version: 66.13
glider: 223
mission: 5
dive: 233
start: 2 26 118 1 42 16
data:
$ID,223
$MISSION,5
$DIVE,233
$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,10
$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,0.1
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,260218,011930,-7408.7480,-11226.5889,29,1.0,29,53.4,0.5,202.6,7,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.2
$GPS2,260218,014140,-7408.7520,-11226.8652,2,0.8,3,53.4,0.2,333.7,9,8.3
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,WMM0
$TGT_LATLONG,-7408.900,-11254.810
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,215.5,14139,-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,-146.0,210,2311,1354,1303,0.0,0.0,0,124,0.00,0.00,-113.57,0.002,16390,0.000,0.000,210,2313,3378,3372,3384,0,0,0,0,0,0,14.76,13.19,14.78
$GC,126,-0.93,-146.0,212,2314,3376,3385,3.7,-4.8,11,142,10.75,2.62,0.00,0.000,2596,0.409,0.079,2504,891,3379,3377,3382,0,0,0,0,0,0,14.24,14.52,14.58
$PING,12.6,13.5,9000.0,0.00,0.00
$PING,19.0,19.8,9000.0,0.00,0.00
$PING,25.7,26.7,26.7,1.01,1.00
$PING,32.3,33.8,33.7,1.05,1.00
$GC,286,-0.93,-146.0,2505,890,3384,3376,33.0,-14.4,42,293,0.00,2.58,0.00,0.000,1030,0.000,0.071,2496,2306,3379,3384,3374,0,0,0,0,0,0,14.63,14.55,14.67
$PING,39.5,41.2,41.3,1.05,1.00
$PING,46.7,49.2,49.1,1.07,1.00
$PING,53.8,57.2,57.2,1.11,1.00
$PING,60.9,63.8,64.0,1.03,1.00
$PING,68.0,71.1,71.0,0.98,1.00
$GC,591,-0.93,-146.0,2495,2305,3386,3374,76.5,-14.1,73,598,0.00,2.58,0.00,0.000,260,0.000,0.106,2491,3714,3379,3386,3373,0,0,0,0,0,0,15.00,14.60,15.02
$GC,617,-0.93,-146.0,2485,3714,3386,3373,80.4,-14.9,78,624,0.00,2.45,0.00,0.000,1030,0.000,0.048,2485,2276,3377,3386,3369,0,0,0,0,0,0,14.81,14.71,14.83
$GC,922,-0.93,-146.0,2484,2280,3386,3373,125.7,-14.7,109,928,0.00,2.45,0.00,0.000,516,0.000,0.078,2485,900,3380,3387,3374,0,0,0,0,0,0,15.04,14.64,15.07
$GC,973,-0.93,-146.0,2484,900,3389,3373,133.6,-15.7,119,979,0.00,2.53,0.00,0.000,1030,0.000,0.072,2475,2299,3379,3386,3373,0,0,0,0,0,0,14.70,14.62,14.74
$GC,1283,-0.93,-146.0,2476,2300,3389,3373,182.2,-15.5,151,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2299,3379,3387,3372,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1584,-0.93,-146.0,2475,2300,3389,3373,227.8,-16.0,181,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2299,3379,3387,3372,0,0,0,0,0,0,15.02,15.06,15.05
$GC,1883,-0.93,-146.0,2476,2300,3389,3372,271.3,-14.0,211,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2299,3379,3387,3371,0,0,0,0,0,0,15.10,15.13,15.13
$GC,2183,-0.93,-146.0,2474,2300,3387,3373,315.0,-14.3,236,2189,0.00,2.47,0.00,0.000,516,0.000,0.077,2474,902,3379,3387,3372,0,0,0,0,0,0,15.11,14.68,15.14
$GC,2203,-0.93,-146.0,2476,902,3389,3373,317.9,-14.8,240,2210,0.15,2.50,0.00,0.000,3078,0.295,0.072,2495,2317,3379,3387,3371,0,0,0,0,0,0,14.48,14.73,14.77
$GC,2525,-0.93,-146.0,2496,2317,3388,3372,361.5,-13.9,259,2530,0.00,2.53,0.00,0.000,516,0.000,0.080,2496,900,3379,3388,3371,0,0,0,0,0,0,15.10,14.67,15.13
$GC,2555,-0.93,-146.0,2497,901,3390,3372,365.7,-14.6,265,2561,0.00,2.47,0.00,0.000,1030,0.000,0.072,2487,2302,3379,3388,3371,0,0,0,0,0,0,14.86,14.73,14.90
$GC,2865,-0.93,-146.0,2487,2302,3390,3370,410.4,-14.3,282,2871,0.00,2.55,0.00,0.000,260,0.000,0.106,2477,3712,3380,3389,3371,0,0,0,0,0,0,15.11,14.68,15.13
$GC,2900,-0.93,-146.0,2476,3712,3388,3372,415.6,-15.2,289,2908,0.00,2.45,0.00,0.000,1030,0.000,0.047,2477,2292,3380,3389,3371,0,0,0,0,0,0,14.81,14.77,14.84
