version: 66.12
glider: 179
mission: 13
dive: 35
start: 10 4 114 3 1 22
data:
$ID,179
$MISSION,13
$DIVE,35
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$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,360
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51623
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00267967
$HD_B,0.0102786
$HD_C,3.7969199e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,147
$PITCH_MAX,3923
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2926
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$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,140
$AH0_10V,95.099998
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.156891
$PRESSURE_SLOPE,0.0001164844
$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,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,75000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,041014,025316,1412.351,14357.093,45,0.7,65,0.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.1
$GPS2,041014,030105,1412.326,14357.057,4,0.8,24,0.7
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N1
$TGT_LATLONG,1429.500,14339.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,345.9,44626,-16.7,-9.167,-21.61,2230
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-146.0,120,2281,1321,1261,0.0,0.0,0,135,0.00,0.00,-36.12,0.000,16386,0.000,0.000,119,2281,2113,2161,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-0.80,-146.0,120,2281,2162,2065,3.0,-5.2,6,209,10.95,2.28,-44.30,0.000,18948,0.246,0.048,2581,840,3524,3536,3513,0,0,0,0,0,0,25.26,25.82,26.23
$GC,433,-0.80,-146.0,2581,840,3535,3515,85.5,-28.6,47,443,0.00,2.12,0.00,0.000,1030,0.000,0.028,2572,2254,3525,3535,3515,0,0,0,0,0,0,28.83,26.01,28.83
$GC,738,-0.80,-146.0,2571,2254,3536,3517,163.7,-22.5,78,747,0.00,2.12,0.00,0.000,260,0.000,0.043,2561,3648,3526,3535,3517,0,0,0,0,0,0,28.83,26.03,28.83
$GC,776,-0.80,-146.0,2561,3648,3536,3517,170.6,-21.2,81,786,0.00,2.10,0.00,0.000,1030,0.000,0.025,2561,2227,3526,3535,3517,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1101,-0.80,-146.0,2561,2228,3536,3519,234.1,-17.9,102,1108,0.00,2.05,0.00,0.000,516,0.000,0.035,2561,857,3527,3535,3519,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1147,-0.80,-146.0,2561,856,3536,3519,240.1,-18.6,103,1154,0.12,2.08,0.00,0.000,3078,0.164,0.029,2583,2244,3527,3535,3519,0,0,0,0,0,0,25.91,26.20,28.83
$GC,1458,-0.80,-146.0,2583,2244,3536,3519,292.8,-15.0,114,1466,0.00,2.08,0.00,0.000,516,0.000,0.036,2583,865,3527,3535,3519,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1515,-0.80,-146.0,2583,865,3535,3519,301.4,-15.0,116,1523,0.00,2.05,0.00,0.000,1030,0.000,0.029,2575,2242,3526,3534,3519,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1841,-0.80,-146.0,2575,2243,3533,3519,350.9,-16.0,127,1849,0.00,2.17,0.00,0.000,260,0.000,0.047,2565,3647,3526,3533,3519,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1943,-0.80,-146.0,2565,3647,3531,3519,364.3,-15.5,130,1950,0.00,2.08,0.00,0.000,1030,0.000,0.028,2565,2252,3525,3532,3519,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2259,-0.80,-146.0,2564,2252,3529,3515,414.6,-14.5,141,2267,0.00,2.08,0.00,0.000,516,0.000,0.039,2565,862,3521,3528,3515,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2311,-0.80,-146.0,2565,862,3528,3515,418.6,-14.4,142,2322,0.12,2.08,0.00,0.000,3078,0.161,0.031,2588,2244,3521,3527,3515,0,0,0,0,0,0,25.98,26.27,28.83
