version: 66.08
glider: 141
mission: 15
dive: 274
start: 3 31 111 17 36 13
data:
$ID,141
$MISSION,15
$DIVE,274
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34781.816
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,310311,163928,6655.380,-5721.171,0,4098.8,0,-37.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.30
$_SM_ANGLEo,2.9
$GPS2,310311,163928,6655.380,-5721.171,0,4098.8,0,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,298.8,136846,-17.5,-10.000
$D_GRID,760
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.75,0.000,2,0.000,0.000,2883,3686,3166,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.4,-0.0,1,47,0.62,4.15,-11.32,0.000,4,0.109,0.050,2667,1081,3628,0,0,0,0,0,0
$GC,162,-0.58,-146.0,28.6,-15.5,24,169,0.00,2.25,0.00,0.000,6,0.000,0.051,2667,2491,3628,0,0,0,0,0,0
$GC,507,-0.50,-146.0,78.9,-15.6,85,514,0.12,2.30,0.00,0.000,4,0.226,0.067,2695,3897,3628,0,0,0,0,0,0
$GC,612,-0.53,-146.0,92.0,-12.3,103,619,0.00,2.17,0.00,0.000,6,0.000,0.041,2695,2484,3627,0,0,0,0,0,0
$GC,942,-0.53,-146.0,133.2,-12.0,139,945,0.00,2.20,0.00,0.000,4,0.000,0.058,2695,1080,3626,0,0,0,0,0,0
$GC,997,-0.57,-146.0,140.2,-12.2,143,1004,0.00,2.25,0.00,0.000,6,0.000,0.052,2695,2498,3626,0,0,0,0,0,0
$GC,1325,-0.60,-146.0,173.4,-9.6,174,1329,0.00,2.25,0.00,0.000,4,0.000,0.069,2695,3899,3624,0,0,0,0,0,0
$GC,1358,-0.64,-146.0,176.9,-9.4,176,1365,0.12,2.17,0.00,0.000,6,0.129,0.041,2654,2491,3624,0,0,0,0,0,0
$GC,1683,-0.58,-146.0,215.6,-11.2,207,1688,0.00,2.28,0.00,0.000,4,0.000,0.066,2653,3897,3624,0,0,0,0,0,0
$GC,1724,-0.55,-146.0,220.1,-10.7,210,1728,0.12,2.17,0.00,0.000,6,0.200,0.040,2682,2486,3623,0,0,0,0,0,0
$GC,2049,-0.55,-146.0,251.3,-10.5,240,2053,0.00,2.17,0.00,0.000,4,0.000,0.055,2682,1089,3624,0,0,0,0,0,0
$GC,2082,-0.55,-146.0,255.1,-11.3,243,2086,0.00,2.20,0.00,0.000,6,0.000,0.052,2682,2489,3624,0,0,0,0,0,0
$GC,2413,-0.55,-146.0,289.9,-10.3,274,2417,0.00,2.25,0.00,0.000,4,0.000,0.068,2682,3898,3624,0,0,0,0,0,0
$GC,2476,-0.59,-146.0,296.2,-9.4,279,2480,0.00,2.15,0.00,0.000,6,0.000,0.040,2682,2487,3624,0,0,0,0,0,0
$GC,2806,-0.59,-146.0,328.2,-9.5,310,2810,0.00,2.17,0.00,0.000,4,0.000,0.054,2682,1088,3625,0,0,0,0,0,0
$GC,2847,-0.62,-146.0,332.3,-10.4,313,2851,0.00,2.22,0.00,0.000,6,0.000,0.052,2682,2499,3625,0,0,0,0,0,0
$GC,3172,-0.64,-146.0,363.8,-9.6,343,3176,0.00,2.25,0.00,0.000,4,0.000,0.069,2682,3904,3624,0,0,0,0,0,0
$GC,3225,-0.70,-146.0,368.8,-9.4,347,3229,0.12,2.17,0.00,0.000,6,0.128,0.040,2640,2486,3624,0,0,0,0,0,0
