version: 66.13
glider: 124
mission: 26
dive: 442
start: 8 20 118 14 53 26
data:
$ID,124
$MISSION,26
$DIVE,442
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2681
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,445.0
$CP_NDIVE,1.0
$GPS1,200818,144004,5836.5229,-2318.7500,41,1.0,41,-15.5,0.0,0.0,9,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.9
$GPS2,200818,145257,5836.5552,-2318.6995,13,1.5,17,-15.5,0.3,116.3,8,6.6
$SPEED_LIMITS,0.173,0.275
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,138.9,51858,-16.2,-10.000,-19.97,2570
$D_GRID,990
$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,17,-0.64,-170.3,21,1650,1412,1093,0.0,0.0,0,118,0.00,0.00,-95.62,0.006,16390,0.000,0.000,20,1649,3374,3311,3437,0,0,0,0,0,0,14.78,12.97,14.74
$GC,121,-0.64,-170.3,21,1649,3311,3438,4.9,-3.9,5,135,9.40,0.93,0.00,0.000,2852,0.407,0.033,1978,2236,3374,3317,3431,0,0,0,0,0,0,14.02,14.41,14.28
$GC,315,-0.64,-170.3,1978,2239,3342,3405,36.5,-11.7,44,322,0.00,0.93,0.00,0.000,1030,0.000,0.049,1978,1696,3372,3341,3404,0,0,0,0,0,0,14.49,14.42,14.49
$GC,641,-0.64,-170.3,1978,1695,3345,3403,76.5,-12.1,61,645,0.00,0.93,0.00,0.000,516,0.000,0.054,1978,1169,3373,3344,3402,0,0,0,0,0,0,14.90,14.41,14.92
$GC,871,-0.64,-170.3,1978,1169,3345,3403,103.5,-11.4,107,876,0.00,0.90,0.00,0.000,1030,0.000,0.044,1975,1678,3373,3345,3402,0,0,0,0,0,0,14.50,14.47,14.52
$GC,1201,-0.64,-170.3,1975,1678,3347,3402,143.7,-12.3,117,1206,0.00,0.88,0.00,0.000,260,0.000,0.046,1971,2224,3373,3346,3401,0,0,0,0,0,0,14.97,14.38,14.98
$GC,1263,-0.64,-170.3,1971,2227,3348,3400,151.0,-11.7,129,1267,0.00,0.90,0.00,0.000,1030,0.000,0.048,1970,1690,3373,3348,3399,0,0,0,0,0,0,14.58,14.55,14.62
$GC,1603,-0.64,-170.3,1970,1690,3349,3400,195.6,-13.3,141,1607,0.00,0.90,0.00,0.000,516,0.000,0.054,1970,1171,3374,3348,3400,0,0,0,0,0,0,15.00,14.53,15.02
$GC,1833,-0.64,-170.3,1970,1171,3349,3400,225.3,-12.2,187,1837,0.00,0.88,0.00,0.000,1030,0.000,0.046,1968,1679,3374,3349,3399,0,0,0,0,0,0,14.64,14.60,14.67
$GC,2163,-0.64,-170.3,1968,1679,3349,3400,268.5,-13.0,197,2168,0.10,0.88,0.00,0.000,2308,0.284,0.039,1987,2230,3374,3349,3400,0,0,0,0,0,0,14.42,14.59,14.57
$GC,2219,-0.64,-170.3,1986,2232,3350,3399,274.4,-9.9,208,2225,0.00,0.93,0.00,0.000,1030,0.000,0.049,1985,1684,3374,3350,3398,0,0,0,0,0,0,14.63,14.59,14.67
$GC,2565,-0.64,-170.3,1987,1684,3351,3398,311.5,-10.7,221,2570,0.00,0.90,0.00,0.000,516,0.000,0.056,1986,1160,3373,3349,3398,0,0,0,0,0,0,15.05,14.57,15.06
$GC,2795,-0.64,-170.3,1987,1160,3351,3399,335.2,-10.0,267,2800,0.00,0.90,0.00,0.000,1030,0.000,0.046,1984,1676,3373,3350,3397,0,0,0,0,0,0,14.65,14.62,14.69
