version: 66.12
glider: 198
mission: 5
dive: 369
start: 9 22 114 9 27 6
data:
$ID,198
$MISSION,5
$DIVE,369
$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,-6535.2744
$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,36
$R_STBD_OVSHOOT,16
$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,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,0.0043931045
$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
$GPS1,210914,000427,7322.305,-14320.208,181,99.0,181,24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.43
$_SM_ANGLEo,-16.0
$GPS2,210914,000427,7322.305,-14320.208,181,99.0,181,24.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,7
$TGT_LATLONG,7300.000,-14400.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,183.4,46589,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-145.9,2677,2682,1770,1687,0.0,0.0,0,30,0.00,0.00,-11.57,0.000,16386,0.000,0.000,2676,2682,2374,2437,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.70,-145.9,2678,2683,2439,2313,16.2,0.0,1,62,0.90,2.00,-22.65,0.000,20740,0.070,0.134,2347,3789,3783,3838,3728,0,0,0,0,0,0,14.27,14.25,14.59
$GC,287,-0.65,-145.9,2348,3789,3840,3731,84.9,-20.5,52,293,0.10,1.92,0.00,0.000,3078,0.272,0.069,2372,2684,3784,3838,3731,0,0,0,0,0,0,14.01,14.31,28.83
$GC,592,-0.65,-145.9,2373,2684,3840,3732,133.6,-15.2,83,597,0.00,2.03,0.00,0.000,260,0.000,0.116,2365,3792,3784,3839,3730,0,0,0,0,0,0,28.83,14.31,28.83
$GC,693,-0.65,-145.9,2366,3791,3840,3731,149.3,-15.7,103,698,0.00,1.88,0.00,0.000,1030,0.000,0.070,2365,2679,3785,3839,3731,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1003,-0.65,-145.9,2366,2680,3839,3732,191.4,-13.0,135,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2679,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.67,-145.9,2366,2680,3839,3731,228.4,-12.3,165,1308,0.00,2.03,0.00,0.000,260,0.000,0.119,2361,3789,3785,3839,3731,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1343,-0.67,-145.9,2362,3790,3839,3732,233.5,-13.2,173,1348,0.00,1.88,0.00,0.000,1030,0.000,0.070,2360,2679,3784,3838,3731,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1663,-0.70,-145.9,2362,2679,3839,3732,271.6,-11.5,194,1668,0.00,2.40,0.00,0.000,516,0.000,0.080,2361,1271,3784,3838,3731,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1708,-0.74,-145.9,2362,1270,3839,3732,276.5,-10.6,203,1713,0.00,2.53,0.00,0.000,1030,0.000,0.103,2361,2684,3788,3845,3731,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2025,-0.78,-145.9,2362,2685,3839,3732,307.4,-9.5,216,2030,0.00,2.00,0.00,0.000,260,0.000,0.119,2361,3789,3784,3838,3731,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2075,-0.81,-145.9,2362,3790,3839,3732,312.6,-10.2,226,2079,0.00,1.88,0.00,0.000,1030,0.000,0.071,2361,2674,3784,3838,3731,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2386,-0.85,-145.9,2362,2674,3839,3732,341.7,-9.2,238,2388,0.15,0.00,0.00,0.000,4102,0.136,0.000,2302,2673,3784,3837,3731,0,0,0,0,0,0,14.54,28.83,28.83
$GC,2685,-0.85,-145.9,2302,2673,3840,3731,377.5,-12.0,248,2689,0.00,2.03,0.00,0.000,260,0.000,0.117,2293,3790,3784,3838,3730,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2781,-0.83,-145.9,2298,3791,3839,3731,390.3,-13.3,267,2786,0.12,1.88,0.00,0.000,3078,0.311,0.070,2318,2675,3784,3838,3731,0,0,0,0,0,0,14.15,14.54,28.83
