version: 66.13
glider: 223
mission: 5
dive: 472
start: 9 5 118 12 59 10
data:
$ID,223
$MISSION,5
$DIVE,472
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,330
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00375924
$HD_B,0.0090143103
$HD_C,2.26105e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$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,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$VBD_MAX,3960
$C_VBD,2782
$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,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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,-185.88379
$PRESSURE_SLOPE,0.0001081376
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.25
$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,0.0044087539
$SEABIRD_T_H,0.00063761615
$SEABIRD_T_I,2.5496534e-05
$SEABIRD_T_J,3.0755168e-06
$SEABIRD_C_G,-9.8995104
$SEABIRD_C_H,1.1242845
$SEABIRD_C_I,-0.0021703816
$SEABIRD_C_J,0.00023950715
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,050918,121600,-7408.5942,-11203.4219,0,3084.5,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.21
$_SM_ANGLEo,-7.8
$GPS2,050918,121600,-7408.5942,-11203.4219,0,3084.5,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,222.0,32864,-20.3,-10.000,-22.71,1648
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-1.06,-107.1,2808,2314,2792,2725,0.0,0.0,0,23,0.00,0.00,-10.60,0.011,16390,0.000,0.000,2808,2314,3220,3248,3193,0,0,0,0,0,0,15.05,12.78,15.04
$GC,26,-1.06,-107.1,2808,2314,3248,3193,0.0,0.0,0,32,1.00,2.50,0.00,0.000,4612,0.057,0.070,2445,885,3219,3248,3191,0,0,0,0,0,0,14.71,14.57,14.73
$GC,166,-1.06,-107.1,2445,885,3248,3193,32.2,-17.6,20,171,0.00,2.53,0.00,0.000,1030,0.000,0.071,2433,2304,3220,3248,3193,0,0,0,0,0,0,14.76,14.59,14.80
$GC,529,-1.06,-107.1,2433,2304,3247,3194,96.8,-21.1,36,534,0.00,2.58,0.00,0.000,260,0.000,0.103,2423,3716,3220,3248,3192,0,0,0,0,0,0,15.13,14.53,15.15
$GC,752,-1.06,-107.1,2427,3717,3250,3193,147.1,-21.8,68,759,0.12,2.47,0.00,0.000,3078,0.271,0.044,2453,2275,3220,3248,3192,0,0,0,0,0,0,14.19,14.68,14.38
$GC,1102,-1.06,-107.1,2453,2274,3248,3193,217.9,-20.1,82,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2274,3220,3248,3192,0,0,0,0,0,0,15.06,15.09,15.08
$GC,1452,-1.06,-107.1,2455,2274,3250,3193,284.2,-18.9,87,1458,0.00,2.70,0.00,0.000,260,0.000,0.104,2445,3729,3220,3248,3192,0,0,0,0,0,0,15.06,14.46,15.08
$GC,1487,-1.06,-107.1,2444,3730,3248,3189,290.7,-18.7,92,1493,0.00,2.47,0.00,0.000,1030,0.000,0.044,2444,2300,3219,3248,3191,0,0,0,0,0,0,14.73,14.69,14.76
$GC,1874,-1.06,-107.1,2444,2299,3247,3192,358.4,-17.7,102,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2295,3220,3248,3193,0,0,0,0,0,0,15.06,15.09,15.07
