version: 66.13
glider: 222
mission: 8
dive: 159
start: 2 14 118 6 11 9
data:
$ID,222
$MISSION,8
$DIVE,159
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,10
$D_FINISH,280
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53445
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177
$HD_B,0.0133
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3890
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031257649
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-170.62135
$PRESSURE_SLOPE,0.00010921927
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.3499999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044060913
$SEABIRD_T_H,0.00063889573
$SEABIRD_T_I,2.5185698e-05
$SEABIRD_T_J,3.0510489e-06
$SEABIRD_C_G,-9.8844519
$SEABIRD_C_H,1.1298814
$SEABIRD_C_I,-0.0013862044
$SEABIRD_C_J,0.00017915672
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,140218,031408,-7438.5176,-11237.2998,0,4141.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,390.25
$_SM_ANGLEo,2.3
$GPS2,140218,031408,-7438.5176,-11237.2998,0,4141.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,312.0,51193,-15.4,-9.429,-23.69,2278
$D_GRID,990
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.88,-146.0,2704,2519,2831,2608,0.0,0.0,0,11,0.00,0.05,-1.92,0.049,16390,0.000,1.390,2703,2496,3326,3466,3187,0,0,0,0,0,0,15.07,13.37,15.06
$GC,13,-0.88,-146.0,2704,2497,3466,3192,0.0,0.0,0,15,0.90,0.00,0.00,0.000,4102,0.118,0.000,2412,2496,3327,3463,3192,0,0,0,0,0,0,14.78,14.95,14.92
$PING,396.5,11.2,9000.0,0.00,0.00
$PING,402.7,17.8,9000.0,0.00,0.00
$PING,409.2,24.0,24.1,1.00,1.00
$GC,309,-0.88,-146.0,2412,2498,3449,3208,419.9,-10.7,30,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2496,3328,3449,3207,0,0,0,0,0,0,15.08,15.11,15.11
$GC,609,-0.88,-146.0,2412,2497,3447,3209,451.7,-10.8,60,615,0.00,2.45,0.00,0.000,260,0.000,0.160,2403,3747,3327,3446,3208,0,0,0,0,0,0,15.10,14.65,15.13
$GC,679,-0.88,-146.0,2404,3747,3443,3210,459.6,-11.5,74,686,0.00,2.28,0.00,0.000,1030,0.000,0.095,2403,2487,3327,3444,3210,0,0,0,0,0,0,14.84,14.77,14.88
$GC,990,-0.88,-146.0,2404,2487,3444,3210,494.9,-11.1,106,996,0.00,2.45,0.00,0.000,260,0.000,0.155,2395,3746,3326,3443,3210,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1020,-0.88,-146.0,2395,3747,3443,3212,498.5,-12.3,112,1026,0.00,2.28,0.00,0.000,1030,0.000,0.096,2394,2487,3326,3442,3211,0,0,0,0,0,0,14.85,14.78,14.90
$GC,1330,-0.88,-146.0,2394,2488,3443,3211,533.0,-10.8,144,1336,0.00,2.45,0.00,0.000,260,0.000,0.154,2385,3750,3326,3442,3211,0,0,0,0,0,0,15.12,14.66,15.15
$GC,1365,-0.88,-146.0,2385,3750,3442,3212,537.1,-11.8,151,1373,0.10,2.28,0.00,0.000,3078,0.259,0.096,2412,2491,3326,3441,3212,0,0,0,0,0,0,14.56,14.77,14.73
