version: 66.12
glider: 198
mission: 5
dive: 118
start: 8 14 114 7 12 43
data:
$ID,198
$MISSION,5
$DIVE,118
$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,1.75
$D_SAFE,500
$D_CALL,3
$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,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,658.87579
$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,-3458.3735
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,140814,070516,7224.879,-14420.438,38,0.9,59,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.8
$GPS2,140814,071224,7224.867,-14420.453,5,0.9,25,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,344.2,46897,-21.4,-11.628,-26.45,1932
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.70,-145.9,199,2679,441,541,0.0,0.0,0,114,0.00,0.00,-58.20,0.000,16386,0.000,0.000,198,2679,1885,1907,1864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.70,-145.9,198,2677,1911,1863,3.1,-2.2,7,201,11.10,2.08,-38.67,0.000,18692,0.456,0.147,2350,3787,3783,3857,3709,0,0,0,0,0,0,14.18,14.38,14.62
$GC,425,-0.63,-145.9,2351,3788,3859,3710,76.7,-20.4,64,455,0.15,1.88,0.00,0.000,3078,0.325,0.073,2381,2670,3785,3858,3713,0,0,0,0,0,0,14.32,14.50,28.83
$GC,750,-0.63,-145.9,2382,2671,3859,3714,126.4,-14.1,95,779,0.00,2.00,0.00,0.000,260,0.000,0.122,2374,3787,3785,3858,3713,0,0,0,0,0,0,28.83,14.45,28.83
$GC,963,-0.63,-145.9,2375,3788,3858,3714,159.0,-14.9,133,992,0.00,1.85,0.00,0.000,1030,0.000,0.073,2374,2678,3785,3857,3713,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1297,-0.63,-145.9,2375,2677,3859,3713,202.5,-12.1,165,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2677,3785,3858,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.65,-145.9,2375,2678,3859,3715,238.3,-10.9,196,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2677,3786,3858,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1943,-0.68,-145.9,2374,2678,3860,3713,272.5,-10.4,213,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2677,3786,3859,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.70,-145.9,2375,2678,3859,3714,303.1,-10.0,223,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2677,3788,3858,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2551,-0.73,-145.9,2378,2678,3856,3714,332.6,-9.7,233,2580,0.00,2.00,0.00,0.000,260,0.000,0.129,2374,3789,3785,3858,3713,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2629,-0.76,-145.9,2374,3789,3859,3714,340.8,-10.9,244,2659,0.00,1.85,0.00,0.000,1030,0.000,0.075,2373,2676,3785,3858,3713,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2935,-0.79,-145.9,2375,2677,3859,3714,369.7,-9.5,255,2963,0.12,0.00,0.00,0.000,4102,0.150,0.000,2322,2676,3785,3858,3712,0,0,0,0,0,0,14.64,28.83,28.83
$GC,3238,-0.79,-145.9,2323,2677,3861,3713,404.7,-11.7,265,3267,0.00,2.00,0.00,0.000,260,0.000,0.124,2319,3795,3785,3858,3712,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3306,-0.77,-145.9,2318,3795,3859,3713,413.4,-13.1,274,3335,0.00,1.88,0.00,0.000,1030,0.000,0.073,2318,2670,3785,3858,3712,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3645,-0.77,-145.9,2318,2670,3859,3713,452.9,-11.6,287,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2669,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3949,-0.77,-145.9,2318,2670,3859,3713,488.1,-11.6,297,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2669,3785,3858,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4253,-0.77,-145.9,2318,2668,3860,3712,522.9,-11.5,307,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2669,3785,3858,3713,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140814080451.392890,3,187,22,0106,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,17.2,0.6,-100,2.4,-01,-0.7,23,900,0025*02
