version: 66.12
glider: 199
mission: 5
dive: 308
start: 9 7 114 5 49 43
data:
$ID,199
$MISSION,5
$DIVE,308
$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,-25260.748
$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,34
$R_STBD_OVSHOOT,19
$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,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,0.0044001359
$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
$GPS1,070914,054154,7446.069,-14717.987,31,0.8,51,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-72.0
$GPS2,070914,054922,7446.038,-14717.972,4,0.8,24,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7630.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.9,201567,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-175.1,199,2352,485,509,0.0,0.0,0,60,0.00,0.00,-41.60,0.000,16386,0.000,0.000,197,2352,1528,1559,1498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.72,-175.1,199,2352,1559,1498,3.1,-2.1,4,150,11.18,2.47,-69.15,0.000,18948,0.467,0.103,2186,958,3946,4000,3893,0,0,0,0,0,0,13.87,14.24,14.50
$GC,361,-0.72,-175.1,2187,953,4002,3897,80.2,-22.5,64,366,0.00,2.53,0.00,0.000,1030,0.000,0.094,2179,2360,3948,4000,3896,0,0,0,0,0,0,28.83,14.19,28.83
$GC,671,-0.72,-175.1,2179,2361,4001,3897,148.6,-20.7,96,676,0.00,2.45,0.00,0.000,516,0.000,0.083,2179,951,3948,4000,3896,0,0,0,0,0,0,28.83,14.33,28.83
$GC,716,-0.72,-175.1,2180,951,4000,3897,157.7,-19.3,105,723,0.15,2.50,0.00,0.000,3078,0.311,0.094,2196,2361,3948,4000,3896,0,0,0,0,0,0,14.01,14.28,28.83
$GC,1021,-0.72,-175.1,2196,2362,4002,3897,212.5,-17.1,136,1026,0.00,2.42,0.00,0.000,516,0.000,0.080,2196,953,3948,4000,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1071,-0.72,-175.1,2198,957,4000,3897,220.6,-15.7,146,1076,0.00,2.50,0.00,0.000,1030,0.000,0.095,2188,2364,3948,4000,3896,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1381,-0.72,-175.1,2189,2364,4000,3897,268.9,-14.8,170,1386,0.00,2.53,0.00,0.000,260,0.000,0.117,2177,3767,3948,4000,3897,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1426,-0.72,-175.1,2177,3768,4001,3897,275.6,-15.3,179,1431,0.00,2.40,0.00,0.000,1030,0.000,0.072,2177,2359,3948,4000,3896,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1743,-0.72,-175.1,2178,2358,4000,3897,320.3,-13.9,192,1747,0.00,2.40,0.00,0.000,516,0.000,0.083,2177,953,3948,4000,3897,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1822,-0.72,-175.1,2177,954,4002,3897,331.3,-13.3,208,1828,0.15,2.50,0.00,0.000,3078,0.297,0.095,2195,2365,3948,4000,3897,0,0,0,0,0,0,14.12,14.39,28.83
$GC,2134,-0.72,-175.1,2195,2366,4001,3897,369.5,-12.4,220,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2365,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.72,-175.1,2194,2366,4002,3897,406.2,-12.1,230,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2365,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.72,-175.1,2194,2366,4001,3898,442.3,-12.0,240,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2365,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.72,-175.1,2197,2366,3999,3897,478.0,-11.9,250,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2366,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,-0.72,-175.1,2197,2366,3999,3897,513.8,-11.9,260,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2365,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3632,-0.72,-175.1,2195,2366,4002,3897,548.8,-11.6,270,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2365,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,-0.72,-175.1,2197,2366,4000,3898,583.5,-11.6,280,3938,0.00,2.42,0.00,0.000,516,0.000,0.082,2195,957,3948,4000,3897,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3987,-0.72,-175.1,2195,958,4002,3898,589.9,-12.1,291,3994,0.00,2.50,0.00,0.000,1030,0.000,0.095,2188,2368,3948,4000,3897,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4292,-0.72,-175.1,2188,2369,4000,3902,626.2,-11.9,302,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2368,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4592,-0.72,-175.1,2187,2369,4005,3899,662.2,-11.9,312,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2368,3949,4000,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4892,-0.72,-175.1,2188,2369,4000,3899,697.8,-11.9,322,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2368,3949,4000,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5192,-0.72,-175.1,2187,2369,4000,3900,732.8,-11.6,332,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2368,3949,4000,3899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5340,begin apogee
$GC,5346,-0.14,0.0,2185,2604,4002,3899,750.3,-11.6,337,5571,0.77,0.00,222.62,1.629,10246,0.270,0.000,2379,2603,3229,3281,3177,0,0,0,0,0,0,14.16,28.83,12.95
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5574,0.72,175.1,2380,2604,3277,3173,758.8,0.0,344,5736,0.98,2.35,154.93,1.919,10500,0.152,0.113,2660,3767,2509,2573,2445,0,0,0,0,0,0,13.55,13.18,12.47
