version: 66.13
glider: 223
mission: 5
dive: 601
start: 11 22 118 9 11 37
data:
$ID,223
$MISSION,5
$DIVE,601
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,720
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,240
$T_MISSION,2000
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,2
$EXEC_DT,0
$EXEC_T,10029665
$EXEC_N,6
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00375924
$HD_B,0.0090143103
$HD_C,2.26105e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$VBD_MAX,3960
$C_VBD,2782
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-185.88379
$PRESSURE_SLOPE,0.0001081376
$AD7714Ch0Gain,1
$COMPASS_USE,0
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.25
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044087539
$SEABIRD_T_H,0.00063761615
$SEABIRD_T_I,2.5496534e-05
$SEABIRD_T_J,3.0755168e-06
$SEABIRD_C_G,-9.8995104
$SEABIRD_C_H,1.1242845
$SEABIRD_C_I,-0.0021703816
$SEABIRD_C_J,0.00023950715
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,221118,085930,-7403.6040,-11225.3857,28,1.2,28,53.2,1.0,57.2,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-62.3
$GPS2,221118,091103,-7403.5723,-11225.5225,5,1.3,7,53.2,0.3,47.1,7,8.3
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,108.2,835,-43.7,-10.000,-45.00,362
$D_GRID,720
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-2.01,-23.5,214,2312,1385,1277,0.0,0.0,0,101,0.00,0.00,-87.72,0.002,16390,0.000,0.000,212,2312,2878,2876,2880,0,0,0,0,0,0,14.92,12.81,14.91
$GC,104,-2.01,-23.5,211,2312,2874,2881,1.7,-1.7,3,120,9.43,2.55,0.00,0.000,2564,0.405,0.071,2147,900,2877,2877,2878,0,0,0,0,0,0,14.04,14.47,14.31
$PING,21.0,23.7,9000.0,0.00,0.00
$PING,31.5,33.8,9000.0,0.00,0.00
$PING,42.0,44.9,44.7,1.01,1.00
$GC,342,-2.01,-23.5,2148,902,2882,2876,60.5,-25.6,38,354,0.00,2.58,0.00,0.000,1030,0.000,0.073,2139,2298,2877,2882,2873,0,0,0,0,0,0,14.43,14.33,14.50
$GC,688,-2.01,-23.5,2140,2298,2885,2873,151.4,-26.1,51,693,0.00,2.67,0.00,0.000,260,0.000,0.107,2128,3713,2877,2884,2870,0,0,0,0,0,0,15.05,14.27,15.07
$GC,749,-2.01,-23.5,2129,3718,2885,2872,168.3,-27.1,60,755,0.00,2.47,0.00,0.000,1030,0.000,0.046,2128,2308,2874,2878,2871,0,0,0,0,0,0,14.49,14.45,14.54
$GC,1109,-2.01,-23.5,2127,2307,2886,2872,257.7,-24.7,71,1114,0.00,2.55,0.00,0.000,516,0.000,0.070,2128,892,2877,2884,2871,0,0,0,0,0,0,14.93,14.28,14.95
$GC,1168,-2.01,-23.5,2126,892,2882,2872,273.0,-24.2,80,1175,0.15,2.62,0.00,0.000,3078,0.343,0.071,2147,2306,2877,2884,2871,0,0,0,0,0,0,13.69,14.28,13.97
$GC,1554,-2.01,-23.5,2148,2306,2887,2872,361.6,-23.1,93,1561,0.00,2.58,0.00,0.000,516,0.000,0.069,2147,894,2877,2884,2871,0,0,0,0,0,0,14.91,14.24,14.93
$GC,1623,-2.01,-23.5,2147,896,2885,2871,378.0,-23.1,103,1630,0.00,2.62,0.00,0.000,1030,0.000,0.071,2139,2300,2877,2885,2870,0,0,0,0,0,0,14.31,14.22,14.38
