version: 66.13
glider: 228
mission: 14
dive: 15
start: 9 22 118 16 1 24
data:
$ID,228
$MISSION,14
$DIVE,15
$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,370
$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,72009
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3810
$C_PITCH,2260
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.83669
$PRESSURE_SLOPE,0.0001081732
$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,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.8
$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,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044279573
$SEABIRD_T_H,0.000658612
$SEABIRD_T_I,2.7901522e-05
$SEABIRD_T_J,3.4987197e-06
$SEABIRD_C_G,-9.9235325
$SEABIRD_C_H,1.1433685
$SEABIRD_C_I,-0.0023654797
$SEABIRD_C_J,0.00025343007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220918,155039,7421.1938,-14702.6045,30,1.1,31,18.2,0.1,0.0,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.8
$GPS2,220918,160046,7421.2080,-14702.7012,4,0.6,4,18.2,0.2,295.6,12,9.8
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,163.0,81781,-19.7,-10.000,-27.14,2242
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.87,-146.0,195,2382,472,513,0.0,0.0,0,88,0.00,0.00,-77.62,0.004,16386,0.000,0.000,194,2381,1870,1982,1759,0,0,0,0,0,0,14.51,28.83,14.54
$PING,11.3,5.8,9000.0,0.00,0.00
$PING,21.7,7.5,9000.0,0.00,0.00
$GC,90,-0.87,-146.0,194,2382,1982,1761,6.2,-9.2,8,148,9.62,4.75,-37.15,0.005,18724,0.477,0.101,1955,3944,3765,3842,3688,0,0,0,0,0,0,14.13,13.81,14.36
$PING,35.8,8.2,9000.0,0.10,0.90
$PING,46.8,7.5,9000.0,0.00,0.00
$PING,57.3,7.4,9000.0,-0.04,0.78
$PING,67.5,7.4,9000.0,-0.00,0.86
$PING,78.2,7.6,9000.0,0.01,0.47
$PING,88.4,7.7,9000.0,0.02,0.94
$PING,99.3,7.7,9000.0,0.00,0.69
$GC,373,-0.87,-146.0,1955,3945,3814,3715,106.2,-23.0,63,380,0.00,4.45,0.00,0.000,1030,0.000,0.053,1957,2407,3763,3813,3714,0,0,0,0,0,0,14.45,14.39,14.47
$PING,109.7,7.7,9000.0,-0.00,0.78
$PING,122.1,7.7,9000.0,-0.00,0.47
$PING,132.3,7.7,9000.0,0.00,0.00
$PING,144.7,7.7,9000.0,0.00,0.00
$GC,558,-0.87,-146.0,1956,2406,3814,3715,152.4,-25.4,82,564,0.00,4.68,0.00,0.000,260,0.000,0.096,1940,3946,3763,3812,3714,0,0,0,0,0,0,14.58,14.39,14.59
$PING,155.3,7.7,9000.0,0.00,0.71
$PING,166.2,7.7,9000.0,0.00,0.61
$GC,629,-0.87,-146.0,1940,3946,3809,3717,171.2,-25.1,96,635,0.15,4.47,0.00,0.000,3078,0.334,0.053,1973,2392,3763,3810,3716,0,0,0,0,0,0,14.28,14.43,14.45
$PING,176.3,7.7,9000.0,0.00,0.00
$PING,188.2,7.8,9000.0,0.00,0.00
$PING,199.7,8.5,9000.0,0.03,0.75
$PING,210.6,8.6,9000.0,0.04,0.79
$GC,820,-0.87,-146.0,1973,2392,3809,3716,214.9,-21.4,116,831,0.00,4.93,0.00,0.000,516,0.000,0.073,1974,708,3762,3810,3715,0,0,0,0,0,0,14.61,14.42,14.62
