version: 66.13
glider: 221
mission: 7
dive: 223
start: 3 1 118 0 43 55
data:
$ID,221
$MISSION,7
$DIVE,223
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,550
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,150
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00184
$HD_B,0.0133
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,1
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$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,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,010318,001456,-7404.0542,-11239.1318,0,4115.3,0,53.4,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-50.3
$GPS2,010318,001456,-7404.0542,-11239.1318,181,99.0,181,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.096,0.195
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.1,7186,-18.7,-9.649,-26.34,1825
$D_GRID,836
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.00,-121.7,176,2803,2225,2128,0.0,0.0,0,114,0.00,0.00,-104.05,0.003,16390,0.000,0.000,175,2804,3884,3892,3876,0,0,0,0,0,0,14.75,12.81,14.73
$GC,116,-1.00,-121.7,179,2804,3899,3880,2.4,-2.1,10,133,11.93,1.92,0.00,0.000,2340,0.464,0.079,2389,3914,3896,3902,3891,0,0,0,0,0,0,14.02,14.42,14.33
$PING,10.5,11.6,9000.0,0.00,0.00
$PING,20.8,22.1,9000.0,0.00,0.00
$GC,357,-1.00,-121.7,2390,3912,3903,3903,33.8,-12.7,58,363,0.00,1.90,0.00,0.000,1030,0.000,0.048,2389,2788,3902,3901,3904,0,0,0,0,0,0,14.54,14.50,14.54
$PING,52.9,55.9,55.8,1.04,1.00
$GC,667,-1.00,-121.7,2390,2788,3903,3906,70.7,-11.9,90,672,0.00,2.05,0.00,0.000,260,0.000,0.090,2384,3916,3904,3902,3906,0,0,0,0,0,0,14.80,14.38,14.80
$GC,697,-1.00,-121.7,2384,3917,3903,3907,74.5,-12.8,96,703,0.00,1.88,0.00,0.000,1030,0.000,0.049,2384,2804,3903,3902,3905,0,0,0,0,0,0,14.55,14.51,14.57
$GC,1007,-1.00,-121.7,2384,2805,3903,3908,112.7,-12.1,128,1012,0.00,2.40,0.00,0.000,516,0.000,0.050,2384,1381,3904,3902,3906,0,0,0,0,0,0,14.82,14.47,14.82
$GC,1042,-1.00,-121.7,2384,1382,3903,3908,116.9,-12.0,135,1049,0.00,2.55,0.00,0.000,1030,0.000,0.069,2383,2812,3904,3902,3906,0,0,0,0,0,0,14.54,14.42,14.53
$GC,1347,-1.00,-121.7,2383,2812,3903,3906,155.0,-12.5,166,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2812,3904,3902,3906,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1647,-1.00,-121.7,2383,2812,3903,3906,190.8,-11.9,196,1652,0.00,1.98,0.00,0.000,260,0.000,0.091,2375,3905,3904,3902,3906,0,0,0,0,0,0,14.83,14.40,14.83
$GC,1682,-1.00,-121.7,2376,3906,3903,3907,195.3,-13.2,203,1689,0.10,1.88,0.00,0.000,3078,0.279,0.050,2401,2795,3904,3902,3906,0,0,0,0,0,0,14.14,14.54,14.38
$GC,1987,-1.00,-121.7,2401,2795,3903,3906,228.4,-10.6,234,1992,0.00,2.03,0.00,0.000,260,0.000,0.092,2398,3905,3904,3902,3907,0,0,0,0,0,0,14.84,14.36,14.84
