version: 66.12
glider: 196
mission: 7
dive: 283
start: 9 5 114 0 17 7
data:
$ID,196
$MISSION,7
$DIVE,283
$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,-5905.3027
$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,46
$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
$GPS1,050914,000848,7411.015,-14331.385,41,0.8,61,23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.9
$GPS2,050914,001647,7410.935,-14331.258,5,0.8,25,23.5
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.6,53814,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,209,2762,430,546,0.0,0.0,0,90,0.00,0.00,-72.00,0.000,16386,0.000,0.000,210,2761,2256,2266,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.69,-145.9,209,2762,2266,2250,3.6,-3.4,7,141,12.23,2.42,-29.52,0.000,18948,0.398,0.087,2664,1359,3854,3921,3788,0,0,0,0,0,0,13.90,14.16,14.38
$GC,245,-0.69,-145.9,2665,1357,3922,3793,52.2,-28.2,38,251,0.00,2.55,0.00,0.000,1030,0.000,0.097,2656,2764,3857,3921,3793,0,0,0,0,0,0,28.83,14.13,28.83
$GC,550,-0.69,-145.9,2656,2764,3922,3793,123.6,-21.1,69,555,0.00,1.85,0.00,0.000,260,0.000,0.100,2648,3785,3857,3921,3793,0,0,0,0,0,0,28.83,14.21,28.83
$GC,585,-0.69,-145.9,2648,3785,3921,3793,131.6,-22.8,76,592,0.00,1.73,0.00,0.000,1030,0.000,0.055,2648,2755,3857,3921,3793,0,0,0,0,0,0,28.83,14.36,28.83
$GC,890,-0.69,-145.9,2649,2756,3921,3794,193.4,-19.0,107,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2755,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-0.69,-145.9,2648,2754,3921,3793,246.4,-16.4,137,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2754,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1490,-0.69,-145.9,2649,2755,3922,3794,291.8,-14.7,149,1495,0.00,2.35,0.00,0.000,516,0.000,0.070,2647,1362,3857,3921,3793,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1505,-0.69,-145.9,2648,1362,3922,3793,293.9,-14.8,152,1511,0.15,2.47,0.00,0.000,3078,0.266,0.098,2668,2764,3857,3921,3793,0,0,0,0,0,0,14.26,14.42,28.83
$GC,1822,-0.69,-145.9,2669,2765,3921,3794,334.2,-12.4,165,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2764,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-0.69,-145.9,2669,2764,3922,3793,370.5,-11.9,175,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2764,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.69,-145.9,2668,2765,3921,3794,406.0,-11.9,185,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2764,3856,3920,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.69,-145.9,2669,2765,3921,3794,441.6,-11.9,195,2725,0.00,2.35,0.00,0.000,516,0.000,0.067,2668,1369,3857,3921,3793,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2766,-0.69,-145.9,2669,1369,3921,3794,446.7,-11.3,204,2771,0.00,2.47,0.00,0.000,1030,0.000,0.097,2659,2769,3857,3921,3793,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3080,-0.69,-145.9,2660,2769,3922,3793,485.8,-12.5,217,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2769,3856,3920,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3381,-0.69,-145.9,2661,2770,3922,3794,522.9,-12.4,227,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2769,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.69,-145.9,2660,2770,3921,3794,559.9,-12.4,237,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2769,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-0.69,-145.9,2660,2770,3922,3793,596.8,-12.2,247,