version: 66.12
glider: 198
mission: 5
dive: 251
start: 9 4 114 2 33 35
data:
$ID,198
$MISSION,5
$DIVE,251
$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,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,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,658.87579
$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,-5023.6465
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$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,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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.68
$_SM_ANGLEo,-17.7
$GPS2,030914,083844,7438.946,-14220.536,4,0.8,24,24.0
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14510.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,172.3,353001,-21.4,-11.628,-26.45,1932
$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,-0.70,-145.9,2676,2683,1790,1701,0.0,0.0,0,30,0.00,0.00,-12.30,0.000,16386,0.000,0.000,2674,2682,2445,2504,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-0.70,-145.9,2676,2683,2505,2387,16.3,0.0,1,61,0.90,2.03,-21.40,0.000,20740,0.073,0.148,2344,3795,3784,3839,3729,0,0,0,0,0,0,14.38,14.36,14.64
$GC,286,-0.64,-145.9,2346,3796,3840,3733,85.6,-21.1,52,292,0.10,1.92,0.00,0.000,3078,0.288,0.067,2371,2672,3786,3840,3732,0,0,0,0,0,0,14.19,14.42,28.83
$GC,591,-0.64,-145.9,2371,2673,3840,3733,136.1,-15.7,83,596,0.00,2.05,0.00,0.000,260,0.000,0.119,2363,3787,3786,3840,3732,0,0,0,0,0,0,28.83,14.37,28.83
$GC,751,-0.64,-145.9,2363,3787,3840,3733,162.1,-16.3,115,756,0.00,1.90,0.00,0.000,1030,0.000,0.070,2363,2679,3786,3840,3732,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1061,-0.64,-145.9,2363,2679,3841,3732,207.1,-14.2,147,1066,0.00,2.38,0.00,0.000,516,0.000,0.084,2363,1274,3786,3840,3732,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1111,-0.66,-145.9,2363,1274,3840,3733,213.8,-13.6,157,1116,0.00,2.50,0.00,0.000,1030,0.000,0.106,2361,2685,3786,3840,3732,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1431,-0.66,-145.9,2362,2685,3841,3732,253.8,-11.7,188,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2685,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1731,-0.69,-145.9,2362,2685,3841,3732,287.4,-11.1,198,1736,0.00,1.98,0.00,0.000,260,0.000,0.122,2361,3790,3785,3839,3732,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1776,-0.69,-145.9,2362,3791,3840,3733,292.5,-11.6,207,1781,0.00,1.88,0.00,0.000,1030,0.000,0.070,2361,2684,3786,3840,3732,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2092,-0.72,-145.9,2362,2685,3840,3732,325.9,-10.5,220,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2684,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.75,-145.9,2362,2685,3840,3733,356.3,-10.1,230,2396,0.00,1.98,0.00,0.000,260,0.000,0.123,2361,3787,3785,3839,3732,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2431,-0.77,-145.9,2362,3788,3840,3733,360.6,-10.8,238,2436,0.00,1.90,0.00,0.000,1030,0.000,0.070,2361,2675,3786,3840,3732,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2752,-0.81,-145.9,2361,2675,3841,3732,391.7,-9.6,252,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2675,3785,3840,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.84,-145.9,2361,2674,3841,3732,420.3,-9.5,262,3056,0.12,2.03,0.00,0.000,4356,0.158,0.122,2304,3787,3786,3841,3731,0,0,0,0,0,0,14.67,14.53,28.83
