version: 66.12
glider: 199
mission: 5
dive: 396
start: 9 20 114 6 6 37
data:
$ID,199
$MISSION,5
$DIVE,396
$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,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,0.079999998
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,669.66901
$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,-26624.303
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,190914,080841,7439.588,-14400.637,181,99.0,181,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-34.5
$GPS2,190914,080841,7439.588,-14400.637,181,99.0,181,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,9
$TGT_LATLONG,7330.000,-14445.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,166.8,130972,-18.9,-11.628,-22.41,2446
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-184.8,194,2369,548,440,0.0,0.0,0,35,0.00,0.00,-15.23,0.000,16386,0.000,0.000,194,2367,919,980,858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.72,-184.8,196,2369,981,859,3.8,0.0,1,159,8.12,2.47,-104.80,0.000,18948,0.295,0.102,2197,962,3961,4022,3901,0,0,0,0,0,0,14.01,14.14,14.56
$GC,384,-0.72,-184.8,2199,962,4022,3906,78.8,-20.5,71,389,0.00,2.53,0.00,0.000,1030,0.000,0.093,2189,2364,3963,4022,3905,0,0,0,0,0,0,28.83,14.13,28.83
$GC,694,-0.72,-184.8,2189,2365,4023,3906,142.3,-18.7,103,699,0.00,2.45,0.00,0.000,516,0.000,0.081,2189,959,3963,4022,3905,0,0,0,0,0,0,28.83,14.24,28.83
$GC,839,-0.72,-184.8,2189,960,4023,3912,168.6,-18.2,132,845,0.00,2.50,0.00,0.000,1030,0.000,0.093,2178,2361,3963,4022,3905,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1144,-0.72,-184.8,2180,2361,4022,3906,223.0,-17.2,163,1149,0.00,2.45,0.00,0.000,516,0.000,0.082,2179,953,3963,4022,3905,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1209,-0.72,-184.8,2179,952,4023,3906,233.9,-16.0,176,1215,0.15,2.53,0.00,0.000,3078,0.300,0.096,2197,2362,3963,4022,3905,0,0,0,0,0,0,13.91,14.22,28.83
$GC,1524,-0.72,-184.8,2197,2363,4023,3906,280.4,-14.6,194,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2363,3964,4022,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.72,-184.8,2198,2363,4021,3906,319.6,-12.4,204,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2362,3963,4022,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-0.72,-184.8,2197,2363,4022,3906,355.6,-11.7,214,2129,0.00,2.45,0.00,0.000,516,0.000,0.082,2197,953,3963,4022,3905,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2174,-0.72,-184.8,2197,954,4023,3906,361.4,-11.8,224,2179,0.00,2.53,0.00,0.000,1030,0.000,0.096,2188,2368,3963,4022,3905,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2484,-0.72,-184.8,2187,2369,4023,3906,398.7,-12.0,236,2489,0.00,2.45,0.00,0.000,516,0.000,0.081,2188,960,3964,4023,3905,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2504,-0.72,-184.8,2187,961,4023,3905,401.2,-12.3,240,2509,0.00,2.50,0.00,0.000,1030,0.000,0.094,2179,2364,3963,4022,3905,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2814,-0.72,-184.8,2183,2366,4022,3906,439.8,-12.4,252,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2364,3963,4022,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3114,-0.72,-184.8,2179,2366,4021,3906,476.9,-12.4,262,3119,0.00,2.45,0.00,0.000,516,0.000,0.080,2178,959,3963,4022,3905,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3149,-0.72,-184.8,2180,959,4022,3906,481.4,-12.4,269,3154,0.15,2.50,0.00,0.000,3078,0.284,0.094,2197,2361,3963,4022,3905,0,0,0,0,0,0,13.93,14.26,28.83
