version: 66.12
glider: 197
mission: 6
dive: 141
start: 8 16 114 7 58 45
data:
$ID,197
$MISSION,6
$DIVE,141
$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,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,0.07
$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,54283
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$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,-7610.1548
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2470
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-65.523643
$PRESSURE_SLOPE,0.000117962
$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,20
$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,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,160814,074414,7254.192,-14554.222,36,0.9,56,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-66.7
$GPS2,160814,075827,7254.289,-14554.476,11,0.9,31,28.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7305.000,-14550.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,338.0,19983,-22.6,-11.628,-25.63,1932
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.81,-145.9,114,2475,423,582,0.0,0.0,0,80,0.00,0.00,-53.92,0.000,16386,0.000,0.000,112,2475,1778,1797,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.81,-145.9,113,2478,1796,1762,3.3,-2.7,6,154,10.98,2.30,-53.22,0.000,18692,0.445,0.137,2212,3712,3780,3759,3802,0,0,0,0,0,0,14.12,14.35,14.58
$GC,379,-0.73,-145.9,2212,3713,3760,3805,80.4,-22.9,65,387,0.17,2.08,0.00,0.000,3078,0.304,0.064,2246,2468,3782,3760,3805,0,0,0,0,0,0,14.28,14.44,28.83
$GC,684,-0.73,-145.9,2249,2468,3761,3801,134.1,-16.0,96,690,0.00,2.25,0.00,0.000,260,0.000,0.116,2238,3718,3782,3760,3805,0,0,0,0,0,0,28.83,14.39,28.83
$GC,800,-0.71,-145.9,2242,3718,3759,3805,154.9,-17.8,119,807,0.00,2.10,0.00,0.000,1030,0.000,0.064,2241,2460,3781,3760,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1105,-0.71,-145.9,2247,2460,3760,3806,202.4,-14.7,150,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2463,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-0.73,-145.9,2242,2464,3761,3806,242.7,-12.4,180,1411,0.00,2.40,0.00,0.000,516,0.000,0.086,2238,1076,3782,3760,3805,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1497,-0.75,-145.9,2242,1077,3760,3806,253.8,-11.6,198,1503,0.00,2.50,0.00,0.000,1030,0.000,0.104,2232,2476,3782,3760,3805,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1828,-0.77,-145.9,2233,2476,3760,3806,292.5,-11.2,214,1834,0.00,2.40,0.00,0.000,516,0.000,0.086,2232,1075,3782,3760,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1894,-0.79,-145.9,2233,1075,3760,3806,300.1,-11.2,227,1900,0.00,2.47,0.00,0.000,1030,0.000,0.104,2225,2471,3782,3759,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2220,-0.81,-145.9,2226,2472,3760,3806,338.5,-11.8,242,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2472,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.83,-145.9,2226,2472,3754,3805,373.3,-11.6,252,2527,0.00,2.40,0.00,0.000,516,0.000,0.084,2225,1066,3782,3759,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2607,-0.85,-145.9,2226,1066,3759,3806,383.2,-11.1,269,2616,0.00,2.47,0.00,0.000,1030,0.000,0.103,2218,2470,3784,3759,3810,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2912,-0.87,-145.9,2219,2471,3759,3806,419.1,-11.8,280,2919,0.00,2.38,0.00,0.000,516,0.000,0.084,2219,1072,3781,3758,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2983,-0.89,-145.9,2218,1076,3760,3808,427.5,-11.8,294,2990,0.00,2.47,0.00,0.000,1030,0.000,0.103,2215,2478,3782,3759,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3305,-0.90,-145.9,2215,2479,3765,3806,464.7,-11.6,308,3311,0.00,2.40,0.00,0.000,516,0.000,0.084,2215,1069,3782,3758,3806,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3402,-0.92,-145.9,2215,1069,3758,3806,475.8,-11.5,327