$MODEM_MSG,CACST,6,1,20140814081634.788916,3,444,20,0093,0150,100,00,00,01,03,-1,-01,-01,1,3,0,0,150,16.0,0.8,-100,2.2,-01,-0.3,22,900,0025*0C
$GC,4555,-0.77,-145.9,2318,2670,3859,3712,557.7,-11.4,317,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2675,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4859,-0.77,-145.9,2319,2674,3859,3713,592.7,-11.6,327,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2670,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5163,-0.77,-145.9,2318,2669,3859,3713,627.8,-11.6,337,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2669,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,-0.77,-145.9,2318,2670,3859,3713,663.1,-11.6,347,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2675,3785,3858,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.77,-145.9,2319,2670,3854,3713,698.1,-11.5,357,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2669,3785,3858,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6074,-0.77,-145.9,2319,2670,3859,3714,732.9,-11.4,367,6102,0.00,1.98,0.00,0.000,260,0.000,0.122,2309,3789,3785,3858,3713,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6127,-0.74,-145.9,2309,3789,3859,3713,739.4,-12.7,373,6156,0.15,1.83,0.00,0.000,3078,0.307,0.073,2342,2677,3785,3858,3712,0,0,0,0,0,0,14.56,14.73,28.83
$STATE,6239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6239,begin apogee
$GC,6243,-0.14,0.0,2340,3061,3859,3713,751.7,-10.1,381,6394,0.75,0.00,125.18,1.757,10246,0.267,0.000,2540,3060,3186,3264,3109,0,0,0,0,0,0,14.57,28.83,13.33
$STATE,6395,end apogee,CONTROL_FINISHED_OK
$STATE,6395,begin climb
$GC,6396,0.70,145.9,2541,3061,3258,3114,755.8,0.0,385,6565,0.90,1.42,125.20,1.749,10500,0.180,0.115,2802,3784,2581,2642,2521,0,0,0,0,0,0,13.99,13.57,12.99
$GC,6633,0.67,145.9,2802,3784,2641,2518,736.3,13.5,397,6681,0.00,1.30,0.00,0.000,1030,0.000,0.073,2807,3061,2578,2640,2517,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6967,0.67,145.9,2807,3061,2641,2515,692.2,12.9,408,7016,0.00,2.40,0.00,0.000,516,0.000,0.076,2815,1650,2577,2640,2515,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7051,0.67,145.9,2817,1650,2641,2516,682.2,12.6,411,7100,0.00,2.50,0.00,0.000,1030,0.000,0.105,2816,3049,2578,2641,2515,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7433,0.64,145.9,2817,3049,2641,2515,631.1,13.5,424,7482,0.00,1.35,0.00,0.000,260,0.000,0.119,2816,3787,2576,2638,2515,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7584,0.59,145.9,2817,3787,2641,2515,609.1,15.1,431,7633,0.12,1.27,0.00,0.000,5126,0.261,0.074,2788,3043,2577,2639,2515,0,0,0,0,0,0,14.35,14.50,28.83
$GC,7999,0.59,145.9,2788,3044,2634,2515,557.6,12.0,446,8047,0.00,2.35,0.00,0.000,516,0.000,0.076,2798,1639,2577,2640,2515,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8066,0.59,145.9,2798,1640,2641,2515,550.0,12.0,448,8114,0.00,2.45,0.00,0.000,1030,0.000,0.106,2798,3049,2577,2639,2515,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8464,0.59,145.9,2799,3050,2640,2516,501.2,12.2,462,8512,0.00,1.33,0.00,0.000,260,0.000,0.119,2797,3784,2580,2646,2515,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8582,0.57,145.9,2799,3785,2640,2516,486.2,13.3,467,8631,0.10,1.25,0.00,0.000,5126,0.258,0.074,2775,3047,2576,2638,2515,0,0,0,0,0,0,14.47,14.61,28.83
$GC,8918,0.58,162.5,2776,3048,2640,2516,448.5,10.7,478,8966,0.00,2.40,14.10,1.473,8708,0.000,0.073,2785,1640,2516,2581,2451,0,0,0,0,0,0,28.83,14.51,13.95
$GC,9001,0.59,181.4,2786,1641,2579,2451,440.0,10.6,481,9066,0.00,2.45,16.95,1.427,9222,0.000,0.106,2785,3044,2436,2500,2373,0,0,0,0,0,0,28.83,14.50,13.85
