version: 66.09
glider: 143
mission: 13
dive: 183
start: 11 3 111 22 30 56
data:
$ID,143
$MISSION,13
$DIVE,183
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80746.227
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,20
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2485
$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,-22.40402
$PRESSURE_SLOPE,0.0001163694
$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,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,031111,222505,6649.887,-5926.867,36,0.8,37,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-69.8
$GPS2,031111,223024,6649.862,-5926.871,17,1.1,17,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,138.7,117279,-16.9,-9.167
$D_GRID,945
$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,15,-0.73,-146.0,0.0,0.0,0,47,0.00,0.00,-29.58,0.000,2,0.000,0.000,116,2519,1635,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.0,-2.0,4,148,8.65,1.23,-79.50,0.000,4,0.259,0.074,2157,1810,3081,0,0,0,0,0,0
$GC,349,-0.73,-146.0,44.3,-14.9,49,355,0.00,1.20,0.00,0.000,6,0.000,0.058,2154,2501,3083,0,0,0,0,0,0
$GC,688,-0.73,-146.0,95.4,-14.3,100,695,0.00,1.15,0.00,0.000,4,0.000,0.071,2149,3213,3083,0,0,0,0,0,0
$GC,946,-0.73,-146.0,132.3,-13.5,139,955,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2508,3083,0,0,0,0,0,0
$GC,1286,-0.73,-146.0,174.4,-12.2,190,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2508,3083,0,0,0,0,0,0
$GC,1621,-0.73,-146.0,217.6,-13.4,241,1628,0.00,1.17,0.00,0.000,4,0.000,0.067,2144,3210,3083,0,0,0,0,0,0
$GC,1748,-0.73,-146.0,233.8,-13.0,260,1754,0.00,1.10,0.00,0.000,6,0.000,0.035,2145,2501,3083,0,0,0,0,0,0
$GC,2085,-0.73,-146.0,275.0,-11.4,296,2088,0.00,1.20,0.00,0.000,4,0.000,0.065,2140,3220,3083,0,0,0,0,0,0
$GC,2139,-0.73,-146.0,281.4,-11.6,300,2143,0.00,1.10,0.00,0.000,6,0.000,0.034,2140,2512,3082,0,0,0,0,0,0
$GC,2467,-0.73,-146.0,318.6,-11.4,326,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3082,0,0,0,0,0,0
$GC,2783,-0.73,-146.0,356.5,-12.5,351,2787,0.00,1.17,0.00,0.000,4,0.000,0.066,2135,3219,3082,0,0,0,0,0,0
$GC,2836,-0.73,-146.0,363.3,-13.1,355,2840,0.08,1.10,0.00,0.000,6,0.158,0.033,2158,2501,3082,0,0,0,0,0,0
$GC,3165,-0.73,-146.0,402.4,-11.6,381,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2501,3082,0,0,0,0,0,0
$GC,3481,-0.73,-146.0,439.0,-11.3,406,3484,0.00,1.17,0.00,0.000,4,0.000,0.065,2155,3211,3084,0,0,0,0,0,0
$GC,3587,-0.73,-146.0,450.9,-11.2,414,3591,0.00,1.08,0.00,0.000,6,0.000,0.032,2155,2506,3084,0,0,0,0,0,0
$GC,3919,-0.73,-146.0,487.7,-10.8,440,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2506,3084,0,0,0,0,0,0