$GC,3126,-0.64,-170.3,1984,1676,3352,3397,371.1,-11.0,277,3131,0.00,0.88,0.00,0.000,260,0.000,0.047,1979,2225,3373,3349,3397,0,0,0,0,0,0,15.03,14.58,15.05
$GC,3227,-0.64,-170.3,1979,2228,3349,3397,380.9,-9.8,297,3231,0.00,0.93,0.00,0.000,1030,0.000,0.049,1979,1679,3372,3349,3396,0,0,0,0,0,0,14.63,14.57,14.66
$GC,3567,-0.64,-170.3,1979,1679,3351,3397,418.6,-11.2,309,3572,0.00,0.88,0.00,0.000,516,0.000,0.056,1979,1172,3373,3350,3396,0,0,0,0,0,0,15.03,14.56,15.04
$GC,3787,-0.64,-170.3,1979,1171,3351,3396,442.2,-10.5,353,3792,0.00,0.85,0.00,0.000,1030,0.000,0.046,1976,1667,3373,3351,3395,0,0,0,0,0,0,14.64,14.62,14.69
$GC,4128,-0.64,-170.3,1976,1667,3351,3395,480.1,-11.2,365,4132,0.00,0.90,0.00,0.000,260,0.000,0.047,1972,2226,3372,3350,3395,0,0,0,0,0,0,15.02,14.57,15.04
$GC,4238,-0.64,-170.3,1972,2228,3351,3394,491.5,-10.0,387,4243,0.00,0.93,0.00,0.000,1030,0.000,0.047,1972,1678,3372,3350,3394,0,0,0,0,0,0,14.62,14.59,14.65
$GC,4569,-0.64,-170.3,1971,1679,3351,3395,527.8,-11.0,397,4573,0.08,0.88,0.00,0.000,2564,0.303,0.049,1988,1172,3374,3355,3393,0,0,0,0,0,0,14.53,14.54,14.65
$GC,4769,-0.64,-170.3,1988,1171,3352,3394,546.0,-8.5,437,4774,0.00,0.88,0.00,0.000,1030,0.000,0.046,1985,1673,3371,3350,3393,0,0,0,0,0,0,14.63,14.59,14.66
$GC,5129,-0.64,-170.3,1986,1673,3352,3393,581.1,-9.9,453,5134,0.00,0.88,0.00,0.000,260,0.000,0.047,1981,2220,3371,3350,3393,0,0,0,0,0,0,15.03,14.54,15.05
$GC,5284,-0.64,-170.3,1981,2223,3351,3393,596.0,-9.9,484,5291,0.00,0.95,0.00,0.000,1030,0.000,0.047,1980,1667,3371,3351,3392,0,0,0,0,0,0,14.59,14.58,14.64
$GC,5610,-0.64,-170.3,1981,1667,3352,3392,631.6,-11.2,493,5614,0.00,0.85,0.00,0.000,516,0.000,0.054,1981,1168,3370,3350,3391,0,0,0,0,0,0,15.09,14.56,15.11
$GC,5738,-0.64,-170.3,1981,1168,3352,3392,645.4,-10.2,518,5742,0.00,0.85,0.00,0.000,1030,0.000,0.046,1978,1663,3371,3351,3392,0,0,0,0,0,0,14.67,14.62,14.66
$GC,6093,-0.64,-170.3,1978,1665,3351,3391,683.8,-10.7,533,6098,0.00,0.90,0.00,0.000,260,0.000,0.047,1974,2222,3371,3351,3391,0,0,0,0,0,0,15.09,14.58,15.11
$GC,6274,-0.64,-170.3,1974,2225,3352,3390,702.1,-9.9,569,6279,0.00,0.93,0.00,0.000,1030,0.000,0.048,1973,1676,3370,3351,3390,0,0,0,0,0,0,14.62,14.57,14.64
$GC,6615,-0.64,-170.3,1973,1677,3351,3391,738.0,-10.4,581,6620,0.00,0.88,0.00,0.000,516,0.000,0.056,1973,1172,3370,3351,3389,0,0,0,0,0,0,15.07,14.54,15.09
$GC,6820,-0.64,-170.3,1974,1172,3352,3390,758.3,-9.6,622,6825,0.00,0.88,0.00,0.000,1030,0.000,0.046,1971,1671,3370,3351,3389,0,0,0,0,0,0,14.64,14.59,14.65
