version: 66.13
glider: 222
mission: 8
dive: 170
start: 2 15 118 14 3 11
data:
$ID,222
$MISSION,8
$DIVE,170
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,10
$D_FINISH,280
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53445
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177
$HD_B,0.0133
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3890
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031257649
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-170.62135
$PRESSURE_SLOPE,0.00010921927
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.3499999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044060913
$SEABIRD_T_H,0.00063889573
$SEABIRD_T_I,2.5185698e-05
$SEABIRD_T_J,3.0510489e-06
$SEABIRD_C_G,-9.8844519
$SEABIRD_C_H,1.1298814
$SEABIRD_C_I,-0.0013862044
$SEABIRD_C_J,0.00017915672
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,150218,121600,-7422.6572,-11226.0879,0,4138.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,346.38
$_SM_ANGLEo,2.9
$GPS2,150218,121600,-7422.6572,-11226.0879,0,4138.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,304.4,21604,-15.4,-9.429,-23.69,2278
$D_GRID,990
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.88,-146.0,2709,2482,2819,2603,0.0,0.0,0,12,0.00,0.05,-2.08,0.045,16390,0.000,1.403,2708,2498,3325,3464,3186,0,0,0,0,0,0,15.07,13.31,15.05
$PING,346.5,9.5,9000.0,0.00,0.00
$GC,14,-0.88,-146.0,2708,2498,3463,3192,0.0,0.0,0,21,0.90,2.53,0.00,0.000,4612,0.120,0.114,2416,1089,3327,3460,3194,0,0,0,0,0,0,14.74,14.71,14.83
$GC,49,-0.88,-146.0,2416,1089,3455,3200,349.0,-8.1,7,57,0.00,2.67,0.00,0.000,1030,0.000,0.126,2407,2502,3326,3453,3200,0,0,0,0,0,0,14.77,14.66,14.84
$PING,353.4,16.5,9000.0,0.00,0.00
$GC,355,-0.88,-146.0,2408,2502,3447,3208,382.2,-11.5,38,360,0.00,2.42,0.00,0.000,260,0.000,0.153,2398,3753,3326,3446,3207,0,0,0,0,0,0,15.09,14.63,15.12
$GC,465,-0.88,-146.0,2398,3754,3444,3210,395.8,-12.3,60,471,0.00,2.25,0.00,0.000,1030,0.000,0.097,2398,2489,3326,3443,3209,0,0,0,0,0,0,14.90,14.77,14.93
$GC,775,-0.88,-146.0,2398,2490,3444,3212,431.5,-11.2,92,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2490,3326,3443,3209,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1075,-0.88,-146.0,2398,2490,3443,3209,464.9,-11.0,122,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2490,3325,3442,3209,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1375,-0.88,-146.0,2398,2490,3442,3210,497.9,-10.8,152,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2490,3323,3438,3209,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1675,-0.88,-146.0,2398,2490,3442,3210,530.1,-10.7,182,1680,0.00,2.45,0.00,0.000,260,0.000,0.153,2389,3746,3325,3440,3210,0,0,0,0,0,0,15.09,14.61,15.11
$GC,1705,-0.88,-146.0,2389,3746,3440,3212,533.5,-11.8,188,1710,0.00,2.28,0.00,0.000,1030,0.000,0.096,2389,2494,3324,3438,3211,0,0,0,0,0,0,14.81,14.73,14.85
$GC,2015,-0.88,-146.0,2389,2494,3439,3212,568.5,-11.4,220,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2494,3324,3438,3211,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2315,-0.88,-146.0,2390,2495,3439,3212,601.9,-11.0,250,2320,0.00,2.45,0.00,0.000,260,0.000,0.154,2380,3753,3324,3438,3211,0,0,0,0,0,0,15.09,14.60,15.11
$GC,2355,-0.88,-146.0,2380,3754,3438,3213,606.6,-11.8,258,2361,0.12,2.28,0.00,0.000,3078,0.259,0.096,2413,2498,3324,3437,3212,0,0,0,0,0,0,14.50,14.73,14.67
$GC,2665,-0.88,-146.0,2414,2499,3438,3212,635.9,-9.3,290,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2498,3324,3437,3212,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2965,-0.88,-146.0,2413,2498,3438,3212,664.4,-9.6,320,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2498,3325,3438,3212,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3265,-0.88,-146.0,2413,2499,3438,3213,692.9,-9.4,350,3271,0.00,2.58,0.00,0.000,516,0.000,0.112,2413,1088,3324,3437,3212,0,0,0,0,0,0,15.09,14.67,15.12