$GC,4227,-0.73,-146.0,519.8,-10.2,456,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2506,3084,0,0,0,0,0,0
$GC,4532,-0.73,-146.0,549.0,-9.4,466,4536,0.00,1.17,0.00,0.000,4,0.000,0.066,2150,3213,3084,0,0,0,0,0,0
$GC,4636,-0.73,-146.0,558.7,-9.8,469,4641,0.00,1.10,0.00,0.000,6,0.000,0.031,2150,2501,3084,0,0,0,0,0,0
$GC,4971,-0.73,-146.0,593.2,-10.4,480,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3084,0,0,0,0,0,0
$GC,5276,-0.73,-146.0,625.1,-10.4,490,5280,0.00,1.17,0.00,0.000,4,0.000,0.064,2146,3213,3085,0,0,0,0,0,0
$GC,5347,-0.73,-146.0,632.2,-10.5,492,5352,0.00,1.10,0.00,0.000,6,0.000,0.030,2146,2499,3085,0,0,0,0,0,0
$GC,5681,-0.73,-146.0,668.1,-10.6,503,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,5989,-0.73,-146.0,700.6,-10.6,513,5992,0.00,1.17,0.00,0.000,4,0.000,0.064,2141,3213,3085,0,0,0,0,0,0
$GC,6079,-0.73,-146.0,708.0,-10.7,515,6089,0.00,1.10,0.00,0.000,6,0.000,0.029,2141,2500,3085,0,0,0,0,0,0
$GC,6396,-0.73,-146.0,743.5,-10.4,526,6399,0.00,1.17,0.00,0.000,4,0.000,0.064,2136,3213,3085,0,0,0,0,0,0
$GC,6466,-0.73,-146.0,751.0,-10.6,528,6471,0.12,1.10,0.00,0.000,6,0.170,0.030,2166,2498,3086,0,0,0,0,0,0
$GC,6801,-0.73,-146.0,782.3,-9.4,539,6805,0.00,1.17,0.00,0.000,4,0.000,0.064,2163,3213,3086,0,0,0,0,0,0
$GC,6905,-0.73,-146.0,791.8,-9.5,542,6910,0.00,1.10,0.00,0.000,6,0.000,0.030,2163,2498,3085,0,0,0,0,0,0
$GC,7241,-0.73,-146.0,822.5,-8.9,553,7245,0.00,1.17,0.00,0.000,4,0.000,0.064,2158,3213,3085,0,0,0,0,0,0
$GC,7358,-0.73,-146.0,831.4,-8.9,556,7363,0.00,1.10,0.00,0.000,6,0.000,0.029,2158,2498,3086,0,0,0,0,0,0
$GC,7679,-0.73,-146.0,862.5,-9.4,567,7683,0.00,1.17,0.00,0.000,4,0.000,0.064,2154,3213,3085,0,0,0,0,0,0
$GC,7783,-0.73,-146.0,872.3,-9.8,570,7788,0.00,1.08,0.00,0.000,6,0.000,0.029,2154,2508,3086,0,0,0,0,0,0
$GC,8117,-0.73,-146.0,903.7,-8.9,581,8121,0.00,1.05,0.00,0.000,4,0.000,0.043,2154,1828,3085,0,0,0,0,0,0
$GC,8168,-0.73,-146.0,906.9,-8.9,582,8173,0.00,1.17,0.00,0.000,6,0.000,0.054,2149,2515,3085,0,0,0,0,0,0
$GC,8489,-0.73,-146.0,941.4,-10.4,593,8492,0.00,1.10,0.00,0.000,4,0.000,0.067,2144,3216,3085,0,0,0,0,0,0
$STATE,8553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8553,begin apogee
$GC,8560,-0.16,0.0,947.9,-9.8,595,8690,0.62,0.00,124.25,1.501,6,0.132,0.000,2344,2195,2485,0,0,0,0,0,0
$STATE,8691,end apogee,CONTROL_FINISHED_OK
$STATE,8691,begin climb
$GC,8693,0.73,146.0,953.4,0.0,599,8836,0.82,1.25,135.02,1.441,4,0.067,0.047,2635,1499,1889,0,0,0,0,0,0
$GC,8914,0.73,146.0,940.3,10.3,606,8919,0.00,1.27,0.00,0.000,6,0.000,0.044,2635,2207,1884,0,0,0,0,0,0
$GC,9243,0.73,146.0,895.3,12.9,617,9247,0.00,1.20,0.00,0.000,4,0.000,0.047,2639,1497,1880,0,0,0,0,0,0
