version: 66.12
glider: 197
mission: 6
dive: 268
start: 9 4 114 20 47 6
data:
$ID,197
$MISSION,6
$DIVE,268
$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,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,0.07
$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,54283
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$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,-10146.641
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-65.523643
$PRESSURE_SLOPE,0.000117962
$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,20
$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,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,040914,165027,7416.881,-14656.088,13,1.1,33,29.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-5.8
$GPS2,040914,165027,7416.881,-14656.088,13,1.1,33,29.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.9,97989,-22.6,-11.628,-25.63,1932
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-145.9,2580,1792,501,643,0.0,0.0,0,31,0.00,0.00,-12.02,0.000,16386,0.000,0.000,2579,1792,920,850,991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-0.81,-145.9,2580,1792,856,992,3.4,0.0,1,122,1.02,0.00,-85.40,0.000,20998,0.070,0.000,2213,1792,3779,3761,3798,0,0,0,0,0,0,14.45,28.83,14.73
$GC,419,-0.76,-145.9,2214,1793,3763,3805,93.4,-20.8,44,420,0.15,0.00,0.00,0.000,2054,0.328,0.000,2243,1792,3784,3763,3805,0,0,0,0,0,0,14.24,28.83,28.83
$GC,719,-0.76,-145.9,2243,1793,3763,3805,144.0,-15.8,74,724,0.00,2.45,0.00,0.000,516,0.000,0.090,2242,391,3781,3762,3800,0,0,0,0,0,0,28.83,14.53,28.83
$GC,749,-0.76,-145.9,2243,392,3763,3805,148.8,-16.0,80,754,0.00,2.45,0.00,0.000,1030,0.000,0.081,2235,1799,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1059,-0.76,-145.9,2234,1801,3763,3805,197.4,-15.0,112,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1801,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-0.76,-145.9,2235,1801,3768,3805,239.1,-13.2,142,1364,0.00,2.50,0.00,0.000,260,0.000,0.103,2223,3216,3783,3763,3804,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1419,-0.76,-145.9,2223,3216,3763,3805,247.4,-14.0,154,1424,0.00,2.40,0.00,0.000,1030,0.000,0.066,2223,1798,3783,3762,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1740,-0.77,-145.9,2223,1801,3763,3805,286.9,-11.8,167,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1800,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.79,-145.9,2224,1801,3763,3805,320.8,-11.2,177,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1801,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.81,-145.9,2223,1801,3763,3804,354.8,-11.3,187,2344,0.00,2.50,0.00,0.000,260,0.000,0.105,2214,3217,3783,3763,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2399,-0.81,-145.9,2215,3216,3762,3805,361.7,-11.8,199,2404,0.00,2.40,0.00,0.000,1030,0.000,0.067,2211,1798,3782,3761,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2731,-0.82,-145.9,2214,1798,3762,3806,398.1,-11.1,215,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3029,-0.84,-145.9,2215,1798,3762,3804,430.6,-10.8,225,3034,0.00,2.50,0.00,0.000,260,0.000,0.103,2205,3216,3782,3761,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3079,-0.84,-145.9,2206,3217,3761,3805,436.4,-11.4,235,3084,0.00,2.40,0.00,0.000,1030,0.000,0.066,2205,1799,3782,3761,3804,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3391,-0.84,-145.9,2205,1799,3761,3805,470.9,-11.1,247,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1799,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3689,-0.85,-145.9,2205,1800,3762,3805,504.3,-11.1,257,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1799,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