$GC,7175,-0.64,-170.3,1972,1672,3352,3389,793.8,-9.9,637,7180,0.00,0.88,0.00,0.000,260,0.000,0.047,1967,2215,3369,3350,3388,0,0,0,0,0,0,15.07,14.56,15.09
$GC,7345,-0.64,-170.3,1967,2219,3352,3387,810.3,-9.4,671,7350,0.05,0.93,0.00,0.000,3078,0.214,0.048,1985,1675,3369,3351,3387,0,0,0,0,0,0,14.26,14.54,14.37
$GC,7696,-0.64,-170.3,1986,1675,3352,3387,842.5,-9.2,685,7701,0.00,0.88,0.00,0.000,516,0.000,0.057,1985,1171,3368,3350,3386,0,0,0,0,0,0,15.07,14.50,15.06
$GC,7891,-0.64,-170.3,1986,1171,3352,3387,859.3,-8.3,724,7898,0.00,0.88,0.00,0.000,1030,0.000,0.045,1983,1669,3368,3351,3386,0,0,0,0,0,0,14.61,14.58,14.64
$GC,8217,-0.64,-170.3,1984,1669,3352,3386,887.1,-8.6,733,8222,0.00,0.90,0.00,0.000,260,0.000,0.048,1979,2225,3368,3351,3385,0,0,0,0,0,0,15.06,14.54,15.08
$GC,8362,-0.64,-170.3,1979,2227,3352,3385,899.1,-8.3,762,8367,0.00,0.95,0.00,0.000,1030,0.000,0.049,1978,1675,3367,3351,3384,0,0,0,0,0,0,14.50,14.45,14.52
$GC,8697,-0.64,-170.3,1978,1675,3351,3384,929.4,-9.1,773,8702,0.00,0.88,0.00,0.000,516,0.000,0.057,1978,1171,3366,3350,3383,0,0,0,0,0,0,15.06,14.50,15.07
$GC,8872,-0.64,-170.3,1978,1170,3352,3382,944.9,-8.6,808,8878,0.00,0.88,0.00,0.000,1030,0.000,0.046,1975,1666,3366,3350,3382,0,0,0,0,0,0,14.59,14.57,14.62
$GC,9218,-0.64,-170.3,1976,1666,3351,3381,977.4,-9.6,821,9224,0.00,0.90,0.00,0.000,260,0.000,0.050,1971,2221,3365,3351,3380,0,0,0,0,0,0,15.04,14.52,15.07
$STATE,9354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9354,begin apogee
$GC,9361,-0.12,0.0,1972,1708,3350,3380,990.0,-9.1,848,9516,0.45,0.00,152.80,2.188,10244,0.182,0.000,2103,1706,2680,2860,2501,0,0,0,0,0,0,14.04,13.97,12.93
$STATE,9517,end apogee,CONTROL_FINISHED_OK
$STATE,9517,begin climb
$GC,9520,0.64,170.3,2104,1707,2860,2502,995.2,0.0,852,9692,0.50,0.93,160.15,2.121,10500,0.090,0.042,2281,2254,1984,2194,1774,0,0,0,0,0,0,14.00,14.07,12.66
$GC,9767,0.64,170.3,2282,2254,2194,1775,975.5,11.2,897,9773,0.00,0.93,0.00,0.000,1030,0.000,0.063,2285,1740,1984,2194,1774,0,0,0,0,0,0,14.16,14.12,14.19
$GC,10105,0.64,170.3,2285,1740,2193,1775,937.8,11.3,908,10109,0.00,0.82,0.00,0.000,260,0.000,0.041,2285,2260,1983,2192,1774,0,0,0,0,0,0,14.88,14.53,14.90
$GC,10195,0.64,170.3,2286,2261,2193,1775,927.5,11.3,926,10199,0.00,0.98,0.00,0.000,1030,0.000,0.059,2288,1700,1982,2193,1772,0,0,0,0,0,0,14.59,14.54,14.62
$GC,10545,0.64,170.3,2289,1701,2192,1774,887.1,11.5,940,10550,0.00,0.93,0.00,0.000,516,0.000,0.063,2293,1188,1982,2190,1774,0,0,0,0,0,0,14.97,14.45,14.98