$GC,2616,-0.80,-146.0,2588,2244,3525,3510,459.9,-12.3,153,2624,0.00,2.20,0.00,0.000,260,0.000,0.050,2578,3651,3517,3524,3510,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2693,-0.80,-146.0,2578,3651,3524,3509,467.1,-12.5,155,2701,0.00,2.10,0.00,0.000,1030,0.000,0.029,2578,2250,3516,3523,3509,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2998,-0.80,-146.0,2577,2248,3519,3507,513.3,-14.3,165,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2248,3512,3518,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-0.80,-146.0,2578,2248,3516,3504,552.9,-12.2,175,3306,0.00,2.22,0.00,0.000,260,0.000,0.050,2568,3648,3509,3516,3503,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3339,-0.80,-146.0,2568,3648,3515,3503,556.1,-11.9,176,3348,0.00,2.08,0.00,0.000,1030,0.000,0.031,2568,2263,3509,3515,3503,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3651,-0.80,-146.0,2568,2261,3512,3499,593.5,-11.5,187,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2261,3505,3512,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,-0.80,-146.0,2568,2261,3509,3496,632.0,-13.2,197,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2261,3502,3509,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4252,-0.80,-146.0,2568,2261,3507,3492,672.0,-13.1,207,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2261,3499,3506,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4552,-0.80,-146.0,2567,2261,3505,3489,710.9,-12.9,217,4560,0.00,2.22,0.00,0.000,260,0.000,0.054,2558,3645,3496,3504,3489,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4609,-0.80,-146.0,2558,3645,3504,3489,718.6,-13.2,219,4617,0.00,2.10,0.00,0.000,1030,0.000,0.034,2558,2263,3496,3503,3489,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4941,-0.80,-146.0,2558,2261,3501,3486,764.2,-13.8,230,4949,0.00,2.15,0.00,0.000,516,0.000,0.046,2558,854,3493,3501,3486,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4993,-0.80,-146.0,2558,853,3501,3486,768.7,-13.9,231,5001,0.15,2.15,0.00,0.000,3078,0.161,0.036,2588,2257,3493,3500,3486,0,0,0,0,0,0,25.82,26.17,28.83
$GC,5298,-0.80,-146.0,2588,2257,3500,3483,808.7,-12.1,241,5306,0.00,2.22,0.00,0.000,260,0.000,0.055,2578,3649,3491,3499,3483,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5330,-0.80,-146.0,2578,3649,3499,3483,811.9,-12.1,242,5338,0.00,2.12,0.00,0.000,1030,0.000,0.034,2578,2255,3491,3499,3483,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5652,-0.80,-146.0,2578,2253,3497,3480,853.0,-12.2,253,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2254,3488,3497,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5952,-0.80,-146.0,2578,2254,3495,3479,888.8,-11.9,263,5960,0.00,2.28,0.00,0.000,260,0.000,0.055,2569,3655,3486,3494,3478,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6038,-0.80,-146.0,2569,3655,3494,3478,898.9,-11.6,266,6046,0.00,2.12,0.00,0.000,1030,0.000,0.034,2568,2264,3485,3493,3478,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6370,-0.80,-146.0,2569,2264,3493,3476,936.8,-11.3,277,6378,0.00,2.20,0.00,0.000,516,0.000,0.047,2569,845,3484,3492,3476,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6417,-0.80,-146.0,2569,845,3492,3476,940.6,-11.3,278,6425,0.00,2.20,0.00,0.000,1030,0.000,0.037,2561,2272,3484,3492,3476,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6729,-0.80,-146.0,2561,2273,3491,3474,978.7,-11.4,289,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2273,3482,3491,3474,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6848,begin apogee
$GC,6851,-0.13,0.0,2561,1999,3491,3473,992.5,-11.5,293,6984,0.77,0.00,126.03,1.159,10244,0.124,0.000,2800,1999,2926,2973,2879,0,0,0,0,0,0,25.51,28.83,22.84
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6986,0.80,146.0,2800,1999,2974,2878,996.3,0.0,297,7136,0.88,2.35,138.40,1.134,10756,0.062,0.050,3105,608,2329,2387,2272,0,0,0,0,0,0,24.45,24.44,22.44
$GC,7185,0.88,181.5,3105,608,2385,2266,988.4,7.5,304,7227,0.00,2.28,33.50,1.087,9222,0.000,0.032,3105,2004,2186,2249,2124,0,0,0,0,0,0,28.83,24.63,22.72
