version: 66.12
glider: 196
mission: 7
dive: 131
start: 8 13 114 20 1 7
data:
$ID,196
$MISSION,7
$DIVE,131
$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,5
$SURFACE_URGENCY_FORCE,10
$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,0.050000001
$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,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-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,676.53741
$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,-5177.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,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,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$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,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$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
$GPS1,130814,195054,7225.171,-14402.460,24,0.8,44,22.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-78.8
$GPS2,130814,200049,7225.108,-14402.354,4,0.9,25,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7250.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,331.9,46290,-22.3,-11.628,-24.76,1933
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,203,2743,414,571,0.0,0.0,0,76,0.00,0.00,-59.38,0.000,16386,0.000,0.000,203,2749,1997,2005,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.69,-145.9,203,2743,2005,1990,3.7,-4.3,6,129,11.90,1.92,-35.00,0.000,18692,0.395,0.130,2655,3787,3856,3916,3796,0,0,0,0,0,0,14.06,14.24,14.45
$GC,353,-0.69,-145.9,2656,3789,3916,3803,79.2,-22.7,61,360,0.00,1.73,0.00,0.000,1030,0.000,0.057,2654,2762,3859,3916,3802,0,0,0,0,0,0,28.83,14.35,28.83
$GC,658,-0.69,-145.9,2656,2762,3915,3803,142.4,-19.0,92,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.69,-145.9,2657,2762,3915,3803,195.6,-16.3,122,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2762,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.69,-145.9,2656,2762,3916,3803,241.6,-14.6,152,1264,0.00,2.40,0.00,0.000,516,0.000,0.073,2658,1370,3858,3915,3802,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1333,-0.69,-145.9,2655,1369,3917,3802,251.6,-12.8,167,1339,0.00,2.53,0.00,0.000,1030,0.000,0.101,2644,2762,3858,3915,3802,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1649,-0.69,-145.9,2644,2764,3918,3797,297.2,-14.7,180,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2762,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1948,-0.69,-145.9,2645,2763,3916,3803,341.9,-14.8,190,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2763,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,-0.69,-145.9,2645,2762,3917,3802,384.6,-14.1,200,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2762,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2548,-0.69,-145.9,2645,2763,3916,3803,426.8,-14.1,210,2554,0.00,2.35,0.00,0.000,516,0.000,0.071,2644,1359,3859,3916,3802,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2593,-0.69,-145.9,2645,1360,3916,3803,432.7,-13.1,219,2599,0.12,2.53,0.00,0.000,3078,0.233,0.100,2672,2769,3859,3916,3802,0,0,0,0,0,0,14.45,14.55,28.83
$GC,2909,-0.69,-145.9,2667,2770,3917,3804,470.8,-12.0,232,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2770,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.69,-145.9,2667,2769,3917,3802,506.4,-12.0,242,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2770,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3508,-0.69,-145.9,2664,2768,3924,3802,541.8,-11.8,252,3514,0.00,2.38,0.00,0.000,516,0.000,0.070,2665,1370,3858,3916,3801,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3548,-0.69,-145.9,2667,1371,3917,3802,546.5,-10.9,260,3554,0.00,2.47,0.00,0.000,1030,0.000,0.099,2658,2765,3858,3916,3801,