version: 66.13
glider: 223
mission: 5
dive: 226
start: 2 25 118 2 22 15
data:
$ID,223
$MISSION,5
$DIVE,226
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,220
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,350
$T_MISSION,390
$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,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00375924
$HD_B,0.0090143103
$HD_C,2.26105e-06
$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,350
$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,120
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$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,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2782
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1.5
$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,0
$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,-185.88379
$PRESSURE_SLOPE,0.0001081376
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.25
$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,0.0044087539
$SEABIRD_T_H,0.00063761615
$SEABIRD_T_I,2.5496534e-05
$SEABIRD_T_J,3.0755168e-06
$SEABIRD_C_G,-9.8995104
$SEABIRD_C_H,1.1242845
$SEABIRD_C_I,-0.0021703816
$SEABIRD_C_J,0.00023950715
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,250218,001456,-7418.2241,-11217.9307,0,4127.7,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,373.46
$_SM_ANGLEo,-3.1
$GPS2,250218,001456,-7418.2241,-11217.9307,0,4127.7,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7412.000,-11220.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,301.1,11574,-16.5,-9.429,-19.22,2384
$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,-0.93,-146.0,2804,2313,2830,2764,0.0,0.0,0,12,0.00,0.00,-2.05,0.047,16390,0.000,0.000,2802,2312,3394,3416,3372,0,0,0,0,0,0,15.06,13.34,15.04
$GC,14,-0.93,-146.0,2802,2313,3417,3374,0.0,0.0,0,20,0.90,2.50,0.00,0.000,4356,0.098,0.103,2493,3724,3394,3416,3373,0,0,0,0,0,0,14.71,14.71,14.78
$GC,85,-0.93,-146.0,2493,3724,3414,3373,381.8,-13.6,14,90,0.00,2.47,0.00,0.000,1030,0.000,0.044,2493,2293,3393,3414,3373,0,0,0,0,0,0,14.84,14.79,14.86
$GC,395,-0.93,-146.0,2495,2293,3416,3373,427.1,-14.4,46,400,0.00,2.47,0.00,0.000,516,0.000,0.076,2500,894,3393,3414,3372,0,0,0,0,0,0,15.09,14.71,15.11
$GC,445,-0.93,-146.0,2493,894,3414,3373,434.5,-14.6,56,450,0.00,2.50,0.00,0.000,1030,0.000,0.072,2489,2301,3392,3413,3372,0,0,0,0,0,0,14.87,14.73,14.91
$GC,755,-0.93,-146.0,2490,2302,3415,3372,479.5,-14.6,88,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2302,3390,3408,3372,0,0,0,0,0,0,15.07,15.10,15.13
$GC,1055,-0.93,-146.0,2488,2302,3413,3371,522.0,-14.3,118,1064,0.00,2.53,0.00,0.000,516,0.000,0.076,2489,887,3392,3414,3371,0,0,0,0,0,0,15.08,14.72,15.11
$GC,1104,-0.93,-146.0,2489,887,3413,3371,528.9,-13.9,127,1110,0.00,2.50,0.00,0.000,1030,0.000,0.071,2479,2311,3391,3413,3370,0,0,0,0,0,0,14.88,14.76,14.92
