version: 66.04
glider: 108
mission: 11
dive: 688
start: 1 17 109 15 16 20
data:
$ID,108
$MISSION,11
$DIVE,688
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,15
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-134192.94
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,093936,6609.775,-5721.521,11,1.3,27,-36.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-22.8
$GPS2,093936,6609.775,-5721.521,11,1.3,27,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,50.3,101501,-13.0,-7.021
$D_GRID,619
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,101,0.00,0.00,-80.00,0.000,6,0.000,0.000,326,2250,3247
$GC,106,-0.99,-146.0,2.3,-0.2,15,120,8.80,2.38,0.00,0.000,4,0.237,0.054,2471,811,3249
$GC,213,-0.81,-146.0,17.9,-11.8,33,220,0.15,2.28,0.00,0.000,6,0.131,0.052,2505,2235,3251
$GC,561,-0.81,-146.0,51.0,-11.3,94,567,0.00,2.22,0.00,0.000,4,0.000,0.067,2496,3597,3251
$GC,665,-0.81,-146.0,60.7,-9.0,112,671,0.00,2.17,0.00,0.000,6,0.000,0.044,2497,2207,3250
$GC,1012,-0.81,-146.0,89.9,-9.0,173,1018,0.00,2.22,0.00,0.000,4,0.000,0.057,2496,815,3250
$GC,1065,-0.81,-146.0,95.2,-10.0,182,1072,0.00,2.33,0.00,0.000,6,0.000,0.056,2487,2233,3250
$GC,1388,-0.81,-146.0,124.6,-8.5,204,1392,0.00,2.22,0.00,0.000,4,0.000,0.068,2476,3604,3249
$GC,1496,-0.81,-146.0,133.7,-8.8,208,1503,0.12,2.17,0.00,0.000,6,0.138,0.044,2510,2213,3248
$GC,1814,-0.90,-146.0,152.1,-5.3,224,1818,0.10,2.22,0.00,0.000,4,0.084,0.055,2461,815,3248
$GC,1956,-0.77,-146.0,163.2,-8.0,230,1960,0.22,2.30,0.00,0.000,6,0.127,0.055,2516,2234,3247
$GC,2284,-0.90,-146.0,178.5,-4.1,246,2286,0.12,0.00,0.00,0.000,6,0.076,0.000,2459,2234,3248
$GC,2594,-0.83,-146.0,193.6,-4.7,261,2596,0.15,0.00,0.00,0.000,6,0.137,0.000,2501,2234,3247
$GC,2902,-0.92,-146.0,208.5,-6.0,276,2907,0.10,2.28,0.00,0.000,4,0.087,0.052,2454,819,3248
$GC,3021,-0.79,-146.0,218.4,-8.2,281,3026,0.22,2.28,0.00,0.000,6,0.124,0.052,2509,2238,3248
$GC,3343,-0.91,-146.0,237.2,-5.1,296,3345,0.10,0.00,0.00,0.000,6,0.081,0.000,2460,2238,3249
$GC,3648,-0.86,-146.0,255.8,-6.3,311,3653,0.12,2.28,0.00,0.000,4,0.138,0.051,2496,819,3250
$GC,3735,-0.86,-146.0,261.0,-6.2,315,3739,0.00,2.28,0.00,0.000,6,0.000,0.051,2487,2247,3250
$GC,4072,-0.86,-146.0,279.4,-5.5,331,4075,0.00,2.28,0.00,0.000,4,0.000,0.051,2487,817,3251
$GC,4225,-0.86,-146.0,288.7,-5.9,337,4232,0.00,2.28,0.00,0.000,6,0.000,0.051,2477,2244,3251
$GC,4543,-0.86,-146.0,304.8,-4.5,353,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2244,3252
$GC,4852,-0.86,-146.0,317.6,-4.2,368,4855,0.00,2.28,0.00,0.000,4,0.000,0.051,2477,816,3253
$GC,4916,-0.81,-146.0,320.5,-5.3,370,4923,0.15,2.28,0.00,0.000,6,0.122,0.050,2510,2235,3253
$GC,5234,-0.96,-146.0,331.2,-3.6,386,5238,0.15,2.25,0.00,0.000,4,0.066,0.049,2442,817,3254
