version: 66.12
glider: 178
mission: 18
dive: 65
start: 10 8 114 23 15 2
data:
$ID,178
$MISSION,18
$DIVE,65
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$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,15
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$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,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,081014,230114,1252.002,14518.532,91,0.9,111,1.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-75.3
$GPS2,081014,231451,1252.003,14518.510,13,1.0,33,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,137.8,81808,-18.8,-10.000,-21.60,2227
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,156,2137,1627,1618,0.0,0.0,0,158,0.00,0.00,-64.18,0.000,16386,0.000,0.000,154,2138,3358,3405,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-155.7,156,2139,3406,3312,3.8,-14.7,11,179,10.48,2.28,-5.22,0.000,18692,0.249,0.060,2613,3553,3684,3742,3627,0,0,0,0,0,0,26.17,26.58,26.92
$GC,230,-0.63,-155.7,2614,3553,3750,3626,38.7,-37.4,24,241,0.20,2.10,0.00,0.000,3078,0.187,0.031,2664,2164,3688,3749,3627,0,0,0,0,0,0,26.32,26.67,28.83
$GC,545,-0.59,-155.7,2664,2160,3756,3627,114.8,-16.7,58,559,0.00,2.12,0.00,0.000,516,0.000,0.038,2664,748,3690,3754,3627,0,0,0,0,0,0,28.83,26.81,28.83
$GC,633,-0.59,-155.7,2664,747,3757,3623,126.4,-13.5,66,643,0.00,2.12,0.00,0.000,1030,0.000,0.033,2657,2148,3692,3757,3627,0,0,0,0,0,0,28.83,26.84,28.83
$GC,939,-0.59,-155.7,2658,2149,3762,3628,167.2,-12.2,97,946,0.00,2.17,0.00,0.000,260,0.000,0.047,2647,3555,3694,3762,3627,0,0,0,0,0,0,28.83,26.87,28.83
$GC,986,-0.59,-155.7,2647,3555,3763,3623,173.0,-12.3,101,994,0.12,2.10,0.00,0.000,3078,0.158,0.028,2679,2129,3694,3762,3627,0,0,0,0,0,0,26.74,26.98,28.83
$GC,1291,-0.64,-155.7,2680,2126,3767,3629,200.1,-7.9,131,1302,0.00,2.05,0.00,0.000,516,0.000,0.037,2679,753,3696,3766,3627,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1322,-0.68,-155.7,2680,755,3766,3629,202.4,-7.5,132,1331,0.00,2.10,0.00,0.000,1030,0.000,0.032,2674,2152,3697,3766,3628,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1651,-0.73,-155.7,2676,2153,3767,3628,229.6,-9.3,143,1661,0.12,2.15,0.00,0.000,4356,0.093,0.046,2587,3552,3697,3767,3628,0,0,0,0,0,0,27.13,26.98,28.83
$GC,1741,-0.73,-155.7,2588,3552,3768,3628,241.8,-12.7,146,1749,0.17,2.08,0.00,0.000,3078,0.155,0.029,2635,2141,3697,3768,3627,0,0,0,0,0,0,26.77,27.10,28.83
$GC,2074,-0.73,-155.7,2635,2139,3767,3629,276.0,-9.5,157,2084,0.00,2.05,0.00,0.000,516,0.000,0.039,2635,760,3694,3760,3628,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2154,-0.75,-155.7,2636,762,3766,3629,282.0,-9.4,159,2161,0.00,2.10,0.00,0.000,1030,0.000,0.034,2630,2150,3695,3764,3627,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2466,-0.77,-155.7,2630,2149,3763,3627,312.7,-9.9,170,2474,0.00,2.15,0.00,0.000,260,0.000,0.050,2619,3559,3694,3761,3628,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2524,-0.80,-155.7,2620,3560,3761,3629,318.6,-10.0,172,2531,0.00,2.08,0.00,0.000,1030,0.000,0.031,2619,2151,3694,3760,3628,0,0,0,0,0,0,28.83,27.14,28.83
$GC,2856,-0.80,-155.7,2619,2149,3756,3629,350.3,-9.1,183,2865,0.00,2.08,0.00,0.000,516,0.000,0.040,2619,760,3690,3754,3627,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2911,-0.80,-155.7,2616,761,3753,3627,353.0,-9.1,184,2921,0.00,2.10,0.00,0.000,1030,0.000,0.035,2610,2148,3690,3754,3627,0,0,0,0,0,0,28.83,27.09,28.83
