version: 66.11
glider: 192
mission: 2
dive: 49
start: 9 23 113 11 27 49
data:
$ID,192
$MISSION,2
$DIVE,49
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033904
$HD_B,0.0092102997
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1144.5691
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2535
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2794
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$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,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,230913,111858,6626.591,-5947.816,37,1.0,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.0
$GPS2,230913,112707,6626.553,-5947.682,5,1.0,5,-33.5
$SPEED_LIMITS,0.163,0.278
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,96.0,146263,-15.5,-9.429,-18.74,2659
$D_GRID,678
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.88,-165.5,119,2449,953,929,0.0,0.0,0,111,0.00,0.00,-88.80,0.000,16386,0.000,0.000,118,2450,2707,2765,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-165.5,118,2450,2766,2650,3.2,-5.1,16,149,10.10,2.60,-15.93,0.000,18948,0.428,0.141,2244,1039,3471,3674,3268,0,0,0,0,0,0,14.20,14.32,14.55
$GC,226,-0.88,-165.5,2244,1039,3676,3268,33.7,-25.4,35,233,0.00,2.60,0.00,0.000,1030,0.000,0.135,2236,2451,3472,3676,3268,0,0,0,0,0,0,28.83,14.35,28.83
$GC,544,-0.88,-165.5,2236,2451,3676,3268,103.2,-21.6,95,553,0.00,2.50,0.00,0.000,516,0.000,0.119,2235,1043,3472,3676,3268,0,0,0,0,0,0,28.83,14.42,28.83
$GC,620,-0.88,-165.5,2236,1042,3676,3268,119.3,-20.5,102,628,0.00,2.55,0.00,0.000,1030,0.000,0.131,2225,2456,3472,3676,3269,0,0,0,0,0,0,28.83,14.43,28.83
$GC,930,-0.88,-165.5,2226,2456,3676,3268,183.9,-20.2,133,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2456,3472,3676,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1245,-0.88,-165.5,2226,2456,3676,3268,241.7,-17.7,164,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2456,3472,3676,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1558,-0.88,-165.5,2226,2456,3676,3268,296.8,-17.8,195,1567,0.00,2.55,0.00,0.000,260,0.000,0.150,2215,3859,3472,3677,3267,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1603,-0.88,-165.5,2215,3859,3676,3268,306.1,-18.2,199,1613,0.10,2.42,0.00,0.000,3078,0.288,0.101,2242,2441,3471,3676,3267,0,0,0,0,0,0,14.49,14.58,28.83
$GC,1914,-0.88,-165.5,2241,2440,3676,3267,357.2,-16.4,230,1923,0.00,2.45,0.00,0.000,516,0.000,0.119,2242,1043,3471,3676,3267,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1950,-0.88,-165.5,2242,1043,3676,3267,362.9,-16.4,233,1959,0.00,2.53,0.00,0.000,1030,0.000,0.132,2234,2449,3471,3676,3267,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2261,-0.88,-165.5,2234,2449,3676,3267,414.4,-16.3,264,2270,0.00,2.55,0.00,0.000,260,0.000,0.150,2224,3860,3471,3676,3267,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2316,-0.88,-165.5,2224,3860,3677,3267,424.0,-17.0,269,2325,0.00,2.40,0.00,0.000,1030,0.000,0.098,2224,2445,3471,3676,3267,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2627,-0.88,-165.5,2224,2444,3676,3267,475.8,-16.6,300,2635,0.00,2.42,0.00,0.000,516,0.000,0.118,2223,1046,3471,3676,3267,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2665,-0.88,-165.5,2224,1046,3676,3267,481.8,-17.0,303,2672,0.15,2.53,0.00,0.000,3078,0.314,0.131,2246,2455,3471,3676,3267,0,0,0,0,0,0,14.54,14.60,28.83
$GC,2974,-0.88,-165.5,2246,2455,3676,3267,528.6,-14.9,334,2983,0.00,2.55,0.00,0.000,260,0.000,0.149,2237,3862,3471,3676,3267,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3009,-0.88,-165.5,2237,3862,3676,3267,534.1,-15.2,337,3018,0.00,2.40,0.00,0.000,1030,0.000,0.096,2237,2451,3471,3676,3267,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3319,-0.88,-165.5,2237,2451,3676,3267,582.7,-15.7,368,3328,0.00,2.45,0.00,0.000,516,0.000,0.116,2237,1037,3471,3676,3267,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3345,-0.88,-165.5,2237,1037,3676,3267,586.9,-16.6,370,3354,0.00,2.50,0.00,0.000,1030,0.000,0.129,2228,2445,3471,3676,3266,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3665,-0.88,-165.5,2228,2445,3676,3267,639.9,-16.3,386,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2445,3471,3676,3267,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3932,begin apogee
