version: 66.06
glider: 143
mission: 10
dive: 250
start: 12 6 109 0 25 22
data:
$ID,143
$MISSION,10
$DIVE,250
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$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,-37075.062
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,001152,6642.826,-5837.954,67,99.0,86,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-38.7
$GPS2,002414,6642.480,-5837.783,10,1.9,10,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,102.0,87917,-16.9,-9.167
$D_GRID,742
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,159,0.00,0.00,-136.65,0.000,6,0.000,0.000,122,2462,3397,0,0,0,0,0,0
$GC,162,-0.73,-146.0,3.3,-6.7,28,182,11.82,2.60,0.00,0.000,4,0.313,0.097,2454,867,3401,0,0,0,0,0,0
$GC,229,-0.63,-146.0,22.6,-14.0,40,235,0.12,2.47,0.00,0.000,6,0.236,0.084,2480,2459,3403,0,0,0,0,0,0
$GC,573,-0.63,-146.0,60.2,-10.1,101,578,0.00,2.97,0.00,0.000,4,0.000,0.100,2480,3912,3402,0,0,0,0,0,0
$GC,743,-0.70,-146.0,78.5,-10.5,131,749,0.00,2.85,0.00,0.000,6,0.000,0.075,2480,2465,3402,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,112.2,-10.1,181,1086,0.12,2.97,0.00,0.000,4,0.125,0.096,2428,3913,3402,0,0,0,0,0,0
$GC,1221,-0.68,-146.0,130.2,-12.9,193,1227,0.17,2.80,0.00,0.000,6,0.221,0.073,2466,2482,3402,0,0,0,0,0,0
$GC,1545,-0.68,-146.0,164.0,-10.1,223,1550,0.00,2.95,0.00,0.000,4,0.000,0.099,2465,3919,3402,0,0,0,0,0,0
$GC,1623,-0.73,-146.0,171.9,-9.4,229,1628,0.00,2.80,0.00,0.000,6,0.000,0.074,2466,2494,3402,0,0,0,0,0,0
$GC,1947,-0.79,-146.0,202.8,-9.8,260,1952,0.00,2.92,0.00,0.000,4,0.000,0.099,2466,3915,3401,0,0,0,0,0,0
$GC,2036,-0.86,-146.0,211.5,-9.9,267,2043,0.17,2.80,0.00,0.000,6,0.118,0.075,2410,2494,3401,0,0,0,0,0,0
$GC,2361,-0.74,-146.0,248.3,-11.8,298,2366,0.17,2.95,0.00,0.000,4,0.218,0.097,2439,3920,3401,0,0,0,0,0,0
$GC,2551,-0.74,-146.0,270.5,-11.2,314,2557,0.00,2.78,0.00,0.000,6,0.000,0.073,2439,2506,3401,0,0,0,0,0,0
$GC,2876,-0.74,-146.0,305.3,-10.3,345,2880,0.00,2.90,0.00,0.000,4,0.000,0.099,2439,3912,3400,0,0,0,0,0,0
$GC,2986,-0.74,-146.0,316.5,-9.9,354,2993,0.00,2.75,0.00,0.000,6,0.000,0.073,2439,2516,3400,0,0,0,0,0,0
$GC,3311,-0.74,-146.0,345.7,-8.7,385,3316,0.00,2.90,0.00,0.000,4,0.000,0.099,2438,3919,3400,0,0,0,0,0,0
$GC,3422,-0.74,-146.0,355.7,-9.4,394,3428,0.00,2.75,0.00,0.000,6,0.000,0.073,2439,2528,3400,0,0,0,0,0,0
$GC,3747,-0.74,-146.0,385.2,-9.7,425,3751,0.00,2.88,0.00,0.000,4,0.000,0.098,2439,3915,3400,0,0,0,0,0,0
$GC,3919,-0.74,-146.0,402.2,-9.9,440,3924,0.00,2.70,0.00,0.000,6,0.000,0.072,2439,2549,3400,0,0,0,0,0,0
