version: 66.12
glider: 199
mission: 5
dive: 272
start: 9 2 114 18 40 52
data:
$ID,199
$MISSION,5
$DIVE,272
$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,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,0.079999998
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,669.66901
$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,-24483.301
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,020914,183318,7448.281,-14658.198,37,0.8,57,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.1
$GPS2,020914,184028,7448.243,-14658.303,4,0.9,24,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,9
$TGT_LATLONG,7212.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.7,289401,-19.5,-11.628,-22.92,2318
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-175.1,194,2363,493,504,0.0,0.0,0,79,0.00,0.00,-61.67,0.000,16386,0.000,0.000,193,2363,1956,1972,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,195,2363,1973,1941,3.1,-1.8,6,144,11.18,2.67,-43.83,0.000,18692,0.468,0.144,2179,3766,3946,4004,3889,0,0,0,0,0,0,13.91,14.19,14.52
$GC,369,-0.72,-175.1,2180,3767,4004,3891,93.5,-25.7,64,374,0.00,2.45,0.00,0.000,1030,0.000,0.079,2179,2359,3948,4004,3892,0,0,0,0,0,0,28.83,14.32,28.83
$GC,679,-0.72,-175.1,2179,2357,4006,3893,161.6,-20.5,96,684,0.00,2.55,0.00,0.000,260,0.000,0.120,2169,3767,3946,4004,3888,0,0,0,0,0,0,28.83,14.34,28.83
$GC,814,-0.72,-175.1,2170,3768,4004,3893,190.1,-20.3,123,820,0.12,2.42,0.00,0.000,3078,0.300,0.075,2193,2352,3948,4004,3893,0,0,0,0,0,0,14.19,14.45,28.83
$GC,1119,-0.72,-175.1,2192,2352,4006,3894,241.9,-15.8,154,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2351,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-0.72,-175.1,2194,2351,4003,3893,286.3,-14.0,168,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2351,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.72,-175.1,2191,2351,4006,3893,326.4,-13.2,178,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2351,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.72,-175.1,2194,2351,4004,3893,365.9,-13.1,188,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2350,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.72,-175.1,2193,2351,4005,3893,404.0,-12.5,198,2324,0.00,2.60,0.00,0.000,260,0.000,0.121,2184,3769,3948,4004,3893,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2354,-0.72,-175.1,2184,3769,4004,3892,408.7,-13.3,205,2359,0.00,2.42,0.00,0.000,1030,0.000,0.075,2184,2352,3948,4004,3892,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2680,-0.72,-175.1,2185,2351,4003,3893,450.6,-12.8,220,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2350,3944,4001,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2979,-0.72,-175.1,2183,2351,4006,3894,489.3,-12.8,230,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2350,3948,4004,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-0.72,-175.1,2183,2351,4005,3893,527.9,-12.8,240,3284,0.00,2.58,0.00,0.000,260,0.000,0.120,2173,3769,3948,4004,3892,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3324,-0.72,-175.1,2173,3769,4003,3893,534.1,-14.4,249,3329,0.00,2.40,0.00,0.000,1030,0.000,0.074,2173,2354,3948,4004,3893,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3639,-0.72,-175.1,2174,2355,4004,3893,576.5,-13.3,262,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2355,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.72,-175.1,2172,2355,4006,3894,615.7,-12.9,272,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2355,3949,4005,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.72,-175.1,2175,2355,4003,3894,654.1,-12.8,282,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2351,3948,4004,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.72,-175.1,2174,2355,4004,3895,692.4,-12.9,292,4544,0.00,2.58,0.00,0.000,260,0.000,0.121,2162,3767,3949,4004,3894,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4584,-0.72,-175.1,2162,3768,4006,3894,698.6,-13.9,301,4589,0.15,2.40,0.00,0.000,3078,0.273,0.075,2194,2360,3949,4004,3894,0,0,0,0,0,0,14.30,14.57,28.83
