version: 66.12
glider: 196
mission: 7
dive: 233
start: 8 28 114 16 42 31
data:
$ID,196
$MISSION,7
$DIVE,233
$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,-5302.9268
$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,55
$R_STBD_OVSHOOT,21
$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
$GPS1,280814,131112,7344.431,-14454.439,5,0.8,25,23.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-0.5
$GPS2,280814,131112,7344.431,-14454.439,5,0.8,25,23.0
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.2,117592,-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,16,-0.69,-145.9,3253,2738,442,547,0.0,0.0,0,100,0.00,0.00,-82.00,0.000,16386,0.000,0.000,3253,2738,2631,2689,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.69,-145.9,3254,2739,2690,2576,3.8,-4.9,8,140,2.03,0.00,-31.20,0.000,20742,0.192,0.000,2680,2738,3856,3921,3791,0,0,0,0,0,0,14.26,28.83,14.57
$GC,439,-0.69,-145.9,2681,2739,3922,3796,95.7,-20.4,43,443,0.00,1.85,0.00,0.000,260,0.000,0.102,2671,3789,3858,3922,3795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,488,-0.69,-145.9,2673,3791,3922,3797,106.2,-21.2,53,493,0.00,1.73,0.00,0.000,1030,0.000,0.054,2672,2756,3859,3923,3795,0,0,0,0,0,0,28.83,14.42,28.83
$GC,798,-0.69,-145.9,2672,2756,3923,3795,165.7,-17.9,85,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2755,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.69,-145.9,2672,2756,3922,3792,216.3,-16.1,115,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2754,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.69,-145.9,2672,2755,3923,3796,262.6,-13.9,141,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2755,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1718,-0.69,-145.9,2673,2755,3923,3795,301.8,-12.9,151,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2018,-0.69,-145.9,2672,2756,3922,3797,339.4,-12.5,161,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2755,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-0.69,-145.9,2672,2756,3923,3795,375.9,-12.0,171,2323,0.00,2.33,0.00,0.000,516,0.000,0.067,2671,1361,3858,3921,3795,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2348,-0.69,-145.9,2672,1361,3922,3796,379.4,-11.3,177,2353,0.00,2.47,0.00,0.000,1030,0.000,0.099,2663,2761,3855,3915,3795,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2679,-0.69,-145.9,2663,2761,3923,3795,419.9,-12.3,193,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.69,-145.9,2663,2761,3923,3795,456.3,-12.2,203,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3922,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3278,-0.69,-145.9,2664,2762,3922,3796,492.9,-12.1,213,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-0.69,-145.9,2663,2761,3922,3795,528.8,-11.9,223,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-0.69,-145.9,2663,2761,3923,3796,563.8,-11.6,233,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4178,-0.69,-145.9,2664,2762,3922,3797,598.6,-11.6,243,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-0.69,-145.9,2664,2762,3923,3796,633.4,-11.5,253,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3855,3916,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4778,-0.69,-145.9,2664,2762,3922,3796,667.7,-11.5,263,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.69,-145.9,2663,2761,3923,3796,702.1,-11.4,273,5083,0.00,1.83,0.00,0.000,260,0.000,0.105,2662,3788,3859,3922,3796,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5108,-0.69,-145.9,2663,3788,3922,3795,705.7,-12.4,279,5113,0.00,1.67,0.00,0.000,1030,0.000,0.054,2662,2761,3858,3921,3796,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5439,-0.69,-145.9,2663,2762,3923,3796,743.7,-11.5,295,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2762,3859,3922,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5497,begin apogee
