC,13588,0.63,186.5,566.4,8.2,610,13593,0.22,2.28,0.00,0.000,6,0.133,0.050,2814,1736,1887
$GC,13913,0.80,210.0,545.5,6.3,618,13937,0.15,0.00,21.12,1.136,6,0.069,0.000,2881,1736,1794
$GC,14238,0.65,210.0,511.4,10.7,626,14240,0.22,0.00,0.00,0.000,6,0.125,0.000,2813,1735,1789
$GC,14563,0.83,220.3,489.3,6.7,634,14578,0.17,0.00,10.12,1.037,6,0.067,0.000,2890,1736,1751
$GC,14893,0.67,220.3,453.7,11.0,642,14898,0.20,2.35,0.00,0.000,4,0.127,0.067,2825,3156,1748
$GC,14909,0.56,220.3,451.9,11.1,642,14914,0.12,2.25,0.00,0.000,6,0.132,0.050,2797,1734,1747
$GC,15223,1.27,220.3,428.0,9.0,650,15228,0.45,2.28,0.00,0.000,4,0.094,0.064,2956,333,1746
$GC,15251,1.51,220.3,425.2,9.8,650,15256,0.17,2.30,0.00,0.000,6,0.077,0.053,3025,1752,1747
$GC,15565,0.90,220.3,359.0,22.6,661,15570,0.50,2.28,0.00,0.000,4,0.157,0.067,2875,3158,1747
$GC,15577,0.34,220.3,356.2,22.2,661,15584,0.43,2.25,0.00,0.000,6,0.129,0.051,2754,1731,1746
$GC,15894,1.00,220.3,323.3,12.2,677,15898,0.40,2.33,0.00,0.000,4,0.094,0.066,2890,3154,1744
$GC,15928,1.19,220.3,319.2,10.9,678,15932,0.15,2.22,0.00,0.000,6,0.073,0.050,2962,1737,1745
$GC,16249,0.81,220.3,267.0,16.9,694,16254,0.32,2.28,0.00,0.000,4,0.140,0.064,2867,330,1745
$GC,16316,0.81,220.3,259.5,9.7,697,16320,0.00,2.28,0.00,0.000,6,0.000,0.052,2867,1752,1745
$GC,16643,0.81,220.3,231.1,8.4,713,16647,0.00,2.25,0.00,0.000,4,0.000,0.069,2866,3158,1745
$GC,16677,0.72,220.3,227.9,9.8,714,16682,0.15,2.25,0.00,0.000,6,0.130,0.051,2833,1726,1745
$GC,16999,0.94,262.6,208.9,5.7,730,17039,0.17,0.00,37.97,0.973,6,0.066,0.000,2913,1726,1579
$GC,17348,0.82,262.6,172.5,10.7,747,17353,0.20,2.28,0.00,0.000,4,0.126,0.064,2856,323,1572
$GC,17365,0.82,262.6,170.7,10.0,747,17371,0.00,2.30,0.00,0.000,6,0.000,0.053,2857,1746,1571
$GC,17682,1.00,279.9,149.8,6.5,763,17705,0.15,2.28,15.90,0.905,4,0.072,0.067,2927,3160,1507
$GC,17722,0.82,279.9,145.6,11.4,764,17729,0.28,2.28,0.00,0.000,6,0.133,0.051,2857,1727,1506
$GC,18039,1.02,288.8,123.9,6.7,780,18054,0.15,2.30,8.73,0.834,4,0.073,0.066,2937,331,1472
$GC,18078,0.94,288.8,120.2,9.5,781,18085,0.20,2.30,0.00,0.000,6,0.131,0.055,2879,1748,1472
$GC,18400,1.05,288.8,95.4,7.4,803,18407,0.12,2.28,0.00,0.000,4,0.077,0.070,2936,3154,1469
$GC,18439,0.95,288.8,91.5,9.7,809,18446,0.22,2.25,0.00,0.000,6,0.137,0.053,2881,1734,1468
$GC,18785,1.06,288.8,66.7,7.8,870,18792,0.12,2.28,0.00,0.000,4,0.077,0.067,2950,334,1467
$GC,18810,1.11,288.8,64.4,8.0,874,18817,0.12,2.28,0.00,0.000,6,0.140,0.055,2916,1746,1467
$GC,19155,1.11,288.8,33.3,9.2,935,19160,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1746,1467
$FREEZE,6.97,-1.733,-1.820
$FREEZE,6.73,-1.739,-1.820
$FREEZE,6.38,-1.739,-1.820
$FREEZE,5.92,-1.734,-1.820
$FREEZE,5.34,-1.726,-1.819
$FREEZE,4.97,-1.731,-1.819
$GC,19499,1.11,288.8,5.0,7.8,996,19506,0.00,2.30,0.00,0.000,4,0.000,0.075,2917,3157,1466
$FREEZE,3.48,-1.730,-1.818
$FREEZE,2.78,-1.732,-1.817
$STATE,19516,end climb,SURFACE_DEPTH_REACHED
$STATE,19516,begin surface coast
$FREEZE,2.27,-1.737,-1.817
$FREEZE,1.69,-1.736,-1.817
$FREEZE,1.55,-2.032,-0.904
$FREEZE,1.63,-1.841,-1.845
$FREEZE,1.57,-1.874,-0.885
$FINISH,1.6,1.013022
$STATE,19545,end surface coast,CONTROL_FINISHED_OK
$STATE,19545,begin surface
$SM_CCo,19626,0.00,0.000,0,0,1462,291.17
$SM_GC,2.41,7.12,0.00,0.00,0.062,0.000,0.000,337,2211,1462,-10.69,-0.54,291.17
$RAFOS_CLK,845
$RAFOS,2,1229315042,4.416667,4.400556,109,60,55,54,51,51,598,195,124,157,115,216
$RAFOS,1,1229314441,4.250000,4.233611,78,63,59,58,58,53,760,188,218,155,143,167
$RAFOS,0,1229313850,4.083333,4.069445,62,62,59,52,51,50,179,193,213,119,131,222
$RAFOS,4,1229301854,0.750000,0.737222,75,63,60,60,59,55,737,193,215,176,204,139
$RAFOS,3,1229301245,0.583333,0.568056,62,59,58,57,56,54,188,158,839,201,219,229
$RAFOS,2,1229300649,0.416667,0.402500,82,57,55,54,51,51,567,160,210,148,120,181
$RAFOS,1,1229300060,0.250000,0.238889,78,69,57,56,54,52,683,215,182,193,227,140
$RAFOS,0,1229299442,0.083333,0.067222,65,58,53,51,51,50,206,166,193,127,111,230
$RAFOS_FIX,6650.770508,-5730.492188,151208,000052,3,78,0.71
$IRIDIUM_FIX,6620.33,-5728.37,100398,232303
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.10
$XPDR_PINGS,74
$24V_AH,21.7,75.802
$10V_AH,10.4,34.704
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.875,155.500,400.850,0.000,0.000,83.065,180.786,185.422,18.500,0.000,0.000,183.243,1940.613,14998.449,571.650,2188.740,954.128,0.000,1649.075,0.000,1980.659,2880.000,0.531,0.000
$DEVICE_MAMPS,243.906,89.739,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31553,1004
$CAP_FILE_SIZE,155596,0
$CFSIZE,260165632,221167616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.1
$GPS,151208,043428,6648.124,-5734.941,39,3.3,58,-37.4