version: 66.12
glider: 198
mission: 5
dive: 279
start: 9 8 114 10 23 24
data:
$ID,198
$MISSION,5
$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,1.75
$D_SAFE,500
$D_CALL,3
$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,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,658.87579
$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,-5400.6177
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$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,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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,080914,100142,7349.488,-14345.100,39,0.8,59,23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-69.8
$GPS2,080914,102305,7349.562,-14345.356,3,0.9,24,23.3
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,4
$TGT_LATLONG,7330.000,-14500.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,204.0,53423,-21.4,-11.628,-26.45,1932
$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,-0.70,-145.9,203,2678,467,520,0.0,0.0,0,91,0.00,0.00,-71.72,0.000,16386,0.000,0.000,202,2678,2150,2176,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.70,-145.9,203,2679,2177,2126,3.3,-2.0,7,147,11.07,2.47,-36.40,0.000,18948,0.444,0.107,2351,1266,3783,3844,3722,0,0,0,0,0,0,13.97,14.24,14.55
$GC,308,-0.64,-145.9,2352,1264,3846,3726,61.0,-22.9,50,314,0.15,2.58,0.00,0.000,3078,0.327,0.110,2377,2685,3785,3845,3725,0,0,0,0,0,0,14.14,14.31,28.83
$GC,611,-0.64,-145.9,2378,2685,3846,3726,115.9,-16.4,81,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2685,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-0.64,-145.9,2378,2685,3846,3726,162.2,-14.9,111,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2685,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1212,-0.64,-145.9,2378,2685,3846,3727,204.7,-13.6,141,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2685,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.66,-145.9,2378,2686,3845,3728,241.4,-11.4,171,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2685,3786,3845,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1833,-0.70,-145.9,2379,2686,3845,3727,276.9,-10.9,187,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2685,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2132,-0.73,-145.9,2378,2686,3846,3727,307.9,-10.1,197,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2685,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2432,-0.77,-145.9,2378,2685,3846,3727,337.4,-9.7,207,2437,0.12,1.98,0.00,0.000,4356,0.150,0.122,2316,3787,3785,3844,3726,0,0,0,0,0,0,14.63,14.47,28.83
$GC,2496,-0.77,-145.9,2318,3788,3845,3727,345.9,-13.6,220,2502,0.00,1.90,0.00,0.000,1030,0.000,0.075,2317,2680,3785,3845,3726,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2823,-0.77,-145.9,2317,2680,3846,3726,385.8,-12.2,235,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,-0.77,-145.9,2318,2680,3846,3726,422.0,-12.0,245,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2679,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3422,-0.77,-145.9,2317,2680,3846,3726,457.9,-11.9,255,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3785,3845,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-0.77,-145.9,2318,2681,3845,3728,493.5,-11.8,265,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3786,3845,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.77,-145.9,2317,2680,3846,3727,528.7,-11.8,275,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3786,3845,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-0.77,-145.9,2317,2680,3846,3728,563.5,-11.6,285,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2679,3786,3845,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,-0.77,-145.9,2317,2680