version: 66.13
glider: 198
mission: 13
dive: 34
start: 9 27 118 10 17 40
data:
$ID,198
$MISSION,13
$DIVE,34
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026
$HD_B,0.0129
$HD_C,2.4999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2425
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,35
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,160
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.32826
$PRESSURE_SLOPE,0.00010704
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$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,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,270918,100525,7442.7915,-14532.9971,55,0.7,82,23.0,0.4,90.0,12,3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-60.1
$GPS2,270918,101704,7442.7427,-14532.7988,6,0.7,7,23.0,0.0,246.5,11,9.9
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,193.9,57693,-18.4,-10.000,-23.25,2242
$D_GRID,990
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.17,-146.0,176,2241,580,837,0.0,0.0,0,115,0.00,0.00,-104.65,0.004,16386,0.000,0.000,163,2241,2299,2297,2302,0,0,0,0,0,0,14.27,28.83,14.30
$GC,116,-1.17,-146.0,164,2241,2299,2303,5.0,-8.1,10,162,10.93,2.70,-25.85,0.008,18692,0.486,0.154,2129,3663,3449,3423,3476,0,0,0,0,0,0,13.93,13.38,14.11
$PING,22.5,25.3,9000.0,0.00,0.00
$GC,386,-1.17,-146.0,2130,3663,3429,3476,77.9,-19.2,63,394,0.00,2.40,0.00,0.000,1030,0.000,0.057,2129,2249,3451,3427,3476,0,0,0,0,0,0,14.26,14.22,14.28
$GC,571,-1.17,-146.0,2130,2249,3429,3476,109.6,-16.2,82,577,0.00,2.60,0.00,0.000,260,0.000,0.136,2129,3660,3451,3427,3475,0,0,0,0,0,0,14.42,14.21,14.45
$GC,596,-1.17,-146.0,2124,3661,3428,3476,113.7,-16.2,87,604,0.00,2.40,0.00,0.000,1030,0.000,0.059,2124,2246,3449,3422,3476,0,0,0,0,0,0,14.31,14.27,14.33
$GC,782,-1.17,-146.0,2123,2247,3428,3477,141.7,-14.9,106,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.47,14.50,14.50
$GC,961,-1.17,-146.0,2124,2246,3435,3476,167.9,-14.4,124,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.51,14.54,14.54
$GC,1142,-1.17,-146.0,2124,2246,3428,3476,192.6,-13.4,142,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.49,14.52,14.52
$GC,1321,-1.17,-146.0,2124,2246,3428,3477,216.7,-13.4,160,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3450,3424,3476,0,0,0,0,0,0,14.55,14.59,14.59
$GC,1501,-1.17,-146.0,2124,2247,3428,3476,239.6,-12.3,178,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.57,14.61,14.60
$GC,1681,-1.17,-146.0,2124,2246,3429,3476,261.0,-11.6,190,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.60,14.63,14.62
$GC,1981,-1.17,-146.0,2124,2247,3429,3477,293.2,-10.4,200,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2281,-1.17,-146.0,2124,2246,3428,3477,322.7,-9.6,210,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.66,14.69,14.69
$GC,2581,-1.17,-146.0,2124,2246,3428,3476,350.7,-9.4,220,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.69,14.71,14.71
$GC,2882,-1.17,-146.0,2124,2246,3428,3477,377.8,-9.0,230,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2246,3451,3427,3476,0,0,0,0,0,0,14.70,14.73,14.73
$GC,3181,-1.17,-146.0,2124,2247,3428,3477,403.9,-8.7,240,3187,0.00,2.38,0.00,0.000,516,0.000,0.086,2124,856,3451,3426,3476,0,0,0,0,0,0,14.71,14.52,14.73
$GC,3226,-1.17,-146.0,2124,856,3427,3477,408.0,-9.1,249,3234,0.10,2.42,0.00,0.000,3078,0.283,0.090,2144,2256,3451,3426,3476,0,0,0,0,0,0,14.43,14.50,14.54
$GC,3542,-1.17,-146.0,2145,2257,3427,3477,432.1,-7.5,262,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2256,3451,3426,3476,0,0,0,0,0,0,14.71,14.74,14.73
