version: 66.12
glider: 199
mission: 5
dive: 397
start: 9 20 114 9 35 29
data:
$ID,199
$MISSION,5
$DIVE,397
$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,190
$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,-26624.303
$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,35
$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,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
$GPS1,190914,080841,7439.588,-14400.637,181,99.0,181,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,18.80
$_SM_ANGLEo,-13.1
$GPS2,190914,080841,7439.588,-14400.637,181,99.0,181,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,9
$TGT_LATLONG,7330.000,-14445.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,166.8,130972,-18.9,-11.628,-22.41,2446
$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,-0.72,-184.8,2544,2360,1908,1808,0.0,0.0,0,31,0.00,0.00,-12.27,0.000,16386,0.000,0.000,2543,2360,2670,2701,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.72,-184.8,2544,2361,2701,2641,21.3,0.0,1,58,1.00,2.55,-18.15,0.000,20740,0.081,0.130,2189,3769,3962,4021,3904,0,0,0,0,0,0,14.21,14.16,14.55
$GC,115,-0.72,-184.8,2190,3769,4020,3907,46.3,-34.2,17,119,0.00,2.42,0.00,0.000,1030,0.000,0.070,2189,2365,3963,4021,3906,0,0,0,0,0,0,28.83,14.23,28.83
$GC,425,-0.72,-184.8,2191,2361,4021,3907,118.7,-19.3,49,429,0.00,2.45,0.00,0.000,516,0.000,0.081,2189,950,3964,4021,3907,0,0,0,0,0,0,28.83,14.19,28.83
$GC,489,-0.72,-184.8,2188,951,4023,3909,130.5,-17.7,62,495,0.00,2.53,0.00,0.000,1030,0.000,0.093,2178,2365,3964,4021,3907,0,0,0,0,0,0,28.83,14.17,28.83
$GC,795,-0.72,-184.8,2177,2366,4023,3908,186.8,-18.2,93,799,0.00,2.45,0.00,0.000,516,0.000,0.081,2179,952,3964,4021,3907,0,0,0,0,0,0,28.83,14.29,28.83
$GC,839,-0.72,-184.8,2180,953,4021,3915,195.1,-18.4,102,846,0.15,2.53,0.00,0.000,3078,0.296,0.093,2196,2367,3964,4021,3907,0,0,0,0,0,0,13.88,14.18,28.83
$GC,1145,-0.72,-184.8,2198,2367,4021,3908,243.4,-14.5,133,1149,0.00,2.45,0.00,0.000,516,0.000,0.080,2196,952,3964,4021,3908,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1179,-0.72,-184.8,2196,952,4022,3908,248.5,-14.5,140,1185,0.00,2.53,0.00,0.000,1030,0.000,0.095,2188,2363,3964,4021,3907,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1495,-0.72,-184.8,2189,2363,4021,3908,292.8,-13.9,152,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2363,3967,4028,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1795,-0.72,-184.8,2189,2363,4021,3908,333.0,-13.1,162,1799,0.00,2.45,0.00,0.000,516,0.000,0.083,2188,947,3964,4020,3908,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1844,-0.72,-184.8,2188,947,4023,3908,339.4,-12.8,172,1849,0.00,2.53,0.00,0.000,1030,0.000,0.096,2178,2364,3964,4021,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2155,-0.72,-184.8,2179,2365,4021,3908,379.6,-12.9,184,2160,0.00,2.45,0.00,0.000,516,0.000,0.081,2178,944,3964,4021,3907,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2180,-0.72,-184.8,2178,945,4023,3908,382.8,-12.6,189,2186,0.15,2.53,0.00,0.000,3078,0.282,0.095,2197,2360,3964,4021,3907,0,0,0,0,0,0,13.91,14.29,28.83
$GC,2487,-0.72,-184.8,2197,2361,4023,3908,418.2,-11.7,200,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2360,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.72,-184.8,2196,2361,4023,3907,453.0,-11.7,210,2790,0.00,2.42,0.00,0.000,516,0.000,0.083,2197,953,3964,4021,3907,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2820,-0.72,-184.8,2198,952,4021,3908,457.0,-11.0,217,2825,0.00,2.53,0.00,0.000,1030,0.000,0.095,2188,2367,3964,4021,3907,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3147,-0.72,-184.8,2188,2368,4022,3908,494.7,-11.4,232,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2364,