version: 66.06
glider: 172
mission: 3
dive: 22
start: 10 23 109 23 36 58
data:
$ID,172
$MISSION,3
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,500
$D_BOOST,0
$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,330
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51891
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,-4563.1738
$T_RSLEEP,15
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.032000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2940
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.981045
$PRESSURE_SLOPE,0.0001168426
$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,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,232907,6654.313,-5817.922,25,2.0,25,-37.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-76.8
$GPS2,233652,6654.323,-5817.649,13,2.1,32,-37.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$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,341.3,95823,-17.5,-10.000
$D_GRID,907
$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
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,66,0.00,0.00,-51.88,0.000,2,0.000,0.000,131,1862,2550,0,0,0,0,0,0
$GC,67,-0.64,-146.0,3.0,-0.7,10,113,10.65,2.35,-30.62,0.000,4,0.252,0.088,2810,438,3536,0,0,0,0,0,0
$GC,225,-0.53,-146.0,29.9,-18.6,46,231,0.15,2.28,0.00,0.000,6,0.150,0.061,2850,1838,3538,0,0,0,0,0,0
$GC,550,-0.57,-146.0,71.2,-12.1,107,555,0.00,2.30,0.00,0.000,4,0.000,0.078,2851,425,3538,0,0,0,0,0,0
$GC,584,-0.62,-146.0,75.6,-13.3,115,590,0.00,2.30,0.00,0.000,6,0.000,0.060,2844,1850,3538,0,0,0,0,0,0
$GC,905,-0.67,-146.0,113.6,-11.8,165,909,0.00,2.35,0.00,0.000,4,0.000,0.079,2844,443,3538,0,0,0,0,0,0
$GC,948,-0.72,-146.0,118.7,-11.9,170,953,0.10,2.25,0.00,0.000,6,0.070,0.061,2789,1842,3538,0,0,0,0,0,0
$GC,1267,-0.61,-146.0,167.8,-15.5,201,1268,0.12,0.00,0.00,0.000,6,0.181,0.000,2821,1843,3537,0,0,0,0,0,0
$GC,1577,-0.61,-146.0,203.3,-11.0,231,1581,0.00,2.30,0.00,0.000,4,0.000,0.079,2822,439,3537,0,0,0,0,0,0
$GC,1650,-0.61,-146.0,211.7,-11.3,239,1656,0.00,2.25,0.00,0.000,6,0.000,0.061,2813,1845,3537,0,0,0,0,0,0
$GC,1965,-0.61,-146.0,247.4,-11.4,270,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1845,3537,0,0,0,0,0,0
$GC,2276,-0.61,-146.0,282.3,-11.2,300,2279,0.00,2.30,0.00,0.000,4,0.000,0.078,2813,441,3537,0,0,0,0,0,0
$GC,2340,-0.61,-146.0,289.7,-11.1,307,2346,0.00,2.25,0.00,0.000,6,0.000,0.061,2807,1850,3537,0,0,0,0,0,0
$GC,2655,-0.61,-146.0,324.9,-11.0,338,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1851,3537,0,0,0,0,0,0
$GC,2965,-0.61,-146.0,359.0,-11.4,368,2969,0.00,2.33,0.00,0.000,4,0.000,0.078,2807,438,3537,0,0,0,0,0,0
$GC,2999,-0.61,-146.0,363.1,-11.6,372,3004,0.00,2.25,0.00,0.000,6,0.000,0.060,2807,1850,3536,0,0,0,0,0,0
