version: 66.11
glider: 193
mission: 2
dive: 93
start: 9 24 112 15 36 35
data:
$ID,193
$MISSION,2
$DIVE,93
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,100
$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,370
$T_MISSION,420
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-915.1507
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,149
$PITCH_MAX,3928
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2772
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.048229
$PRESSURE_SLOPE,0.0001163556
$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,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043053469
$SEABIRD_T_H,0.00061871461
$SEABIRD_T_I,2.1533233e-05
$SEABIRD_T_J,2.1546668e-06
$SEABIRD_C_G,-9.8788214
$SEABIRD_C_H,1.1391871
$SEABIRD_C_I,-0.0018439521
$SEABIRD_C_J,0.00022276744
$GPS1,240912,152834,6644.340,-5947.577,38,0.8,39,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-68.5
$GPS2,240912,153552,6644.284,-5947.502,6,0.7,6,-33.8
$SPEED_LIMITS,0.075,0.246
$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,76.8,134181,-17.3,-8.919,-19.96
$D_GRID,782
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,50,0.00,0.00,-29.05,0.000,2,0.000,0.000,134,2111,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.1,-2.2,5,135,11.43,2.80,-58.30,0.000,4,0.475,0.189,2338,3531,3330,1,0,0,0,0,0,14.28,14.45,14.72
$GC,216,-1.50,-136.9,22.1,-21.1,32,222,0.00,2.55,0.00,0.000,6,0.000,0.106,2338,2121,3332,0,0,0,0,0,0,28.83,14.53,28.83
$GC,534,-1.50,-136.9,69.2,-13.6,93,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-1.50,-136.9,112.9,-14.3,145,858,0.00,2.58,0.00,0.000,4,0.000,0.139,2338,705,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1001,-1.50,-136.9,134.2,-14.6,159,1009,0.10,2.62,0.00,0.000,6,0.334,0.141,2348,2121,3332,0,0,0,0,0,0,14.57,14.63,28.83
$GC,1310,-1.50,-136.9,176.3,-12.8,190,1319,0.00,2.65,0.00,0.000,4,0.000,0.156,2340,3526,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1365,-1.50,-136.9,183.8,-13.7,195,1374,0.00,2.50,0.00,0.000,6,0.000,0.106,2340,2117,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1675,-1.50,-136.9,227.6,-13.9,226,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1985,-1.50,-136.9,268.1,-12.4,257,1993,0.00,2.55,0.00,0.000,4,0.000,0.138,2339,705,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2082,-1.50,-136.9,280.3,-13.3,266,2089,0.10,2.62,0.00,0.000,6,0.340,0.143,2349,2124,3331,0,0,0,0,0,0,14.64,14.70,28.83
$GC,2390,-1.50,-136.9,315.7,-11.3,297,2399,0.00,2.58,0.00,0.000,4,0.000,0.139,2349,710,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2436,-1.50,-136.9,320.9,-11.4,301,2445,0.00,2.58,0.00,0.000,6,0.000,0.142,2343,2117,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2746,-1.50,-136.9,356.2,-11.1,332,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-1.50,-136.9,390.5,-11.2,363,3065,0.00,2.65,0.00,0.000,4,0.000,0.158,2332,3533,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3094,-1.50,-136.9,394.8,-11.5,366,3102,0.10,2.53,0.00,0.000,6,0.314,0.104,2350,2108,3330,0,0,0,0,0,0,14.66,14.76,28.83
$GC,3416,-1.50,-136.9,429.1,-10.5,380,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2108,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3713,-1.50,-136.9,459.7,-10.1,390,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2108,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4013,-1.50,-136.9,489.4,-9.8,400,4018,0.00,2.53,0.00,0.000,4,0.000,0.139,2350,705,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4067,-1.50,-136.9,492.6,-9.7,401,4074,0.00,2.62,0.00,0.000,6,0.000,0.145,2344,2131,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4377,-1.50,-136.9,525.1,-9.7,412,4383,0.00,2.60,0.00,0.000,4,0.000,0.159,2333,3526,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4422,-1.50,-136.9,528.6,-9.8,413,4427,0.00,2.47,0.00,0.000,6,0.000,0.104,2333,2112,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4739,-1.50,-136.9,562.7,-10.4,424,4744,0.00,2.50,0.00,0.000,4,0.000,0.135,2333,712,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4763,-1.50,-136.9,562.7,-10.4,424,4772,0.10,2.55,0.00,0.000,6,0.297,0.139,2351,2121,3331,0,0,0,0,0,0,14.71,14.77,28.83