,3846,3728,598.2,-11.5,295,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3787,3845,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-0.77,-145.9,2318,2680,3846,3729,632.6,-11.4,305,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2679,3786,3845,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.77,-145.9,2318,2680,3846,3729,666.6,-11.3,315,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2680,3787,3845,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.77,-145.9,2318,2681,3845,3731,700.6,-11.3,325,5527,0.00,2.38,0.00,0.000,516,0.000,0.083,2317,1273,3787,3845,3730,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5592,-0.77,-145.9,2318,1274,3845,3731,708.5,-11.3,339,5597,0.00,2.50,0.00,0.000,1030,0.000,0.107,2317,2686,3787,3845,3730,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5912,-0.77,-145.9,2318,2687,3846,3730,744.6,-11.3,353,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2686,3787,3845,3730,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5970,begin apogee
$GC,5975,-0.14,0.0,2317,3058,3846,3730,751.3,-11.2,355,6107,0.85,0.00,128.60,1.725,10246,0.262,0.000,2540,3058,3184,3264,3104,0,0,0,0,0,0,14.32,28.83,13.25
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6108,begin climb
$GC,6109,0.70,145.9,2540,3060,3262,3101,754.8,0.0,359,6243,0.95,0.00,126.47,1.692,10502,0.171,0.000,2811,3056,2582,2648,2517,0,0,0,0,0,0,13.86,28.83,12.81
$GC,6542,0.70,145.9,2811,3058,2642,2511,707.8,12.8,384,6547,0.00,1.38,0.00,0.000,260,0.000,0.118,2811,3782,2575,2640,2511,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6587,0.66,145.9,2811,3779,2642,2511,701.6,13.8,393,6592,0.00,1.30,0.00,0.000,1030,0.000,0.073,2815,3047,2576,2641,2511,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6903,0.64,145.9,2816,3048,2641,2512,660.5,12.9,406,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,3047,2576,2641,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,0.61,145.9,2815,3047,2642,2511,621.8,12.9,416,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,3047,2575,2640,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7502,0.59,145.9,2817,3047,2641,2512,582.9,12.9,426,7503,0.15,0.00,0.00,0.000,4102,0.282,0.000,2782,3047,2575,2640,2511,0,0,0,0,0,0,14.35,28.83,28.83
$GC,7802,0.60,155.8,2782,3047,2642,2514,549.4,11.1,436,7806,0.00,0.00,3.25,1.033,8198,0.000,0.000,2782,3047,2552,2621,2483,0,0,0,0,0,0,28.83,28.83,13.62
$GC,8102,0.61,167.7,2782,3047,2652,2483,516.1,11.0,446,8122,0.00,1.40,16.85,1.472,8452,0.000,0.121,2782,3790,2498,2569,2427,0,0,0,0,0,0,28.83,14.52,13.90
$GC,8147,0.61,167.7,2783,3791,2562,2423,510.9,12.4,455,8152,0.00,1.27,0.00,0.000,1030,0.000,0.075,2787,3050,2491,2561,2422,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8462,0.61,167.7,2788,3050,2561,2422,473.7,11.8,468,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3050,2491,2559,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8762,0.61,167.7,2788,3050,2560,2423,438.7,11.7,478,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3050,2490,2559,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9062,0.61,169.3,2788,3050,2560,2422,403.9,11.5,488,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3050,2490,2559,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9362,0.61,174.5,2788,3050,2560,2423,369.6,11.4,498,9365,0.00,0.00,1.92,0.244,8198,0.000,0.000,2787,3049,2475,2544,2406,0,0,0,0,0,0,28.83,28.83,14.35
