version: 66.12
glider: 199
mission: 5
dive: 377
start: 9 17 114 11 52 23
data:
$ID,199
$MISSION,5
$DIVE,377
$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,190
$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,-26257.094
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,170914,082740,7458.298,-14356.463,4,1.0,24,23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.15
$_SM_ANGLEo,-14.2
$GPS2,170914,082740,7458.298,-14356.463,4,1.0,24,23.6
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,9
$TGT_LATLONG,7330.000,-14445.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,165.3,165509,-18.9,-11.628,-22.41,2446
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-184.8,2553,2367,1822,1699,0.0,0.0,0,30,0.00,0.00,-11.80,0.000,16386,0.000,0.000,2553,2366,2503,2551,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.72,-184.8,2554,2368,2551,2457,19.5,0.0,1,62,1.05,2.55,-21.15,0.000,20740,0.085,0.133,2185,3768,3965,4023,3908,0,0,0,0,0,0,14.24,14.16,14.55
$GC,254,-0.72,-184.8,2186,3768,4023,3912,85.2,-24.3,45,258,0.00,2.42,0.00,0.000,1030,0.000,0.069,2185,2363,3966,4023,3909,0,0,0,0,0,0,28.83,14.26,28.83
$GC,572,-0.72,-184.8,2186,2362,4023,3912,150.3,-19.7,77,576,0.00,2.47,0.00,0.000,516,0.000,0.081,2185,947,3968,4023,3913,0,0,0,0,0,0,28.83,14.22,28.83
$GC,606,-0.72,-184.8,2185,948,4024,3912,157.3,-19.0,84,612,0.00,2.55,0.00,0.000,1030,0.000,0.093,2175,2364,3967,4023,3911,0,0,0,0,0,0,28.83,14.20,28.83
$GC,911,-0.72,-184.8,2175,2365,4025,3912,215.3,-18.5,115,916,0.00,2.47,0.00,0.000,516,0.000,0.081,2175,956,3967,4023,3911,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1013,-0.72,-184.8,2175,956,4025,3912,233.2,-17.0,135,1018,0.15,2.53,0.00,0.000,3078,0.294,0.093,2195,2367,3967,4023,3912,0,0,0,0,0,0,13.90,14.19,28.83
$GC,1333,-0.72,-184.8,2196,2368,4023,3912,278.0,-13.1,154,1338,0.00,2.47,0.00,0.000,516,0.000,0.080,2195,947,3965,4023,3907,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1468,-0.72,-184.8,2193,948,4025,3912,295.4,-12.5,181,1473,0.00,2.53,0.00,0.000,1030,0.000,0.093,2186,2360,3967,4023,3911,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1783,-0.72,-184.8,2185,2360,4023,3912,336.6,-12.7,194,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2360,3969,4027,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2083,-0.72,-184.8,2186,2361,4024,3912,375.9,-13.3,204,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2360,3967,4023,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.72,-184.8,2186,2361,4023,3912,414.1,-12.5,214,2388,0.00,2.45,0.00,0.000,516,0.000,0.082,2186,949,3967,4023,3911,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2433,-0.72,-184.8,2185,950,4025,3912,420.2,-12.4,224,2438,0.00,2.50,0.00,0.000,1030,0.000,0.094,2176,2360,3967,4023,3911,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2743,-0.72,-184.8,2176,2361,4024,3912,459.9,-12.8,236,2748,0.00,2.42,0.00,0.000,516,0.000,0.080,2176,956,3967,4023,3911,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2783,-0.72,-184.8,2175,956,4025,3912,465.1,-12.9,244,2788,0.15,2.50,0.00,0.000,3078,0.277,0.093,2196,2365,3967,4023,3911,0,0,0,0,0,0,14.01,14.31,28.83
$GC,3105,-0.72,-184.8,2197,2365,4023,3912,501.4,-11.2,258,3110,0.00,2.45,0.00,0.000,516,0.000,0.081,2196,952,3967,4023,3911,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3135,-0.72,-184.8,2197,953,4023,3912,505.0,-11.3,264,3140,0.00,2.50,0.00,0.000,1030,0.000,0.093,2187,2361,3967,4024,3911,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3466,-0.72,-184.8,2187,2361,4024,3912,543.2,-11.5,280,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2361,3967,4024,3911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3765,-0.72,-184.8,2187,2362,4024,3912,577.7,-11.5,