3990,-0.86,-145.9,2205,1800,3761,3805,537.1,-10.9,267,3994,0.00,2.50,0.00,0.000,260,0.000,0.104,2196,3220,3784,3763,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4054,-0.86,-145.9,2196,3220,3762,3805,544.7,-11.3,280,4062,0.00,2.40,0.00,0.000,1030,0.000,0.066,2196,1800,3783,3761,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4384,-0.86,-145.9,2196,1800,3762,3805,582.2,-11.5,295,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1799,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4683,-0.86,-145.9,2196,1800,3762,3805,616.2,-11.4,305,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1799,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4982,-0.86,-145.9,2196,1800,3761,3805,649.8,-11.1,315,4987,0.00,2.50,0.00,0.000,260,0.000,0.103,2188,3215,3783,3761,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5027,-0.86,-145.9,2188,3215,3761,3805,655.0,-11.8,324,5032,0.00,2.40,0.00,0.000,1030,0.000,0.065,2188,1794,3783,3761,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5344,-0.86,-145.9,2188,1793,3758,3805,690.6,-11.3,337,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5642,-0.86,-145.9,2188,1794,3762,3806,724.2,-11.1,347,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1793,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5880,begin apogee
$GC,5885,-0.16,0.0,2187,2189,3762,3806,751.1,-11.2,355,6011,0.95,0.00,123.35,1.838,10246,0.259,0.000,2438,2188,3183,3138,3229,0,0,0,0,0,0,14.44,28.83,13.28
$STATE,6012,end apogee,CONTROL_FINISHED_OK
$STATE,6012,begin climb
$GC,6014,0.81,145.9,2439,2189,3132,3226,753.7,0.0,359,6142,1.00,0.00,124.35,1.815,10502,0.135,0.000,2747,2188,2587,2507,2667,0,0,0,0,0,0,13.98,28.83,12.80
$GC,6422,0.79,145.9,2747,2189,2496,2660,702.9,14.5,378,6427,0.00,2.55,0.00,0.000,516,0.000,0.085,2757,766,2577,2495,2659,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6457,0.76,145.9,2757,766,2496,2659,697.7,15.1,385,6462,0.00,2.53,0.00,0.000,1030,0.000,0.081,2758,2183,2577,2496,2658,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6784,0.73,145.9,2757,2184,2496,2659,648.6,15.1,400,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2183,2576,2495,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7082,0.69,145.9,2757,2183,2496,2657,603.6,14.9,410,7088,0.17,2.47,0.00,0.000,4612,0.295,0.086,2728,758,2576,2495,2657,0,0,0,0,0,0,14.38,14.57,28.83
$GC,7122,0.69,145.9,2729,759,2496,2655,598.1,13.0,418,7127,0.00,2.47,0.00,0.000,1030,0.000,0.083,2728,2184,2576,2496,2657,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7444,0.69,145.9,2729,2186,2496,2657,555.9,13.1,432,7449,0.00,2.47,0.00,0.000,516,0.000,0.087,2737,759,2576,2495,2657,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7458,0.69,145.9,2738,759,2496,2657,553.8,13.1,435,7464,0.00,2.47,0.00,0.000,1030,0.000,0.083,2738,2181,2576,2495,2657,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7775,0.68,145.9,2738,2182,2496,2657,511.1,13.6,448,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2181,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,0.66,145.9,2738,2182,2496,2656,470.5,13.6,458,8075,0.17,0.00,0.00,0.000,4102,0.287,0.000,2698,2182,2575,2495,2656,0,0,0,0,0,0,14.47,28.83,28.83
$GC,8375,0.69,155.2,2699,2182,2496,2657,436.4,11.1,468,8384,0.00,0.00,8.25,1.524,8198,0.000,0.000,2697,2182,2549,2470,2629,0,0,0,0,0,0,28.83,28.83,14.00
$GC,8675,0.72,161.2,2699,2182,2463,2625,402.2,11.3,478,8684,0.00,2.50,2.90,1.048,8708,0.000,0.087,2704,763,2527,2447,2608,0,0,0,0,0,0,28.83,14.67,13.64
$GC,8724,0.74,161.2,2704,763,2456,2620,396.3,11.7,488,8730,0.00,2.45,1.40,0.289,9222,0.000,0.083,2704,2181,2524,2446,2602,0,0,0,0,0,0,28.83,14.64,14.22
