version: 66.12
glider: 196
mission: 7
dive: 144
start: 8 15 114 17 19 7
data:
$ID,196
$MISSION,7
$DIVE,144
$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,-5193.1118
$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,49
$R_STBD_OVSHOOT,20
$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
$GPS1,150814,171224,7238.695,-14412.913,29,0.8,49,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.4
$GPS2,150814,171848,7238.636,-14413.093,4,0.7,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,341.7,21114,-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,-145.9,176,2753,450,554,0.0,0.0,0,89,0.00,0.00,-72.47,0.000,16386,0.000,0.000,176,2752,2328,2332,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,175,2753,2333,2325,3.5,-3.7,7,135,11.88,1.83,-27.60,0.000,18692,0.392,0.125,2656,3786,3855,3915,3795,0,0,0,0,0,0,14.07,14.26,14.54
$GC,359,-0.69,-145.9,2657,3787,3916,3801,84.9,-24.2,61,364,0.00,1.70,0.00,0.000,1030,0.000,0.055,2656,2761,3858,3916,3800,0,0,0,0,0,0,28.83,14.42,28.83
$GC,669,-0.69,-145.9,2657,2763,3916,3801,150.6,-19.4,93,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2761,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.69,-145.9,2657,2762,3917,3800,205.6,-17.7,123,974,0.00,1.83,0.00,0.000,260,0.000,0.104,2648,3780,3858,3916,3800,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1019,-0.69,-145.9,2649,3781,3917,3800,214.6,-18.6,133,1025,0.00,1.70,0.00,0.000,1030,0.000,0.059,2648,2760,3858,3916,3800,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1329,-0.69,-145.9,2649,2760,3917,3800,264.6,-15.5,159,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2760,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1629,-0.69,-145.9,2649,2761,3916,3801,309.3,-14.5,169,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2760,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,-0.69,-145.9,2649,2761,3916,3801,352.2,-14.2,179,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2760,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-0.69,-145.9,2649,2760,3915,3800,393.9,-13.8,189,2234,0.00,2.35,0.00,0.000,516,0.000,0.070,2648,1372,3857,3915,3800,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2264,-0.69,-145.9,2649,1373,3916,3801,398.7,-12.7,196,2270,0.10,2.47,0.00,0.000,3078,0.241,0.099,2664,2758,3857,3915,3800,0,0,0,0,0,0,14.46,14.56,28.83
$GC,2590,-0.69,-145.9,2665,2759,3916,3801,439.5,-12.6,211,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2758,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,-0.69,-145.9,2665,2759,3916,3801,477.4,-12.6,221,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2758,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3189,-0.69,-145.9,2664,2758,3916,3800,515.2,-12.5,231,3194,0.00,2.35,0.00,0.000,516,0.000,0.068,2670,1369,3857,3915,3800,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3239,-0.69,-145.9,2664,1369,3917,3800,521.2,-11.4,241,3245,0.00,2.47,0.00,0.000,1030,0.000,0.099,2655,2762,3857,3915,3800,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3549,-0.69,-145.9,2655,2763,3917,3800,561.6,-13.0,253,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.69,-145.9,2656,2763,3917,3800,600.7,-13.1,263,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2763,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4149,-0.69,-145.9,2654,2763,3916,3800,639.8,-13.0,273,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4449,-0.69,-145.9,2656,2765,3916,3806,678.4,-12.8,283,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3857,3915,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4749,-0.69,-145.9,2656,2763,3916,3801,716.5,-12.6,293,4754,0.00,2.35,0.00,0.000,516,0.000,0.067,2655,1373,3857,3915,3800,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4794,-0.69,-145.9,2656,1372,3916,3800,721.9,-11.8,302,4800,0.00,2.45,0.00,0.000,1030,0.000,0.099,2644,2758,3857,3915,3800,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5021,-0.13,0.0,2645,2758,3916,3800,750.9,-13.1,312,5149,0.75,0.00,125.38,1.950,10244,0.232,0.000,2847,2758,3257,3274,3241,0,0,0,0,0,0,14.54,28.83,13.19
