version: 66.11
glider: 192
mission: 2
dive: 439
start: 12 8 113 23 16 17
data:
$ID,192
$MISSION,2
$DIVE,439
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,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,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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-9006.4541
$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,23
$R_STBD_OVSHOOT,14
$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,10
$MINV_10V,9.5
$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,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,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,0.00062281737
$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
$GPS1,081213,203537,6653.475,-5846.742,0,5099.4,0,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.06
$_SM_ANGLEo,-2.6
$GPS2,081213,203537,6653.475,-5846.742,0,5099.4,0,-33.7
$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,157.1,87545,-15.5,-8.250,-18.49,2720
$D_GRID,996
$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,-146.0,2545,2506,2650,2441,0.0,0.0,0,27,0.00,0.00,-5.47,0.000,16386,0.000,0.000,2545,2506,2813,2924,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.89,-146.0,2545,2506,2925,2703,14.3,0.0,1,50,0.98,1.60,-10.45,0.000,20740,0.123,0.168,2221,3349,3341,3528,3154,0,0,0,0,0,0,14.26,14.29,14.83
$GC,287,-0.79,-146.0,1376,3348,3523,3150,65.0,-21.9,48,294,0.12,1.50,0.00,0.000,3078,0.296,0.085,2246,2474,3341,3530,3153,0,0,0,0,0,0,14.07,14.37,28.83
$GC,606,-0.72,-146.0,2246,2474,3530,3153,127.1,-18.4,95,610,0.12,1.42,0.00,0.000,2564,0.309,0.095,2279,1653,3341,3530,3153,0,0,0,0,0,0,14.13,14.31,28.83
$GC,717,-0.68,-146.0,2280,1653,3530,3153,143.6,-14.7,105,721,0.00,1.58,0.00,0.000,1030,0.000,0.119,2275,2499,3341,3530,3152,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1033,-0.64,-146.0,2275,2499,3530,3152,189.7,-14.5,136,1037,0.00,1.55,0.00,0.000,260,0.000,0.135,2269,3350,3340,3530,3151,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1089,-0.59,-146.0,2269,3350,3530,3152,198.0,-15.2,141,1093,0.20,1.50,0.00,0.000,3078,0.259,0.086,2315,2506,3340,3530,3151,0,0,0,0,0,0,14.04,14.33,28.83
$GC,1405,-0.59,-146.0,2316,2505,3531,3151,235.0,-11.3,172,1408,0.00,1.60,0.00,0.000,260,0.000,0.138,2311,3346,3340,3530,3151,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1450,-0.59,-146.0,2311,3346,3530,3150,240.3,-11.6,176,1454,0.00,1.50,0.00,0.000,1030,0.000,0.087,2311,2499,3340,3530,3150,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1766,-0.59,-146.0,2311,2499,3530,3150,275.5,-10.6,207,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2499,3340,3530,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.59,-146.0,2311,2499,3530,3150,308.0,-10.1,238,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2499,3340,3530,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2394,-0.59,-146.0,2311,2499,3530,3150,341.8,-11.3,269,2398,0.00,1.62,0.00,0.000,260,0.000,0.134,2305,3349,3340,3530,3150,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2471,-0.59,-146.0,2305,3349,3530,3150,350.7,-11.3,276,2474,0.00,1.50,0.00,0.000,1030,0.000,0.086,2305,2482,3340,3530,3150,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2786,-0.59,-146.0,2305,2482,3530,3150,383.8,-10.5,307,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2482,3340,3530,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3098,-0.59,-146.0,2305,2482,3530,3150,416.1,-10.2,338,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2482,3340,3531,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3414,-0.59,-146.0,2305,2482,3531,3151,447.3,-10.3,369,3418,0.00,1.62,0.00,0.000,260,0.000,0.137,2298,3349,3340,3530,3151,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3474,-0.59,-146.0,2298,3349,3530,3151,454.1,-10.7,374,3482,0.00,1.50,0.00,0.000,1030,0.000,0.086,2297,2486,3341,3531,3151,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3783,-0.58,-146.0,2298,2486,3530,3151,488.1,-11.1,405,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2486,3340,3530,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.58,-146.0,2298,2486,3531,3152,524.0,-11.7,436,4097,0.00,1.60,0.00,0.000,260,0.000,0.137,2292,3348,3341,3531,3152,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4123,-0.57,-146.0,1416,3346,3524,3149,526.9,-11.8,438,4133,0.12,1.50,0.00,0.000,3078,0.263,0.085,2318,2485,3341,3530,3152,0,0,0,0,0,0,14.07,14.32,28.83
