version: 66.04
glider: 113
mission: 4
dive: 392
start: 12 4 108 16 35 53
data:
$ID,113
$MISSION,4
$DIVE,392
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32351.016
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$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,-25.705193
$PRESSURE_SLOPE,0.0001160825
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,162828,6656.432,-5728.038,31,2.7,50,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.1
$GPS2,163459,6656.453,-5728.025,10,2.8,29,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.224,0.009
$KALMAN_X,-161683.6,-276.5,655.7,158751.0,1549.2
$KALMAN_Y,21311.3,70.0,-211.8,-18238.4,-302.2
$MHEAD_RNG_PITCHd_Wd,309.9,26842,-12.9,-7.021
$D_GRID,773
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,143,0.00,0.00,-123.75,0.000,6,0.000,0.000,162,2334,3017
$GC,146,-1.08,-146.0,3.7,-3.9,22,160,8.73,2.30,0.00,0.000,4,0.259,0.058,2200,926,3020
$GC,397,-0.67,-146.0,47.1,-15.1,66,404,0.32,2.28,0.00,0.000,6,0.166,0.052,2293,2344,3023
$GC,742,-0.67,-146.0,78.0,-7.7,127,748,0.00,2.33,0.00,0.000,4,0.000,0.067,2290,3752,3024
$GC,845,-0.74,-146.0,85.9,-7.6,145,851,0.00,2.20,0.00,0.000,6,0.000,0.038,2290,2333,3023
$GC,1196,-0.80,-146.0,108.1,-6.3,191,1198,0.12,0.00,0.00,0.000,6,0.099,0.000,2244,2333,3023
$GC,1505,-0.73,-146.0,133.4,-8.1,206,1509,0.15,2.40,0.00,0.000,4,0.161,0.067,2284,3753,3024
$GC,1618,-0.83,-146.0,141.0,-6.1,211,1623,0.12,2.20,0.00,0.000,6,0.084,0.039,2237,2341,3024
$GC,1945,-0.75,-146.0,168.1,-8.6,227,1949,0.15,2.22,0.00,0.000,4,0.160,0.051,2277,939,3023
$GC,2017,-0.75,-146.0,173.9,-7.9,230,2021,0.00,2.25,0.00,0.000,6,0.000,0.051,2277,2339,3023
$GC,2345,-0.83,-146.0,196.8,-7.3,246,2348,0.00,2.33,0.00,0.000,4,0.000,0.065,2277,3748,3023
$GC,2406,-0.94,-146.0,201.4,-7.5,248,2414,0.15,2.20,0.00,0.000,6,0.091,0.039,2223,2333,3023
$GC,2723,-0.85,-146.0,229.7,-9.1,264,2725,0.12,0.00,0.00,0.000,6,0.162,0.000,2256,2331,3022
$GC,3031,-0.85,-146.0,254.6,-8.1,279,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2331,3023
$GC,3341,-0.85,-146.0,277.0,-7.1,294,3345,0.00,2.38,0.00,0.000,4,0.000,0.065,2255,3751,3022
$GC,3414,-0.94,-146.0,282.5,-7.3,297,3418,0.10,2.22,0.00,0.000,6,0.097,0.039,2220,2326,3022
$GC,3741,-0.87,-146.0,309.1,-8.1,313,3742,0.12,0.00,0.00,0.000,6,0.162,0.000,2253,2325,3022
$GC,4050,-0.87,-146.0,328.1,-5.7,328,4054,0.00,2.38,0.00,0.000,4,0.000,0.064,2253,3746,3022
$GC,4119,-0.96,-146.0,332.0,-5.8,331,4124,0.10,2.20,0.00,0.000,6,0.105,0.038,2218,2329,3022
$GC,4452,-0.89,-146.0,355.1,-7.2,347,4457,0.10,2.38,0.00,0.000,4,0.159,0.064,2243,3752,3023
$GC,4514,-0.95,-146.0,359.4,-7.0,350,4519,0.00,2.17,0.00,0.000,6,0.000,0.037,2244,2338,3023
$GC,4847,-0.95,-146.0,381.0,-6.6,366,4851,0.00,2.22,0.00,0.000,4,0.000,0.051,2244,932,3023
