version: 66.08
glider: 141
mission: 15
dive: 49
start: 2 27 111 17 11 1
data:
$ID,141
$MISSION,15
$DIVE,49
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-22406.588
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,270211,162504,6659.223,-5954.440,0,4112.2,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.43
$_SM_ANGLEo,-2.1
$GPS2,270211,162504,6659.223,-5954.440,0,4112.2,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$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,257.3,36440,-17.5,-10.000
$D_GRID,881
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.60,0.000,2,0.000,0.000,2897,2273,3005,0,0,0,0,0,0
$GC,26,-0.62,-146.0,11.2,-0.0,1,51,0.62,1.95,-15.45,0.000,4,0.074,0.086,2659,1083,3630,0,0,0,0,0,0
$GC,260,-0.47,-146.0,52.2,-17.1,42,267,0.20,2.28,0.00,0.000,6,0.239,0.062,2705,2488,3631,0,0,0,0,0,0
$GC,604,-0.42,-146.0,103.0,-13.7,101,608,0.00,2.30,0.00,0.000,4,0.000,0.077,2705,3898,3630,0,0,0,0,0,0
$GC,630,-0.38,-146.0,107.0,-13.7,103,638,0.12,2.20,0.00,0.000,6,0.210,0.050,2736,2485,3630,0,0,0,0,0,0
$GC,957,-0.43,-146.0,140.8,-10.7,134,961,0.00,2.20,0.00,0.000,4,0.000,0.065,2736,1085,3630,0,0,0,0,0,0
$GC,986,-0.49,-146.0,144.2,-11.2,136,990,0.00,2.25,0.00,0.000,6,0.000,0.060,2736,2497,3630,0,0,0,0,0,0
$GC,1318,-0.56,-146.0,167.2,-5.5,167,1322,0.15,2.28,0.00,0.000,4,0.123,0.077,2685,3897,3630,0,0,0,0,0,0
$GC,1346,-0.56,-146.0,169.5,-8.7,169,1350,0.00,2.17,0.00,0.000,6,0.000,0.049,2685,2489,3630,0,0,0,0,0,0
$GC,1671,-0.51,-146.0,212.3,-15.4,199,1675,0.00,2.22,0.00,0.000,4,0.000,0.066,2685,1086,3630,0,0,0,0,0,0
$GC,1711,-0.49,-146.0,218.4,-15.0,202,1716,0.00,2.25,0.00,0.000,6,0.000,0.061,2685,2492,3629,0,0,0,0,0,0
$GC,2038,-0.46,-146.0,260.0,-11.4,232,2043,0.12,2.28,0.00,0.000,4,0.231,0.067,2714,1086,3628,0,0,0,0,0,0
$GC,2059,-0.46,-146.0,262.8,-11.7,233,2066,0.00,2.28,0.00,0.000,6,0.000,0.061,2713,2497,3628,0,0,0,0,0,0
$GC,2386,-0.51,-146.0,291.7,-9.3,264,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2497,3628,0,0,0,0,0,0
$GC,2705,-0.56,-146.0,319.5,-8.1,294,2709,0.00,2.25,0.00,0.000,4,0.000,0.076,2713,3900,3628,0,0,0,0,0,0
$GC,2745,-0.65,-146.0,323.0,-8.0,297,2750,0.17,2.20,0.00,0.000,6,0.116,0.046,2655,2478,3627,0,0,0,0,0,0
$GC,3070,-0.57,-146.0,366.2,-14.4,327,3074,0.00,2.17,0.00,0.000,4,0.000,0.066,2654,1086,3628,0,0,0,0,0,0
$GC,3093,-0.47,-146.0,369.6,-14.8,328,3100,0.20,2.25,0.00,0.000,6,0.218,0.061,2703,2496,3628,0,0,0,0,0,0
$GC,3418,-0.51,-146.0,404.4,-10.1,359,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2497,3628,0,0,0,0,0,0