$GC,3842,-1.17,-146.0,2144,2257,3427,3477,455.6,-8.0,272,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2256,3451,3426,3476,0,0,0,0,0,0,14.73,14.76,14.75
$GC,4142,-1.17,-146.0,2145,2257,3427,3476,479.2,-7.7,282,4149,0.00,2.40,0.00,0.000,516,0.000,0.087,2144,854,3451,3426,3476,0,0,0,0,0,0,14.73,14.53,14.76
$GC,4182,-1.17,-146.0,2145,855,3427,3476,482.4,-8.0,290,4189,0.00,2.42,0.00,0.000,1030,0.000,0.090,2145,2255,3451,3426,3476,0,0,0,0,0,0,14.59,14.52,14.62
$GC,4503,-1.17,-146.0,2145,2257,3427,3477,506.9,-7.6,304,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2256,3451,3426,3476,0,0,0,0,0,0,14.74,14.77,14.76
$GC,4803,-1.17,-146.0,2146,2256,3427,3477,529.5,-7.5,314,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2256,3451,3426,3476,0,0,0,0,0,0,14.74,14.77,14.77
$GC,5103,-1.17,-146.0,2145,2257,3427,3477,552.0,-7.6,324,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2256,3451,3426,3476,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5403,-1.17,-146.0,2146,2256,3428,3477,575.0,-7.6,334,5409,0.00,2.40,0.00,0.000,516,0.000,0.085,2145,848,3451,3427,3476,0,0,0,0,0,0,14.76,14.56,14.78
$GC,5448,-1.17,-146.0,2146,848,3429,3477,578.6,-8.0,343,5454,0.00,2.42,0.00,0.000,1030,0.000,0.090,2145,2256,3451,3427,3476,0,0,0,0,0,0,14.62,14.55,14.64
$GC,5763,-1.17,-146.0,2145,2252,3428,3477,602.1,-7.4,356,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3451,3427,3476,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6063,-1.17,-146.0,2145,2252,3428,3477,624.1,-7.3,366,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3476,0,0,0,0,0,0,14.77,14.80,14.79
$GC,6363,-1.17,-146.0,2145,2252,3429,3472,646.4,-7.5,376,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3476,0,0,0,0,0,0,14.69,14.72,14.71
$GC,6663,-1.17,-146.0,2146,2251,3429,3477,668.3,-7.3,386,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3477,0,0,0,0,0,0,14.66,14.69,14.69
$GC,6963,-1.17,-146.0,2146,2252,3424,3477,690.4,-7.4,396,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2251,3452,3428,3476,0,0,0,0,0,0,14.64,14.66,14.67
$GC,7263,-1.17,-146.0,2146,2252,3429,3476,712.7,-7.5,406,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3476,0,0,0,0,0,0,14.62,14.65,14.64
$GC,7563,-1.17,-146.0,2145,2252,3428,3477,734.8,-7.3,416,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3476,0,0,0,0,0,0,14.59,14.62,14.62
$GC,7863,-1.17,-146.0,2146,2252,3428,3477,756.6,-7.3,426,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3476,0,0,0,0,0,0,14.59,14.65,14.62
$GC,8163,-1.17,-146.0,2145,2252,3429,3477,778.4,-7.2,436,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2251,3452,3428,3476,0,0,0,0,0,0,14.58,14.61,14.60
$GC,8463,-1.17,-146.0,2146,2252,3430,3476,800.2,-7.3,446,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2251,3452,3428,3476,0,0,0,0,0,0,14.63,14.66,14.66
$GC,8763,-1.17,-146.0,2146,2252,3429,3477,821.9,-7.2,456,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3476,0,0,0,0,0,0,14.66,14.69,14.69
$GC,9063,-1.17,-146.0,2146,2252,3430,3477,843.2,-7.0,466,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3429,3476,0,0,0,0,0,0,14.70,14.73,14.72
$GC,9363,-1.17,-146.0,2146,2252,3429,3477,864.1,-6.9,476,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3429,3476,0,0,0,0,0,0,14.71,14.74,14.73
$GC,9663,-1.17,-146.0,2146,2252,3429,3477,885.2,-7.1,486,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2252,3452,3428,3477,0,0,0,0,0,0,14.73,14.76,14.76
$GC,9963,-1.17,-146.0,2146,2252,3429,3476,906.6,-7.1,496,9969,0.00,2.55,0.00,0.000,260,0.000,0.138,2145,3650,3452,3429,3476,0,0,0,0,0,0,14.72,14.50,14.76