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.72,-184.8,2190,2368,4021,3908,528.9,-11.4,242,3450,0.00,2.47,0.00,0.000,516,0.000,0.080,2188,950,3964,4021,3907,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3495,-0.72,-184.8,2189,951,4024,3908,534.6,-10.9,252,3500,0.00,2.50,0.00,0.000,1030,0.000,0.095,2178,2361,3964,4021,3907,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3805,-0.72,-184.8,2179,2362,4021,3908,571.2,-11.9,264,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2361,3964,4021,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4105,-0.72,-184.8,2178,2362,4023,3908,606.7,-11.8,274,4110,0.00,2.42,0.00,0.000,516,0.000,0.080,2178,952,3964,4021,3907,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4140,-0.72,-184.8,2180,952,4021,3908,610.7,-11.7,281,4145,0.15,2.50,0.00,0.000,3078,0.280,0.094,2198,2364,3964,4021,3908,0,0,0,0,0,0,13.92,14.22,28.83
$GC,4467,-0.72,-184.8,2197,2365,4023,3908,644.5,-10.4,296,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2364,3964,4021,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,-0.72,-184.8,2199,2364,4021,3909,675.6,-10.4,306,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2364,3965,4021,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,-0.72,-184.8,2198,2364,4023,3910,707.2,-10.5,316,5070,0.00,2.42,0.00,0.000,516,0.000,0.080,2198,952,3965,4021,3909,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5100,-0.72,-184.8,2201,953,4023,3910,710.8,-10.3,323,5105,0.00,2.50,0.00,0.000,1030,0.000,0.093,2189,2364,3965,4021,3909,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5427,-0.72,-184.8,2190,2364,4021,3910,746.0,-10.9,338,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2364,3965,4021,3909,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5483,begin apogee
$GC,5489,-0.14,0.0,2189,2612,4021,3909,752.4,-10.8,340,5653,0.77,0.00,161.20,2.043,10246,0.259,0.000,2381,2611,3230,3281,3180,0,0,0,0,0,0,13.97,28.83,12.73
$STATE,5653,end apogee,CONTROL_FINISHED_OK
$STATE,5654,begin climb
$GC,5656,0.72,184.8,2382,2611,3273,3173,757.8,0.0,345,5831,0.95,2.25,166.95,1.997,10500,0.145,0.109,2657,3767,2467,2532,2402,0,0,0,0,0,0,13.54,13.17,12.38
$GC,5956,0.72,184.8,2658,3768,2523,2393,732.9,14.2,409,5961,0.00,2.08,0.00,0.000,1030,0.000,0.067,2666,2592,2457,2523,2392,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6266,0.72,184.8,2666,2593,2525,2392,693.9,12.4,421,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2593,2457,2523,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,0.72,184.8,2666,2592,2524,2391,656.2,12.8,431,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2592,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6866,0.72,184.8,2666,2592,2526,2391,618.1,12.7,441,6871,0.00,2.12,0.00,0.000,260,0.000,0.115,2666,3770,2456,2523,2390,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6921,0.72,184.8,2664,3771,2523,2391,610.2,14.6,452,6927,0.00,1.98,0.00,0.000,1030,0.000,0.073,2676,2600,2456,2523,2390,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7226,0.72,184.8,2675,2600,2526,2391,570.6,12.9,463,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2457,2524,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,0.72,184.8,2675,2600,2525,2391,531.9,12.7,473,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2600,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,0.72,184.8,2676,2601,2525,2390,493.3,13.0,483,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2600,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8126,0.72,184.8,2675,2600,2525,2391,454.8,12.7,493,8131,0.00,2.12,0.00,0.000,260,0.000,0.115,2673,3765,2457,2523,2391,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8151,0.72,184.8,2676,3765,2523,2390,451.