$PING,220.7,6.0,9000.0,-0.12,0.72
$GC,851,-0.87,-146.0,1974,708,3811,3716,221.7,-22.3,122,858,0.00,4.93,0.00,0.000,1030,0.000,0.062,1954,2398,3762,3810,3715,0,0,0,0,0,0,14.52,14.44,14.52
$PING,232.8,6.0,9000.0,-0.11,0.70
$PING,243.8,6.0,9000.0,0.00,0.00
$PING,255.8,6.0,9000.0,0.00,0.00
$GC,1053,-0.87,-146.0,1954,2399,3810,3715,263.5,-19.4,140,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2399,3762,3810,3715,0,0,0,0,0,0,14.64,14.65,14.65
$PING,267.3,6.0,9000.0,0.00,0.00
$PING,278.2,6.2,9000.0,0.01,0.66
$PING,288.9,6.3,9000.0,0.01,0.95
$PING,299.3,6.3,9000.0,0.01,0.88
$PING,309.3,6.3,9000.0,0.00,0.00
$GC,1353,-0.87,-146.0,1955,2399,3810,3716,315.9,-16.5,155,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2399,3762,3810,3715,0,0,0,0,0,0,14.66,14.69,14.69
$PING,322.5,6.3,9000.0,0.00,0.00
$PING,335.5,6.3,9000.0,0.00,0.00
$PING,348.5,6.3,9000.0,0.00,0.00
$PING,361.5,6.3,9000.0,0.00,0.00
$GC,1655,-0.87,-146.0,1954,2399,3810,3716,364.7,-16.2,170,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2399,3762,3810,3715,0,0,0,0,0,0,14.69,14.71,14.71
$PING,374.3,6.3,9000.0,0.00,0.00
$PING,387.1,6.3,9000.0,0.00,1.02
$PING,399.6,6.3,9000.0,0.00,0.76
$PING,412.1,6.3,9000.0,0.00,0.00
$GC,1956,-0.87,-146.0,1954,2399,3810,3716,412.1,-15.7,185,1966,0.00,4.95,0.00,0.000,516,0.000,0.077,1955,709,3762,3810,3715,0,0,0,0,0,0,14.70,14.52,14.71
$GC,1991,-0.87,-146.0,1956,710,3811,3716,418.3,-16.9,192,1998,0.20,4.93,0.00,0.000,3078,0.325,0.064,1975,2404,3762,3810,3715,0,0,0,0,0,0,14.42,14.56,14.59
$PING,422.4,6.3,9000.0,0.00,0.00
$PING,433.9,6.3,9000.0,0.00,0.00
$MODEM_MSG,CACST,6,1,20180922160520.519001,18,76,00,0135,0150,246,03,03,03,05,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0E
$PING,445.2,6.3,9000.0,0.00,0.00
$PING,456.5,6.3,9000.0,0.00,0.00
$GC,2296,-0.87,-146.0,1975,2405,3811,3716,462.2,-14.1,208,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2405,3762,3810,3715,0,0,0,0,0,0,14.77,14.78,14.77
$PING,467.8,6.3,9000.0,0.00,0.00
$PING,479.0,6.3,9000.0,0.00,0.00
$PING,490.1,6.3,9000.0,0.00,0.00
$PING,501.3,6.3,9000.0,0.00,0.00
$GC,2598,-0.87,-146.0,1974,2405,3811,3715,504.0,-13.9,223,2607,0.00,4.95,0.00,0.000,516,0.000,0.078,1975,706,3761,3810,3712,0,0,0,0,0,0,14.80,14.63,14.81
$GC,2622,-0.87,-146.0,1974,707,3810,3715,507.8,-15.5,228,2632,0.00,4.90,0.00,0.000,1030,0.000,0.063,1956,2405,3762,3810,3715,0,0,0,0,0,0,14.69,14.61,14.71
$PING,513.1,6.3,9000.0,0.00,0.73
$PING,525.2,6.3,9000.0,0.00,0.00
$PING,537.4,6.3,9000.0,0.00,0.00
$PING,549.5,6.3,9000.0,0.00,0.00
$GC,2937,-0.87,-146.0,1956,2405,3810,3714,555.6,-15.1,246,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2405,3762,3810,3715,0,0,0,0,0,0,14.81,14.85,14.85
$PING,561.6,6.8,9000.0,0.02,0.75