$GC,3476,-0.72,-184.8,2197,2362,4024,3906,517.0,-10.9,284,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2361,3963,4022,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.72,-184.8,2199,2361,4022,3907,549.4,-10.8,294,3779,0.00,2.42,0.00,0.000,516,0.000,0.080,2197,956,3964,4022,3906,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3824,-0.72,-184.8,2199,956,4022,3907,554.8,-10.7,304,3829,0.00,2.50,0.00,0.000,1030,0.000,0.094,2189,2361,3964,4022,3906,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4134,-0.72,-184.8,2190,2361,4022,3907,589.7,-11.4,316,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2361,3964,4022,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,-0.72,-184.8,2190,2361,4021,3908,623.7,-11.4,326,4439,0.00,2.42,0.00,0.000,516,0.000,0.080,2189,953,3964,4021,3907,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4484,-0.72,-184.8,2188,954,4023,3909,629.4,-11.1,336,4489,0.00,2.50,0.00,0.000,1030,0.000,0.094,2179,2362,3965,4023,3908,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4794,-0.72,-184.8,2180,2362,4022,3907,665.5,-11.6,348,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2362,3963,4022,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.72,-184.8,2179,2363,4024,3909,700.2,-11.5,358,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2362,3965,4022,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.72,-184.8,2179,2362,4024,3910,734.7,-11.6,368,5399,0.00,2.42,0.00,0.000,516,0.000,0.080,2179,959,3965,4022,3909,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5449,-0.72,-184.8,2180,959,4022,3910,740.9,-11.1,379,5455,0.15,2.50,0.00,0.000,3078,0.283,0.093,2199,2363,3965,4022,3909,0,0,0,0,0,0,13.92,14.25,28.83
$STATE,5542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5542,begin apogee
$GC,5548,-0.14,0.0,2198,2609,4024,3910,750.5,-10.2,383,5713,0.73,0.00,162.02,2.092,10246,0.257,0.000,2380,2608,3230,3281,3179,0,0,0,0,0,0,13.97,28.83,12.71
$STATE,5713,end apogee,CONTROL_FINISHED_OK
$STATE,5714,begin climb
$GC,5716,0.72,184.8,2380,2609,3276,3173,755.9,0.0,388,5894,0.95,2.33,168.02,2.082,10500,0.146,0.112,2655,3765,2467,2533,2401,0,0,0,0,0,0,13.50,13.12,12.29
$GC,6004,0.72,184.8,2655,3770,2529,2396,733.0,14.2,450,6009,0.00,2.08,0.00,0.000,1030,0.000,0.067,2664,2601,2461,2528,2394,0,0,0,0,0,0,28.83,13.69,28.83
$GC,6326,0.72,184.8,2665,2601,2528,2394,693.0,12.4,464,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2600,2461,2528,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6625,0.72,184.8,2664,2601,2529,2394,656.3,12.2,474,6629,0.00,2.10,0.00,0.000,260,0.000,0.112,2664,3766,2461,2528,2394,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6664,0.72,184.8,2664,3767,2529,2392,650.6,14.2,482,6669,0.00,1.98,0.00,0.000,1030,0.000,0.070,2673,2600,2460,2528,2393,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6984,0.72,184.8,2674,2600,2527,2394,609.9,12.7,496,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2600,2460,2527,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,0.72,184.8,2673,2601,2529,2394,571.6,12.8,506,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2600,2463,2534,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7585,0.72,184.8,2672,2601,2526,2393,533.3,12.7,516,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2601,2460,2528,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,0.72,184.8,2674,2600,2527,2394,495.2,12.6,526,7889,0.00,2.12,0.00,0.000,260,0.000,0.115,2673,3767,2460,2528,2393,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7924,0.72,184.8,2673,3768,2529,2394,489.5,15.0,534,7929,0.00,2.00,0.00,0.000,1030,0.000,0.073,2678,2593,2460,2528,2393,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8246,0.72,184.8,2683,2593,2527,2393,447.4,13.1,548,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2593,2463,2528,2399,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,5,0,1,0,0,1;5;5b232a7938;,*07
$MODEM_MSG,CACST,6,0,20140920080424.440313,3,515,27,0223,0150,100,00,00,00,03,1,005,000,0,5,1,0,150,17.6,6.6,-100,-3.6,-01,0.4,21,900,0025*2B