$GC,10606,0.64,170.3,2293,1188,2192,1774,880.2,11.5,952,10611,0.08,0.90,0.00,0.000,5126,0.206,0.044,2269,1706,1982,2191,1773,0,0,0,0,0,0,14.28,14.54,14.42
$GC,10946,0.66,170.3,2269,1724,2191,1773,848.6,9.1,964,10951,0.00,0.98,0.00,0.000,580,0.000,0.060,2273,1182,1981,2190,1773,0,0,0,0,0,0,14.99,14.59,15.01
$GC,10978,0.68,170.3,2273,1181,2193,1773,845.9,8.8,970,10982,0.00,0.90,0.00,0.000,1094,0.000,0.042,2272,1703,1981,2190,1773,0,0,0,0,0,0,14.69,14.66,14.72
$GC,11308,0.70,170.3,2273,1722,2190,1773,814.8,9.3,980,11309,0.00,0.00,0.00,0.000,70,0.000,0.000,2272,1722,1980,2188,1773,0,0,0,0,0,0,15.00,15.02,15.01
$GC,11628,0.71,170.3,2273,1722,2189,1773,785.2,9.3,988,11633,0.00,0.95,0.00,0.000,580,0.000,0.062,2276,1193,1980,2188,1773,0,0,0,0,0,0,15.00,14.56,15.02
$GC,11669,0.72,170.3,2277,1193,2188,1773,781.5,9.4,996,11674,0.00,0.88,0.00,0.000,1094,0.000,0.044,2276,1694,1980,2188,1772,0,0,0,0,0,0,14.68,14.64,14.69
$GC,12030,0.72,170.3,2277,1710,2188,1772,745.8,9.8,1012,12034,0.00,0.88,0.00,0.000,260,0.000,0.040,2276,2260,1979,2187,1772,0,0,0,0,0,0,14.99,14.65,15.01
$GC,12070,0.72,170.3,2277,2260,2188,1773,741.9,9.7,1020,12074,0.00,1.00,0.00,0.000,1030,0.000,0.060,2280,1695,1979,2187,1772,0,0,0,0,0,0,14.54,14.50,14.58
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$GC,15962,0.72,170.3,2294,1702,2188,1772,325.2,10.0,1236,15967,0.00,0.88,0.00,0.000,260,0.000,0.037,2294,2242,1979,2187,1771,0,0,0,0,0,0,14.95,14.52,14.97
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$STATE,19257,end climb,SURFACE_DEPTH_REACHED
$STATE,19257,begin surface coast
$FINISH,1.4,1.026705
$STATE,19277,end surface coast,CONTROL_FINISHED_OK
$STATE,19277,begin surface
$SM_CCo,19296,128.38,0.105,0,0,1256,350.04
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$IRIDIUM_FIX,5834.24,-2329.26,200818,090051
$TT8_MAMPS,0.038948,0.796936
$HUMID,40.03
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,19.20
$XPDR_PINGS,8
$SC_FREEKB,3762496
$CP_FREE,15727722496.000000
$24V_AH,12.66,0.000
$10V_AH,12.52,144.823
$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
$DEVICE_SECS,17.075,77.750,312.950,128.375,0.000,0.000,0.000,447.725,2.000,0.000,20.625,0.000,15760.029,709.418,3222.563,500.934,0.000,2286.654,0.000,2067.675,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.015,0.000,25.000,0.000
$MEM,333912
$DATA_FILE_SIZE,49970,1452
$CAP_FILE_SIZE,171943,0
$CFSIZE,260165632,198258688
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1606.96,0x2146b0,0,24
$INTR,1,16363.18,0x235320,1,24
$CURRENT,0.014,182.00,1
$GPS,200818,201826,5835.625,-2316.090,37,1.5,41,-15.5,0.5,256.7,7,6.4