version: 66.12
glider: 197
mission: 6
dive: 374
start: 9 20 114 22 46 28
data:
$ID,197
$MISSION,6
$DIVE,374
$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,-13564.942
$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,21
$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
$GPS1,200914,222425,7311.529,-14418.453,39,1.4,59,30.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-69.8
$GPS2,200914,224608,7311.636,-14419.184,9,1.3,29,30.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,166.4,80390,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-145.9,174,1805,430,578,0.0,0.0,0,70,0.00,0.00,-51.05,0.000,16386,0.000,0.000,174,1805,1701,1714,1688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.81,-145.9,174,1806,1715,1690,3.2,-1.6,5,151,10.18,2.58,-62.38,0.000,18948,0.413,0.099,2219,384,3779,3761,3798,0,0,0,0,0,0,13.97,14.31,14.59
$GC,378,-0.75,-145.9,2219,384,3763,3802,76.4,-22.5,66,384,0.00,2.50,0.00,0.000,1030,0.000,0.080,2214,1797,3783,3764,3802,0,0,0,0,0,0,28.83,14.28,28.83
$GC,683,-0.72,-145.9,2214,1798,3764,3802,135.1,-17.7,97,684,0.17,0.00,0.00,0.000,2054,0.302,0.000,2250,1797,3782,3763,3802,0,0,0,0,0,0,14.07,28.83,28.83
$GC,983,-0.74,-145.9,2251,1798,3764,3804,180.3,-14.2,127,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1797,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,-0.76,-145.9,2251,1798,3764,3803,220.0,-12.8,157,1288,0.00,2.55,0.00,0.000,260,0.000,0.103,2242,3220,3782,3763,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1370,-0.77,-145.9,2243,3220,3763,3803,231.5,-13.2,174,1376,0.00,2.42,0.00,0.000,1030,0.000,0.063,2242,1801,3782,3763,3802,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1673,-0.80,-145.9,2243,1801,3763,3803,267.6,-11.1,195,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1800,3782,3763,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1973,-0.83,-145.9,2243,1801,3764,3803,297.2,-9.4,205,1978,0.00,2.55,0.00,0.000,260,0.000,0.101,2232,3218,3783,3763,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2024,-0.86,-145.9,2232,3218,3763,3803,302.5,-10.7,215,2029,0.00,2.42,0.00,0.000,1030,0.000,0.063,2232,1801,3782,3762,3802,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2336,-0.88,-145.9,2232,1800,3763,3803,335.3,-10.6,227,2341,0.00,2.53,0.00,0.000,260,0.000,0.102,2221,3212,3782,3762,3802,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2401,-0.90,-145.9,2222,3213,3763,3803,342.9,-11.0,240,2406,0.00,2.42,0.00,0.000,1030,0.000,0.063,2221,1795,3782,3762,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2728,-0.93,-145.9,2221,1795,3762,3803,377.6,-10.5,255,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1795,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.95,-145.9,2221,1795,3763,3803,408.6,-10.3,265,3032,0.12,2.55,0.00,0.000,4356,0.142,0.098,2151,3213,3782,3762,3802,0,0,0,0,0,0,14.62,14.35,28.83
$GC,3077,-0.92,-145.9,2152,3214,3762,3803,415.5,-14.5,275,3082,0.17,2.42,0.00,0.000,3078,0.281,0.063,2188,1794,3782,3762,3802,0,0,0,0,0,0,14.17,14.50,28.83
$GC,3389,-0.92,-145.9,2188,1794,3762,3803,452.9,-11.9,287,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1793,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.92,-145.9,2189,1794,3763,3803,488.1,-11.8,297,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1793,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.92,-145.9,2189,1794,3763,3803,522.9,-11.6,307,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1793,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-0.92,-145.9,2189,1794,3763,3804,558.1,-11.8,317,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