$GC,9294,0.73,146.0,890.7,12.8,618,9299,0.00,1.23,0.00,0.000,6,0.000,0.046,2639,2209,1878,0,0,0,0,0,0
$GC,9616,0.73,146.0,846.2,13.2,629,9620,0.00,1.17,0.00,0.000,4,0.000,0.048,2644,1498,1877,0,0,0,0,0,0
$GC,9641,0.73,146.0,846.2,13.2,629,9649,0.00,1.20,0.00,0.000,6,0.000,0.045,2644,2208,1877,0,0,0,0,0,0
$GC,9955,0.73,146.0,801.0,13.2,640,9958,0.00,1.12,0.00,0.000,4,0.000,0.056,2644,2900,1876,0,0,0,0,0,0
$GC,10025,0.73,146.0,792.1,13.3,642,10030,0.00,1.17,0.00,0.000,6,0.000,0.037,2649,2194,1876,0,0,0,0,0,0
$GC,10360,0.73,146.0,747.3,13.4,653,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2194,1876,0,0,0,0,0,0
$GC,10665,0.73,146.0,708.2,12.5,663,10669,0.00,1.08,0.00,0.000,4,0.000,0.051,2654,1496,1876,0,0,0,0,0,0
$GC,10703,0.73,146.0,703.9,12.6,664,10707,0.00,1.17,0.00,0.000,6,0.000,0.046,2654,2203,1876,0,0,0,0,0,0
$GC,11037,0.73,146.0,659.9,13.0,675,11040,0.00,1.12,0.00,0.000,4,0.000,0.057,2654,2904,1875,0,0,0,0,0,0
$GC,11074,0.73,146.0,655.5,13.2,676,11079,0.00,1.17,0.00,0.000,6,0.000,0.038,2659,2191,1875,0,0,0,0,0,0
$GC,11408,0.73,146.0,606.7,14.6,687,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2191,1874,0,0,0,0,0,0
$GC,11716,0.73,146.0,562.4,14.3,697,11720,0.00,1.08,0.00,0.000,4,0.000,0.050,2664,1491,1873,0,0,0,0,0,0
$GC,11787,0.73,146.0,552.8,14.2,699,11792,0.00,1.17,0.00,0.000,6,0.000,0.046,2664,2203,1874,0,0,0,0,0,0
$GC,12121,0.73,146.0,505.7,13.9,710,12123,0.12,0.00,0.00,0.000,6,0.175,0.000,2634,2204,1874,0,0,0,0,0,0
$GC,12435,0.73,146.0,467.1,12.1,732,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2204,1874,0,0,0,0,0,0
$GC,12754,0.73,146.0,430.4,11.8,757,12757,0.00,1.12,0.00,0.000,4,0.000,0.059,2634,2905,1874,0,0,0,0,0,0
$GC,12767,0.73,146.0,428.5,11.8,758,12770,0.00,1.15,0.00,0.000,6,0.000,0.038,2638,2190,1874,0,0,0,0,0,0
$GC,13097,0.73,146.0,389.8,11.6,784,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2190,1874,0,0,0,0,0,0
$GC,13412,0.73,146.0,353.9,11.6,809,13416,0.00,1.05,0.00,0.000,4,0.000,0.051,2643,1496,1873,0,0,0,0,0,0
$GC,13510,0.73,146.0,343.8,10.8,816,13520,0.00,1.15,0.00,0.000,6,0.000,0.046,2643,2207,1874,0,0,0,0,0,0
$GC,13834,0.73,146.0,307.9,11.1,842,13838,0.00,1.15,0.00,0.000,4,0.000,0.048,2648,1490,1874,0,0,0,0,0,0
$GC,13877,0.73,146.0,303.4,11.0,845,13881,0.00,1.15,0.00,0.000,6,0.000,0.047,2648,2205,1874,0,0,0,0,0,0
$GC,14207,0.73,146.0,266.5,10.8,871,14211,0.00,1.12,0.00,0.000,4,0.000,0.056,2647,2913,1874,0,0,0,0,0,0
$GC,14260,0.73,146.0,260.3,11.5,875,14264,0.00,1.15,0.00,0.000,6,0.000,0.037,2653,2192,1874,0,0,0,0,0,0