$GC,3216,-0.80,-155.7,2610,2150,3749,3632,383.9,-9.1,195,3224,0.00,2.17,0.00,0.000,260,0.000,0.051,2599,3551,3688,3748,3628,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3243,-0.80,-155.7,2600,3553,3748,3629,383.9,-9.1,195,3254,0.00,2.08,0.00,0.000,1030,0.000,0.031,2598,2151,3687,3747,3627,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3548,-0.80,-155.7,2600,2147,3742,3627,416.9,-10.2,206,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2147,3684,3741,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3848,-0.80,-155.7,2600,2148,3738,3627,449.1,-10.9,216,3856,0.00,2.20,0.00,0.000,260,0.000,0.051,2589,3556,3681,3736,3626,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3885,-0.80,-155.7,2589,3556,3737,3626,452.1,-10.9,217,3894,0.00,2.08,0.00,0.000,1030,0.000,0.033,2589,2152,3681,3736,3626,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4203,-0.80,-155.7,2590,2150,3734,3624,486.9,-10.3,228,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2148,3678,3733,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4503,-0.80,-155.7,2590,2149,3730,3621,518.1,-10.6,238,4511,0.00,2.12,0.00,0.000,516,0.000,0.042,2589,754,3674,3729,3620,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4536,-0.80,-155.7,2590,756,3730,3621,521.6,-10.7,239,4544,0.12,2.15,0.00,0.000,3078,0.182,0.038,2612,2157,3674,3728,3620,0,0,0,0,0,0,26.81,27.07,28.83
$GC,4864,-0.82,-155.7,2613,2158,3726,3618,552.5,-9.3,250,4874,0.00,2.17,0.00,0.000,260,0.000,0.054,2604,3561,3671,3725,3617,0,0,0,0,0,0,28.83,26.98,28.83
$GC,4904,-0.84,-155.7,2604,3561,3726,3617,555.3,-9.3,251,4911,0.00,2.12,0.00,0.000,1030,0.000,0.034,2603,2145,3670,3724,3616,0,0,0,0,0,0,28.83,27.15,28.83
$GC,5221,-0.84,-155.7,2604,2144,3722,3617,586.4,-9.5,262,5231,0.00,2.12,0.00,0.000,516,0.000,0.044,2604,748,3668,3721,3616,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5280,-0.84,-155.7,2604,749,3721,3616,589.6,-9.4,263,5290,0.00,2.15,0.00,0.000,1030,0.000,0.038,2595,2145,3667,3720,3614,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5585,-0.84,-155.7,2596,2146,3719,3614,620.9,-9.2,274,5594,0.00,2.20,0.00,0.000,260,0.000,0.059,2584,3556,3665,3718,3613,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5633,-0.84,-155.7,2585,3556,3718,3613,624.3,-9.4,275,5640,0.00,2.12,0.00,0.000,1030,0.000,0.034,2585,2140,3665,3717,3613,0,0,0,0,0,0,28.83,27.13,28.83
$GC,5945,-0.84,-155.7,2585,2139,3716,3612,655.2,-9.3,286,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2138,3663,3715,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6245,-0.84,-155.7,2585,2137,3714,3609,680.7,-8.0,296,6253,0.00,2.22,0.00,0.000,260,0.000,0.055,2574,3556,3660,3712,3609,0,0,0,0,0,0,28.83,26.94,28.83
$GC,6297,-0.84,-155.7,2575,3558,3712,3611,683.0,-8.0,297,6307,0.00,2.10,0.00,0.000,1030,0.000,0.034,2574,2148,3660,3711,3610,0,0,0,0,0,0,28.83,27.12,28.83
$GC,6602,-0.84,-155.7,2575,2145,3711,3607,710.7,-8.5,308,6610,0.00,2.12,0.00,0.000,516,0.000,0.044,2574,750,3658,3709,3608,0,0,0,0,0,0,28.83,27.01,28.83
$GC,6670,-0.84,-155.7,2574,748,3711,3606,716.1,-8.6,310,6678,0.12,2.17,0.00,0.000,3078,0.184,0.041,2598,2157,3658,3709,3607,0,0,0,0,0,0,26.73,27.01,28.83
$GC,6992,-0.84,-155.7,2598,2158,3709,3605,740.3,-7.5,321,7000,0.00,2.20,0.00,0.000,260,0.000,0.056,2589,3563,3656,3707,3606,0,0,0,0,0,0,28.83,26.91,28.83
$GC,7030,-0.84,-155.7,2590,3563,3708,3606,742.7,-7.9,322,7038,0.00,2.12,0.00,0.000,1030,0.000,0.035,2589,2152,3657,3707,3607,0,0,0,0,0,0,28.83,27.10,28.83
$GC,7347,-0.84,-155.7,2590,2150,3706,3605,771.4,-9.1,333,7355,0.00,2.17,0.00,0.000,516,0.000,0.045,2589,746,3651,3699,3604,0,0,0,0,0,0,28.83,26.98,28.83
$GC,7379,-0.84,-155.7,2590,745,3706,3604,774.1,-9.2,334,7387,0.00,2.17,0.00,0.000,1030,0.000,0.041,2583,2150,3654,3705,3604,0,0,0,0,0,0,28.83,27.00,28.83