$GC,4244,-0.74,-146.0,432.9,-9.0,470,4249,0.00,2.83,0.00,0.000,4,0.000,0.096,2439,3914,3401,0,0,0,0,0,0
$GC,4332,-0.78,-146.0,441.1,-9.3,477,4338,0.00,2.67,0.00,0.000,6,0.000,0.071,2439,2561,3401,0,0,0,0,0,0
$GC,4657,-0.78,-146.0,466.8,-7.8,508,4662,0.00,2.80,0.00,0.000,4,0.000,0.095,2438,3913,3401,0,0,0,0,0,0
$GC,4775,-0.78,-146.0,476.1,-8.1,518,4780,0.00,2.65,0.00,0.000,6,0.000,0.071,2438,2570,3401,0,0,0,0,0,0
$GC,5100,-0.84,-146.0,501.6,-7.5,548,5105,0.00,2.78,0.00,0.000,4,0.000,0.094,2438,3914,3401,0,0,0,0,0,0
$GC,5285,-0.89,-146.0,516.6,-8.4,564,5291,0.12,2.65,0.00,0.000,6,0.119,0.071,2398,2571,3401,0,0,0,0,0,0
$GC,5610,-0.81,-146.0,547.9,-9.5,594,5616,0.12,2.80,0.00,0.000,4,0.209,0.094,2425,3914,3402,0,0,0,0,0,0
$GC,5688,-0.81,-146.0,554.9,-8.8,600,5694,0.00,2.62,0.00,0.000,6,0.000,0.069,2424,2581,3402,0,0,0,0,0,0
$GC,6013,-0.81,-146.0,580.6,-7.5,631,6018,0.00,2.75,0.00,0.000,4,0.000,0.094,2424,3913,3403,0,0,0,0,0,0
$GC,6086,-0.81,-146.0,586.4,-8.0,637,6091,0.00,2.62,0.00,0.000,6,0.000,0.070,2424,2582,3403,0,0,0,0,0,0
$GC,6429,-0.81,-146.0,612.4,-7.7,659,6433,0.00,2.75,0.00,0.000,4,0.000,0.094,2425,3913,3403,0,0,0,0,0,0
$GC,6540,-0.81,-146.0,621.8,-8.2,662,6544,0.00,2.60,0.00,0.000,6,0.000,0.068,2424,2591,3403,0,0,0,0,0,0
$GC,6864,-0.81,-146.0,647.0,-7.8,673,6868,0.00,2.72,0.00,0.000,4,0.000,0.093,2425,3913,3403,0,0,0,0,0,0
$GC,6975,-0.81,-146.0,656.3,-8.1,676,6979,0.00,2.60,0.00,0.000,6,0.000,0.068,2425,2590,3403,0,0,0,0,0,0
$GC,7299,-0.81,-146.0,682.3,-8.2,687,7303,0.00,2.72,0.00,0.000,4,0.000,0.092,2425,3913,3404,0,0,0,0,0,0
$GC,7433,-0.81,-146.0,694.0,-8.4,691,7438,0.00,2.58,0.00,0.000,6,0.000,0.068,2425,2607,3403,0,0,0,0,0,0
$GC,7763,-0.81,-146.0,720.3,-7.8,702,7767,0.00,2.72,0.00,0.000,4,0.000,0.093,2424,3923,3404,0,0,0,0,0,0
$GC,7824,-0.81,-146.0,725.1,-8.4,704,7829,0.00,2.60,0.00,0.000,6,0.000,0.068,2425,2600,3404,0,0,0,0,0,0
$STATE,7881,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7881,begin apogee
$GC,7887,-0.16,0.0,730.2,8.9,706,8015,0.77,0.00,124.72,1.239,6,0.186,0.000,2634,1953,2800,0,0,0,0,0,0
$STATE,8016,end apogee,CONTROL_FINISHED_OK
$STATE,8016,begin climb
$GC,8018,0.73,146.0,732.5,0.0,710,8159,0.98,2.70,130.27,1.181,4,0.138,0.094,2925,363,2203,0,0,0,0,0,0
$GC,8186,0.64,146.0,720.9,11.5,715,8190,0.00,2.47,0.00,0.000,6,0.000,0.068,2925,1951,2200,0,0,0,0,0,0
$GC,8512,0.54,146.0,683.9,11.4,726,8518,0.25,3.22,0.00,0.000,4,0.202,0.084,2852,3538,2195,0,0,0,0,0,0
$GC,8591,0.62,153.2,677.0,8.9,728,8606,0.00,3.17,6.18,0.922,6,0.000,0.076,2864,1959,2174,0,0,0,0,0,0
$GC,8913,0.80,196.0,653.1,7.4,739,8958,0.25,3.25,38.28,1.155,4,0.097,0.086,2955,3537,1999,0,0,0,0,0,0