$GC,3205,-0.93,-146.0,2477,2293,3390,3372,457.8,-13.0,305,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2292,3380,3389,3371,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3506,-0.93,-146.0,2476,2293,3388,3372,496.9,-12.8,320,3511,0.00,2.47,0.00,0.000,516,0.000,0.078,2476,894,3380,3389,3371,0,0,0,0,0,0,15.11,14.69,15.14
$GC,3546,-0.93,-146.0,2477,895,3391,3371,502.2,-13.4,328,3552,0.00,2.50,0.00,0.000,1030,0.000,0.073,2474,2306,3379,3389,3370,0,0,0,0,0,0,14.86,14.72,14.90
$GC,3926,-0.93,-146.0,2472,2306,3389,3371,551.7,-12.8,344,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2306,3380,3390,3370,0,0,0,0,0,0,15.13,15.15,15.14
$GC,4287,-0.93,-146.0,2475,2307,3392,3371,598.8,-13.3,356,4292,0.00,2.53,0.00,0.000,516,0.000,0.078,2474,888,3380,3390,3370,0,0,0,0,0,0,15.13,14.69,15.15
$GC,4321,-0.93,-146.0,2474,889,3390,3371,603.7,-14.0,363,4327,0.00,2.50,0.00,0.000,1030,0.000,0.073,2473,2306,3380,3390,3370,0,0,0,0,0,0,14.87,14.73,14.91
$GC,4707,-0.93,-146.0,2474,2307,3393,3371,656.1,-13.4,380,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2306,3380,3391,3370,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5068,-0.93,-146.0,2472,2307,3392,3371,702.6,-12.7,392,5073,0.00,2.55,0.00,0.000,260,0.000,0.105,2462,3712,3381,3392,3370,0,0,0,0,0,0,15.07,14.68,15.09
$GC,5108,-0.93,-146.0,2462,3713,3392,3373,708.3,-13.9,400,5115,0.10,2.45,0.00,0.000,3078,0.242,0.045,2503,2281,3381,3392,3370,0,0,0,0,0,0,14.49,14.77,14.76
$GC,5490,-0.93,-146.0,2502,2281,3392,3372,751.5,-11.4,416,5495,0.00,2.45,0.00,0.000,516,0.000,0.076,2503,896,3381,3392,3370,0,0,0,0,0,0,15.04,14.68,15.07
$GC,5514,-0.93,-146.0,2503,896,3392,3371,754.5,-12.3,421,5522,0.00,2.55,0.00,0.000,1030,0.000,0.072,2502,2309,3381,3393,3370,0,0,0,0,0,0,14.76,14.68,14.81
$GC,5880,-0.93,-146.0,2500,2309,3393,3370,794.6,-10.9,434,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2309,3381,3393,3370,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6240,-0.93,-146.0,2504,2310,3396,3371,834.4,-11.0,446,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2308,3382,3394,3370,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6601,-0.93,-146.0,2503,2310,3392,3371,874.5,-11.2,458,6606,0.00,2.50,0.00,0.000,516,0.000,0.075,2502,900,3382,3394,3370,0,0,0,0,0,0,15.11,14.67,15.14
$GC,6660,-0.93,-146.0,2504,901,3396,3371,881.4,-11.3,470,6666,0.00,2.47,0.00,0.000,1030,0.000,0.070,2494,2307,3382,3394,3370,0,0,0,0,0,0,14.86,14.73,14.90
$GC,7051,-0.93,-146.0,2493,2307,3394,3371,923.7,-10.8,488,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2307,3381,3394,3369,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7412,-0.93,-146.0,2493,2307,3395,3371,963.9,-11.2,500,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2307,3382,3395,3370,0,0,0,0,0,0,15.07,15.08,15.09
$PING,970.6,36.7,9000.0,-0.03,0.96
$PING,977.4,30.5,9000.0,-0.04,0.98
$PING,984.1,23.9,23.9,-0.95,1.00
$PING,990.7,17.5,17.4,-0.99,1.00
$STATE,7649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7649,begin apogee
$PING,992.9,17.6,9000.0,-0.77,0.93
$GC,7654,-0.23,0.0,2495,2068,3398,3371,990.7,-11.0,508,7825,0.82,0.08,168.23,3.104,10246,0.213,0.175,2722,2111,2781,2815,2748,0,0,0,0,0,0,14.48,13.29,12.25
$STATE,7826,end apogee,CONTROL_FINISHED_OK
$STATE,7826,begin climb
$PING,986.7,25.6,9000.0,-1.34,0.85
$GC,7828,0.93,146.0,2722,2111,2815,2748,995.7,0.0,513,8019,1.30,2.80,181.85,3.105,10756,0.138,0.088,3101,728,2185,2237,2134,0,0,0,0,0,0,13.34,13.07,12.18
$GC,8033,0.93,146.0,3101,729,2233,2133,978.8,14.6,552,8039,0.00,2.62,0.00,0.000,1030,0.000,0.057,3101,2105,2183,2234,2132,0,0,0,0,0,0,13.55,13.47,13.57
