version: 66.13
glider: 222
mission: 8
dive: 168
start: 2 15 118 7 33 18
data:
$ID,222
$MISSION,8
$DIVE,168
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,150218,061528,-7425.7876,-11229.9180,0,2002.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,329.88
$_SM_ANGLEo,2.9
$GPS2,150218,061528,-7425.7876,-11229.9180,0,2002.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,308.9,27410,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.88,-146.0,2707,2493,2818,2601,0.0,0.0,0,12,0.00,0.00,-2.12,0.044,16390,0.000,0.000,2706,2493,3323,3462,3184,0,0,0,0,0,0,15.06,13.32,15.05
$GC,14,-0.88,-146.0,2707,2493,3462,3188,0.0,0.0,0,20,0.88,2.53,0.00,0.000,4612,0.116,0.116,2418,1085,3325,3458,3192,0,0,0,0,0,0,14.73,14.70,14.82
$GC,64,-0.88,-146.0,2418,1085,3452,3198,334.0,-8.9,10,70,0.00,2.65,0.00,0.000,1030,0.000,0.127,2410,2503,3325,3451,3199,0,0,0,0,0,0,14.86,14.68,14.91
$PING,336.9,8.2,9000.0,0.00,0.00
$PING,343.6,14.7,9000.0,0.00,0.00
$PING,350.5,21.9,21.9,1.01,1.00
$PING,357.4,28.8,28.8,1.02,1.00
$GC,374,-0.88,-146.0,2410,2503,3446,3201,369.3,-11.8,42,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2503,3324,3444,3204,0,0,0,0,0,0,15.07,15.10,15.09
$GC,674,-0.88,-146.0,2410,2504,3444,3206,403.0,-10.7,72,680,0.00,2.42,0.00,0.000,260,0.000,0.152,2400,3750,3324,3443,3205,0,0,0,0,0,0,15.07,14.63,15.10
$GC,704,-0.88,-146.0,2400,3750,3441,3209,406.5,-11.4,78,710,0.00,2.28,0.00,0.000,1030,0.000,0.098,2400,2499,3324,3441,3208,0,0,0,0,0,0,14.81,14.73,14.85
$GC,1014,-0.88,-146.0,2400,2500,3441,3213,441.5,-11.3,110,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2499,3323,3439,3208,0,0,0,0,0,0,15.07,15.10,15.09
$GC,1314,-0.88,-146.0,2400,2500,3440,3209,475.4,-11.4,140,1320,0.00,2.45,0.00,0.000,260,0.000,0.157,2390,3748,3323,3438,3208,0,0,0,0,0,0,15.07,14.61,15.10
$GC,1359,-0.88,-146.0,2391,3750,3439,3210,480.8,-12.1,149,1367,0.00,2.28,0.00,0.000,1030,0.000,0.096,2390,2494,3323,3437,3209,0,0,0,0,0,0,14.81,14.73,14.85
$GC,1664,-0.88,-146.0,2391,2494,3438,3209,515.7,-11.4,180,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2493,3325,3441,3209,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1964,-0.88,-146.0,2391,2494,3437,3210,549.2,-11.1,210,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2494,3323,3437,3209,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2264,-0.88,-146.0,2391,2494,3437,3210,582.4,-11.2,240,2270,0.00,2.45,0.00,0.000,260,0.000,0.152,2382,3747,3322,3436,3209,0,0,0,0,0,0,15.07,14.61,15.10
$GC,2314,-0.88,-146.0,2382,3747,3437,3209,588.4,-12.1,250,2321,0.10,2.28,0.00,0.000,3078,0.257,0.095,2408,2493,3322,3435,3209,0,0,0,0,0,0,14.50,14.73,14.67
$GC,2625,-0.88,-146.0,2409,2493,3437,3210,620.3,-10.6,282,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2493,3323,3436,3210,0,0,0,0,0,0,15.09,15.12,15.12
$GC,2925,-0.88,-146.0,2409,2493,3437,3209,651.9,-10.3,312,2930,0.00,2.58,0.00,0.000,516,0.000,0.112,2408,1087,3322,3435,3209,0,0,0,0,0,0,15.10,14.68,15.13
$GC,2955,-0.88,-146.0,2407,1083,3436,3210,655.0,-10.8,318,2961,0.00,2.65,0.00,0.000,1030,0.000,0.125,2399,2502,3323,3436,3210,0,0,0,0,0,0,14.86,14.66,14.90
$GC,3265,-0.88,-146.0,2399,2502,3436,3210,686.9,-10.4,350,3270,0.00,2.42,0.00,0.000,260,0.000,0.154,2390,3751,3322,3435,3210,0,0,0,0,0,0,15.10,14.61,15.13
$GC,3309,-0.88,-146.0,2391,3752,3436,3210,691.8,-11.3,359,3317,0.00,2.28,0.00,0.000,1030,0.000,0.096,2388,2497,3322,3435,3210,0,0,0,0,0,0,14.81,14.73,14.85