$GC,10023,-1.17,-146.0,2146,3650,3430,3477,911.1,-7.7,508,10029,0.00,2.33,0.00,0.000,1030,0.000,0.057,2145,2234,3452,3429,3476,0,0,0,0,0,0,14.62,14.57,14.64
$GC,10354,-1.17,-146.0,2146,2234,3430,3477,934.8,-7.1,524,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2234,3452,3429,3476,0,0,0,0,0,0,14.73,14.76,14.75
$GC,10655,-1.17,-146.0,2146,2234,3429,3477,955.8,-7.0,534,10660,0.00,2.55,0.00,0.000,260,0.000,0.135,2145,3659,3452,3428,3476,0,0,0,0,0,0,14.73,14.53,14.76
$GC,10713,-1.17,-146.0,2146,3659,3430,3476,960.3,-7.4,546,10720,0.00,2.30,0.00,0.000,1030,0.000,0.057,2145,2253,3452,3428,3476,0,0,0,0,0,0,14.62,14.59,14.65
$GC,11044,-1.17,-146.0,2146,2254,3430,3477,983.1,-6.9,562,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2253,3452,3428,3476,0,0,0,0,0,0,14.76,14.79,14.78
$STATE,11162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11162,begin apogee
$GC,11165,-0.25,0.0,2146,2399,3430,3477,991.3,-6.9,566,11307,0.77,0.00,139.20,2.379,10246,0.232,0.000,2363,2399,2852,2691,3014,0,0,0,0,0,0,14.50,13.54,12.76
$STATE,11308,end apogee,CONTROL_FINISHED_OK
$STATE,11308,begin climb
$GC,11309,1.17,146.0,2364,2399,2691,3014,993.0,0.0,570,11454,1.15,0.00,141.12,2.316,10246,0.149,0.000,2703,2399,2259,2061,2457,0,0,0,0,0,0,13.54,13.31,12.54
$GC,11734,1.17,146.0,2703,2398,2048,2457,942.7,13.3,585,11741,0.00,2.65,0.00,0.000,260,0.000,0.140,2704,3794,2252,2047,2457,0,0,0,0,0,0,14.07,13.87,14.09
$GC,11829,1.17,146.0,2704,3795,2048,2457,927.9,15.7,604,11836,0.00,2.42,0.00,0.000,1030,0.000,0.064,2712,2408,2252,2047,2457,0,0,0,0,0,0,14.04,14.00,14.07
$GC,12157,1.17,146.0,2712,2409,2045,2457,881.9,14.1,619,12162,0.00,2.62,0.00,0.000,260,0.000,0.146,2712,3800,2251,2045,2457,0,0,0,0,0,0,14.33,14.12,14.35
$GC,12287,1.17,146.0,2713,3800,2046,2453,860.9,16.2,645,12293,0.00,2.38,0.00,0.000,1030,0.000,0.066,2723,2395,2250,2044,2457,0,0,0,0,0,0,14.29,14.22,14.31
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$PING,70.1,73.8,9000.0,0.00,0.00
$PING,59.9,62.8,63.2,1.01,1.00
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$PING,39.8,42.1,41.7,1.03,1.00
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$PING,29.1,30.1,30.4,1.03,1.00
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$PING,8.5,8.4,8.4,1.06,1.00
$STATE,19737,end climb,SURFACE_DEPTH_REACHED
$STATE,19737,begin surface coast
$FINISH,0.1,1.021545
$STATE,19747,end surface coast,CONTROL_FINISHED_OK
$STATE,19747,begin surface
$SM_CCo,19763,105.25,0.207,0,0,713,525.19
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$RAFOS_CLK,741
$RAFOS_FIX,7440.755859,-14530.270508,270918,151530,0,1,0.20
$IRIDIUM_FIX,7443.22,-14526.55,270918,100755
$TT8_MAMPS,0.038948,0.74151
$HUMID,51.10
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.5,8.4
$SC_FREEKB,3995872
$24V_AH,12.54,17.554
$10V_AH,13.01,0.000
$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,23.425,128.550,483.875,105.250,0.000,0.000,0.000,500.050,44.750,0.000,17.119,0.000,16151.727,892.656,3363.815,164.285,0.000,2431.454,0.000,1968.087,2209.000,316.944,0.000
$DEVICE_MAMPS,485.775,153.765,2379.150,206.550,0.000,0.000,0.000,185.895,420.000,0.000,18.720,0.000,2.310,10.720,28.700,35.440,0.000,11.000,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19782.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.004,0.000,0.000,0.000
$MEM,326040
$DATA_FILE_SIZE,46605,1377
$CAP_FILE_SIZE,190020,0
$CFSIZE,260157440,253837312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.8
$CURRENT,0.053,115.10,1
$GPS,270918,155020,7440.513,-14535.214,56,0.8,56,22.9,0.0,0.0,10,6.6