version: 66.11
glider: 192
mission: 2
dive: 324
start: 11 15 113 15 52 55
data:
$ID,192
$MISSION,2
$DIVE,324
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2491.6592
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,151113,154500,6644.246,-6010.871,40,1.4,41,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.9
$GPS2,151113,155208,6644.213,-6010.611,4,1.5,4,-33.9
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,92.1,150395,-15.5,-8.250,-18.49,2720
$D_GRID,576
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,20,-0.89,-146.0,144,2490,1114,1076,0.0,0.0,0,103,0.00,0.00,-81.28,0.000,16386,0.000,0.000,144,2490,2587,2645,2529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.89,-146.0,144,2490,2646,2531,3.1,-2.6,14,150,10.30,1.50,-19.05,0.000,18948,0.429,0.142,2216,1659,3339,3512,3166,0,0,0,0,0,0,13.96,14.30,14.71
$GC,386,-0.79,-146.0,1360,1658,3507,3163,68.7,-21.9,65,394,0.17,1.55,0.00,0.000,3078,0.295,0.125,2249,2508,3340,3515,3166,0,0,0,0,0,0,14.08,14.28,28.83
$GC,706,-0.71,-146.0,2249,2508,3514,3165,130.4,-18.5,110,710,0.00,1.50,0.00,0.000,516,0.000,0.104,2250,1652,3339,3514,3165,0,0,0,0,0,0,28.83,14.33,28.83
$GC,891,-0.65,-146.0,2250,1652,3514,3165,160.5,-16.1,127,899,0.20,1.55,0.00,0.000,3078,0.277,0.126,2291,2501,3339,3514,3165,0,0,0,0,0,0,14.12,14.32,28.83
$GC,1201,-0.62,-146.0,2291,2501,3515,3165,202.4,-13.2,158,1205,0.00,1.60,0.00,0.000,260,0.000,0.142,2287,3348,3339,3515,3164,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1309,-0.58,-146.0,1440,3346,3507,3161,217.1,-13.6,168,1317,0.12,1.50,0.00,0.000,3078,0.279,0.093,2313,2479,3339,3515,3164,0,0,0,0,0,0,14.17,14.40,28.83
$GC,1619,-0.57,-146.0,2313,2479,3515,3164,254.5,-11.7,199,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2479,3339,3515,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1928,-0.57,-146.0,2313,2479,3515,3164,289.9,-11.4,230,1933,0.00,1.62,0.00,0.000,260,0.000,0.143,2308,3353,3339,3515,3163,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2008,-0.57,-146.0,2308,3353,3514,3163,299.1,-12.1,237,2015,0.00,1.50,0.00,0.000,1030,0.000,0.093,2308,2487,3339,3515,3163,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2317,-0.57,-146.0,2308,2487,3514,3163,334.4,-10.9,268,2320,0.00,1.65,0.00,0.000,260,0.000,0.146,2302,3349,3339,3515,3163,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2364,-0.56,-146.0,2302,3349,3515,3163,339.4,-10.8,272,2367,0.00,1.50,0.00,0.000,1030,0.000,0.093,2302,2502,3339,3515,3163,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2679,-0.55,-146.0,2302,2502,3515,3163,373.2,-10.5,303,2683,0.00,1.58,0.00,0.000,260,0.000,0.143,2295,3352,3338,3514,3163,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2736,-0.54,-146.0,2296,3352,3515,3162,379.0,-11.0,308,2740,0.12,1.50,0.00,0.000,3078,0.236,0.092,2330,2502,3339,3515,3163,0,0,0,0,0,0,14.12,14.38,28.83
$GC,3053,-0.55,-146.0,2330,2502,3516,3164,407.2,-8.6,339,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2502,3339,3515,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3369,-0.57,-146.0,2330,2502,3517,3163,433.7,-8.6,370,3374,0.00,1.58,0.00,0.000,260,0.000,0.142,2325,3352,3340,3517,3163,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3406,-0.58,-146.0,2325,3352,3517,3163,437.5,-8.6,373,3409,0.00,1.50,0.00,0.000,1030,0.000,0.091,2325,2479,3339,3516,3163,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3724,-0.59,-146.0,2326,2479,3518,3163,462.7,-7.9,404,3727,0.00,1.62,0.00,0.000,260,0.000,0.141,2319,3354,3341,3518,3164,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3763,-0.59,-146.0,2320,3354,3517,3163,465.9,-8.0,407,3770,0.00,1.50,0.00,0.000,1030,0.000,0.091,2319,2484,3340,3517,3163,