$GC,3635,-0.88,-146.0,2389,2498,3436,3211,725.8,-10.3,376,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2497,3322,3435,3210,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3995,-0.88,-146.0,2390,2497,3436,3210,762.1,-10.0,388,4002,0.00,2.40,0.00,0.000,260,0.000,0.155,2381,3751,3322,3435,3210,0,0,0,0,0,0,15.12,14.65,15.14
$GC,4035,-0.88,-146.0,2381,3752,3436,3211,766.6,-11.0,396,4042,0.12,2.28,0.00,0.000,3078,0.256,0.096,2415,2494,3322,3435,3210,0,0,0,0,0,0,14.52,14.74,14.69
$GC,4417,-0.88,-146.0,2415,2495,3435,3211,800.5,-8.8,412,4422,0.00,2.58,0.00,0.000,516,0.000,0.113,2415,1081,3322,3435,3210,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4451,-0.88,-146.0,2415,1081,3436,3210,803.5,-9.2,419,4457,0.00,2.70,0.00,0.000,1030,0.000,0.126,2406,2502,3322,3435,3210,0,0,0,0,0,0,14.76,14.64,14.82
$GC,4837,-0.88,-146.0,2406,2503,3436,3211,838.7,-9.2,436,4842,0.00,2.38,0.00,0.000,260,0.000,0.154,2397,3752,3322,3435,3210,0,0,0,0,0,0,15.11,14.65,15.14
$GC,4866,-0.88,-146.0,2397,3752,3435,3211,841.4,-10.5,442,4872,0.00,2.28,0.00,0.000,1030,0.000,0.097,2401,2494,3322,3435,3210,0,0,0,0,0,0,14.81,14.74,14.86
$GC,5257,-0.88,-146.0,2397,2494,3435,3211,879.8,-9.6,460,5262,0.00,2.58,0.00,0.000,516,0.000,0.113,2397,1078,3321,3432,3210,0,0,0,0,0,0,15.11,14.70,15.14
$GC,5286,-0.88,-146.0,2397,1079,3435,3212,882.5,-9.7,466,5292,0.00,2.72,0.00,0.000,1030,0.000,0.125,2387,2510,3322,3435,3210,0,0,0,0,0,0,14.76,14.64,14.83
$GC,5676,-0.88,-146.0,2388,2510,3436,3211,921.0,-9.8,484,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2510,3322,3434,3211,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6036,-0.88,-146.0,2387,2511,3436,3212,956.2,-9.7,496,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2511,3323,3435,3211,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,6395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6395,begin apogee
$GC,6399,-0.23,0.0,2388,2187,3435,3212,991.1,-9.6,508,6627,0.90,0.05,220.27,2.352,10246,0.241,0.265,2627,2201,2715,2768,2662,0,0,0,0,1,0,14.54,13.33,12.25
$STATE,6628,end apogee,CONTROL_FINISHED_OK
$STATE,6628,begin climb
$PING,991.2,21.6,9000.0,-0.01,0.28
$PING,985.1,17.2,9000.0,-0.01,0.86
$PING,978.5,23.7,9000.0,-0.18,0.12
$PING,972.5,18.1,9000.0,-0.08,0.02
$PING,966.4,18.0,9000.0,0.47,0.77
$PING,960.4,37.4,9000.0,-1.59,0.74
$PING,953.9,17.4,9000.0,0.08,0.00
$PING,947.3,27.6,9000.0,0.73,0.23
$GC,6630,0.88,146.0,2627,2202,2770,2661,995.7,0.0,515,7153,1.23,2.88,507.65,1.338,10756,0.137,0.124,2986,786,2115,2146,2084,0,0,0,0,0,0,13.43,13.59,13.09
$GC,7182,0.88,146.0,2987,786,2140,2079,936.8,13.5,620,7188,0.00,2.80,0.00,0.000,1030,0.000,0.111,2986,2209,2109,2139,2079,0,0,0,0,0,0,13.89,13.77,13.92
$GC,7557,0.88,146.0,2987,2210,2137,2071,884.9,14.0,635,7563,0.00,2.67,0.00,0.000,516,0.000,0.124,2997,795,2103,2136,2070,0,0,0,0,0,0,14.71,14.41,14.74
$GC,7587,0.88,146.0,2998,795,2136,2069,880.5,13.6,641,7594,0.00,2.62,0.00,0.000,1030,0.000,0.113,2997,2207,2102,2135,2070,0,0,0,0,0,0,14.59,14.45,14.62
$GC,7979,0.88,146.0,2997,2207,2136,2069,824.9,14.0,659,7984,0.00,2.65,0.00,0.000,516,0.000,0.125,3008,785,2101,2135,2068,0,0,0,0,0,0,14.92,14.62,14.94
$GC,8003,0.88,146.0,3008,785,2135,2069,821.2,13.4,664,8011,0.00,2.65,0.00,0.000,1030,0.000,0.114,3008,2199,2101,2134,2068,0,0,0,0,0,0,14.69,14.60,14.73