$GC,3132,-0.82,-145.9,2305,3788,3841,3732,430.4,-13.6,278,3137,0.00,1.85,0.00,0.000,1030,0.000,0.070,2304,2672,3786,3840,3732,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3441,-0.82,-145.9,2305,2673,3840,3733,468.4,-12.2,290,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2672,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3741,-0.82,-145.9,2305,2672,3840,3732,504.8,-12.0,300,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2672,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-0.82,-145.9,2305,2671,3840,3733,540.7,-11.9,310,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2672,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4341,-0.82,-145.9,2305,2672,3841,3732,576.0,-11.8,320,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2669,3786,3840,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4641,-0.82,-145.9,2305,2672,3841,3738,611.1,-11.7,330,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2672,3789,3845,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,-0.82,-145.9,2305,2672,3841,3733,646.2,-11.7,340,4946,0.00,2.03,0.00,0.000,260,0.000,0.118,2296,3787,3786,3840,3733,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4981,-0.80,-145.9,2296,3788,3841,3733,651.3,-12.8,348,4987,0.10,1.88,0.00,0.000,3078,0.298,0.072,2321,2680,3786,3839,3733,0,0,0,0,0,0,14.40,14.69,28.83
$GC,5301,-0.80,-145.9,2328,2681,3839,3734,685.7,-10.6,362,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2680,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5601,-0.80,-145.9,2323,2681,3841,3734,717.4,-10.6,372,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2680,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5902,-0.80,-145.9,2322,2680,3841,3733,748.8,-10.4,382,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2680,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5929,begin apogee
$GC,5934,-0.14,0.0,2321,3060,3841,3734,752.0,-10.4,383,6124,0.82,0.00,186.73,1.419,10246,0.259,0.000,2537,3059,3186,3280,3093,0,0,0,0,0,0,14.33,28.83,13.28
$STATE,6125,end apogee,CONTROL_FINISHED_OK
$STATE,6125,begin climb
$GC,6127,0.70,145.9,2538,3060,3277,3091,756.5,0.0,389,6263,0.93,0.00,126.95,1.701,10502,0.174,0.000,2804,3059,2583,2659,2508,0,0,0,0,0,0,13.78,28.83,12.75
$GC,6561,0.70,145.9,2803,3059,2651,2499,708.8,12.8,419,6566,0.00,1.40,0.00,0.000,260,0.000,0.119,2803,3789,2575,2650,2500,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6622,0.66,145.9,2804,3789,2650,2500,700.5,13.6,431,6626,0.00,1.30,0.00,0.000,1030,0.000,0.075,2808,3060,2575,2650,2500,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6951,0.66,145.9,2809,3060,2650,2500,657.8,12.9,447,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3059,2574,2650,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7251,0.66,145.9,2809,3060,2650,2500,619.5,12.7,457,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,3060,2574,2650,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,0.66,145.9,2809,3060,2650,2500,581.3,12.7,467,7556,0.00,1.35,0.00,0.000,260,0.000,0.119,2808,3786,2574,2650,2499,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7616,0.62,145.9,2809,3786,2650,2500,572.2,14.3,480,7621,0.00,1.27,0.00,0.000,1030,0.000,0.074,2813,3041,2573,2649,2498,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7943,0.60,145.9,2815,3042,2650,2500,530.0,12.9,495,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,3042,2574,2649,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,0.58,145.9,2814,3042,2650,2499,490.9,13.0,505,8247,0.15,1.38,0.00,0.000,4356,0.284,0.119,2780,3787,2574,2650,2499,0,0,0,0,0,0,14.45,14.58,28.83
$GC,8286,0.58,145.9,2781,3787,2651,2499,485.1,12.5,514,8291,0.00,1.25,0.00,0.000,1030,0.000,0.074,2786,3054,2574,2649,2499,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8602,0.58,149.4,2786,3054,2651,2499,448.8,11.4,527,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,3054,2574,2650,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8901,0.59,154.3,2786,3054,2651,2499,414.8,11.4,537,8904,0.00,0.00,1.67,0.236,8198,0.000,0.000,2786,3054,2557,2634,2480,0,0,0,0,0,0,28.83,28.83,14.52