$GC,4437,-0.57,-146.0,2318,2485,3530,3152,559.0,-9.5,469,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2485,3341,3530,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.58,-146.0,2318,2485,3530,3152,588.1,-9.5,500,4751,0.00,1.65,0.00,0.000,260,0.000,0.135,2313,3343,3341,3530,3153,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4776,-0.58,-146.0,2314,3343,3530,3153,590.6,-9.3,502,4784,0.00,1.50,0.00,0.000,1030,0.000,0.085,2313,2481,3341,3530,3152,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5085,-0.58,-146.0,2314,2480,3530,3153,620.5,-9.6,519,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2480,3341,3530,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5385,-0.58,-146.0,2313,2480,3530,3153,648.7,-9.3,529,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2480,3342,3531,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,-0.58,-146.0,2314,2480,3530,3153,675.9,-8.9,539,5689,0.00,1.62,0.00,0.000,260,0.000,0.129,2307,3358,3342,3531,3153,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5751,-0.58,-146.0,2307,3358,3531,3153,681.9,-9.0,541,5754,0.00,1.52,0.00,0.000,1030,0.000,0.083,2307,2480,3342,3531,3153,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6086,-0.58,-146.0,2307,2480,3530,3154,711.5,-9.0,552,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2480,3342,3530,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.58,-146.0,2307,2480,3530,3154,737.7,-8.7,562,6389,0.00,1.60,0.00,0.000,260,0.000,0.132,2301,3349,3342,3530,3154,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6421,-0.58,-146.0,2301,3349,3530,3154,741.0,-8.8,563,6425,0.00,1.50,0.00,0.000,1030,0.000,0.084,2301,2473,3342,3531,3154,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6757,-0.58,-146.0,2301,2473,3530,3154,772.1,-9.3,574,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2473,3342,3531,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7057,-0.58,-146.0,2301,2473,3530,3154,800.6,-9.7,584,7061,0.00,1.65,0.00,0.000,260,0.000,0.132,2294,3343,3342,3530,3154,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7146,-0.58,-146.0,2295,3343,3531,3154,807.1,-9.6,586,7153,0.00,1.50,0.00,0.000,1030,0.000,0.083,2294,2471,3342,3530,3154,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7453,-0.58,-146.0,2295,2471,3531,3154,838.5,-9.6,597,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2471,3342,3530,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,-0.58,-146.0,2294,2471,3531,3155,866.9,-9.6,607,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2471,3343,3531,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8053,-0.58,-146.0,2293,2471,3531,3154,897.3,-10.7,617,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2471,3342,3530,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8354,-0.58,-146.0,2295,2471,3531,3155,925.6,-8.6,627,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2471,3342,3530,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8653,-0.58,-146.0,2295,2471,3531,3154,956.4,-11.3,637,8656,0.00,1.62,0.00,0.000,260,0.000,0.128,2288,3350,3342,3531,3154,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8691,-0.58,-146.0,2288,3350,3530,3155,959.7,-10.8,638,8695,0.12,1.50,0.00,0.000,3078,0.260,0.084,2314,2481,3343,3531,3155,0,0,0,0,0,0,14.07,14.32,28.83
$STATE,8986,end dive,NO_VERTICAL_VELOCITY
$STATE,8986,begin apogee
$GC,9000,-0.22,0.0,2315,2511,3530,3155,964.5,0.0,648,9190,0.38,0.00,179.32,2.900,10246,0.162,0.000,2434,2511,2741,2861,2622,0,0,0,0,0,0,14.18,28.83,11.75