1793,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-0.92,-145.9,2189,1794,3762,3804,591.7,-11.8,327,5002,0.00,2.55,0.00,0.000,260,0.000,0.098,2180,3215,3783,3762,3804,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5062,-0.92,-145.9,2186,3212,3762,3805,599.9,-12.5,340,5067,0.00,2.42,0.00,0.000,1030,0.000,0.062,2180,1801,3782,3761,3804,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5389,-0.92,-145.9,2180,1801,3762,3805,639.7,-12.2,355,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1800,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5688,-0.92,-145.9,2179,1801,3762,3805,676.1,-12.3,365,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1800,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5988,-0.92,-145.9,2180,1801,3762,3805,712.2,-12.0,375,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1801,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6288,-0.92,-145.9,2180,1801,3762,3806,748.0,-11.9,385,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1800,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6315,begin apogee
$GC,6321,-0.16,0.0,2178,2188,3762,3806,751.7,-11.9,386,6503,0.98,0.00,178.00,1.535,10246,0.244,0.000,2432,2187,3180,3136,3224,0,0,0,0,0,0,14.16,28.83,13.20
$STATE,6504,end apogee,CONTROL_FINISHED_OK
$STATE,6504,begin climb
$GC,6506,0.81,145.9,2433,2188,3132,3223,756.8,0.0,392,6644,1.02,2.75,125.20,1.811,10756,0.131,0.076,2756,771,2579,2503,2656,0,0,0,0,0,0,13.85,13.43,12.66
$GC,6746,0.79,145.9,2757,772,2500,2655,733.7,14.0,441,6751,0.00,2.60,0.00,0.000,1030,0.000,0.080,2756,2178,2574,2498,2651,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7073,0.77,145.9,2756,2178,2497,2652,688.3,13.9,456,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2178,2574,2496,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,0.75,145.9,2757,2178,2496,2652,646.8,13.9,466,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2178,2573,2495,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,0.73,145.9,2757,2178,2496,2652,605.0,14.0,476,7676,0.00,2.47,0.00,0.000,516,0.000,0.079,2764,762,2573,2495,2651,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7696,0.71,145.9,2765,762,2496,2652,601.5,13.8,481,7703,0.20,2.50,0.00,0.000,5126,0.269,0.081,2720,2189,2573,2495,2651,0,0,0,0,0,0,14.21,14.48,28.83
$GC,8003,0.72,145.9,2721,2190,2495,2652,564.4,12.1,492,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2190,2573,2495,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8302,0.73,145.9,2721,2190,2495,2652,528.4,11.9,502,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2189,2573,2495,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8602,0.74,145.9,2721,2190,2495,2651,492.5,11.9,512,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2189,2573,2495,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8902,0.75,146.2,2720,2190,2495,2652,457.5,11.6,522,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2190,2573,2495,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,0.77,150.4,2720,2190,2496,2651,423.5,11.4,532,9206,0.00,2.45,0.00,0.000,516,0.000,0.077,2729,767,2573,2495,2651,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9232,0.78,150.4,2729,768,2495,2652,420.0,12.0,538,9237,0.00,2.47,0.00,0.000,1030,0.000,0.081,2729,2182,2573,2495,2652,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9564,0.79,151.8,2729,2183,2495,2652,381.6,11.6,554,9566,0.00,0.00,1.08,0.261,8198,0.000,0.000,2729,2183,2562,2482,2642,0,0,0,0,0,0,28.83,28.83,14.32
$GC,9862,0.79,161.6,2728,2183,2495,2649,347.7,11.1,564,9882,0.00,2.47,13.57,1.372,8708,0.000,0.080,2738,771,2515,2439,2591,0,0,0,0,0,0,28.83,14.66,13.93