$GC,9663,0.62,184.2,2788,3050,2574,2406,336.0,11.1,508,9678,0.00,0.00,14.57,1.291,8198,0.000,0.000,2787,3050,2435,2507,2363,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9963,0.63,196.1,2788,3050,2492,2355,302.4,11.0,518,9974,0.00,0.00,10.48,1.263,8198,0.000,0.000,2787,3050,2386,2455,2318,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10264,0.66,211.3,2788,3054,2445,2310,269.4,10.8,528,10279,0.00,0.00,14.30,1.211,8198,0.000,0.000,2787,3050,2323,2389,2258,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10562,0.71,239.9,2788,3049,2376,2248,238.7,10.1,544,10593,0.00,0.00,24.62,1.139,8198,0.000,0.000,2787,3049,2201,2264,2139,0,0,0,0,0,0,28.83,28.83,13.92
$GC,10894,0.79,291.4,2788,3049,2257,2135,207.4,8.9,577,10944,0.15,0.00,45.40,1.080,10758,0.128,0.000,2860,3048,1990,2047,1933,0,0,0,0,0,0,14.50,28.83,13.83
$GC,11242,0.79,291.4,2861,3048,2035,1925,162.4,12.9,613,11247,0.00,2.42,0.00,0.000,516,0.000,0.078,2870,1637,1979,2034,1924,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11273,0.81,291.4,2871,1637,2036,1920,158.7,12.4,619,11277,0.00,2.53,0.00,0.000,1030,0.000,0.106,2870,3049,1979,2034,1924,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11582,0.81,291.4,2870,3050,2034,1923,120.2,11.9,651,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,3049,1978,2034,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11882,0.84,332.8,2871,3050,2034,1922,86.6,9.4,681,11908,0.00,2.47,19.35,0.435,8708,0.000,0.080,2878,1648,1833,1892,1774,0,0,0,0,0,0,28.83,14.38,14.10
$GC,11944,0.90,359.4,2879,1649,1908,1775,80.4,10.2,693,11965,0.00,2.53,15.82,0.405,9222,0.000,0.106,2878,3058,1721,1773,1669,0,0,0,0,0,0,28.83,14.36,14.05
$GC,12264,1.01,450.2,2879,3057,1794,1669,51.4,6.8,727,12324,0.12,2.50,50.90,0.338,10756,0.139,0.079,2945,1650,1355,1403,1307,0,0,0,0,0,0,14.42,14.28,14.09
$GC,12405,1.07,490.1,2946,1651,1412,1308,38.4,9.5,755,12436,0.00,2.53,23.10,0.302,9222,0.000,0.106,2945,3050,1189,1226,1153,0,0,0,0,0,0,28.83,14.26,14.08
$FREEZE,8.96,-1.269,-1.431,2,1,0
$FREEZE,8.37,-1.269,-1.430,2,1,0
$FREEZE,7.77,-1.265,-1.430,2,1,0
$FREEZE,7.23,-1.265,-1.429,2,1,0
$GC,12734,1.20,588.0,2946,3051,1236,1154,11.0,6.4,791,12792,0.00,2.53,53.25,0.214,8708,0.000,0.082,2945,1640,784,778,790,0,0,0,0,0,0,28.83,14.30,14.18
$FREEZE,6.03,-1.268,-1.428,2,1,0
$FREEZE,5.81,-1.267,-1.428,2,1,0
$FREEZE,5.43,-1.267,-1.428,2,1,0
$FREEZE,5.04,-1.267,-1.428,2,1,0
$FREEZE,4.61,-1.267,-1.427,2,1,0
$FREEZE,4.01,-1.267,-1.427,2,1,0
$FREEZE,3.21,-1.267,-1.426,2,1,0
$FREEZE,2.27,-1.267,-1.426,2,1,0
$FREEZE,1.45,-1.267,-1.425,2,1,0
$GC,12812,1.35,675.7,2946,1641,790,790,5.0,7.0,803,12846,0.25,2.55,28.60,0.196,11266,0.098,0.107,3042,3049,570,553,588,0,0,0,0,0,0,14.36,14.27,28.83
$STATE,12846,end climb,SURFACE_DEPTH_REACHED
$STATE,12846,begin surface coast
$FREEZE,1.48,-1.245,-0.729,2,1,0
$FINISH,1.5,1.010695
$STATE,12851,end surface coast,FINISH_DEPTH_REACHED
$STATE,12851,begin surface
$SM_CCo,12867,10.77,0.201,0,0,499,658.88
$SM_GC,2.87,8.60,0.65,10.77,0.093,0.087,0.201,195,2678,499,-7.40,0.88,658.88,0,0,0,0,0,0,14.41,14.37,14.21
$RAFOS_CLK,463
$RAFOS_FIX,7236.470703,-14818.450195,060914,161617,3,255,9.86
$IRIDIUM_FIX,7304.81,-14357.22,080914,101012
$TT8_MAMPS,0.043442,0.043442
$HUMID,48.18
$INTERNAL_PRESSURE,8.53472
$TCM_TEMP,12.20
$XPDR_PINGS,3
$SC_FREEKB,3896832
$24V_AH,12.81,90.573
$10V_AH,12.91,0.000
$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,22.425,40.525,577.500,10.775,0.000,0.000,0.000,898.625,0.750,0.000,25.605,0.000,10613.909,677.502,2553.796,312.340,0.000,2222.483,0.000,1212.103,1477.000,0.536,0.000
$DEVICE_MAMPS,444.465,123.165,1725.075,201.195,0.000,0.000,0.000,205.785,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12893.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.126,0.000,0.000,0.000
$MEM,215584
$DATA_FILE_SIZE,26738,809
$CAP_FILE_SIZE,150607,0
$CFSIZE,2097872896,2032566272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14510.22,0x2378b6,7,5
$SOUNDSPEED,1448.7
$GPS,080914,135924,7348.604,-14349.618,28,0.8,48,23.3