$GC,5074,-1.50,-136.9,595.9,-9.8,435,5080,0.00,2.62,0.00,0.000,4,0.000,0.158,2342,3533,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5118,-1.50,-136.9,599.1,-9.8,436,5124,0.00,2.47,0.00,0.000,6,0.000,0.107,2342,2123,3331,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5436,-1.50,-136.9,632.9,-10.2,447,5441,0.00,2.55,0.00,0.000,4,0.000,0.138,2342,702,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5477,-1.50,-136.9,636.4,-10.3,448,5482,0.00,2.58,0.00,0.000,6,0.000,0.139,2335,2125,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5798,-1.50,-136.9,671.4,-10.7,459,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6098,-1.50,-136.9,703.3,-10.7,469,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2125,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,-1.50,-136.9,734.9,-10.5,479,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2125,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-1.50,-136.9,767.2,-10.5,489,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2125,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6842,begin apogee
$GC,6855,-0.38,0.0,783.4,-10.8,494,7007,0.93,0.00,140.88,2.523,6,0.275,0.000,2590,2200,2772,0,0,0,0,0,0,14.78,28.83,13.02
$STATE,7007,end apogee,CONTROL_FINISHED_OK
$STATE,7008,begin climb
$GC,7013,1.50,136.9,789.4,0.0,499,7182,1.40,2.95,152.05,2.466,4,0.171,0.143,3004,3609,2214,0,0,0,0,0,0,13.85,13.28,12.57
$GC,7211,1.52,155.6,778.4,8.1,505,7239,0.00,2.78,22.30,2.325,6,0.000,0.104,3015,2201,2137,0,0,0,0,0,0,28.83,13.54,12.66
$GC,7543,1.52,155.6,730.7,12.7,516,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,1.52,155.6,691.7,13.0,526,7848,0.00,2.62,0.00,0.000,4,0.000,0.136,3025,788,2127,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7867,1.52,155.6,691.7,13.0,526,7874,0.00,2.65,0.00,0.000,6,0.000,0.123,3025,2206,2126,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8175,1.52,155.6,646.7,13.5,537,8180,0.00,2.67,0.00,0.000,4,0.000,0.148,3025,3607,2127,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8209,1.52,155.6,642.2,13.6,538,8215,0.08,2.58,0.00,0.000,6,0.292,0.107,3017,2193,2127,0,0,0,0,0,0,14.37,14.46,28.83
$GC,8537,1.52,155.6,598.7,13.0,549,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2192,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8836,1.52,155.6,560.2,12.9,559,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2192,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9136,1.52,155.6,521.6,12.9,569,9142,0.00,2.55,0.00,0.000,4,0.000,0.137,3025,785,2125,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9168,1.52,155.6,517.6,12.9,570,9173,0.00,2.55,0.00,0.000,6,0.000,0.125,3025,2200,2124,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9499,1.52,155.6,474.7,12.7,581,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9799,1.52,155.6,436.2,12.7,591,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10100,1.52,155.6,398.0,12.6,601,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10413,1.52,155.6,358.0,12.9,632,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10727,1.52,155.6,318.2,12.4,663,10736,0.00,2.62,0.00,0.000,4,0.000,0.152,3025,3611,2124,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10761,1.52,155.6,313.0,12.8,666,10770,0.08,2.53,0.00,0.000,6,0.293,0.112,3016,2195,2124,0,0,0,0,0,0,14.70,14.78,28.83