$GC,3318,-0.61,-146.0,398.9,-11.3,403,3322,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,433,3537,0,0,0,0,0,0
$GC,3348,-0.61,-146.0,402.5,-11.7,406,3354,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1851,3537,0,0,0,0,0,0
$GC,3662,-0.61,-146.0,439.0,-11.7,437,3666,0.00,2.30,0.00,0.000,4,0.000,0.076,2807,433,3538,0,0,0,0,0,0
$GC,3706,-0.61,-146.0,444.4,-13.0,442,3709,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1851,3538,0,0,0,0,0,0
$GC,4024,-0.61,-146.0,481.8,-11.9,473,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1851,3538,0,0,0,0,0,0
$GC,4335,-0.61,-146.0,517.8,-11.1,503,4339,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,433,3538,0,0,0,0,0,0
$GC,4387,-0.61,-146.0,524.1,-11.8,509,4390,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1844,3538,0,0,0,0,0,0
$GC,4705,-0.61,-146.0,559.1,-10.7,540,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1845,3538,0,0,0,0,0,0
$GC,5016,-0.61,-146.0,592.4,-10.6,570,5020,0.00,2.25,0.00,0.000,4,0.000,0.077,2807,431,3538,0,0,0,0,0,0
$GC,5050,-0.61,-146.0,596.3,-11.3,574,5054,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1857,3538,0,0,0,0,0,0
$GC,5363,-0.64,-146.0,628.5,-10.3,587,5367,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,442,3538,0,0,0,0,0,0
$GC,5402,-0.64,-146.0,632.6,-10.3,588,5406,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1853,3539,0,0,0,0,0,0
$GC,5727,-0.64,-146.0,664.3,-9.8,599,5730,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,445,3539,0,0,0,0,0,0
$GC,5757,-0.64,-146.0,667.4,-10.6,600,5761,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1853,3539,0,0,0,0,0,0
$GC,6091,-0.68,-146.0,699.6,-9.7,611,6094,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,436,3538,0,0,0,0,0,0
$GC,6133,-0.71,-146.0,704.0,-10.5,612,6137,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1849,3539,0,0,0,0,0,0
$GC,6454,-0.75,-146.0,735.5,-9.9,623,6458,0.00,2.25,0.00,0.000,4,0.000,0.077,2807,431,3539,0,0,0,0,0,0
$GC,6488,-0.75,-146.0,739.3,-11.7,624,6492,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1846,3539,0,0,0,0,0,0
$GC,6818,-0.79,-146.0,772.1,-10.1,635,6819,0.10,0.00,0.00,0.000,6,0.117,0.000,2757,1846,3539,0,0,0,0,0,0
$GC,7121,-0.69,-146.0,814.6,-14.3,645,7125,0.15,2.30,0.00,0.000,4,0.169,0.077,2800,439,3538,0,0,0,0,0,0
$GC,7164,-0.69,-146.0,819.9,-11.6,646,7168,0.00,2.22,0.00,0.000,6,0.000,0.059,2798,1853,3539,0,0,0,0,0,0
$GC,7485,-0.69,-146.0,853.7,-10.3,657,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1853,3539,0,0,0,0,0,0
$GC,7788,-0.69,-146.0,886.8,-10.7,667,7792,0.00,2.30,0.00,0.000,4,0.000,0.077,2798,436,3539,0,0,0,0,0,0
$GC,7835,-0.69,-146.0,892.3,-12.1,668,7839,0.00,2.22,0.00,0.000,6,0.000,0.059,2798,1850,3539,0,0,0,0,0,0
