version: 66.12
glider: 197
mission: 6
dive: 231
start: 8 30 114 5 40 52
data:
$ID,197
$MISSION,6
$DIVE,231
$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,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,0.07
$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,54283
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$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,-8814.29
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-65.523643
$PRESSURE_SLOPE,0.000117962
$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,20
$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,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,300814,052914,7418.440,-14702.165,38,1.0,58,29.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.3
$GPS2,300814,054033,7418.409,-14702.129,7,1.0,27,29.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,335.1,77246,-22.6,-11.628,-25.63,1932
$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,-0.81,-145.9,180,1801,425,555,0.0,0.0,0,90,0.00,0.00,-72.05,0.000,16386,0.000,0.000,179,1801,2140,2144,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.81,-145.9,179,1802,2147,2137,3.2,-1.5,7,151,10.32,2.55,-39.50,0.000,18948,0.429,0.110,2218,392,3780,3762,3798,0,0,0,0,0,0,14.04,14.35,14.61
$GC,351,-0.75,-145.9,2219,392,3764,3803,74.0,-21.6,59,356,0.15,2.50,0.00,0.000,3078,0.314,0.085,2243,1801,3783,3763,3803,0,0,0,0,0,0,14.20,14.35,28.83
$GC,661,-0.75,-145.9,2243,1802,3764,3803,129.8,-16.8,91,666,0.00,2.53,0.00,0.000,260,0.000,0.104,2235,3215,3783,3764,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,686,-0.74,-145.9,2235,3216,3764,3804,134.1,-17.4,96,692,0.00,2.42,0.00,0.000,1030,0.000,0.065,2234,1798,3783,3763,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,991,-0.74,-145.9,2235,1798,3764,3804,184.3,-16.1,127,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1798,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.74,-145.9,2235,1799,3764,3804,229.2,-14.1,157,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1798,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.75,-145.9,2235,1798,3764,3804,269.2,-12.0,179,1616,0.00,2.53,0.00,0.000,260,0.000,0.106,2225,3215,3783,3763,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1691,-0.75,-145.9,2226,3215,3764,3803,279.2,-12.6,195,1696,0.00,2.40,0.00,0.000,1030,0.000,0.067,2225,1801,3783,3763,3803,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2002,-0.77,-145.9,2226,1800,3763,3804,315.9,-11.6,207,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1800,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,-0.79,-145.9,2226,1800,3763,3804,349.8,-11.3,217,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1800,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.81,-145.9,2226,1800,3763,3804,382.5,-10.9,227,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1800,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.84,-145.9,2226,1800,3763,3804,415.1,-10.8,237,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1799,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3201,-0.86,-145.9,2226,1800,3763,3804,446.8,-10.5,247,3206,0.00,2.50,0.00,0.000,260,0.000,0.106,2217,3214,3783,3762,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3246,-0.88,-145.9,2217,3214,3763,3804,451.8,-11.5,256,3251,0.00,2.38,0.00,0.000,1030,0.000,0.067,2217,1801,3782,3762,3803,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3562,-0.90,-145.9,2217,1800,3763,3804,486.2,-10.9,269,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1800,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.92,-145.9,2217,1801,3763,3804,518.1,-10.6,279,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1800,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