$GC,7536,0.88,181.5,3105,2004,2248,2111,944.4,12.4,316,7544,0.00,2.25,0.00,0.000,260,0.000,0.048,3105,3401,2179,2248,2110,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7628,0.88,181.5,3106,3401,2247,2110,932.1,13.3,319,7636,0.00,2.17,0.00,0.000,1030,0.000,0.034,3114,2013,2178,2247,2110,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7954,0.88,181.5,3114,2012,2247,2109,890.0,12.6,330,7962,0.00,2.25,0.00,0.000,516,0.000,0.051,3125,597,2177,2246,2109,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8001,0.88,181.5,3125,597,2247,2108,886.6,12.8,331,8008,0.00,2.17,0.00,0.000,1030,0.000,0.034,3125,2006,2178,2247,2109,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8306,0.88,181.5,3125,2006,2247,2108,845.9,12.2,341,8314,0.00,2.22,0.00,0.000,260,0.000,0.049,3125,3405,2176,2246,2107,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8423,0.88,181.5,3124,3406,2246,2108,829.7,13.9,345,8433,0.00,2.15,0.00,0.000,1030,0.000,0.034,3134,2012,2176,2246,2107,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8757,0.88,181.5,3134,2012,2245,2107,785.2,13.5,356,8766,0.00,2.22,0.00,0.000,516,0.000,0.051,3145,599,2176,2245,2107,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8805,0.88,181.5,3146,599,2245,2107,780.6,13.6,357,8813,0.00,2.17,0.00,0.000,1030,0.000,0.034,3146,2024,2176,2245,2107,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9117,0.88,181.5,3145,2024,2245,2106,734.2,14.4,368,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2024,2174,2243,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9417,0.88,181.5,3145,2024,2245,2105,691.4,14.1,378,9425,0.00,2.20,0.00,0.000,260,0.000,0.049,3146,3405,2174,2244,2105,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9469,0.88,181.5,3146,3406,2244,2106,687.6,14.2,379,9479,0.00,2.15,0.00,0.000,1030,0.000,0.034,3155,2008,2174,2244,2105,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9774,0.88,181.5,3155,2009,2243,2106,641.9,13.7,390,9782,0.00,2.22,0.00,0.000,260,0.000,0.047,3155,3404,2174,2243,2105,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9806,0.88,181.5,3155,3405,2243,2105,637.2,13.9,391,9814,0.15,2.12,0.00,0.000,5126,0.185,0.033,3130,2021,2174,2243,2105,0,0,0,0,0,0,25.65,26.12,28.83
$GC,10133,0.88,181.5,3131,2021,2243,2105,595.9,12.2,402,10141,0.00,2.22,0.00,0.000,516,0.000,0.050,3140,602,2174,2243,2105,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10190,0.88,181.5,3140,603,2243,2103,588.5,12.6,404,10198,0.00,2.17,0.00,0.000,1030,0.000,0.034,3140,2031,2173,2243,2104,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10522,0.88,181.5,3139,2031,2243,2104,546.2,12.8,415,10530,0.00,2.17,0.00,0.000,260,0.000,0.050,3139,3405,2173,2243,2104,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10594,0.88,181.5,3139,3406,2243,2104,538.0,12.9,417,10602,0.00,2.12,0.00,0.000,1030,0.000,0.034,3149,2021,2173,2242,2104,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,12975,0.94,202.1,3142,2043,2243,2104,278.2,8.2,497,13001,0.00,2.30,16.62,0.662,8708,0.000,0.047,3153,607,2101,2173,2030,0,0,0,0,0,0,28.83,26.03,24.85
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$STATE,15963,end climb,SURFACE_DEPTH_REACHED
$STATE,15963,begin surface coast
$FINISH,0.9,1.020153
$STATE,15998,end surface coast,CONTROL_FINISHED_OK
$STATE,15998,begin surface
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$IRIDIUM_FIX,1407.51,14357.21,041014,025451
$TT8_MAMPS,0.161035,0.161035
$HUMID,48.93
$INTERNAL_PRESSURE,9.41758
$TCM_TEMP,26.40
$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,1649255
$PA_UPTIME,16007.67 7811.64
$PA_DFQS,0/0
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.065/1.764/1.609
$PA_DISK_BANK,3
$24V_AH,22.44,4.671
$10V_AH,9.74,20.149
$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
$DEVICE_SECS,21.675,135.375,421.800,37.050,0.000,0.000,0.000,303.850,0.250,0.000,31.594,0.000,12788.923,537.640,3077.549,108.312,0.000,2168.045,0.000,1741.641,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,535.074,0.000,0.000,0.000,0.000,0.000,16557.980,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,181.073,0.000,0.000,0.000
$MEM,230620
$DATA_FILE_SIZE,33479,793
$CAP_FILE_SIZE,146234,0
$CFSIZE,260034560,255127552
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14428.15,0x236bc6,7,5
$INTR,1,741.11,0x233820,0,24
$INTR,2,15846.40,0x233820,1,24
$CURRENT,0.132,235.87,1
$GPS,041014,073012,1413.688,14355.680,40,0.8,60,0.7