$GC,1671,-0.88,-146.0,2412,2491,3442,3212,567.4,-9.7,182,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2491,3326,3441,3212,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1970,-0.88,-146.0,2413,2491,3441,3211,596.0,-9.5,212,1976,0.00,2.40,0.00,0.000,260,0.000,0.154,2404,3756,3326,3440,3212,0,0,0,0,0,0,15.13,14.69,15.16
$GC,2010,-0.88,-146.0,2404,3754,3440,3214,600.0,-10.3,220,2017,0.00,2.28,0.00,0.000,1030,0.000,0.097,2404,2494,3325,3439,3212,0,0,0,0,0,0,14.85,14.78,14.89
$GC,2321,-0.88,-146.0,2404,2495,3440,3213,631.1,-10.0,252,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2494,3325,3439,3212,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2622,-0.88,-146.0,2404,2498,3440,3213,661.6,-10.4,282,2627,0.00,2.40,0.00,0.000,260,0.000,0.155,2395,3757,3325,3439,3212,0,0,0,0,0,0,15.12,14.68,15.14
$GC,2656,-0.88,-146.0,2395,3757,3439,3212,665.5,-11.4,289,2664,0.00,2.30,0.00,0.000,1030,0.000,0.096,2395,2489,3325,3438,3212,0,0,0,0,0,0,14.85,14.77,14.88
$GC,2961,-0.88,-146.0,2395,2489,3440,3212,698.6,-10.9,320,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2489,3325,3438,3212,0,0,0,0,0,0,15.12,15.14,15.15
$GC,3282,-0.88,-146.0,2395,2490,3439,3214,732.7,-10.6,332,3287,0.00,2.40,0.00,0.000,260,0.000,0.153,2386,3753,3325,3438,3213,0,0,0,0,0,0,15.12,14.69,15.15
$GC,3312,-0.88,-146.0,2386,3753,3439,3213,736.1,-12.5,338,3318,0.12,2.22,0.00,0.000,3078,0.288,0.097,2412,2495,3325,3438,3213,0,0,0,0,0,0,14.58,14.81,14.85
$GC,3702,-0.88,-146.0,2412,2495,3439,3213,772.9,-9.4,356,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2495,3325,3438,3213,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4062,-0.88,-146.0,2412,2496,3438,3214,807.1,-9.5,368,4067,0.00,2.40,0.00,0.000,260,0.000,0.154,2403,3754,3325,3437,3213,0,0,0,0,0,0,15.14,14.68,15.16
$GC,4101,-0.88,-146.0,2403,3755,3438,3214,811.0,-10.1,376,4108,0.00,2.28,0.00,0.000,1030,0.000,0.097,2403,2496,3325,3437,3213,0,0,0,0,0,0,14.84,14.76,14.88
$GC,4482,-0.88,-146.0,2404,2495,3438,3213,847.4,-9.4,392,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2495,3325,3437,3213,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4842,-0.88,-146.0,2404,2495,3438,3213,880.7,-9.2,404,4847,0.00,2.45,0.00,0.000,260,0.000,0.155,2394,3778,3322,3437,3208,0,0,0,0,0,0,15.16,14.67,15.16
$GC,4881,-0.88,-146.0,2394,3778,3438,3213,884.5,-7.8,412,4887,0.00,2.33,0.00,0.000,1030,0.000,0.097,2394,2493,3325,3438,3213,0,0,0,0,0,0,14.85,14.77,14.89
$GC,5262,-0.88,-146.0,2394,2493,3438,3213,921.9,-10.0,428,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2492,3325,3437,3213,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5622,-0.88,-146.0,2394,2492,3438,3214,958.1,-9.9,440,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2493,3325,3437,3213,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,5980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5980,begin apogee