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3869,-0.69,-145.9,2658,2766,3916,3802,586.0,-12.5,274,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2765,3861,3915,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.69,-145.9,2658,2766,3917,3802,622.9,-12.2,284,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2765,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4468,-0.69,-145.9,2658,2765,3917,3802,659.6,-12.2,294,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2765,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,-0.69,-145.9,2658,2766,3916,3803,696.6,-12.2,304,4774,0.00,2.33,0.00,0.000,516,0.000,0.070,2657,1368,3859,3916,3802,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4808,-0.69,-145.9,2657,1367,3917,3802,701.3,-11.6,312,4814,0.00,2.47,0.00,0.000,1030,0.000,0.099,2648,2763,3858,3916,3801,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5129,-0.69,-145.9,2648,2764,3916,3803,742.0,-12.8,326,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3859,3916,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5220,-0.13,0.0,2648,2765,3916,3803,753.4,-12.6,329,5348,0.73,0.00,124.85,1.956,10244,0.230,0.000,2844,2764,3259,3277,3242,0,0,0,0,0,0,14.55,28.83,13.18
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5350,0.69,145.9,2844,2764,3273,3238,757.0,0.0,333,5480,0.88,0.00,124.03,1.894,11270,0.137,0.000,3107,2764,2661,2668,2654,0,0,0,0,0,0,13.81,28.83,12.83
$GC,5789,0.69,145.9,3107,2764,2667,2646,711.9,12.6,373,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2764,2656,2666,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,0.69,145.9,3108,2765,2666,2646,674.4,12.5,383,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2764,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,0.69,145.9,3107,2764,2667,2645,636.9,12.7,393,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2763,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,0.69,145.9,3108,2765,2667,2646,599.4,12.5,403,6695,0.00,1.83,0.00,0.000,260,0.000,0.101,3107,3786,2655,2666,2645,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6729,0.69,145.9,3108,3787,2665,2646,593.7,14.5,411,6735,0.00,1.75,0.00,0.000,1030,0.000,0.056,3113,2735,2655,2666,2645,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7050,0.69,145.9,3114,2737,2667,2646,552.2,13.0,425,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7349,0.69,145.9,3114,2736,2667,2645,513.7,12.8,435,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7649,0.69,145.9,3114,2735,2667,2644,475.9,12.5,445,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2735,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,0.69,145.9,3114,2734,2667,2645,438.6,12.4,455,7955,0.00,1.85,0.00,0.000,260,0.000,0.101,3114,3780,2655,2666,2645,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7979,0.69,145.9,3114,3781,2667,2645,434.3,14.2,461,7985,0.00,1.73,0.00,0.000,1030,0.000,0.056,3121,2734,2655,2666,2644,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8310,0.69,145.9,3122,2734,2668,2644,392.6,12.6,477,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2733,2655,2666,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,0.69,145.9,3122,2734,2667,2645,355.4,12.5,487,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2734,2655,2665,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,0.69,145.9,3122,2735,2667,2645,318.7,12.2,497,8915,0.00,1.88,0.00,0.000,260,0.000,0.103,3121,3787,2655,2666,2644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8974,0.69,145.9,3122,3789,2667,2645,309.6,14.3,510,8980,0.00,1.73,0.00,0.000,1030,0.000,0.054,3127,2738,2655,2666,2644,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9300,0.69,145.9,3128,2738,2667,2644,268.3,12.5,525