$GC,2005,-2.01,-23.5,2138,2301,2885,2871,463.7,-22.5,115,2010,0.00,2.58,0.00,0.000,516,0.000,0.069,2139,888,2877,2885,2870,0,0,0,0,0,0,14.90,14.23,14.92
$GC,2078,-2.01,-23.5,2138,888,2885,2871,480.8,-22.2,126,2085,0.00,2.65,0.00,0.000,1030,0.000,0.070,2128,2309,2878,2885,2871,0,0,0,0,0,0,14.29,14.21,14.36
$GC,2452,-2.01,-23.5,2130,2310,2888,2871,561.2,-21.5,137,2458,0.00,2.60,0.00,0.000,516,0.000,0.070,2128,891,2878,2886,2870,0,0,0,0,0,0,14.89,14.20,14.90
$GC,2592,-2.01,-23.5,2129,891,2885,2871,591.0,-20.9,157,2599,0.15,2.60,0.00,0.000,3078,0.373,0.067,2145,2312,2878,2886,2870,0,0,0,0,0,0,13.64,14.28,13.90
$GC,2958,-2.01,-23.5,2144,2313,2891,2871,662.5,-19.3,167,2963,0.00,2.60,0.00,0.000,516,0.000,0.069,2144,895,2878,2886,2870,0,0,0,0,0,0,14.88,14.19,14.90
$GC,3025,-2.01,-23.5,2145,896,2888,2871,676.3,-19.7,177,3032,0.00,2.62,0.00,0.000,1030,0.000,0.069,2136,2304,2878,2886,2870,0,0,0,0,0,0,14.26,14.17,14.33
$STATE,3289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3289,begin apogee
$GC,3296,-0.23,0.0,2137,2060,2888,2871,728.7,-19.9,187,3327,2.55,0.10,27.42,2.954,10246,0.321,0.174,2718,2122,2780,2798,2763,0,0,0,0,0,0,13.92,14.36,12.98
$STATE,3328,end apogee,CONTROL_FINISHED_OK
$STATE,3329,begin climb
$PING,733.5,23.6,9000.0,-0.02,0.72
$GC,3332,2.01,23.5,2720,2123,2801,2764,728.7,0.0,187,3369,2.35,2.62,28.95,2.961,10500,0.147,0.102,3439,3498,2684,2703,2665,0,0,0,0,0,0,14.36,14.17,12.72
$GC,3599,2.08,78.8,3439,3498,2699,2661,737.9,-5.7,226,3670,0.00,2.40,66.35,3.050,9254,0.000,0.044,3449,2115,2459,2478,2440,0,0,0,0,0,0,14.64,14.57,12.50
$GC,4047,2.08,78.8,3449,2115,2465,2434,699.2,12.4,248,4053,0.00,2.60,0.00,0.000,516,0.000,0.083,3460,705,2449,2466,2432,0,0,0,0,0,0,15.03,14.48,15.05
$GC,4103,2.08,78.8,3460,706,2465,2433,692.1,12.8,256,4109,0.00,2.47,0.00,0.000,1030,0.000,0.058,3460,2091,2452,2465,2440,0,0,0,0,0,0,14.62,14.54,14.67
$GC,4498,2.08,78.8,3460,2091,2463,2430,642.8,12.3,270,4503,0.00,2.65,0.00,0.000,260,0.000,0.105,3460,3517,2447,2463,2431,0,0,0,0,0,0,15.01,14.46,15.04
$GC,4565,2.08,78.8,3461,3518,2464,2431,634.1,12.5,280,4571,0.00,2.47,0.00,0.000,1030,0.000,0.045,3470,2098,2446,2462,2431,0,0,0,0,0,0,14.66,14.59,14.70
$GC,4944,2.08,78.8,3469,2098,2460,2431,590.7,11.2,292,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,2098,2446,2462,2430,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5280,2.08,78.8,3471,2098,2464,2431,554.2,10.8,298,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2097,2445,2461,2430,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5616,2.08,78.8,3472,2098,2463,2430,520.5,9.8,304,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,2097,2445,2461,2430,0,0,0,0,0,0,15.00,15.02,15.02
$GC,5952,2.10,78.8,3472,2099,2462,2430,489.0,9.3,310,5957,0.00,2.55,0.00,0.000,580,0.000,0.086,3481,704,2444,2460,2429,0,0,0,0,0,0,15.00,14.39,15.02