290,3770,0.00,2.42,0.00,0.000,516,0.000,0.080,2187,956,3967,4023,3911,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3810,-0.72,-184.8,2187,957,4025,3912,582.8,-11.0,299,3815,0.00,2.50,0.00,0.000,1030,0.000,0.093,2178,2367,3967,4024,3910,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4125,-0.72,-184.8,2177,2368,4025,3912,621.1,-12.2,312,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2367,3967,4023,3911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4425,-0.72,-184.8,2179,2368,4023,3912,658.4,-12.4,322,4430,0.00,2.45,0.00,0.000,516,0.000,0.080,2177,953,3967,4023,3911,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4470,-0.72,-184.8,2178,953,4025,3912,663.9,-11.8,331,4475,0.15,2.50,0.00,0.000,3078,0.277,0.093,2197,2366,3967,4023,3912,0,0,0,0,0,0,14.01,14.32,28.83
$GC,4787,-0.72,-184.8,2197,2367,4025,3913,698.5,-10.8,344,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2366,3967,4023,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5085,-0.72,-184.8,2198,2367,4022,3913,730.9,-10.7,354,5090,0.00,2.42,0.00,0.000,516,0.000,0.080,2197,956,3968,4023,3913,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5145,-0.72,-184.8,2197,956,4025,3914,737.3,-10.4,366,5150,0.00,2.50,0.00,0.000,1030,0.000,0.093,2188,2362,3967,4023,3912,0,0,0,0,0,0,28.83,14.22,28.83
$STATE,5263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5263,begin apogee
$GC,5268,-0.14,0.0,2187,2611,4024,3914,750.5,-11.1,375,5498,0.77,0.00,226.75,1.627,10246,0.261,0.000,2381,2610,3229,3279,3179,0,0,0,0,0,0,14.02,28.83,12.88
$STATE,5499,end apogee,CONTROL_FINISHED_OK
$STATE,5499,begin climb
$GC,5502,0.72,184.8,2381,2611,3276,3174,759.4,0.0,382,5670,0.95,0.00,165.62,1.913,10758,0.136,0.000,2660,2610,2475,2538,2413,0,0,0,0,0,0,13.54,28.83,12.45
$GC,5985,0.72,184.8,2660,2610,2527,2387,712.6,12.9,409,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2610,2456,2526,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6286,0.72,184.8,2662,2610,2526,2387,674.3,12.7,419,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2610,2459,2533,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6585,0.72,184.8,2660,2610,2527,2387,636.1,12.7,429,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2610,2456,2526,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,0.72,184.8,2660,2611,2528,2387,598.1,12.6,439,6890,0.00,2.08,0.00,0.000,260,0.000,0.112,2660,3771,2456,2526,2386,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6930,0.72,184.8,2661,3772,2525,2387,591.7,14.7,448,6935,0.00,2.00,0.00,0.000,1030,0.000,0.072,2669,2585,2456,2526,2386,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7247,0.72,184.8,2671,2586,2526,2387,551.1,12.7,461,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2586,2455,2525,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7546,0.72,184.8,2671,2586,2526,2387,513.2,12.6,471,7550,0.00,2.15,0.00,0.000,260,0.000,0.114,2669,3766,2456,2526,2386,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7590,0.72,184.8,2670,3767,2527,2388,506.8,14.5,480,7595,0.00,1.98,0.00,0.000,1030,0.000,0.073,2678,2594,2456,2526,2386,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7906,0.72,184.8,2679,2595,2525,2387,466.0,12.8,493,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2456,2526,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8206,0.72,184.8,2678,2595,2528,2387,427.3,12.9,503,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2595,2454,2526,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8506,0.72,184.8,2678,2595,2527,2387,388.5,12.8,513,8510,0.00,2.15,0.00,0.000,260,0.000,0.115,2677,3770,2456,2526,2386,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8545,0.72,184.8,2679,3770,2525,2387,382.7,14.7,521,8551,0.00,2.03,