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2769,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,-0.69,-145.9,2660,2770,3921,3794,633.1,-12.0,257,4285,0.00,2.35,0.00,0.000,516,0.000,0.067,2659,1367,3857,3921,3793,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4311,-0.69,-145.9,2661,1368,3921,3794,636.6,-11.3,263,4316,0.00,2.45,0.00,0.000,1030,0.000,0.096,2649,2762,3857,3921,3793,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4642,-0.69,-145.9,2650,2763,3921,3794,678.2,-12.6,279,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2762,3857,3921,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,-0.69,-145.9,2650,2762,3922,3794,715.7,-12.5,289,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2762,3857,3921,3794,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5243,-0.13,0.0,2650,2762,3922,3794,753.5,-12.6,299,5372,0.75,0.00,126.60,2.023,10244,0.226,0.000,2848,2762,3258,3279,3238,0,0,0,0,0,0,14.33,28.83,13.08
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5375,0.69,145.9,2849,2762,3275,3234,757.5,0.0,303,5507,0.85,0.00,125.75,1.881,11270,0.120,0.000,3109,2762,2659,2666,2653,0,0,0,0,0,0,13.77,28.83,12.62
$GC,5812,0.69,145.9,3110,2763,2665,2645,715.0,12.6,343,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,0.69,145.9,3110,2763,2665,2643,677.0,12.6,353,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,0.69,145.9,3110,2762,2665,2644,639.0,12.7,363,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,0.69,145.9,3110,2763,2665,2645,601.6,12.5,373,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2762,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,0.69,145.9,3110,2760,2665,2645,563.8,12.6,383,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2762,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,0.69,145.9,3106,2762,2662,2643,526.3,12.4,393,7317,0.00,2.40,0.00,0.000,516,0.000,0.068,3120,1340,2654,2665,2643,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7352,0.69,145.9,3121,1341,2665,2644,521.5,11.9,401,7357,0.00,2.45,0.00,0.000,1030,0.000,0.093,3120,2741,2653,2665,2642,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7673,0.69,145.9,3120,2742,2666,2643,480.5,12.9,415,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7972,0.69,145.9,3121,2743,2665,2644,442.0,12.9,425,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2739,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8272,0.69,145.9,3127,2743,2665,2643,404.1,12.6,435,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8572,0.69,145.9,3121,2743,2665,2644,366.2,12.6,445,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2652,2662,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8872,0.69,145.9,3121,2743,2666,2644,329.3,12.0,455,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2742,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9172,0.70,159.8,3121,2743,2666,2644,295.5,10.9,465,9187,0.00,0.00,12.38,1.373,8710,0.000,0.000,3120,2742,2602,2610,2594,0,0,0,0,0,0,28.83,28.83,13.92
$GC,9503,0.71,178.8,3121,2743,2610,2590,259.9,10.6,481,9521,0.00,0.00,16.48,1.320,8198,0.000,0.000,3120,2742,2529,2538,2520,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9802,0.74,221.9,3121,2743,2532,2513,228.8,9.3,505,9844,0.00,2.40,36.53,1.297,8708,0.000,0.067,3127,1347,2346,2348,2345,0,0,0,0,0,0,28.83,14.30,13.69
$GC,9890,0.76,242.6,3128,1348,2346,2344,220.6,10.5,520,9915,0.00,2.50,18.10,1.347,9222,0.000,0.092,3127,2751,2262,2264,2260,0,0,0,0,0,0,28.83,14.28,13.61