$GC,3945,-0.22,0.0,2228,2445,3676,3267,682.4,-16.1,395,4135,0.82,0.00,178.38,2.554,10246,0.259,0.000,2458,2444,2794,2919,2670,0,0,0,0,0,0,14.58,28.83,12.74
$STATE,4136,end apogee,CONTROL_FINISHED_OK
$STATE,4136,begin climb
$GC,4142,0.88,165.5,2458,2445,2919,2670,691.6,0.0,401,4407,1.20,2.88,208.00,2.355,10756,0.166,0.120,2818,1013,2119,2205,2033,0,0,0,0,9,0,13.59,13.07,12.33
$GC,4471,0.88,165.5,2818,1014,2205,2028,673.4,11.2,412,4478,0.00,2.80,0.00,0.000,1030,0.000,0.127,2818,2435,2116,2205,2028,0,0,0,0,0,0,28.83,13.43,28.83
$GC,4778,0.88,165.5,2818,2434,2204,2024,629.8,13.1,423,4783,0.00,2.67,0.00,0.000,260,0.000,0.149,2818,3836,2114,2205,2024,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4913,0.88,165.5,2818,3836,2204,2023,611.5,14.9,427,4918,0.00,2.53,0.00,0.000,1030,0.000,0.102,2828,2424,2113,2204,2022,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5230,0.88,165.5,2828,2423,2204,2021,568.0,13.1,453,5239,0.00,2.67,0.00,0.000,260,0.000,0.151,2828,3846,2112,2204,2021,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5285,0.88,165.5,2828,3845,2204,2021,559.2,15.0,458,5294,0.00,2.50,0.00,0.000,1030,0.000,0.101,2839,2424,2112,2204,2021,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5595,0.88,165.5,2840,2424,2204,2020,515.4,13.6,489,5604,0.00,2.62,0.00,0.000,260,0.000,0.151,2839,3836,2112,2204,2020,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5660,0.88,165.5,2839,3836,2204,2020,505.2,16.1,495,5670,0.10,2.45,0.00,0.000,5126,0.305,0.102,2825,2427,2112,2204,2020,0,0,0,0,0,0,14.26,14.35,28.83
$GC,5971,0.88,165.5,2825,2427,2204,2019,463.0,13.8,526,5980,0.00,2.60,0.00,0.000,260,0.000,0.150,2825,3840,2111,2204,2019,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6029,0.88,165.5,2825,3840,2204,2019,454.9,15.3,531,6036,0.00,2.47,0.00,0.000,1030,0.000,0.101,2835,2422,2111,2204,2019,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6337,0.88,165.5,1840,2418,2158,2013,412.4,12.8,562,6345,0.00,2.62,0.00,0.000,260,0.000,0.153,2835,3842,2111,2204,2018,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6405,0.88,165.5,2835,3842,2204,2018,403.1,14.9,568,6412,0.00,2.47,0.00,0.000,1030,0.000,0.103,2846,2419,2111,2204,2018,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6713,0.88,165.5,2846,2418,2204,2018,361.2,13.2,599,6722,0.00,2.60,0.00,0.000,260,0.000,0.153,2846,3838,2111,2204,2018,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6758,0.88,165.5,2845,3839,2204,2018,354.8,14.4,603,6767,0.12,2.42,0.00,0.000,5126,0.301,0.102,2824,2427,2111,2204,2018,0,0,0,0,0,0,14.44,14.52,28.83
$GC,7069,0.88,165.5,2824,2427,2204,2017,318.7,10.9,634,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2427,2110,2204,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7384,0.88,165.5,2824,2427,2204,2017,283.9,10.8,665,7393,0.00,2.60,0.00,0.000,260,0.000,0.151,2824,3840,2110,2204,2017,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7483,0.88,165.5,2824,3840,2204,2017,271.6,12.7,674,7489,0.00,2.45,0.00,0.000,1030,0.000,0.103,2834,2420,2110,2204,2017,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7791,0.88,165.5,2834,2420,2204,2017,237.7,10.9,705,7800,0.00,2.62,0.00,0.000,260,0.000,0.151,2834,3846,2110,2204,2016,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7869,0.88,165.5,2834,3845,2204,2017,228.2,13.1,712,7876,0.00,2.45,0.00,0.000,1030,0.000,0.102,2844,2421,2110,2204,2017,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8178,0.88,165.5,2844,2422,2204,2016,190.8,12.2,743,8187,0.00,2.58,0.00,0.000,260,0.000,0.151,2845,3841,2110,2204,2017,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8216,0.88,165.5,1872,3841,2159,2012,186.3,12.4,746,8223,0.15,2.42,0.00,0.000,5126,0.325,0.101,2823,2427,2110,2204,2017,0,0,0,0,0,0,14.54,14.63,28.83