$STATE,5150,end apogee,CONTROL_FINISHED_OK
$STATE,5150,begin climb
$GC,5151,0.69,145.9,2847,2758,3270,3236,754.6,0.0,316,5281,0.88,0.00,124.40,1.873,11270,0.135,0.000,3109,2758,2662,2668,2656,0,0,0,0,0,0,13.81,28.83,12.83
$GC,5590,0.69,145.9,3110,2759,2665,2645,708.6,12.9,356,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2758,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5890,0.69,145.9,3110,2758,2665,2643,670.2,12.7,366,5896,0.00,1.88,0.00,0.000,260,0.000,0.100,3109,3786,2653,2664,2643,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5925,0.69,145.9,3111,3787,2664,2644,665.1,14.7,373,5931,0.00,1.75,0.00,0.000,1030,0.000,0.054,3116,2741,2653,2664,2643,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6251,0.69,145.9,3116,2741,2665,2643,622.1,13.2,388,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2741,2653,2663,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,0.69,145.9,3117,2742,2665,2643,582.3,13.3,398,6556,0.00,1.88,0.00,0.000,260,0.000,0.101,3116,3784,2652,2663,2642,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6580,0.69,145.9,3116,3784,2665,2642,577.8,15.4,404,6586,0.00,1.73,0.00,0.000,1030,0.000,0.055,3124,2742,2653,2664,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6911,0.69,145.9,3124,2742,2665,2642,533.1,13.6,420,6916,0.00,1.83,0.00,0.000,260,0.000,0.102,3125,3790,2653,2664,2642,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6950,0.69,145.9,3125,3791,2665,2642,527.0,15.7,428,6956,0.00,1.73,0.00,0.000,1030,0.000,0.054,3130,2740,2653,2664,2642,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7271,0.69,145.9,3131,2742,2665,2643,483.3,13.5,442,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2741,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,0.69,145.9,3130,2741,2665,2642,443.5,13.2,452,7576,0.00,1.85,0.00,0.000,260,0.000,0.101,3130,3780,2653,2664,2642,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7600,0.69,145.9,3130,3780,2665,2642,438.9,15.4,458,7606,0.00,1.70,0.00,0.000,1030,0.000,0.055,3137,2745,2652,2663,2642,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7931,0.69,145.9,3138,2744,2665,2642,393.5,13.7,474,7936,0.00,1.83,0.00,0.000,260,0.000,0.102,3137,3793,2653,2664,2642,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7950,0.69,145.9,3136,3793,2665,2642,390.6,14.8,478,7956,0.00,1.73,0.00,0.000,1030,0.000,0.054,3145,2741,2653,2665,2642,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8260,0.69,145.9,3146,2741,2665,2642,347.5,13.8,490,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2741,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,0.69,145.9,3145,2741,2673,2641,307.4,13.2,500,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2741,2653,2664,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,0.69,145.9,3146,2741,2665,2641,268.9,12.7,510,8866,0.00,1.85,0.00,0.000,260,0.000,0.102,3145,3784,2653,2664,2642,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8930,0.69,145.9,3146,3783,2665,2642,259.1,13.4,524,8936,0.10,1.73,0.00,0.000,5126,0.272,0.054,3128,2734,2653,2664,2642,0,0,0,0,0,0,14.47,14.66,28.83