$GC,8369,0.88,146.0,3008,2200,2135,2068,768.2,14.9,677,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,2100,2134,2067,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8729,0.88,146.0,3008,2201,2135,2067,715.2,14.6,689,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2199,2100,2134,2066,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9088,0.88,146.0,3008,2200,2135,2066,662.3,14.5,717,9095,0.00,2.60,0.00,0.000,516,0.000,0.125,3018,792,2100,2134,2066,0,0,0,0,0,0,15.09,14.74,15.12
$GC,9119,0.88,146.0,3018,792,2134,2066,657.6,14.6,723,9125,0.10,2.62,0.00,0.000,5126,0.216,0.114,2982,2208,2099,2132,2066,0,0,0,0,0,0,14.66,14.73,14.90
$GC,9430,0.88,146.0,2983,2208,2134,2065,617.6,12.6,755,9435,0.00,2.67,0.00,0.000,260,0.000,0.145,2983,3622,2099,2133,2065,0,0,0,0,0,0,15.09,14.72,15.12
$GC,9460,0.88,146.0,2983,3622,2134,2065,613.4,14.2,761,9467,0.00,2.55,0.00,0.000,1030,0.000,0.100,2992,2203,2099,2133,2066,0,0,0,0,0,0,14.92,14.79,14.95
$GC,9771,0.88,146.0,2992,2201,2134,2066,572.8,12.8,793,9778,0.00,2.62,0.00,0.000,516,0.000,0.129,3003,779,2099,2133,2065,0,0,0,0,0,0,15.10,14.73,15.12
$GC,9802,0.88,146.0,3003,779,2134,2065,568.7,13.5,799,9808,0.00,2.65,0.00,0.000,1030,0.000,0.116,3008,2207,2099,2133,2065,0,0,0,0,0,0,14.82,14.72,14.96
$GC,10113,0.88,146.0,3003,2207,2133,2065,527.5,13.1,831,10118,0.00,2.67,0.00,0.000,260,0.000,0.146,3002,3617,2099,2133,2065,0,0,0,0,0,0,15.06,14.69,15.09
$GC,10142,0.88,146.0,3003,3617,2137,2066,523.1,14.4,837,10150,0.08,2.60,0.00,0.000,5126,0.241,0.101,2985,2191,2098,2132,2065,0,0,0,0,0,0,14.64,14.76,14.89
$GC,10454,0.88,146.0,2985,2189,2133,2060,485.1,12.2,869,10460,0.00,2.60,0.00,0.000,516,0.000,0.129,2995,782,2098,2132,2064,0,0,0,0,0,0,15.11,14.72,15.14
$GC,10499,0.88,146.0,2995,783,2133,2066,479.3,12.4,878,10506,0.00,2.65,0.00,0.000,1030,0.000,0.117,2995,2204,2098,2132,2064,0,0,0,0,0,0,14.81,14.72,14.88
$PING,445.8,88.8,9000.0,-0.13,0.99
$GC,10804,0.88,146.0,2995,2204,2133,2064,440.8,12.5,909,10811,0.00,2.67,0.00,0.000,260,0.000,0.148,2995,3615,2098,2132,2064,0,0,0,0,0,0,15.09,14.70,15.12
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$PING,393.4,34.5,34.5,1.04,1.00
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$STATE,11404,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11404,begin subsurface finish
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$FINISH2,365.3
$STATE,11418,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11418,begin surface
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$RAFOS,2,1518686004,9.233334,9.223333,123,61,60,56,56,54,543,159,145,204,181,134
$RAFOS,1,1518685644,9.133333,9.123333,69,59,59,55,52,51,494,224,127,206,215,157
$RAFOS,0,1518685264,9.032778,9.017777,144,60,56,54,53,53,586,222,152,187,232,173
$RAFOS_FIX,-7424.299805,-11225.590820,150218,090940,3,112,0.33
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.039697,0.287616
$HUMID,48.11
$INTERNAL_PRESSURE,7.61906
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,367.3,8.1
$24V_AH,12.25,73.298
$10V_AH,12.27,0.000
$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,4.525,104.975,727.925,0.000,0.000,0.000,0.000,0.000,45.500,0.000,0.000,0.000,8600.065,750.362,2054.496,106.035,0.000,1550.745,0.000,1401.766,720.000,323.221,0.000
$DEVICE_MAMPS,257.040,264.690,2352.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.259,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,33329,979
$CAP_FILE_SIZE,125290,0
$CFSIZE,1024409600,1000538112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1458.0
$GPS,150218,091440,-7424.300,-11225.591,0,4112.0,0,53.5,0.0,0.0,0,0.0