version: 66.12
glider: 197
mission: 6
dive: 279
start: 9 6 114 12 14 0
data:
$ID,197
$MISSION,6
$DIVE,279
$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,-10159.789
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,060914,120543,7358.434,-14655.848,35,1.0,55,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.4
$GPS2,060914,121339,7358.475,-14655.656,12,1.0,32,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.2,63917,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.81,-145.9,176,1811,425,565,0.0,0.0,0,60,0.00,0.00,-41.22,0.000,16386,0.000,0.000,176,1810,1515,1513,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,176,1811,1514,1519,3.1,-1.5,4,161,10.20,2.60,-77.20,0.000,18692,0.418,0.121,2211,3211,3779,3759,3799,0,0,0,0,0,0,14.04,14.23,14.56
$GC,386,-0.74,-145.9,2211,3211,3764,3804,80.2,-23.2,69,392,0.17,2.45,0.00,0.000,3078,0.295,0.065,2246,1795,3782,3762,3803,0,0,0,0,0,0,14.10,14.31,28.83
$GC,692,-0.74,-145.9,2246,1794,3763,3805,133.6,-16.4,100,697,0.00,2.53,0.00,0.000,260,0.000,0.102,2239,3207,3785,3766,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,788,-0.73,-145.9,2239,3207,3764,3805,149.6,-16.6,119,794,0.00,2.40,0.00,0.000,1030,0.000,0.067,2238,1799,3783,3763,3804,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1092,-0.73,-145.9,2239,1798,3763,3805,196.5,-14.8,150,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1798,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.74,-145.9,2239,1798,3763,3805,238.4,-13.1,180,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1798,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-0.76,-145.9,2239,1798,3764,3805,275.9,-11.8,197,1707,0.00,2.50,0.00,0.000,260,0.000,0.103,2229,3206,3783,3763,3804,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1798,-0.78,-145.9,2229,3207,3764,3805,287.7,-13.0,216,1803,0.00,2.40,0.00,0.000,1030,0.000,0.067,2229,1795,3783,3763,3804,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2124,-0.80,-145.9,2229,1795,3765,3805,325.3,-11.2,231,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1794,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.82,-145.9,2229,1795,3764,3806,358.2,-10.9,241,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1795,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.85,-145.9,2229,1795,3763,3805,390.2,-10.7,251,2728,0.00,2.53,0.00,0.000,260,0.000,0.102,2214,3215,3783,3762,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2773,-0.86,-145.9,2219,3216,3762,3805,396.0,-11.7,261,2778,0.00,2.42,0.00,0.000,1030,0.000,0.066,2218,1792,3783,3762,3804,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3085,-0.88,-145.9,2219,1791,3761,3805,430.0,-10.8,273,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1791,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-0.90,-145.9,2219,1791,3761,3805,461.8,-10.6,283,3388,0.00,2.50,0.00,0.000,260,0.000,0.103,2213,3209,3783,3762,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3438,-0.92,-145.9,2214,3211,3763,3805,467.9,-11.1,294,3444,0.00,2.38,0.00,0.000,1030,0.000,0.066,2213,1799,3780,3757,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3745,-0.93,-145.9,2214,1799,3762,3805,500.8,-10.7,305,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1799,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4043,-0.95,-145.9,2214,1799,3762,3805,533.0,-10.6,315,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,-0.97,-145.9,2214,1800,3769,3805,565.0,-10.6,325,4348,0.00,2.47,0.00,0