$GC,4899,-0.72,-175.1,2196,2359,4004,3895,734.5,-11.1,314,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2359,3949,4004,3894,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5047,begin apogee
$GC,5052,-0.14,0.0,2191,2604,4004,3896,751.3,-11.1,319,5275,0.73,0.00,220.32,1.642,10246,0.259,0.000,2379,2604,3231,3282,3180,0,0,0,0,0,0,14.15,28.83,12.91
$STATE,5276,end apogee,CONTROL_FINISHED_OK
$STATE,5276,begin climb
$GC,5278,0.72,175.1,2380,2605,3277,3174,760.2,0.0,326,5441,0.98,0.00,156.80,1.879,10502,0.147,0.000,2658,2604,2509,2571,2447,0,0,0,0,0,0,13.51,28.83,12.47
$GC,5739,0.72,175.1,2661,2605,2568,2435,716.3,12.6,347,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2605,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,0.72,175.1,2660,2605,2567,2434,678.4,12.6,357,6044,0.00,2.47,0.00,0.000,516,0.000,0.083,2671,1197,2497,2561,2434,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6079,0.72,175.1,2672,1198,2566,2434,673.3,12.0,365,6084,0.00,2.53,0.00,0.000,1030,0.000,0.097,2671,2601,2499,2566,2433,0,0,0,0,0,0,28.83,14.26,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5bb90a6a63;,*00
$MODEM_MSG,CACST,6,0,20140902200030.125258,3,477,20,0106,0150,100,00,00,01,03,1,004,000,0,5,1,0,150,13.4,4.9,-100,-1.9,-01,0.3,24,900,0025*23
$GC,6399,0.72,175.1,2671,2602,2567,2434,630.8,13.2,379,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2601,2500,2566,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6699,0.72,175.1,2672,2602,2566,2434,591.1,13.2,389,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2598,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6999,0.72,175.1,2671,2602,2566,2434,551.6,13.2,399,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2601,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7299,0.72,175.1,2670,2602,2568,2434,512.4,13.1,409,7304,0.00,2.42,0.00,0.000,516,0.000,0.083,2681,1187,2499,2566,2433,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7349,0.72,175.1,2681,1188,2568,2434,506.0,12.9,419,7354,0.00,2.47,0.00,0.000,1030,0.000,0.096,2681,2601,2499,2566,2433,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7659,0.72,175.1,2681,2602,2567,2434,464.7,13.3,431,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2601,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,0.72,175.1,2681,2602,2568,2434,424.2,13.5,441,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2601,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8259,0.72,175.1,2681,2602,2567,2433,384.5,13.1,451,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2602,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8559,0.72,175.1,2682,2602,2566,2433,345.4,12.8,461,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2602,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8859,0.72,175.1,2683,2602,2566,2433,307.9,12.3,471,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2601,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9159,0.72,175.1,2681,2602,2567,2433,272.5,11.6,481,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2601,2499,2566,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9461,0.79,175.1,2681,2603,2567,2434,241.4,10.0,495,9465,0.00,2.42,0.00,0.000,516,0.000,0.083,2692,1194,2499,2566,2433,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9495,0.86,175.1,2693,1195,2566,2434,237.8,9.9,502,9501,0.00,2.47,0.00,0.000,1030,0.000,0.097,2692,2601,2499,2566,2433,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9800,0.95,272.9,2691,2602,2567,2434,212.5,7.3,533,9886,0.15,0.00,83.35,1.434,10246,0.138,0.000,2744,2601,2116,2189,2043,0,0,0,0,0,0,14.57,28.83,13.51
