version: 66.12
glider: 196
mission: 7
dive: 116
start: 8 11 114 16 3 44
data:
$ID,196
$MISSION,7
$DIVE,116
$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,-5160.3413
$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,44
$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
$GPS1,110814,155722,7203.238,-14413.299,17,0.8,37,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.8
$GPS2,110814,160326,7203.275,-14413.470,4,0.9,25,22.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7220.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,340.9,31036,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.69,-145.9,192,2749,417,569,0.0,0.0,0,76,0.00,0.00,-58.80,0.000,16386,0.000,0.000,191,2750,1975,1988,1962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.69,-145.9,191,2749,1989,1964,3.2,-4.2,6,133,11.73,1.92,-39.88,0.000,18692,0.388,0.129,2658,3798,3857,3918,3796,0,0,0,0,0,0,14.08,14.27,14.47
$GC,357,-0.69,-145.9,2660,3799,3920,3802,80.6,-25.5,62,363,0.00,1.75,0.00,0.000,1030,0.000,0.060,2658,2762,3860,3918,3803,0,0,0,0,0,0,28.83,14.36,28.83
$GC,667,-0.69,-145.9,2659,2763,3920,3804,146.5,-20.0,94,673,0.00,1.85,0.00,0.000,260,0.000,0.104,2650,3786,3861,3919,3803,0,0,0,0,0,0,28.83,14.34,28.83
$GC,877,-0.69,-145.9,2651,3786,3919,3803,189.1,-20.5,136,883,0.00,1.75,0.00,0.000,1030,0.000,0.060,2650,2750,3861,3919,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1187,-0.69,-145.9,2651,2750,3920,3803,241.8,-16.0,168,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2750,3861,3918,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1488,-0.69,-145.9,2651,2750,3920,3803,286.7,-14.6,182,1493,0.00,2.35,0.00,0.000,516,0.000,0.074,2650,1357,3860,3918,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1562,-0.69,-145.9,2650,1357,3920,3803,296.9,-12.9,197,1568,0.10,2.53,0.00,0.000,3078,0.234,0.103,2666,2761,3860,3918,3803,0,0,0,0,0,0,14.38,14.47,28.83
$GC,1878,-0.69,-145.9,2667,2762,3919,3804,338.3,-13.0,210,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2761,3860,3918,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2177,-0.69,-145.9,2667,2762,3919,3804,376.7,-12.8,220,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3860,3918,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.69,-145.9,2666,2761,3919,3804,414.8,-12.6,230,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3858,3918,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,-0.69,-145.9,2666,2761,3920,3803,452.5,-12.6,240,2783,0.00,2.33,0.00,0.000,516,0.000,0.073,2666,1365,3860,3918,3802,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2827,-0.69,-145.9,2667,1364,3919,3803,458.5,-11.9,250,2833,0.00,2.47,0.00,0.000,1030,0.000,0.102,2658,2754,3860,3918,3802,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3137,-0.69,-145.9,2660,2755,3919,3803,498.3,-12.8,262,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3437,-0.69,-145.9,2659,2754,3920,3802,536.1,-12.5,272,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3860,3918,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3737,-0.69,-145.9,2660,2755,3919,3803,573.5,-12.5,282,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4037,-0.69,-145.9,2660,2755,3919,3803,610.6,-12.3,292,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4337,-0.69,-145.9,2660,2755,3919,3803,647.0,-12.1,302,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2754,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-0.69,-145.9,2659,2754,3920,3801,683.2,-12.1,312,4643,0.00,2.35,0.00,0.000,516,0.000,0.073,2659,1370,3860,3918,3802,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4677,-0.69,-145.9,2659,1371,3919,3802,688.0,-11.6,320,4683,0.00,2.47,0.00,0.000,1030,0.000,0.101,2648,2761,3860,3918,3802,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4998,-0.69,-145.9,2649,2762,3920,3802,728.4,-12.8,334,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3860,3918,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5176,begin apogee
