version: 66.12
glider: 196
mission: 7
dive: 178
start: 8 20 114 15 34 3
data:
$ID,196
$MISSION,7
$DIVE,178
$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,-5235.9702
$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,52
$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
$GPS1,200814,152654,7229.027,-14356.141,40,0.8,60,22.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-79.3
$GPS2,200814,153344,7229.067,-14356.151,4,1.0,24,22.9
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7255.000,-14410.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.2,48615,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-145.9,204,2745,450,550,0.0,0.0,0,80,0.00,0.00,-62.90,0.000,16386,0.000,0.000,203,2745,2085,2089,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.69,-145.9,204,2746,2089,2084,3.1,-2.6,6,132,11.85,1.90,-33.00,0.000,18692,0.393,0.122,2658,3788,3858,3914,3803,0,0,0,0,0,0,14.06,14.31,14.54
$GC,346,-0.69,-145.9,2658,3788,3915,3802,79.3,-23.5,59,353,0.00,1.70,0.00,0.000,1030,0.000,0.052,2657,2759,3858,3914,3802,0,0,0,0,0,0,28.83,14.41,28.83
$GC,651,-0.69,-145.9,2658,2760,3914,3803,138.4,-17.3,90,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2759,3858,3915,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,951,-0.69,-145.9,2658,2759,3915,3803,189.6,-16.5,120,956,0.00,1.83,0.00,0.000,260,0.000,0.104,2650,3779,3858,3914,3802,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1037,-0.69,-145.9,2651,3780,3915,3803,203.3,-15.4,137,1043,0.00,1.67,0.00,0.000,1030,0.000,0.056,2650,2763,3858,3914,3802,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1341,-0.69,-145.9,2650,2763,3915,3802,250.3,-15.5,168,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2763,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-0.69,-145.9,2650,2763,3915,3803,294.6,-14.9,178,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2763,3858,3914,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-0.69,-145.9,2650,2763,3915,3802,337.0,-14.2,188,1946,0.00,2.35,0.00,0.000,516,0.000,0.067,2649,1362,3858,3914,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1981,-0.69,-145.9,2650,1362,3915,3803,342.4,-12.7,196,1987,0.10,2.53,0.00,0.000,3078,0.239,0.098,2665,2762,3858,3914,3802,0,0,0,0,0,0,14.33,14.43,28.83
$GC,2302,-0.69,-145.9,2666,2763,3915,3803,382.4,-12.4,210,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3857,3913,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.69,-145.9,2665,2763,3915,3802,418.7,-12.1,220,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-0.69,-145.9,2666,2763,3914,3803,455.5,-12.2,230,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2762,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;5856fa7ce7;,*36
$MODEM_MSG,CACST,6,0,20140820161617.085564,3,285,00,0155,0150,217,03,03,04,03,1,014,000,0,5,1,0,150,26.3,9.1,-100,-6.1,-01,0.1,13,900,0025*22
$GC,3201,-0.69,-145.9,2665,2761,3915,3802,492.7,-12.3,240,3206,0.00,2.33,0.00,0.000,516,0.000,0.064,2665,1369,3858,3914,3802,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3246,-0.69,-145.9,2666,1369,3915,3802,497.9,-10.9,249,3251,0.00,2.47,0.00,0.000,1030,0.000,0.096,2658,2775,3858,3914,3802,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3562,-0.69,-145.9,2659,2776,3914,3803,538.2,-12.9,262,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2776,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.69,-145.9,2659,2775,3917,3802,576.3,-12.5,272,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2775,