version: 66.09
glider: 143
mission: 13
dive: 258
start: 11 18 111 2 9 14
data:
$ID,143
$MISSION,13
$DIVE,258
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,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,1.0275
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-80848.805
$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,28
$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,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,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
$GPS1,181111,020153,6651.316,-5904.222,40,0.7,40,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-72.4
$GPS2,181111,020842,6651.225,-5904.113,19,0.9,19,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,261.0,61382,-16.9,-9.167
$D_GRID,1020
$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,-146.0,0.0,0.0,0,77,0.00,0.00,-59.67,0.000,2,0.000,0.000,116,2519,2055,0,0,0,0,0,0
$GC,81,-0.73,-146.0,3.1,-1.1,9,143,8.73,1.15,-44.15,0.000,4,0.257,0.098,2157,3212,3082,0,0,0,0,0,0
$GC,328,-0.73,-146.0,43.9,-17.2,46,337,0.00,1.10,0.00,0.000,6,0.000,0.034,2157,2509,3083,0,0,0,0,0,0
$GC,667,-0.73,-146.0,95.4,-14.8,97,674,0.00,1.17,0.00,0.000,4,0.000,0.064,2152,3206,3083,0,0,0,0,0,0
$GC,767,-0.73,-146.0,110.5,-15.5,112,774,0.00,1.10,0.00,0.000,6,0.000,0.033,2153,2500,3083,0,0,0,0,0,0
$GC,1106,-0.73,-146.0,159.2,-13.0,163,1113,0.00,1.20,0.00,0.000,4,0.000,0.063,2149,3214,3083,0,0,0,0,0,0
$GC,1192,-0.73,-146.0,170.9,-13.6,176,1199,0.00,1.10,0.00,0.000,6,0.000,0.033,2148,2506,3083,0,0,0,0,0,0
$GC,1531,-0.73,-146.0,215.0,-12.6,227,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2506,3082,0,0,0,0,0,0
$GC,1865,-0.73,-146.0,256.4,-12.6,274,1869,0.00,1.17,0.00,0.000,4,0.000,0.063,2144,3208,3082,0,0,0,0,0,0
$GC,1976,-0.73,-146.0,269.8,-12.7,282,1986,0.00,1.10,0.00,0.000,6,0.000,0.032,2144,2505,3082,0,0,0,0,0,0
$GC,2300,-0.73,-146.0,309.7,-11.9,308,2304,0.00,1.17,0.00,0.000,4,0.000,0.063,2139,3208,3082,0,0,0,0,0,0
$GC,2380,-0.73,-146.0,319.8,-12.6,314,2384,0.00,1.08,0.00,0.000,6,0.000,0.033,2139,2510,3082,0,0,0,0,0,0
$GC,2711,-0.73,-146.0,360.5,-12.3,340,2715,0.00,1.17,0.00,0.000,4,0.000,0.063,2135,3215,3082,0,0,0,0,0,0
$GC,2783,-0.73,-146.0,369.3,-12.7,345,2791,0.12,1.10,0.00,0.000,6,0.164,0.031,2165,2507,3082,0,0,0,0,0,0
$GC,3107,-0.73,-146.0,403.4,-10.1,371,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2507,3082,0,0,0,0,0,0
$GC,3422,-0.73,-146.0,434.7,-9.2,396,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2507,3083,0,0,0,0,0,0
$GC,3739,-0.73,-146.0,464.7,-9.2,421,3742,0.00,1.17,0.00,0.000,4,0.000,0.063,2162,3212,3083,0,0,0,0,0,0
$GC,3809,-0.73,-146.0,471.3,-9.7,426,3820,0.00,1.10,0.00,0.000,6,0.000,0.029,2162,2499,3083,0,0,0,0,0,0
$GC,4141,-0.73,-146.0,503.6,-9.7,451,4145,0.00,1.17,0.00,0.000,4,0.000,0.061,2158,3208,3084,0,0,0,0,0,0
$GC,4212,-0.73,-146.0,510.2,-9.5,453,4217,0.00,1.08,0.00,0.000,6,0.000,0.028,2158,2510,3084,0,0,0,0,0,0
$GC,4546,-0.73,-146.0,542.5,-9.3,464,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2510,3084,0,0,0,0,0,0
$GC,4853,-0.73,-146.0,573.6,-10.3,474,4857,0.00,1.15,0.00,0.000,4,0.000,0.061,2153,3206,3085,0,0,0,0,0,0
$GC,4997,-0.73,-146.0,587.2,-10.2,478,5002,0.00,1.08,0.00,0.000,6,0.000,0.028,2153,2504,3085,0,0,0,0,0,0
$GC,5325,-0.73,-146.0,622.7,-10.6,489,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2504,3085,0,0,0,0,0,0
