version: 66.12
glider: 196
mission: 7
dive: 117
start: 8 11 114 19 23 57
data:
$ID,196
$MISSION,7
$DIVE,117
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-5160.3413
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,110814,160326,7203.275,-14413.470,4,0.9,25,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.3
$GPS2,110814,160326,7203.275,-14413.470,4,0.9,25,22.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7220.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,340.9,31036,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$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,15,-0.69,-145.9,202,2762,424,576,0.0,0.0,0,69,0.00,0.00,-52.22,0.000,16386,0.000,0.000,201,2760,1870,1885,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,202,2761,1890,1857,3.1,-3.2,5,129,11.55,1.83,-40.40,0.000,18692,0.389,0.129,2660,3797,3855,3915,3796,0,0,0,0,0,0,14.15,14.37,14.58
$GC,353,-0.69,-145.9,2661,3798,3916,3801,81.4,-24.3,62,360,0.00,1.75,0.00,0.000,1030,0.000,0.060,2660,2753,3857,3914,3800,0,0,0,0,0,0,28.83,14.46,28.83
$GC,658,-0.69,-145.9,2661,2753,3916,3801,144.9,-19.6,93,664,0.00,1.85,0.00,0.000,260,0.000,0.104,2652,3786,3857,3914,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,838,-0.69,-145.9,2653,3786,3916,3801,182.4,-20.4,129,844,0.00,1.73,0.00,0.000,1030,0.000,0.060,2652,2754,3857,3915,3800,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1149,-0.69,-145.9,2653,2754,3916,3801,234.6,-15.6,161,1154,0.00,2.38,0.00,0.000,516,0.000,0.075,2653,1369,3857,3914,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1239,-0.69,-145.9,2652,1370,3915,3802,247.5,-13.8,179,1244,0.12,2.45,0.00,0.000,3078,0.275,0.102,2666,2760,3858,3915,3801,0,0,0,0,0,0,14.41,14.53,28.83
$GC,1559,-0.69,-145.9,2667,2760,3915,3801,290.2,-13.2,192,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1859,-0.69,-145.9,2667,2760,3916,3801,329.1,-12.7,202,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,-0.69,-145.9,2667,2760,3915,3801,367.0,-12.6,212,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.69,-145.9,2666,2760,3913,3801,404.9,-12.7,222,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.69,-145.9,2667,2761,3915,3801,442.0,-12.4,232,2764,0.00,2.40,0.00,0.000,516,0.000,0.072,2667,1362,3857,3914,3800,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2803,-0.69,-145.9,2667,1362,3915,3801,447.3,-11.5,241,2809,0.00,2.50,0.00,0.000,1030,0.000,0.102,2660,2749,3856,3913,3800,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3119,-0.69,-145.9,2661,2749,3915,3801,487.0,-12.4,254,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2749,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,-0.69,-145.9,2661,2750,3915,3801,524.7,-12.6,264,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2749,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140811201648.150321,3,139,-8,0113,0150,217,04,04,05,04,-1,-01,-01,1,3,0,0,150,11.4,1.0,-100,2.0,-01,1.0,22,900,0025*37