.000,260,0.000,0.102,2206,3208,3783,3762,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4383,-0.97,-145.9,2206,3208,3762,3805,569.6,-11.4,333,4388,0.00,2.38,0.00,0.000,1030,0.000,0.065,2205,1800,3783,3762,3804,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4705,-0.99,-145.9,2206,1799,3762,3805,604.5,-10.9,347,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5003,-1.00,-145.9,2206,1799,3762,3805,637.2,-10.9,357,5004,0.12,0.00,0.00,0.000,4102,0.143,0.000,2155,1799,3783,3762,3805,0,0,0,0,0,0,14.66,28.83,28.83
$GC,5303,-0.98,-145.9,2155,1800,3762,3805,676.8,-13.3,367,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5603,-0.95,-145.9,2155,1800,3763,3806,716.4,-13.2,377,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5876,-0.16,0.0,2152,2183,3762,3805,751.7,-13.0,386,6002,1.10,0.00,123.65,1.844,10246,0.267,0.000,2437,2183,3182,3138,3226,0,0,0,0,0,0,14.39,28.83,13.28
$STATE,6003,end apogee,CONTROL_FINISHED_OK
$STATE,6003,begin climb
$GC,6006,0.81,145.9,2437,2183,3131,3224,754.6,0.0,390,6140,1.00,2.72,123.62,1.814,10500,0.134,0.096,2746,3584,2583,2500,2667,0,0,0,0,0,0,13.98,13.48,12.80
$GC,6155,0.76,145.9,2746,3585,2498,2663,741.3,15.1,417,6160,0.00,2.55,0.00,0.000,1030,0.000,0.057,2754,2173,2579,2496,2662,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6477,0.73,145.9,2754,2172,2495,2659,693.6,14.9,431,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2171,2576,2493,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6775,0.70,145.9,2755,2172,2496,2658,649.1,14.9,441,6780,0.15,2.45,0.00,0.000,4612,0.293,0.085,2732,767,2576,2495,2658,0,0,0,0,0,0,14.27,14.46,28.83
$GC,6820,0.70,145.9,2733,768,2495,2658,643.0,13.5,450,6825,0.00,2.45,0.00,0.000,1030,0.000,0.082,2729,2176,2576,2495,2657,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7136,0.69,145.9,2733,2178,2496,2657,600.7,13.4,463,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2177,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7435,0.67,145.9,2732,2178,2496,2658,560.5,13.4,473,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2177,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7735,0.67,145.9,2732,2178,2495,2657,520.6,13.2,483,7740,0.00,2.42,0.00,0.000,516,0.000,0.085,2742,770,2576,2495,2657,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7790,0.67,145.9,2743,769,2496,2657,513.2,13.4,494,7796,0.15,2.42,0.00,0.000,5126,0.269,0.082,2709,2182,2575,2495,2656,0,0,0,0,0,0,14.45,14.64,28.83
$GC,8097,0.69,145.9,2710,2183,2494,2657,477.3,11.7,505,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2182,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8395,0.70,146.4,2710,2183,2496,2657,442.1,11.6,515,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2182,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8695,0.71,146.4,2710,2183,2496,2657,407.4,11.6,525,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2182,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,0.72,146.6,2710,2183,2498,2656,372.9,11.6,535,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2182,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,0.74,154.4,2710,2182,2495,2657,338.5,11.2,545,9305,0.00,2.47,3.90,1.373,8708,0.000,0.086,2717,772,2556,2475,2637,0,0,0,0,0,0,28.83,14.72,13.70
$GC,9340,0.77,162.2,2717,772,2481,2645,333.4,11.2,554,9357,0.00,2.42,11.88,1.415,9222,0.000,0.081,2717,2180,2517,2439,2596,0,0,0,0,0,0,28.83,14.66,14.01