$GC,4932,-0.95,-146.0,387.0,-7.3,369,4938,0.00,2.28,0.00,0.000,6,0.000,0.048,2244,2355,3023
$GC,5266,-0.95,-146.0,409.3,-6.6,383,5270,0.00,2.30,0.00,0.000,4,0.000,0.064,2244,3746,3024
$GC,5390,-1.01,-146.0,418.2,-7.6,385,5394,0.12,2.20,0.00,0.000,6,0.097,0.038,2200,2328,3024
$GC,5727,-0.89,-146.0,446.0,-8.4,394,5732,0.15,2.22,0.00,0.000,4,0.152,0.050,2242,936,3024
$GC,5777,-0.89,-146.0,450.0,-7.6,395,5780,0.00,2.25,0.00,0.000,6,0.000,0.048,2242,2342,3024
$GC,6096,-0.89,-146.0,472.3,-7.0,403,6100,0.00,2.33,0.00,0.000,4,0.000,0.064,2242,3752,3024
$GC,6225,-0.97,-146.0,481.0,-6.8,405,6232,0.00,2.20,0.00,0.000,6,0.000,0.038,2242,2335,3024
$GC,6557,-0.97,-146.0,503.5,-6.9,414,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2335,3025
$GC,6883,-0.97,-146.0,524.7,-6.5,422,6886,0.00,2.35,0.00,0.000,4,0.000,0.064,2242,3742,3025
$GC,6956,-1.04,-146.0,529.6,-6.3,423,6960,0.12,2.17,0.00,0.000,6,0.089,0.038,2197,2340,3025
$GC,7298,-0.93,-146.0,556.4,-7.8,432,7300,0.15,0.00,0.00,0.000,6,0.154,0.000,2238,2338,3025
$GC,7624,-0.93,-146.0,577.6,-6.6,440,7627,0.00,2.35,0.00,0.000,4,0.000,0.066,2237,3743,3025
$GC,7725,-0.99,-146.0,584.6,-6.7,442,7729,0.00,2.20,0.00,0.000,6,0.000,0.038,2237,2328,3025
$GC,8044,-0.99,-146.0,605.9,-6.5,450,8048,0.00,2.22,0.00,0.000,4,0.000,0.051,2237,929,3025
$GC,8094,-0.99,-146.0,609.7,-7.5,451,8098,0.00,2.28,0.00,0.000,6,0.000,0.048,2237,2351,3025
$GC,8418,-0.99,-146.0,631.6,-6.6,459,8422,0.00,2.30,0.00,0.000,4,0.000,0.065,2236,3743,3025
$GC,8542,-1.04,-146.0,640.0,-6.8,461,8547,0.10,2.20,0.00,0.000,6,0.112,0.038,2201,2328,3025
$GC,8880,-0.95,-146.0,665.1,-7.5,470,8884,0.12,2.40,0.00,0.000,4,0.156,0.064,2234,3750,3025
$GC,8935,-1.01,-146.0,669.1,-7.2,471,8939,0.00,2.20,0.00,0.000,6,0.000,0.038,2234,2338,3025
$GC,9249,-1.01,-146.0,688.6,-6.2,479,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2338,3025
$GC,9574,-1.01,-146.0,708.5,-6.1,487,9578,0.00,2.38,0.00,0.000,4,0.000,0.065,2234,3749,3025
$GC,9647,-1.07,-146.0,713.3,-6.6,488,9652,0.12,2.20,0.00,0.000,6,0.104,0.038,2191,2338,3024
$GC,9990,-0.96,-146.0,738.2,-7.1,497,9995,0.15,2.25,0.00,0.000,4,0.150,0.050,2231,931,3025
$GC,10063,-0.96,-146.0,743.1,-7.1,498,10067,0.00,2.28,0.00,0.000,6,0.000,0.049,2232,2345,3025
$GC,10400,-0.96,-146.0,761.5,-5.4,507,10404,0.00,2.33,0.00,0.000,4,0.000,0.066,2231,3742,3025
$GC,10513,-1.03,-146.0,768.3,-6.2,509,10517,0.00,2.20,0.00,0.000,6,0.000,0.038,2231,2328,3024
$STATE,10614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10614,begin apogee
$GC,10621,-0.34,0.0,774.4,5.8,512,10761,0.43,0.00,136.73,1.347,6,0.141,0.000,2362,2516,2420
$STATE,10762,end apogee,CONTROL_FINISHED_OK
$STATE,10762,begin climb
$GC,10765,1.08,146.0,777.0,0.0,515,11024,1.08,2.78,173.70,1.082,4,0.107,0.064,2667,3923,1824
$GC,11093,0.82,146.0,753.6,11.0,522,11100,0.22,2.42,0.00,0.000,6,0.140,0.038,2611,2525,1825