$GC,3290,-0.88,-146.0,2413,1088,3438,3212,695.3,-10.1,355,3297,0.00,2.70,0.00,0.000,1030,0.000,0.125,2404,2509,3324,3437,3212,0,0,0,0,0,0,14.74,14.62,14.81
$GC,3615,-0.88,-146.0,2404,2510,3437,3213,726.5,-9.5,370,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2509,3324,3437,3212,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3975,-0.88,-146.0,2404,2510,3438,3214,760.3,-9.3,382,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2509,3324,3437,3212,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4335,-0.88,-146.0,2405,2514,3438,3213,793.9,-9.2,394,4341,0.00,2.60,0.00,0.000,516,0.000,0.110,2404,1079,3325,3437,3213,0,0,0,0,0,0,15.11,14.69,15.14
$GC,4365,-0.88,-146.0,2405,1080,3438,3212,796.9,-7.9,400,4372,0.00,2.67,0.00,0.000,1030,0.000,0.123,2395,2517,3324,3437,3212,0,0,0,0,0,0,14.85,14.66,14.90
$GC,4756,-0.88,-146.0,2395,2518,3438,3214,835.4,-9.8,418,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2517,3325,3437,3213,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5116,-0.88,-146.0,2395,2518,3438,3213,871.4,-9.9,430,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2517,3324,3437,3212,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5476,-0.88,-146.0,2395,2518,3437,3214,906.8,-9.9,442,5482,0.00,2.60,0.00,0.000,516,0.000,0.109,2395,1088,3325,3437,3213,0,0,0,0,0,0,15.13,14.70,15.16
$GC,5526,-0.88,-146.0,2395,1089,3437,3214,911.9,-10.2,452,5532,0.08,2.67,0.00,0.000,3078,0.283,0.122,2412,2504,3323,3433,3213,0,0,0,0,0,0,14.49,14.63,14.80
$GC,5897,-0.88,-146.0,2413,2505,3438,3213,945.2,-8.8,466,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2505,3325,3437,3213,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6256,-0.88,-146.0,2412,2505,3438,3213,978.0,-9.2,478,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2505,3325,3437,3213,0,0,0,0,0,0,15.13,15.16,15.16
$STATE,6405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6405,begin apogee
$GC,6409,-0.23,0.0,2413,2195,3438,3213,992.0,-9.2,483,6640,0.77,0.00,222.77,2.351,10246,0.227,0.000,2621,2195,2713,2766,2660,0,0,0,0,1,0,14.55,13.41,12.24
$STATE,6641,end apogee,CONTROL_FINISHED_OK
$STATE,6641,begin climb
$PING,987.8,16.9,9000.0,0.01,0.30
$PING,973.0,17.2,9000.0,0.00,0.80
$PING,966.0,25.6,9000.0,-0.34,0.59
$PING,958.9,15.4,9000.0,0.13,0.03
$GC,6642,0.88,146.0,2622,2195,2768,2660,998.2,0.0,490,7176,1.25,0.00,527.05,1.189,10758,0.140,0.000,2976,2194,2120,2152,2088,0,0,0,0,0,0,13.42,13.69,13.18
$GC,7516,0.88,146.0,2977,2195,2134,2066,899.1,13.1,560,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2195,2099,2133,2066,0,0,0,0,0,0,14.66,14.69,14.69
$GC,7877,0.88,146.0,2976,2194,2133,2064,852.5,12.8,572,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2194,2097,2131,2064,0,0,0,0,0,0,14.90,14.93,14.93
$GC,8237,0.88,146.0,2976,2195,2131,2063,807.4,12.6,584,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2194,2097,2131,2063,0,0,0,0,0,0,15.01,15.03,15.03
$GC,8597,0.88,146.0,2976,2195,2131,2063,761.6,12.9,596,8602,0.00,2.60,0.00,0.000,516,0.000,0.126,2986,788,2096,2130,2062,0,0,0,0,0,0,15.06,14.71,15.09
$GC,8617,0.88,146.0,2990,789,2130,2063,758.9,12.9,600,8622,0.00,2.60,0.00,0.000,1030,0.000,0.112,2986,2215,2096,2130,2062,0,0,0,0,0,0,14.88,14.73,14.92
$GC,8988,0.88,146.0,2987,2214,2130,2062,708.6,13.5,614,8993,0.00,2.65,0.00,0.000,260,0.000,0.143,2986,3620,2095,2129,2061,0,0,0,0,0,0,15.05,14.72,15.08
$GC,9007,0.88,146.0,2987,3621,2130,2063,705.6,15.0,618,9013,0.00,2.60,0.00,0.000,1030,0.000,0.100,2997,2196,2095,2130,2061,0,0,0,0,0,0,14.84,14.76,14.88
$GC,9377,0.88,146.0,2997,2194,2130,2062,653.8,13.8,654,9383,0.00,2.62,0.00,0.000,516,0.000,0.128,3007,775,2095,2129,2061,0,0,0,0,0,0,15.08,14.72,15.11