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4072,-0.59,-146.0,2319,2484,3518,3163,492.1,-8.7,438,4075,0.00,1.60,0.00,0.000,260,0.000,0.142,2313,3347,3340,3518,3163,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4107,-0.59,-146.0,2313,3348,3518,3163,495.0,-8.2,441,4111,0.00,1.50,0.00,0.000,1030,0.000,0.090,2313,2473,3341,3518,3164,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4424,-0.59,-146.0,2313,2473,3519,3164,523.3,-9.8,472,4427,0.00,1.45,0.00,0.000,516,0.000,0.104,2313,1661,3341,3519,3164,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4461,-0.60,-146.0,2313,1661,3519,3163,526.5,-8.8,475,4464,0.00,1.52,0.00,0.000,1030,0.000,0.128,2309,2499,3341,3519,3164,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4776,-0.60,-146.0,2308,2499,3519,3164,555.8,-9.4,506,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2499,3341,3519,3164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4970,begin apogee
$GC,4983,-0.22,0.0,2309,2499,3520,3163,576.2,-11.2,526,5151,0.45,0.00,157.50,2.469,10246,0.227,0.000,2432,2499,2740,2856,2625,0,0,0,0,0,0,14.12,28.83,12.43
$STATE,5152,end apogee,CONTROL_FINISHED_OK
$STATE,5152,begin climb
$GC,5158,0.89,146.0,2433,2499,2856,2626,580.2,0.0,543,5344,1.25,1.70,171.15,2.388,10756,0.168,0.106,2791,1672,2144,2238,2051,0,0,0,0,0,0,13.35,13.03,12.09
$GC,5576,0.85,146.0,1824,1670,2193,2036,553.3,9.1,584,5583,0.00,1.60,0.00,0.000,1030,0.000,0.126,2791,2509,2139,2238,2040,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5885,0.79,146.0,2791,2509,2238,2038,521.7,9.2,615,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2509,2138,2238,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6203,0.74,146.0,2791,2509,2237,2037,490.8,9.2,646,6207,0.15,1.48,0.00,0.000,4612,0.265,0.105,2756,1670,2137,2238,2037,0,0,0,0,0,0,14.23,14.36,28.83
$GC,6315,0.74,156.1,2756,1670,2238,2035,481.7,7.9,656,6333,0.00,1.52,10.45,2.116,9222,0.000,0.129,2756,2510,2103,2205,2002,0,0,0,0,0,0,28.83,14.35,13.35
$GC,6635,0.72,156.1,2756,2510,2206,2001,453.5,8.9,688,6638,0.00,1.58,0.00,0.000,260,0.000,0.140,2756,3358,2103,2206,2001,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6700,0.69,156.1,2756,3358,2205,2001,447.4,9.6,694,6704,0.00,1.50,0.00,0.000,1030,0.000,0.095,2763,2485,2103,2205,2001,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7017,0.67,156.1,2762,2485,2205,2001,419.0,8.7,725,7023,0.12,0.00,0.00,0.000,4102,0.269,0.000,2730,2484,2103,2205,2001,0,0,0,0,0,0,14.27,28.83,28.83
$GC,7325,0.69,167.4,1760,2482,2160,1996,395.1,7.8,756,7342,0.00,0.00,13.35,2.137,8198,0.000,0.000,2731,2484,2058,2161,1956,0,0,0,0,0,0,28.83,28.83,13.48
$GC,7647,0.72,191.9,2731,2484,2162,1954,370.1,7.3,788,7681,0.00,0.00,27.65,2.212,8198,0.000,0.000,2730,2484,1958,2061,1855,0,0,0,0,0,0,28.83,28.83,13.40
$GC,7988,0.78,220.3,2731,2484,2061,1850,345.5,7.2,822,8024,0.00,1.70,31.08,2.198,8452,0.000,0.140,2731,3357,1842,1946,1738,0,0,0,0,0,0,28.83,14.23,13.33
$GC,8051,0.81,228.7,2730,3357,1946,1738,340.9,7.9,828,8070,0.12,1.50,10.80,1.994,11270,0.155,0.093,2779,2498,1808,1908,1709,0,0,0,0,0,0,14.28,14.27,13.23
$GC,8372,0.79,228.7,2779,2497,1902,1707,308.8,10.2,860,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2497,1804,1902,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8689,0.78,228.7,2779,2497,1901,1706,276.2,10.7,891,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2498,1803,1901,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9002,0.76,228.7,2779,2497,1901,1704,243.4,9.9,922,9006,0.00,1.58,0.00,0.000,260,0.000,0.140,2779,3357,1801,1899,1704,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9048,0.74,228.7,2779,3357,1900,1704,238.2,10.4,926,9052,0.15,1.50,0.00,0.000,5126,0.245,0.095,2750,2485,1802,1900,1704,0,0,0,0,0,0,14.33,14.49,28.83