$GC,5325,-0.80,-146.0,336.4,-6.2,390,5330,0.25,2.25,0.00,0.000,6,0.123,0.050,2506,2234,3253
$GC,5655,-0.92,-146.0,348.3,-3.7,406,5660,0.10,2.25,0.00,0.000,4,0.081,0.048,2455,817,3254
$GC,5730,-0.80,-146.0,352.1,-5.5,409,5735,0.22,2.28,0.00,0.000,6,0.123,0.049,2511,2246,3254
$GC,6048,-0.95,-146.0,362.3,-2.8,424,6053,0.15,2.28,0.00,0.000,4,0.067,0.048,2443,817,3255
$GC,6113,-0.79,-146.0,365.4,-5.4,427,6117,0.28,2.28,0.00,0.000,6,0.123,0.049,2514,2245,3255
$GC,6447,-0.95,-146.0,376.0,-3.2,443,6448,0.15,0.00,0.00,0.000,6,0.066,0.000,2445,2245,3255
$GC,6756,-0.86,-146.0,391.2,-4.9,458,6758,0.17,0.00,0.00,0.000,6,0.133,0.000,2495,2245,3256
$GC,7066,-0.96,-146.0,400.1,-2.6,473,7070,0.10,2.25,0.00,0.000,4,0.081,0.049,2446,823,3256
$GC,7168,-0.81,-146.0,404.8,-4.9,475,7173,0.25,2.28,0.00,0.000,6,0.124,0.049,2509,2243,3256
$GC,7484,-0.96,-146.0,413.5,-2.9,483,7486,0.15,0.00,0.00,0.000,6,0.067,0.000,2441,2243,3257
$GC,7808,-0.85,-146.0,430.0,-5.3,491,7813,0.20,2.28,0.00,0.000,4,0.134,0.048,2508,815,3257
$GC,7922,-0.94,-146.0,435.0,-4.9,493,7927,0.10,2.28,0.00,0.000,6,0.073,0.048,2449,2235,3257
$GC,8261,-0.87,-146.0,453.7,-5.7,502,8263,0.15,0.00,0.00,0.000,6,0.135,0.000,2491,2235,3257
$GC,8586,-0.95,-146.0,468.3,-4.5,510,8590,0.00,2.28,0.00,0.000,4,0.000,0.048,2492,810,3258
$GC,8725,-0.95,-146.0,474.9,-5.5,513,8729,0.00,2.25,0.00,0.000,6,0.000,0.048,2484,2235,3258
$GC,9057,-1.00,-146.0,490.6,-4.8,521,9062,0.08,2.25,0.00,0.000,4,0.087,0.048,2436,817,3258
$GC,9127,-0.83,-146.0,495.1,-6.5,522,9131,0.25,2.25,0.00,0.000,6,0.124,0.047,2500,2243,3258
$GC,9477,-0.95,-146.0,511.0,-4.4,531,9479,0.10,0.00,0.00,0.000,6,0.081,0.000,2452,2243,3258
$GC,9801,-0.89,-146.0,529.4,-5.9,539,9806,0.15,2.28,0.00,0.000,4,0.134,0.048,2494,822,3258
$GC,9915,-0.89,-146.0,535.4,-4.4,541,9919,0.00,2.25,0.00,0.000,6,0.000,0.048,2486,2230,3258
$GC,10265,-0.95,-146.0,554.6,-5.4,550,10269,0.00,2.25,0.00,0.000,4,0.000,0.048,2487,816,3258
$GC,10333,-0.95,-146.0,558.6,-5.9,551,10337,0.00,2.28,0.00,0.000,6,0.000,0.048,2477,2234,3258
$GC,10684,-0.95,-146.0,578.3,-5.5,560,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2233,3258
$GC,11008,-0.95,-146.0,595.2,-5.0,568,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2233,3258
$GC,11333,-0.95,-146.0,611.7,-4.9,576,11337,0.00,2.25,0.00,0.000,4,0.000,0.048,2476,822,3258
$GC,11436,-0.95,-146.0,617.3,-5.1,578,11440,0.00,2.28,0.00,0.000,6,0.000,0.049,2467,2235,3259
$STATE,11468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11468,begin apogee
$GC,11478,-0.31,0.0,619.2,5.2,579,11610,0.47,0.00,129.45,1.156,6,0.114,0.000,2618,1732,2650
$STATE,11612,end apogee,CONTROL_FINISHED_OK
$STATE,11612,begin climb