$GC,5836,0.72,175.1,2660,3768,2568,2436,738.0,15.0,400,5841,0.00,2.10,0.00,0.000,1030,0.000,0.070,2669,2596,2500,2566,2434,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6158,0.72,175.1,2669,2597,2567,2433,696.4,12.8,414,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6456,0.72,175.1,2669,2597,2574,2433,657.8,12.9,424,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6756,0.72,175.1,2669,2597,2567,2433,619.8,12.7,434,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7056,0.72,175.1,2669,2597,2567,2432,581.9,12.7,444,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7356,0.72,175.1,2670,2597,2566,2432,544.1,12.6,454,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7656,0.72,175.1,2670,2602,2565,2432,506.4,12.6,464,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7958,0.72,175.1,2670,2596,2564,2432,468.8,12.5,474,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2596,2498,2566,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8257,0.72,175.1,2670,2597,2566,2432,431.2,12.5,484,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,0.72,175.1,2670,2597,2565,2432,393.6,12.6,494,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8856,0.72,175.1,2670,2597,2565,2432,356.6,12.2,504,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2596,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,0.72,175.1,2669,2597,2567,2432,320.4,11.8,514,9161,0.00,2.15,0.00,0.000,260,0.000,0.116,2669,3765,2498,2566,2431,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9186,0.72,175.1,2669,3766,2567,2432,316.5,13.4,520,9191,0.00,2.05,0.00,0.000,1030,0.000,0.073,2678,2599,2498,2566,2431,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9518,0.76,175.1,2677,2600,2567,2432,279.0,10.8,536,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2498,2566,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9816,0.80,222.9,2679,2600,2564,2432,248.4,9.5,546,9858,0.00,0.00,40.60,1.440,8710,0.000,0.000,2678,2599,2321,2389,2253,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10158,0.86,275.9,2678,2600,2379,2233,214.9,9.3,582,10208,0.00,2.55,45.70,1.460,8708,0.000,0.080,2689,1191,2097,2177,2017,0,0,0,0,0,0,28.83,14.20,13.53
$GC,10240,0.89,275.9,2690,1192,2169,2008,206.7,10.7,598,10245,0.12,2.58,0.00,0.000,3078,0.146,0.092,2734,2604,2087,2169,2006,0,0,0,0,0,0,14.23,14.20,28.83
$GC,10551,0.89,275.9,2735,2605,2169,2003,166.4,12.5,630,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2604,2086,2169,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10850,0.92,275.9,2733,2605,2171,2003,131.1,11.0,660,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2604,2086,2170,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11150,1.00,275.9,2735,2604,2169,2001,100.2,9.8,690,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2604,2083,2170,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11450,1.12,399.2,2735,2605,2169,2000,75.1,6.2,720,11516,0.20,2.50,60.42,0.389,10756,0.133,0.079,2814,1197,1601,1689,1513,0,0,0,0,0,0,14.29,14.23,13.97
$GC,11531,1.12,399.2,2814,1198,1694,1520,66.9,11.4,735,11536,0.00,2.55,0.00,0.000,1030,0.000,0.093,2814,2599,1607,1694,1520,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11841,1.29,567.4,2815,2600,1692,1523,39.8,4.2,767,11938,0.10,2.17,87.80,0.287,10500,0.174,0.116,2848,3761,916,979,853,0,0,0,0,0,0,14.26,14.13,14.00
$GC,11973,1.29,567.4,2848,3762,983,855,26.9,13.9,792,11978,0.00,2.03,0.00,0.000,1030,0.000,0.074,2857,2593,919,983,856,0,0,0,0,0,0,28.83,14.21,28.83
$FREEZE,8.92,-1.221,-1.445,2,1,0
$FREEZE,7.93,-1.221,-1.444,2,1,0
$FREEZE,6.93,-1.221,-1.443,2,1,0
$FREEZE,5.96,-1.221,-1.442,2,1,0
$FREEZE,4.98,-1.221,-1.442,2,1,0
$FREEZE,4.04,-1.226,-1.441,2,1,0
$FREEZE,3.10,-1.227,-1.440,2,1,0
$FREEZE,3.04,-1.237,-1.441,2,1,0
$FREEZE,2.95,-1.225,-1.440,2,1,0
$FREEZE,2.80,-1.278,-1.442,2,1,0
$FREEZE,2.79,-1.294,-1.443,2,1,0
$FREEZE,2.75,-1.239,-1.440,2,1,0
$FREEZE,2.71,-1.243,-1.440,2,1,0
$FREEZE,2.70,-1.253,-1.441,2,1,0
$FREEZE,2.73,-1.252,-1.441,2,1,0
$FREEZE,2.65,-1.246,-1.440,2,1,0
$FREEZE,2.66,-1.246,-1.440,2,1,0
$FREEZE,2.55,-1.250,-1.440,2,1,0
$FREEZE,2.60,-1.250,-1.440,2,1,0
$FREEZE,2.55,-1.254,-1.440,2,1,0
$FREEZE,2.57,-1.254,-1.440,2,1,0
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$STATE,12597,end climb,NO_VERTICAL_VELOCITY
$STATE,12597,begin subsurface finish
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$FINISH2,2.6
$STATE,12611,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12611,begin surface
$RAFOS_CLK,215
$RAFOS_FIX,7435.711426,-14718.006836,060914,121222,2,255,0.24
$IRIDIUM_FIX,7358.04,-14715.39,070914,021506
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.55
$INTERNAL_PRESSURE,8.44597
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3980092
$24V_AH,12.47,164.016
$10V_AH,12.45,0.000
$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,15.650,58.125,663.300,0.000,0.000,0.000,0.000,246.275,0.000,0.000,25.577,0.000,10074.271,700.800,2056.786,230.541,0.000,1679.828,0.000,1319.611,1483.000,0.536,0.000
$DEVICE_MAMPS,466.650,122.400,1919.385,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12660.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.934,0.000,0.000,0.000
$MEM,185196
$DATA_FILE_SIZE,30087,883
$CAP_FILE_SIZE,140158,0
$CFSIZE,2097872896,2024931328
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12572.31,0x2378b6,7,5
$INTR,1,12599.16,0x2378b6,5,5
$SOUNDSPEED,1448.6
$GPS,070914,054922,7446.038,-14717.972,4,0.8,24,22.3