version: 66.12
glider: 178
mission: 18
dive: 67
start: 10 9 114 9 28 50
data:
$ID,178
$MISSION,18
$DIVE,67
$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,66
$R_STBD_OVSHOOT,37
$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
$GPS1,091014,092156,1247.594,14519.895,34,1.2,54,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-76.8
$GPS2,091014,092839,1247.616,14519.926,10,2.0,30,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,140.4,73290,-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,-155.7,158,2135,1591,1568,0.0,0.0,0,159,0.00,0.00,-65.25,0.000,16386,0.000,0.000,156,2134,3316,3363,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.77,-155.7,157,2134,3366,3271,3.4,-13.5,11,185,10.50,2.25,-5.97,0.000,18692,0.252,0.063,2613,3556,3686,3746,3626,0,0,0,0,0,0,26.16,26.54,26.88
$GC,311,-0.64,-155.7,2613,3557,3753,3626,63.0,-34.2,36,323,0.17,2.10,0.00,0.000,3078,0.186,0.031,2657,2163,3690,3753,3627,0,0,0,0,0,0,26.39,26.71,28.83
$GC,618,-0.60,-155.7,2658,2159,3763,3628,126.6,-18.1,67,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2158,3692,3758,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-0.60,-155.7,2658,2160,3764,3627,172.1,-15.4,97,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2158,3695,3764,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.60,-155.7,2658,2159,3769,3628,210.8,-10.9,122,1237,0.00,2.15,0.00,0.000,260,0.000,0.047,2648,3555,3697,3767,3627,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1257,-0.60,-155.7,2651,3556,3769,3628,210.8,-10.9,122,1267,0.00,2.10,0.00,0.000,1030,0.000,0.029,2649,2134,3697,3767,3627,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1561,-0.60,-155.7,2650,2132,3769,3629,246.3,-11.1,133,1570,0.00,2.08,0.00,0.000,516,0.000,0.038,2649,754,3698,3768,3628,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1594,-0.60,-155.7,2649,754,3770,3629,249.8,-11.1,134,1602,0.12,2.10,0.00,0.000,3078,0.158,0.033,2674,2149,3699,3769,3629,0,0,0,0,0,0,26.84,27.03,28.83
$GC,1923,-0.65,-155.7,2675,2149,3769,3628,273.7,-6.8,145,1932,0.00,2.15,0.00,0.000,260,0.000,0.048,2669,3552,3698,3768,3629,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2076,-0.70,-155.7,2669,3554,3769,3630,285.3,-8.0,150,2086,0.00,2.05,0.00,0.000,1030,0.000,0.029,2668,2146,3696,3763,3629,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2406,-0.76,-155.7,2669,2145,3767,3629,312.0,-7.5,161,2414,0.12,2.10,0.00,0.000,4612,0.096,0.037,2595,749,3697,3765,3629,0,0,0,0,0,0,27.17,27.07,28.83
$GC,2434,-0.80,-155.7,2595,750,3766,3635,314.5,-7.7,162,2441,0.00,2.10,0.00,0.000,1030,0.000,0.034,2585,2153,3697,3765,3629,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2766,-0.80,-155.7,2585,2157,3764,3629,351.2,-10.6,173,2775,0.00,2.12,0.00,0.000,516,0.000,0.045,2585,762,3695,3762,3629,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2800,-0.80,-155.7,2586,763,3763,3630,354.9,-10.8,174,2809,0.12,2.10,0.00,0.000,3078,0.177,0.035,2608,2156,3694,3761,3628,0,0,0,0,0,0,26.85,27.10,28.83
$GC,3129,-0.80,-155.7,2608,2158,3757,3630,383.3,-8.2,185,3137,0.00,2.12,0.00,0.000,516,0.000,0.039,2608,757,3693,3757,3629,0,0,0,0,0,0,28.83,27.09,28.83
$GC,3186,-0.80,-155.7,2608,758,3757,3629,388.4,-8.3,187,3194,0.00,2.10,0.00,0.000,1030,0.000,0.035,2601,2147,3692,3755,3629,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3513,-0.80,-155.7,2602,2149,3750,3630,418.0,-9.3,198,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2148,3689,3750,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.80,-155.7,2602,2149,3745,3630,446.1,-9.3,208,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2148,3686,3744,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.80,-155.7,2601,2149,3740,3628,473.1,-8.9,218,4123,0.00,2.12,0.00,0.000,516,0.000,0.042,2601,753,3683,3740,3627,0,0,0,0,0,0,28.83,27.09,28.83