$GC,11616,0.99,146.0,620.6,0.0,582,11755,0.82,2.50,131.40,1.091,4,0.086,0.054,2904,334,2054
$GC,11778,0.82,146.0,605.8,10.7,585,11785,0.20,2.42,0.00,0.000,6,0.130,0.041,2852,1736,2052
$GC,12110,0.82,146.0,576.4,8.8,594,12114,0.00,2.28,0.00,0.000,4,0.000,0.057,2852,3165,2047
$GC,12197,0.68,146.0,568.4,9.5,595,12204,0.12,2.25,0.00,0.000,6,0.133,0.041,2825,1723,2046
$GC,12530,0.76,150.8,545.1,6.9,604,12539,0.00,2.35,3.92,0.673,4,0.000,0.054,2824,3155,2035
$GC,12558,0.76,150.8,542.9,7.5,604,12562,0.00,2.20,0.00,0.000,6,0.000,0.041,2833,1731,2035
$GC,12903,0.76,154.6,518.9,6.9,613,12912,0.00,2.28,4.97,0.792,4,0.000,0.054,2833,3153,2020
$GC,12943,0.71,154.6,515.8,7.9,614,12947,0.00,2.20,0.00,0.000,6,0.000,0.041,2843,1728,2019
$GC,13275,0.71,154.6,490.3,7.9,622,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1728,2019
$GC,13601,0.71,154.6,464.0,8.2,630,13605,0.00,2.33,0.00,0.000,4,0.000,0.055,2843,3166,2018
$GC,13641,0.60,154.6,460.3,8.8,630,13648,0.17,2.22,0.00,0.000,6,0.124,0.041,2802,1731,2017
$GC,13975,0.84,210.7,442.0,5.2,639,14027,0.20,0.00,49.58,1.058,6,0.054,0.000,2898,1731,1791
$GC,14340,0.69,210.7,402.1,11.6,648,14342,0.22,0.00,0.00,0.000,6,0.120,0.000,2829,1731,1783
$GC,14648,0.78,210.7,377.9,7.6,662,14652,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,3152,1782
$GC,14688,0.78,210.7,374.3,9.4,663,14694,0.00,2.20,0.00,0.000,6,0.000,0.041,2837,1733,1781
$GC,15006,0.83,210.7,349.2,7.8,679,15010,0.08,2.30,0.00,0.000,4,0.091,0.054,2884,3162,1781
$GC,15029,0.75,210.7,346.8,9.2,680,15034,0.20,2.22,0.00,0.000,6,0.124,0.041,2835,1730,1780
$GC,15353,0.81,210.7,321.5,7.5,696,15355,0.08,0.00,0.00,0.000,6,0.085,0.000,2884,1730,1780
$GC,15662,0.72,210.7,289.9,9.9,711,15666,0.17,2.22,0.00,0.000,4,0.116,0.053,2839,337,1780
$GC,15686,0.72,210.7,287.7,8.6,712,15689,0.00,2.20,0.00,0.000,6,0.000,0.041,2839,1750,1780
$GC,16020,0.78,210.7,262.9,7.6,728,16024,0.00,2.22,0.00,0.000,4,0.000,0.054,2839,3154,1780
$GC,16068,0.78,210.7,259.2,8.2,730,16072,0.00,2.20,0.00,0.000,6,0.000,0.041,2849,1727,1779
$GC,16401,0.78,210.7,232.3,8.1,746,16405,0.00,2.28,0.00,0.000,4,0.000,0.053,2849,3144,1779
$GC,16430,0.78,210.7,229.7,9.0,747,16434,0.00,2.17,0.00,0.000,6,0.000,0.041,2859,1733,1779
$GC,16759,0.78,210.7,201.6,8.6,763,16764,0.00,2.28,0.00,0.000,4,0.000,0.054,2859,3155,1780
$GC,16784,0.78,210.7,199.3,9.0,764,16788,0.00,2.20,0.00,0.000,6,0.000,0.041,2869,1728,1780
$GC,17118,0.78,210.7,166.5,9.8,780,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1728,1779
$GC,17429,0.78,210.7,138.0,9.2,795,17433,0.00,2.22,0.00,0.000,4,0.000,0.054,2878,331,1780
$GC,17458,0.78,210.7,135.4,9.0,796,17463,0.12,2.20,0.00,0.000,6,0.111,0.041,2841,1751,1780