$GC,5180,-0.13,0.0,2649,2763,3919,3799,751.2,-12.7,340,5306,0.73,0.00,124.18,1.955,10244,0.226,0.000,2845,2762,3258,3275,3242,0,0,0,0,0,0,14.57,28.83,13.16
$STATE,5307,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5308,0.69,145.9,2846,2763,3271,3238,754.7,0.0,344,5439,0.88,0.00,123.32,1.870,11270,0.129,0.000,3111,2762,2658,2664,2653,0,0,0,0,0,0,13.81,28.83,12.88
$GC,5748,0.69,145.9,3112,2762,2665,2646,707.8,13.2,384,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2762,2655,2664,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6048,0.69,145.9,3112,2762,2665,2645,668.3,13.2,394,6053,0.00,1.85,0.00,0.000,260,0.000,0.102,3111,3782,2654,2664,2645,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6073,0.69,145.9,3112,3784,2665,2646,664.7,14.7,399,6080,0.00,1.77,0.00,0.000,1030,0.000,0.057,3119,2735,2654,2664,2645,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6378,0.69,145.9,3119,2736,2664,2646,623.7,13.3,410,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2734,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,0.69,145.9,3120,2736,2664,2645,583.8,13.3,420,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2735,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6978,0.69,145.9,3119,2735,2665,2644,544.4,13.1,430,6983,0.00,1.88,0.00,0.000,260,0.000,0.104,3118,3782,2654,2664,2644,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6993,0.69,145.9,3119,3782,2665,2644,542.3,13.2,433,6998,0.00,1.75,0.00,0.000,1030,0.000,0.057,3125,2732,2654,2664,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7308,0.69,145.9,3126,2732,2665,2645,500.4,13.2,446,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2732,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7608,0.69,145.9,3126,2732,2663,2644,461.3,13.0,456,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2732,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7908,0.69,145.9,3126,2733,2665,2644,422.7,12.8,466,7913,0.00,1.88,0.00,0.000,260,0.000,0.103,3125,3786,2653,2664,2643,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7948,0.69,145.9,3126,3787,2664,2645,416.7,14.7,474,7953,0.00,1.73,0.00,0.000,1030,0.000,0.057,3132,2741,2654,2664,2644,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8269,0.69,145.9,3133,2742,2665,2645,374.6,13.0,488,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2741,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8568,0.69,145.9,3133,2742,2665,2644,336.1,12.9,498,8573,0.00,1.85,0.00,0.000,260,0.000,0.103,3132,3781,2654,2664,2644,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8603,0.69,145.9,3133,3782,2665,2644,331.2,14.2,505,8608,0.00,1.73,0.00,0.000,1030,0.000,0.057,3143,2735,2654,2664,2644,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8929,0.69,145.9,3140,2734,2665,2644,289.2,12.6,520,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9228,0.69,145.9,3140,2734,2665,2645,252.6,11.8,530,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2734,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9528,0.71,174.4,3140,2734,2665,2643,219.9,10.1,558,9553,0.00,0.00,23.40,1.299,8198,0.000,0.000,3139,2734,2547,2553,2542,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9849,0.74,224.3,3140,2734,2549,2532,188.0,9.0,590,9900,0.00,2.47,41.95,1.330,8708,0.000,0.073,3150,1340,2335,2334,2336,0,0,0,0,0,0,28.83,14.19,13.73