$GC,9432,0.88,146.0,3008,775,2129,2061,646.1,14.0,665,9442,0.00,2.60,0.00,0.000,1030,0.000,0.112,3008,2204,2094,2128,2061,0,0,0,0,0,0,14.89,14.73,14.93
$GC,9738,0.88,146.0,3007,2205,2130,2062,602.6,14.2,696,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2204,2094,2128,2061,0,0,0,0,0,0,15.04,15.07,15.07
$GC,10038,0.88,146.0,3008,2204,2129,2060,560.4,14.0,726,10043,0.00,2.62,0.00,0.000,516,0.000,0.126,3018,780,2094,2128,2060,0,0,0,0,0,0,15.05,14.72,15.08
$GC,10067,0.88,146.0,3018,780,2129,2062,556.1,13.9,732,10074,0.12,2.65,0.00,0.000,5126,0.216,0.114,2983,2204,2094,2128,2060,0,0,0,0,0,0,14.62,14.71,14.76
$GC,10378,0.88,146.0,2983,2205,2128,2061,517.9,12.0,764,10384,0.00,2.67,0.00,0.000,260,0.000,0.145,2983,3616,2092,2124,2060,0,0,0,0,0,0,15.10,14.71,15.13
$GC,10403,0.88,146.0,2983,3616,2128,2060,514.6,13.3,769,10410,0.00,2.60,0.00,0.000,1030,0.000,0.100,2993,2166,2093,2127,2060,0,0,0,0,0,0,14.90,14.76,14.95
$GC,10708,0.88,146.0,2993,2165,2128,2060,476.1,12.5,800,10714,0.00,2.55,0.00,0.000,516,0.000,0.129,3003,782,2093,2127,2060,0,0,0,0,0,0,15.11,14.71,15.14
$GC,10738,0.88,146.0,3003,782,2128,2060,472.2,13.1,806,10744,0.00,2.65,0.00,0.000,1030,0.000,0.115,3003,2208,2093,2127,2060,0,0,0,0,0,0,14.93,14.71,14.97
$GC,11049,0.88,146.0,3003,2209,2128,2061,432.1,12.8,838,11054,0.00,2.67,0.00,0.000,260,0.000,0.146,3002,3621,2093,2127,2059,0,0,0,0,0,0,15.06,14.70,15.09
$GC,11088,0.88,146.0,3003,3623,2128,2061,426.2,14.9,846,11095,0.08,2.62,0.00,0.000,5126,0.243,0.102,2985,2191,2093,2127,2060,0,0,0,0,0,0,14.62,14.73,14.88
$PING,418.3,71.5,9000.0,-0.09,0.97
$PING,411.2,64.1,9000.0,-0.10,0.98
$PING,404.2,56.9,56.9,1.03,1.00
$PING,397.0,49.4,49.5,1.04,1.00
$PING,390.0,42.0,42.0,1.05,1.00
$GC,11399,0.88,146.0,2986,2189,2128,2060,388.8,11.7,878,11405,0.00,2.60,0.00,0.000,516,0.000,0.130,2995,785,2093,2127,2059,0,0,0,0,0,0,15.12,14.71,15.14
$PING,383.4,35.2,35.2,1.04,1.00
$GC,11445,0.88,146.0,2995,786,2128,2061,383.4,12.0,887,11452,0.00,2.60,0.00,0.000,1030,0.000,0.116,2995,2206,2093,2127,2059,0,0,0,0,0,0,14.88,14.73,14.91
$PING,376.8,28.7,28.6,1.02,1.00
$PING,370.8,22.2,22.3,1.03,1.00
$PING,364.8,16.3,16.2,1.02,1.00
$PING,357.6,9.3,9.3,0.98,1.00
$STATE,11678,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11678,begin subsurface finish
$FINISH1,355.3,1.027418,4
$GC,11681,0.01,4.2,2995,2205,2128,2060,355.3,11.9,911,11694,1.00,2.75,-2.17,0.052,20740,0.202,0.171,2705,3620,2713,2825,2602,0,0,0,0,0,0,14.61,13.29,14.76
$FINISH2,354.2
$STATE,11694,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11694,begin surface
$RAFOS_CLK,421
$RAFOS,2,1518707606,15.233334,15.223889,144,63,58,55,52,51,507,132,187,170,226,159
$RAFOS,1,1518707246,15.133333,15.123889,112,61,59,53,52,52,460,180,209,160,219,169
$RAFOS,0,1518706886,15.032778,15.023889,148,60,54,49,49,49,449,211,158,137,223,187
$RAFOS_FIX,-7420.880371,-11227.534180,150218,151512,3,135,0.31
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.041195,0.278628
$HUMID,47.83
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,357.6,9.3
$24V_AH,12.24,74.072
$10V_AH,12.27,0.000
$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,4.325,82.500,749.825,0.000,0.000,0.000,0.000,0.000,45.000,0.000,0.000,0.000,8950.284,790.720,1938.203,102.006,0.000,1505.581,0.000,1308.444,720.000,320.728,0.000
$DEVICE_MAMPS,283.050,1403.010,2350.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11714.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.183,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,29994,913
$CAP_FILE_SIZE,117008,0
$CFSIZE,1024409600,1000308736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.5
$GPS,150218,151512,-7420.880,-11227.534,0,4134.7,0,53.5,0.0,0.0,0,0.0