$GC,3738,-0.56,-146.0,433.8,-8.6,389,3742,0.00,2.28,0.00,0.000,4,0.000,0.077,2703,3905,3629,0,0,0,0,0,0
$GC,3765,-0.62,-146.0,436.4,-8.2,391,3772,0.12,2.20,0.00,0.000,6,0.129,0.047,2663,2484,3629,0,0,0,0,0,0
$GC,4090,-0.56,-146.0,474.0,-11.8,422,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2485,3629,0,0,0,0,0,0
$GC,4410,-0.50,-146.0,511.6,-11.6,452,4415,0.15,2.22,0.00,0.000,4,0.224,0.065,2698,1080,3629,0,0,0,0,0,0
$GC,4439,-0.50,-146.0,514.8,-9.9,454,4443,0.00,2.25,0.00,0.000,6,0.000,0.060,2699,2497,3629,0,0,0,0,0,0
$GC,4764,-0.55,-146.0,542.6,-8.3,484,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2497,3629,0,0,0,0,0,0
$GC,5084,-0.59,-146.0,568.4,-7.9,514,5088,0.00,2.25,0.00,0.000,4,0.000,0.076,2698,3905,3630,0,0,0,0,0,0
$GC,5125,-0.67,-146.0,571.8,-8.0,517,5129,0.15,2.15,0.00,0.000,6,0.122,0.045,2649,2489,3630,0,0,0,0,0,0
$GC,5467,-0.59,-146.0,610.9,-11.4,543,5471,0.00,2.20,0.00,0.000,4,0.000,0.062,2649,1083,3630,0,0,0,0,0,0
$GC,5496,-0.50,-146.0,614.4,-12.8,544,5501,0.20,2.22,0.00,0.000,6,0.221,0.060,2698,2490,3630,0,0,0,0,0,0
$GC,5832,-0.55,-146.0,639.8,-7.3,555,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,3630,0,0,0,0,0,0
$GC,6138,-0.61,-146.0,661.6,-7.0,565,6142,0.00,2.30,0.00,0.000,4,0.000,0.076,2698,3903,3631,0,0,0,0,0,0
$GC,6171,-0.68,-146.0,664.1,-6.9,566,6175,0.15,2.15,0.00,0.000,6,0.120,0.045,2647,2489,3631,0,0,0,0,0,0
$GC,6500,-0.60,-146.0,699.1,-11.2,577,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2487,3631,0,0,0,0,0,0
$GC,6806,-0.53,-146.0,734.2,-11.3,587,6811,0.17,2.20,0.00,0.000,4,0.217,0.062,2690,1088,3631,0,0,0,0,0,0
$GC,6834,-0.53,-146.0,737.1,-10.3,588,6839,0.00,2.20,0.00,0.000,6,0.000,0.060,2689,2492,3631,0,0,0,0,0,0
$GC,7170,-0.57,-146.0,764.8,-8.2,599,7174,0.00,2.28,0.00,0.000,4,0.000,0.076,2689,3904,3631,0,0,0,0,0,0
$GC,7199,-0.61,-146.0,767.2,-8.2,600,7203,0.00,2.15,0.00,0.000,6,0.000,0.046,2689,2490,3631,0,0,0,0,0,0
$GC,7534,-0.66,-146.0,794.5,-8.1,611,7536,0.12,0.00,0.00,0.000,6,0.126,0.000,2648,2490,3631,0,0,0,0,0,0
$GC,7840,-0.59,-146.0,829.1,-11.5,621,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2490,3631,0,0,0,0,0,0
$STATE,8113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8113,begin apogee
$GC,8119,-0.12,0.0,861.5,11.8,630,8249,0.57,0.00,124.40,1.467,6,0.203,0.000,2813,2261,3030,0,0,0,0,0,0
$STATE,8250,end apogee,CONTROL_FINISHED_OK
$STATE,8250,begin climb
$GC,8251,0.62,146.0,866.0,0.0,634,8386,0.80,0.00,128.12,1.428,6,0.136,0.000,3055,2259,2433,0,0,0,0,0,0
$GC,8705,0.52,146.0,816.6,12.6,649,8709,0.00,2.45,0.00,0.000,4,0.000,0.069,3055,3692,2424,0,0,0,0,0,0