,3408,0.00,2.47,0.00,0.000,1030,0.000,0.102,2210,2478,3783,3761,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3729,-0.93,-145.9,2211,2479,3759,3806,513.5,-11.6,342,3735,0.00,2.40,0.00,0.000,516,0.000,0.084,2211,1068,3782,3759,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3805,-0.95,-145.9,2211,1068,3759,3806,522.2,-11.3,357,3811,0.00,2.47,0.00,0.000,1030,0.000,0.102,2211,2479,3782,3759,3805,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4122,-0.96,-145.9,2211,2480,3760,3806,558.0,-11.3,370,4128,0.00,2.40,0.00,0.000,516,0.000,0.083,2211,1068,3782,3759,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4193,-0.98,-145.9,2211,1068,3759,3806,566.3,-11.3,384,4199,0.00,2.47,0.00,0.000,1030,0.000,0.101,2211,2479,3782,3759,3805,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4515,-0.99,-145.9,2211,2480,3760,3807,602.8,-11.4,398,4521,0.12,2.40,0.00,0.000,4612,0.161,0.081,2160,1074,3782,3759,3805,0,0,0,0,0,0,14.72,14.70,28.83
$GC,4597,-0.97,-145.9,2160,1074,3759,3807,613.7,-13.3,414,4604,0.12,2.45,0.00,0.000,3078,0.332,0.101,2171,2475,3782,3759,3806,0,0,0,0,0,0,14.52,14.69,28.83
$GC,4909,-0.96,-145.9,2171,2477,3767,3806,654.9,-13.1,426,4916,0.00,2.38,0.00,0.000,516,0.000,0.081,2170,1072,3782,3759,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5016,-0.96,-145.9,2172,1072,3759,3807,668.6,-12.2,447,5023,0.00,2.45,0.00,0.000,1030,0.000,0.099,2163,2476,3782,3759,3806,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5333,-0.94,-145.9,2164,2477,3759,3807,711.1,-13.4,460,5339,0.00,2.38,0.00,0.000,516,0.000,0.081,2163,1073,3782,3759,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5425,-0.92,-145.9,2164,1074,3759,3807,723.2,-13.3,478,5432,0.17,2.45,0.00,0.000,3078,0.311,0.099,2188,2477,3783,3759,3807,0,0,0,0,0,0,14.53,14.69,28.83
$STATE,5665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5665,begin apogee
$GC,5669,-0.16,0.0,2189,2406,3759,3807,752.2,-11.9,491,5799,0.93,0.00,124.22,1.817,10246,0.263,0.000,2438,2404,3181,3135,3228,0,0,0,0,0,0,14.55,28.83,13.31
$STATE,5801,end apogee,CONTROL_FINISHED_OK
$STATE,5801,begin climb
$GC,5802,0.81,145.9,2434,2405,3126,3224,755.5,0.0,495,5939,1.05,0.00,122.85,1.807,10246,0.142,0.000,2747,2404,2579,2500,2659,0,0,0,0,0,0,14.00,28.83,12.94
$GC,6236,0.78,145.9,2748,2405,2494,2651,700.8,15.0,510,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2404,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6536,0.74,145.9,2748,2404,2493,2655,656.0,15.0,520,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2404,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6836,0.70,145.9,2748,2404,2493,2654,611.1,14.9,530,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2404,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7136,0.67,145.9,2747,2405,2493,2655,566.7,14.7,540,7143,0.15,2.42,0.00,0.000,4612,0.303,0.085,2720,1006,2573,2492,2654,0,0,0,0,0,0,14.41,14.56,28.83
$GC,7167,0.67,145.9,2721,1006,2493,2655,562.5,14.1,546,7174,0.00,2.45,0.00,0.000,1030,0.000,0.093,2720,2406,2573,2493,2654,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7499,0.66,145.9,2720,2407,2493,2654,519.2,13.1,562,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2406,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,0.65,145.9,2721,2407,2493,2654,480.3,13.0,572,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2406,2573,2492,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8098,0.65,145.9,2721,2407,2494,2655,441.4,12.9,582,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2406,2572,2492,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,0.65,145.9,2721,2406,2493,2654,402.6,13.0,592,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2406,2573,2492,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,0.65,145.9,2721,2407,2493,2655,364.6,12.6,602,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2406,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,0.65,145.9,2721,2407,2493,2654,327.8,12.1,612,9004,0.00,2.40,0.00,0.000,516,0.000,0.087,2731,1005,2573,2493,2654,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9029,0.65,145.9,2731,1006,2493,2654,324.0,11.7,618,9036,0.12,2.42,0.00,0.000,5126,0.274,0.093,2706,2406,2573,2493,2653,0,0,0,0,0,0,14.58,14.70,28.83