3,14.0,498,8157,0.00,1.98,0.00,0.000,1030,0.000,0.073,2684,2600,2457,2524,2390,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8456,0.72,184.8,2684,2601,2525,2391,411.5,12.8,509,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2600,2456,2523,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8758,0.72,184.8,2683,2600,2526,2391,372.6,12.8,519,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2600,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9056,0.72,184.8,2685,2601,2523,2390,334.6,12.3,529,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2600,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,0.72,184.8,2685,2600,2523,2389,298.1,12.2,539,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2597,2456,2523,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,0.72,184.8,2685,2600,2523,2390,264.3,11.4,549,9661,0.00,2.15,0.00,0.000,260,0.000,0.116,2683,3774,2456,2523,2390,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9696,0.72,184.8,2683,3775,2525,2391,259.5,11.8,557,9701,0.00,2.03,0.00,0.000,1030,0.000,0.073,2692,2592,2456,2523,2389,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10006,0.78,243.1,2694,2592,2523,2391,232.0,9.2,584,10057,0.00,0.00,49.72,1.307,8198,0.000,0.000,2692,2592,2238,2309,2168,0,0,0,0,0,0,28.83,28.83,13.60
$GC,10356,0.83,296.8,2693,2592,2296,2145,198.6,9.4,619,10407,0.00,0.00,46.25,1.268,8198,0.000,0.000,2692,2592,2012,2093,1931,0,0,0,0,0,0,28.83,28.83,13.60
$GC,10708,0.90,296.8,2692,2592,2090,1914,162.3,9.9,654,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2592,2000,2088,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11006,0.98,378.0,2693,2592,2088,1912,134.7,8.2,684,11081,0.17,0.00,71.55,1.197,10246,0.132,0.000,2753,2592,1686,1772,1600,0,0,0,0,0,0,14.39,28.83,13.61
$GC,11376,0.98,378.0,2754,2592,1752,1573,86.5,12.2,721,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2592,1663,1752,1574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11676,1.07,468.3,2754,2592,1751,1573,55.1,7.8,751,11727,0.00,2.42,43.90,0.337,8708,0.000,0.080,2764,1200,1322,1408,1236,0,0,0,0,0,0,28.83,14.24,13.95
$GC,11792,1.18,579.3,2764,1201,1419,1246,47.1,7.0,774,11859,0.15,2.47,60.72,0.307,11270,0.125,0.092,2820,2597,868,937,799,0,0,1,0,0,0,14.20,14.16,13.96
$GC,12158,1.25,579.3,2820,2597,950,804,10.6,9.8,817,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2597,875,948,803,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.75,-1.427,-1.461,2,12,0
$STATE,12175,end climb,FINISH_DEPTH_REACHED
$STATE,12175,begin subsurface finish
$FINISH1,8.8,1.021463,338
$GC,12181,0.34,337.8,2822,2597,948,804,8.8,9.6,819,12214,0.98,2.45,-24.88,0.000,20996,0.201,0.096,2550,1200,1854,1913,1796,0,0,0,0,0,0,14.00,14.20,14.49
$FINISH2,8.4
$STATE,12214,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12214,begin surface
$RAFOS_CLK,163
$RAFOS_FIX,7439.587891,-14400.636719,190914,080841,3,255,0.14
$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.63
$INTERNAL_PRESSURE,8.55339
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3968340
$24V_AH,12.38,197.015
$10V_AH,12.35,0.000
$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,4.475,76.250,600.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9840.160,627.194,1681.784,192.222,0.000,1309.395,0.000,1238.422,1477.000,0.535,0.000
$DEVICE_MAMPS,296.055,130.050,2043.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12267.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.140,0.000,0.000,0.000
$MEM,137388
$DATA_FILE_SIZE,30021,825
$CAP_FILE_SIZE,128684,0
$CFSIZE,2097872896,2007465984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,12178.38,0x2378b6,5,5
$SOUNDSPEED,1450.9
$GPS,190914,080841,7439.588,-14400.637,181,99.0,181,23.5