version: 66.12
glider: 196
mission: 7
dive: 176
start: 8 20 114 8 26 14
data:
$ID,196
$MISSION,7
$DIVE,176
$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,-5233.4526
$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,54
$R_STBD_OVSHOOT,21
$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
$GPS1,200814,081447,7225.347,-14356.672,37,0.8,57,22.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-79.1
$GPS2,200814,082555,7225.430,-14356.400,4,0.8,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,329.4,55262,-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,14,begin dive
$MODEM_MSG,CACST,6,1,20140820081615.204837,3,114,-9,0154,0150,255,04,04,05,06,-1,-01,-01,1,3,0,0,150,7.5,1.0,-100,2.0,-01,0.0,34,900,0025*01
$GC,16,-0.69,-145.9,205,2742,443,555,0.0,0.0,0,89,0.00,0.00,-71.68,0.000,16386,0.000,0.000,204,2743,2355,2359,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,207,2743,2358,2351,4.4,-5.3,7,135,11.93,2.38,-24.60,0.000,18948,0.394,0.086,2665,1370,3856,3914,3799,0,0,0,0,0,0,14.00,14.26,14.47
$GC,359,-0.69,-145.9,2666,1370,3915,3803,75.3,-19.8,61,364,0.00,2.50,0.00,0.000,1030,0.000,0.095,2656,2783,3858,3914,3803,0,0,0,0,0,0,28.83,14.33,28.83
$GC,669,-0.69,-145.9,2657,2784,3914,3805,137.9,-18.9,93,674,0.00,2.38,0.00,0.000,516,0.000,0.065,2656,1372,3859,3914,3804,0,0,0,0,0,0,28.83,14.43,28.83
$GC,899,-0.69,-145.9,2657,1372,3915,3805,173.6,-14.5,139,905,0.00,2.45,0.00,0.000,1030,0.000,0.096,2645,2759,3859,3914,3804,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1209,-0.69,-145.9,2646,2759,3915,3805,222.6,-15.1,171,1214,0.00,2.33,0.00,0.000,516,0.000,0.064,2645,1370,3859,3914,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1419,-0.69,-145.9,2646,1370,3915,3804,251.9,-13.6,213,1425,0.15,2.45,0.00,0.000,3078,0.270,0.097,2666,2761,3859,3914,3804,0,0,0,0,0,0,14.37,14.47,28.83
$GC,1749,-0.69,-145.9,2667,2763,3915,3805,296.3,-13.3,229,1754,0.00,1.83,0.00,0.000,260,0.000,0.103,2660,3785,3859,3914,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1794,-0.69,-145.9,2660,3785,3915,3804,302.8,-14.7,238,1799,0.00,1.67,0.00,0.000,1030,0.000,0.054,2660,2762,3859,3914,3804,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2109,-0.69,-145.9,2661,2762,3915,3804,345.8,-13.5,251,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2761,3859,3914,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,-0.69,-145.9,2661,2761,3915,3803,386.2,-13.3,261,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2761,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-0.69,-145.9,2661,2762,3915,3803,425.4,-13.0,271,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2761,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.69,-145.9,2661,2761,3915,3804,463.6,-12.7,281,3014,0.00,2.33,0.00,0.000,516,0.000,0.065,2658,1357,3858,3914,3803,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3059,-0.69,-145.9,2661,1357,3915,3804,469.7,-11.8,291,3065,0.00,2.47,0.00,0.000,1030,0.000,0.097,2649,2749,3858,3914,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3369,-0.69,-145.9,2650,2750,3915,3803,510.4,-13.1,303,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2750,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,-0.69,-145.9,2650,2749,3915,3803,549.7,-13.1,313,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,-0.69,-145.9,2650,2750,3916,3802,588.9,-13.1,323,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2749,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.69,-145.9,2650,2750,3915,3802