$GC,9360,0.66,166.9,2706,2407,2493,2654,287.8,10.5,634,9381,0.00,0.00,17.52,1.327,8198,0.000,0.000,2705,2407,2501,2424,2579,0,0,0,0,0,0,28.83,28.83,14.05
$GC,9661,0.69,177.5,2706,2407,2414,2568,255.3,11.1,644,9677,0.00,2.35,6.93,1.354,8452,0.000,0.108,2706,3709,2461,2385,2537,0,0,0,0,0,0,28.83,14.58,14.02
$GC,9731,0.69,177.5,2706,3710,2385,2539,246.4,12.8,658,9739,0.00,2.15,0.00,0.000,1030,0.000,0.062,2711,2403,2461,2385,2538,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10044,0.74,219.9,2712,2402,2386,2538,214.2,9.4,690,10086,0.00,0.00,38.38,1.189,8710,0.000,0.000,2711,2401,2284,2206,2362,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10383,0.80,260.1,2712,2402,2190,2351,179.0,9.5,728,10425,0.12,0.00,33.67,1.150,10246,0.145,0.000,2767,2401,2111,2027,2196,0,0,0,0,0,0,14.56,28.83,13.85
$GC,10723,0.81,260.1,2767,2402,2019,2194,136.0,12.2,762,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2401,2105,2018,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11023,0.84,281.1,2766,2402,2018,2193,102.6,10.5,792,11045,0.00,0.00,16.08,1.092,8198,0.000,0.000,2766,2400,2029,1939,2119,0,0,0,0,0,0,28.83,28.83,14.00
$GC,11344,0.89,310.1,2767,2402,1930,2117,68.6,10.1,824,11359,0.00,0.00,11.70,0.371,8198,0.000,0.000,2767,2401,1917,1822,2013,0,0,0,0,0,0,28.83,28.83,14.31
$GC,11654,1.02,422.3,2767,2402,1837,2018,45.4,5.7,855,11716,0.15,2.40,50.62,0.308,10500,0.124,0.111,2832,3708,1459,1355,1563,0,0,0,0,0,0,14.60,14.47,14.32
$GC,11787,1.02,422.3,2834,3708,1361,1563,30.5,12.7,881,11793,0.00,2.20,0.00,0.000,1030,0.000,0.063,2842,2399,1461,1360,1563,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12099,1.23,633.4,2843,2398,1353,1563,14.8,0.4,913,12195,0.12,0.00,91.03,0.220,11014,0.138,0.000,2903,2398,598,497,699,0,0,0,0,0,0,14.61,28.83,14.35
$FREEZE,8.08,-0.289,-1.409,2,1,0
$FREEZE,7.11,-0.300,-1.407,2,1,0
$FREEZE,6.16,-0.303,-1.406,2,1,0
$FREEZE,5.43,-0.329,-1.406,2,1,0
$FREEZE,4.58,-0.323,-1.405,2,1,0
$FREEZE,3.67,-0.323,-1.404,2,1,0
$FREEZE,2.49,-0.327,-1.403,2,1,0
$FREEZE,1.55,-0.330,-1.403,2,1,0
$STATE,12278,end climb,SURFACE_DEPTH_REACHED
$STATE,12278,begin surface coast
$FREEZE,1.57,-0.354,-0.294,2,1,0
$FINISH,1.6,1.004175
$STATE,12289,end surface coast,FINISH_DEPTH_REACHED
$STATE,12290,begin surface
$SM_CCo,12312,10.68,0.200,0,0,499,657.89
$SM_GC,2.65,8.25,0.15,10.68,0.094,0.167,0.200,183,2481,499,-7.17,-0.42,657.89,0,0,0,0,0,0,14.50,14.51,14.42
$RAFOS_CLK,1176299
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7214.16,-14548.26,160814,040555
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.73
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3875008
$TM_FREEKB,5477004
$24V_AH,12.94,59.366
$10V_AH,13.13,0.000
$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,22.475,76.400,513.000,10.675,0.000,0.000,0.000,522.375,0.000,0.000,33.557,0.000,9653.477,616.104,2678.663,214.272,0.000,2009.511,0.000,1396.377,1483.000,0.531,0.000
$DEVICE_MAMPS,445.230,166.770,1816.875,199.665,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12314.000,12397.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.770,15.073,0.000,0.000
$MEM,241568
$DATA_FILE_SIZE,33302,940
$CAP_FILE_SIZE,161369,0
$CFSIZE,1047117824,1015791616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13422.44,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,160814,112526,7256.026,-14554.255,29,1.1,49,29.0