$GC,11425,0.85,164.0,731.6,6.4,531,11448,0.00,2.45,16.55,1.230,4,0.000,0.067,2611,3938,1751
$GC,11646,0.85,164.0,714.7,8.1,536,11650,0.00,2.22,0.00,0.000,6,0.000,0.039,2610,2500,1752
$GC,11977,0.93,172.9,692.8,6.7,544,11992,0.10,2.42,8.90,1.141,4,0.085,0.067,2653,3932,1715
$GC,12160,0.76,172.9,674.6,9.6,548,12165,0.20,2.20,0.00,0.000,6,0.141,0.041,2595,2516,1716
$GC,12480,0.92,189.6,653.9,6.5,556,12501,0.15,2.22,15.32,1.227,4,0.074,0.052,2661,1118,1647
$GC,12507,0.92,189.6,651.6,8.3,556,12512,0.10,2.28,0.00,0.000,6,0.143,0.048,2635,2537,1647
$GC,12838,0.92,189.6,625.4,7.9,564,12842,0.00,2.28,0.00,0.000,4,0.000,0.052,2635,1107,1648
$GC,12849,0.92,189.6,624.3,7.9,564,12853,0.00,2.25,0.00,0.000,6,0.000,0.048,2635,2531,1648
$GC,13169,0.92,189.6,599.7,7.8,572,13173,0.00,2.25,0.00,0.000,4,0.000,0.051,2635,1116,1648
$GC,13179,0.92,189.6,598.7,7.8,572,13183,0.00,2.22,0.00,0.000,6,0.000,0.048,2635,2522,1647
$GC,13500,0.92,189.6,574.2,7.6,580,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2523,1647
$GC,13823,0.92,189.6,550.2,7.4,588,13827,0.00,2.25,0.00,0.000,4,0.000,0.051,2635,1116,1647
$GC,13835,0.92,189.6,549.4,7.4,588,13839,0.00,2.25,0.00,0.000,6,0.000,0.048,2635,2532,1647
$GC,14153,0.92,189.6,525.6,7.5,596,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2532,1647
$GC,14479,0.92,189.6,501.3,7.6,604,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2532,1647
$GC,14803,0.92,189.6,476.9,7.5,612,14807,0.00,2.28,0.00,0.000,4,0.000,0.050,2635,1106,1646
$GC,14815,0.92,189.6,476.0,7.4,612,14819,0.00,2.25,0.00,0.000,6,0.000,0.047,2635,2522,1646
$GC,15134,0.92,189.9,453.3,7.0,620,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2522,1646
$GC,15460,0.92,189.9,430.1,7.1,628,15461,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2522,1646
$GC,15784,0.94,206.0,408.5,6.5,636,15801,0.00,0.00,14.82,1.109,6,0.000,0.000,2635,2522,1580
$GC,16091,0.99,206.0,387.5,7.1,647,16095,0.00,2.22,0.00,0.000,4,0.000,0.051,2635,1119,1581
$GC,16102,1.05,206.0,386.7,7.0,647,16107,0.10,2.22,0.00,0.000,6,0.089,0.047,2677,2522,1581
$GC,16425,0.96,206.0,358.1,9.2,663,16426,0.12,0.00,0.00,0.000,6,0.127,0.000,2641,2522,1581
$GC,16733,0.96,206.0,334.9,7.5,678,16737,0.00,2.25,0.00,0.000,4,0.000,0.051,2640,1116,1581
$GC,16750,1.03,206.0,333.8,7.3,678,16756,0.00,2.25,0.00,0.000,6,0.000,0.047,2640,2533,1581
$GC,17066,1.08,209.6,311.0,6.9,694,17073,0.12,0.00,4.78,0.805,6,0.075,0.000,2694,2533,1565
$GC,17375,0.96,209.6,282.0,9.4,709,17377,0.17,0.00,0.00,0.000,6,0.131,0.000,2641,2534,1567
$GC,17685,1.04,223.7,261.0,6.5,724,17707,0.00,2.33,13.20,1.009,4,0.000,0.051,2641,1118,1508
$GC,17724,1.19,261.4,258.5,5.7,725,17762,0.17,2.22,32.42,1.033,6,0.071,0.046,2712,2520,1354
$GC,18081,1.08,261.4,223.7,10.1,743,18086,0.15,2.25,0.00,0.000,4,0.132,0.051,2667,1116,1352