$GC,9383,0.59,181.4,2784,3044,2499,2372,395.2,11.7,494,9432,0.00,1.35,0.00,0.000,260,0.000,0.119,2785,3787,2434,2497,2372,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9467,0.59,181.4,2786,3787,2498,2373,384.9,12.4,497,9516,0.00,1.25,0.00,0.000,1030,0.000,0.075,2790,3050,2434,2497,2372,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9849,0.59,181.4,2791,3051,2498,2373,337.7,12.1,510,9897,0.00,2.33,0.00,0.000,516,0.000,0.076,2799,1647,2433,2494,2372,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9916,0.59,181.4,2801,1648,2498,2374,329.9,12.3,512,9964,0.00,2.42,0.00,0.000,1030,0.000,0.105,2799,3046,2434,2497,2372,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10313,0.59,181.4,2800,3047,2498,2373,279.1,12.8,526,10362,0.00,1.33,0.00,0.000,260,0.000,0.119,2800,3783,2434,2497,2372,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10415,0.59,181.4,2801,3784,2498,2372,265.9,13.5,530,10463,0.00,1.25,0.00,0.000,1030,0.000,0.075,2804,3045,2434,2497,2371,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10941,0.60,191.3,2805,3046,2498,2373,203.0,11.1,558,10990,0.00,2.40,8.07,1.273,8708,0.000,0.073,2812,1644,2401,2465,2338,0,0,0,0,0,0,28.83,14.53,14.04
$GC,11059,0.65,231.3,2812,1644,2465,2339,191.5,9.5,563,11142,0.00,2.47,35.12,1.110,9222,0.000,0.106,2811,3050,2234,2294,2174,0,0,0,0,0,0,28.83,14.50,13.90
$GC,11646,0.71,280.4,2812,3050,2290,2169,134.4,9.0,596,11728,0.00,2.45,41.08,1.050,8708,0.000,0.075,2820,1649,2035,2091,1979,0,0,0,0,0,0,28.83,14.28,13.85
$GC,11763,0.79,331.5,2820,1650,2089,1980,124.0,8.9,601,11846,0.00,2.47,44.03,1.031,9222,0.000,0.107,2820,3046,1825,1877,1774,0,0,0,0,0,0,28.83,14.33,13.72
$GC,12367,0.89,375.0,2820,3046,1868,1764,62.9,9.3,635,12433,0.15,2.42,20.60,0.371,10756,0.137,0.076,2898,1647,1664,1722,1606,0,0,0,0,0,0,14.47,14.38,14.22
$GC,12519,0.95,412.0,2899,1648,1726,1607,48.1,9.7,642,12585,0.00,2.50,21.33,0.319,9222,0.000,0.109,2898,3049,1511,1566,1457,0,0,0,0,0,0,28.83,14.40,14.24
$FREEZE,8.91,0.138,-1.451,2,1,0
$FREEZE,8.31,0.138,-1.447,2,1,0
$FREEZE,7.31,0.537,-1.425,2,1,0
$FREEZE,6.01,0.537,-1.424,2,1,0
$FREEZE,4.82,0.849,-1.382,2,1,0
$GC,13109,1.16,601.1,2899,3049,1567,1458,9.4,1.6,675,13251,0.17,2.42,98.65,0.207,10756,0.132,0.075,2985,1654,734,705,763,0,0,0,0,0,0,14.52,14.38,14.31
$FREEZE,1.73,0.776,-1.356,2,1,0
$STATE,13267,end climb,SURFACE_DEPTH_REACHED
$STATE,13267,begin surface coast
$FREEZE,1.36,0.776,-1.356,2,1,0
$FREEZE,1.30,0.765,-0.340,2,1,0
$FREEZE,1.35,0.765,-0.340,2,1,0
$FINISH,1.4,1.004925
$STATE,13281,end surface coast,CONTROL_FINISHED_OK
$STATE,13281,begin surface
$SM_CCo,13308,31.75,0.195,0,0,499,658.88
$SM_GC,2.16,8.35,1.90,31.75,0.094,0.115,0.195,200,2682,499,-7.40,-0.45,658.88,0,0,0,0,0,0,14.47,14.40,14.33
$RAFOS_CLK,624
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7146.24,-14410.38,140814,031417
$TT8_MAMPS,0.043442,0.043442
$HUMID,46.96
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3968992
$24V_AH,12.99,42.046
$10V_AH,13.01,0.000
$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,22.075,71.475,550.300,31.750,0.000,0.000,0.000,237.975,0.000,0.000,26.200,0.000,5977.100,429.317,7209.985,161.987,0.000,3215.245,0.000,1030.089,1494.000,0.536,0.000
$DEVICE_MAMPS,455.940,146.880,1757.205,195.075,0.000,0.000,0.000,171.360,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13306.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.131,-680564693277057719623408366969033850880000.000,0.000,0.000
$MEM,304080
$DATA_FILE_SIZE,23387,685
$CAP_FILE_SIZE,196251,0
$CFSIZE,2097872896,2063990784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14041.03,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,140814,105655,7226.186,-14419.767,35,0.8,56,22.8