version: 66.12
glider: 193
mission: 4
dive: 147
start: 1 2 115 15 7 18
data:
$ID,193
$MISSION,4
$DIVE,147
$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,0
$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,350
$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,23
$R_STBD_OVSHOOT,13
$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
$GPS1,020115,145635,6659.939,-5650.583,66,1.1,66,-32.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-34.8
$GPS2,020115,150645,6659.844,-5650.651,5,1.1,5,-32.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,50.6,6151,-18.4,-10.000,-20.87,2243
$D_GRID,567
$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,-146.0,196,2557,1538,1489,0.0,0.0,0,131,0.00,0.00,-111.07,0.000,16386,0.000,0.000,196,2558,3480,3460,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.60,-146.0,196,2562,3463,3501,4.4,-5.6,11,156,10.12,2.55,-1.65,0.000,18948,0.467,0.123,2193,1146,3551,3543,3559,0,0,0,0,0,0,14.31,14.48,14.69
$GC,209,-1.57,-146.0,2193,1146,3546,3559,18.3,-13.0,25,216,0.10,2.55,0.00,0.000,3078,0.335,0.116,2203,2552,3552,3546,3559,0,0,0,0,0,0,14.41,14.50,28.83
$GC,533,-1.57,-146.0,2203,2552,3546,3559,56.2,-11.2,45,538,0.00,2.45,0.00,0.000,516,0.000,0.097,2204,1142,3552,3546,3559,0,0,0,0,0,0,28.83,14.59,28.83
$GC,624,-1.57,-146.0,2204,1142,3546,3559,66.4,-10.7,63,630,0.00,2.55,0.00,0.000,1030,0.000,0.115,2197,2551,3552,3546,3559,0,0,0,0,0,0,28.83,14.60,28.83
$GC,938,-1.57,-146.0,2196,2553,3546,3558,100.4,-11.5,80,943,0.00,2.40,0.00,0.000,260,0.000,0.143,2188,3838,3551,3546,3557,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1030,-1.54,-146.0,2187,3838,3546,3557,111.6,-12.0,98,1036,0.12,2.20,0.00,0.000,3078,0.301,0.062,2214,2538,3551,3546,3556,0,0,0,0,0,0,14.56,14.70,28.83
$GC,1343,-1.54,-146.0,2214,2538,3546,3554,143.3,-10.6,115,1348,0.00,2.40,0.00,0.000,516,0.000,0.099,2214,1146,3550,3546,3554,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1441,-1.56,-146.0,2214,1146,3541,3554,153.3,-10.4,134,1448,0.00,2.50,0.00,0.000,1030,0.000,0.116,2207,2552,3550,3546,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1745,-1.56,-146.0,2207,2552,3546,3554,185.0,-10.1,150,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2552,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2047,-1.56,-146.0,2207,2552,3546,3554,213.6,-9.1,165,2052,0.00,2.42,0.00,0.000,516,0.000,0.099,2207,1146,3549,3546,3553,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2094,-1.56,-146.0,2207,1146,3546,3553,218.2,-9.1,174,2099,0.00,2.50,0.00,0.000,1030,0.000,0.116,2200,2555,3549,3546,3553,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2411,-1.56,-146.0,2200,2555,3546,3553,244.7,-8.1,192,2417,0.00,2.45,0.00,0.000,516,0.000,0.105,2200,1148,3550,3547,3554,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2474,-1.56,-146.0,2200,1148,3546,3553,250.0,-8.4,204,2480,0.00,2.50,0.00,0.000,1030,0.000,0.121,2194,2551,3550,3546,3554,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2798,-1.56,-146.0,2194,2551,3548,3554,277.8,-8.8,218,2804,0.00,2.42,0.00,0.000,516,0.000,0.105,2193,1151,3550,3548,3553,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2870,-1.56,-146.0,2193,1151,3548,3554,284.8,-9.3,232,2877,0.10,2.50,0.00,0.000,3078,0.337,0.120,2206,2556,3551,3548,3554,0,0,0,0,0,0,14.64,14.72,28.83