$GC,3719,-0.69,-145.9,2661,2749,3916,3800,562.3,-12.6,274,3724,0.00,2.33,0.00,0.000,516,0.000,0.071,2660,1366,3857,3914,3800,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3749,-0.69,-145.9,2661,1366,3915,3800,565.9,-12.0,280,3754,0.00,2.47,0.00,0.000,1030,0.000,0.100,2649,2744,3857,3914,3800,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4079,-0.69,-145.9,2651,2745,3915,3801,608.1,-12.7,296,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2744,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.69,-145.9,2650,2747,3916,3801,646.1,-12.5,306,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2744,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4679,-0.69,-145.9,2650,2744,3916,3800,683.8,-12.5,316,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2744,3857,3914,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.69,-145.9,2650,2745,3915,3801,721.3,-12.4,326,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2743,3857,3914,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5221,-0.13,0.0,2651,2744,3915,3802,751.2,-12.4,334,5348,0.73,0.00,124.28,1.946,10244,0.226,0.000,2846,2744,3257,3274,3240,0,0,0,0,0,0,14.54,28.83,13.16
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5350,0.69,145.9,2848,2745,3272,3238,754.5,0.0,338,5480,0.85,0.00,124.03,1.878,11270,0.127,0.000,3106,2745,2659,2665,2653,0,0,0,0,0,0,13.80,28.83,12.86
$GC,5789,0.69,145.9,3107,2746,2664,2646,708.4,13.1,378,5795,0.00,1.92,0.00,0.000,260,0.000,0.102,3105,3783,2653,2663,2644,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5824,0.69,145.9,3107,3783,2665,2644,703.3,14.9,385,5830,0.00,1.80,0.00,0.000,1030,0.000,0.057,3113,2737,2654,2664,2644,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6150,0.69,145.9,3114,2737,2665,2644,659.5,13.3,400,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6450,0.69,145.9,3114,2737,2665,2643,620.4,13.0,410,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2737,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6749,0.69,145.9,3114,2737,2665,2644,581.7,12.8,420,6755,0.00,1.90,0.00,0.000,260,0.000,0.103,3113,3792,2654,2666,2643,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6784,0.69,145.9,3114,3792,2665,2644,576.7,14.6,427,6790,0.00,1.75,0.00,0.000,1030,0.000,0.057,3122,2747,2653,2663,2643,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7110,0.69,145.9,3122,2743,2665,2643,533.6,13.2,442,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7410,0.69,145.9,3122,2742,2665,2643,493.7,13.3,452,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2743,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,0.69,145.9,3122,2743,2664,2644,454.1,13.2,462,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2655,2663,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,0.69,145.9,3129,2743,2670,2643,415.5,12.8,472,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,0.69,145.9,3122,2743,2664,2644,377.6,12.7,482,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,0.69,145.9,3122,2743,2664,2644,339.9,12.5,492,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8909,0.69,145.9,3122,2743,2664,2644,303.8,11.8,502,8915,0.00,1.85,0.00,0.000,260,0.000,0.103,3121,3786,2653,2664,2643,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8954,0.69,145.9,3122,3787,2664,2644,297.7,14.3,511,8960,0.00,1.73,0.00,0.000,1030,0.000,0.058,3129,2741,2653,2664,2643,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9270,0.69,145.9,3130,2742,2665,2644,260.2,11.7,524,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2742,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,0.71,169.7,3129,2741,2665,2642,227.9,10.4,548,9596,0.00,1.88,19.90,1.310,8452,0.000,0.105,3129,3779,2559,2565,2553,0,0,0,0,0,0,28.83,14.48,13.93