$GC,8760,0.37,146.0,808.8,14.8,650,8767,0.30,2.33,0.00,0.000,6,0.193,0.052,2990,2286,2424,0,0,0,0,0,0
$GC,9073,0.42,172.2,780.9,8.8,661,9103,0.00,0.00,22.90,1.320,6,0.000,0.000,2990,2285,2326,0,0,0,0,0,0
$GC,9409,0.49,189.7,750.5,9.2,672,9428,0.00,0.00,16.38,1.284,6,0.000,0.000,2990,2285,2256,0,0,0,0,0,0
$GC,9715,0.56,209.5,722.3,9.1,682,9740,0.17,2.40,18.90,1.286,4,0.090,0.070,3069,870,2175,0,0,0,0,0,0
$GC,9762,0.48,209.5,716.2,14.0,683,9767,0.17,2.35,0.00,0.000,6,0.184,0.055,3025,2280,2172,0,0,0,0,0,0
$GC,10080,0.48,209.5,678.1,12.2,694,10084,0.00,2.30,0.00,0.000,4,0.000,0.069,3025,3688,2171,0,0,0,0,0,0
$GC,10135,0.45,209.5,670.3,14.8,695,10139,0.00,2.30,0.00,0.000,6,0.000,0.054,3033,2270,2170,0,0,0,0,0,0
$GC,10454,0.42,209.5,629.3,12.7,706,10456,0.12,0.00,0.00,0.000,6,0.191,0.000,3003,2270,2170,0,0,0,0,0,0
$GC,10761,0.46,210.0,598.1,10.0,716,10765,0.00,2.33,0.00,0.000,4,0.000,0.067,3003,3692,2169,0,0,0,0,0,0
$GC,10794,0.48,210.0,594.2,11.4,718,10801,0.00,2.28,0.00,0.000,6,0.000,0.052,3011,2267,2168,0,0,0,0,0,0
$GC,11119,0.51,210.0,560.5,10.4,749,11123,0.00,2.22,0.00,0.000,4,0.000,0.067,3020,868,2168,0,0,0,0,0,0
$GC,11147,0.54,210.0,557.6,10.0,751,11152,0.00,2.22,0.00,0.000,6,0.000,0.054,3020,2281,2167,0,0,0,0,0,0
$GC,11472,0.54,210.0,521.4,11.4,781,11476,0.00,2.22,0.00,0.000,4,0.000,0.070,3020,3685,2167,0,0,0,0,0,0
$GC,11535,0.54,210.0,513.7,13.1,786,11539,0.00,2.22,0.00,0.000,6,0.000,0.054,3029,2269,2167,0,0,0,0,0,0
$GC,11860,0.54,210.0,474.5,12.2,816,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2269,2167,0,0,0,0,0,0
$GC,12179,0.55,218.1,439.9,9.6,846,12189,0.00,0.00,8.00,1.018,6,0.000,0.000,3029,2268,2140,0,0,0,0,0,0
$GC,12509,0.60,253.0,410.3,8.4,877,12546,0.00,2.38,32.62,1.164,4,0.000,0.068,3029,3692,1997,0,0,0,0,0,0
$GC,12570,0.60,258.9,404.4,9.7,882,12583,0.00,2.30,6.57,0.944,6,0.000,0.052,3040,2275,1974,0,0,0,0,0,0
$GC,12900,0.60,258.9,361.5,14.3,913,12904,0.00,2.30,0.00,0.000,4,0.000,0.067,3049,859,1970,0,0,0,0,0,0
$GC,12929,0.63,258.9,357.7,13.4,915,12933,0.00,2.28,0.00,0.000,6,0.000,0.055,3048,2281,1968,0,0,0,0,0,0
$GC,13253,0.63,258.9,313.9,12.7,945,13257,0.00,2.25,0.00,0.000,4,0.000,0.068,3048,3688,1967,0,0,0,0,0,0
$GC,13316,0.61,258.9,305.3,13.3,950,13320,0.00,2.25,0.00,0.000,6,0.000,0.053,3057,2273,1967,0,0,0,0,0,0
$GC,13647,0.61,258.9,266.1,10.9,981,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2273,1967,0,0,0,0,0,0
$GC,13967,0.61,258.9,224.4,14.8,1011,13971,0.00,2.25,0.00,0.000,4,0.000,0.067,3067,864,1966,0,0,0,0,0,0
