version: 66.13
glider: 196
mission: 20
dive: 182
start: 1 20 120 11 48 57
data:
$ID,196
$MISSION,20
$DIVE,182
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,540
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,3
$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,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$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,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,200120,083527,7531.2944,-14354.8262,0,5255.0,0,23.4,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.14
$_SM_ANGLEo,-8.1
$GPS2,200120,083527,7531.2944,-14354.8262,0,5255.0,0,23.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9_52
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,241.8,11350,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$EXEC,4,152,2048,2.000000,0.000000
$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
$STATE,6,begin dive
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$MODEM_MSG,CACST,6,1,20200120120558.186311,06,32767,45,0120,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.9,0.42,-100,2.58,-01,-0.04,69,925,0025*21
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$MODEM_MSG,CACST,6,1,20200120122036.237643,06,5473,37,0102,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-13.2,0.32,-100,2.68,-01,0.07,69,925,0025*39
$MODEM_MSG,CACST,6,1,20200120123529.089374,06,16423,42,0165,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.0,0.39,-100,2.61,-01,0.00,70,925,0025*0E
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$GC,12930,-0.73,-97.3,2484,3265,3257,3059,946.4,-5.7,611,12936,0.00,2.40,0.00,0.000,1062,0.000,0.067,2483,1941,3157,3256,3058,0,0,0,0,0,0,14.26,14.18,14.32
$GC,13300,-0.73,-97.3,2484,1942,3258,3059,966.0,-5.5,625,13302,0.00,0.00,0.00,0.000,38,0.000,0.000,2483,1941,3157,3256,3058,0,0,0,0,0,0,14.66,14.69,14.69
$GC,13660,-0.73,-97.3,2483,1939,3257,3058,986.0,-5.6,637,13667,0.00,2.45,0.00,0.000,292,0.000,0.099,2483,3271,3157,3256,3058,0,0,0,0,0,0,14.81,14.14,14.84
$GC,13716,-0.73,-97.3,2483,3271,3256,3058,990.0,-5.7,648,13723,0.00,2.42,0.00,0.000,1062,0.000,0.067,2483,1907,3157,3256,3058,0,0,0,0,0,0,14.37,14.19,14.42
$STATE,13750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13750,begin apogee
$GC,13754,-0.17,0.0,2484,2042,3257,3059,991.1,-3.6,650,13862,0.70,0.00,105.55,2.316,10246,0.228,0.000,2661,2041,2758,2882,2634,0,0,0,0,0,0,14.02,13.76,12.77
$STATE,13863,end apogee,CONTROL_FINISHED_OK
$STATE,13863,begin climb
$GC,13865,0.73,97.3,2662,2041,2881,2635,993.2,0.0,653,13981,0.98,2.70,105.30,2.257,10756,0.142,0.111,2945,712,2358,2482,2235,0,0,0,0,0,0,13.72,13.24,12.31
$GC,14205,0.73,97.3,2945,713,2473,2227,963.5,9.7,720,14211,0.00,2.47,0.00,0.000,1030,0.000,0.084,2944,2038,2349,2472,2227,0,0,0,0,0,0,13.95,13.78,13.99
$GC,14591,0.73,97.3,2945,2039,2470,2225,926.0,9.8,737,14596,0.00,2.65,0.00,0.000,260,0.000,0.108,2945,3456,2347,2470,2224,0,0,0,0,0,0,14.47,14.10,14.50
$GC,14820,0.73,97.3,2944,3456,2471,2225,901.3,11.1,783,14826,0.00,2.42,0.00,0.000,1030,0.000,0.072,2944,2115,2345,2467,2224,0,0,0,0,0,0,14.27,14.19,14.32
$GC,15191,0.73,97.3,2945,2116,2470,2224,864.6,9.8,797,15196,0.00,2.47,0.00,0.000,260,0.000,0.104,2945,3453,2346,2469,2223,0,0,0,0,0,0,14.63,14.16,14.65
$GC,15318,0.73,97.3,2943,3454,2469,2224,850.8,12.9,821,15324,0.00,2.42,0.00,0.000,1030,0.000,0.070,2944,2122,2345,2468,2223,0,0,0,0,0,0,14.29,14.17,14.30
$GC,15708,0.73,97.3,2945,2123,2469,2223,813.6,9.6,839,15710,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2122,2345,2468,2222,0,0,0,0,0,0,14.56,14.59,14.59