$GC,10214,0.78,273.9,3128,2751,2266,2252,187.4,10.0,555,10245,0.00,0.00,26.83,1.298,8198,0.000,0.000,3127,2751,2136,2140,2132,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10545,0.80,306.1,3128,2750,2141,2124,153.1,9.9,588,10576,0.00,2.50,27.00,1.272,8708,0.000,0.068,3137,1341,2006,2012,2001,0,0,0,0,0,0,28.83,14.24,13.64
$GC,10617,0.82,338.3,3138,1340,2009,1999,146.1,9.9,602,10652,0.00,2.50,28.58,1.294,9222,0.000,0.094,3137,2740,1875,1875,1875,0,0,0,0,0,0,28.83,14.17,13.55
$GC,10956,0.84,366.1,3138,2741,1874,1863,109.5,10.2,640,10979,0.00,0.00,21.50,1.187,8198,0.000,0.000,3137,2740,1764,1768,1760,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11278,0.88,416.6,3134,2741,1764,1744,78.2,8.9,672,11308,0.12,2.45,21.83,0.422,10756,0.128,0.070,3204,1351,1559,1568,1550,0,0,0,0,0,0,14.30,14.22,13.92
$GC,11358,0.88,420.6,3205,1350,1572,1549,68.3,11.4,688,11369,0.00,2.50,2.12,0.357,9222,0.000,0.093,3204,2742,1544,1557,1532,0,0,0,0,0,0,28.83,14.21,13.94
$GC,11669,0.95,519.3,3204,2742,1565,1529,40.1,6.4,720,11719,0.00,0.00,45.35,0.307,8198,0.000,0.000,3204,2742,1139,1152,1126,0,0,0,0,0,0,28.83,28.83,14.02
$GC,12019,1.02,617.3,3205,2742,1154,1115,16.6,6.4,755,12069,0.00,0.00,44.65,0.246,8198,0.000,0.000,3204,2742,738,727,750,0,0,0,0,0,0,28.83,28.83,14.04
$FREEZE,8.75,-1.329,-1.441,2,1,0
$FREEZE,8.52,-1.327,-1.441,2,1,0
$FREEZE,7.94,-1.325,-1.440,2,1,0
$FREEZE,7.56,-1.326,-1.440,2,1,0
$FREEZE,7.14,-1.327,-1.440,2,1,0
$FREEZE,6.75,-1.327,-1.439,2,1,0
$FREEZE,6.37,-1.326,-1.439,2,1,0
$FREEZE,5.73,-1.325,-1.438,2,1,0
$FREEZE,5.24,-1.324,-1.438,2,1,0
$FREEZE,4.81,-1.323,-1.437,2,1,0
$FREEZE,4.39,-1.328,-1.437,2,1,0
$FREEZE,3.86,-1.327,-1.437,2,1,0
$FREEZE,3.29,-1.329,-1.436,2,1,0
$FREEZE,2.83,-1.335,-1.436,2,1,0
$FREEZE,2.77,-1.326,-1.436,2,1,0
$FREEZE,2.77,-1.333,-1.436,2,1,0
$FREEZE,2.89,-1.334,-1.436,2,1,0
$FREEZE,2.72,-1.337,-1.436,2,1,0
$FREEZE,2.93,-1.328,-1.436,2,1,0
$FREEZE,2.92,-1.332,-1.436,2,1,0
$FREEZE,2.96,-1.327,-1.436,2,1,0
$FREEZE,3.06,-1.327,-1.436,2,1,0
$FREEZE,2.84,-1.328,-1.436,2,1,0
$FREEZE,2.93,-1.328,-1.436,2,1,0
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$STATE,12696,end climb,NO_VERTICAL_VELOCITY
$STATE,12696,begin subsurface finish
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$FINISH2,3.0
$STATE,12710,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12710,begin surface
$RAFOS_CLK,619
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7327.28,-14340.95,040914,203754
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.94
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,13.20
$XPDR_PINGS,10
$SC_FREEKB,3811840
$24V_AH,12.62,86.913
$10V_AH,12.76,0.000
$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,15.600,47.575,584.500,0.000,0.000,0.000,0.000,283.350,2.500,0.000,26.781,0.000,10298.145,653.963,2026.095,204.167,0.000,1627.854,0.000,1272.845,0.000,0.540,0.000
$DEVICE_MAMPS,397.800,100.215,2022.660,0.000,0.000,0.000,0.000,158.355,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.782,0.000,0.000,0.000
$MEM,200772
$DATA_FILE_SIZE,30025,849
$CAP_FILE_SIZE,139738,0
$CFSIZE,2097872896,2037219328
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12859.21,0x2378b6,7,5
$INTR,1,5240.95,0x2378b6,2,5
$INTR,2,12698.47,0x2378b6,5,5
$SOUNDSPEED,1447.4
$GPS,050914,001647,7410.935,-14331.258,5,0.8,25,23.5