$GC,14030,0.64,258.9,215.1,13.3,1016,14034,0.00,2.25,0.00,0.000,6,0.000,0.054,3067,2285,1965,0,0,0,0,0,0
$GC,14355,0.64,258.9,176.4,11.2,1046,14359,0.00,2.22,0.00,0.000,4,0.000,0.067,3067,3685,1965,0,0,0,0,0,0
$GC,14417,0.60,258.9,168.7,12.1,1051,14421,0.00,2.22,0.00,0.000,6,0.000,0.052,3077,2271,1965,0,0,0,0,0,0
$GC,14742,0.62,277.0,139.7,9.2,1081,14763,0.00,0.00,17.15,0.981,6,0.000,0.000,3076,2271,1900,0,0,0,0,0,0
$GC,15083,0.62,277.0,90.6,21.8,1117,15090,0.00,2.30,0.00,0.000,4,0.000,0.066,3077,3694,1896,0,0,0,0,0,0
$GC,15119,0.65,277.0,83.4,19.3,1123,15126,0.00,2.25,0.00,0.000,6,0.000,0.054,3084,2279,1896,0,0,0,0,0,0
$GC,15467,0.76,342.8,38.8,7.0,1184,15531,0.00,2.42,58.45,0.965,4,0.000,0.064,3084,3684,1631,0,0,0,0,0,0
$GC,15574,0.82,342.8,24.7,15.2,1202,15581,0.10,2.33,0.00,0.000,6,0.125,0.054,3129,2277,1626,0,0,0,0,0,0
$FREEZE,8.59,-1.773,-1.794,2,26,0
$STATE,15678,end climb,FINISH_DEPTH_REACHED
$STATE,15678,begin subsurface finish
$FINISH1,8.6,1.026261,61
$GC,15684,0.07,60.7,8.6,-14.8,1220,15743,0.80,2.38,-49.53,0.000,4,0.176,0.089,2895,3684,2784,0,0,0,0,0,0
$FINISH2,6.7
$STATE,15744,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15744,begin surface
$RAFOS_CLK,863
$RAFOS,6,1298839743,20.833334,20.817499,112,68,61,55,55,53,736,165,209,224,175,143
$RAFOS,5,1298839262,20.700001,20.683889,65,61,60,60,58,55,169,223,206,144,156,194
$RAFOS,4,1298838784,20.566668,20.551111,102,61,60,58,54,54,689,169,203,213,189,136
$RAFOS,3,1298838306,20.433332,20.418333,63,63,58,56,53,52,193,214,155,133,168,124
$RAFOS,2,1298837823,20.299999,20.284166,65,61,61,60,59,59,219,187,151,201,210,162
$RAFOS,1,1298837358,20.166666,20.155001,123,71,60,57,49,49,528,208,190,162,243,223
$RAFOS,0,1298836868,20.033333,20.018888,59,57,56,56,55,51,196,174,132,213,153,118
$RAFOS_FIX,6658.580078,-5955.027832,270211,202021,3,112,0.09
$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.0
$ALTIM_BOTTOM_PING,850.6,23.8
$24V_AH,22.7,10.242
$10V_AH,10.2,4.961
$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,5.725,128.900,433.500,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3030.789,10035.072,503.194,2046.910,193.849,0.000,1615.185,0.000,2026.868,2520.000,27.904,0.000
$DEVICE_MAMPS,238.680,88.740,1466.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.432,948.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150732
$DATA_FILE_SIZE,46637,1230
$CAP_FILE_SIZE,156584,0
$CFSIZE,260165632,248623104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,270211,203221,6658.580,-5955.028,0,3112.3,0,-38.0