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.69,-145.9,2659,2775,3909,3802,613.1,-12.2,282,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2775,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.69,-145.9,2659,2775,3915,3802,649.8,-12.2,292,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2775,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.69,-145.9,2659,2775,3915,3802,686.8,-12.4,302,4766,0.00,2.35,0.00,0.000,516,0.000,0.064,2658,1356,3857,3913,3802,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4806,-0.69,-145.9,2659,1357,3915,3803,692.1,-11.8,311,4811,0.00,2.50,0.00,0.000,1030,0.000,0.096,2647,2762,3858,3914,3802,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5121,-0.69,-145.9,2649,2762,3915,3802,732.4,-12.7,324,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3858,3914,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5269,begin apogee
$GC,5273,-0.13,0.0,2648,2762,3915,3802,751.8,-13.0,329,5402,0.75,0.00,125.07,1.977,10244,0.232,0.000,2849,2762,3255,3270,3240,0,0,0,0,0,0,14.50,28.83,13.15
$STATE,5403,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5404,0.69,145.9,2849,2763,3270,3237,755.8,0.0,333,5533,0.88,0.00,123.97,1.841,11270,0.126,0.000,3116,2762,2663,2668,2659,0,0,0,0,0,0,13.81,28.83,12.77
$GC,5842,0.69,145.9,3117,2763,2664,2648,710.4,13.2,373,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2655,2663,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6142,0.69,145.9,3117,2763,2664,2647,670.4,13.2,383,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2663,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6442,0.69,145.9,3116,2763,2664,2647,630.7,13.3,393,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6743,0.69,145.9,3117,2763,2665,2645,591.1,13.3,403,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2656,2668,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,0.69,145.9,3117,2762,2665,2645,551.9,13.0,413,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,0.69,145.9,3117,2763,2664,2646,512.6,13.1,423,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,0.69,145.9,3116,2763,2664,2646,473.7,12.9,433,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2654,2663,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7942,0.69,145.9,3117,2763,2664,2645,436.1,12.2,443,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2762,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8242,0.69,145.9,3117,2762,2665,2644,399.8,12.0,453,8248,0.00,2.38,0.00,0.000,516,0.000,0.066,3125,1341,2654,2664,2644,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8262,0.69,145.9,3126,1340,2665,2645,397.4,11.8,457,8268,0.00,2.47,0.00,0.000,1030,0.000,0.091,3125,2745,2654,2664,2644,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8572,0.69,145.9,3126,2746,2664,2645,358.6,12.7,469,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2746,2653,2663,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8872,0.69,145.9,3126,2747,2665,2645,320.9,12.5,479,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9172,0.69,145.9,3127,2746,2665,2644,284.3,11.9,489,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2746,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9473,0.70,155.2,3126,2746,2665,2645,249.8,11.1,499,9484,0.00,0.00,8.05,1.340,8198,0.000,0.000,3125,2743,2622,2631,2613,0,0,0,0,0,0,28.83,28.83,14.01