$GC,2012,-1.00,-121.7,2399,3906,3903,3907,231.1,-11.1,239,2019,0.00,1.88,0.00,0.000,1030,0.000,0.050,2398,2797,3904,3902,3906,0,0,0,0,0,0,14.57,14.54,14.59
$GC,2317,-1.00,-121.7,2398,2798,3903,3908,262.8,-10.3,270,2322,0.00,2.38,0.00,0.000,516,0.000,0.050,2398,1387,3904,3902,3906,0,0,0,0,0,0,14.84,14.49,14.84
$GC,2357,-1.00,-121.7,2399,1386,3903,3907,266.9,-10.1,278,2363,0.00,2.50,0.00,0.000,1030,0.000,0.070,2398,2816,3903,3901,3906,0,0,0,0,0,0,14.60,14.47,14.64
$GC,2667,-1.00,-121.7,2398,2817,3903,3908,297.9,-10.1,310,2673,0.00,1.98,0.00,0.000,260,0.000,0.093,2396,3907,3903,3902,3905,0,0,0,0,0,0,14.84,14.39,14.84
$GC,2732,-1.00,-121.7,2396,3908,3903,3908,304.8,-10.8,323,2738,0.00,1.90,0.00,0.000,1030,0.000,0.049,2395,2786,3904,3902,3906,0,0,0,0,0,0,14.57,14.53,14.59
$GC,3048,-1.00,-121.7,2396,2787,3904,3907,336.2,-10.2,341,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2787,3903,3901,3906,0,0,0,0,0,0,14.83,14.84,14.84
$GC,3347,-1.00,-121.7,2397,2787,3903,3906,366.1,-9.7,356,3353,0.00,2.35,0.00,0.000,516,0.000,0.050,2396,1388,3904,3902,3906,0,0,0,0,0,0,14.85,14.49,14.85
$GC,3372,-1.00,-121.7,2395,1389,3903,3908,368.6,-9.9,361,3379,0.00,2.53,0.00,0.000,1030,0.000,0.070,2394,2807,3904,3902,3906,0,0,0,0,0,0,14.47,14.39,14.51
$GC,3689,-1.00,-121.7,2396,2809,3903,3908,399.0,-9.6,379,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2807,3904,3902,3906,0,0,0,0,0,0,14.83,14.83,14.83
$GC,3988,-1.00,-121.7,2395,2808,3902,3907,426.9,-9.1,394,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2808,3904,3902,3906,0,0,0,0,0,0,14.84,14.84,14.83
$GC,4289,-1.00,-121.7,2396,2808,3903,3906,454.6,-9.3,409,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2807,3904,3902,3907,0,0,0,0,0,0,14.85,14.85,14.85
$GC,4588,-1.00,-121.7,2396,2807,3903,3906,481.6,-8.8,424,4594,0.00,2.40,0.00,0.000,516,0.000,0.050,2395,1386,3904,3902,3906,0,0,0,0,0,0,14.85,14.50,14.85
$GC,4633,-1.00,-121.7,2395,1387,3902,3908,485.7,-9.0,433,4640,0.00,2.53,0.00,0.000,1030,0.000,0.070,2394,2807,3904,3902,3906,0,0,0,0,0,0,14.54,14.44,14.64
$GC,4959,-1.00,-121.7,2395,2803,3899,3906,515.1,-9.1,449,4966,0.00,1.98,0.00,0.000,260,0.000,0.091,2389,3905,3904,3902,3906,0,0,0,0,0,0,14.88,14.41,14.88
$GC,4990,-1.00,-121.7,2389,3905,3903,3908,518.1,-10.1,455,4996,0.00,1.88,0.00,0.000,1030,0.000,0.050,2389,2794,3904,3902,3906,0,0,0,0,0,0,14.59,14.55,14.62
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5355,-0.23,0.0,2389,2540,3903,3908,550.5,-9.0,472,5481,1.00,0.00,123.28,2.573,10246,0.255,0.000,2650,2538,3399,3403,3395,0,0,0,0,0,0,14.18,13.67,12.70
$STATE,5481,end apogee,CONTROL_FINISHED_OK
$STATE,5482,begin climb