$GC,3106,-0.83,-145.9,2319,2675,3839,3732,427.0,-11.0,282,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2674,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.83,-145.9,2318,2675,3840,3731,459.5,-10.8,292,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2675,3785,3839,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3706,-0.83,-145.9,2319,2675,3839,3732,491.4,-10.6,302,3711,0.00,2.03,0.00,0.000,260,0.000,0.116,2310,3790,3784,3839,3730,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3741,-0.83,-145.9,2311,3790,3840,3731,495.4,-11.9,309,3746,0.00,1.90,0.00,0.000,1030,0.000,0.069,2310,2686,3785,3839,3731,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4068,-0.83,-145.9,2311,2691,3839,3732,531.5,-11.1,324,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2685,3784,3838,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,-0.83,-145.9,2311,2685,3840,3731,565.2,-11.2,334,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2686,3785,3838,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-0.83,-145.9,2311,2686,3840,3732,599.0,-11.2,344,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2686,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4966,-0.83,-145.9,2311,2686,3840,3732,632.1,-11.0,354,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2686,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-0.83,-145.9,2311,2686,3840,3734,664.6,-10.8,364,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2686,3785,3839,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5567,-0.83,-145.9,2311,2686,3839,3734,696.7,-10.7,374,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2686,3785,3838,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5866,-0.83,-145.9,2311,2686,3840,3733,728.7,-10.7,384,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2685,3786,3839,3733,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6074,begin apogee
$GC,6079,-0.14,0.0,2308,3053,3840,3733,750.8,-10.5,391,6275,0.88,0.00,192.93,1.387,10246,0.252,0.000,2536,3053,3186,3282,3090,0,0,0,0,0,0,14.16,28.83,13.25
$STATE,6276,end apogee,CONTROL_FINISHED_OK
$STATE,6276,begin climb
$GC,6278,0.70,145.9,2537,3054,3278,3086,755.7,0.0,397,6414,0.93,1.42,127.85,1.664,10500,0.165,0.114,2805,3786,2581,2659,2503,0,0,0,0,0,0,13.81,13.38,12.75
$GC,6559,0.66,145.9,2806,3787,2650,2498,726.7,14.0,456,6565,0.00,1.33,0.00,0.000,1030,0.000,0.069,2811,3054,2573,2649,2497,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6865,0.66,145.9,2811,3054,2651,2496,687.9,12.5,467,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2573,2650,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,0.66,145.9,2811,3054,2651,2496,650.5,12.4,477,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,3054,2572,2649,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,0.66,145.9,2811,3054,2651,2496,613.2,12.5,487,7469,0.00,1.35,0.00,0.000,260,0.000,0.115,2811,3780,2572,2649,2496,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7499,0.63,145.9,2812,3781,2649,2497,608.4,14.3,494,7504,0.00,1.27,0.00,0.000,1030,0.000,0.070,2816,3044,2572,2649,2496,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7826,0.63,145.9,2817,3044,2650,2495,566.7,12.8,509,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3044,2572,2649,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,0.63,145.9,2817,3045,2650,2497,528.7,12.7,519,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3044,2572,2649,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8424,0.63,145.9,2817,3044,2650,2496,491.3,12.5,529,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3044,2572,2649,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8724,0.63,145.9,2817,3045,2650,2497,454.2,12.4,539,8729,0.00,1.38,0.00,0.000,260,0.000,0.114,2816,3785,2572,2649,2496,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8759,0.59,145.9,2817,3785,2650,2496,449.5,13.4,546,8764,0.12,1.27,0.00,0.000,5126,0.254,0.070,2788,3041,2572,2649,2496,0,0,0,0,0,0,14.18,14.53,28.83
$GC,9085,0.60,156.5,2789,3039,2650,2496,413.5,11.1,561,9088,0.00,0.00,2.70,0.702,8198,0.000,0.000,2788,3041,2548,2627,2470,0,0,0,0,0,0,28.83,28.83,13.64