$GC,5633,-0.73,-146.0,654.6,-10.5,499,5637,0.00,1.17,0.00,0.000,4,0.000,0.060,2149,3216,3085,0,0,0,0,0,0
$GC,5758,-0.73,-146.0,665.6,-10.7,502,5767,0.00,1.08,0.00,0.000,6,0.000,0.027,2149,2503,3085,0,0,0,0,0,0
$GC,6072,-0.73,-146.0,700.4,-10.1,513,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2503,3085,0,0,0,0,0,0
$GC,6379,-0.73,-146.0,731.0,-10.0,523,6382,0.00,1.17,0.00,0.000,4,0.000,0.060,2144,3213,3086,0,0,0,0,0,0
$GC,6490,-0.73,-146.0,741.6,-10.5,526,6494,0.00,1.10,0.00,0.000,6,0.000,0.027,2144,2498,3086,0,0,0,0,0,0
$GC,6817,-0.73,-146.0,777.2,-10.4,537,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3086,0,0,0,0,0,0
$GC,7124,-0.73,-146.0,809.5,-10.5,547,7128,0.00,1.17,0.00,0.000,4,0.000,0.061,2140,3209,3086,0,0,0,0,0,0
$GC,7309,-0.73,-146.0,827.1,-10.6,552,7313,0.00,1.05,0.00,0.000,6,0.000,0.028,2139,2518,3086,0,0,0,0,0,0
$GC,7630,-0.73,-146.0,862.8,-10.4,563,7634,0.00,1.15,0.00,0.000,4,0.000,0.060,2135,3214,3086,0,0,0,0,0,0
$GC,7714,-0.73,-146.0,869.9,-10.4,565,7720,0.12,1.10,0.00,0.000,6,0.163,0.027,2166,2497,3086,0,0,0,0,0,0
$GC,8038,-0.73,-146.0,900.9,-8.8,576,8042,0.00,1.17,0.00,0.000,4,0.000,0.061,2163,3210,3086,0,0,0,0,0,0
$GC,8116,-0.73,-146.0,907.0,-8.8,578,8120,0.00,1.05,0.00,0.000,6,0.000,0.027,2163,2513,3086,0,0,0,0,0,0
$GC,8443,-0.73,-146.0,937.3,-8.8,589,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2513,3086,0,0,0,0,0,0
$GC,8750,-0.73,-146.0,965.0,-9.1,599,8754,0.00,1.15,0.00,0.000,4,0.000,0.062,2158,3208,3086,0,0,0,0,0,0
$GC,8841,-0.73,-146.0,971.6,-9.4,601,8849,0.00,1.08,0.00,0.000,6,0.000,0.026,2158,2508,3086,0,0,0,0,0,0
$STATE,9031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9031,begin apogee
$GC,9037,-0.16,0.0,991.2,-9.2,608,9169,0.55,0.00,125.55,1.528,6,0.122,0.000,2340,2188,2485,0,0,0,0,0,0
$STATE,9170,end apogee,CONTROL_FINISHED_OK
$STATE,9170,begin climb
$GC,9172,0.73,146.0,995.7,0.0,612,9317,0.88,1.20,137.27,1.470,4,0.065,0.047,2641,1511,1889,0,0,0,0,0,0
$GC,9450,0.73,146.0,974.1,11.6,621,9454,0.00,1.20,0.00,0.000,6,0.000,0.043,2641,2202,1882,0,0,0,0,0,0
$GC,9789,0.73,146.0,932.4,12.3,632,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2202,1879,0,0,0,0,0,0
$GC,10096,0.73,146.0,895.7,11.8,642,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1878,0,0,0,0,0,0
$GC,10402,0.73,146.0,859.3,12.2,652,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1877,0,0,0,0,0,0
$GC,10708,0.73,146.0,820.7,12.5,662,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1875,0,0,0,0,0,0
$GC,11014,0.73,146.0,782.3,12.4,672,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1875,0,0,0,0,0,0
$GC,11321,0.73,146.0,743.3,12.8,682,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1875,0,0,0,0,0,0
$GC,11627,0.73,146.0,704.3,12.7,692,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,11933,0.73,146.0,666.1,12.2,702,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,12240,0.73,146.0,629.7,11.7,712,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,12546,0.73,146.0,594.2,11.5,722,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,12852,0.73,146.0,559.1,11.4,732,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,13158,0.73,146.0,524.6,11.4,742,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,13468,0.73,146.0,490.1,11.5,755,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,13783,0.73,146.0,455.6,10.9,780,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1874,0,0,0,0,0,0