$GC,9782,0.71,171.2,3126,2746,2632,2611,214.7,10.8,530,9798,0.00,0.00,14.48,1.263,8454,0.000,0.000,3125,2746,2558,2565,2552,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10104,0.73,196.5,3126,2746,2563,2545,179.5,10.3,564,10129,0.00,1.83,21.35,1.202,8452,0.000,0.096,3126,3789,2452,2457,2448,0,0,0,0,0,0,28.83,14.38,13.85
$GC,10273,0.73,196.5,3126,3789,2456,2447,158.1,13.5,598,10279,0.00,1.73,0.00,0.000,1030,0.000,0.051,3132,2743,2451,2455,2447,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10584,0.75,233.2,3132,2742,2456,2445,128.7,9.7,630,10620,0.00,1.85,30.88,1.144,8452,0.000,0.096,3132,3790,2300,2302,2299,0,0,0,0,0,0,28.83,14.28,13.79
$GC,10669,0.75,233.2,3133,3791,2300,2299,119.3,12.0,647,10676,0.00,1.73,0.00,0.000,1030,0.000,0.050,3139,2754,2298,2300,2297,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10975,0.78,276.4,3140,2753,2302,2294,91.6,9.3,678,10997,0.00,1.90,17.88,0.472,8452,0.000,0.099,3139,3789,2133,2133,2133,0,0,0,0,0,0,28.83,14.35,14.09
$GC,11081,0.78,276.4,3140,3790,2145,2133,79.8,11.9,699,11088,0.00,1.70,0.00,0.000,1030,0.000,0.052,3146,2761,2138,2143,2133,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11386,0.82,334.9,3147,2760,2145,2130,50.3,8.5,730,11418,0.00,0.00,26.17,0.336,8198,0.000,0.000,3146,2760,1891,1887,1895,0,0,0,0,0,0,28.83,28.83,14.19
$GC,11717,0.94,497.0,3147,2761,1893,1889,28.9,3.0,763,11790,0.15,0.00,70.75,0.285,10502,0.122,0.000,3204,2760,1229,1243,1216,0,0,0,0,0,0,14.48,28.83,14.14
$GC,12086,1.05,657.8,3205,2761,1246,1200,17.6,3.1,802,12163,0.00,2.42,70.88,0.250,8708,0.000,0.066,3205,1348,573,542,605,0,0,0,0,0,0,28.83,14.31,14.19
$FREEZE,8.78,1.202,-1.394,2,1,0
$FREEZE,8.29,1.207,-1.394,2,1,0
$FREEZE,8.03,1.207,-1.394,2,1,0
$FREEZE,7.55,1.222,-1.393,2,1,0
$FREEZE,7.11,1.222,-1.393,2,1,0
$FREEZE,6.69,1.215,-1.393,2,1,0
$FREEZE,6.36,1.215,-1.393,2,1,0
$FREEZE,5.82,1.184,-1.394,2,1,0
$FREEZE,5.37,1.184,-1.394,2,1,0
$FREEZE,5.02,1.153,-1.395,2,1,0
$FREEZE,4.59,1.153,-1.395,2,1,0
$FREEZE,4.08,1.139,-1.395,2,1,0
$FREEZE,3.74,1.139,-1.395,2,1,0
$FREEZE,3.23,1.106,-1.396,2,1,0
$FREEZE,2.79,1.106,-1.396,2,1,0
$FREEZE,2.35,1.252,-1.388,2,1,0
$FREEZE,1.96,1.252,-1.388,2,1,0
$STATE,12321,end climb,SURFACE_DEPTH_REACHED
$STATE,12321,begin surface coast
$FREEZE,1.49,1.470,-1.378,2,1,0
$FREEZE,1.06,1.470,-1.378,2,1,0
$FREEZE,0.86,1.491,-1.379,2,1,0
$FREEZE,0.98,1.491,-1.379,2,1,0
$FINISH,1.0,1.020286
$STATE,12342,end surface coast,CONTROL_FINISHED_OK
$STATE,12342,begin surface
$SM_CCo,12359,8.10,0.207,0,0,499,676.54
$SM_GC,2.77,9.10,2.58,8.10,0.076,0.097,0.207,207,2763,499,-8.35,-0.54,676.54,0,0,0,0,0,0,14.41,14.38,14.28
$RAFOS_CLK,528
$MODEM,14,1408551377,72.36780,-144.49640,17.086,24782.4
$RAFOS_FIX,7159.117676,-14411.964844,070814,040446,2,255,0.12
$IRIDIUM_FIX,7153.15,-14400.45,200814,115659
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.66
$INTERNAL_PRESSURE,8.57257
$TCM_TEMP,13.60
$XPDR_PINGS,5
$SC_FREEKB,3858912
$24V_AH,12.77,53.226
$10V_AH,12.88,0.000
$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,22.825,42.200,509.475,8.100,0.000,0.000,0.000,244.800,1.250,0.000,25.750,0.000,10055.395,583.892,1989.560,145.327,0.000,1507.465,0.000,1277.236,1478.000,0.540,0.000
$DEVICE_MAMPS,393.210,122.400,1976.760,207.315,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12380.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.111,0.000,0.000,0.000
$MEM,260796
$DATA_FILE_SIZE,29999,853
$CAP_FILE_SIZE,134458,0
$CFSIZE,2097872896,2057011200
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12808.08,0x2378b6,7,5
$INTR,1,5271.26,0x2378b6,2,5
$SOUNDSPEED,1450.1
$GPS,200814,190124,7230.918,-14357.975,25,0.8,45,22.9