$GC,9922,0.81,170.5,2738,772,2438,2584,341.1,11.2,576,9932,0.00,2.45,2.45,0.601,9222,0.000,0.080,2737,2181,2488,2414,2562,0,0,0,0,0,0,28.83,14.51,13.65
$GC,10252,0.81,170.5,2738,2181,2433,2579,302.6,11.7,592,10255,0.00,0.00,2.20,0.442,8198,0.000,0.000,2737,2181,2486,2411,2561,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10554,0.82,170.7,2738,2181,2432,2578,267.7,11.6,602,10563,0.00,2.53,2.05,0.316,8452,0.000,0.099,2737,3587,2487,2415,2560,0,0,0,0,0,0,28.83,14.52,13.00
$GC,10588,0.80,170.7,2735,3584,2427,2563,263.0,13.1,609,10594,0.00,2.38,1.27,0.284,9222,0.000,0.057,2748,2162,2485,2411,2559,0,0,0,0,0,0,28.83,14.59,14.16
$GC,10894,0.83,214.6,2748,2162,2432,2575,229.5,9.3,636,10945,0.00,2.58,43.00,1.201,8452,0.000,0.099,2748,3582,2297,2221,2373,0,0,0,0,0,0,28.83,14.45,13.88
$GC,10967,0.83,214.6,2749,3583,2215,2373,222.3,11.7,650,10972,0.00,2.38,0.00,0.000,1030,0.000,0.057,2757,2177,2293,2214,2372,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11279,0.88,243.9,2758,2176,2212,2377,189.1,10.1,682,11308,0.00,0.00,24.77,1.160,8198,0.000,0.000,2757,2176,2179,2098,2260,0,0,0,0,0,0,28.83,28.83,13.87
$GC,11609,0.93,274.7,2758,2176,2087,2256,155.8,10.0,715,11639,0.00,2.60,25.67,1.128,8452,0.000,0.101,2757,3590,2053,1967,2139,0,0,0,0,0,0,28.83,14.45,13.88
$GC,11676,0.95,274.7,2758,3590,1960,2136,148.4,11.9,728,11682,0.00,2.40,0.00,0.000,1030,0.000,0.058,2767,2178,2047,1959,2135,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11981,1.01,303.1,2767,2177,1955,2135,115.8,10.1,759,12010,0.15,0.00,24.33,1.076,10246,0.123,0.000,2827,2176,1938,1847,2030,0,0,0,0,0,0,14.36,28.83,13.88
$GC,12311,1.02,305.8,2827,2177,1834,2025,75.2,11.5,792,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2176,1929,1834,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12610,1.10,392.1,2828,2176,1832,2025,52.0,7.0,822,12655,0.00,2.60,38.03,0.327,8452,0.000,0.103,2827,3580,1582,1483,1681,0,0,0,0,0,0,28.83,14.30,14.10
$GC,12692,1.13,405.7,2828,3580,1486,1681,44.8,10.9,837,12707,0.00,2.40,7.18,0.305,9222,0.000,0.058,2838,2179,1525,1422,1629,0,0,0,0,0,0,28.83,14.35,14.04
$GC,13014,1.39,651.5,2838,2180,1441,1630,28.0,-1.5,871,13135,0.28,2.50,110.53,0.256,11012,0.087,0.078,2960,774,524,429,620,0,0,0,0,0,0,14.35,14.30,14.09
$FREEZE,8.77,-1.357,-1.424,2,1,0
$STATE,13228,end climb,FINISH_DEPTH_REACHED
$STATE,13228,begin subsurface finish
$FINISH1,8.8,1.020916,366
$GC,13236,0.26,366.4,2960,2179,432,621,8.8,13.3,914,13276,1.38,2.53,-29.23,0.000,20996,0.213,0.099,2581,775,1691,1634,1749,0,0,0,0,0,0,14.09,14.27,14.55
$FINISH2,8.7
$STATE,13276,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13276,begin surface
$RAFOS_CLK,805632
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7235.57,-14420.81,200914,222947
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.62
$INTERNAL_PRESSURE,8.70812
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3770592
$24V_AH,12.66,144.905
$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,14.650,78.250,599.325,0.000,0.000,0.000,0.000,897.625,0.000,0.000,31.692,0.000,10255.936,694.270,2683.416,508.335,0.000,2359.502,0.000,1376.745,1417.000,0.532,0.000
$DEVICE_MAMPS,413.100,103.275,1810.755,0.000,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13336.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.858,0.000,0.000,0.000
$MEM,114412
$DATA_FILE_SIZE,33258,922
$CAP_FILE_SIZE,160652,0
$CFSIZE,1047117824,982335488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10528.74,0x2378b6,7,5
$SOUNDSPEED,1448.7
$GPS,200914,224608,7311.636,-14419.184,9,1.3,29,30.0