0.00,0.000,1030,0.000,0.073,2687,2602,2456,2526,2386,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8867,0.72,184.8,2687,2604,2527,2387,342.2,12.3,535,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2603,2455,2525,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,0.72,184.8,2688,2604,2526,2387,303.8,12.8,545,9170,0.00,2.12,0.00,0.000,260,0.000,0.115,2686,3766,2459,2532,2386,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9282,0.72,184.8,2688,3766,2526,2387,288.1,13.6,568,9288,0.00,1.98,0.00,0.000,1030,0.000,0.074,2695,2601,2456,2526,2386,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9586,0.76,184.8,2697,2601,2525,2387,254.7,10.7,579,9590,0.00,2.42,0.00,0.000,516,0.000,0.078,2706,1197,2456,2526,2386,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9640,0.81,233.7,2706,1198,2528,2387,249.6,9.6,590,9687,0.00,2.50,41.42,1.444,9222,0.000,0.091,2706,2603,2273,2341,2206,0,0,0,0,0,0,28.83,14.35,13.64
$GC,9986,0.86,291.1,2706,2604,2329,2184,214.6,9.2,629,10041,0.00,2.50,49.58,1.444,8708,0.000,0.080,2715,1193,2032,2114,1951,0,0,0,0,0,0,28.83,14.21,13.53
$GC,10231,0.86,291.1,2716,1194,2106,1939,187.7,11.2,678,10237,0.00,2.55,0.00,0.000,1030,0.000,0.093,2715,2604,2026,2111,1941,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10536,0.86,291.1,2717,2605,2104,1937,152.8,11.6,709,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2604,2024,2111,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10836,0.92,291.1,2717,2605,2104,1937,120.0,10.1,739,10841,0.00,2.12,0.00,0.000,260,0.000,0.116,2715,3774,2019,2104,1935,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10918,0.95,291.1,2717,3775,2103,1936,110.8,11.0,755,10923,0.00,2.03,0.00,0.000,1030,0.000,0.073,2727,2597,2019,2104,1935,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11228,1.02,359.7,2724,2598,2105,1936,80.4,8.7,787,11269,0.12,2.22,31.98,0.399,10500,0.151,0.118,2768,3771,1766,1847,1686,0,0,0,0,0,0,14.26,14.23,13.98
$GC,11359,1.02,359.7,2768,3772,1860,1699,64.3,13.5,813,11369,0.00,2.03,2.22,0.236,9222,0.000,0.075,2777,2599,1763,1844,1682,0,0,0,0,0,0,28.83,14.20,14.00
$GC,11671,1.27,615.5,2778,2600,1863,1697,47.0,0.9,845,11817,0.17,2.53,135.40,0.306,11012,0.132,0.082,2855,1199,719,765,674,0,0,0,0,0,0,14.15,14.16,13.96
$GC,11837,1.27,615.5,2856,1200,772,675,33.5,11.5,872,11843,0.00,2.55,0.00,0.000,1030,0.000,0.093,2855,2599,723,773,674,0,0,0,0,0,0,28.83,14.12,28.83
$FREEZE,8.58,-1.398,-1.454,2,2,0
$STATE,12070,end climb,FINISH_DEPTH_REACHED
$STATE,12070,begin subsurface finish
$FINISH1,8.6,1.021352,344
$GC,12076,0.34,343.6,2856,2600,778,675,8.6,9.8,896,12112,1.12,2.53,-28.00,0.000,20996,0.224,0.100,2554,1194,1831,1897,1766,0,0,0,0,0,0,13.91,14.16,14.47
$FINISH2,8.7
$STATE,12113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12113,begin surface
$RAFOS_CLK,517
$RAFOS_FIX,7514.175781,-14347.997070,160914,000053,2,255,8.39
$IRIDIUM_FIX,7413.78,-14352.84,170914,011556
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.82
$INTERNAL_PRESSURE,8.56316
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3970940
$24V_AH,12.45,189.552
$10V_AH,12.37,0.000
$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,4.650,94.700,652.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9503.995,724.141,1816.366,195.762,0.000,1451.002,0.000,1342.272,1494.000,0.537,0.000
$DEVICE_MAMPS,293.760,133.110,1913.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12167.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.268,0.000,0.000,0.000
$MEM,147668
$DATA_FILE_SIZE,30023,903
$CAP_FILE_SIZE,133648,0
$CFSIZE,2097872896,2011365376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12072.73,0x2378b6,5,5
$SOUNDSPEED,1451.0
$GPS,170914,082740,7458.298,-14356.463,4,1.0,24,23.6