$GC,4172,-0.80,-155.7,2601,752,3741,3626,476.3,-8.9,219,4182,0.00,2.12,0.00,0.000,1030,0.000,0.037,2592,2160,3682,3739,3626,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4478,-0.80,-155.7,2592,2160,3736,3625,507.5,-9.7,230,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2160,3679,3734,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.80,-155.7,2593,2161,3733,3624,538.5,-10.7,240,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2160,3676,3731,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.80,-155.7,2593,2160,3730,3620,570.9,-10.7,250,5088,0.00,2.15,0.00,0.000,516,0.000,0.043,2592,762,3673,3728,3619,0,0,0,0,0,0,28.83,27.08,28.83
$GC,5138,-0.80,-155.7,2593,762,3728,3620,577.6,-11.0,252,5145,0.00,2.12,0.00,0.000,1030,0.000,0.038,2583,2150,3673,3728,3619,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5465,-0.80,-155.7,2584,2152,3725,3618,612.4,-10.5,263,5472,0.00,2.17,0.00,0.000,260,0.000,0.054,2573,3558,3671,3725,3617,0,0,0,0,0,0,28.83,27.00,28.83
$GC,5526,-0.80,-155.7,2574,3558,3724,3615,618.6,-10.7,265,5535,0.15,2.10,0.00,0.000,3078,0.165,0.034,2611,2158,3670,3723,3617,0,0,0,0,0,0,26.81,27.15,28.83
$GC,5850,-0.82,-155.7,2611,2155,3721,3617,647.3,-8.5,276,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2154,3668,3721,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6149,-0.84,-155.7,2611,2154,3721,3614,673.8,-9.0,286,6159,0.00,2.15,0.00,0.000,516,0.000,0.044,2610,750,3666,3719,3614,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6214,-0.87,-155.7,2611,751,3720,3614,679.5,-9.2,288,6222,0.00,2.15,0.00,0.000,1030,0.000,0.039,2604,2151,3666,3719,3613,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6536,-0.87,-155.7,2605,2151,3717,3611,710.3,-9.5,299,6544,0.00,2.20,0.00,0.000,260,0.000,0.055,2593,3554,3663,3716,3611,0,0,0,0,0,0,28.83,26.96,28.83
$GC,6563,-0.87,-155.7,2595,3555,3717,3613,710.3,-9.5,299,6574,0.00,2.12,0.00,0.000,1030,0.000,0.034,2594,2143,3663,3716,3611,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6869,-0.87,-155.7,2594,2140,3715,3610,741.5,-9.2,310,6878,0.00,2.15,0.00,0.000,516,0.000,0.044,2594,752,3662,3714,3610,0,0,0,0,0,0,28.83,27.03,28.83
$GC,6912,-0.87,-155.7,2594,751,3715,3610,744.7,-9.2,311,6920,0.00,2.15,0.00,0.000,1030,0.000,0.040,2584,2150,3662,3714,3610,0,0,0,0,0,0,28.83,27.05,28.83
$GC,7235,-0.87,-155.7,2585,2152,3712,3609,774.3,-8.8,322,7242,0.00,2.20,0.00,0.000,260,0.000,0.060,2575,3558,3659,3711,3608,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7282,-0.87,-155.7,2576,3555,3712,3610,776.9,-9.0,323,7289,0.00,2.12,0.00,0.000,1030,0.000,0.035,2575,2150,3659,3711,3608,0,0,0,0,0,0,28.83,27.12,28.83
$GC,7587,-0.87,-155.7,2576,2149,3711,3608,805.8,-8.7,333,7595,0.00,2.12,0.00,0.000,516,0.000,0.045,2575,753,3658,3710,3607,0,0,0,0,0,0,28.83,27.01,28.83
$GC,7645,-0.87,-155.7,2576,754,3711,3606,811.0,-8.7,335,7652,0.00,2.15,0.00,0.000,1030,0.000,0.041,2569,2153,3657,3709,3606,0,0,0,0,0,0,28.83,27.02,28.83
$GC,7972,-0.87,-155.7,2569,2153,3709,3605,840.9,-9.2,346,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2153,3656,3708,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8272,-0.87,-155.7,2569,2154,3708,3606,869.3,-9.5,356,8282,0.00,2.12,0.00,0.000,516,0.000,0.045,2569,755,3655,3706,3605,0,0,0,0,0,0,28.83,27.00,28.83
$GC,8337,-0.87,-155.7,2569,756,3707,3606,875.5,-10.1,358,8345,0.12,2.15,0.00,0.000,3078,0.182,0.041,2588,2148,3654,3705,3604,0,0,0,0,0,0,26.72,27.01,28.83