$GC,9014,0.60,196.0,639.7,15.5,742,9020,0.35,3.17,0.00,0.000,6,0.210,0.077,2887,1965,1996,0,0,0,0,0,0
$GC,9345,0.67,196.0,605.6,10.4,753,9350,0.00,3.15,0.00,0.000,4,0.000,0.086,2887,3542,1994,0,0,0,0,0,0
$GC,9393,0.67,196.0,599.9,11.6,754,9398,0.00,3.10,0.00,0.000,6,0.000,0.077,2897,1971,1992,0,0,0,0,0,0
$GC,9718,0.67,196.0,565.3,11.0,784,9723,0.00,3.12,0.00,0.000,4,0.000,0.087,2898,3541,1992,0,0,0,0,0,0
$GC,9792,0.67,196.0,556.5,12.4,790,9796,0.00,3.08,0.00,0.000,6,0.000,0.077,2911,1980,1992,0,0,0,0,0,0
$GC,10116,0.67,196.0,519.8,11.0,820,10120,0.00,3.10,0.00,0.000,4,0.000,0.086,2910,3543,1992,0,0,0,0,0,0
$GC,10159,0.62,196.0,514.5,12.1,823,10166,0.15,3.05,0.00,0.000,6,0.209,0.077,2891,1986,1991,0,0,0,0,0,0
$GC,10484,0.69,196.0,483.3,9.2,854,10489,0.00,3.08,0.00,0.000,4,0.000,0.087,2891,3539,1991,0,0,0,0,0,0
$GC,10517,0.69,196.0,480.0,10.4,856,10523,0.00,3.03,0.00,0.000,6,0.000,0.077,2902,1997,1991,0,0,0,0,0,0
$GC,10841,0.69,196.0,448.8,9.6,887,10846,0.00,3.08,0.00,0.000,4,0.000,0.086,2902,3543,1991,0,0,0,0,0,0
$GC,10891,0.69,196.0,443.6,10.4,891,10896,0.00,3.03,0.00,0.000,6,0.000,0.077,2915,2002,1991,0,0,0,0,0,0
$GC,11215,0.69,196.0,411.3,9.7,921,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2003,1990,0,0,0,0,0,0
$GC,11535,0.69,196.0,377.5,10.6,951,11540,0.00,3.05,0.00,0.000,4,0.000,0.087,2915,3539,1991,0,0,0,0,0,0
$GC,11601,0.64,196.0,369.4,12.5,956,11608,0.12,3.00,0.00,0.000,6,0.209,0.077,2902,2009,1991,0,0,0,0,0,0
$GC,11926,0.71,196.0,336.3,9.5,987,11931,0.00,3.05,0.00,0.000,4,0.000,0.086,2901,3540,1991,0,0,0,0,0,0
$GC,11969,0.71,196.0,331.8,10.5,990,11975,0.00,2.97,0.00,0.000,6,0.000,0.076,2912,2020,1991,0,0,0,0,0,0
$GC,12294,0.76,196.0,298.2,10.7,1021,12299,0.00,3.03,0.00,0.000,4,0.000,0.086,2912,3542,1991,0,0,0,0,0,0
$GC,12405,0.76,196.0,285.4,12.0,1030,12411,0.00,2.95,0.00,0.000,6,0.000,0.077,2924,2038,1991,0,0,0,0,0,0
$GC,12730,0.76,196.0,250.2,10.8,1061,12735,0.00,3.00,0.00,0.000,4,0.000,0.087,2925,3545,1991,0,0,0,0,0,0
$GC,12773,0.76,196.0,244.8,12.7,1064,12779,0.00,2.95,0.00,0.000,6,0.000,0.077,2937,2041,1991,0,0,0,0,0,0
$GC,13098,0.76,196.0,211.2,9.2,1095,13102,0.00,2.53,0.00,0.000,4,0.000,0.097,2949,342,1991,0,0,0,0,0,0
$GC,13130,0.76,196.0,207.9,10.0,1097,13136,0.00,2.42,0.00,0.000,6,0.000,0.071,2948,2053,1991,0,0,0,0,0,0
$GC,13454,0.76,196.0,177.0,9.5,1128,13459,0.00,2.95,0.00,0.000,4,0.000,0.087,2948,3539,1991,0,0,0,0,0,0
$GC,13579,0.69,196.0,164.1,10.4,1138,13586,0.20,2.92,0.00,0.000,6,0.202,0.078,2915,2056,1991,0,0,0,0,0,0