$STATE,9191,end apogee,CONTROL_FINISHED_OK
$STATE,9191,begin climb
$GC,9198,0.89,146.0,2434,2511,2861,2622,964.8,0.0,654,9409,1.23,1.77,200.32,2.850,11012,0.136,0.100,2793,1669,2144,2234,2055,0,0,0,0,0,0,13.14,12.74,11.45
$GC,9520,0.84,146.0,2793,1669,2233,2048,947.1,9.8,665,9524,0.00,1.67,0.00,0.000,1030,0.000,0.120,2793,2506,2140,2233,2048,0,0,0,0,0,0,28.83,13.45,28.83
$GC,9846,0.79,146.0,2793,2506,2233,2042,913.0,10.6,676,9850,0.00,1.58,0.00,0.000,260,0.000,0.134,2793,3357,2137,2233,2042,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9930,0.73,146.0,2793,3357,2232,2042,905.9,10.4,678,9935,0.17,1.50,0.00,0.000,5126,0.220,0.090,2751,2515,2137,2232,2042,0,0,0,0,0,0,14.14,14.33,28.83
$GC,10247,0.72,148.5,2751,2515,2232,2040,877.3,8.2,689,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2515,2136,2232,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10547,0.73,166.8,2751,2514,2232,2039,854.1,7.6,699,10574,0.00,1.55,22.52,2.681,8708,0.000,0.104,2755,1667,2061,2162,1961,0,0,0,0,0,0,28.83,14.38,13.07
$GC,10615,0.74,185.8,1792,1665,2116,1956,849.2,7.5,701,10644,0.00,1.55,24.25,2.596,9222,0.000,0.121,2755,2520,1982,2085,1880,0,0,0,0,0,0,28.83,14.32,12.93
$GC,10978,0.72,185.8,2755,2520,2085,1876,817.6,9.2,713,10982,0.00,1.50,0.00,0.000,516,0.000,0.103,2761,1653,1980,2085,1875,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11002,0.71,185.8,2762,1653,2084,1875,817.6,9.2,713,11006,0.00,1.58,0.00,0.000,1030,0.000,0.119,2761,2508,1980,2085,1875,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11319,0.70,185.8,2762,2508,2085,1873,784.5,9.6,724,11322,0.00,1.52,0.00,0.000,260,0.000,0.135,2761,3359,1978,2085,1872,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11393,0.67,185.8,2761,3359,2083,1873,777.6,10.0,726,11398,0.12,1.50,0.00,0.000,5126,0.220,0.091,2732,2505,1978,2083,1873,0,0,0,0,0,0,14.27,14.46,28.83
$GC,11719,0.67,185.8,2732,2506,2083,1872,749.4,8.3,737,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2506,1977,2083,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12019,0.68,185.8,2732,2506,2083,1872,724.6,8.3,747,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2506,1977,2083,1872,0,0,0,0,0,0,28.83,28.83,28.83
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$FREEZE,8.65,-1.750,-1.812,2,14,0
$STATE,19848,end climb,FINISH_DEPTH_REACHED
$STATE,19848,begin subsurface finish
$FINISH1,8.6,1.026525,48
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$FINISH2,6.7
$STATE,19910,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19910,begin surface
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$RAFOS,3,1386563114,4.433333,4.420556,91,60,57,57,54,54,701,219,115,181,151,201
$RAFOS,2,1386562628,4.300000,4.285555,70,62,62,58,57,54,756,213,172,184,117,225
$RAFOS,1,1386562150,4.166667,4.152778,62,60,57,52,50,49,162,189,212,134,102,179
$RAFOS,0,1386561669,4.033333,4.019166,79,59,57,57,53,52,856,219,143,161,173,198
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$RAFOS,4,1386549188,0.566667,0.552222,132,67,62,60,57,55,568,187,152,214,137,227
$RAFOS,3,1386548705,0.433333,0.418056,85,63,61,60,54,53,753,200,210,130,181,225
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$RAFOS,1,1386547748,0.166667,0.152222,58,58,54,54,53,53,152,175,132,197,123,209
$RAFOS,0,1386547266,0.033333,0.018333,71,58,58,54,53,52,870,218,174,142,187,120
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$IRIDIUM_FIX,6614.97,-6009.24,041213,161649
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.84
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$TCM_TEMP,12.30
$XPDR_PINGS,54
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$10V_AH,11.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150780
$DATA_FILE_SIZE,63312,1503
$CAP_FILE_SIZE,175859,0
$CFSIZE,259252224,216719360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$CURRENT,0.345,328.6,1
$GPS,091213,003225,6652.501,-5842.016,0,5087.2,0,-33.7