$GC,9657,0.78,162.9,2717,2181,2435,2591,296.6,11.6,567,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2180,2512,2433,2591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,0.81,169.4,2717,2181,2434,2591,262.5,11.3,577,9961,0.12,0.00,3.85,1.330,10246,0.144,0.000,2773,2180,2491,2414,2568,0,0,0,0,0,0,14.70,28.83,13.69
$GC,10256,0.79,171.4,2773,2181,2425,2579,224.0,11.5,599,10266,0.00,2.47,3.30,1.168,8708,0.000,0.086,2781,774,2486,2410,2562,0,0,0,0,0,0,28.83,14.64,13.69
$GC,10291,0.78,179.3,2781,775,2417,2568,220.0,11.2,606,10308,0.17,2.42,11.68,1.309,13318,0.272,0.081,2743,2183,2447,2372,2523,0,0,0,0,0,0,14.42,14.62,14.00
$GC,10606,0.83,234.3,2743,2184,2367,2520,191.0,8.7,639,10657,0.00,0.00,45.55,1.168,8198,0.000,0.000,2743,2183,2222,2144,2301,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10958,0.90,283.3,2743,2184,2136,2299,157.9,9.0,674,11001,0.12,0.00,41.42,1.128,10502,0.140,0.000,2800,2183,2026,1940,2112,0,0,0,0,0,0,14.55,28.83,13.81
$GC,11296,0.90,283.3,2800,2183,1924,2105,114.6,12.7,710,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2183,2014,1923,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11596,0.91,296.7,2800,2184,1923,2105,79.5,10.9,740,11607,0.00,2.53,4.65,0.400,8452,0.000,0.103,2800,3586,1972,1880,2064,0,0,0,0,0,0,28.83,14.41,14.11
$GC,11627,0.91,296.7,2800,3586,1889,2066,75.6,12.7,746,11632,0.00,2.40,0.00,0.000,1030,0.000,0.061,2810,2169,1977,1888,2067,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11939,1.02,413.2,2811,2167,1894,2067,49.2,5.4,778,11998,0.00,0.00,52.97,0.324,8198,0.000,0.000,2810,2167,1497,1398,1597,0,0,0,0,0,0,28.83,28.83,14.16
$GC,12298,1.16,513.2,2810,2167,1393,1598,21.8,6.3,814,12349,0.17,2.55,44.75,0.241,10500,0.110,0.101,2885,3586,1087,985,1189,0,0,0,0,0,0,14.47,14.34,14.20
$GC,12404,1.26,601.1,2886,3586,985,1190,14.4,7.0,832,12450,0.00,2.40,38.40,0.220,9222,0.000,0.060,2894,2172,730,632,828,0,0,0,0,0,0,28.83,14.40,14.19
$FREEZE,9.00,-1.169,-1.410,2,1,0
$FREEZE,8.11,-1.167,-1.427,2,1,0
$FREEZE,7.12,-1.167,-1.426,2,1,0
$FREEZE,6.11,-1.171,-1.425,2,1,0
$FREEZE,5.13,-1.177,-1.424,2,1,0
$FREEZE,4.14,-1.180,-1.423,2,1,0
$FREEZE,3.13,-1.163,-1.422,2,1,0
$FREEZE,2.16,-1.178,-1.422,2,1,0
$FREEZE,1.81,-1.189,-0.264,2,1,0
$STATE,12567,end climb,FINISH_DEPTH_REACHED
$STATE,12568,begin subsurface finish
$FINISH1,1.8,1.003671,0
$GC,12573,0.00,0.0,2895,2173,631,828,1.8,8.6,853,12682,1.33,2.53,-97.45,0.000,20996,0.138,0.109,2489,774,3183,3090,3277,0,0,0,0,0,0,14.31,14.35,14.63
$FINISH2,7.5
$STATE,12683,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12683,begin surface
$RAFOS_CLK,1215441
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7319.74,-14704.14,060914,082643
$TT8_MAMPS,0.043442,0.043442
$HUMID,43.42
$INTERNAL_PRESSURE,8.83508
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3813152
$24V_AH,12.80,114.379
$10V_AH,12.73,0.000
$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,14.825,67.450,509.625,0.000,0.000,0.000,0.000,259.475,0.000,0.000,36.088,0.000,10170.281,689.322,2045.042,244.924,0.000,1670.399,0.000,1308.109,0.000,0.531,0.000
$DEVICE_MAMPS,418.455,120.870,1843.650,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12732.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.223,0.000,0.000,0.000
$MEM,165012
$DATA_FILE_SIZE,30007,874
$CAP_FILE_SIZE,146390,0
$CFSIZE,1047117824,994000896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13313.32,0x2378b6,7,5
$INTR,1,12569.73,0x2378b6,5,5
$SOUNDSPEED,1448.5
$GPS,060914,121339,7358.475,-14655.656,12,1.0,32,29.1