$GC,6000,2.11,78.8,3480,705,2460,2430,484.6,9.1,317,6008,0.00,2.53,0.00,0.000,1094,0.000,0.058,3481,2109,2444,2459,2429,0,0,0,0,0,0,14.51,14.47,14.57
$GC,6343,2.13,78.8,3480,2109,2460,2430,453.9,9.0,324,6349,0.00,2.67,0.00,0.000,324,0.000,0.103,3481,3516,2444,2460,2429,0,0,0,0,0,0,15.11,14.26,15.14
$GC,6413,2.13,78.8,3482,3517,2461,2430,447.1,9.8,334,6420,0.00,2.47,0.00,0.000,1030,0.000,0.044,3490,2096,2444,2460,2429,0,0,0,0,0,0,14.56,14.50,14.60
$GC,6791,2.15,78.8,3490,2096,2458,2430,413.1,9.0,346,6797,0.00,2.60,0.00,0.000,580,0.000,0.084,3500,700,2444,2459,2429,0,0,0,0,0,0,15.11,14.28,15.14
$GC,6833,2.17,78.8,3499,701,2459,2430,409.3,8.9,352,6839,0.00,2.53,0.00,0.000,1094,0.000,0.058,3500,2106,2444,2459,2429,0,0,0,0,0,0,14.47,14.39,14.54
$GC,7183,2.20,78.8,3500,2104,2460,2430,379.3,8.5,360,7190,0.00,2.67,0.00,0.000,324,0.000,0.100,3499,3509,2443,2458,2429,0,0,0,0,0,0,15.11,14.23,15.14
$GC,7253,2.21,78.8,3501,3510,2460,2430,372.7,9.5,370,7259,0.00,2.47,0.00,0.000,1094,0.000,0.044,3510,2091,2443,2458,2429,0,0,0,0,0,0,14.52,14.47,14.55
$GC,7631,2.25,78.8,3510,2092,2458,2429,340.8,8.2,382,7632,0.00,0.00,0.00,0.000,70,0.000,0.000,3510,2091,2441,2454,2429,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7967,2.26,86.6,3511,2092,2460,2429,314.2,7.8,388,7981,0.00,2.55,5.72,2.248,8740,0.000,0.082,3521,699,2430,2445,2415,0,0,0,0,0,0,15.11,14.66,13.31
$GC,8065,2.29,86.6,3521,699,2445,2415,306.1,8.5,402,8071,0.00,2.53,0.00,0.000,1094,0.000,0.057,3521,2111,2430,2445,2415,0,0,0,0,0,0,14.61,14.54,14.66
$GC,8415,2.32,86.6,3522,2112,2447,2416,276.2,8.6,410,8416,0.00,0.00,0.00,0.000,70,0.000,0.000,3521,2111,2429,2444,2415,0,0,0,0,0,0,15.11,15.13,15.13
$GC,8751,2.36,86.6,3522,2116,2446,2416,248.5,8.0,416,8752,0.12,0.00,0.00,0.000,2118,0.169,0.000,3571,2111,2429,2444,2415,0,0,0,0,0,0,14.63,14.74,14.69
$GC,9087,2.37,96.2,3572,2112,2446,2416,223.5,7.3,422,9108,0.00,2.60,12.75,2.541,8484,0.000,0.102,3570,3505,2389,2405,2374,0,0,0,0,0,0,15.11,14.60,13.33
$GC,9136,2.39,96.2,3572,3506,2405,2375,219.4,8.8,429,9144,0.00,2.45,0.00,0.000,1094,0.000,0.044,3581,2094,2388,2403,2374,0,0,0,0,0,0,14.70,14.65,14.72
$GC,9480,2.39,96.2,3582,2095,2403,2374,184.8,10.5,438,9485,0.00,2.65,0.00,0.000,260,0.000,0.099,3581,3519,2387,2401,2373,0,0,0,0,0,0,14.97,14.42,15.00
$GC,9570,2.39,96.2,3583,3519,2402,2372,174.9,10.7,451,9578,0.00,2.47,0.00,0.000,1030,0.000,0.044,3592,2098,2386,2400,2373,0,0,0,0,0,0,14.59,14.55,14.64
$GC,9929,2.40,96.2,3592,2098,2400,2373,139.9,9.4,466,9930,0.00,0.00,0.00,0.000,70,0.000,0.000,3592,2098,2386,2400,2373,0,0,0,0,0,0,15.08,15.11,15.11
$GC,10263,2.44,96.2,3593,2098,2402,2374,111.9,8.3,478,10269,0.00,2.58,0.00,0.000,580,0.000,0.080,3603,707,2386,2400,2373,0,0,0,0,0,0,15.08,14.29,15.11