$GC,3196,-1.59,-146.0,2206,2556,3550,3554,312.9,-8.6,246,3201,0.00,2.45,0.00,0.000,516,0.000,0.109,2206,1148,3552,3550,3554,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3254,-1.61,-146.0,2206,1148,3550,3554,318.3,-9.1,257,3260,0.00,2.53,0.00,0.000,1030,0.000,0.122,2201,2560,3552,3550,3554,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3560,-1.61,-146.0,2200,2560,3551,3554,342.6,-7.5,268,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2560,3552,3551,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-1.61,-146.0,2200,2560,3552,3554,363.9,-7.3,278,3865,0.00,2.45,0.00,0.000,516,0.000,0.108,2200,1149,3552,3551,3553,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3922,-1.61,-146.0,2200,1148,3550,3554,368.7,-7.8,290,3928,0.00,2.53,0.00,0.000,1030,0.000,0.123,2194,2557,3553,3552,3554,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4256,-1.61,-146.0,2194,2556,3552,3554,395.5,-8.3,306,4261,0.00,2.45,0.00,0.000,516,0.000,0.109,2194,1148,3553,3553,3554,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4338,-1.61,-146.0,2194,1148,3552,3554,403.1,-9.1,322,4343,0.00,2.53,0.00,0.000,1030,0.000,0.124,2188,2554,3553,3552,3554,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4652,-1.61,-146.0,2188,2554,3554,3554,430.2,-8.8,334,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2554,3554,3554,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-1.61,-146.0,2188,2554,3556,3554,454.9,-7.9,344,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2554,3555,3556,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5251,-1.61,-146.0,2188,2554,3556,3554,479.0,-8.1,354,5256,0.00,2.45,0.00,0.000,516,0.000,0.112,2188,1152,3555,3557,3554,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5354,-1.61,-146.0,2188,1151,3556,3554,488.0,-8.6,374,5360,0.00,2.47,0.00,0.000,1030,0.000,0.125,2181,2542,3555,3556,3554,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5678,-1.61,-146.0,2181,2541,3556,3555,515.5,-8.6,388,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2542,3555,3558,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,-1.61,-146.0,2181,2542,3557,3554,542.0,-8.9,398,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2542,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6276,begin apogee
$GC,6280,-0.38,0.0,2180,2395,3557,3554,568.1,-8.5,408,6445,1.00,0.00,160.50,1.385,10246,0.252,0.000,2461,2395,2951,2973,2929,0,0,0,0,0,0,14.69,28.83,13.52
$STATE,6446,end apogee,CONTROL_FINISHED_OK
$STATE,6446,begin climb
$GC,6448,1.60,146.0,2461,2395,2963,2920,570.4,0.0,413,6617,1.40,0.00,161.73,1.279,10502,0.156,0.000,2894,2395,2352,2398,2307,0,0,0,0,0,0,14.00,28.83,13.43
$GC,6908,1.58,146.0,2894,2395,2380,2281,515.7,13.7,439,6913,0.00,2.80,0.00,0.000,260,0.000,0.149,2894,3813,2331,2381,2282,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6950,1.52,146.0,2894,3813,2377,2282,509.1,15.5,447,6955,0.00,2.50,0.00,0.000,1030,0.000,0.080,2903,2408,2329,2377,2282,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7274,1.50,146.0,2903,2408,2378,2280,464.6,13.5,461,7280,0.12,2.55,0.00,0.000,4612,0.293,0.121,2880,993,2329,2378,2280,0,0,0,0,0,0,14.43,14.50,28.83
$GC,7307,1.50,146.0,2880,992,2376,2281,459.9,12.9,467,7313,0.00,2.58,0.00,0.000,1030,0.000,0.123,2880,2404,2328,2376,2281,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7641,1.50,146.0,2881,2404,2375,2280,417.4,13.1,483,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2404,2327,2375,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,1.50,146.0,2880,2404,2376,2279,376.6,13.7,493,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2404,2327,2375,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8240,1.50,146.0,2880,2404,2376,2279,335.8,13.5,503,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2403,2327,2375,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,1.50,146.0,2880,2404,2375,2279,297.9,12.3,513,8546,0.00,2.65,0.00,0.000,260,0.000,0.146,2878,3811,2327,2375,2279,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8577,1.46,146.0,2881,3811,2373,2281,292.8,13.1,520,8583,0.00,2.45,0.00,0.000,1030,0.000,0.080,2890,2396,2327,2373,2281,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8906,1.46,146.0,2890,2396,2373,2281,251.1,12.8,535,8912,0.10,2.45,0.00,0.000,4612,0.310,0.109,2879,994,2326,2373,2280,0,0,0,0,0,0,14.65,14.71,28.83