.95,-145.9,2217,1801,3762,3805,549.8,-10.5,289,4166,0.00,2.50,0.00,0.000,260,0.000,0.106,2213,3215,3783,3762,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4211,-0.96,-145.9,2213,3216,3763,3805,555.3,-10.9,299,4216,0.00,2.40,0.00,0.000,1030,0.000,0.066,2213,1791,3783,3762,3804,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4523,-0.98,-145.9,2213,1790,3762,3806,589.3,-10.8,311,4524,0.12,0.00,0.00,0.000,4102,0.145,0.000,2161,1790,3783,3762,3805,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4821,-0.96,-145.9,2161,1790,3763,3805,629.0,-13.3,321,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1789,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,-0.94,-145.9,2162,1790,3763,3805,668.6,-13.2,331,5122,0.12,0.00,0.00,0.000,2054,0.295,0.000,2183,1789,3784,3762,3806,0,0,0,0,0,0,14.51,28.83,28.83
$GC,5421,-0.94,-145.9,2185,1790,3762,3805,704.5,-11.9,341,5426,0.00,2.40,0.00,0.000,516,0.000,0.088,2184,389,3783,3762,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5471,-0.94,-145.9,2185,390,3762,3805,710.6,-12.4,351,5476,0.00,2.47,0.00,0.000,1030,0.000,0.082,2176,1820,3783,3762,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5781,-0.94,-145.9,2178,1821,3762,3803,748.5,-12.2,363,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1820,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5809,begin apogee
$GC,5814,-0.16,0.0,2174,2193,3763,3806,752.1,-12.2,364,5939,1.00,0.00,121.93,1.845,10246,0.265,0.000,2434,2192,3183,3139,3228,0,0,0,0,0,0,14.47,28.83,13.31
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5940,begin climb
$GC,5942,0.81,145.9,2435,2192,3135,3228,755.1,0.0,368,6070,1.05,0.00,124.43,1.820,10246,0.139,0.000,2749,2192,2584,2503,2666,0,0,0,0,0,0,13.99,28.83,12.83
$GC,6351,0.78,145.9,2750,2192,2503,2662,703.5,14.8,382,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2192,2579,2496,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6651,0.75,145.9,2750,2193,2496,2661,659.1,14.8,392,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2192,2578,2496,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,0.71,145.9,2750,2193,2496,2661,614.8,14.8,402,6956,0.00,2.47,0.00,0.000,516,0.000,0.084,2760,767,2578,2496,2660,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7001,0.68,145.9,2760,768,2497,2660,607.4,14.9,412,7006,0.20,2.47,0.00,0.000,5126,0.274,0.083,2715,2188,2576,2493,2660,0,0,0,0,0,0,14.35,14.55,28.83
$GC,7313,0.68,145.9,2716,2188,2496,2661,567.9,12.6,424,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2188,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,0.68,145.9,2716,2189,2496,2657,530.3,12.4,434,7616,0.00,2.45,0.00,0.000,516,0.000,0.086,2723,765,2578,2496,2660,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7641,0.68,145.9,2724,768,2496,2661,526.7,12.2,440,7646,0.00,2.45,0.00,0.000,1030,0.000,0.084,2723,2179,2578,2496,2660,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7973,0.68,145.9,2724,2179,2497,2661,484.8,12.6,456,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2179,2578,2496,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,0.68,145.9,2724,2180,2497,2661,446.7,12.7,466,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2179,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9351,0.68,145.9,2724,2180,2496,2661,410.7,12.7,476,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2179,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,0.68,145.9,2724,2180,2497,2661,372.6,12.6,486,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2179,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9950,0.68,145.9,2724,2180,2496,2661,335.4,12.2,496,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2179,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10250,0.69,149.7,2723,2180,2496,2661,300.4,11.4,506,10255,0.00,2.42,0.00,0.000,516,0.000,0.083,2734,767,2578,2496,2660,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10290,0.69,149.7,2734,767,2496,2661,295.6,11.9,514,10295,0.00,2.45,0.00,0.000,1030,0.000,0.083,2734,2188,2578,2496,2661,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10611,0.69,155.6,2735,2188,2496,2661,258.6,11.3,528,10621,0.00,0.00,8.93,1.377,8198,0.000,0.000,2734,2188,2547,2466,2628,0,0,0,0,0,0,28.83,28.83,14.04