$GC,9240,0.72,182.4,3128,2736,2665,2643,226.3,9.7,553,9272,0.00,0.00,30.08,1.392,8454,0.000,0.000,3127,2734,2511,2517,2506,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9571,0.75,225.5,3128,2735,2517,2498,193.0,9.3,588,9612,0.00,0.00,36.58,1.343,8198,0.000,0.000,3127,2735,2333,2336,2331,0,0,0,0,0,0,28.83,28.83,13.68
$GC,9906,0.78,273.7,3128,2735,2334,2324,159.7,9.1,621,9948,0.00,0.00,40.15,1.240,8454,0.000,0.000,3127,2734,2142,2145,2139,0,0,0,0,0,0,28.83,28.83,13.60
$GC,10247,0.82,325.4,3129,2735,2143,2127,125.5,8.9,656,10298,0.00,1.95,43.38,1.177,8452,0.000,0.102,3127,3782,1925,1924,1926,0,0,0,0,0,0,28.83,14.04,13.57
$GC,10337,0.82,325.4,3128,3781,1923,1924,115.6,12.4,674,10342,0.00,1.80,0.00,0.000,1030,0.000,0.054,3131,2739,1920,1918,1923,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10648,0.84,361.2,3132,2739,1923,1917,84.1,9.7,706,10669,0.10,2.42,15.12,0.442,10756,0.154,0.073,3178,1339,1784,1784,1785,0,0,0,0,0,0,14.26,14.23,13.99
$GC,10693,0.84,361.2,3178,1338,1790,1785,78.6,12.2,715,10700,0.00,2.55,0.00,0.000,1030,0.000,0.096,3178,2736,1784,1784,1785,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10999,0.89,428.0,3179,2739,1793,1783,46.3,8.1,746,11031,0.00,0.00,29.92,0.329,8710,0.000,0.000,3178,2737,1513,1519,1507,0,0,0,0,0,0,28.83,28.83,14.09
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5a289a3b21;,*63
$MODEM_MSG,CACST,6,0,20140815201502.652775,3,2768,-7,0266,0150,255,02,02,07,05,1,010,000,0,5,1,0,150,2.9,6.4,-100,-3.4,-01,0.1,36,900,0025*39
$GC,11329,0.95,519.0,3178,2737,1525,1497,19.3,6.8,780,11375,0.00,2.42,40.30,0.258,8708,0.000,0.074,3177,1339,1140,1148,1133,0,0,0,0,0,0,28.83,14.33,14.20
$FREEZE,8.88,1.399,-1.430,2,1,0
$GC,11434,1.06,671.3,3178,1340,1149,1131,13.4,3.5,801,11513,0.15,2.53,67.80,0.233,11270,0.076,0.095,3265,2737,518,472,565,0,0,0,0,0,0,14.33,14.28,14.18
$FREEZE,7.56,1.409,-1.432,2,1,0
$FREEZE,6.81,1.409,-1.432,2,1,0
$FREEZE,5.93,1.411,-1.431,2,1,0
$FREEZE,5.30,1.410,-1.431,2,1,0
$FREEZE,4.40,1.407,-1.430,2,1,0
$FREEZE,3.54,1.405,-1.430,2,1,0
$FREEZE,2.65,1.403,-1.429,2,1,0
$FREEZE,1.60,1.405,-1.428,2,1,0
$STATE,11588,end climb,SURFACE_DEPTH_REACHED
$STATE,11588,begin surface coast
$FREEZE,0.87,1.406,-1.428,2,1,0
$FREEZE,0.83,1.317,-1.432,2,1,0
$FINISH,0.8,1.021053
$STATE,11609,end surface coast,CONTROL_FINISHED_OK
$STATE,11609,begin surface
$SM_CCo,11624,1.73,0.243,0,0,499,676.54
$SM_GC,2.36,9.32,0.00,1.73,0.076,0.000,0.243,203,2738,499,-8.36,-0.62,676.54,0,0,0,0,0,0,14.36,28.83,14.23
$RAFOS_CLK,101
$MODEM,10,1408133702,73.85780,-151.23160,182.653,264795.7
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7200.11,-14416.87,150814,134952
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.89
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,1
$SC_FREEKB,3874144
$24V_AH,12.83,43.391
$10V_AH,12.87,0.000
$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,23.275,56.625,553.100,1.725,0.000,0.000,0.000,225.825,0.250,0.000,26.154,0.000,9330.625,634.745,1913.551,128.548,0.000,1550.957,0.000,1230.812,1493.000,0.539,0.000
$DEVICE_MAMPS,391.680,124.695,1949.985,243.270,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11647.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.727,0.000,0.000,0.000
$MEM,280156
$DATA_FILE_SIZE,30063,826
$CAP_FILE_SIZE,132614,0
$CFSIZE,2097872896,2063532032
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12303.24,0x2378b6,7,5
$INTR,1,5019.75,0x2378b6,2,5
$INTR,2,11613.03,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,150814,203449,7239.917,-14413.287,68,0.8,88,22.9