$GC,18092,1.00,261.4,222.4,9.5,743,18099,0.00,2.22,0.00,0.000,6,0.000,0.046,2667,2527,1353
$GC,18408,1.05,261.4,199.3,7.2,759,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2527,1353
$GC,18719,1.13,283.1,178.7,6.3,774,18739,0.00,0.00,18.73,0.976,6,0.000,0.000,2667,2527,1265
$GC,19047,1.25,313.5,159.2,6.0,790,19079,0.15,2.30,26.20,0.974,4,0.069,0.051,2732,1119,1142
$GC,19114,1.19,313.5,153.2,9.1,793,19118,0.15,2.25,0.00,0.000,6,0.130,0.046,2689,2531,1141
$GC,19434,1.19,313.5,128.5,7.8,809,19438,0.00,2.25,0.00,0.000,4,0.000,0.051,2689,1114,1139
$GC,19451,1.25,313.5,127.3,7.8,809,19459,0.00,2.22,0.00,0.000,6,0.000,0.047,2689,2525,1139
$GC,19768,1.32,313.5,103.6,7.2,825,19772,0.12,2.25,0.00,0.000,4,0.074,0.050,2746,1114,1139
$GC,19807,1.22,313.5,99.7,10.6,827,19814,0.17,2.22,0.00,0.000,6,0.134,0.047,2695,2522,1139
$GC,20153,1.31,313.5,71.0,8.1,888,20159,0.10,0.00,0.00,0.000,6,0.081,0.000,2744,2522,1138
$GC,20497,1.25,313.5,37.2,9.4,949,20504,0.15,2.28,0.00,0.000,4,0.127,0.051,2697,1112,1138
$GC,20562,1.40,313.5,32.2,7.7,960,20569,0.15,2.25,0.00,0.000,6,0.071,0.047,2761,2532,1138
$STATE,20876,end climb,SURFACE_DEPTH_REACHED
$STATE,20876,begin surface coast
$FINISH,0.6,1.025261
$STATE,20907,end surface coast,CONTROL_FINISHED_OK
$STATE,20907,begin surface
$SM_CCo,20986,0.00,0.000,0,0,1136,314.72
$SM_GC,1.46,7.22,0.00,0.00,0.062,0.000,0.000,165,2322,1136,-10.37,-0.51,314.72
$RAFOS_CLK,1165
$RAFOS,4,1228423481,20.750000,20.744722,63,62,54,53,52,49,203,191,217,157,175,227
$RAFOS,3,1228422866,20.583334,20.573889,65,56,54,53,50,50,222,195,169,207,112,153
$RAFOS,2,1228422252,20.416666,20.403334,98,60,57,54,53,52,504,175,232,195,214,137
$RAFOS,1,1228421677,20.250000,20.243610,65,54,52,49,49,48,587,215,192,181,142,164
$RAFOS,0,1228421042,20.083334,20.067223,81,64,63,63,57,57,948,157,185,171,217,200
$RAFOS,4,1228409045,16.750000,16.734722,105,58,54,51,50,49,760,218,120,185,162,141
$RAFOS,2,1228407842,16.416666,16.400555,67,61,56,54,52,51,560,218,117,195,152,174
$RAFOS_FIX,306300.812500,-111332856.000000,041208,161656,2,92,0.08
$IRIDIUM_FIX,6631.12,-5731.73,280298,101008
$TT8_MAMPS,0.028379
$HUMID,1883
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,20.2,71.944
$10V_AH,10.5,32.080
$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,22.700,164.350,461.350,0.000,0.000,30.783,33.324,162.981,0.000,0.000,0.000,31.905,1977.561,15947.616,654.541,2235.565,597.118,33.381,1877.715,0.000,2169.078,2160.000,0.529,0.000
$DEVICE_MAMPS,259.246,70.564,1346.852,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.179,700.370,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37845,1021
$CAP_FILE_SIZE,160007,0
$CFSIZE,260165632,221949952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$SOUNDSPEED,1458.0
$GPS,041208,222737,6656.625,-5730.965,27,2.0,27,-37.6