version: 66.12
glider: 196
mission: 7
dive: 99
start: 8 9 114 4 19 8
data:
$ID,196
$MISSION,7
$DIVE,99
$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,5
$SURFACE_URGENCY_FORCE,10
$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,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-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,676.53741
$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,-5138.9199
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,20
$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,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$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
$GPS1,090814,041226,7140.282,-14412.755,103,0.8,123,22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.6
$GPS2,090814,041850,7140.285,-14412.879,4,0.8,25,22.6
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,145.4,8112,-22.3,-11.628,-24.76,1933
$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,15,-0.69,-145.9,130,2750,438,538,0.0,0.0,0,69,0.00,0.00,-52.20,0.000,16386,0.000,0.000,124,2750,1903,1911,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.69,-145.9,128,2754,1912,1898,3.9,-5.4,5,123,12.07,2.38,-33.97,0.000,18948,0.390,0.095,2662,1367,3856,3911,3802,0,0,0,0,0,0,14.02,14.24,14.43
$GC,162,-0.69,-145.9,2663,1367,3912,3804,30.1,-25.9,23,169,0.00,2.53,0.00,0.000,1030,0.000,0.095,2654,2758,3858,3911,3805,0,0,0,0,0,0,28.83,14.22,28.83
$GC,467,-0.69,-145.9,2655,2759,3912,3810,104.1,-21.3,54,473,0.00,2.40,0.00,0.000,516,0.000,0.068,2653,1370,3860,3911,3809,0,0,0,0,0,0,28.83,14.37,28.83
$GC,568,-0.69,-145.9,2654,1369,3912,3809,123.3,-18.6,74,573,0.00,2.47,0.00,0.000,1030,0.000,0.098,2643,2760,3859,3910,3809,0,0,0,0,0,0,28.83,14.38,28.83
$GC,877,-0.69,-145.9,2643,2762,3912,3809,182.2,-17.9,106,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-0.69,-145.9,2644,2763,3912,3810,231.9,-15.6,136,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3860,3911,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1477,-0.69,-145.9,2643,2763,3911,3810,277.5,-14.9,154,1483,0.00,2.40,0.00,0.000,516,0.000,0.070,2643,1362,3860,3912,3808,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1522,-0.69,-145.9,2643,1362,3911,3809,283.8,-13.7,163,1528,0.12,2.50,0.00,0.000,3078,0.243,0.099,2665,2758,3859,3910,3808,0,0,0,0,0,0,14.42,14.52,28.83
$GC,1838,-0.69,-145.9,2666,2759,3911,3808,324.6,-12.9,176,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3858,3910,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2137,-0.69,-145.9,2666,2759,3911,3807,362.8,-12.7,186,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3858,3910,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-0.69,-145.9,2666,2759,3911,3806,400.0,-12.3,196,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3857,3910,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2737,-0.69,-145.9,2666,2758,3912,3804,436.9,-12.2,206,2743,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,1365,3857,3910,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2777,-0.69,-145.9,2665,1364,3911,3804,441.8,-11.8,214,2783,0.00,2.47,0.00,0.000,1030,0.000,0.100,2658,2753,3857,3910,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3098,-0.69,-145.9,2659,2756,3911,3804,482.5,-12.8,228,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2755,3856,3910,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3397,-0.69,-145.9,2659,2755,3912,3803,521.0,-12.8,238,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2755,3856,3910,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3697,-0.69,-145.9,2659,2755,3911,3804,558