$PING,573.5,6.3,9000.0,0.00,0.01
$PING,585.4,6.8,9000.0,0.00,0.00
$PING,597.3,6.8,9000.0,0.02,0.75
$GC,3239,-0.87,-146.0,1956,2406,3810,3715,600.3,-14.8,261,3249,0.00,4.93,0.00,0.000,516,0.000,0.077,1956,708,3762,3810,3715,0,0,0,0,0,0,14.85,14.65,14.87
$GC,3269,-0.87,-146.0,1956,708,3810,3715,605.3,-16.7,267,3281,0.17,4.88,0.00,0.000,3078,0.324,0.063,1971,2407,3762,3810,3715,0,0,0,0,0,0,14.54,14.65,14.71
$PING,609.7,6.8,9000.0,0.00,0.00
$PING,620.8,6.8,9000.0,0.00,0.00
$PING,631.6,6.4,9000.0,-0.02,0.75
$PING,642.4,6.4,9000.0,-0.02,0.75
$GC,3579,-0.87,-146.0,1973,2408,3811,3715,647.8,-13.4,284,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2407,3762,3810,3715,0,0,0,0,0,0,14.86,14.88,14.88
$PING,653.1,6.4,9000.0,0.00,0.00
$PING,663.8,6.4,9000.0,-0.00,1.00
$PING,674.4,6.4,9000.0,0.00,0.40
$PING,685.0,6.4,9000.0,0.00,0.00
$GC,3881,-0.87,-146.0,1971,2408,3810,3715,687.7,-13.3,299,3890,0.00,4.93,0.00,0.000,516,0.000,0.076,1972,705,3762,3810,3715,0,0,0,0,0,0,14.88,14.66,14.90
$GC,3920,-0.87,-146.0,1973,706,3811,3716,693.5,-14.0,307,3930,0.00,4.88,0.00,0.000,1030,0.000,0.063,1953,2402,3762,3810,3715,0,0,0,0,0,0,14.76,14.68,14.78
$PING,695.5,7.8,9000.0,0.07,0.72
$PING,707.9,6.4,9000.0,-0.00,0.00
$PING,719.5,7.5,9000.0,-0.01,0.05
$PING,731.2,6.4,9000.0,-0.00,0.00
$GC,4240,-0.87,-146.0,1953,2403,3812,3716,739.9,-14.5,326,4241,0.12,0.00,0.00,0.000,2054,0.360,0.000,1974,2402,3760,3805,3715,0,0,0,0,0,0,14.58,14.78,14.76
$PING,742.7,7.5,9000.0,0.00,0.00
$PING,753.3,6.3,9000.0,0.00,0.00
$PING,763.7,7.6,9000.0,0.00,0.00
$PING,774.2,6.3,9000.0,0.00,0.00
$GC,4540,-0.87,-146.0,1974,2403,3811,3716,779.4,-13.0,341,4551,0.00,4.95,0.00,0.000,516,0.000,0.078,1975,702,3762,3810,3715,0,0,0,0,0,0,14.90,14.70,14.92
$GC,4571,-0.87,-146.0,1975,702,3812,3716,783.6,-14.4,347,4577,0.00,4.88,0.00,0.000,1030,0.000,0.063,1955,2403,3762,3810,3714,0,0,0,0,0,0,14.79,14.71,14.81
$PING,785.0,7.6,9000.0,0.00,0.00
$PING,796.3,6.3,9000.0,-0.00,0.00
$PING,807.7,6.3,9000.0,-0.06,0.76
$PING,818.9,6.3,9000.0,0.00,0.00
$GC,4882,-0.87,-146.0,1955,2404,3810,3716,827.4,-14.1,364,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2403,3762,3810,3715,0,0,0,0,0,0,14.90,14.92,14.92
$PING,830.2,6.3,9000.0,0.00,0.00
$PING,841.4,6.3,9000.0,0.00,0.00
$PING,852.7,6.2,9000.0,-0.00,0.74
$PING,863.9,6.2,9000.0,-0.00,0.76
$GC,5184,-0.87,-146.0,1955,2404,3810,3716,869.5,-13.9,379,5193,0.00,4.90,0.00,0.000,516,0.000,0.077,1956,708,3763,3811,3715,0,0,0,0,0,0,14.91,14.71,14.93
$PING,874.1,6.2,9000.0,0.00,0.00
$GC,5228,-0.87,-146.0,1956,709,3812,3716,876.4,-14.9,388,5238,0.17,4.85,0.00,0.000,3078,0.319,0.063,1972,2404,3766,3810,3722,0,0,0,0,0,0,14.59,14.71,14.78
$PING,886.4,6.2,9000.0,0.00,0.00