$GC,1408,-0.93,-146.0,2479,2312,3415,3371,572.9,-14.3,158,1414,0.00,2.55,0.00,0.000,260,0.000,0.107,2472,3716,3391,3413,3370,0,0,0,0,0,0,15.11,14.71,15.13
$GC,1434,-0.93,-146.0,2473,3717,3415,3371,576.8,-15.9,163,1440,0.00,2.40,0.00,0.000,1030,0.000,0.047,2472,2293,3392,3414,3370,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1738,-0.93,-146.0,2473,2292,3415,3371,622.9,-15.1,194,1744,0.00,2.47,0.00,0.000,516,0.000,0.076,2472,889,3394,3413,3376,0,0,0,0,0,0,15.11,14.72,15.13
$GC,1808,-0.93,-146.0,2470,890,3413,3371,633.6,-15.3,208,1814,0.17,2.50,0.00,0.000,3078,0.291,0.070,2499,2312,3391,3413,3370,0,0,0,0,0,0,14.52,14.75,14.79
$GC,2118,-0.93,-146.0,2498,2313,3413,3370,675.0,-13.1,240,2124,0.00,2.53,0.00,0.000,516,0.000,0.077,2499,890,3392,3414,3370,0,0,0,0,0,0,15.11,14.71,15.13
$GC,2183,-0.93,-146.0,2498,891,3413,3370,683.9,-13.3,253,2191,0.00,2.53,0.00,0.000,1030,0.000,0.070,2490,2303,3391,3413,3370,0,0,0,0,0,0,14.90,14.71,14.93
$GC,2488,-0.93,-146.0,2491,2304,3415,3370,724.5,-13.2,272,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2303,3391,3413,3369,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2849,-0.93,-146.0,2489,2304,3413,3370,772.8,-13.6,284,2854,0.00,2.50,0.00,0.000,516,0.000,0.078,2490,895,3391,3413,3370,0,0,0,0,0,0,15.10,14.72,15.13
$GC,2889,-0.93,-146.0,2491,896,3415,3370,778.6,-15.0,292,2894,0.00,2.53,0.00,0.000,1030,0.000,0.070,2480,2307,3391,3413,3369,0,0,0,0,0,0,14.80,14.72,14.85
$GC,3270,-0.93,-146.0,2479,2307,3413,3370,830.1,-13.4,308,3275,0.00,2.50,0.00,0.000,516,0.000,0.076,2480,895,3391,3414,3369,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3334,-0.93,-146.0,2479,896,3413,3370,838.7,-13.3,321,3341,0.00,2.50,0.00,0.000,1030,0.000,0.071,2476,2312,3391,3413,3369,0,0,0,0,0,0,14.84,14.71,14.89
$GC,3720,-0.93,-146.0,2475,2313,3413,3370,889.2,-13.3,338,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2312,3391,3414,3369,0,0,0,0,0,0,15.12,15.15,15.15
$GC,4081,-0.93,-146.0,2477,2313,3415,3370,938.2,-13.5,350,4086,0.00,2.50,0.00,0.000,516,0.000,0.076,2476,899,3391,3413,3369,0,0,0,0,0,0,15.13,14.73,15.15
$GC,4141,-0.93,-146.0,2477,900,3416,3370,946.6,-13.9,362,4147,0.15,2.47,0.00,0.000,3078,0.297,0.069,2496,2317,3391,3414,3369,0,0,0,0,0,0,14.53,14.77,14.81
$PING,954.6,21.6,9000.0,0.00,0.00
$PING,962.4,16.9,9000.0,0.00,0.00
$GC,4531,-0.93,-146.0,2499,2318,3416,3370,979.9,-0.0,380,4532,0.00,0.00,0.00,0.000,38,0.000,0.000,2497,2317,3391,3414,3369,0,0,0,0,0,0,15.13,15.16,15.15
$STATE,4650,end dive,NO_VERTICAL_VELOCITY
$STATE,4650,begin apogee
$GC,4654,-0.23,0.0,2499,2078,3415,3370,979.9,0.0,384,4826,0.75,0.05,168.85,3.104,10246,0.148,0.213,2730,2109,2781,2819,2744,0,0,0,0,0,0,14.62,13.31,12.32
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4827,begin climb
$PING,974.1,21.9,9000.0,0.05,0.03
$GC,4828,0.93,146.0,2729,2109,2818,2742,980.4,0.0,389,5022,1.25,2.88,182.20,3.105,10756,0.124,0.094,3103,723,2186,2241,2131,0,0,0,0,0,0,13.38,13.24,12.25