$GC,3550,-0.62,-146.0,409.8,-12.6,377,3554,0.00,2.17,0.00,0.000,4,0.000,0.053,2640,1084,3624,0,0,0,0,0,0
$GC,3630,-0.58,-146.0,419.7,-11.9,384,3634,0.15,2.20,0.00,0.000,6,0.207,0.053,2675,2489,3624,0,0,0,0,0,0
$GC,3961,-0.58,-146.0,451.1,-9.3,415,3965,0.00,2.25,0.00,0.000,4,0.000,0.068,2675,3897,3624,0,0,0,0,0,0
$GC,4028,-0.62,-146.0,457.1,-8.6,420,4035,0.00,2.15,0.00,0.000,6,0.000,0.039,2675,2490,3624,0,0,0,0,0,0
$GC,4353,-0.62,-146.0,485.3,-9.2,451,4357,0.00,2.20,0.00,0.000,4,0.000,0.053,2676,1084,3624,0,0,0,0,0,0
$GC,4422,-0.65,-146.0,491.7,-9.4,457,4426,0.00,2.22,0.00,0.000,6,0.000,0.051,2675,2497,3624,0,0,0,0,0,0
$GC,4747,-0.67,-146.0,520.8,-8.4,487,4751,0.00,2.25,0.00,0.000,4,0.000,0.068,2676,3906,3625,0,0,0,0,0,0
$GC,4799,-0.72,-146.0,525.4,-8.8,491,4804,0.15,2.15,0.00,0.000,6,0.112,0.039,2624,2485,3624,0,0,0,0,0,0
$GC,5125,-0.62,-146.0,566.5,-12.9,521,5129,0.15,2.20,0.00,0.000,4,0.226,0.054,2659,1080,3625,0,0,0,0,0,0
$GC,5170,-0.62,-146.0,571.8,-11.1,525,5174,0.00,2.22,0.00,0.000,6,0.000,0.052,2659,2489,3625,0,0,0,0,0,0
$GC,5513,-0.62,-146.0,606.6,-9.8,553,5517,0.00,2.25,0.00,0.000,4,0.000,0.068,2659,3898,3624,0,0,0,0,0,0
$GC,5602,-0.62,-146.0,615.8,-10.1,555,5609,0.00,2.17,0.00,0.000,6,0.000,0.040,2659,2494,3624,0,0,0,0,0,0
$GC,5916,-0.62,-146.0,646.3,-9.7,566,5920,0.00,2.17,0.00,0.000,4,0.000,0.054,2659,1088,3624,0,0,0,0,0,0
$GC,5956,-0.62,-146.0,650.4,-10.3,567,5960,0.00,2.22,0.00,0.000,6,0.000,0.054,2659,2493,3625,0,0,0,0,0,0
$GC,6285,-0.62,-146.0,683.0,-10.0,578,6289,0.00,2.25,0.00,0.000,4,0.000,0.070,2659,3899,3624,0,0,0,0,0,0
$GC,6349,-0.62,-146.0,689.1,-9.8,580,6353,0.00,2.15,0.00,0.000,6,0.000,0.041,2658,2486,3624,0,0,0,0,0,0
$GC,6684,-0.62,-146.0,722.0,-9.8,591,6688,0.00,2.17,0.00,0.000,4,0.000,0.055,2659,1080,3624,0,0,0,0,0,0
$GC,6727,-0.62,-146.0,726.6,-10.0,592,6731,0.00,2.25,0.00,0.000,6,0.000,0.053,2659,2488,3624,0,0,0,0,0,0
$GC,7052,-0.62,-146.0,758.4,-9.9,603,7056,0.00,2.25,0.00,0.000,4,0.000,0.070,2659,3899,3624,0,0,0,0,0,0
$STATE,7071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7071,begin apogee
$GC,7079,-0.12,0.0,760.6,9.5,603,7211,0.55,0.00,122.32,1.395,6,0.192,0.000,2813,2273,3029,0,0,0,0,0,0
$STATE,7212,end apogee,CONTROL_FINISHED_OK
$STATE,7212,begin climb
$GC,7214,0.62,146.0,764.1,0.0,608,7353,0.77,2.53,128.35,1.346,4,0.133,0.060,3062,868,2432,0,0,0,0,0,0
$GC,7415,0.54,146.0,746.8,12.8,614,7419,0.00,2.42,0.00,0.000,6,0.000,0.047,3062,2283,2427,0,0,0,0,0,0
$GC,7738,0.47,146.0,706.7,12.6,625,7743,0.15,2.30,0.00,0.000,4,0.186,0.063,3023,3683,2424,0,0,0,0,0,0