$GC,7702,-0.84,-155.7,2583,2151,3704,3604,805.4,-9.7,345,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2150,3653,3703,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8001,-0.84,-155.7,2583,2150,3704,3601,834.3,-9.6,355,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2150,3652,3702,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8301,-0.84,-155.7,2583,2151,3701,3602,863.2,-9.7,365,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2150,3650,3701,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8601,-0.84,-155.7,2583,2151,3700,3599,893.5,-10.2,375,8609,0.00,2.22,0.00,0.000,260,0.000,0.057,2572,3561,3649,3699,3599,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8638,-0.84,-155.7,2572,3560,3700,3599,896.4,-10.4,376,8648,0.00,2.12,0.00,0.000,1030,0.000,0.037,2573,2146,3649,3699,3599,0,0,0,0,0,0,28.83,27.07,28.83
$GC,8962,-0.84,-155.7,2572,2143,3699,3598,933.3,-11.1,387,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2143,3648,3698,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9262,-0.84,-155.7,2573,2144,3698,3598,967.4,-11.4,397,9272,0.00,2.17,0.00,0.000,516,0.000,0.047,2572,748,3647,3697,3597,0,0,0,0,0,0,28.83,26.93,28.83
$GC,9296,-0.84,-155.7,2573,749,3698,3598,971.4,-11.5,398,9304,0.15,2.17,0.00,0.000,3078,0.173,0.041,2599,2149,3647,3697,3597,0,0,0,0,0,0,26.61,26.95,28.83
$STATE,9502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9502,begin apogee
$GC,9506,-0.13,0.0,2600,2266,3698,3595,992.0,-9.8,405,9641,0.73,0.00,127.97,1.272,10246,0.133,0.000,2827,2266,3046,3084,3008,0,0,0,0,0,0,26.48,28.83,24.40
$STATE,9642,end apogee,CONTROL_FINISHED_OK
$STATE,9642,begin climb
$GC,9643,0.77,155.7,2828,2267,3083,3008,997.0,0.0,409,9792,0.80,2.40,137.73,1.255,10756,0.046,0.041,3144,851,2411,2454,2368,0,0,0,0,0,0,25.45,24.98,24.13
$GC,9803,0.68,155.7,3144,852,2451,2366,986.2,10.0,415,9812,0.22,2.30,0.00,0.000,5126,0.177,0.038,3090,2237,2406,2449,2364,0,0,0,0,0,0,25.13,25.27,28.83
$GC,10132,0.64,155.7,3090,2238,2443,2355,939.9,13.9,426,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2238,2398,2442,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10432,0.59,155.7,3091,2238,2441,2353,897.3,14.3,436,10442,0.00,2.30,0.00,0.000,260,0.000,0.055,3090,3659,2396,2440,2353,0,0,0,0,0,0,28.83,26.50,28.83
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$STATE,18449,end climb,SURFACE_DEPTH_REACHED
$STATE,18449,begin surface coast
$FINISH,0.4,1.021623
$STATE,18464,end surface coast,CONTROL_FINISHED_OK
$STATE,18464,begin surface
$SM_CCo,18539,0.00,0.000,0,0,1439,393.71
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$IRIDIUM_FIX,1245.46,14519.69,081014,230310
$TT8_MAMPS,0.161035,0.161035
$HUMID,46.61
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,25.00
$XPDR_PINGS,1
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18491.23 8676.05
$PA_BOOTCOUNT,66
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$PA_LOG,0.04/0.073/1.969/1.796
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$PA_DATA0,0.05/6.022/117.199/105.223
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.039/1.764/1.635
$24V_AH,24.13,8.076
$10V_AH,9.97,17.747
$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
$DEVICE_SECS,22.825,177.750,471.650,0.000,0.000,0.000,0.000,505.450,0.250,0.000,36.376,0.000,15031.402,591.265,3530.829,185.401,0.000,2573.784,0.000,1806.432,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,576.615,0.000,0.000,0.000,0.000,0.000,19388.109,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.073,0.000,0.000,0.000
$MEM,228504
$DATA_FILE_SIZE,36787,850
$CAP_FILE_SIZE,175057,0
$CFSIZE,260034560,252747776
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,19236.26,0x236bc6,7,5
$INTR,1,5223.02,0x233820,0,24
$CURRENT,0.038,255.57,1
$GPS,091014,042520,1249.975,14519.749,39,0.8,59,1.8