$GC,16068,0.73,97.3,2945,2123,2469,2223,779.4,9.5,851,16070,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2128,2345,2468,2222,0,0,0,0,0,0,14.56,14.59,14.59
$GC,16428,0.73,97.3,2945,2123,2469,2223,745.5,9.4,863,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2122,2345,2468,2222,0,0,0,0,0,0,14.54,14.57,14.57
$GC,16788,0.73,97.3,2945,2122,2469,2221,711.7,9.3,875,16790,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2121,2345,2469,2221,0,0,0,0,0,0,14.53,14.56,14.59
$GC,17148,0.73,97.3,2945,2122,2467,2221,678.3,9.3,887,17150,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2121,2344,2467,2221,0,0,0,0,0,0,14.47,14.50,14.50
$GC,17508,0.73,97.3,2945,2122,2468,2222,645.1,9.3,899,17514,0.00,2.50,0.00,0.000,260,0.000,0.104,2945,3454,2344,2468,2221,0,0,0,0,0,0,14.50,14.09,14.57
$MODEM_MSG,CACST,6,1,20200120161038.162624,06,5054,37,0201,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.9,0.43,-100,2.57,-01,-0.13,69,925,0025*12
$MODEM_MSG,CACST,6,1,20200120161537.795902,06,1053,30,0196,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.5,0.42,-100,2.58,-01,0.09,69,925,0025*3F
$MODEM_MSG,CACST,6,1,20200120162034.537097,06,13118,41,0325,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-5.4,0.42,-100,2.58,-01,-0.06,68,925,0025*1E
$MODEM_MSG,CACST,6,1,20200120163530.238158,06,29791,44,0255,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-5.1,0.44,-100,2.56,-01,-0.09,68,925,0025*19
$GC,17553,0.73,97.3,2945,3454,2468,2222,640.4,10.5,908,17560,0.00,2.45,0.00,0.000,1030,0.000,0.067,2945,2113,2344,2468,2221,0,0,0,0,0,0,14.18,14.10,14.21
$GC,17929,0.73,97.3,2945,2113,2469,2222,605.7,9.2,923,17931,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2112,2344,2467,2221,0,0,0,0,0,0,14.72,14.76,14.75
$GC,18290,0.73,97.3,2945,2113,2468,2222,572.9,9.1,935,18291,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2112,2344,2467,2221,0,0,0,0,0,0,14.76,14.78,14.78
$GC,18649,0.73,97.3,2945,2113,2468,2221,540.7,8.8,947,18651,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2113,2344,2467,2221,0,0,0,0,0,0,14.66,14.69,14.69
$GC,19009,0.73,97.3,2944,2113,2468,2221,509.7,8.6,959,19015,0.00,2.47,0.00,0.000,260,0.000,0.102,2944,3450,2344,2467,2221,0,0,0,0,0,0,14.67,14.19,14.70
$GC,19064,0.73,97.3,2944,3450,2468,2221,504.4,9.6,970,19072,0.00,2.40,0.00,0.000,1030,0.000,0.065,2945,2115,2343,2467,2219,0,0,0,0,0,0,14.45,14.21,14.50
$GC,19429,0.73,97.3,2945,2116,2468,2222,473.8,8.3,983,19431,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2115,2343,2467,2220,0,0,0,0,0,0,14.80,14.83,14.83
$GC,19789,0.73,97.3,2945,2116,2468,2221,443.6,8.5,995,19791,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2115,2344,2467,2221,0,0,0,0,0,0,14.69,14.71,14.71
$GC,20149,0.73,97.3,2945,2116,2468,2222,413.2,8.4,1007,20151,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2115,2344,2467,2221,0,0,0,0,0,0,14.69,14.72,14.71
$GC,20510,0.73,97.3,2945,2115,2468,2221,383.1,8.3,1019,20511,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2115,2344,2467,2221,0,0,0,0,0,0,14.69,14.72,14.71
$GC,20870,0.75,97.3,2944,2115,2468,2221,354.7,7.5,1031,20875,0.00,2.47,0.00,0.000,324,0.000,0.106,2945,3449,2344,2467,2221,0,0,0,0,0,0,14.82,14.18,14.85
$GC,20914,0.75,97.3,2945,3450,2468,2222,350.9,8.5,1040,20920,0.00,2.40,0.00,0.000,1030,0.000,0.070,2945,2123,2344,2467,2221,0,0,0,0,0,0,14.29,14.21,14.35
$GC,21289,0.75,97.3,2945,2124,2468,2217,321.3,8.3,1055,21295,0.00,2.65,0.00,0.000,516,0.000,0.112,2945,707,2344,2467,2221,0,0,0,0,0,0,14.69,14.15,14.71
$GC,21329,0.75,97.3,2944,707,2468,2221,318.0,8.2,1063,21335,0.00,2.45,0.00,0.000,1030,0.000,0.086,2945,2040,2343,2467,2220,0,0,0,0,0,0,14.26,14.16,14.33
