version: 66.12
glider: 193
mission: 4
dive: 133
start: 12 31 114 16 59 9
data:
$ID,193
$MISSION,4
$DIVE,133
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52059
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,601.23029
$N_FILEKB,4
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3900
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2951
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.214073
$PRESSURE_SLOPE,0.0001163556
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042903274
$SEABIRD_T_H,0.00062837056
$SEABIRD_T_I,2.3004332e-05
$SEABIRD_T_J,2.3253908e-06
$SEABIRD_C_G,-9.879467
$SEABIRD_C_H,1.1201456
$SEABIRD_C_I,-0.00035123606
$SEABIRD_C_J,0.00012622437
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,311214,164934,6651.234,-5652.340,40,1.0,40,-32.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-46.3
$GPS2,311214,165835,6651.125,-5652.313,6,1.0,6,-32.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,5.0,22213,-18.4,-10.000,-20.87,2243
$D_GRID,582
$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,18,-1.60,-146.0,196,2540,515,475,0.0,0.0,0,172,0.00,0.00,-151.75,0.000,16386,0.000,0.000,196,2541,3281,3257,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-1.60,-146.0,196,2541,3258,3306,3.0,-1.5,15,203,10.23,0.00,-8.90,0.000,18438,0.466,0.000,2194,2540,3549,3546,3553,0,0,0,0,0,0,14.31,28.83,14.67
$GC,502,-1.57,-146.0,2195,2541,3551,3554,43.4,-12.9,41,509,0.00,2.47,0.00,0.000,260,0.000,0.142,2185,3842,3552,3551,3553,0,0,0,0,0,0,28.83,14.53,28.83
$GC,631,-1.54,-146.0,2185,3841,3551,3553,58.8,-12.0,66,637,0.12,2.22,0.00,0.000,3078,0.300,0.063,2212,2541,3552,3551,3553,0,0,0,0,0,0,14.50,14.62,28.83
$GC,949,-1.54,-146.0,2212,2541,3551,3554,93.5,-10.3,84,955,0.00,2.42,0.00,0.000,516,0.000,0.101,2212,1144,3552,3551,3553,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1041,-1.54,-146.0,2212,1144,3551,3553,103.1,-10.5,102,1047,0.00,2.53,0.00,0.000,1030,0.000,0.116,2205,2551,3552,3551,3553,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1354,-1.54,-146.0,2205,2551,3551,3546,134.5,-9.5,119,1360,0.00,2.40,0.00,0.000,260,0.000,0.139,2195,3837,3549,3551,3548,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1463,-1.54,-146.0,2195,3837,3551,3550,145.3,-9.5,140,1469,0.00,2.17,0.00,0.000,1030,0.000,0.063,2195,2551,3551,3551,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1782,-1.54,-146.0,2195,2549,3551,3551,174.6,-9.5,158,1787,0.00,2.42,0.00,0.000,516,0.000,0.102,2195,1146,3550,3551,3550,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1833,-1.54,-146.0,2195,1146,3551,3550,180.0,-10.2,168,1840,0.12,2.53,0.00,0.000,3078,0.317,0.119,2214,2552,3550,3551,3550,0,0,0,0,0,0,14.60,14.68,28.83
$GC,2147,-1.56,-146.0,2214,2552,3551,3550,206.6,-8.7,185,2154,0.00,2.45,0.00,0.000,516,0.000,0.104,2214,1145,3550,3551,3550,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2201,-1.59,-146.0,2214,1144,3551,3550,211.4,-8.8,195,2207,0.00,2.53,0.00,0.000,1030,0.000,0.118,2207,2556,3550,3551,3550,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2514,-1.59,-146.0,2207,2556,3552,3550,238.5,-8.4,212,2520,0.00,2.45,0.00,0.000,516,0.000,0.103,2207,1151,3549,3548,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2618,-1.59,-146.0,2207,1151,3550,3551,248.1,-9.6,232,2623,0.00,2.50,0.00,0.000,1030,0.000,0.119,2200,2551,3550,3551,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2942,-1.59,-146.0,2200,2551,3551,3550,280.9,-10.4,246,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2551,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3242,-1.59,-146.0,2200,2551,3552,3551,309.2,-8.8,256,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2551,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-1.59,-146.0,2200,2551,3555,3552,333.8,-8.0,266,3547,0.00,2.42,0.00,0.000,516,0.000,0.106,2200,1149,3553,3555,3552,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3646