version: 66.12
glider: 197
mission: 6
dive: 318
start: 9 12 114 10 19 2
data:
$ID,197
$MISSION,6
$DIVE,318
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-10580.167
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-65.523643
$PRESSURE_SLOPE,0.000117962
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,120914,062509,7339.025,-14551.965,9,1.6,29,29.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,25.28
$_SM_ANGLEo,-12.8
$GPS2,120914,062509,7339.025,-14551.965,9,1.6,29,29.5
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,4
$TGT_LATLONG,7420.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.3,138624,-22.6,-11.628,-25.63,1932
$D_GRID,1000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.81,-145.9,2490,1797,3091,3280,0.0,0.0,0,31,0.00,0.00,-7.65,0.000,16390,0.000,0.000,2490,1797,3780,3746,3814,0,0,0,0,0,0,28.83,28.83,14.69
$GC,34,-0.81,-145.9,2491,1797,3746,3816,28.9,0.0,1,39,0.75,2.55,0.00,0.000,4356,0.069,0.101,2205,3212,3780,3746,3815,0,0,0,0,0,0,14.35,14.35,28.83
$GC,265,-0.76,-145.9,2206,3213,3751,3816,86.4,-21.1,47,271,0.17,2.40,0.00,0.000,3078,0.279,0.063,2242,1807,3782,3750,3815,0,0,0,0,0,0,14.16,14.42,28.83
$GC,576,-0.76,-145.9,2242,1807,3751,3817,138.7,-15.5,79,581,0.00,2.53,0.00,0.000,260,0.000,0.104,2233,3211,3783,3750,3816,0,0,0,0,0,0,28.83,14.42,28.83
$GC,741,-0.76,-145.9,2234,3212,3751,3818,165.6,-15.4,112,747,0.00,2.40,0.00,0.000,1030,0.000,0.062,2233,1800,3781,3750,3812,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1046,-0.76,-145.9,2233,1798,3751,3817,210.3,-13.8,143,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1799,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.77,-145.9,2233,1800,3750,3817,247.6,-12.1,173,1351,0.00,2.53,0.00,0.000,260,0.000,0.106,2223,3212,3782,3750,3815,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1416,-0.78,-145.9,2224,3216,3751,3816,256.3,-11.9,187,1421,0.00,2.38,0.00,0.000,1030,0.000,0.063,2223,1808,3783,3750,3816,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1738,-0.80,-145.9,2224,1807,3751,3817,294.0,-11.9,201,1742,0.00,2.50,0.00,0.000,260,0.000,0.107,2214,3212,3783,3750,3816,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1792,-0.80,-145.9,2215,3212,3750,3816,301.0,-12.6,212,1798,0.00,2.40,0.00,0.000,1030,0.000,0.063,2214,1799,3783,3750,3816,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2099,-0.81,-145.9,2215,1798,3750,3816,335.8,-11.0,223,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,-0.83,-145.9,2215,1798,3750,3816,368.9,-11.0,233,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.85,-145.9,2215,1798,3751,3817,401.5,-10.7,243,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-0.87,-145.9,2215,1798,3750,3816,433.1,-10.5,253,3002,0.00,2.53,0.00,0.000,260,0.000,0.106,2205,3214,3783,3750,3816,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3032,-0.87,-145.9,2206,3215,3750,3816,437.0,-11.0,260,3037,0.00,2.40,0.00,0.000,1030,0.000,0.063,2205,1797,3783,3750,3816,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3359,-0.89,-145.9,2206,1797,3751,3816,472.6,-10.9,275,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1796,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3658,-0.90,-145.9,2205,1797,3750,3816,505.5,-10.9,285,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1796,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,-0.92,-145.9,2206,1797,3750,3816,538.1,-10.9,295,3963,0.00,2.53,0.00,0.000,260,0.000,0.103,2199,3218,3783,3750,3816,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4008,-0.92,-145.9,2200,3218,3751,3817,543.8,-11.8,305