$GC,5984,-0.23,0.0,2394,2192,3438,3213,993.0,-9.6,452,6595,0.85,0.00,606.67,1.037,10246,0.233,0.000,2623,2191,2716,2773,2659,0,0,0,0,0,0,14.59,13.80,13.28
$STATE,6597,end apogee,CONTROL_FINISHED_OK
$STATE,6597,begin climb
$PING,993.2,25.5,9000.0,0.01,0.44
$PING,987.2,12.9,9000.0,-0.01,0.15
$PING,981.2,21.7,9000.0,0.32,0.09
$PING,975.2,15.4,9000.0,-0.21,0.07
$PING,968.9,22.7,9000.0,-0.09,0.02
$PING,962.8,15.8,9000.0,-0.04,0.00
$PING,955.9,26.7,9000.0,-0.34,0.16
$GC,6598,0.88,146.0,2624,2192,2772,2657,1003.1,0.0,472,7072,1.20,2.83,460.30,1.279,11012,0.126,0.122,2993,792,2115,2146,2085,0,0,0,0,0,0,13.76,13.54,13.08
$GC,7266,0.88,146.0,2993,792,2129,2071,926.3,13.9,605,7273,0.00,2.72,0.00,0.000,1030,0.000,0.112,2993,2197,2099,2128,2071,0,0,0,0,0,0,14.23,14.14,14.32
$GC,7653,0.88,146.0,2994,2196,2129,2070,871.1,14.3,622,7658,0.00,2.72,0.00,0.000,260,0.000,0.143,2993,3620,2097,2128,2066,0,0,0,0,0,0,14.84,14.53,14.87
$GC,7673,0.88,146.0,2993,3621,2129,2067,868.0,14.4,626,7678,0.00,2.58,0.00,0.000,1030,0.000,0.099,3004,2205,2097,2128,2066,0,0,0,0,0,0,14.71,14.59,14.73
$GC,8044,0.88,146.0,3004,2205,2128,2065,813.0,15.0,640,8049,0.00,2.65,0.00,0.000,516,0.000,0.129,3015,778,2095,2126,2064,0,0,0,0,0,0,14.95,14.66,14.97
$GC,8069,0.88,146.0,3015,779,2127,2065,809.1,14.4,645,8077,0.15,2.62,0.00,0.000,5126,0.249,0.115,2982,2211,2095,2127,2064,0,0,0,0,0,0,14.58,14.67,14.81
$GC,8433,0.88,146.0,2983,2211,2128,2063,760.7,13.0,658,8439,0.00,2.67,0.00,0.000,260,0.000,0.145,2982,3628,2095,2127,2063,0,0,0,0,0,0,15.04,14.70,15.07
$GC,8478,0.88,146.0,2982,3630,2128,2064,754.3,14.6,667,8484,0.00,2.62,0.00,0.000,1030,0.000,0.101,2991,2196,2092,2121,2063,0,0,0,0,0,0,14.81,14.74,14.92
$GC,8853,0.88,146.0,2992,2195,2128,2063,703.5,13.5,682,8859,0.00,2.60,0.00,0.000,516,0.000,0.129,3002,786,2094,2127,2062,0,0,0,0,0,0,15.08,14.73,15.11
$GC,8903,0.88,146.0,3003,787,2127,2063,696.6,14.0,692,8909,0.00,2.65,0.00,0.000,1030,0.000,0.116,3003,2212,2094,2126,2062,0,0,0,0,0,0,14.83,14.73,14.88
$GC,9214,0.88,146.0,3003,2212,2127,2062,653.1,13.8,724,9220,0.00,2.65,0.00,0.000,260,0.000,0.145,3002,3616,2094,2127,2062,0,0,0,0,0,0,15.04,14.73,15.07
$GC,9239,0.88,146.0,3006,3616,2127,2062,649.2,15.4,729,9247,0.10,2.60,0.00,0.000,5126,0.247,0.101,2986,2192,2094,2126,2062,0,0,0,0,0,0,14.63,14.76,14.78
$GC,9544,0.88,146.0,2986,2190,2127,2061,609.6,12.9,760,9550,0.00,2.60,0.00,0.000,516,0.000,0.130,2995,782,2094,2127,2061,0,0,0,0,0,0,15.10,14.73,15.12
$GC,9569,0.88,146.0,2995,783,2127,2062,606.3,13.0,765,9577,0.00,2.65,0.00,0.000,1030,0.000,0.115,2995,2208,2093,2126,2061,0,0,0,0,0,0,14.83,14.73,14.88
$GC,9874,0.88,146.0,2996,2214,2127,2061,566.0,13.2,796,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2208,2092,2126,2059,0,0,0,0,0,0,15.10,15.13,15.13
