version: 66.12
glider: 199
mission: 5
dive: 132
start: 8 13 114 20 14 44
data:
$ID,199
$MISSION,5
$DIVE,132
$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,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,0.079999998
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,669.66901
$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,-21761.207
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,130814,200255,7202.071,-14602.281,38,0.7,58,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-73.3
$GPS2,130814,201430,7202.130,-14602.543,6,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,359.2,19610,-19.5,-11.628,-22.92,2318
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-175.1,180,2351,524,486,0.0,0.0,0,74,0.00,0.00,-50.97,0.000,16386,0.000,0.000,179,2353,1785,1795,1775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.72,-175.1,180,2354,1796,1776,3.0,-2.2,5,139,11.25,2.60,-45.70,0.000,18692,0.470,0.139,2182,3770,3946,4003,3889,0,0,0,0,0,0,13.96,14.16,14.40
$GC,354,-0.72,-175.1,2185,3771,4003,3892,72.9,-22.8,61,361,0.00,2.45,0.00,0.000,1030,0.000,0.080,2182,2357,3949,4003,3895,0,0,0,0,0,0,28.83,14.26,28.83
$GC,665,-0.72,-175.1,2183,2356,4005,3896,137.3,-20.6,93,671,0.00,2.42,0.00,0.000,516,0.000,0.088,2183,950,3949,4003,3895,0,0,0,0,0,0,28.83,14.31,28.83
$GC,720,-0.72,-175.1,2184,951,4003,3896,148.5,-19.5,104,728,0.00,2.53,0.00,0.000,1030,0.000,0.101,2172,2370,3949,4003,3895,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1026,-0.72,-175.1,2172,2371,4005,3897,206.9,-17.8,135,1032,0.00,2.45,0.00,0.000,516,0.000,0.086,2172,948,3949,4003,3895,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1061,-0.72,-175.1,2170,948,4002,3895,212.8,-16.1,142,1069,0.17,2.53,0.00,0.000,3078,0.321,0.101,2196,2366,3949,4003,3895,0,0,0,0,0,0,14.19,14.36,28.83
$GC,1386,-0.72,-175.1,2198,2367,4003,3894,258.8,-13.8,171,1393,0.00,2.50,0.00,0.000,260,0.000,0.125,2187,3767,3952,4003,3901,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1572,-0.72,-175.1,2188,3768,4003,3895,286.0,-14.1,208,1579,0.00,2.42,0.00,0.000,1030,0.000,0.080,2187,2346,3948,4003,3894,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1899,-0.72,-175.1,2188,2346,4002,3894,328.0,-12.8,223,1905,0.00,2.38,0.00,0.000,516,0.000,0.090,2187,955,3948,4003,3893,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1974,-0.72,-175.1,2192,955,4004,3894,337.8,-12.8,238,1982,0.00,2.47,0.00,0.000,1030,0.000,0.103,2177,2361,3947,4003,3892,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2292,-0.72,-175.1,2179,2366,4003,3892,379.7,-13.3,251,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2361,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.72,-175.1,2173,2361,4004,3892,418.9,-13.0,261,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2361,3950,4009,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.72,-175.1,2177,2361,4004,3890,457.6,-12.8,271,2897,0.00,2.53,0.00,0.000,260,0.000,0.124,2166,3770,3946,4003,3890,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2901,-0.72,-175.1,2166,3770,4004,3891,458.9,-12.7,273,2908,0.15,2.40,0.00,0.000,3078,0.295,0.078,2196,2357,3948,4007,3890,0,0,0,0,0,0,14.31,14.47,28.83