$GC,10180,0.95,272.9,2746,2602,2177,2018,165.2,12.6,571,10185,0.00,2.47,0.00,0.000,516,0.000,0.083,2755,1190,2097,2177,2017,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10225,0.95,272.9,2755,1191,2179,2017,159.7,11.8,580,10231,0.00,2.53,0.00,0.000,1030,0.000,0.096,2756,2603,2097,2177,2017,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10530,0.95,272.9,2755,2604,2179,2016,122.0,11.2,611,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2603,2096,2177,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10830,1.01,326.7,2754,2604,2179,2015,90.1,9.2,641,10861,0.00,0.00,24.98,0.428,8198,0.000,0.000,2755,2603,1899,1983,1816,0,0,0,0,0,0,28.83,28.83,14.02
$GC,11162,1.09,410.7,2756,2600,1997,1830,57.8,7.9,674,11212,0.00,2.47,44.62,0.338,8708,0.000,0.082,2765,1197,1557,1646,1469,0,0,0,0,0,0,28.83,14.26,14.02
$GC,11267,1.19,511.1,2765,1197,1656,1478,48.9,7.2,691,11328,0.17,2.53,54.00,0.314,11270,0.125,0.097,2827,2600,1145,1226,1064,0,0,0,0,0,0,14.29,14.23,14.00
$GC,11633,1.28,600.5,2828,2601,1226,1073,13.5,7.7,734,11684,0.00,2.12,45.72,0.221,8452,0.000,0.119,2827,3770,781,850,713,0,0,0,0,0,0,28.83,14.19,14.09
$FREEZE,8.83,-1.164,-1.446,2,1,0
$FREEZE,8.30,-1.164,-1.445,2,1,0
$FREEZE,7.86,-1.166,-1.445,2,1,0
$FREEZE,7.21,-1.166,-1.444,2,1,0
$FREEZE,6.73,-1.169,-1.444,2,1,0
$FREEZE,6.31,-1.169,-1.444,2,1,0
$FREEZE,5.69,-1.168,-1.443,2,1,0
$FREEZE,5.21,-1.168,-1.443,2,1,0
$FREEZE,4.91,-1.177,-1.442,2,1,0
$FREEZE,4.24,-1.177,-1.442,2,1,0
$FREEZE,3.74,-1.180,-1.441,2,1,0
$FREEZE,3.24,-1.180,-1.441,2,1,0
$FREEZE,3.36,-1.178,-1.441,2,1,0
$FREEZE,3.23,-1.178,-1.441,2,1,0
$FREEZE,3.26,-1.193,-1.442,2,1,0
$FREEZE,3.20,-1.193,-1.442,2,1,0
$FREEZE,3.18,-1.203,-1.442,2,1,0
$FREEZE,3.10,-1.203,-1.442,2,1,0
$FREEZE,3.20,-1.190,-1.442,2,1,0
$FREEZE,3.14,-1.190,-1.442,2,1,0
$FREEZE,3.23,-1.188,-1.442,2,1,0
$FREEZE,3.19,-1.188,-1.442,2,1,0
$FREEZE,3.14,-1.198,-1.442,2,1,0
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$STATE,12128,end climb,NO_VERTICAL_VELOCITY
$STATE,12128,begin subsurface finish
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$FINISH2,3.1
$STATE,12141,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12141,begin surface
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$MODEM,4,1409688030,75.13920,-146.39240,29.125,42210.4
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$INTERNAL_PRESSURE,8.44597
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$XPDR_PINGS,1
$SC_FREEKB,3984880
$24V_AH,12.47,153.990
$10V_AH,12.43,0.000
$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,15.100,54.500,664.925,0.000,0.000,0.000,0.000,235.925,0.250,0.000,26.049,0.000,9676.381,764.986,1939.395,198.723,0.000,1652.220,0.000,1217.833,1471.000,0.537,0.000
$DEVICE_MAMPS,468.180,143.820,1878.840,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.607,0.000,0.000,0.000
$MEM,204772
$DATA_FILE_SIZE,26678,815
$CAP_FILE_SIZE,132705,0
$CFSIZE,2097872896,2031026176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12535.69,0x2378b6,7,5
$INTR,1,12130.60,0x2378b6,5,5
$SOUNDSPEED,1448.3
$GPS,020914,184028,7448.243,-14658.303,4,0.9,24,22.4