$GC,7794,0.42,146.0,699.6,12.4,626,7801,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2276,2423,0,0,0,0,0,0
$GC,8107,0.40,146.0,665.8,10.8,637,8109,0.15,0.00,0.00,0.000,6,0.183,0.000,2994,2276,2423,0,0,0,0,0,0
$GC,8413,0.48,175.7,639.1,8.6,647,8446,0.00,2.35,25.02,1.255,4,0.000,0.062,2994,3684,2312,0,0,0,0,0,0
$GC,8457,0.56,202.2,634.9,8.8,648,8489,0.12,2.28,25.27,1.234,6,0.104,0.046,3052,2274,2205,0,0,0,0,0,0
$GC,8801,0.56,202.2,591.7,12.4,662,8805,0.00,2.33,0.00,0.000,4,0.000,0.063,3052,3692,2197,0,0,0,0,0,0
$GC,8822,0.52,202.2,588.4,14.3,663,8829,0.00,2.28,0.00,0.000,6,0.000,0.047,3062,2267,2197,0,0,0,0,0,0
$GC,9149,0.49,202.2,544.3,13.3,694,9154,0.15,2.30,0.00,0.000,4,0.179,0.062,3023,3686,2196,0,0,0,0,0,0
$GC,9173,0.49,202.2,541.2,12.3,695,9180,0.00,2.22,0.00,0.000,6,0.000,0.047,3031,2269,2195,0,0,0,0,0,0
$GC,9498,0.49,202.2,507.1,10.1,726,9502,0.00,2.28,0.00,0.000,4,0.000,0.061,3031,3689,2195,0,0,0,0,0,0
$GC,9516,0.49,202.2,505.1,10.5,727,9520,0.00,2.25,0.00,0.000,6,0.000,0.046,3041,2262,2195,0,0,0,0,0,0
$GC,9840,0.49,202.2,468.8,11.3,757,9844,0.00,2.30,0.00,0.000,4,0.000,0.061,3041,3698,2194,0,0,0,0,0,0
$GC,9869,0.46,202.2,465.3,12.5,759,9874,0.15,2.25,0.00,0.000,6,0.183,0.047,3013,2269,2194,0,0,0,0,0,0
$GC,10194,0.54,211.6,432.6,9.6,789,10207,0.00,2.30,7.72,1.002,4,0.000,0.061,3021,864,2167,0,0,0,0,0,0
$GC,10213,0.60,218.2,430.7,9.7,790,10232,0.12,2.22,7.78,0.998,6,0.112,0.047,3075,2290,2140,0,0,0,0,0,0
$GC,10549,0.55,218.2,382.2,15.1,822,10554,0.12,2.25,0.00,0.000,4,0.183,0.063,3044,3686,2138,0,0,0,0,0,0
$GC,10576,0.51,218.2,378.1,14.4,824,10583,0.00,2.25,0.00,0.000,6,0.000,0.049,3052,2267,2138,0,0,0,0,0,0
$GC,10901,0.51,218.2,337.7,12.4,855,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2267,2138,0,0,0,0,0,0
$GC,11221,0.51,218.2,300.2,11.4,885,11225,0.00,2.28,0.00,0.000,4,0.000,0.061,3052,3681,2137,0,0,0,0,0,0
$GC,11261,0.48,218.2,294.8,14.7,888,11265,0.15,2.22,0.00,0.000,6,0.182,0.047,3023,2267,2137,0,0,0,0,0,0
$GC,11586,0.58,244.5,264.5,8.8,918,11616,0.00,0.00,24.27,1.054,6,0.000,0.000,3023,2267,2032,0,0,0,0,0,0
$GC,11934,0.65,244.5,230.9,10.6,951,11939,0.15,2.25,0.00,0.000,4,0.099,0.061,3094,868,2028,0,0,0,0,0,0
$GC,11968,0.62,244.5,226.4,15.3,954,11973,0.12,2.22,0.00,0.000,6,0.193,0.048,3065,2281,2027,0,0,0,0,0,0
$GC,12298,0.62,244.5,180.4,13.3,985,12302,0.00,2.22,0.00,0.000,4,0.000,0.063,3065,3683,2026,0,0,0,0,0,0
$GC,12341,0.60,244.5,174.1,14.0,988,12348,0.00,2.22,0.00,0.000,6,0.000,0.048,3073,2273,2026,0,0,0,0,0,0