,-1.59,-146.0,2200,1149,3555,3552,343.1,-8.9,286,3651,0.00,2.50,0.00,0.000,1030,0.000,0.121,2193,2550,3553,3555,3552,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3969,-1.59,-146.0,2193,2550,3556,3553,370.4,-8.4,300,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2550,3554,3556,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-1.59,-146.0,2193,2550,3557,3553,394.0,-8.1,310,4275,0.00,2.45,0.00,0.000,516,0.000,0.109,2193,1142,3555,3557,3553,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4341,-1.59,-146.0,2193,1143,3557,3553,400.0,-8.4,324,4347,0.00,2.55,0.00,0.000,1030,0.000,0.124,2187,2558,3555,3557,3554,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4666,-1.59,-146.0,2187,2559,3558,3554,428.8,-9.3,338,4671,0.00,2.47,0.00,0.000,516,0.000,0.112,2187,1147,3555,3557,3554,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4729,-1.59,-146.0,2187,1147,3557,3554,434.8,-9.4,350,4735,0.10,2.53,0.00,0.000,3078,0.325,0.126,2200,2550,3555,3557,3554,0,0,0,0,0,0,14.68,14.76,28.83
$GC,5065,-1.61,-146.0,2199,2550,3558,3552,464.1,-8.8,366,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2551,3556,3558,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5363,-1.63,-146.0,2199,2550,3559,3554,491.3,-9.1,376,5368,0.00,2.45,0.00,0.000,516,0.000,0.114,2206,1147,3556,3558,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5430,-1.63,-146.0,2200,1147,3558,3554,497.6,-9.6,389,5436,0.00,2.53,0.00,0.000,1030,0.000,0.126,2194,2550,3556,3558,3555,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5759,-1.63,-146.0,2194,2550,3558,3555,526.5,-8.4,404,5765,0.00,2.40,0.00,0.000,260,0.000,0.140,2184,3847,3557,3559,3555,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5812,-1.63,-146.0,2184,3847,3559,3554,531.4,-9.4,414,5817,0.00,2.17,0.00,0.000,1030,0.000,0.062,2184,2550,3556,3558,3554,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6126,-1.63,-146.0,2184,2549,3558,3554,559.0,-8.5,426,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2549,3556,3558,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6393,begin apogee
$GC,6398,-0.38,0.0,2184,2396,3558,3555,582.4,-8.7,435,6566,0.98,0.00,164.30,1.395,10246,0.244,0.000,2461,2396,2952,2974,2931,0,0,0,0,0,0,14.71,28.83,13.52
$STATE,6568,end apogee,CONTROL_FINISHED_OK
$STATE,6568,begin climb
$GC,6570,1.60,146.0,2461,2397,2964,2921,584.9,0.0,440,6751,1.40,2.90,161.80,1.662,10500,0.155,0.148,2894,3807,2360,2398,2322,0,0,0,0,1,0,13.98,13.71,13.00
$GC,6783,1.54,146.0,2894,3807,2398,2328,563.5,14.4,484,6788,0.00,2.58,0.00,0.000,1030,0.000,0.081,2903,2411,2363,2398,2328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7107,1.51,146.0,2903,2412,2398,2321,520.4,13.2,498,7109,0.12,0.00,0.00,0.000,4102,0.299,0.000,2877,2412,2359,2398,2320,0,0,0,0,0,0,14.28,28.83,28.83
$GC,7406,1.51,146.0,2877,2412,2398,2319,485.0,11.6,508,7411,0.00,2.67,0.00,0.000,260,0.000,0.148,2876,3809,2358,2398,2319,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7463,1.48,146.0,2875,3809,2398,2319,477.3,13.8,519,7469,0.00,2.50,0.00,0.000,1030,0.000,0.081,2886,2393,2358,2398,2319,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7769,1.48,146.0,2886,2393,2398,2318,440.9,12.3,530,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2393,2358,2398,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8068,1.48,146.0,2886,2393,2398,2316,404.1,12.4,540,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2393,2357,2398,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8369,1.48,146.0,2886,2393,2398,2315,366.5,12.7,550,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2393,2356,2398,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8668,1.48,146.0,2886,2393,2397,2314,328.5,12.5,560,8674,0.00,2.67,0.00,0.000,260,0.000,0.145,2886,3809,2355,2398,2313,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8715,1.43,146.0,2886,3809,2397,2315,321.9,14.0,569,8722,0.15,2.45,0.00,0.000,5126,0.297,0.082,2861,2397,2356,2398,2315,0,0,0,0,0,0,14.62,14.71,28.83