$GC,5483,1.00,121.7,2651,2539,3403,3392,552.9,0.0,476,5617,1.40,2.72,119.60,2.487,10500,0.156,0.093,3049,3908,2911,2917,2905,0,0,0,0,0,0,13.60,13.23,12.34
$GC,5631,1.00,121.7,3049,3910,2916,2903,538.1,14.9,501,5638,0.00,2.47,0.00,0.000,1030,0.000,0.056,3059,2558,2908,2915,2902,0,0,0,0,0,0,13.54,13.48,13.55
$GC,6003,1.00,121.7,3059,2559,2906,2894,483.5,14.6,520,6008,0.00,2.50,0.00,0.000,516,0.000,0.067,3069,1146,2899,2905,2893,0,0,0,0,0,0,14.46,14.14,14.46
$GC,6047,1.00,121.7,3069,1146,2906,2892,477.0,14.4,529,6054,0.00,2.55,0.00,0.000,1030,0.000,0.070,3069,2579,2898,2905,2892,0,0,0,0,0,0,14.31,14.19,14.35
$GC,6364,1.00,121.7,3069,2578,2906,2892,429.7,14.5,547,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2579,2898,2904,2892,0,0,0,0,0,0,14.68,14.69,14.68
$GC,6664,1.00,121.7,3069,2579,2905,2892,385.7,14.7,562,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2579,2898,2904,2892,0,0,0,0,0,0,14.77,14.77,14.77
$GC,6965,1.00,121.7,3069,2578,2905,2892,343.3,13.9,577,6970,0.00,2.47,0.00,0.000,516,0.000,0.067,3080,1149,2898,2905,2892,0,0,0,0,0,0,14.77,14.46,14.77
$GC,7040,1.00,121.7,3080,1149,2905,2892,332.9,13.4,592,7047,0.00,2.45,0.00,0.000,1030,0.000,0.070,3079,2552,2898,2904,2892,0,0,0,0,0,0,14.60,14.49,14.64
$GC,7345,1.00,121.7,3079,2553,2905,2893,290.2,14.3,611,7350,0.00,2.42,0.00,0.000,260,0.000,0.096,3080,3909,2898,2904,2892,0,0,0,0,0,0,14.84,14.46,14.83
$GC,7400,1.00,121.7,3080,3909,2906,2893,281.1,16.8,622,7407,0.12,2.35,0.00,0.000,5126,0.289,0.056,3058,2539,2898,2905,2892,0,0,0,0,0,0,14.17,14.52,14.58
$GC,7705,1.00,121.7,3059,2539,2907,2892,240.7,12.7,653,7711,0.00,2.40,0.00,0.000,516,0.000,0.068,3067,1149,2898,2905,2892,0,0,0,0,0,0,14.85,14.49,14.85
$GC,7740,1.00,121.7,3067,1150,2905,2894,236.5,11.9,660,7748,0.00,2.50,0.00,0.000,1030,0.000,0.070,3067,2557,2898,2905,2892,0,0,0,0,0,0,14.56,14.47,14.59
$GC,8045,1.00,121.7,3067,2557,2906,2892,196.9,12.8,691,8051,0.00,2.42,0.00,0.000,260,0.000,0.095,3067,3914,2898,2905,2892,0,0,0,0,0,0,14.87,14.47,14.87
$GC,8071,1.00,121.7,3068,3914,2906,2892,193.3,15.1,696,8078,0.00,2.30,0.00,0.000,1030,0.000,0.056,3077,2548,2899,2906,2892,0,0,0,0,0,0,14.67,14.60,14.70
$GC,8375,1.00,121.7,3077,2549,2906,2893,152.4,13.3,727,8381,0.00,2.42,0.00,0.000,516,0.000,0.067,3088,1146,2898,2904,2892,0,0,0,0,0,0,14.86,14.49,14.86
$GC,8430,1.00,121.7,3089,1145,2906,2892,145.2,12.8,738,8438,0.17,2.47,0.00,0.000,5126,0.281,0.070,3050,2561,2898,2905,2892,0,0,0,0,0,0,14.23,14.50,14.57
$PING,130.6,135.5,135.6,1.03,1.00
$GC,8736,1.00,121.7,3050,2561,2906,2892,110.1,11.4,769,8742,0.00,2.42,0.00,0.000,260,0.000,0.096,3049,3917,2898,2905,2892,0,0,0,0,0,0,14.82,14.47,14.82