$GC,8659,-0.87,-155.7,2589,2150,3706,3604,904.8,-8.9,369,8667,0.00,2.20,0.00,0.000,260,0.000,0.057,2579,3555,3653,3704,3603,0,0,0,0,0,0,28.83,26.89,28.83
$GC,8711,-0.87,-155.7,2580,3555,3705,3603,907.2,-9.0,370,8721,0.00,2.12,0.00,0.000,1030,0.000,0.035,2580,2150,3653,3704,3602,0,0,0,0,0,0,28.83,27.09,28.83
$GC,9017,-0.87,-155.7,2581,2150,3704,3603,938.5,-9.6,381,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2149,3652,3702,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9317,-0.87,-155.7,2580,2148,3704,3601,967.9,-9.8,391,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2147,3652,3703,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9555,begin apogee
$GC,9559,-0.13,0.0,2580,2273,3702,3601,991.8,-10.1,399,9696,0.80,0.00,129.07,1.270,10246,0.138,0.000,2826,2271,3047,3084,3010,0,0,0,0,0,0,26.53,28.83,24.41
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9697,begin climb
$GC,9698,0.77,155.7,2826,2271,3084,3007,995.4,0.0,403,9844,0.80,0.00,138.48,1.255,10758,0.044,0.000,3132,2270,2411,2454,2368,0,0,0,0,0,0,25.43,28.83,24.08
$GC,10128,0.70,155.7,3132,2272,2442,2357,936.0,17.3,418,10139,0.12,2.20,0.00,0.000,4356,0.205,0.053,3101,3642,2399,2442,2356,0,0,0,0,0,0,26.03,26.19,28.83
$GC,10193,0.63,155.7,3102,3643,2441,2357,925.1,17.4,420,10202,0.15,2.17,0.00,0.000,5126,0.195,0.032,3072,2242,2398,2441,2356,0,0,0,0,0,0,26.06,26.34,28.83
$GC,10521,0.60,155.7,3076,2239,2441,2353,877.4,14.1,431,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2239,2396,2439,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10822,0.57,155.7,3076,2239,2440,2352,835.6,13.8,441,10830,0.00,2.17,0.00,0.000,516,0.000,0.044,3084,852,2395,2438,2352,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10849,0.54,155.7,3085,852,2438,2352,831.8,13.7,442,10857,0.17,2.17,0.00,0.000,5126,0.181,0.039,3041,2249,2393,2437,2350,0,0,0,0,0,0,26.41,26.70,28.83
$GC,11177,0.54,155.7,3041,2249,2439,2350,794.3,10.8,453,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2249,2393,2437,2350,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18384,end climb,SURFACE_DEPTH_REACHED
$STATE,18384,begin surface coast
$FINISH,0.1,1.021628
$STATE,18409,end surface coast,CONTROL_FINISHED_OK
$STATE,18410,begin surface
$SM_CCo,18484,0.00,0.000,0,0,1550,366.97
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$IRIDIUM_FIX,1243.25,14522.77,091014,042714
$TT8_MAMPS,0.160286,0.160286
$HUMID,46.29
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.70
$XPDR_PINGS,2
$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,18436.13 8685.06
$PA_BOOTCOUNT,68
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$PA_LOG,0.04/0.073/1.969/1.795
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$PA_DATA0,0.10/11.701/117.199/99.545
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.039/1.764/1.635
$24V_AH,24.08,8.353
$10V_AH,9.97,19.320
$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
$DEVICE_SECS,22.000,146.850,448.625,0.000,0.000,0.000,0.000,278.600,0.500,0.000,33.204,0.000,14932.977,554.659,3218.901,165.659,0.000,2232.961,0.000,1789.549,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,584.202,0.000,0.000,0.000,0.000,0.000,18917.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,141.980,0.000,0.000,0.000
$MEM,228580
$DATA_FILE_SIZE,36748,861
$CAP_FILE_SIZE,163141,0
$CFSIZE,260034560,252592128
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17771.12,0x236bc6,7,5
$INTR,1,9734.33,0x23381e,1,24
$INTR,2,18040.74,0x233820,1,24
$CURRENT,0.051,261.69,1
$GPS,091014,143813,1245.464,14520.886,39,0.8,59,1.8