$GC,8973,1.46,146.0,2879,994,2373,2280,242.5,12.3,548,8979,0.00,2.53,0.00,0.000,1030,0.000,0.118,2879,2407,2326,2373,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9291,1.46,146.0,2879,2409,2373,2280,202.5,12.7,566,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2408,2326,2373,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,1.46,146.0,2879,2404,2373,2280,164.8,12.7,581,9597,0.00,2.47,0.00,0.000,516,0.000,0.111,2889,994,2327,2373,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9635,1.46,146.0,2889,994,2372,2281,159.2,12.7,589,9640,0.00,2.50,0.00,0.000,1030,0.000,0.116,2889,2403,2327,2373,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9957,1.46,146.0,2889,2403,2373,2281,118.8,12.3,608,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2403,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10258,1.46,146.0,2892,2403,2373,2281,85.5,10.7,623,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2402,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10558,1.46,146.4,2888,2403,2373,2282,54.0,10.0,638,10564,0.00,2.65,0.00,0.000,260,0.000,0.145,2889,3817,2327,2372,2282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10610,1.46,146.4,2888,3816,2373,2283,47.8,11.4,648,10616,0.12,2.45,0.00,0.000,5126,0.285,0.079,2870,2395,2327,2373,2282,0,0,0,0,0,0,14.67,14.76,28.83
$GC,10924,1.56,189.5,2871,2395,2373,2283,21.4,8.0,667,10953,0.00,0.00,23.17,0.207,8710,0.000,0.000,2870,2395,2177,2221,2134,0,0,0,0,0,0,28.83,28.83,14.65
$FREEZE,8.20,-0.621,-1.802,0,1,0
$FREEZE,6.97,-0.604,-1.802,0,1,0
$FREEZE,5.86,-0.621,-1.801,0,1,0
$FREEZE,4.69,-0.634,-1.800,0,1,0
$FREEZE,3.70,-0.642,-1.799,0,1,0
$FREEZE,2.84,-0.651,-1.798,0,1,0
$STATE,11112,end climb,SURFACE_DEPTH_REACHED
$STATE,11113,begin surface coast
$FREEZE,1.88,-0.649,-1.797,0,1,0
$FREEZE,1.50,-0.775,-1.661,0,1,0
$FINISH,1.5,1.024415
$STATE,11134,end surface coast,CONTROL_FINISHED_OK
$STATE,11134,begin surface
$SM_CCo,11150,88.72,0.156,0,0,1522,350.04
$SM_GC,2.22,7.55,0.32,88.72,0.080,0.150,0.156,201,2558,1522,-10.68,-0.25,350.04,0,0,0,0,0,0,14.78,14.71,14.62
$RAFOS_CLK,469
$RAFOS,6,1420217363,16.833334,16.823055,133,61,57,55,55,52,728,214,192,226,164,133
$RAFOS,5,1420216883,16.700001,16.689722,107,58,56,56,55,55,554,218,151,192,135,208
$RAFOS,4,1420216397,16.566668,16.554722,65,62,58,55,52,52,206,815,147,194,171,114
$RAFOS,3,1420215917,16.433332,16.421389,63,54,53,51,51,50,200,213,171,137,125,149
$RAFOS,2,1420215431,16.299999,16.286388,59,54,51,51,48,48,202,177,145,217,136,688
$RAFOS,1,1420214945,16.166666,16.151388,61,56,54,54,52,49,218,185,201,147,118,105
$RAFOS,0,1420214464,16.033333,16.017778,63,58,57,53,53,52,202,215,154,178,226,121
$RAFOS_FIX,6705.320312,-5658.294922,020115,161656,2,120,1.92
$IRIDIUM_FIX,6625.71,-5649.11,020115,145855
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.72
$INTERNAL_PRESSURE,8.48888
$TCM_TEMP,13.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.7
$SC_FREEKB,7722880
$24V_AH,13.43,33.092
$10V_AH,13.30,0.000
$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,20.750,85.400,345.400,88.725,0.000,0.000,0.000,414.800,0.500,0.000,6.855,1502.485,8094.742,607.041,1514.963,154.141,0.000,1603.695,0.000,1026.633,2520.000,2.629,0.000
$DEVICE_MAMPS,467.415,149.940,1384.650,156.060,0.000,0.000,0.000,136.170,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11151.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.941,0.000,0.000,0.000
$MEM,271136
$DATA_FILE_SIZE,23364,689
$CAP_FILE_SIZE,121306,0
$CFSIZE,260034560,242466816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12896.76,0x23769e,7,5
$SOUNDSPEED,1469.4
$GPS,020115,181604,6700.484,-5647.189,30,1.1,30,-32.5