$GC,9984,0.77,261.9,3151,1340,2333,2334,175.3,9.6,617,10021,0.00,2.55,31.45,1.299,9222,0.000,0.096,3150,2742,2185,2184,2187,0,0,0,0,0,0,28.83,14.26,13.62
$GC,10319,0.77,261.9,3151,2743,2184,2179,136.3,11.7,654,10324,0.00,1.90,0.00,0.000,260,0.000,0.104,3150,3787,2180,2183,2178,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10384,0.77,261.9,3151,3789,2184,2179,128.1,12.7,667,10391,0.00,1.77,0.00,0.000,1030,0.000,0.057,3158,2735,2180,2183,2178,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10690,0.79,291.1,3165,2736,2185,2177,95.9,10.1,698,10705,0.00,0.00,12.02,0.479,8454,0.000,0.000,3158,2735,2070,2071,2070,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11010,0.84,355.9,3158,2735,2084,2070,65.7,8.2,731,11041,0.00,0.00,28.98,0.380,8710,0.000,0.000,3158,2735,1807,1803,1812,0,0,0,0,0,0,28.83,28.83,14.20
$GC,11340,0.91,463.4,3159,2736,1807,1807,41.0,5.9,765,11391,0.00,2.45,46.85,0.307,8708,0.000,0.076,3167,1345,1367,1375,1359,0,0,0,0,0,0,28.83,14.37,14.21
$GC,11431,0.96,532.1,3168,1346,1377,1355,34.4,8.0,783,11467,0.08,2.50,30.48,0.307,11270,0.085,0.099,3229,2729,1087,1089,1086,0,0,0,0,0,0,14.37,14.32,14.15
$FREEZE,8.63,1.831,-1.458,2,1,0
$FREEZE,8.06,2.280,-1.455,2,1,0
$FREEZE,7.54,2.986,-1.451,2,1,0
$FREEZE,6.93,3.249,-1.452,2,1,0
$FREEZE,6.31,3.465,-1.451,2,1,0
$FREEZE,5.71,3.506,-1.450,2,1,0
$FREEZE,5.19,3.843,-1.434,2,1,0
$FREEZE,4.80,4.723,-1.379,2,1,0
$FREEZE,4.44,4.742,-1.377,2,1,0
$FREEZE,4.12,4.760,-1.376,2,1,0
$FREEZE,3.83,4.795,-1.374,2,1,0
$FREEZE,3.73,4.795,-1.374,2,1,0
$FREEZE,3.44,4.821,-1.371,2,1,0
$FREEZE,3.42,4.821,-1.371,2,1,0
$FREEZE,3.16,4.828,-1.371,2,1,0
$FREEZE,2.91,4.828,-1.371,2,1,0
$FREEZE,2.67,4.839,-1.375,2,1,0
$FREEZE,2.37,4.839,-1.375,2,1,0
$FREEZE,1.99,4.843,-1.376,2,1,0
$GC,11772,1.07,686.9,3230,2729,1089,1074,3.8,3.4,821,11826,0.00,0.00,52.35,0.202,8450,0.000,0.000,3229,2728,599,571,628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11826,end climb,SURFACE_DEPTH_REACHED
$STATE,11826,begin surface coast
$FREEZE,1.57,4.856,-1.375,2,1,0
$FREEZE,1.09,4.781,-1.378,2,1,0
$FREEZE,0.80,4.806,-1.377,2,1,0
$FREEZE,0.83,4.682,-0.705,2,1,0
$FINISH,0.8,1.010310
$STATE,11859,end surface coast,CONTROL_FINISHED_OK
$STATE,11859,begin surface
$SM_CCo,11874,11.15,0.208,0,0,497,676.54
$SM_GC,3.06,9.25,0.05,11.15,0.084,0.257,0.208,203,2759,497,-8.35,-0.74,676.54,0,0,0,0,0,0,14.40,14.36,14.28
$RAFOS_CLK,582
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7125.74,-14409.11,110814,122741
$TT8_MAMPS,0.043442,0.043442
$HUMID,46.77
$INTERNAL_PRESSURE,8.58233
$TCM_TEMP,12.50
$XPDR_PINGS,3
$SC_FREEKB,3886688
$24V_AH,12.88,35.195
$10V_AH,12.83,0.000
$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,22.750,49.900,514.975,11.150,0.000,0.000,0.000,210.725,0.750,0.000,26.503,0.000,9622.163,569.759,1940.690,115.764,0.000,1494.994,0.000,1240.443,1188.000,0.540,0.000
$DEVICE_MAMPS,387.855,257.040,1954.575,208.080,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11895.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.825,0.000,0.000,0.000
$MEM,296184
$DATA_FILE_SIZE,30045,833
$CAP_FILE_SIZE,131766,0
$CFSIZE,2097872896,2069037056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12701.12,0x2378b6,7,5
$INTR,1,5177.42,0x2378b6,2,5
$SOUNDSPEED,1450.1
$GPS,110814,160326,7203.275,-14413.470,4,0.9,25,22.7