$GC,10174,0.88,146.0,2996,2208,2127,2060,526.1,13.4,826,10180,0.00,2.67,0.00,0.000,260,0.000,0.146,2995,3623,2093,2126,2060,0,0,0,0,0,0,15.11,14.73,15.14
$GC,10204,0.88,146.0,2995,3624,2127,2061,521.8,15.0,832,10210,0.00,2.60,0.00,0.000,1030,0.000,0.102,3006,2199,2093,2126,2060,0,0,0,0,0,0,14.85,14.76,14.90
$GC,10514,0.88,146.0,3006,2197,2127,2060,479.3,13.6,864,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2197,2093,2126,2060,0,0,0,0,0,0,15.10,15.14,15.14
$PING,441.8,73.9,9000.0,-0.10,0.97
$GC,10814,0.88,146.0,3006,2196,2127,2061,439.1,13.5,894,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2197,2092,2126,2059,0,0,0,0,0,0,15.11,15.14,15.13
$PING,428.4,60.0,9000.0,-0.08,0.91
$PING,421.7,52.9,52.9,1.04,1.00
$PING,415.1,46.4,46.3,1.02,1.00
$PING,408.5,39.5,39.6,1.01,1.00
$PING,401.8,32.2,32.3,1.07,1.00
$GC,11114,0.88,146.0,3007,2197,2127,2059,399.1,13.3,924,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2197,2092,2126,2059,0,0,0,0,0,0,15.10,15.13,15.13
$PING,395.3,25.5,25.4,1.06,1.00
$PING,388.9,18.9,18.9,1.03,1.00
$PING,382.5,12.3,12.3,1.04,1.00
$STATE,11294,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11294,begin subsurface finish
$FINISH1,376.1,1.027449,3
$GC,11297,0.00,2.6,3006,2197,2127,2060,376.1,12.8,942,11308,1.05,2.78,-2.15,0.054,20740,0.211,0.170,2706,3621,2725,2839,2611,0,0,0,0,0,0,14.62,13.36,14.78
$FINISH2,374.9
$STATE,11309,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11309,begin surface
$RAFOS_CLK,411
$RAFOS,2,1518599582,9.233334,9.217222,86,59,56,53,52,52,737,201,225,161,182,136
$RAFOS,1,1518599222,9.133333,9.117222,170,80,56,56,52,50,682,197,214,119,157,143
$RAFOS,0,1518598862,9.032778,9.017222,148,62,57,54,51,50,672,209,188,162,145,132
$RAFOS,2,1518588788,6.233333,6.218889,135,60,60,59,54,52,721,207,166,152,131,224
$RAFOS,1,1518588421,6.133333,6.116944,122,58,55,51,51,49,698,202,161,227,149,116
$RAFOS_FIX,-7435.387695,-11233.114258,140218,090940,3,135,0.28
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.040446,0.291361
$HUMID,48.26
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,382.5,12.3
$24V_AH,13.08,69.806
$10V_AH,12.48,0.000
$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,4.475,84.100,1066.975,0.000,0.000,0.000,0.000,0.000,43.250,0.000,0.000,0.000,8287.588,1040.567,1965.686,98.010,0.000,1816.343,0.000,1351.592,960.000,307.286,0.000
$DEVICE_MAMPS,288.405,1390.005,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11328.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.896,0.000,0.000,0.000
$MEM,280004
$DATA_FILE_SIZE,33342,944
$CAP_FILE_SIZE,116675,0
$CFSIZE,1024409600,1001586688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.1
$GPS,140218,091440,-7435.388,-11233.114,0,4134.7,0,53.5,0.0,0.0,0,0.0