$GC,3223,-0.72,-175.1,2196,2357,4002,3890,496.8,-11.7,287,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2356,3946,4003,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3523,-0.72,-175.1,2195,2357,4005,3890,531.3,-11.5,297,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2353,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-0.72,-175.1,2195,2357,4012,3896,565.5,-11.4,307,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2356,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-0.72,-175.1,2194,2357,4004,3890,599.6,-11.3,317,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2356,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4423,-0.72,-175.1,2195,2357,4004,3890,633.4,-11.3,327,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2356,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.72,-175.1,2196,2357,4002,3889,667.0,-11.1,337,4729,0.00,2.55,0.00,0.000,260,0.000,0.125,2184,3767,3946,4003,3889,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4758,-0.72,-175.1,2188,3768,4002,3890,671.2,-11.9,344,4765,0.00,2.40,0.00,0.000,1030,0.000,0.080,2187,2359,3945,4002,3889,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5085,-0.72,-175.1,2188,2360,4002,3889,708.9,-11.5,359,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2361,3946,4003,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.72,-175.1,2186,2360,4004,3890,743.8,-11.5,369,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2359,3945,4002,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5442,begin apogee
$GC,5446,-0.14,0.0,2184,2607,4004,3888,750.7,-11.6,371,5668,0.77,0.00,217.32,1.691,10246,0.274,0.000,2380,2606,3228,3278,3178,0,0,0,0,0,0,14.33,28.83,12.98
$STATE,5670,end apogee,CONTROL_FINISHED_OK
$STATE,5670,begin climb
$GC,5672,0.72,175.1,2381,2607,3278,3172,758.0,0.0,378,5841,0.98,2.35,154.18,1.943,10500,0.165,0.119,2657,3767,2507,2571,2443,0,0,0,0,0,0,13.55,12.96,12.33
$GC,6046,0.72,175.1,2662,3765,2566,2434,716.0,15.0,455,6054,0.00,2.10,0.00,0.000,1030,0.000,0.077,2665,2598,2500,2566,2434,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6351,0.72,175.1,2665,2598,2568,2431,675.3,13.3,466,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6651,0.72,175.1,2666,2598,2566,2431,635.7,13.2,476,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,0.72,175.1,2666,2598,2564,2431,596.4,13.1,486,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7251,0.72,175.1,2665,2598,2567,2431,557.2,13.0,496,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,0.72,175.1,2665,2598,2567,2431,518.1,13.1,506,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2598,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,0.72,175.1,2666,2598,2565,2431,478.9,13.1,516,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2497,2565,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,0.72,175.1,2666,2595,2566,2430,439.8,13.0,526,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2598,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8451,0.72,175.1,2665,2598,2568,2430,401.4,12.8,536,8457,0.00,2.40,0.00,0.000,516,0.000,0.088,2676,1196,2498,2566,2430,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8471,0.72,175.1,2677,1197,2566,2430,398.8,12.1,540,8478,0.00,2.50,0.00,0.000,1030,0.000,0.101,2676,2607,2497,2565,2430,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8783,0.72,175.1,2677,2608,2565,2430,357.1,13.3,552,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2608,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9082,0.72,175.1,2677,2608,2565,2430,317.3,13.2,562,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2608,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9382,0.72,175.1,2676,2609,2567,2430,277.3,13.3,572,9389,0.00,2.45,0.00,0.000,516,0.000,0.088,2686,1196,2498,2566,2430,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9413,0.72,175.1,2688,1197,2566,2430,273.3,13.0,578,9419,0.00,2.50,0.00,0.000,1030,0.000,0.100,2686,2604,2498,2566,2430,