$GC,9365,0.84,282.4,2750,2485,1900,1703,216.2,6.2,957,9430,0.00,1.50,56.65,2.127,8708,0.000,0.109,2754,1667,1589,1677,1501,0,0,0,0,0,0,28.83,14.15,13.31
$GC,9499,0.92,312.7,1760,1666,1645,1496,206.9,7.1,970,9538,0.15,1.55,33.75,2.056,11270,0.146,0.125,2805,2513,1465,1551,1380,0,0,0,0,0,0,14.26,14.20,13.16
$GC,9850,0.92,312.7,2806,2512,1546,1375,167.0,11.5,1005,9854,0.00,1.58,0.00,0.000,260,0.000,0.140,2806,3350,1460,1546,1375,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9887,0.91,312.7,2806,3350,1545,1375,162.8,11.5,1008,9890,0.00,1.50,0.00,0.000,1030,0.000,0.097,2812,2509,1460,1545,1376,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10202,0.91,312.7,2813,2509,1543,1374,126.9,11.1,1039,10205,0.00,1.52,0.00,0.000,516,0.000,0.110,2819,1640,1458,1543,1374,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10320,0.91,312.7,2819,1640,1542,1373,114.5,10.6,1050,10327,0.00,1.58,0.00,0.000,1030,0.000,0.127,2819,2509,1458,1543,1373,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10632,0.91,312.7,1824,2507,1518,1371,81.7,9.3,1098,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2509,1457,1542,1373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10949,0.91,312.7,2819,2509,1541,1372,52.1,10.1,1159,10956,0.00,1.52,0.00,0.000,516,0.000,0.112,2825,1651,1456,1541,1372,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11058,0.92,312.7,2825,1650,1541,1371,40.8,10.4,1179,11065,0.00,1.58,0.00,0.000,1030,0.000,0.128,2825,2517,1456,1541,1371,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11376,0.92,313.9,1832,2515,1516,1368,11.6,8.2,1240,11383,0.00,1.55,0.00,0.000,260,0.000,0.145,2825,3364,1455,1540,1370,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11410,0.92,313.9,2825,3364,1540,1370,8.6,9.7,1245,11417,0.00,1.50,0.00,0.000,1030,0.000,0.096,2831,2493,1455,1540,1370,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,11467,end climb,SURFACE_DEPTH_REACHED
$STATE,11467,begin surface coast
$FINISH,1.2,1.025650
$STATE,11498,end surface coast,CONTROL_FINISHED_OK
$STATE,11504,begin surface
$SM_CCo,11533,46.20,0.176,0,0,1108,400.08
$SM_GC,2.01,8.07,0.00,46.20,0.099,0.000,0.176,138,2493,1108,-7.36,-0.20,400.08,0,0,0,0,0,0,14.51,28.83,14.31
$RAFOS_CLK,556
$RAFOS,6,1384534147,16.833334,16.818611,67,63,60,56,54,51,192,213,802,178,157,119
$RAFOS,5,1384533670,16.700001,16.686111,67,66,59,59,57,55,897,214,142,155,194,166
$RAFOS,4,1384533188,16.566668,16.552221,88,65,58,55,54,52,681,193,150,203,167,134
$RAFOS,3,1384532707,16.433332,16.418612,62,61,55,55,53,51,747,197,112,170,146,210
$RAFOS,2,1384532227,16.299999,16.285278,60,60,58,51,51,50,206,609,170,224,181,125
$RAFOS,1,1384531749,16.166666,16.152500,111,60,58,52,51,51,508,174,190,209,131,161
$RAFOS,0,1384531264,16.033333,16.017778,79,63,62,62,55,54,631,208,157,196,173,119
$RAFOS_FIX,6643.945801,-6008.407227,151113,161619,5,81,0.88
$IRIDIUM_FIX,6614.97,-6023.41,151113,121233
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.97
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.20
$XPDR_PINGS,37
$24V_AH,12.1,142.773
$10V_AH,12.3,0.000
$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,21.400,61.850,512.375,46.200,0.000,0.000,0.000,247.725,9.250,0.000,5.446,3123.569,5307.725,607.261,2278.532,705.714,0.000,1998.632,0.000,2065.177,2520.000,0.536,0.000
$DEVICE_MAMPS,429.165,146.115,2468.655,175.950,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150812
$DATA_FILE_SIZE,53384,1262
$CAP_FILE_SIZE,134495,0
$CFSIZE,259252224,226054144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.4
$CURRENT,0.353,172.1,1
$GPS,151113,190754,6642.816,-6006.511,41,1.1,41,-33.8