,4013,0.00,2.40,0.00,0.000,1030,0.000,0.060,2201,1795,3783,3750,3816,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4320,-0.93,-145.9,2200,1795,3751,3817,578.8,-11.2,317,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,1794,3782,3750,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.94,-145.9,2200,1794,3751,3817,612.2,-11.1,327,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,1794,3783,3750,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.95,-145.9,2200,1795,3751,3816,644.9,-10.8,337,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,1794,3783,3751,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,-0.97,-145.9,2204,1799,3751,3817,677.2,-10.7,347,5223,0.00,2.55,0.00,0.000,260,0.000,0.104,2191,3218,3783,3751,3816,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5263,-0.97,-145.9,2187,3221,3751,3817,682.3,-11.6,356,5268,0.00,2.40,0.00,0.000,1030,0.000,0.061,2191,1798,3783,3751,3816,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5580,-0.97,-145.9,2191,1797,3751,3816,717.2,-11.1,369,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1797,3784,3752,3816,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5876,begin apogee
$GC,5882,-0.16,0.0,2190,2188,3751,3816,750.0,-11.0,379,6008,0.93,0.00,123.62,1.839,10246,0.248,0.000,2434,2188,3182,3134,3231,0,0,0,0,0,0,14.33,28.83,13.24
$STATE,6009,end apogee,CONTROL_FINISHED_OK
$STATE,6009,begin climb
$GC,6011,0.81,145.9,2435,2188,3127,3229,752.7,0.0,383,6731,1.02,2.72,125.62,1.818,10500,0.136,0.096,2751,3584,2581,2499,2663,0,0,0,0,0,0,13.96,13.43,12.74
$GC,6958,0.75,145.9,2751,3584,2496,2659,704.5,16.8,480,6963,0.00,2.45,0.00,0.000,1030,0.000,0.055,2761,2172,2575,2489,2661,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7290,0.72,145.9,2762,2172,2485,2661,655.6,14.6,496,7295,0.12,2.42,0.00,0.000,4612,0.299,0.075,2742,775,2574,2488,2660,0,0,0,0,0,0,14.16,14.40,28.83
$GC,7520,0.72,145.9,2742,775,2489,2660,624.8,13.2,542,7525,0.00,2.45,0.00,0.000,1030,0.000,0.082,2742,2179,2574,2489,2659,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7832,0.71,145.9,2742,2180,2490,2660,583.2,13.5,554,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2179,2574,2489,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8130,0.70,145.9,2743,2179,2489,2660,543.3,13.3,564,8135,0.00,2.42,0.00,0.000,516,0.000,0.078,2751,770,2574,2489,2659,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8155,0.68,145.9,2751,771,2490,2660,539.9,13.4,569,8162,0.17,2.45,0.00,0.000,5126,0.272,0.081,2712,2187,2574,2489,2659,0,0,0,0,0,0,14.33,14.57,28.83
$GC,8462,0.70,145.9,2713,2182,2489,2659,503.6,11.9,580,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2182,2574,2489,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8760,0.71,145.9,2713,2183,2490,2659,468.2,11.8,590,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2182,2574,2489,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9060,0.72,145.9,2713,2183,2490,2660,432.8,11.9,600,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2182,2573,2488,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9360,0.74,145.9,2713,2182,2489,2659,396.8,12.0,610,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2182,2574,2489,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,0.75,145.9,2713,2183,2490,2659,361.7,11.7,620,9665,0.00,2.42,0.00,0.000,516,0.000,0.080,2717,771,2574,2489,2659,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9700,0.78,156.9,2717,773,2490,2659,357.1,11.0,628,9715,0.00,2.42,9.40,1.429,9222,0.000,0.082,2717,2175,2538,2456,2620,0,0,0,0,0,0,28.83,14.61,13.97