,627.3,-12.6,333,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4569,-0.69,-145.9,2650,2749,3922,3802,665.6,-12.8,343,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2749,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4869,-0.69,-145.9,2651,2750,3915,3803,703.1,-12.5,353,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2749,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,-0.69,-145.9,2650,2750,3915,3803,740.5,-12.4,363,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2750,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5258,begin apogee
$GC,5261,-0.13,0.0,2650,2750,3915,3803,751.6,-12.3,366,5388,0.73,0.00,124.60,1.997,10244,0.230,0.000,2845,2755,3257,3273,3242,0,0,0,0,0,0,14.53,28.83,13.15
$STATE,5389,end apogee,CONTROL_FINISHED_OK
$STATE,5390,begin climb
$GC,5391,0.69,145.9,2845,2749,3270,3238,755.0,0.0,370,5521,0.88,0.00,123.32,1.829,11270,0.129,0.000,3110,2749,2659,2665,2654,0,0,0,0,0,0,13.81,28.83,12.80
$GC,5830,0.69,145.9,3111,2750,2665,2647,709.0,13.0,410,5836,0.00,1.92,0.00,0.000,260,0.000,0.098,3110,3792,2656,2666,2646,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5855,0.69,145.9,3111,3792,2666,2646,705.5,14.1,415,5862,0.00,1.77,0.00,0.000,1030,0.000,0.050,3117,2742,2655,2664,2646,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6160,0.69,145.9,3121,2743,2665,2646,665.0,13.2,426,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2742,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,0.69,145.9,3118,2743,2666,2646,626.1,12.7,436,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2742,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,0.69,145.9,3118,2743,2665,2645,587.4,13.0,446,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2742,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,0.69,145.9,3118,2743,2666,2644,548.6,12.9,456,7066,0.00,2.33,0.00,0.000,516,0.000,0.067,3128,1347,2654,2664,2644,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7090,0.69,145.9,3129,1349,2665,2644,544.8,12.1,462,7096,0.00,2.47,0.00,0.000,1030,0.000,0.092,3128,2766,2654,2664,2644,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7421,0.69,145.9,3129,2767,2665,2645,500.4,13.5,478,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,0.69,145.9,3129,2767,2665,2646,459.8,13.5,488,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8020,0.69,145.9,3129,2766,2666,2644,420.2,13.1,498,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2766,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8320,0.69,145.9,3128,2766,2665,2644,381.5,13.0,508,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2766,2653,2664,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,0.69,145.9,3129,2767,2665,2645,343.8,12.6,518,8626,0.00,2.38,0.00,0.000,516,0.000,0.066,3139,1338,2654,2664,2644,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8655,0.69,145.9,3140,1339,2665,2644,339.6,12.3,525,8661,0.00,2.47,0.00,0.000,1030,0.000,0.092,3139,2739,2656,2669,2644,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8981,0.69,145.9,3139,2739,2666,2644,296.8,13.1,540,8986,0.00,1.80,0.00,0.000,260,0.000,0.099,3139,3786,2654,2664,2644,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9080,0.69,145.9,3139,3792,2666,2648,282.0,14.1,560,9086,0.00,1.70,0.00,0.000,1030,0.000,0.051,3146,2735,2654,2664,2644,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9390,0.69,145.9,3147,2734,2666,2644,241.3,13.3,577,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2735,2654,2665,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9690,0.69,145.9,3147,2735,2666,2643,204.8,12.1,607,9696,0.00,2.33,0.00,0.000,516,0.000,0.067,3157,1357,2654,2665,2644,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9730,0.70,158.3,3158,1358,2665,2645,200.2,11.0,615,9747,0.15,2.40,10.98,1.272,13318,0.269,0.092,3125,2745,2609,2616,2602,0,0,0,0,0,0,14.44,14.58,13.98