$STATE,7999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7999,begin apogee
$GC,8002,-0.13,0.0,910.0,10.8,674,8128,0.55,0.00,123.68,1.208,6,0.142,0.000,2976,1693,2940,0,0,0,0,0,0
$STATE,8128,end apogee,CONTROL_FINISHED_OK
$STATE,8128,begin climb
$GC,8129,0.64,146.0,914.5,0.0,678,8265,0.75,2.50,129.07,1.174,4,0.085,0.067,3232,3109,2344,0,0,0,0,0,0
$GC,8307,0.49,177.8,912.4,8.5,683,8341,0.17,2.45,28.80,1.127,6,0.160,0.064,3192,1709,2215,0,0,0,0,0,0
$GC,8652,0.54,215.1,883.8,8.3,695,8687,0.00,0.00,33.85,1.137,6,0.000,0.000,3192,1709,2063,0,0,0,0,0,0
$GC,8986,0.60,232.0,853.9,9.2,706,9006,0.00,2.47,15.48,1.082,4,0.000,0.078,3202,283,1994,0,0,0,0,0,0
$GC,9032,0.60,232.0,849.6,10.3,707,9036,0.00,2.35,0.00,0.000,6,0.000,0.053,3202,1705,1992,0,0,0,0,0,0
$GC,9348,0.63,232.0,817.6,10.0,718,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1706,1988,0,0,0,0,0,0
$GC,9651,0.63,232.9,787.3,10.0,728,9655,0.00,2.33,0.00,0.000,4,0.000,0.070,3202,3111,1987,0,0,0,0,0,0
$GC,9677,0.63,232.9,784.6,10.9,728,9683,0.00,2.35,0.00,0.000,6,0.000,0.067,3211,1692,1986,0,0,0,0,0,0
$GC,9985,0.63,232.9,752.3,10.6,739,9988,0.00,2.33,0.00,0.000,4,0.000,0.079,3220,288,1986,0,0,0,0,0,0
$GC,10036,0.63,232.9,746.6,11.4,740,10040,0.00,2.25,0.00,0.000,6,0.000,0.054,3220,1700,1985,0,0,0,0,0,0
$GC,10348,0.63,232.9,711.6,11.2,751,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1700,1985,0,0,0,0,0,0
$GC,10652,0.63,232.9,678.3,10.8,761,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1700,1985,0,0,0,0,0,0
$GC,10955,0.63,232.9,646.5,10.2,771,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1700,1985,0,0,0,0,0,0
$GC,11259,0.63,232.9,616.0,10.1,781,11263,0.00,2.35,0.00,0.000,4,0.000,0.079,3230,284,1985,0,0,0,0,0,0
$GC,11281,0.59,232.9,613.7,10.7,781,11284,0.00,2.20,0.00,0.000,6,0.000,0.054,3230,1705,1985,0,0,0,0,0,0
$GC,11596,0.54,232.9,581.5,10.2,802,11599,0.00,2.22,0.00,0.000,4,0.000,0.070,3230,3108,1985,0,0,0,0,0,0
$GC,11648,0.46,232.9,575.8,10.1,808,11652,0.22,2.28,0.00,0.000,6,0.173,0.067,3176,1703,1984,0,0,0,0,0,0
$GC,11966,0.68,307.0,553.6,6.6,839,12039,0.20,0.00,66.72,0.989,6,0.088,0.000,3257,1703,1689,0,0,0,0,0,0
$GC,12346,0.61,307.0,503.5,13.7,876,12348,0.12,0.00,0.00,0.000,6,0.170,0.000,3224,1702,1678,0,0,0,0,0,0
$GC,12657,0.61,307.0,468.9,10.9,906,12661,0.00,2.35,0.00,0.000,4,0.000,0.078,3234,287,1676,0,0,0,0,0,0
$GC,12700,0.64,307.0,463.9,11.6,911,12704,0.00,2.25,0.00,0.000,6,0.000,0.055,3234,1688,1675,0,0,0,0,0,0
$GC,13018,0.64,307.0,425.9,12.0,942,13022,0.00,2.33,0.00,0.000,4,0.000,0.072,3234,3103,1675,0,0,0,0,0,0
$GC,13049,0.64,307.0,422.1,11.9,945,13055,0.00,2.30,0.00,0.000,6,0.000,0.067,3243,1699,1673,0,0,0,0,0,0
$GC,13363,0.64,307.0,382.2,13.0,976,13367,0.00,2.33,0.00,0.000,4,0.000,0.078,3253,287,1672,0,0,0,0,0,0