.8,-12.6,248,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2755,3856,3910,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.69,-145.9,2659,2755,3912,3803,596.3,-12.4,258,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2755,3856,3910,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4297,-0.69,-145.9,2659,2756,3912,3803,633.5,-12.4,268,4303,0.00,2.35,0.00,0.000,516,0.000,0.070,2658,1365,3856,3910,3802,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4342,-0.69,-145.9,2659,1364,3911,3802,638.9,-11.3,277,4348,0.00,2.47,0.00,0.000,1030,0.000,0.100,2647,2762,3855,3910,3801,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4657,-0.69,-145.9,2648,2763,3912,3801,679.4,-12.9,290,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2763,3856,3910,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4957,-0.69,-145.9,2648,2762,3911,3801,717.7,-12.7,300,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3855,3910,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5226,begin apogee
$GC,5229,-0.13,0.0,2648,2763,3911,3802,751.8,-12.6,309,5354,0.73,0.00,122.72,1.947,10244,0.234,0.000,2843,2762,3258,3275,3241,0,0,0,0,0,0,14.59,28.83,13.15
$STATE,5355,end apogee,CONTROL_FINISHED_OK
$STATE,5355,begin climb
$GC,5357,0.69,145.9,2844,2763,3271,3238,755.3,0.0,313,5489,0.93,1.92,123.85,1.884,10500,0.155,0.108,3108,3785,2659,2662,2656,0,0,0,0,0,0,13.82,13.83,12.90
$GC,5713,0.69,145.9,3109,3786,2662,2648,712.2,15.7,386,5719,0.00,1.80,0.00,0.000,1030,0.000,0.055,3116,2742,2654,2661,2648,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6039,0.69,145.9,3117,2743,2662,2646,667.8,13.6,401,6044,0.00,2.40,0.00,0.000,516,0.000,0.073,3127,1344,2653,2661,2646,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6268,0.69,145.9,3128,1345,2662,2646,639.2,12.2,447,6274,0.00,2.53,0.00,0.000,1030,0.000,0.096,3127,2741,2652,2660,2645,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6578,0.69,145.9,3133,2742,2662,2644,596.3,13.9,459,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2656,2661,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6878,0.69,145.9,3128,2742,2668,2644,555.3,13.7,469,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7178,0.69,145.9,3128,2738,2663,2644,514.5,13.5,479,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2741,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7478,0.69,145.9,3128,2742,2662,2645,474.2,13.4,489,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7778,0.69,145.9,3131,2742,2662,2644,434.3,13.3,499,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8078,0.69,145.9,3128,2742,2662,2643,395.0,13.0,509,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8378,0.69,145.9,3128,2741,2662,2643,356.0,13.0,519,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2742,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8678,0.69,145.9,3128,2742,2662,2644,317.7,12.6,529,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2652,2661,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8978,0.69,145.9,3128,2742,2662,2643,279.9,12.5,539,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2741,2651,2661,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9278,0.69,145.9,3128,2741,2662,2643,243.9,11.8,551,9284,0.00,2.38,0.00,0.000,516,0.000,0.071,3137,1347,2652,2661,2643,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9293,0.69,146.4,3138,1347,2662,2643,242.0,11.6,554,9301,0.00,2.45,0.00,0.000,1030,0.000,0.096,3138,2737,2652,2661,2643,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9599,0.70,162.5,3138,2738,2662,2644,206.6,10.8,585,9614,0.00,0.00,13.88,1.294,8198,0.000,0.000,3137,2737,2595,2601,2589,0,0,0,0,0,0,28.83,28.83,13.97