$GC,14098,0.73,146.0,421.0,10.9,805,14099,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,14413,0.73,146.0,386.6,10.8,830,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,14730,0.73,146.0,351.9,10.8,855,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,15044,0.73,146.0,318.3,10.7,880,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,15360,0.73,146.0,285.9,10.3,905,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,15675,0.73,146.0,253.3,10.3,930,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,16003,0.73,146.0,220.4,9.9,977,16009,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,1874,0,0,0,0,0,0
$GC,16339,0.73,146.0,187.7,9.6,1028,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1874,0,0,0,0,0,0
$GC,16677,0.76,171.4,156.7,8.1,1079,16704,0.00,0.00,20.15,0.991,6,0.000,0.000,2641,2201,1786,0,0,0,0,0,0
$GC,17034,0.76,171.4,124.4,9.5,1133,17041,0.00,1.10,0.00,0.000,4,0.000,0.047,2645,1510,1783,0,0,0,0,0,0
$GC,17133,0.76,171.4,115.2,9.4,1148,17140,0.00,1.12,0.00,0.000,6,0.000,0.045,2645,2203,1783,0,0,0,0,0,0
$GC,17473,0.78,187.2,85.6,8.5,1199,17493,0.00,1.17,14.85,0.951,4,0.000,0.047,2649,1496,1721,0,0,0,0,0,0
$GC,17745,0.81,212.8,61.9,8.1,1240,17773,0.00,1.15,22.60,0.946,6,0.000,0.045,2649,2202,1617,0,0,0,0,0,0
$GC,18104,0.94,320.5,33.3,4.6,1294,18193,0.15,0.00,84.70,0.918,6,0.081,0.000,2712,2201,1177,0,0,0,0,0,0
$FREEZE,8.76,-1.470,-1.748,2,1,0
$FREEZE,7.83,-1.470,-1.747,2,1,0
$FREEZE,7.03,-1.472,-1.747,2,1,0
$FREEZE,6.15,-1.473,-1.746,2,1,0
$FREEZE,5.25,-1.472,-1.745,2,1,0
$FREEZE,4.44,-1.475,-1.744,2,1,0
$FREEZE,3.39,-1.472,-1.744,2,1,0
$FREEZE,2.65,-1.473,-1.743,2,1,0
$FREEZE,1.59,-1.474,-1.742,2,1,0
$STATE,18365,end climb,SURFACE_DEPTH_REACHED
$STATE,18365,begin surface coast
$FREEZE,1.57,-1.688,-0.865,2,1,0
$FINISH,1.6,1.012720
$STATE,18371,end surface coast,FINISH_DEPTH_REACHED
$STATE,18372,begin surface
$SM_CCo,18448,0.00,0.000,0,0,1164,324.04
$SM_GC,2.61,7.15,0.52,0.00,0.045,0.057,0.000,119,2510,1164,-7.08,-0.90,324.04,0,0,0,0,0,0
$RAFOS_CLK,1221
$RAFOS,6,1321591757,4.833333,4.821389,153,64,58,0,0,0,608,171,216,0,0,0
$RAFOS,5,1321591261,4.700000,4.683611,59,59,56,0,0,0,190,207,160,0,0,0
$RAFOS,4,1321590808,4.566667,4.557778,112,59,58,0,0,0,388,220,162,0,0,0
$RAFOS,3,1321590318,4.433333,4.421667,75,60,60,0,0,0,217,162,113,0,0,0
$RAFOS,2,1321589827,4.300000,4.285278,72,69,61,0,0,0,677,240,174,0,0,0
$RAFOS,1,1321589342,4.166667,4.150556,74,66,61,0,0,0,674,210,226,0,0,0
$RAFOS,0,1321588876,4.033333,4.021111,66,60,54,0,0,0,218,191,203,0,0,0
$RAFOS_FIX,6652.979980,-5918.002930,181111,040405,3,100,1.27
$IRIDIUM_FIX,6620.33,-5859.36,171111,161614
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.30
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.9,17.7
$ALTIM_BOTTOM_PING,951.0,86.0
$24V_AH,22.5,32.692
$10V_AH,10.1,24.798
$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,17.700,41.775,405.125,0.000,0.000,0.000,0.000,279.425,9.500,0.000,21.496,3715.486,11858.207,529.365,2504.870,264.976,0.000,1969.411,0.000,2200.314,2520.000,30.248,0.000
$DEVICE_MAMPS,257.040,97.920,1528.470,0.000,0.000,0.000,0.000,281.638,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.355,716.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,49931,1334
$CAP_FILE_SIZE,149437,0
$CFSIZE,260165632,230035456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.4
$CURRENT,0.138, 36.9,1
$GPS,181111,071806,6650.215,-5908.797,27,1.1,28,-33.8