$GC,10284,2.45,105.1,3604,708,2402,2374,110.4,7.5,481,10298,0.00,2.53,6.45,2.119,9254,0.000,0.057,3603,2109,2350,2365,2336,0,0,0,0,0,0,14.50,14.43,13.37
$PING,108.3,111.8,9000.0,-0.07,0.39
$PING,97.0,101.2,9000.0,-0.13,0.98
$PING,71.8,74.8,75.0,1.02,1.00
$GC,10656,2.45,105.1,3604,2110,2365,2336,71.8,11.0,498,10661,0.00,2.58,0.00,0.000,516,0.000,0.080,3609,696,2349,2363,2335,0,0,0,0,0,0,14.96,14.44,14.99
$GC,10767,2.45,105.1,3615,697,2369,2336,58.2,12.2,514,10773,0.00,2.53,0.00,0.000,1030,0.000,0.057,3613,2101,2349,2363,2335,0,0,0,0,0,0,14.52,14.44,14.57
$PING,51.7,53.7,53.7,1.05,1.00
$PING,38.9,40.1,40.2,1.05,1.00
$PING,26.9,27.9,27.8,1.04,1.00
$GC,11131,2.45,105.1,3614,2103,2364,2335,17.8,11.0,530,11137,0.00,2.60,0.00,0.000,516,0.000,0.080,3625,701,2348,2362,2334,0,0,0,0,0,0,15.08,14.30,15.10
$PING,16.3,16.8,16.9,1.03,1.00
$GC,11173,2.45,105.1,3623,702,2362,2335,13.1,11.4,536,11180,0.15,2.55,0.00,0.000,5126,0.353,0.060,3591,2110,2348,2362,2334,0,0,0,0,0,0,13.81,14.41,14.10
$FREEZE,8.50,-1.618,-1.869,2,1,0
$FREEZE,5.22,-1.617,-1.867,2,1,0
$FREEZE,1.11,-1.611,-1.864,2,1,0
$STATE,11268,end climb,SURFACE_DEPTH_REACHED
$STATE,11268,begin surface coast
$FREEZE,-0.14,-1.623,-1.863,2,1,0
$FINISH,-0.1,1.027335
$STATE,11297,end surface coast,CONTROL_FINISHED_OK
$STATE,11297,begin surface
$SM_CCo,11318,170.07,0.233,0,0,1354,350.04
$SM_GC,0.64,10.52,0.35,170.07,0.109,0.093,0.233,211,2307,1354,-8.03,-0.65,350.04,0,0,0,0,0,0,14.63,14.52,14.33
$RAFOS_CLK,428
$RAFOS,2,1542888802,12.233334,12.222777,110,60,57,56,54,53,408,209,192,181,120,165
$RAFOS,1,1542888441,12.133333,12.122500,126,66,63,60,58,58,471,217,142,166,124,199
$RAFOS,0,1542888075,12.032778,12.020833,123,56,54,54,51,51,502,181,199,170,218,115
$RAFOS,2,1542877993,9.233334,9.220278,84,56,55,54,52,52,445,221,197,128,163,152
$RAFOS_FIX,-7405.729492,-11227.943359,221118,121236,2,124,0.39
$IRIDIUM_FIX,-7403.74,-11221.53,221118,053445
$TT8_MAMPS,0.041195,0.235186
$HUMID,47.12
$INTERNAL_PRESSURE,8.08233
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,16.3,16.9
$24V_AH,12.50,205.234
$10V_AH,12.56,0.000
$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,25.425,103.450,147.650,170.075,0.000,0.000,0.000,382.925,29.750,0.000,9.023,0.000,9600.611,557.282,1596.261,447.308,0.000,1403.980,0.000,780.157,960.000,216.635,0.000
$DEVICE_MAMPS,405.450,173.655,3050.055,232.560,0.000,0.000,0.000,190.485,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11320.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.180,0.000,0.000,0.000
$MEM,281312
$DATA_FILE_SIZE,13412,542
$CAP_FILE_SIZE,104123,0
$CFSIZE,1024409600,950337536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,344.69,0x234cda,0,24
$SOUNDSPEED,1449.2
$GPS,221118,122430,-7404.386,-11224.563,40,1.2,40,53.2,1.3,285.5,7,7.1