$GC,9908,0.74,221.1,3138,2737,2598,2579,175.5,8.5,616,9960,0.00,0.00,48.35,1.299,8198,0.000,0.000,3138,2738,2351,2351,2351,0,0,0,0,0,0,28.83,28.83,13.75
$GC,10259,0.76,250.2,3138,2738,2351,2344,139.0,10.1,651,10291,0.00,2.45,23.90,1.233,8708,0.000,0.072,3146,1347,2231,2229,2233,0,0,0,0,0,0,28.83,14.25,13.71
$GC,10315,0.78,280.9,3147,1347,2233,2232,133.4,10.0,662,10347,0.00,2.53,27.08,1.261,9222,0.000,0.095,3147,2737,2109,2108,2111,0,0,0,0,0,0,28.83,14.24,13.64
$GC,10651,0.80,297.6,3148,2738,2106,2097,95.3,10.7,699,10662,0.00,0.00,6.38,0.468,8710,0.000,0.000,3146,2738,2045,2049,2042,0,0,0,0,0,0,28.83,28.83,14.07
$GC,10961,0.83,341.0,3148,2738,2059,2043,63.5,9.3,731,10987,0.00,2.45,19.83,0.379,8708,0.000,0.073,3156,1344,1867,1865,1869,0,0,0,0,0,0,28.83,14.36,14.19
$GC,11111,0.88,420.7,3156,1343,1871,1869,51.2,7.4,761,11153,0.00,2.53,35.12,0.340,9222,0.000,0.097,3155,2741,1544,1546,1542,0,0,0,0,0,0,28.83,14.38,14.18
$GC,11451,0.93,487.3,3156,2742,1547,1533,22.6,8.1,799,11488,0.12,2.45,29.15,0.269,10756,0.132,0.074,3213,1347,1270,1277,1264,0,0,0,0,0,0,14.42,14.38,14.26
$GC,11513,0.95,512.3,3214,1346,1278,1263,16.4,10.3,811,11529,0.00,2.47,11.18,0.254,9222,0.000,0.096,3212,2742,1168,1170,1166,0,0,0,0,0,0,28.83,14.38,14.25
$GC,11833,1.10,737.3,3213,2742,1173,1153,12.1,-0.3,845,11910,0.12,1.92,72.62,0.233,10500,0.146,0.105,3266,3787,498,457,539,0,0,0,0,0,0,14.43,14.33,14.23
$FREEZE,8.85,5.295,-1.298,2,1,0
$FREEZE,8.63,5.295,-1.298,2,1,0
$FREEZE,8.59,5.329,-1.291,2,1,0
$FREEZE,8.43,5.329,-1.291,2,1,0
$FREEZE,8.13,5.324,-1.291,2,1,0
$FREEZE,7.86,5.324,-1.290,2,1,0
$FREEZE,7.60,5.346,-1.286,2,1,0
$FREEZE,7.35,5.346,-1.286,2,1,0
$FREEZE,7.08,5.336,-1.288,2,1,0
$FREEZE,6.71,5.336,-1.287,2,1,0
$FREEZE,6.36,5.342,-1.286,2,1,0
$FREEZE,6.06,5.342,-1.286,2,1,0
$FREEZE,5.63,5.342,-1.285,2,1,0
$FREEZE,5.31,5.342,-1.285,2,1,0
$FREEZE,4.98,5.342,-1.285,2,1,0
$FREEZE,4.48,5.342,-1.285,2,1,0
$FREEZE,4.18,5.348,-1.284,2,1,0
$FREEZE,3.78,5.348,-1.283,2,1,0
$FREEZE,3.47,5.345,-1.283,2,1,0
$FREEZE,3.19,5.345,-1.283,2,1,0
$FREEZE,2.98,5.343,-1.283,2,1,0
$FREEZE,2.52,5.343,-1.283,2,1,0
$FREEZE,2.11,5.345,-1.282,2,1,0
$FREEZE,1.80,5.345,-1.282,2,1,0
$STATE,12029,end climb,SURFACE_DEPTH_REACHED
$STATE,12029,begin surface coast
$FREEZE,1.35,5.348,-1.281,2,1,0
$FREEZE,1.03,5.348,-1.280,2,1,0
$FREEZE,0.67,5.345,-1.280,2,1,0
$FREEZE,0.41,5.345,-1.280,2,1,0
$FINISH,0.4,1.018604
$STATE,12050,end surface coast,CONTROL_FINISHED_OK
$STATE,12050,begin surface
$SM_CCo,12126,0.00,0.000,0,0,493,678.25
$SM_GC,1.82,9.32,1.80,0.00,0.083,0.084,0.000,207,2774,493,-8.35,1.27,678.25,0,0,0,0,0,0,14.40,14.40,28.83
$RAFOS_CLK,588
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7105.60,-14413.44,090814,004512
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.83
$INTERNAL_PRESSURE,8.6214
$TCM_TEMP,13.50
$XPDR_PINGS,3
$SC_FREEKB,3894304
$24V_AH,12.90,30.255
$10V_AH,12.84,0.000
$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,23.425,56.375,534.050,0.000,0.000,0.000,0.000,231.750,0.750,0.000,26.609,0.000,9777.204,603.139,2018.092,106.904,0.000,1542.045,0.000,1316.307,0.000,0.540,0.000
$DEVICE_MAMPS,390.150,107.865,1946.925,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.073,0.000,0.000,0.000
$MEM,306028
$DATA_FILE_SIZE,30064,886
$CAP_FILE_SIZE,135486,0
$CFSIZE,2097872896,2072379392
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12567.41,0x2378b6,7,5
$INTR,1,5227.18,0x2378b6,2,5
$SOUNDSPEED,1451.7
$GPS,090814,074242,7138.771,-14412.620,42,0.9,62,22.6