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9723,0.72,175.1,2687,2605,2564,2430,235.6,11.5,600,9730,0.00,2.45,0.00,0.000,516,0.000,0.087,2697,1188,2497,2565,2429,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9769,0.72,175.1,2698,1188,2566,2429,230.6,11.2,609,9777,0.00,2.53,0.00,0.000,1030,0.000,0.101,2695,2609,2497,2566,2429,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10075,0.77,175.1,2696,2609,2568,2426,196.0,10.6,640,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2608,2497,2566,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10374,0.87,274.5,2696,2614,2567,2430,170.8,7.2,670,10467,0.00,2.55,85.20,1.366,8708,0.000,0.086,2706,1193,2101,2181,2021,0,0,0,0,0,0,28.83,13.97,13.41
$GC,10513,0.92,274.5,2707,1193,2170,2012,157.7,10.2,693,10520,0.00,2.58,0.00,0.000,1030,0.000,0.101,2706,2601,2092,2174,2010,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10819,0.96,274.5,2706,2600,2175,2006,124.7,10.7,724,10825,0.12,2.47,0.00,0.000,2564,0.150,0.085,2766,1196,2089,2174,2005,0,0,0,0,0,0,14.30,14.26,28.83
$GC,10860,0.96,274.5,2766,1196,2175,2006,119.7,12.3,732,10866,0.00,2.53,0.00,0.000,1030,0.000,0.101,2766,2597,2089,2174,2005,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11170,0.96,274.5,2765,2598,2175,2005,77.1,13.6,764,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2597,2089,2174,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11470,1.06,369.0,2766,2598,2175,2004,43.8,7.4,794,11524,0.00,2.12,43.35,0.300,8452,0.000,0.126,2766,3769,1725,1813,1637,0,0,0,0,0,0,28.83,14.28,14.16
$GC,11603,1.06,369.0,2767,3768,1818,1650,30.0,11.1,817,11609,0.00,2.03,0.00,0.000,1030,0.000,0.083,2776,2591,1733,1817,1650,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11914,1.32,631.5,2776,2591,1818,1649,14.1,-0.0,849,12049,0.22,0.00,129.43,0.221,10502,0.113,0.000,2862,2591,653,699,608,0,0,0,0,0,0,14.38,28.83,14.14
$FREEZE,8.97,4.530,-1.331,2,1,0
$FREEZE,8.26,4.513,-1.331,2,1,0
$FREEZE,7.50,4.534,-1.330,2,1,0
$FREEZE,6.83,4.561,-1.328,2,1,0
$FREEZE,6.11,4.563,-1.328,2,1,0
$FREEZE,5.34,4.558,-1.328,2,1,0
$FREEZE,4.60,4.541,-1.328,2,1,0
$FREEZE,3.89,4.558,-1.327,2,1,0
$FREEZE,3.08,4.573,-1.325,2,1,0
$FREEZE,2.23,4.577,-1.325,2,1,0
$FREEZE,1.59,4.544,-1.325,2,1,0
$STATE,12222,end climb,SURFACE_DEPTH_REACHED
$STATE,12222,begin surface coast
$FREEZE,1.37,4.569,-1.324,2,1,0
$FREEZE,1.11,4.291,-0.320,2,1,0
$FINISH,1.1,1.004639
$STATE,12243,end surface coast,CONTROL_FINISHED_OK
$STATE,12243,begin surface
$SM_CCo,12264,19.35,0.196,0,0,498,669.67
$SM_GC,2.39,8.12,0.40,19.35,0.090,0.105,0.196,190,2361,498,-6.97,0.96,669.67,0,0,0,0,0,0,14.35,14.37,14.26
$RAFOS_CLK,523
$RAFOS_FIX,7201.974609,-14548.847656,070814,040417,3,255,0.00
$IRIDIUM_FIX,7125.74,-14608.94,130814,163449
$TT8_MAMPS,0.047936,0.047936
$HUMID,54.05
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4002036
$TM_FREEKB,5726464
$24V_AH,12.33,103.169
$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,21.800,69.050,629.475,19.350,0.000,0.000,0.000,415.625,0.000,0.000,27.928,0.000,9691.760,715.061,2397.439,167.974,0.000,1948.338,0.000,1316.772,0.000,0.538,0.000
$DEVICE_MAMPS,469.710,139.230,1943.100,195.840,0.000,0.000,0.000,193.545,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12273.000,12320.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.111,44.893,0.000,0.000
$MEM,282220
$DATA_FILE_SIZE,30039,887
$CAP_FILE_SIZE,146094,0
$CFSIZE,2097872896,2059075584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12746.29,0x2378b6,7,5
$SOUNDSPEED,1451.2
$GPS,130814,234043,7203.886,-14600.072,18,0.7,38,22.1