$GC,14593,0.73,146.0,224.7,9.5,918,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2192,1874,0,0,0,0,0,0
$GC,14931,0.73,146.0,190.9,10.4,969,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2192,1874,0,0,0,0,0,0
$GC,15268,0.73,153.3,157.0,8.9,1020,15278,0.00,0.00,4.82,0.809,6,0.000,0.000,2653,2192,1860,0,0,0,0,0,0
$GC,15608,0.76,175.8,129.1,8.2,1071,15636,0.00,1.20,20.90,0.988,4,0.000,0.050,2653,2914,1767,0,0,0,0,0,0
$GC,15704,0.76,175.8,120.6,9.3,1085,15711,0.00,1.15,0.00,0.000,6,0.000,0.036,2657,2200,1767,0,0,0,0,0,0
$GC,16042,0.77,185.9,91.8,8.7,1136,16057,0.00,0.00,10.00,0.918,6,0.000,0.000,2657,2200,1726,0,0,0,0,0,0
$GC,16387,0.81,214.3,59.0,8.0,1188,16414,0.00,0.00,25.08,0.955,6,0.000,0.000,2657,2200,1611,0,0,0,0,0,0
$GC,16745,0.86,253.1,28.8,7.5,1242,16779,0.00,1.27,29.17,0.926,4,0.000,0.054,2657,2913,1453,0,0,0,0,0,0
$GC,16966,0.86,258.7,8.9,8.9,1275,16973,0.00,1.17,2.20,0.100,6,0.000,0.037,2662,2198,1430,0,0,0,0,0,0
$STATE,17044,end climb,SURFACE_DEPTH_REACHED
$STATE,17044,begin surface coast
$FINISH,2.0,1.025456
$STATE,17067,end surface coast,CONTROL_FINISHED_OK
$STATE,17067,begin surface
$SM_CCo,17083,19.48,0.086,0,0,1261,300.00
$SM_GC,2.77,6.93,0.60,19.48,0.046,0.053,0.086,118,2519,1261,-7.08,-0.65,300.00,0,0,0,0,0,0
$RAFOS_CLK,1129
$RAFOS,6,1320367759,0.833333,0.821944,67,59,58,0,0,0,193,632,177,0,0,0
$RAFOS,5,1320367264,0.700000,0.684444,104,65,57,0,0,0,784,170,200,0,0,0
$RAFOS,4,1320366786,0.566667,0.551667,120,59,55,0,0,0,548,217,201,0,0,0
$RAFOS,3,1320366307,0.433333,0.418611,61,59,56,0,0,0,206,693,130,0,0,0
$RAFOS,2,1320365847,0.300000,0.290833,107,65,63,0,0,0,545,191,203,0,0,0
$RAFOS,1,1320365349,0.166667,0.152500,75,60,57,0,0,0,597,162,206,0,0,0
$RAFOS,0,1320364890,0.033333,0.025000,67,59,57,0,0,0,615,200,213,0,0,0
$RAFOS_FIX,6650.447754,-5923.168457,041111,000036,5,95,0.43
$IRIDIUM_FIX,6620.33,-5926.53,031111,171718
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.71
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.10
$XPDR_PINGS,17
$24V_AH,22.4,23.159
$10V_AH,10.2,17.955
$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,17.350,65.475,351.450,19.475,0.000,0.000,0.000,204.700,7.750,0.000,17.721,3672.621,10611.793,520.220,2439.068,242.615,0.000,1899.535,0.000,2202.956,2520.000,26.950,0.000
$DEVICE_MAMPS,259.335,74.205,1500.930,86.445,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.570,700.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150332
$DATA_FILE_SIZE,50005,1290
$CAP_FILE_SIZE,152015,0
$CFSIZE,260165632,235315200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.5
$CURRENT,0.111,188.8,1
$GPS,041111,031853,6647.841,-5920.359,63,0.8,64,-33.8