$GC,10051,0.73,207.7,3126,2746,2615,2599,170.3,9.0,649,10097,0.00,1.83,40.75,1.190,8452,0.000,0.095,3125,3782,2405,2407,2403,0,0,0,0,0,0,28.83,14.29,13.78
$GC,10128,0.73,207.7,3126,3782,2406,2403,162.0,13.5,664,10133,0.00,1.70,0.00,0.000,1030,0.000,0.051,3129,2735,2402,2404,2401,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10433,0.77,263.6,3130,2736,2405,2399,133.8,8.7,695,10484,0.00,2.45,46.35,1.206,8708,0.000,0.067,3140,1351,2177,2178,2176,0,0,0,0,0,0,28.83,14.17,13.63
$GC,10579,0.79,286.6,3141,1351,2176,2173,118.5,10.4,724,10600,0.00,2.50,16.70,1.197,9222,0.000,0.092,3140,2755,2085,2085,2086,0,0,0,0,0,0,28.83,14.25,13.67
$GC,10905,0.81,318.8,3140,2756,2087,2075,84.7,9.9,759,10919,0.00,0.00,13.25,0.442,8198,0.000,0.000,3140,2755,1958,1955,1962,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11216,0.85,371.4,3140,2752,1969,1961,53.2,8.8,790,11247,0.00,2.40,23.88,0.344,8708,0.000,0.068,3149,1353,1742,1742,1742,0,0,0,0,0,0,28.83,14.38,14.16
$GC,11336,0.90,449.3,3150,1352,1746,1741,43.0,7.5,814,11378,0.10,2.45,34.70,0.328,11270,0.148,0.093,3194,2737,1424,1432,1417,0,0,0,0,0,0,14.39,14.35,14.15
$GC,11676,1.03,631.1,3195,2737,1438,1400,20.6,2.0,852,11762,0.00,1.88,79.95,0.265,8452,0.000,0.101,3194,3791,682,666,699,0,0,0,0,0,0,28.83,14.28,14.15
$GC,11867,1.11,752.0,3195,3792,665,700,13.7,5.2,890,11894,0.15,1.70,20.60,0.243,11270,0.093,0.052,3258,2768,498,452,544,0,0,0,0,0,0,14.33,14.38,14.20
$FREEZE,8.52,1.151,-1.390,2,1,0
$FREEZE,7.86,1.144,-1.390,2,1,0
$FREEZE,7.13,1.169,-1.389,2,1,0
$FREEZE,6.48,1.168,-1.389,2,1,0
$FREEZE,5.72,1.230,-1.388,2,1,0
$FREEZE,5.10,1.245,-1.388,2,1,0
$FREEZE,4.29,1.263,-1.387,2,1,0
$FREEZE,3.63,1.264,-1.387,2,1,0
$FREEZE,3.01,1.275,-1.386,2,1,0
$FREEZE,2.36,1.285,-1.386,2,1,0
$FREEZE,1.64,1.285,-1.386,2,1,0
$STATE,12047,end climb,SURFACE_DEPTH_REACHED
$STATE,12047,begin surface coast
$FREEZE,0.88,1.315,-1.385,2,1,0
$FREEZE,0.66,1.273,-0.169,2,1,0
$FREEZE,0.75,1.356,-0.990,2,1,0
$FINISH,0.7,1.014623
$STATE,12077,end surface coast,CONTROL_FINISHED_OK
$STATE,12077,begin surface
$SM_CCo,12153,0.00,0.000,0,0,495,678.25
$SM_GC,1.81,9.35,0.00,0.00,0.083,0.000,0.000,210,2768,495,-8.35,0.23,678.25,0,0,0,0,0,0,14.39,28.83,28.83
$RAFOS_CLK,577
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7153.15,-14356.26,200814,081724
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.90
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,12.80
$XPDR_PINGS,4
$SC_FREEKB,3859808
$24V_AH,12.80,52.664
$10V_AH,12.87,0.000
$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,23.425,61.250,535.075,0.000,0.000,0.000,0.000,440.575,1.000,0.000,25.892,0.000,9790.966,602.890,2260.277,163.329,0.000,1784.208,0.000,1358.435,0.000,0.539,0.000
$DEVICE_MAMPS,393.975,102.510,1997.415,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.985,0.000,0.000,0.000
$MEM,261916
$DATA_FILE_SIZE,30036,914
$CAP_FILE_SIZE,143113,0
$CFSIZE,2097872896,2057404416
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12713.26,0x2378b6,7,5
$INTR,1,5259.31,0x2378b6,2,5
$INTR,2,12080.77,0x2378b6,7,5
$SOUNDSPEED,1449.7
$GPS,200814,115018,7227.111,-14355.962,43,0.8,63,22.9