$GC,9201,0.59,162.0,2785,3054,2666,2479,381.0,11.2,547,9216,0.00,0.00,13.70,1.304,8198,0.000,0.000,2785,3054,2524,2606,2443,0,0,0,0,0,0,28.83,28.83,14.03
$GC,9502,0.59,166.8,2786,3054,2591,2432,346.7,11.4,557,9506,0.00,2.35,0.00,0.000,516,0.000,0.075,2795,1649,2510,2590,2431,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9531,0.63,184.5,2796,1649,2592,2431,343.4,10.7,563,9557,0.00,2.47,19.95,1.251,9222,0.000,0.103,2795,3059,2428,2508,2348,0,0,0,0,0,0,28.83,14.59,13.96
$GC,9861,0.63,184.5,2795,3059,2499,2337,304.1,11.8,579,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,3059,2414,2491,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10161,0.64,194.0,2796,3059,2491,2339,270.4,11.1,589,10165,0.00,0.00,2.28,0.464,8198,0.000,0.000,2795,3059,2394,2472,2317,0,0,0,0,0,0,28.83,28.83,13.80
$GC,10461,0.66,228.4,2795,3059,2505,2317,239.5,9.8,605,10503,0.00,2.42,36.38,1.127,8708,0.000,0.073,2806,1638,2246,2320,2172,0,0,0,0,0,0,28.83,14.45,13.93
$GC,10539,0.73,262.3,2806,1638,2311,2168,232.0,9.8,620,10575,0.00,2.53,29.73,1.109,9222,0.000,0.103,2805,3057,2109,2182,2037,0,0,0,0,0,0,28.83,14.37,13.79
$GC,10873,0.79,294.3,2806,3057,2165,2022,197.0,9.9,657,10905,0.12,2.50,27.10,1.086,10756,0.141,0.076,2867,1648,1977,2045,1909,0,0,0,0,0,0,14.50,14.36,13.84
$GC,10941,0.79,294.3,2869,1648,2033,1907,188.9,12.3,670,10947,0.00,2.53,0.00,0.000,1030,0.000,0.103,2867,3055,1971,2032,1911,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11245,0.79,294.3,2868,3056,2029,1901,148.1,12.7,701,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3055,1964,2028,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11545,0.79,298.0,2868,3056,2029,1900,111.4,11.4,731,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,3055,1963,2028,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11845,0.81,328.4,2869,3056,2028,1899,78.4,10.0,761,11867,0.00,2.42,15.23,0.396,8708,0.000,0.076,2876,1642,1855,1929,1781,0,0,0,0,0,0,28.83,14.41,14.14
$GC,11903,0.88,367.8,2877,1643,1947,1782,73.0,9.5,772,11932,0.00,2.53,23.50,0.387,9222,0.000,0.106,2876,3051,1690,1753,1627,0,0,0,0,0,0,28.83,14.38,14.10
$GC,12237,1.04,509.7,2877,3051,1777,1628,45.8,4.1,809,12319,0.15,0.00,79.28,0.317,10502,0.130,0.000,2941,3051,1108,1143,1073,0,0,0,0,0,0,14.44,28.83,14.10
$GC,12617,1.16,606.9,2942,3052,1164,1076,14.5,6.5,850,12678,0.00,2.47,53.00,0.226,8708,0.000,0.078,2945,1655,713,712,715,0,0,0,0,0,0,28.83,14.28,14.19
$FREEZE,8.80,-1.354,-1.440,2,6,0
$STATE,12698,end climb,FINISH_DEPTH_REACHED
$STATE,12698,begin subsurface finish
$FINISH1,8.8,1.021152,354
$GC,12705,0.25,354.3,2946,3050,725,717,8.8,7.1,866,12738,0.93,2.47,-25.73,0.000,20996,0.189,0.097,2676,1645,1744,1788,1701,0,0,0,0,0,0,14.20,14.29,14.54
$FINISH2,8.6
$STATE,12739,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12739,begin surface
$RAFOS_CLK,492
$RAFOS_FIX,7432.994629,-14251.763672,010914,161620,2,255,0.35
$IRIDIUM_FIX,7342.54,-14304.59,010914,195555
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.56
$INTERNAL_PRESSURE,8.64215
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3909408
$24V_AH,12.75,81.869
$10V_AH,12.65,0.000
$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,4.325,66.100,615.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10278.259,660.793,1778.991,137.023,0.000,1363.477,0.000,1302.563,1476.000,0.535,0.000
$DEVICE_MAMPS,298.350,147.645,1700.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12787.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.990,0.000,0.000,0.000
$MEM,230568
$DATA_FILE_SIZE,30044,873
$CAP_FILE_SIZE,137960,0
$CFSIZE,2097872896,2038071296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,030914,083844,7438.946,-14220.536,4,0.8,24,24.0