$GC,13419,0.64,307.0,374.5,13.6,982,13425,0.00,2.25,0.00,0.000,6,0.000,0.055,3253,1702,1672,0,0,0,0,0,0
$GC,13734,0.59,307.0,328.4,14.3,1013,13738,0.12,2.25,0.00,0.000,4,0.183,0.071,3219,3111,1671,0,0,0,0,0,0
$GC,13768,0.63,307.0,323.8,13.3,1017,13772,0.00,2.30,0.00,0.000,6,0.000,0.067,3228,1699,1671,0,0,0,0,0,0
$GC,14087,0.67,307.0,284.2,12.4,1048,14091,0.00,2.30,0.00,0.000,4,0.000,0.078,3238,288,1671,0,0,0,0,0,0
$GC,14134,0.71,307.0,278.2,13.3,1053,14141,0.00,2.22,0.00,0.000,6,0.000,0.054,3238,1700,1671,0,0,0,0,0,0
$GC,14449,0.71,307.0,238.3,12.2,1084,14452,0.00,2.33,0.00,0.000,4,0.000,0.078,3248,282,1671,0,0,0,0,0,0
$GC,14487,0.71,307.0,233.3,12.8,1088,14493,0.00,2.22,0.00,0.000,6,0.000,0.054,3249,1699,1671,0,0,0,0,0,0
$GC,14802,0.71,307.0,194.2,11.9,1119,14806,0.00,2.28,0.00,0.000,4,0.000,0.072,3248,3107,1670,0,0,0,0,0,0
$GC,14832,0.71,307.0,190.5,11.3,1122,14838,0.00,2.28,0.00,0.000,6,0.000,0.065,3258,1698,1670,0,0,0,0,0,0
$GC,15146,0.71,307.0,153.3,12.0,1153,15150,0.00,2.28,0.00,0.000,4,0.000,0.077,3267,295,1670,0,0,0,0,0,0
$GC,15176,0.71,307.0,149.8,12.0,1156,15182,0.00,2.20,0.00,0.000,6,0.000,0.054,3267,1696,1670,0,0,0,0,0,0
$GC,15491,0.71,307.0,112.6,10.7,1187,15495,0.00,2.28,0.00,0.000,4,0.000,0.072,3267,3103,1670,0,0,0,0,0,0
$GC,15525,0.71,307.0,108.6,11.7,1191,15529,0.00,2.28,0.00,0.000,6,0.000,0.067,3277,1697,1670,0,0,0,0,0,0
$GC,15852,0.71,307.0,72.3,12.3,1245,15858,0.00,2.30,0.00,0.000,4,0.000,0.079,3287,284,1670,0,0,0,0,0,0
$GC,15892,0.71,307.0,67.4,12.1,1254,15898,0.08,2.22,0.00,0.000,6,0.163,0.054,3261,1701,1670,0,0,0,0,0,0
$GC,16220,0.84,351.9,37.2,7.9,1315,16261,0.10,0.00,37.00,0.692,6,0.118,0.000,3307,1702,1504,0,0,0,0,0,0
$STATE,16477,end climb,SURFACE_DEPTH_REACHED
$STATE,16477,begin surface coast
$FINISH,1.5,1.020237
$STATE,16505,end surface coast,CONTROL_FINISHED_OK
$STATE,16505,begin surface
$SM_CCo,16577,0.00,0.000,0,0,1491,355.44
$SM_GC,2.31,8.35,0.00,0.00,0.055,0.000,0.000,144,1862,1491,-8.95,0.34,355.44
$RAFOS_CLK,851
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5818.88,170199,181803
$TT8_MAMPS,0.052156
$HUMID,39.88
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.2,66.0
$24V_AH,23.2,6.986
$10V_AH,10.2,2.884
$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,21.950,146.775,434.600,0.000,0.000,34.384,42.278,264.092,3.000,0.000,33.498,0.000,13075.360,597.464,2876.123,466.283,0.000,1780.437,0.000,2281.278,3240.000,25.735,0.000
$DEVICE_MAMPS,251.576,88.205,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.352,1021.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150364
$DATA_FILE_SIZE,53561,1369
$CAP_FILE_SIZE,170934,0
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$CURRENT,0.156,166.0,1
$GPS,241009,041407,6654.324,-5822.496,32,0.9,32,-37.8