$GC,5066,0.93,146.0,3103,724,2234,2129,965.8,9.9,426,5073,0.00,2.60,0.00,0.000,1030,0.000,0.055,3103,2095,2181,2234,2128,0,0,0,0,0,0,13.74,13.69,13.76
$PING,943.6,21.4,9000.0,-0.01,0.00
$PING,935.4,30.5,9000.0,-0.16,0.39
$GC,5438,0.93,146.0,3102,2096,2226,2122,932.6,9.2,440,5443,0.00,2.58,0.00,0.000,516,0.000,0.098,3111,721,2175,2228,2122,0,0,0,0,0,0,14.64,14.38,14.67
$GC,5517,0.93,146.0,3110,721,2224,2122,924.4,10.3,456,5523,0.00,2.47,0.00,0.000,1030,0.000,0.057,3111,2112,2172,2224,2121,0,0,0,0,0,0,14.55,14.50,14.58
$GC,5887,0.93,146.0,3109,2111,2219,2122,884.6,10.8,470,5894,0.00,2.55,0.00,0.000,516,0.000,0.095,3121,713,2168,2216,2121,0,0,0,0,0,0,14.94,14.65,14.97
$GC,5953,0.93,146.0,3122,713,2222,2121,877.5,10.9,483,5959,0.00,2.45,0.00,0.000,1030,0.000,0.059,3121,2136,2170,2220,2121,0,0,0,0,0,0,14.78,14.69,14.81
$GC,6339,0.93,146.0,3122,2136,2221,2122,834.4,11.4,500,6344,0.00,2.58,0.00,0.000,516,0.000,0.095,3131,717,2170,2219,2121,0,0,0,0,0,0,15.00,14.73,15.02
$GC,6408,0.93,146.0,3132,717,2220,2122,826.1,11.7,514,6415,0.10,2.42,0.00,0.000,5126,0.232,0.059,3102,2103,2169,2218,2121,0,0,0,0,0,0,14.61,14.76,14.75
$GC,6790,0.93,146.0,3101,2109,2217,2121,789.1,9.8,530,6796,0.00,2.53,0.00,0.000,260,0.000,0.096,3101,3515,2169,2217,2121,0,0,0,0,0,0,15.04,14.76,15.07
$GC,6810,0.93,146.0,3101,3514,2217,2121,786.6,11.6,534,6817,0.00,2.40,0.00,0.000,1030,0.000,0.050,3110,2120,2169,2218,2120,0,0,0,0,0,0,14.85,14.80,14.91
$GC,7181,0.93,146.0,3109,2121,2216,2121,747.9,10.1,548,7187,0.00,2.55,0.00,0.000,516,0.000,0.097,3120,697,2168,2216,2120,0,0,0,0,0,0,15.09,14.77,15.12
$GC,7221,0.93,146.0,3122,698,2217,2122,743.7,10.4,556,7227,0.00,2.45,0.00,0.000,1030,0.000,0.060,3121,2102,2168,2216,2121,0,0,0,0,0,0,14.86,14.81,14.91
$GC,7601,0.93,146.0,3122,2103,2217,2121,703.4,10.6,572,7607,0.00,2.55,0.00,0.000,516,0.000,0.098,3126,689,2168,2215,2121,0,0,0,0,0,0,15.12,14.77,15.13
$GC,7666,0.93,146.0,3127,689,2216,2122,696.4,10.7,585,7673,0.00,2.45,0.00,0.000,1030,0.000,0.060,3126,2120,2167,2214,2121,0,0,0,0,0,0,14.94,14.83,14.97
$GC,7971,0.93,146.0,3125,2120,2212,2121,664.3,10.5,616,7977,0.00,2.58,0.00,0.000,516,0.000,0.095,3136,693,2167,2214,2120,0,0,0,0,0,0,15.11,14.77,15.14
$GC,8006,0.93,146.0,3137,694,2216,2121,660.5,11.1,623,8014,0.15,2.47,0.00,0.000,5126,0.262,0.060,3101,2109,2166,2213,2120,0,0,0,0,0,0,14.65,14.80,14.89
$GC,8311,0.93,146.0,3103,2110,2216,2121,630.9,9.8,654,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2109,2167,2214,2120,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8612,0.93,146.0,3101,2109,2214,2121,602.1,9.4,684,8617,0.00,2.55,0.00,0.000,516,0.000,0.096,3110,700,2168,2215,2121,0,0,0,0,0,0,15.07,14.76,15.09
$GC,8651,0.93,146.0,3110,700,2213,2121,598.2,10.0,692,8657,0.00,2.45,0.00,0.000,1030,0.000,0.060,3110,2100,2167,2214,2120,0,0,0,0,0,0,14.95,14.80,14.97