$GC,10022,0.80,157.3,2717,2175,2454,2616,319.8,11.6,642,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2175,2535,2454,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,0.83,173.2,2717,2175,2454,2617,286.6,10.8,652,10337,0.12,0.00,14.88,1.337,10246,0.143,0.000,2774,2175,2473,2396,2551,0,0,0,0,0,0,14.69,28.83,14.00
$GC,10622,0.81,173.2,2774,2175,2389,2544,245.0,14.0,664,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2175,2466,2389,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10920,0.81,188.4,2774,2176,2389,2545,210.2,10.8,694,10934,0.00,0.00,12.62,1.276,8198,0.000,0.000,2773,2175,2415,2340,2491,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11232,0.83,221.7,2774,2175,2334,2483,178.0,9.9,725,11262,0.00,0.00,28.88,1.175,8198,0.000,0.000,2774,2175,2277,2203,2351,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11562,0.86,249.3,2775,2175,2192,2344,142.8,10.2,758,11592,0.00,2.42,24.12,1.141,8708,0.000,0.076,2782,777,2158,2078,2238,0,0,0,0,0,0,28.83,14.47,13.90
$GC,11617,0.89,260.5,2783,777,2074,2235,137.0,11.0,768,11633,0.00,2.47,9.73,1.209,9222,0.000,0.082,2782,2186,2115,2034,2196,0,0,0,0,0,0,28.83,14.43,13.88
$GC,11933,0.92,281.8,2784,2186,2023,2196,101.9,10.5,801,11953,0.00,0.00,16.60,1.095,8710,0.000,0.000,2782,2185,2028,1939,2117,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12253,1.00,334.0,2783,2186,1930,2114,70.1,8.8,834,12277,0.00,0.00,22.55,0.386,8454,0.000,0.000,2783,2185,1819,1729,1909,0,0,0,0,0,0,28.83,28.83,14.09
$GC,12584,1.15,455.4,2783,2186,1730,1910,46.6,5.2,868,12644,0.22,2.60,55.30,0.314,10500,0.101,0.103,2881,3585,1324,1226,1422,0,0,0,0,0,0,14.40,14.28,14.12
$GC,12730,1.15,455.4,2882,3586,1224,1422,29.9,13.9,897,12736,0.00,2.40,0.00,0.000,1030,0.000,0.059,2891,2178,1322,1223,1422,0,0,0,0,0,0,28.83,14.37,28.83
$FREEZE,8.92,-0.894,-1.423,2,2,0
$FREEZE,8.39,-0.894,-1.422,2,2,0
$FREEZE,7.77,-0.889,-1.420,2,2,0
$FREEZE,7.05,-0.857,-1.417,2,2,0
$FREEZE,6.33,-0.825,-1.415,2,2,0
$FREEZE,5.50,-0.799,-1.412,2,2,0
$GC,13035,1.29,589.3,2892,2177,1218,1422,9.4,4.5,928,13102,0.00,2.53,58.55,0.202,8964,0.000,0.080,2893,777,776,675,877,0,0,0,0,0,0,28.83,14.34,14.20
$FREEZE,4.43,-0.799,-1.412,2,2,0
$FREEZE,4.05,-0.799,-1.412,2,2,0
$FREEZE,3.59,-0.786,-1.411,2,2,0
$FREEZE,3.22,-0.786,-1.410,2,2,0
$FREEZE,2.66,-0.787,-1.410,2,2,0
$FREEZE,2.23,-0.787,-1.409,2,2,0
$FREEZE,1.76,-0.787,-1.409,2,2,0
$STATE,13135,end climb,SURFACE_DEPTH_REACHED
$STATE,13135,begin surface coast
$FREEZE,2.03,-0.787,-1.409,2,2,0
$FINISH,2.0,1.020773
$STATE,13140,end surface coast,CONTROL_FINISHED_OK
$STATE,13140,begin surface
$SM_CCo,13158,29.45,0.190,0,0,497,657.89
$SM_GC,2.88,8.18,1.83,29.45,0.090,0.076,0.190,181,1795,497,-7.18,-0.88,657.89,0,0,0,0,0,0,14.41,14.39,14.28
$RAFOS_CLK,630905
$RAFOS_FIX,7313.048828,-14654.218750,090914,202044,2,255,23.02
$IRIDIUM_FIX,7257.42,-14536.18,110914,230352
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.60
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3795680
$24V_AH,12.74,126.952
$10V_AH,12.53,0.000
$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,11.700,71.050,501.875,29.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10139.507,460.833,1921.684,196.884,0.000,1253.594,0.000,1408.309,1481.000,0.531,0.000
$DEVICE_MAMPS,299.115,107.100,1839.060,190.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.533,0.000,0.000,0.000
$MEM,143336
$DATA_FILE_SIZE,33248,944
$CAP_FILE_SIZE,142295,0
$CFSIZE,1047117824,989249536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$GPS,120914,133020,7340.965,-14542.968,38,1.1,58,29.6