$GC,5501,-0.13,0.0,2663,2762,3923,3796,750.5,-11.4,297,5628,0.68,0.00,125.28,1.994,10244,0.217,0.000,2844,2762,3259,3280,3239,0,0,0,0,0,0,14.45,28.83,13.12
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5631,0.69,145.9,2845,2762,3275,3235,754.2,0.0,301,5764,0.88,0.00,124.40,1.841,11270,0.121,0.000,3113,2761,2657,2663,2651,0,0,0,0,0,0,13.79,28.83,12.70
$GC,6069,0.69,145.9,3113,2761,2665,2645,709.4,13.1,341,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2762,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,0.69,145.9,3113,2762,2664,2645,670.0,13.1,351,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2761,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,0.69,145.9,3114,2760,2664,2645,630.5,13.1,361,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2761,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,0.69,145.9,3114,2761,2664,2645,591.4,13.1,371,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2761,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7269,0.69,145.9,3114,2762,2664,2645,552.7,12.9,381,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2761,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,0.69,145.9,3114,2762,2664,2645,514.3,12.7,391,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2762,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,0.69,145.9,3114,2759,2664,2645,476.3,12.4,401,7874,0.00,1.83,0.00,0.000,260,0.000,0.099,3113,3789,2653,2662,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7908,0.69,145.9,3113,3789,2665,2644,470.5,15.3,409,7914,0.00,1.73,0.00,0.000,1030,0.000,0.050,3121,2733,2654,2664,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8230,0.69,145.9,3121,2733,2665,2644,429.4,12.8,423,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2733,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8529,0.69,145.9,3122,2733,2665,2644,390.8,12.9,433,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2733,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8829,0.69,145.9,3121,2733,2665,2644,352.8,12.6,443,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2733,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9129,0.69,145.9,3122,2734,2665,2645,316.2,12.1,453,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2733,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9429,0.70,154.9,3122,2734,2665,2645,281.6,11.1,463,9438,0.00,0.00,8.23,1.371,8198,0.000,0.000,3121,2733,2625,2635,2615,0,0,0,0,0,0,28.83,28.83,13.95
$GC,9729,0.71,180.8,3122,2734,2632,2610,249.5,10.2,473,9755,0.00,2.33,22.00,1.281,8708,0.000,0.063,3131,1350,2516,2523,2509,0,0,0,0,0,0,28.83,14.47,13.88
$GC,9780,0.74,219.2,3132,1350,2520,2509,244.5,9.6,483,9819,0.00,2.45,32.17,1.258,9222,0.000,0.090,3131,2749,2358,2360,2357,0,0,0,0,0,0,28.83,14.45,13.72
$GC,10125,0.76,239.2,3132,2750,2361,2353,205.3,10.6,521,10146,0.00,1.90,17.50,1.257,8452,0.000,0.096,3131,3787,2277,2280,2274,0,0,0,0,0,0,28.83,14.30,13.74