$GC,9036,0.76,165.0,2704,2182,2457,2618,360.8,11.4,500,9046,0.00,0.00,8.57,1.455,8198,0.000,0.000,2704,2181,2508,2430,2586,0,0,0,0,0,0,28.83,28.83,13.99
$GC,9336,0.79,171.3,2705,2182,2424,2580,326.7,11.3,510,9341,0.12,0.00,3.08,1.105,10246,0.144,0.000,2760,2181,2484,2407,2561,0,0,0,0,0,0,14.70,28.83,13.65
$GC,9636,0.77,171.3,2761,2182,2421,2572,284.0,14.3,520,9638,0.00,0.00,1.42,0.305,8198,0.000,0.000,2760,2181,2483,2408,2559,0,0,0,0,0,0,28.83,28.83,14.10
$GC,9936,0.76,171.3,2760,2182,2421,2571,245.5,12.0,532,9941,0.00,2.53,1.52,0.334,8708,0.000,0.085,2768,766,2486,2410,2562,0,0,0,0,0,0,28.83,14.60,14.07
$GC,10002,0.76,178.3,2770,767,2421,2572,237.7,11.3,545,10019,0.15,2.45,11.27,1.313,13318,0.275,0.082,2738,2183,2450,2375,2526,0,0,0,0,0,0,14.45,14.64,14.04
$GC,10316,0.81,221.5,2738,2184,2371,2522,207.2,9.3,578,10357,0.00,0.00,36.20,1.196,8198,0.000,0.000,2738,2183,2272,2196,2348,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10658,0.88,270.4,2739,2183,2189,2346,176.0,9.0,612,10701,0.12,0.00,41.10,1.150,10246,0.142,0.000,2791,2183,2077,1994,2161,0,0,0,0,0,0,14.59,28.83,13.82
$GC,10996,0.88,270.4,2792,2184,1979,2154,134.0,12.4,646,11001,0.00,2.50,0.00,0.000,516,0.000,0.088,2802,762,2065,1978,2153,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11051,0.88,270.4,2804,759,1979,2152,127.2,12.1,657,11057,0.00,2.47,0.00,0.000,1030,0.000,0.083,2802,2177,2065,1979,2152,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11358,0.88,276.7,2803,2179,1978,2152,90.0,11.3,688,11360,0.00,0.00,0.98,0.279,8198,0.000,0.000,2802,2178,2053,1967,2140,0,0,0,0,0,0,28.83,28.83,14.25
$GC,12782,0.95,352.2,2802,2179,1979,2144,60.6,7.6,718,12822,0.00,2.62,34.90,0.360,8452,0.000,0.102,2802,3597,1745,1657,1834,0,0,0,0,0,0,28.83,14.35,14.14
$GC,13007,1.04,454.0,2803,3597,1658,1835,42.7,6.2,763,13060,0.00,2.45,46.28,0.304,9222,0.000,0.060,2812,2160,1327,1227,1428,0,0,0,0,0,0,28.83,14.34,14.12
$GC,13366,1.24,588.6,2813,2160,1224,1432,17.5,4.5,804,13431,0.22,2.58,59.22,0.226,10500,0.093,0.103,2909,3588,780,683,877,0,0,0,0,0,0,14.45,14.33,14.21
$GC,13446,1.28,600.1,2910,3589,683,878,10.4,11.0,820,13457,0.00,2.42,5.03,0.227,9222,0.000,0.064,2920,2178,733,633,834,0,0,0,0,0,0,28.83,14.31,14.19
$FREEZE,7.96,-1.214,-1.436,2,2,0
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$GC,13758,1.52,821.5,2920,2177,633,834,6.6,-0.2,852,13787,0.20,0.00,25.38,0.205,10246,0.101,0.000,3004,2177,498,412,584,0,0,0,0,0,0,14.47,28.83,14.22
$FREEZE,6.48,-1.218,-1.435,2,2,0
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$STATE,13874,end climb,NO_VERTICAL_VELOCITY
$STATE,13874,begin subsurface finish
$FINISH1,6.5,1.021099,357
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$FINISH2,6.6
$STATE,13888,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13888,begin surface
$RAFOS_CLK,115124
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-14707.26,040914,100234
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.48
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3818080
$24V_AH,12.80,110.815
$10V_AH,12.74,0.000
$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,5.775,70.725,535.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10281.011,631.788,1786.069,188.643,0.000,1319.791,0.000,1298.265,1440.000,0.531,0.000
$DEVICE_MAMPS,328.185,106.335,1838.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.349,0.000,0.000,0.000
$MEM,171200
$DATA_FILE_SIZE,30024,865
$CAP_FILE_SIZE,143978,0
$CFSIZE,1047117824,995295232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4056.80,0x234482,0,24
$INTR,1,13876.37,0x2378b6,5,5
$SOUNDSPEED,1448.4
$GPS,040914,165027,7416.881,-14656.088,13,1.1,33,29.2