$GC,12668,0.60,244.5,132.1,12.6,1019,12672,0.00,2.25,0.00,0.000,4,0.000,0.060,3073,3686,2026,0,0,0,0,0,0
$GC,12685,0.58,244.5,129.6,13.4,1020,12690,0.12,2.22,0.00,0.000,6,0.184,0.047,3051,2271,2026,0,0,0,0,0,0
$GC,13012,0.68,269.5,96.6,8.8,1053,13042,0.00,2.25,22.17,0.942,4,0.000,0.060,3055,862,1930,0,0,0,0,0,0
$GC,13055,0.82,311.9,93.0,8.0,1060,13103,0.20,2.25,38.45,0.933,6,0.090,0.046,3134,2285,1757,0,0,0,0,0,0
$GC,13440,0.77,311.9,35.2,14.4,1128,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2285,1749,0,0,0,0,0,0
$FREEZE,8.70,-1.582,-1.834,3,23,0
$FREEZE,7.95,-1.550,-1.833,3,23,0
$FREEZE,7.23,-1.572,-1.833,3,23,0
$FREEZE,6.51,-1.561,-1.832,3,23,0
$FREEZE,5.69,-1.594,-1.832,3,23,0
$FREEZE,5.00,-1.591,-1.831,3,23,0
$FREEZE,4.11,-1.589,-1.830,3,23,0
$FREEZE,3.52,-1.605,-1.830,3,23,0
$FREEZE,2.90,-1.592,-1.829,3,23,0
$STATE,13649,end climb,SURFACE_DEPTH_REACHED
$STATE,13649,begin surface coast
$FREEZE,2.31,-1.639,-1.829,3,23,0
$FINISH,2.3,1.026833
$STATE,13656,end surface coast,FINISH_DEPTH_REACHED
$STATE,13656,begin surface
$SM_CCo,13674,108.53,0.067,0,0,751,559.04
$SM_GC,2.30,0.00,0.00,108.53,0.000,0.000,0.067,115,2505,751,-8.60,0.42,559.04
$RAFOS_CLK,728
$RAFOS,6,1301604546,20.833334,20.818333,139,62,61,57,56,55,753,208,149,219,126,173
$RAFOS,5,1301604063,20.700001,20.684166,126,68,60,58,57,54,581,194,217,161,174,140
$RAFOS,4,1301603585,20.566668,20.551390,88,58,58,55,53,53,793,179,163,225,193,206
$RAFOS,3,1301603101,20.433332,20.416945,82,61,56,56,51,49,916,161,213,187,140,126
$RAFOS,2,1301602631,20.299999,20.286388,64,61,58,53,52,51,181,206,223,150,164,134
$RAFOS,1,1301602142,20.166666,20.150555,60,58,56,55,52,50,206,197,164,216,236,124
$RAFOS,0,1301601667,20.033333,20.018612,62,54,52,51,50,50,174,192,223,243,121,212
$RAFOS_FIX,6657.227051,-5724.992676,310311,202028,4,109,0.31
$IRIDIUM_FIX,6641.98,-5656.94,290311,060610
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,752.3,38.0
$24V_AH,22.5,37.668
$10V_AH,10.2,20.671
$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,13.200,150.375,401.375,108.525,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2921.300,8142.773,569.030,2022.524,200.992,0.000,1667.875,0.000,1996.909,2520.000,23.051,0.000
$DEVICE_MAMPS,226.440,70.380,1394.595,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.789,893.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,46618,1167
$CAP_FILE_SIZE,153159,0
$CFSIZE,260165632,234037248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.3
$GPS,310311,212738,6656.304,-5717.884,41,1.3,41,-37.5