$GC,2222,-1.06,-107.1,2445,2299,3250,3192,415.8,-16.5,107,2228,0.00,2.55,0.00,0.000,516,0.000,0.073,2444,895,3219,3248,3191,0,0,0,0,0,0,15.06,14.45,15.08
$GC,2256,-1.06,-107.1,2444,895,3248,3191,422.0,-17.9,112,2263,0.00,2.55,0.00,0.000,1030,0.000,0.066,2434,2301,3219,3248,3191,0,0,0,0,0,0,14.59,14.52,14.66
$GC,2644,-1.06,-107.1,2433,2301,3248,3191,491.0,-17.9,122,2649,0.00,2.62,0.00,0.000,260,0.000,0.103,2423,3718,3219,3248,3191,0,0,0,0,0,0,15.06,14.47,15.08
$GC,2690,-1.06,-107.1,2423,3718,3249,3192,500.7,-20.4,129,2700,0.12,2.47,0.00,0.000,3078,0.262,0.045,2454,2288,3219,3248,3191,0,0,0,0,0,0,14.14,14.66,14.33
$GC,3064,-1.06,-107.1,2453,2287,3248,3191,566.7,-17.5,137,3070,0.00,2.50,0.00,0.000,516,0.000,0.072,2454,894,3219,3247,3191,0,0,0,0,0,0,15.05,14.49,15.08
$GC,3173,-1.06,-107.1,2454,895,3250,3192,587.0,-17.6,153,3184,0.00,2.58,0.00,0.000,1030,0.000,0.066,2445,2311,3219,3248,3191,0,0,0,0,0,0,14.58,14.48,14.64
$GC,3554,-1.06,-107.1,2446,2312,3250,3191,650.6,-16.4,162,3560,0.00,2.60,0.00,0.000,260,0.000,0.107,2434,3714,3218,3248,3189,0,0,0,0,0,0,15.04,14.40,15.07
$GC,3617,-1.06,-107.1,2435,3716,3250,3192,661.5,-17.8,171,3625,0.00,2.47,0.00,0.000,1030,0.000,0.044,2434,2289,3218,3248,3189,0,0,0,0,0,0,14.67,14.63,14.70
$PING,722.4,39.9,9000.0,0.00,0.00
$GC,3975,-1.06,-107.1,2434,2292,3248,3192,722.4,-17.1,177,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2291,3219,3248,3191,0,0,0,0,0,0,15.04,15.07,15.07
$PING,734.3,26.8,9000.0,0.00,0.00
$PING,746.3,20.2,19.1,-0.82,0.96
$PING,758.1,8.4,9000.0,-0.77,0.97
$STATE,4182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4182,begin apogee
$GC,4188,-0.23,0.0,2434,2062,3248,3192,758.1,-17.0,180,4312,1.10,0.10,121.28,3.086,10246,0.230,0.155,2723,2122,2782,2817,2748,0,0,0,0,0,0,14.15,13.58,12.20
$STATE,4313,end apogee,CONTROL_FINISHED_OK
$STATE,4313,begin climb
$GC,4316,1.06,107.1,2725,2122,2819,2748,762.9,0.0,181,4464,1.38,2.88,136.62,3.033,11012,0.110,0.095,3136,3497,2344,2389,2300,0,0,0,0,0,0,13.62,12.97,11.62
$GC,4490,1.14,174.7,3136,3497,2389,2297,760.2,5.8,213,4583,0.00,2.62,88.28,2.968,9254,0.000,0.042,3143,2130,2068,2130,2007,0,0,0,0,0,0,13.40,13.35,11.62
$PING,752.2,22.3,9000.0,-1.00,0.62
$PING,737.9,31.2,32.5,-1.03,0.87
$PING,725.9,38.0,9000.0,-0.60,1.00
$GC,4960,1.16,174.7,3141,2130,2121,1993,719.8,8.8,235,4966,0.00,2.67,0.00,0.000,580,0.000,0.088,3148,707,2056,2121,1992,0,0,0,0,0,0,14.76,14.33,14.78
$GC,5015,1.19,174.7,3149,707,2120,1992,714.9,8.6,243,5022,0.08,2.47,0.00,0.000,3142,0.090,0.054,3196,2093,2055,2120,1991,0,0,0,0,0,0,14.49,14.50,14.57
$GC,5379,1.19,174.7,3195,2094,2118,1991,675.3,11.0,250,5387,0.00,2.62,0.00,0.000,260,0.000,0.098,3196,3505,2054,2118,1991,0,0,0,0,0,0,15.06,14.52,15.09
$GC,5456,1.19,174.7,3197,3506,2120,1992,665.8,12.6,261,5463,0.00,2.45,0.00,0.000,1030,0.000,0.045,3201,2099,2054,2118,1990,0,0,0,0,0,0,14.76,14.71,14.80