$GC,21710,0.77,97.3,2944,2040,2467,2221,288.4,7.7,1079,21711,0.00,0.00,0.00,0.000,70,0.000,0.000,2944,2040,2343,2467,2220,0,0,0,0,0,0,14.69,14.71,14.71
$GC,22070,0.82,139.4,2945,2041,2468,2221,263.2,6.0,1091,22109,0.12,0.00,37.38,1.533,10278,0.147,0.000,2994,2040,2189,2312,2066,0,0,0,0,0,0,14.42,14.35,13.52
$GC,22460,0.86,139.4,2993,2041,2302,2063,233.7,6.8,1104,22461,0.00,0.00,0.00,0.000,70,0.000,0.000,2994,2040,2182,2302,2062,0,0,0,0,0,0,14.57,14.61,14.61
$GC,22820,0.90,174.6,2995,2041,2301,2061,211.0,6.4,1116,22858,0.00,2.47,31.95,1.467,8740,0.000,0.111,2994,710,2044,2154,1934,0,0,0,0,0,0,14.64,14.14,13.52
$GC,22923,0.90,174.6,2995,710,2149,1933,203.1,8.0,1136,22928,0.00,2.40,0.00,0.000,1030,0.000,0.086,2994,2031,2040,2148,1932,0,0,0,0,0,0,14.31,14.15,14.35
$GC,23302,0.96,216.9,2994,2032,2144,1931,176.8,6.0,1152,23342,0.00,0.00,37.90,1.431,8230,0.000,0.000,2994,2031,1874,1974,1774,0,0,0,0,0,0,14.57,14.23,13.47
$GC,23692,0.96,216.9,2995,2032,1964,1771,145.7,8.7,1165,23694,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2031,1866,1963,1770,0,0,0,0,0,0,14.54,14.57,14.56
$GC,24053,0.98,216.9,2995,2032,1964,1769,119.7,7.1,1177,24054,0.12,0.00,0.00,0.000,2118,0.148,0.000,3047,2031,1866,1962,1770,0,0,0,0,0,0,14.28,14.42,14.39
$GC,24412,1.02,216.9,3047,2032,1961,1769,93.4,6.8,1189,24414,0.00,0.00,0.00,0.000,70,0.000,0.000,3047,2031,1864,1962,1766,0,0,0,0,0,0,14.72,14.75,14.75
$GC,24772,1.09,272.5,3047,2032,1962,1767,71.6,5.2,1201,24865,0.00,0.00,88.43,1.259,8486,0.000,0.000,3047,2031,1647,1726,1569,0,0,0,0,0,0,14.73,14.09,13.43
$GC,25222,1.18,345.4,3048,2032,1721,1568,48.2,4.2,1221,25365,0.17,2.70,134.75,1.199,10532,0.116,0.105,3108,3451,1348,1399,1298,0,0,0,0,0,0,14.27,13.72,13.23
$GC,25449,1.25,394.0,3110,3458,1397,1298,33.3,5.6,1266,25541,0.00,2.42,86.30,1.154,9254,0.000,0.067,3111,2112,1151,1173,1129,0,0,0,0,0,0,14.07,13.95,13.17
$FREEZE,9.15,-1.503,-1.510,2,86,0
$STATE,25824,end climb,FINISH_DEPTH_REACHED
$STATE,25824,begin subsurface finish
$FINISH1,9.1,1.022168,273
$GC,25828,0.35,272.8,3112,2109,1170,1126,9.1,6.9,1314,25851,0.98,2.72,-17.42,0.008,20996,0.153,0.131,2831,707,1647,1622,1672,0,0,0,0,0,0,13.97,12.62,14.09
$FINISH2,9.1
$STATE,25852,end subsurface finish,CONTROL_FINISHED_OK
$STATE,25852,begin surface
$RAFOS_CLK,298
$MODEM,6,1579538130,75.33060,-142.67570,30.238,44011.9
$MODEM,3,1579537234,75.26195,-145.59448,34.537,50269.1
$MODEM,2,1579536937,75.67648,-146.03058,37.796,55012.3
$MODEM,1,1579536638,75.02295,-144.31340,38.163,55546.1
$MODEM,6,1579523729,75.33060,-142.67570,29.089,42339.9
$MODEM,3,1579522836,75.26195,-145.59448,36.238,52744.2
$MODEM,2,1579522539,75.67648,-146.03058,39.584,57614.2
$MODEM,1,1579522238,75.02295,-144.31340,38.945,56684.9
$MODEM,0,1579521958,74.83892,-145.28152,58.186,84690.7
$RAFOS_FIX,7531.179199,-14404.191406,200120,161630,4,255,0.15
$IRIDIUM_FIX,7507.22,-14454.99,171019,151741
$TT8_MAMPS,0.038948,0.279377
$HUMID,51.65
$INTERNAL_PRESSURE,8.82918
$TCM_TEMP,13.30
$XPDR_PINGS,76
$SC_FREEKB,3769920
$24V_AH,12.31,95.318
$10V_AH,12.54,0.000
$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,4.225,113.725,627.550,0.000,0.000,0.000,0.000,0.000,19.000,0.000,0.000,0.000,22321.117,792.366,2692.647,139.583,0.000,1813.203,0.000,2007.719,4409.000,0.531,0.000
$DEVICE_MAMPS,227.970,130.815,2316.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25873.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.891,0.000,0.000,0.000
$MEM,334816
$DATA_FILE_SIZE,46685,1318
$CAP_FILE_SIZE,155331,0
$CFSIZE,1047117824,1018691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,200120,163530,7531.179,-14404.191,0,5255.0,0,23.4,0.0,0.0,0,0.0