$GC,9681,0.71,169.7,3130,3779,2564,2554,214.3,13.3,570,9686,0.00,1.73,0.00,0.000,1030,0.000,0.058,3137,2744,2558,2564,2553,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9991,0.75,225.2,3133,2744,2564,2552,184.6,8.7,602,10043,0.00,2.40,45.92,1.314,8708,0.000,0.072,3147,1350,2332,2332,2332,0,0,0,0,0,0,28.83,14.22,13.72
$GC,10142,0.78,268.4,3148,1350,2332,2331,170.1,9.3,632,10184,0.00,2.55,36.25,1.251,9222,0.000,0.096,3147,2753,2159,2157,2161,0,0,0,0,0,0,28.83,14.28,13.61
$GC,10482,0.78,275.5,3148,2754,2157,2150,131.4,11.2,670,10486,0.00,0.00,3.08,1.030,8198,0.000,0.000,3148,2753,2135,2139,2132,0,0,0,0,0,0,28.83,28.83,13.54
$GC,10783,0.81,310.9,3149,2754,2157,2134,100.9,9.7,700,10815,0.00,0.00,30.77,1.137,8198,0.000,0.000,3147,2753,1991,1995,1987,0,0,0,0,0,0,28.83,28.83,13.72
$GC,11113,0.84,361.9,3148,2753,1985,1976,67.9,8.9,733,11136,0.00,0.00,21.90,0.392,8198,0.000,0.000,3147,2753,1781,1778,1785,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11433,0.92,469.9,3148,2754,1785,1781,43.8,5.9,765,11484,0.12,0.00,47.65,0.317,10246,0.129,0.000,3200,2753,1341,1347,1335,0,0,0,0,0,0,14.45,28.83,14.19
$GC,11782,1.01,597.1,3201,2753,1350,1320,12.1,4.9,800,11844,0.00,2.42,56.03,0.234,8708,0.000,0.073,3208,1341,820,806,834,0,0,0,0,0,0,28.83,14.35,14.22
$FREEZE,8.66,0.873,-1.456,2,2,0
$FREEZE,8.36,0.980,-1.453,2,2,0
$FREEZE,8.08,0.980,-1.453,2,2,0
$FREEZE,7.82,0.923,-1.453,2,2,0
$FREEZE,7.60,0.923,-1.453,2,2,0
$FREEZE,7.26,1.007,-1.451,2,2,0
$FREEZE,7.07,1.007,-1.451,2,2,0
$FREEZE,6.64,1.458,-1.447,2,2,0
$FREEZE,6.10,1.458,-1.447,2,2,0
$FREEZE,5.62,2.512,-1.440,2,2,0
$FREEZE,4.91,2.512,-1.440,2,2,0
$FREEZE,4.53,3.080,-1.439,2,2,0
$GC,11884,1.09,715.0,3208,1342,808,832,7.3,5.4,820,11928,0.12,2.50,35.20,0.217,11270,0.138,0.097,3261,2748,498,451,545,0,0,0,0,0,0,14.36,14.32,14.23
$FREEZE,3.72,5.233,-1.341,2,2,0
$FREEZE,3.11,5.245,-1.343,2,2,0
$FREEZE,2.63,5.267,-1.347,2,2,0
$FREEZE,2.07,5.280,-1.349,2,2,0
$FREEZE,1.45,5.280,-1.350,2,2,0
$STATE,11971,end climb,SURFACE_DEPTH_REACHED
$STATE,11971,begin surface coast
$FREEZE,0.83,5.281,-1.351,2,2,0
$FREEZE,0.76,5.162,-0.547,2,2,0
$FREEZE,0.83,4.427,-0.204,2,2,0
$FINISH,0.8,1.002930
$STATE,12001,end surface coast,CONTROL_FINISHED_OK
$STATE,12002,begin surface
$SM_CCo,12077,0.00,0.000,0,0,494,678.01
$SM_GC,2.30,9.38,0.00,0.00,0.083,0.000,0.000,197,2749,494,-8.37,-0.31,678.01,0,0,0,0,0,0,14.39,28.83,28.83
$RAFOS_CLK,495
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7125.74,-14409.11,110814,122741
$TT8_MAMPS,0.041195,0.041195
$HUMID,46.29
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.50
$XPDR_PINGS,8
$SC_FREEKB,3886240
$24V_AH,12.86,35.475
$10V_AH,12.83,0.000
$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,22.875,46.100,545.000,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,0.000,9791.598,613.773,1673.361,88.888,0.000,1286.572,0.000,1241.647,1476.000,0.539,0.000
$DEVICE_MAMPS,388.620,128.520,1946.160,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.866,0.000,0.000,0.000
$MEM,295624
$DATA_FILE_SIZE,29977,835
$CAP_FILE_SIZE,125788,0
$CFSIZE,2097872896,2068873216
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12011.96,0x2378b6,7,5
$INTR,1,5219.06,0x2378b6,2,5
$INTR,2,12004.89,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,110814,224624,7206.635,-14413.026,24,0.8,44,22.7