$GC,5872,1.19,174.7,3201,2100,2119,1990,616.5,12.0,275,5877,0.00,2.58,0.00,0.000,260,0.000,0.097,3201,3512,2053,2117,1990,0,0,0,0,0,0,15.07,14.62,15.09
$GC,5904,1.19,174.7,3201,3512,2116,1990,611.8,13.8,280,5911,0.00,2.47,0.00,0.000,1030,0.000,0.046,3209,2089,2052,2116,1989,0,0,0,0,0,0,14.78,14.72,14.82
$GC,6290,1.19,174.7,3208,2089,2115,1990,565.9,11.8,290,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2088,2056,2116,1996,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6639,1.19,174.7,3208,2089,2115,1989,529.7,10.3,295,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2088,2052,2116,1989,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6990,1.20,174.7,3210,2089,2117,1989,496.4,9.4,300,6996,0.00,2.60,0.00,0.000,324,0.000,0.097,3208,3504,2052,2115,1989,0,0,0,0,0,0,15.09,14.60,15.12
$GC,7024,1.20,174.7,3210,3505,2117,1990,492.7,11.1,305,7031,0.00,2.45,0.00,0.000,1030,0.000,0.045,3217,2088,2052,2115,1989,0,0,0,0,0,0,14.77,14.71,14.81
$GC,7410,1.20,174.7,3218,2088,2116,1990,453.5,10.0,315,7416,0.00,2.60,0.00,0.000,260,0.000,0.094,3217,3512,2051,2114,1989,0,0,0,0,0,0,15.07,14.59,15.10
$GC,7444,1.20,174.7,3218,3512,2115,1990,449.9,10.5,320,7451,0.12,2.45,0.00,0.000,5126,0.257,0.046,3189,2093,2051,2114,1989,0,0,0,0,0,0,14.28,14.69,14.48
$GC,7832,1.24,174.7,3190,2092,2115,1989,418.3,8.1,330,7838,0.00,2.62,0.00,0.000,324,0.000,0.096,3189,3518,2051,2114,1988,0,0,0,0,0,0,15.07,14.57,15.10
$GC,7885,1.26,174.7,3190,3519,2116,1989,413.2,9.1,338,7893,0.00,2.47,0.00,0.000,1094,0.000,0.044,3194,2089,2051,2114,1988,0,0,0,0,0,0,14.71,14.66,14.77
$GC,8250,1.30,174.7,3192,2089,2114,1989,383.2,8.2,345,8251,0.00,0.00,0.00,0.000,70,0.000,0.000,3191,2087,2050,2113,1987,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8599,1.33,174.7,3191,2089,2113,1988,354.6,8.3,350,8600,0.12,0.00,0.00,0.000,2118,0.142,0.000,3241,2088,2050,2113,1988,0,0,0,0,0,0,14.80,14.91,14.89
$GC,8950,1.33,174.7,3241,2088,2112,1988,317.6,10.8,355,8956,0.00,2.62,0.00,0.000,260,0.000,0.094,3241,3516,2050,2112,1988,0,0,0,0,0,0,15.08,14.56,15.11
$GC,9005,1.33,174.7,3242,3520,2114,1989,309.4,15.1,363,9012,0.00,2.47,0.00,0.000,1030,0.000,0.044,3251,2088,2050,2112,1988,0,0,0,0,0,0,14.73,14.67,14.78
$GC,9369,1.33,174.7,3253,2088,2113,1989,266.3,11.4,370,9377,0.00,2.55,0.00,0.000,516,0.000,0.088,3263,701,2050,2112,1988,0,0,0,0,0,0,15.19,14.47,15.22
$GC,9411,1.33,174.7,3264,702,2113,1988,260.9,13.1,376,9418,0.12,2.47,0.00,0.000,5126,0.257,0.057,3231,2100,2049,2111,1988,0,0,0,0,0,0,14.20,14.59,14.39
$GC,9790,1.35,174.7,3230,2101,2111,1988,224.7,9.3,385,9796,0.00,2.58,0.00,0.000,324,0.000,0.093,3231,3517,2049,2111,1988,0,0,0,0,0,0,15.07,14.52,15.09
$GC,9852,1.35,174.7,3232,3518,2113,1989,217.5,11.3,394,9861,0.00,2.47,0.00,0.000,1030,0.000,0.047,3233,2097,2049,2111,1988,0,0,0,0,0,0,14.67,14.62,14.72