$GC,8771,1.00,121.7,3050,3917,2906,2892,105.4,13.2,776,8778,0.00,2.38,0.00,0.000,1030,0.000,0.055,3059,2534,2896,2901,2892,0,0,0,0,0,0,14.59,14.54,14.62
$PING,89.2,92.4,92.8,1.03,1.00
$PING,78.5,81.5,81.4,1.04,1.00
$GC,9076,1.00,121.7,3059,2535,2906,2892,69.1,11.7,807,9082,0.00,2.40,0.00,0.000,516,0.000,0.067,3068,1148,2898,2905,2892,0,0,0,0,0,0,14.83,14.46,14.83
$GC,9101,1.00,121.7,3068,1149,2906,2893,66.2,11.5,812,9108,0.00,2.50,0.00,0.000,1030,0.000,0.070,3068,2557,2898,2905,2892,0,0,0,0,0,0,14.54,14.46,14.59
$PING,57.2,59.5,59.5,1.03,1.00
$PING,46.2,48.0,48.0,1.04,1.00
$PING,35.3,36.4,36.4,1.06,1.00
$GC,9406,1.00,121.7,3067,2558,2905,2894,29.2,12.1,843,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2557,2898,2905,2892,0,0,0,0,0,0,14.84,14.85,14.84
$PING,24.5,25.1,25.0,1.05,1.00
$PING,13.6,13.8,13.8,1.04,1.00
$FREEZE,8.86,-1.761,-1.866,2,2,0
$FREEZE,7.65,-1.761,-1.865,2,2,0
$FREEZE,6.51,-1.763,-1.864,2,2,0
$FREEZE,5.21,-1.762,-1.863,2,2,0
$FREEZE,3.99,-1.762,-1.862,2,2,0
$FREEZE,2.84,-1.764,-1.861,2,2,0
$FREEZE,1.66,-1.763,-1.860,2,2,0
$STATE,9635,end climb,SURFACE_DEPTH_REACHED
$STATE,9635,begin surface coast
$FREEZE,0.48,-1.768,-1.860,2,2,0
$FINISH,0.5,1.027286
$STATE,9645,end surface coast,CONTROL_FINISHED_OK
$STATE,9645,begin surface
$SM_CCo,9661,170.27,0.222,0,0,2205,300.18
$SM_GC,0.90,8.73,0.47,170.27,0.099,0.095,0.222,180,2820,2205,-7.90,-0.20,300.18,0,0,0,0,0,0,14.54,14.52,14.19
$RAFOS_CLK,417
$RAFOS,2,1519873992,3.233333,3.220000,81,73,71,64,58,54,483,202,173,156,214,147
$RAFOS,1,1519873630,3.133333,3.119444,121,62,56,55,52,49,544,193,162,211,179,144
$RAFOS,0,1519873261,3.032778,3.016944,128,73,66,59,55,53,595,841,142,219,203,185
$RAFOS_FIX,-7403.936523,-11233.631836,010318,030316,3,110,0.26
$IRIDIUM_FIX,-7406.27,-11259.54,280218,213044
$TT8_MAMPS,0.038948,0.245672
$HUMID,45.43
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,12.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,13.6,13.8
$24V_AH,12.34,75.929
$10V_AH,12.60,0.000
$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,23.450,87.900,242.875,170.275,0.000,0.000,0.000,120.850,25.750,0.000,182.174,0.000,7465.633,641.675,2093.663,157.639,0.000,1424.097,0.000,1243.493,720.000,180.882,0.000
$DEVICE_MAMPS,463.590,96.390,2572.695,221.850,0.000,0.000,0.000,74.970,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9649.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.300,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,30027,867
$CAP_FILE_SIZE,111744,0
$CFSIZE,1024409600,995082240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.4
$CURRENT,0.101,67.78,1
$GPS,010318,031616,-7403.937,-11233.632,0,4110.0,0,53.4,0.0,0.0,0,0.0