$GC,9384,0.61,173.9,2789,3042,2658,2474,381.1,10.7,571,9409,0.00,0.00,23.08,1.271,8198,0.000,0.000,2789,3042,2474,2556,2393,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9685,0.62,182.1,2789,3042,2540,2380,347.6,11.2,581,9688,0.00,0.00,1.83,0.222,8198,0.000,0.000,2788,3041,2442,2521,2363,0,0,0,0,0,0,28.83,28.83,14.18
$GC,9984,0.62,191.3,2788,3042,2552,2363,314.0,11.1,591,10001,0.00,0.00,14.32,1.196,8198,0.000,0.000,2788,3041,2404,2487,2322,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10286,0.66,215.7,2789,3042,2472,2314,281.6,10.3,601,10315,0.00,0.00,22.25,1.146,8198,0.000,0.000,2788,3042,2296,2372,2220,0,0,0,0,0,0,28.83,28.83,13.81
$GC,10617,0.71,238.0,2789,3042,2362,2214,247.3,10.4,612,10640,0.00,2.38,19.20,1.109,8708,0.000,0.072,2798,1646,2208,2284,2133,0,0,0,0,0,0,28.83,14.40,13.81
$GC,10690,0.78,260.9,2799,1646,2274,2130,239.3,10.4,627,10717,0.15,2.53,20.20,1.082,11270,0.124,0.100,2859,3056,2116,2190,2043,0,0,0,0,0,0,14.26,14.21,13.72
$GC,11015,0.78,260.9,2861,3057,2177,2032,196.2,11.9,662,11020,0.00,1.35,0.00,0.000,260,0.000,0.114,2859,3783,2104,2176,2032,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11085,0.78,260.9,2860,3785,2176,2031,187.1,12.5,676,11090,0.00,1.27,0.00,0.000,1030,0.000,0.070,2863,3047,2103,2175,2031,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11397,0.79,267.4,2864,3047,2176,2032,151.4,11.3,708,11402,0.00,2.38,0.00,0.000,516,0.000,0.073,2872,1648,2103,2175,2031,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11447,0.83,291.6,2873,1649,2176,2032,146.2,10.3,718,11478,0.00,2.50,25.83,1.003,9222,0.000,0.101,2872,3056,1996,2067,1925,0,0,0,0,0,0,28.83,14.38,13.90
$GC,11777,0.83,291.6,2873,3053,2050,1912,107.8,11.7,754,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,3052,1980,2049,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12077,0.88,337.5,2873,3052,2049,1911,76.2,9.2,784,12101,0.00,0.00,22.40,0.385,8198,0.000,0.000,2872,3052,1811,1877,1745,0,0,0,0,0,0,28.83,28.83,14.02
$GC,12399,0.99,441.6,2873,3052,1905,1746,53.9,6.1,816,12468,0.12,2.53,59.75,0.327,10756,0.139,0.076,2945,1644,1387,1440,1335,0,0,0,0,0,0,14.31,14.25,14.02
$GC,12560,1.06,483.0,2945,1644,1454,1335,39.1,9.4,848,12591,0.00,2.55,24.90,0.286,9222,0.000,0.101,2944,3052,1215,1258,1173,0,0,0,0,0,0,28.83,14.12,14.01
$GC,12890,1.20,604.3,2945,3052,1281,1173,15.0,5.2,884,12966,0.00,2.50,67.32,0.213,8708,0.000,0.076,2946,1648,721,722,721,0,0,0,0,0,0,28.83,14.20,14.07
$FREEZE,8.63,-1.374,-1.431,2,36,0
$STATE,12970,end climb,FINISH_DEPTH_REACHED
$STATE,12970,begin subsurface finish
$FINISH1,8.6,1.021019,361
$GC,12978,0.25,361.2,2947,3054,728,722,8.6,8.6,900,13012,0.93,2.47,-25.30,0.000,20996,0.173,0.095,2674,1651,1716,1754,1678,0,0,0,0,0,0,14.09,14.19,14.47
$FINISH2,8.5
$STATE,13012,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13012,begin surface
$RAFOS_CLK,251
$RAFOS_FIX,7322.304688,-14320.208008,210914,000027,2,255,0.26
$IRIDIUM_FIX,7319.74,-14132.60,170914,010249
$TT8_MAMPS,0.044191,0.044191
$HUMID,49.33
$INTERNAL_PRESSURE,8.65191
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3856512
$24V_AH,12.75,118.334
$10V_AH,12.62,0.000
$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,4.400,64.000,624.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10461.801,656.563,1832.552,184.803,0.000,1385.672,0.000,1357.371,1472.000,0.535,0.000
$DEVICE_MAMPS,310.590,133.875,1663.875,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13063.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.740,0.000,0.000,0.000
$MEM,167968
$DATA_FILE_SIZE,29988,907
$CAP_FILE_SIZE,141256,0
$CFSIZE,2097872896,2015297536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.3
$GPS,210914,000427,7322.305,-14320.208,181,99.0,181,24.1