$GC,10185,0.76,239.2,3132,3788,2276,2275,197.8,13.2,533,10190,0.00,1.73,0.00,0.000,1030,0.000,0.050,3137,2749,2274,2276,2273,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10497,0.78,268.0,3138,2751,2276,2272,165.5,10.1,565,10527,0.00,2.40,24.42,1.206,8708,0.000,0.064,3146,1345,2158,2159,2158,0,0,0,0,0,0,28.83,14.31,13.74
$GC,10597,0.80,303.5,3147,1346,2158,2155,155.6,9.7,585,10633,0.00,2.47,30.17,1.215,9222,0.000,0.090,3147,2743,2016,2017,2016,0,0,0,0,0,0,28.83,14.31,13.63
$GC,10937,0.82,324.8,3147,2743,2018,2004,118.0,10.5,623,10959,0.00,1.85,15.55,1.200,8452,0.000,0.096,3147,3782,1927,1927,1928,0,0,0,0,0,0,28.83,14.25,13.72
$GC,10988,0.82,324.8,3147,3785,1925,1928,111.7,13.3,633,10993,0.00,1.75,0.00,0.000,1030,0.000,0.050,3153,2740,1925,1924,1927,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11298,0.84,363.9,3154,2740,1925,1922,79.0,9.5,665,11320,0.00,0.00,16.83,0.425,8454,0.000,0.000,3153,2740,1773,1773,1774,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11619,0.92,481.1,3155,2740,1779,1770,53.0,5.4,698,11674,0.12,0.00,52.58,0.345,10246,0.129,0.000,3204,2739,1295,1307,1284,0,0,0,0,0,0,14.33,28.83,14.01
$GC,11972,0.97,543.7,3206,2740,1310,1269,22.1,8.3,733,12004,0.00,0.00,28.25,0.268,8198,0.000,0.000,3204,2739,1039,1046,1033,0,0,0,0,0,0,28.83,28.83,14.02
$FREEZE,8.82,-1.153,-1.427,2,2,0
$FREEZE,8.39,-1.152,-1.426,2,2,0
$FREEZE,8.07,-1.154,-1.425,2,2,0
$FREEZE,7.53,-1.161,-1.424,2,2,0
$FREEZE,7.25,-1.166,-1.423,2,2,0
$FREEZE,6.86,-1.170,-1.422,2,2,0
$FREEZE,6.47,-1.172,-1.421,2,2,0
$FREEZE,5.91,-1.178,-1.420,2,2,0
$FREEZE,5.47,-1.172,-1.419,2,2,0
$FREEZE,5.07,-1.174,-1.419,2,2,0
$FREEZE,4.79,-1.174,-1.419,2,2,0
$FREEZE,4.46,-1.176,-1.418,2,2,0
$FREEZE,4.08,-1.176,-1.418,2,2,0
$FREEZE,3.68,-1.177,-1.417,2,2,0
$FREEZE,3.36,-1.177,-1.417,2,2,0
$FREEZE,3.20,-1.185,-1.417,2,2,0
$FREEZE,2.67,-1.185,-1.416,2,2,0
$FREEZE,2.46,-1.184,-1.416,2,2,0
$FREEZE,1.91,-1.184,-1.415,2,2,0
$GC,12302,1.06,676.0,3204,2739,1046,1025,5.1,4.6,766,12361,0.00,0.00,56.67,0.203,8706,0.000,0.000,3204,2739,527,484,570,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12361,end climb,SURFACE_DEPTH_REACHED
$STATE,12362,begin surface coast
$FREEZE,1.38,-1.185,-1.415,2,2,0
$FREEZE,0.92,-1.174,-1.396,2,2,0
$FREEZE,0.69,-1.157,-0.108,2,2,0
$FINISH,0.7,1.001338
$STATE,12384,end surface coast,FINISH_DEPTH_REACHED
$STATE,12384,begin surface
$SM_CCo,12401,2.78,0.228,0,0,499,676.78
$SM_GC,2.37,9.30,0.00,2.78,0.083,0.000,0.228,201,2739,499,-8.36,-0.59,676.78,0,0,0,0,0,0,14.26,28.83,14.10
$RAFOS_CLK,34
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14501.74,280814,093839
$TT8_MAMPS,0.080143,0.080143
$HUMID,42.67
$INTERNAL_PRESSURE,8.55303
$TCM_TEMP,12.60
$XPDR_PINGS,3
$SC_FREEKB,3834272
$24V_AH,12.70,70.618
$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,13.000,32.300,554.050,2.775,0.000,0.000,0.000,0.000,0.750,0.000,0.000,0.000,10176.877,617.559,1601.118,124.098,0.000,1251.894,0.000,1166.707,1493.000,0.539,0.000
$DEVICE_MAMPS,217.260,104.805,1994.355,227.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.297,0.000,0.000,0.000
$MEM,229460
$DATA_FILE_SIZE,26756,778
$CAP_FILE_SIZE,124584,0
$CFSIZE,2097872896,2046656512
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12663.24,0x2378b6,7,5
$INTR,1,5498.02,0x2378b6,2,5
$INTR,2,9805.10,0x234484,1,24
$INTR,3,12388.15,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,280814,201043,7346.923,-14446.708,39,0.8,59,23.0