$PING,896.7,6.2,9000.0,0.00,0.00
$PING,906.8,6.2,9000.0,0.00,0.00
$PING,916.9,6.4,9000.0,0.01,0.75
$GC,5544,-0.87,-146.0,1972,2404,3811,3716,916.9,-12.6,406,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2404,3762,3810,3715,0,0,0,0,0,0,14.90,14.92,14.92
$PING,927.0,6.4,9000.0,0.01,0.73
$PING,937.0,6.4,9000.0,0.00,0.00
$PING,949.5,6.4,9000.0,0.00,0.00
$GC,5843,-0.87,-146.0,1972,2404,3810,3716,954.5,-12.5,421,5854,0.00,4.93,0.00,0.000,516,0.000,0.077,1972,701,3762,3810,3715,0,0,0,0,0,0,14.92,14.72,14.95
$PING,959.6,6.2,9000.0,-0.01,0.70
$GC,5874,-0.87,-146.0,1973,702,3812,3716,958.6,-13.7,427,5886,0.00,4.88,0.00,0.000,1030,0.000,0.063,1953,2407,3762,3810,3715,0,0,0,0,0,0,14.81,14.73,14.83
$PING,970.7,6.4,9000.0,0.00,0.03
$PING,981.6,6.4,9000.0,0.01,0.75
$PING,992.5,6.4,9000.0,0.00,0.00
$STATE,6124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6124,begin apogee
$PING,994.7,6.3,9000.0,-0.01,0.39
$GC,6130,-0.11,0.0,1953,2182,3811,3716,992.5,-13.6,441,6274,1.00,0.08,140.80,2.558,10246,0.277,0.168,2216,2210,3165,3204,3126,0,0,0,0,0,0,14.63,13.84,13.10
$STATE,6275,end apogee,CONTROL_FINISHED_OK
$STATE,6275,begin climb
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$PING,578.7,6.9,9000.0,0.00,0.00
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$PING,543.2,6.7,9000.0,0.00,1.00
$PING,531.3,6.7,9000.0,0.00,0.00
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$STATE,15532,end climb,SURFACE_DEPTH_REACHED
$STATE,15532,begin surface coast
$FINISH,0.3,1.021135
$STATE,15543,end surface coast,CONTROL_FINISHED_OK
$STATE,15543,begin surface
$SM_CCo,15622,0.00,0.000,0,0,491,656.18
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$RAFOS_CLK,90
$MODEM,1,1537632320,74.43333,-147.95000,20.519,29822.2
$RAFOS_FIX,7420.737793,-14657.701172,220918,161620,1,2,10.10
$IRIDIUM_FIX,7419.13,-14653.90,220918,112844
$TT8_MAMPS,0.076398,0.932505
$HUMID,47.99
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,23
$24V_AH,12.95,8.756
$10V_AH,13.11,0.000
$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,23.550,257.825,729.800,0.000,0.000,0.000,0.000,419.175,50.750,0.000,14.738,0.000,12007.846,987.178,2870.918,360.720,0.000,2423.868,0.000,1650.123,4274.000,287.809,0.000
$DEVICE_MAMPS,477.360,168.300,2558.160,0.000,0.000,0.000,0.000,198.135,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15571.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.376,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,39948,1152
$CAP_FILE_SIZE,180226,0
$CFSIZE,2097872896,2092793856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7064.75,0x2355a8,1,24
$SOUNDSPEED,1452.6
$CURRENT,0.051,252.09,1
$GPS,220918,202301,7419.303,-14704.366,35,0.7,36,18.2,0.2,327.8,10,2.8