$GC,13907,0.86,231.1,138.3,7.7,1169,13943,0.15,3.00,29.27,0.879,4,0.123,0.089,2964,3539,1856,0,0,0,0,0,0
$GC,13979,0.79,231.1,131.3,11.2,1175,13984,0.12,2.95,0.00,0.000,6,0.210,0.078,2951,2064,1854,0,0,0,0,0,0
$GC,14303,0.89,248.6,102.1,8.4,1205,14325,0.00,3.00,15.90,0.848,4,0.000,0.087,2950,3546,1785,0,0,0,0,0,0
$GC,14365,0.91,257.9,96.8,8.8,1213,14381,0.00,2.97,9.52,0.800,6,0.000,0.079,2961,2073,1747,0,0,0,0,0,0
$GC,14719,0.99,257.9,63.8,10.3,1276,14725,0.15,3.00,0.00,0.000,4,0.110,0.090,3014,3538,1744,0,0,0,0,0,0
$GC,14748,0.90,257.9,60.3,12.4,1281,14755,0.20,2.90,0.00,0.000,6,0.215,0.081,2983,2077,1744,0,0,0,0,0,0
$GC,15094,0.90,257.9,22.7,10.6,1342,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2079,1743,0,0,0,0,0,0
$FREEZE,8.68,-1.796,-1.803,2,15,0
$STATE,15216,end climb,FINISH_DEPTH_REACHED
$STATE,15217,begin subsurface finish
$FINISH1,8.7,1.026384,54
$GC,15223,0.07,54.2,8.7,-11.8,1364,15261,0.93,3.22,-29.60,0.000,4,0.179,0.097,2722,3546,2581,0,0,0,0,0,0
$FINISH2,6.6
$STATE,15261,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15261,begin surface
$RAFOS_CLK,1041
$RAFOS,4,1260073982,4.566667,4.550556,105,60,58,0,0,0,622,198,144,0,0,0
$RAFOS,3,1260073507,4.433333,4.418611,120,71,54,0,0,0,696,214,189,0,0,0
$RAFOS,2,1260073024,4.300000,4.284444,64,63,57,0,0,0,765,204,227,0,0,0
$RAFOS,1,1260072542,4.166667,4.150556,67,64,59,0,0,0,777,207,194,0,0,0
$RAFOS,0,1260072069,4.033333,4.019166,67,58,57,0,0,0,213,166,203,0,0,0
$RAFOS,6,1260060549,0.833333,0.819167,75,56,54,0,0,0,726,154,139,0,0,0
$RAFOS,5,1260060066,0.700000,0.685000,91,62,59,0,0,0,702,190,153,0,0,0
$RAFOS,4,1260059586,0.566667,0.551667,95,69,58,0,0,0,621,193,210,0,0,0
$RAFOS,3,1260059142,0.433333,0.428333,57,57,48,0,0,0,195,212,168,0,0,0
$RAFOS_FIX,6640.565430,-5848.039551,061209,040428,4,89,0.58
$IRIDIUM_FIX,6614.97,-5838.87,020399,000019
$TT8_MAMPS,0.027612
$HUMID,50.00
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.3,18.8
$ALTIM_BOTTOM_PING,600.6,144.2
$24V_AH,22.4,51.328
$10V_AH,10.1,26.973
$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,17.475,205.200,354.150,0.000,0.000,89.517,96.085,206.290,4.000,0.000,11.649,2431.696,9760.932,580.519,2505.014,780.531,0.000,1898.650,0.000,2460.485,3240.000,19.509,0.000
$DEVICE_MAMPS,312.936,109.681,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.051,959.674,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,153440
$DATA_FILE_SIZE,53603,1371
$CAP_FILE_SIZE,181762,0
$CFSIZE,260165632,230027264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,061209,042328,6640.565,-5848.040,0,4089.0,0,-37.6