$GC,11072,1.52,155.6,277.2,11.1,697,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2195,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11387,1.52,155.6,243.5,10.9,728,11397,0.00,2.53,0.00,0.000,4,0.000,0.140,3025,788,2124,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11473,1.52,155.6,233.3,10.9,736,11482,0.00,2.55,0.00,0.000,6,0.000,0.134,3025,2194,2122,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11783,1.52,155.6,198.9,11.2,767,11792,0.00,2.65,0.00,0.000,4,0.000,0.153,3025,3611,2123,0,0,0,0,0,0,28.83,14.75,28.83
$GC,11820,1.52,155.6,195.0,11.5,770,11828,0.12,2.53,0.00,0.000,6,0.311,0.107,3009,2195,2123,0,0,0,0,0,0,14.71,14.80,28.83
$GC,12129,1.52,155.6,162.5,10.4,801,12137,0.00,2.53,0.00,0.000,4,0.000,0.138,3018,786,2122,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12203,1.52,155.6,154.5,10.7,808,12212,0.00,2.53,0.00,0.000,6,0.000,0.129,3018,2197,2122,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12513,1.52,155.6,121.3,10.0,839,12522,0.00,2.62,0.00,0.000,4,0.000,0.148,3018,3610,2123,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12530,1.52,155.6,120.2,9.7,840,12538,0.00,2.50,0.00,0.000,6,0.000,0.104,3029,2197,2123,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12845,1.52,157.7,90.9,8.8,881,12852,0.00,2.53,0.00,0.000,4,0.000,0.137,3039,791,2123,0,0,0,0,0,0,28.83,14.77,28.83
$GC,13012,1.52,157.7,75.4,9.2,912,13020,0.12,2.55,0.00,0.000,6,0.305,0.131,3013,2200,2122,0,0,0,0,0,0,14.71,14.77,28.83
$GC,13330,1.54,167.8,48.0,8.5,973,13337,0.00,0.00,4.93,0.366,6,0.000,0.000,3013,2200,2086,0,0,0,0,0,0,28.83,28.83,14.66
$GC,13646,1.65,259.8,25.5,4.9,1034,13702,0.10,2.75,49.55,0.256,4,0.181,0.157,3050,3613,1709,0,0,0,0,0,0,14.79,14.65,14.62
$GC,13728,1.71,311.0,21.6,6.7,1047,13760,0.00,2.55,26.17,0.244,6,0.000,0.110,3060,2199,1503,0,0,0,0,0,0,28.83,14.69,14.58
$STATE,13909,end climb,SURFACE_DEPTH_REACHED
$STATE,13909,begin surface coast
$FINISH,1.8,1.025183
$STATE,13935,end surface coast,CONTROL_FINISHED_OK
$STATE,13935,begin surface
$SM_CCo,14023,0.00,0.000,0,0,1485,315.46
$SM_GC,2.86,8.43,0.15,0.00,0.083,0.166,0.000,137,2120,1485,-11.62,0.59,315.46,0,0,0,0,0,0,14.69,14.67,28.83
$RAFOS_CLK,613
$RAFOS,6,1348505364,16.833334,16.823334,125,66,61,56,56,51,611,203,215,192,154,232
$RAFOS,5,1348504882,16.700001,16.689444,83,60,54,53,53,52,763,213,193,224,179,115
$RAFOS,4,1348504402,16.566668,16.556110,114,64,58,56,55,54,509,191,213,519,166,226
$RAFOS,3,1348503905,16.433332,16.418056,105,64,59,58,54,51,713,175,214,153,200,136
$RAFOS,2,1348503424,16.299999,16.284445,139,66,62,61,60,55,522,201,177,216,144,229
$RAFOS,1,1348502944,16.166666,16.151112,108,59,58,52,52,52,503,188,213,175,231,156
$RAFOS,0,1348502464,16.033333,16.017778,62,53,50,50,50,49,215,182,170,126,141,151
$RAFOS_FIX,6647.625488,-5931.883301,240912,161628,4,107,3.41
$IRIDIUM_FIX,6620.33,-5956.38,240912,111117
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,10
$24V_AH,12.6,32.503
$10V_AH,12.9,0.000
$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,23.075,114.300,395.875,0.000,0.000,0.000,0.000,279.725,2.500,0.000,6.838,2766.646,8491.248,533.191,2082.790,598.455,0.000,1863.471,0.000,1838.721,2520.000,0.538,0.000
$DEVICE_MAMPS,475.065,198.900,2522.970,0.000,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.978,767.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188784
$DATA_FILE_SIZE,50069,1086
$CAP_FILE_SIZE,125507,0
$CFSIZE,259252224,244146176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1453.4
$CURRENT,0.106,343.1,1
$GPS,240912,193228,6646.487,-5944.869,59,0.8,60,-33.8