$GC,17786,1.01,243.5,115.6,6.0,812,17822,0.17,2.30,28.02,0.823,4,0.057,0.054,2929,3155,1657
$GC,17854,0.81,243.5,109.3,10.8,815,17859,0.30,2.22,0.00,0.000,6,0.123,0.040,2849,1733,1654
$GC,18187,1.06,266.9,89.1,6.3,853,18212,0.20,0.00,21.33,0.795,6,0.056,0.000,2953,1733,1561
$GC,18553,0.93,266.9,49.6,9.9,917,18559,0.22,0.00,0.00,0.000,6,0.118,0.000,2879,1732,1556
$GC,18901,1.21,347.5,30.6,4.4,978,18978,0.20,2.35,70.12,0.793,4,0.056,0.056,2977,3141,1232
$GC,19004,1.04,347.5,19.9,10.5,995,19011,0.28,2.25,0.00,0.000,6,0.126,0.043,2906,1727,1228
$FREEZE,6.76,-0.966,-1.815
$FREEZE,6.21,-0.963,-1.814
$FREEZE,5.72,-0.967,-1.814
$FREEZE,5.39,-0.964,-1.814
$FREEZE,5.17,-0.955,-1.813
$FREEZE,4.97,-0.959,-1.813
$FREEZE,4.45,-0.951,-1.813
$FREEZE,3.91,-0.964,-1.813
$FREEZE,3.47,-0.942,-1.812
$FREEZE,2.86,-0.945,-1.811
$STATE,19204,end climb,SURFACE_DEPTH_REACHED
$STATE,19204,begin surface coast
$FREEZE,2.59,-0.988,-1.812
$FREEZE,2.28,-0.977,-1.812
$FREEZE,1.99,-1.015,-1.811
$FREEZE,1.67,-1.036,-1.811
$FREEZE,1.40,-0.995,-1.138
$FREEZE,1.48,-1.027,-1.811
$FREEZE,1.36,-1.030,-1.810
$FREEZE,1.33,-2.061,-1.876
$FINISH,1.3,1.027517
$STATE,19254,end surface coast,FINISH_DEPTH_REACHED
$STATE,19254,begin surface
$SM_CCo,19337,0.00,0.000,0,0,1218,351.27
$SM_GC,2.12,6.88,0.00,0.00,0.044,0.000,0.000,329,2249,1218,-10.70,0.54,351.27
$RAFOS_CLK,802
$RAFOS,2,1232223844,20.416666,20.401112,57,54,51,51,51,50,189,145,175,206,222,95
$RAFOS,1,1232223243,20.250000,20.234167,61,59,58,56,54,52,193,149,202,169,123,159
$RAFOS,0,1232222658,20.083334,20.071667,62,60,56,55,52,51,198,216,121,227,175,140
$RAFOS,4,1232210645,16.750000,16.734722,63,63,61,60,58,57,116,152,211,224,185,198
$RAFOS,3,1232210042,16.583334,16.567223,76,64,52,51,50,50,163,205,150,222,84,180
$RAFOS,2,1232209444,16.416666,16.401112,64,63,59,58,58,52,220,189,173,201,121,144
$RAFOS,1,1232208858,16.250000,16.238333,63,59,58,55,55,51,195,221,209,177,155,131
$RAFOS,0,1232208257,16.083334,16.071388,57,54,51,50,48,46,197,227,206,132,158,178
$RAFOS_FIX,6613.218750,-5733.207031,160109,202056,2,73,0.51
$IRIDIUM_FIX,6543.17,-5719.08,130498,090959
$TT8_MAMPS,0.029146
$HUMID,1806
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.90
$XPDR_PINGS,233
$24V_AH,21.9,104.403
$10V_AH,10.4,46.506
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.500,150.900,438.800,0.000,0.000,103.189,85.357,0.000,58.250,0.000,0.000,183.215,1947.841,14491.864,554.654,2277.883,927.163,0.000,1691.859,0.000,2074.948,3240.000,0.532,0.000
$DEVICE_MAMPS,237.003,68.263,1155.869,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34722,1038
$CAP_FILE_SIZE,155120,0
$CFSIZE,260165632,209453056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.2
$GPS,170109,204016,6610.731,-5716.824,37,0.9,47,-36.5