$GC,9036,1.43,146.0,2861,2396,2398,2313,283.0,11.9,582,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2396,2355,2398,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,1.43,146.0,2861,2396,2398,2313,247.3,12.0,592,9340,0.00,2.45,0.00,0.000,516,0.000,0.112,2870,994,2355,2398,2313,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9378,1.45,146.0,2870,995,2397,2314,242.2,11.9,600,9383,0.00,2.53,0.00,0.000,1030,0.000,0.121,2870,2406,2355,2396,2314,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9700,1.45,146.0,2870,2406,2397,2314,202.2,12.6,619,9706,0.00,2.65,0.00,0.000,260,0.000,0.148,2869,3816,2355,2397,2314,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9753,1.42,146.0,2870,3815,2397,2315,195.2,13.3,629,9759,0.00,2.45,0.00,0.000,1030,0.000,0.081,2880,2397,2355,2397,2314,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10067,1.42,146.0,2880,2399,2397,2315,159.9,10.9,646,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2399,2355,2397,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10367,1.42,146.0,2880,2399,2397,2314,126.4,10.9,661,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2399,2356,2397,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10667,1.42,146.0,2880,2399,2397,2315,94.1,10.7,676,10673,0.00,2.45,0.00,0.000,516,0.000,0.111,2890,986,2356,2397,2315,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10703,1.42,146.0,2890,986,2397,2315,90.3,10.1,683,10711,0.12,2.50,0.00,0.000,5126,0.298,0.117,2863,2400,2355,2396,2315,0,0,0,0,0,0,14.67,14.73,28.83
$GC,11011,1.49,163.6,2863,2400,2397,2316,60.0,9.2,699,11029,0.00,0.00,11.40,0.314,8198,0.000,0.000,2863,2400,2287,2322,2252,0,0,0,0,0,0,28.83,28.83,14.61
$GC,11330,1.58,194.5,2863,2400,2322,2258,33.2,8.6,715,11357,0.10,2.65,20.05,0.246,10500,0.173,0.143,2909,3813,2155,2193,2118,0,0,0,0,0,0,14.78,14.69,14.63
$GC,11414,1.58,194.5,2909,3813,2193,2124,22.5,14.7,731,11420,0.12,2.45,0.00,0.000,5126,0.303,0.080,2893,2396,2159,2193,2125,0,0,0,0,0,0,14.64,14.72,28.83
$FREEZE,7.75,0.120,-1.808,0,1,0
$FREEZE,6.74,0.122,-1.807,0,1,0
$FREEZE,5.51,0.138,-1.806,0,1,0
$FREEZE,4.35,0.137,-1.805,0,1,0
$FREEZE,3.46,0.128,-1.804,0,1,0
$FREEZE,2.97,0.112,-1.804,0,1,0
$STATE,11587,end climb,SURFACE_DEPTH_REACHED
$STATE,11587,begin surface coast
$FREEZE,2.16,0.109,-1.804,0,1,0
$FREEZE,1.29,0.098,-1.804,0,1,0
$FREEZE,1.32,0.035,-0.247,0,1,0
$FINISH,1.3,1.003495
$STATE,11618,end surface coast,CONTROL_FINISHED_OK
$STATE,11618,begin surface
$SM_CCo,11635,221.77,0.158,0,0,498,601.23
$SM_GC,1.83,7.60,0.30,221.77,0.079,0.155,0.158,208,2548,498,-10.65,-0.59,601.23,0,0,0,0,0,0,14.76,14.70,14.52
$RAFOS_CLK,496
$RAFOS,0,1420056078,20.033333,20.021667,65,58,56,56,54,54,182,202,121,162,214,224
$RAFOS,5,1420044066,16.700001,16.684999,65,60,54,54,53,53,176,138,152,191,115,220
$RAFOS_FIX,6658.460938,-5650.041016,311214,040400,2,73,4.83
$IRIDIUM_FIX,6620.33,-5656.51,311214,102148
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.54
$INTERNAL_PRESSURE,8.40099
$TCM_TEMP,13.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.2,17.3
$SC_FREEKB,7727360
$24V_AH,13.00,30.109
$10V_AH,13.25,0.000
$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,21.175,90.025,357.550,221.775,0.000,0.000,0.000,390.375,1.750,0.000,6.871,1660.809,8226.170,780.901,1575.036,171.406,0.000,1820.684,0.000,1119.797,720.000,2.633,0.000
$DEVICE_MAMPS,465.885,155.295,1661.580,158.355,0.000,0.000,0.000,170.595,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11633.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.989,0.000,0.000,0.000
$MEM,271100
$DATA_FILE_SIZE,26735,752
$CAP_FILE_SIZE,129057,0
$CFSIZE,260034560,243388416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,12443.75,0x23769e,7,5
$SOUNDSPEED,1469.1
$CURRENT,0.062,168.55,1
$GPS,311214,201828,6652.165,-5654.201,53,1.5,53,-32.4