,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2738,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9599,0.69,145.9,3128,2738,2667,2645,232.3,11.7,545,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2738,2655,2666,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9900,0.72,192.1,3128,2739,2667,2645,201.7,9.2,575,9941,0.00,0.00,38.72,1.390,8710,0.000,0.000,3127,2738,2470,2475,2465,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10240,0.75,225.8,3128,2738,2474,2458,166.0,9.8,612,10271,0.00,0.00,28.27,1.286,8198,0.000,0.000,3128,2738,2332,2334,2330,0,0,0,0,0,0,28.83,28.83,13.75
$GC,10570,0.78,267.5,3128,2739,2334,2322,133.1,9.4,645,10611,0.00,2.40,35.30,1.213,8708,0.000,0.070,3138,1348,2159,2162,2156,0,0,0,0,0,0,28.83,14.19,13.67
$GC,10701,0.80,310.4,3139,1348,2160,2153,120.2,9.3,671,10743,0.00,2.53,34.22,1.167,9222,0.000,0.095,3138,2760,1984,1982,1987,0,0,0,0,0,0,28.83,14.26,13.61
$GC,11041,0.82,334.3,3139,2759,1981,1977,83.2,10.4,709,11057,0.00,2.47,9.38,0.432,8708,0.000,0.071,3153,1350,1897,1896,1898,0,0,0,0,0,0,28.83,14.31,14.07
$GC,11091,0.85,370.2,3148,1350,1903,1898,78.3,9.7,719,11114,0.00,2.47,16.88,0.422,9222,0.000,0.096,3148,2742,1749,1749,1750,0,0,0,0,0,0,28.83,14.31,14.07
$GC,11412,0.89,430.7,3149,2742,1758,1746,45.7,8.4,753,11443,0.00,0.00,27.17,0.327,8198,0.000,0.000,3147,2742,1501,1507,1496,0,0,0,0,0,0,28.83,28.83,14.16
$GC,11742,0.95,511.7,3148,2742,1512,1486,20.2,7.3,786,11784,0.15,2.38,35.90,0.260,10756,0.119,0.070,3217,1351,1170,1175,1165,0,0,0,0,0,0,14.46,14.38,14.23
$FREEZE,8.72,0.276,-1.431,2,1,0
$FREEZE,8.48,0.313,-1.427,2,1,0
$GC,11924,1.04,648.6,3218,1351,1177,1158,11.3,4.3,822,11992,0.00,2.45,60.55,0.228,9222,0.000,0.096,3216,2735,611,584,638,0,0,0,0,0,0,28.83,14.37,14.22
$FREEZE,7.81,0.329,-1.421,2,1,0
$FREEZE,7.10,0.354,-1.400,2,1,0
$FREEZE,6.51,0.364,-1.376,2,1,0
$FREEZE,6.22,0.382,-1.357,2,1,0
$FREEZE,5.88,0.350,-1.350,2,1,0
$FREEZE,5.58,0.296,-1.345,2,1,0
$FREEZE,5.32,0.206,-1.345,2,1,0
$FREEZE,4.98,0.346,-1.343,2,1,0
$FREEZE,4.54,0.212,-1.343,2,1,0
$FREEZE,4.00,0.323,-1.341,2,1,0
$FREEZE,3.70,0.320,-1.342,2,1,0
$FREEZE,3.35,0.321,-1.342,2,1,0
$FREEZE,2.91,0.353,-1.341,2,1,0
$FREEZE,2.57,0.305,-1.342,2,1,0
$FREEZE,2.28,0.087,-1.340,2,1,0
$FREEZE,1.90,0.061,-1.339,2,1,0
$STATE,12145,end climb,SURFACE_DEPTH_REACHED
$STATE,12145,begin surface coast
$FREEZE,1.47,0.060,-1.338,2,1,0
$FREEZE,1.04,-0.001,-1.336,2,1,0
$FREEZE,0.75,-0.157,-1.334,2,1,0
$FREEZE,0.81,-0.143,-1.330,2,1,0
$FREEZE,0.77,-0.162,-0.654,2,1,0
$FINISH,0.8,1.009609
$STATE,12196,end surface coast,CONTROL_FINISHED_OK
$STATE,12196,begin surface
$SM_CCo,12210,12.07,0.208,0,0,499,676.78
$SM_GC,3.05,9.12,0.00,12.07,0.077,0.000,0.208,208,2736,499,-8.36,-0.71,676.78,0,0,0,0,0,0,14.42,28.83,14.29
$RAFOS_CLK,594
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7146.24,-14404.62,130814,195319
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.95
$INTERNAL_PRESSURE,8.5628
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3879968
$24V_AH,12.83,39.623
$10V_AH,12.85,0.000
$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,22.900,48.550,535.275,12.075,0.000,0.000,0.000,378.700,0.000,0.000,26.235,0.000,9963.988,576.285,2146.020,127.934,0.000,1685.433,0.000,1273.784,1345.000,0.540,0.000
$DEVICE_MAMPS,394.740,130.050,1956.105,208.080,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.884,0.000,0.000,0.000
$MEM,287624
$DATA_FILE_SIZE,30046,856
$CAP_FILE_SIZE,138163,0
$CFSIZE,2097872896,2066087936
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12724.57,0x2378b6,7,5
$INTR,1,5218.64,0x2378b6,2,5
$INTR,2,12199.45,0x2378b6,7,5
$SOUNDSPEED,1449.6
$GPS,130814,200049,7225.108,-14402.354,4,0.9,25,22.9