$GC,8545,0.72,184.8,2683,2593,2528,2394,408.5,12.9,558,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2592,2461,2529,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,0.72,184.8,2682,2593,2529,2394,370.9,12.4,568,8849,0.00,2.15,0.00,0.000,260,0.000,0.113,2682,3772,2460,2528,2393,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8894,0.72,184.8,2681,3773,2530,2394,364.0,14.2,578,8899,0.00,2.00,0.00,0.000,1030,0.000,0.073,2690,2593,2461,2528,2394,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9205,0.72,184.8,2691,2594,2529,2394,325.4,12.3,590,9209,0.00,2.40,0.00,0.000,516,0.000,0.076,2701,1191,2460,2528,2393,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9260,0.72,184.8,2702,1192,2528,2394,319.0,11.8,601,9266,0.15,2.53,0.00,0.000,5126,0.285,0.090,2671,2601,2460,2528,2393,0,0,0,0,0,0,14.02,14.26,28.83
$GC,9567,0.74,184.8,2673,2602,2528,2394,285.9,11.0,612,9571,0.00,2.08,0.00,0.000,260,0.000,0.115,2671,3767,2460,2528,2393,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9641,0.76,184.8,2672,3767,2527,2394,277.3,11.1,627,9646,0.00,1.98,0.00,0.000,1030,0.000,0.072,2678,2598,2460,2528,2393,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9958,0.82,238.4,2678,2598,2529,2394,249.0,9.4,640,10007,0.00,0.00,46.62,1.440,8454,0.000,0.000,2678,2597,2252,2323,2182,0,0,0,0,0,0,28.83,28.83,13.59
$GC,10306,0.89,313.7,2680,2598,2316,2165,214.8,8.5,676,10378,0.15,0.00,65.25,1.382,10246,0.134,0.000,2732,2597,1942,2025,1859,0,0,0,0,0,0,14.36,28.83,13.52
$GC,10676,0.89,313.7,2731,2599,2019,1844,168.0,12.8,713,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2597,1930,2018,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10976,0.89,313.7,2733,2598,2018,1842,132.0,11.6,743,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2597,1928,2015,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11276,0.89,313.7,2731,2598,2020,1841,98.0,11.4,773,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2597,1926,2013,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11577,0.99,416.5,2731,2598,2019,1840,70.1,7.3,803,11628,0.00,0.00,50.40,0.379,8198,0.000,0.000,2731,2597,1532,1621,1444,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11926,1.17,594.1,2731,2598,1629,1455,43.4,4.2,838,12030,0.22,2.47,94.35,0.296,10756,0.115,0.080,2828,1199,806,868,745,0,0,0,0,0,0,14.17,14.18,13.96
$GC,12257,1.25,676.7,2828,1199,879,746,13.4,8.2,903,12302,0.00,2.55,39.28,0.220,9222,0.000,0.094,2828,2600,498,534,462,0,0,0,0,0,0,28.83,14.12,14.02
$FREEZE,8.61,-1.431,-1.461,2,11,0
$STATE,12309,end climb,FINISH_DEPTH_REACHED
$STATE,12309,begin subsurface finish
$FINISH1,8.6,1.021461,338
$GC,12316,0.34,337.9,2830,2602,536,463,8.6,9.0,913,12359,1.00,2.45,-34.17,0.000,20996,0.205,0.094,2551,1201,1853,1905,1802,0,0,0,0,0,0,13.97,14.13,14.42
$FINISH2,8.6
$STATE,12359,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12359,begin surface
$RAFOS_CLK,252
$MODEM,5,1411200264,74.65960,-144.87360,23.440,33982.5
$RAFOS_FIX,7439.587891,-14400.636719,190914,080841,3,255,0.14
$IRIDIUM_FIX,7358.04,-14409.74,180914,184525
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.84
$INTERNAL_PRESSURE,8.55339
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3968468
$24V_AH,12.29,196.657
$10V_AH,12.31,0.000
$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,11.775,78.225,625.950,0.000,0.000,0.000,0.000,122.400,0.000,0.000,181.471,0.000,9846.742,717.958,2146.214,441.212,0.000,1610.766,0.000,1376.705,1471.000,0.535,0.000
$DEVICE_MAMPS,299.880,117.810,2091.510,0.000,0.000,0.000,0.000,49.725,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.701,0.000,0.000,0.000
$MEM,137768
$DATA_FILE_SIZE,33383,921
$CAP_FILE_SIZE,141380,0
$CFSIZE,2097872896,2007597056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14534.28,0x2378b6,7,5
$INTR,1,12312.70,0x2378b6,5,5
$SOUNDSPEED,1449.9
$GPS,190914,080841,7439.588,-14400.637,181,99.0,181,23.5