$GC,10910,0.72,194.2,2735,2188,2461,2624,227.9,9.6,552,10943,0.00,0.00,32.38,1.230,8198,0.000,0.000,2734,2188,2388,2313,2464,0,0,0,0,0,0,28.83,28.83,13.94
$GC,11241,0.77,231.9,2735,2187,2307,2458,195.9,9.6,585,11274,0.00,0.00,31.75,1.190,8198,0.000,0.000,2734,2188,2234,2156,2313,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11571,0.82,267.9,2735,2188,2146,2311,163.6,9.7,618,11603,0.00,0.00,30.67,1.156,8198,0.000,0.000,2734,2188,2087,2001,2174,0,0,0,0,0,0,28.83,28.83,13.86
$GC,11901,0.90,313.0,2735,2188,1990,2169,131.7,9.2,651,11941,0.15,0.00,37.05,1.108,10246,0.125,0.000,2799,2188,1903,1808,1998,0,0,0,0,0,0,14.57,28.83,13.84
$GC,12240,0.92,313.0,2799,2189,1800,1993,88.5,12.5,685,12245,0.00,2.53,0.00,0.000,516,0.000,0.086,2809,760,1895,1799,1991,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12270,0.93,313.0,2809,761,1800,1993,84.9,11.8,691,12275,0.00,2.50,0.00,0.000,1030,0.000,0.085,2809,2178,1895,1799,1991,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12581,0.99,351.7,2810,2179,1798,1992,52.3,9.6,723,12602,0.00,2.55,16.05,0.338,8708,0.000,0.086,2812,768,1749,1655,1843,0,0,0,0,0,0,28.83,14.43,14.16
$GC,12632,1.11,456.1,2813,768,1655,1843,48.8,6.1,732,12688,0.12,2.47,47.60,0.326,11270,0.140,0.085,2871,2180,1321,1221,1421,0,0,0,0,0,0,14.45,14.42,14.15
$GC,12993,1.23,553.9,2871,2181,1212,1418,16.7,6.4,774,13044,0.00,2.58,42.72,0.228,8452,0.000,0.103,2872,3586,921,825,1018,0,0,0,0,0,0,28.83,14.34,14.25
$GC,13076,1.31,598.3,2872,3587,824,1018,10.8,9.3,790,13100,0.00,2.40,19.00,0.210,9222,0.000,0.062,2878,2175,741,647,835,0,0,0,0,0,0,28.83,14.40,14.21
$FREEZE,8.00,-1.177,-1.439,2,1,0
$FREEZE,7.06,-1.220,-1.438,2,1,0
$FREEZE,6.13,-1.227,-1.437,2,1,0
$FREEZE,5.08,-1.235,-1.436,2,1,0
$FREEZE,4.22,-1.248,-1.435,2,1,0
$FREEZE,3.16,-1.256,-1.434,2,1,0
$FREEZE,2.27,-1.264,-1.433,2,1,0
$FREEZE,1.46,-1.312,-1.433,2,1,0
$STATE,13173,end climb,SURFACE_DEPTH_REACHED
$STATE,13173,begin surface coast
$FREEZE,1.59,-1.127,-1.424,2,1,0
$FREEZE,1.38,-1.311,-1.433,2,1,0
$FINISH,1.4,1.021135
$STATE,13193,end surface coast,CONTROL_FINISHED_OK
$STATE,13193,begin surface
$SM_CCo,13210,25.25,0.188,0,0,497,657.89
$SM_GC,2.48,8.23,0.65,25.25,0.094,0.088,0.188,168,1801,497,-7.20,0.85,657.89,0,0,0,0,0,0,14.49,14.47,14.34
$RAFOS_CLK,397323
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7327.28,-14706.86,290814,221704
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.85
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3834688
$24V_AH,12.83,98.483
$10V_AH,13.00,0.000
$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,21.475,60.625,512.500,25.250,0.000,0.000,0.000,441.325,0.000,0.000,30.869,0.000,10068.790,664.645,2109.621,270.442,0.000,1743.564,0.000,1204.384,1489.000,0.532,0.000
$DEVICE_MAMPS,429.165,110.160,1845.180,188.190,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13223.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.285,0.000,0.000,0.000
$MEM,191644
$DATA_FILE_SIZE,26777,805
$CAP_FILE_SIZE,142971,0
$CFSIZE,1047117824,999800832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12100.80,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,300814,090944,7420.056,-14702.836,39,0.9,60,29.2