$GC,10210,1.38,174.7,3232,2098,2110,1988,187.9,8.5,403,10216,0.00,2.58,0.00,0.000,580,0.000,0.093,3233,685,2049,2110,1988,0,0,0,0,0,0,15.07,14.48,15.09
$GC,10279,1.39,174.7,3234,685,2111,1987,181.5,9.2,413,10286,0.00,2.53,0.00,0.000,1094,0.000,0.055,3233,2110,2048,2109,1987,0,0,0,0,0,0,14.59,14.51,14.67
$GC,10629,1.39,174.7,3234,2111,2111,1989,148.9,9.7,427,10636,0.00,2.60,0.00,0.000,260,0.000,0.097,3233,3500,2048,2109,1987,0,0,0,0,0,0,15.19,14.43,15.21
$GC,10664,1.39,174.7,3234,3504,2110,1988,145.1,11.3,432,10672,0.00,2.45,0.00,0.000,1030,0.000,0.047,3234,2098,2048,2109,1988,0,0,0,0,0,0,14.64,14.59,14.70
$GC,11023,1.41,174.7,3233,2098,2108,1988,115.0,9.1,447,11024,0.00,0.00,0.00,0.000,70,0.000,0.000,3233,2098,2048,2109,1988,0,0,0,0,0,0,15.14,15.16,15.16
$GC,11358,1.41,174.7,3235,2099,2111,1990,76.5,11.7,459,11364,0.00,2.60,0.00,0.000,260,0.000,0.097,3234,3507,2047,2108,1987,0,0,0,0,0,0,15.05,14.40,15.07
$GC,11420,1.41,174.7,3234,3508,2111,1988,68.5,12.9,468,11427,0.00,2.47,0.00,0.000,1030,0.000,0.044,3233,2088,2048,2109,1987,0,0,0,0,0,0,14.65,14.59,14.70
$GC,11777,1.41,174.7,3233,2089,2108,1988,33.5,10.0,483,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2088,2047,2108,1987,0,0,0,0,0,0,15.16,15.19,15.18
$FREEZE,8.62,-1.849,-1.878,2,69,0
$STATE,12028,end climb,FINISH_DEPTH_REACHED
$STATE,12028,begin subsurface finish
$FINISH1,8.6,1.027458,2
$GC,12034,0.00,2.1,3233,2088,2107,1987,8.6,10.7,492,12059,1.52,0.00,-22.02,0.005,20998,0.208,0.000,2797,2087,2775,2813,2738,0,0,0,0,0,0,14.19,12.51,14.54
$FINISH2,8.0
$STATE,12059,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12059,begin surface
$RAFOS_CLK,461
$RAFOS,2,1536160387,15.233334,15.218611,63,58,58,57,56,56,200,190,176,163,129,213
$RAFOS,1,1536160038,15.133333,15.121667,78,60,60,59,56,55,499,201,134,216,230,177
$RAFOS,0,1536159687,15.032778,15.024167,134,60,58,58,57,57,386,212,187,201,164,177
$RAFOS_FIX,-7409.402832,-11210.253906,050918,151548,2,106,0.36
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.039697,0.117593
$HUMID,50.66
$INTERNAL_PRESSURE,8.22882
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,746.3,19.1
$24V_AH,11.62,168.486
$10V_AH,11.86,0.000
$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,5.700,105.275,346.175,0.000,0.000,0.000,0.000,0.000,30.750,0.000,0.000,0.000,10354.193,495.404,1144.202,166.689,0.000,943.275,0.000,714.474,720.000,221.130,0.000
$DEVICE_MAMPS,270.810,155.295,3086.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.733,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,16792,496
$CAP_FILE_SIZE,93172,0
$CFSIZE,1024409600,963592192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$GPS,050918,150848,-7409.403,-11210.254,0,3106.0,0,53.2,0.0,0.0,0,0.0