$GC,8409,0.93,146.0,3102,2105,2224,2125,933.3,12.1,567,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2105,2173,2222,2124,0,0,0,0,0,0,14.60,14.62,14.62
$GC,8770,0.93,146.0,3100,2105,2219,2124,891.2,11.5,579,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2105,2171,2219,2123,0,0,0,0,0,0,14.89,14.92,14.92
$GC,9130,0.93,146.0,3101,2105,2217,2124,849.1,11.7,591,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2105,2169,2216,2123,0,0,0,0,0,0,15.00,15.03,15.02
$GC,9490,0.93,146.0,3102,2105,2217,2123,806.2,11.9,603,9495,0.00,2.47,0.00,0.000,516,0.000,0.092,3111,735,2169,2215,2123,0,0,0,0,0,0,15.06,14.73,15.08
$GC,9509,0.93,146.0,3110,736,2214,2124,804.1,10.3,607,9516,0.00,2.42,0.00,0.000,1030,0.000,0.061,3111,2115,2168,2214,2123,0,0,0,0,0,0,14.86,14.76,14.92
$GC,9881,0.93,146.0,3112,2115,2216,2124,758.5,12.3,621,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2115,2172,2214,2130,0,0,0,0,0,0,15.05,15.08,15.07
$GC,10242,0.93,146.0,3112,2115,2215,2124,715.0,11.8,633,10247,0.00,2.50,0.00,0.000,260,0.000,0.097,3111,3516,2168,2213,2123,0,0,0,0,0,0,15.07,14.76,15.10
$GC,10282,0.93,146.0,3111,3517,2215,2124,709.7,12.9,641,10287,0.00,2.40,0.00,0.000,1030,0.000,0.047,3122,2120,2168,2213,2123,0,0,0,0,0,0,14.85,14.82,14.91
$GC,10663,0.93,146.0,3121,2119,2212,2124,661.2,12.8,657,10668,0.00,2.58,0.00,0.000,516,0.000,0.095,3128,688,2167,2212,2123,0,0,0,0,0,0,15.08,14.76,15.11
$GC,10692,0.93,146.0,3131,687,2211,2124,657.3,12.5,663,10698,0.15,2.45,0.00,0.000,5126,0.259,0.063,3098,2106,2167,2212,2123,0,0,0,0,0,0,14.62,14.82,14.88
$GC,11083,0.93,146.0,3097,2107,2211,2124,614.1,10.9,681,11089,0.00,2.53,0.00,0.000,260,0.000,0.098,3097,3513,2167,2211,2123,0,0,0,0,0,0,15.08,14.76,15.11
$GC,11128,0.93,146.0,3098,3514,2213,2124,608.7,12.0,690,11134,0.00,2.40,0.00,0.000,1030,0.000,0.048,3106,2096,2167,2211,2123,0,0,0,0,0,0,14.95,14.85,14.98
$GC,11505,0.93,146.0,3107,2097,2212,2124,566.0,11.3,705,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2096,2166,2210,2123,0,0,0,0,0,0,15.09,15.12,15.11
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$STATE,16901,end climb,FINISH_DEPTH_REACHED
$STATE,16901,begin subsurface finish
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$STATE,16931,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16931,begin surface
$RAFOS_CLK,611
$RAFOS,2,1519625587,6.233333,6.218611,125,66,63,59,55,54,539,217,199,161,175,151
$RAFOS,1,1519625226,6.133333,6.118333,142,63,62,57,57,53,521,216,130,170,188,142
$RAFOS,0,1519624867,6.032778,6.018611,91,54,52,52,51,49,560,151,220,204,119,162
$RAFOS,2,1519614794,3.233333,3.220556,151,71,63,62,61,58,497,206,145,220,124,181
$RAFOS,1,1519614423,3.133333,3.117500,80,58,57,55,53,53,550,215,184,193,151,166
$RAFOS,0,1519614071,3.032778,3.019722,106,72,64,53,52,51,519,216,162,191,113,204
$RAFOS_FIX,-7408.450684,-11236.697266,260218,060628,3,119,0.30
$IRIDIUM_FIX,-7408.94,-11220.24,260218,012328
$TT8_MAMPS,0.038199,0.207473
$HUMID,49.40
$INTERNAL_PRESSURE,8.19952
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.6,8.3
$ALTIM_BOTTOM_PING,990.7,17.4
$24V_AH,12.18,92.442
$10V_AH,12.17,0.000
$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
$DEVICE_SECS,14.675,133.100,350.075,0.000,0.000,0.000,0.000,1057.325,71.250,0.000,5.077,0.000,13713.209,616.690,3576.414,352.655,0.000,2584.515,0.000,1689.777,1440.000,505.821,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.276,0.000,0.000,0.000
$MEM,280008
$DATA_FILE_SIZE,40001,1181
$CAP_FILE_SIZE,186270,0
$CFSIZE,1024409600,992493568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$GPS,260218,061528,-7408.451,-11236.697,0,4119.3,0,53.4,0.0,0.0,0,0.0