$GC,8525,0.89,173.3,2823,2427,2204,2016,154.0,9.1,777,8542,0.00,2.47,7.25,1.832,8708,0.000,0.123,2833,1017,2087,2183,1992,0,0,0,0,0,0,28.83,14.54,13.86
$GC,8559,0.90,180.9,2833,1017,2183,1992,150.8,9.1,780,8576,0.00,2.53,9.70,1.892,9222,0.000,0.131,2833,2428,2055,2152,1959,0,0,0,0,0,0,28.83,14.54,13.78
$GC,8879,0.93,207.6,2833,2428,2153,1959,122.8,8.4,812,8905,0.00,2.65,19.35,1.971,8452,0.000,0.151,2833,3850,1947,2045,1849,0,0,0,0,0,0,28.83,14.31,13.67
$GC,8945,0.93,207.6,2833,3851,2043,1848,116.7,10.6,818,8952,0.00,2.50,0.00,0.000,1030,0.000,0.102,2844,2427,1945,2043,1848,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9258,0.93,207.6,2843,2427,2043,1845,85.9,9.6,863,9264,0.00,2.50,0.00,0.000,516,0.000,0.123,2855,1023,1943,2043,1844,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9291,0.93,207.6,2855,1022,2042,1843,82.8,10.4,868,9298,0.00,2.58,0.00,0.000,1030,0.000,0.131,2854,2439,1943,2042,1844,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9609,0.93,207.6,1856,2436,1999,1838,53.1,9.8,929,9615,0.00,2.58,0.00,0.000,260,0.000,0.150,2855,3844,1942,2042,1842,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9770,0.93,207.6,1856,3844,1997,1838,35.7,9.9,959,9778,0.12,2.45,0.00,0.000,5126,0.339,0.103,2839,2432,1941,2041,1842,0,0,0,0,0,0,14.45,14.53,28.83
$GC,10094,1.06,316.4,2840,2433,2041,1842,17.8,5.2,1020,10164,0.12,2.67,58.88,0.223,10500,0.190,0.152,2884,3841,1503,1588,1418,0,0,0,0,0,0,14.53,14.43,14.42
$GC,10175,1.06,316.4,2885,3841,1585,1418,10.6,11.5,1033,10182,0.00,2.47,0.00,0.000,1030,0.000,0.103,2895,2423,1500,1583,1418,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,10227,end climb,SURFACE_DEPTH_REACHED
$STATE,10227,begin surface coast
$FINISH,0.6,1.021395
$STATE,10248,end surface coast,CONTROL_FINISHED_OK
$STATE,10249,begin surface
$SM_CCo,10278,71.22,0.182,0,0,958,450.13
$SM_GC,1.52,8.18,0.08,71.22,0.099,0.236,0.182,142,2450,958,-7.43,-0.54,450.13,0,0,0,0,0,0,14.50,14.48,14.38
$RAFOS_CLK,493
$RAFOS,6,1379940542,12.833333,12.817223,62,58,56,55,54,47,892,189,126,172,208,219
$RAFOS,5,1379940062,12.700000,12.683888,63,59,56,53,53,50,211,154,931,117,188,176
$RAFOS,4,1379939598,12.566667,12.555000,62,58,53,51,49,48,197,123,180,231,215,159
$RAFOS,3,1379939118,12.433333,12.421667,147,66,61,55,54,54,568,187,208,231,116,154
$RAFOS,2,1379938627,12.300000,12.285277,108,56,55,54,53,52,540,146,215,201,158,117
$RAFOS,1,1379938149,12.166667,12.152500,91,62,59,55,54,52,631,198,225,216,177,143
$RAFOS,0,1379937663,12.033333,12.017500,126,63,58,48,48,47,719,218,171,152,189,200
$RAFOS_FIX,6627.909180,-5945.257812,230913,121224,5,107,0.93
$IRIDIUM_FIX,6558.99,-5951.97,230913,080828
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.31
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,71
$24V_AH,12.3,24.035
$10V_AH,12.5,0.000
$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,21.175,116.925,481.550,71.225,0.000,0.000,0.000,333.725,17.750,0.000,5.898,2484.458,4938.912,714.282,2009.257,710.262,0.000,2110.727,0.000,1794.435,2520.000,0.535,0.000
$DEVICE_MAMPS,428.400,235.620,2553.570,182.070,0.000,0.000,0.000,133.110,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150692
$DATA_FILE_SIZE,46724,1047
$CAP_FILE_SIZE,119260,0
$CFSIZE,259252224,247775232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$SOUNDSPEED,1455.9
$GPS,230913,142205,6628.143,-5945.281,28,1.0,28,-33.5