$GC,8961,0.93,146.0,3111,2101,2216,2121,567.0,9.9,724,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2100,2167,2214,2120,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9261,0.93,146.0,3110,2101,2213,2121,536.8,10.1,754,9268,0.00,2.53,0.00,0.000,516,0.000,0.096,3121,699,2167,2213,2121,0,0,0,0,0,0,15.11,14.76,15.14
$GC,9312,0.93,146.0,3122,699,2215,2121,531.8,9.8,764,9318,0.00,2.45,0.00,0.000,1030,0.000,0.060,3121,2100,2166,2213,2120,0,0,0,0,0,0,14.85,14.78,14.89
$GC,9622,0.93,146.0,3120,2101,2213,2120,501.4,10.0,796,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2100,2166,2213,2120,0,0,0,0,0,0,15.12,15.16,15.15
$GC,9924,0.93,146.0,3120,2101,2212,2121,471.8,9.7,826,9929,0.00,2.55,0.00,0.000,516,0.000,0.099,3127,696,2167,2215,2120,0,0,0,0,0,0,15.07,14.68,15.10
$GC,9959,0.93,146.0,3129,697,2214,2121,468.3,9.8,833,9966,0.00,2.47,0.00,0.000,1030,0.000,0.060,3127,2110,2165,2211,2120,0,0,0,0,0,0,14.85,14.79,14.88
$PING,439.5,71.9,9000.0,-0.09,0.98
$GC,10264,0.93,146.0,3129,2111,2214,2121,437.5,10.1,864,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2110,2166,2212,2120,0,0,0,0,0,0,15.12,15.14,15.14
$PING,433.4,65.7,9000.0,-0.08,0.98
$PING,427.4,59.4,59.4,1.03,1.00
$PING,421.3,53.4,53.4,1.01,1.00
$PING,409.2,40.5,40.6,1.04,1.00
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$PING,402.2,33.4,33.3,1.05,1.00
$PING,395.3,26.3,26.3,1.02,1.00
$PING,388.4,19.2,19.2,1.02,1.00
$PING,381.6,12.4,12.4,1.02,1.00
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$STATE,10882,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10882,begin subsurface finish
$FINISH1,375.8,1.027460,2
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$FINISH2,374.9
$STATE,10901,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10901,begin surface
$RAFOS_CLK,397
$RAFOS,2,1519528393,3.233333,3.220278,145,62,58,57,55,52,554,187,210,145,120,162
$RAFOS,1,1519528033,3.133333,3.120278,116,65,57,56,55,50,516,184,162,215,151,174
$RAFOS,0,1519527673,3.032778,3.020278,72,60,56,56,55,54,490,500,128,163,148,190
$RAFOS_FIX,-7416.998535,-11220.186523,250218,030316,3,111,0.23
$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.039697,0.304094
$HUMID,50.23
$INTERNAL_PRESSURE,8.26789
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,381.6,12.4
$24V_AH,12.25,89.545
$10V_AH,12.42,0.000
$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,4.625,103.725,351.050,0.000,0.000,0.000,0.000,0.000,44.000,0.000,0.000,0.000,8418.719,477.683,1970.317,127.701,0.000,1176.832,0.000,1327.623,720.000,319.295,0.000
$DEVICE_MAMPS,296.820,212.670,3105.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.758,0.000,0.000,0.000
$MEM,280000
$DATA_FILE_SIZE,33312,927
$CAP_FILE_SIZE,120501,0
$CFSIZE,1024409600,993443840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,250218,031616,-7416.999,-11220.187,0,4111.0,0,53.7,0.0,0.0,0,0.0