version: 66.12
glider: 203
mission: 8
dive: 75
start: 7 24 115 6 11 43
data:
$ID,203
$MISSION,8
$DIVE,75
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,101
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.66111
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,240715,060603,5748.8486,-14833.2549,26,0.9,26,17.5,0.0,0.0,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-62.5
$GPS2,240715,061132,5748.8276,-14833.3359,6,0.9,10,17.5,0.0,236.8,10,8.8
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,295.3,13090,-18.0,-11.000,-19.55,2718
$D_GRID,1967
$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,-0.92,-194.6,195,2776,997,892,0.0,0.0,0,147,0.00,0.00,-48.15,0.000,16386,0.000,0.000,193,2775,2199,2238,2161,0,0,0,0,0,0,25.92,28.83,25.99
$GC,149,-0.92,-194.6,194,2775,2241,2160,3.2,-4.4,5,196,8.57,2.17,-33.45,0.000,18948,0.236,0.034,2332,1327,3635,3704,3566,0,0,0,0,0,0,25.71,25.37,25.84
$GC,238,-0.87,-194.6,2332,1328,3705,3571,20.7,-21.2,18,246,0.12,2.10,0.00,0.000,3078,0.164,0.026,2355,2707,3637,3705,3569,0,0,0,0,0,0,25.85,25.96,25.97
$GC,562,-0.87,-194.6,2355,2709,3705,3576,79.0,-18.7,63,568,0.00,1.77,0.00,0.000,260,0.000,0.037,2349,3844,3639,3704,3575,0,0,0,0,0,0,26.05,26.06,26.10
$GC,577,-0.87,-194.6,2349,3846,3705,3576,80.8,-18.4,64,586,0.00,1.67,0.00,0.000,1030,0.000,0.021,2349,2708,3639,3704,3575,0,0,0,0,0,0,26.11,26.08,26.12
$GC,883,-0.89,-194.6,2350,2710,3704,3577,129.1,-14.5,95,889,0.00,2.10,0.00,0.000,516,0.000,0.023,2349,1322,3640,3704,3576,0,0,0,0,0,0,26.11,26.13,26.17
$GC,913,-0.91,-194.6,2348,1321,3704,3576,133.4,-14.1,98,919,0.00,2.12,0.00,0.000,1030,0.000,0.025,2340,2699,3640,3705,3576,0,0,0,0,0,0,26.16,26.13,26.17
$GC,1223,-0.92,-194.6,2340,2700,3705,3575,178.3,-14.8,129,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2700,3640,3704,3577,0,0,0,0,0,0,26.14,26.20,26.20
$GC,1524,-0.94,-194.6,2340,2700,3706,3576,223.2,-15.2,159,1530,0.00,1.75,0.00,0.000,260,0.000,0.038,2331,3845,3640,3704,3576,0,0,0,0,0,0,26.15,26.16,26.22
$GC,1569,-0.96,-194.6,2331,3846,3705,3577,229.6,-15.7,163,1578,0.00,1.70,0.00,0.000,1030,0.000,0.021,2331,2702,3639,3704,3575,0,0,0,0,0,0,26.22,26.19,26.22
$GC,1884,-0.97,-194.6,2331,2701,3705,3577,277.8,-14.7,183,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2700,3639,3704,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,2184,-0.97,-194.6,2331,2701,3704,3577,320.2,-13.8,193,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2700,3639,3703,3575,0,0,0,0,0,0,26.17,26.23,26.22
$GC,2484,-0.97,-194.6,2331,2701,3703,3577,360.8,-13.5,203,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2699,3639,3702,3576,0,0,0,0,0,0,26.15,26.22,26.22
$GC,2784,-0.99,-194.6,2331,2701,3701,3577,402.3,-14.1,213,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2700,3638,3700,3576,0,0,0,0,0,0,26.17,26.22,26.22
$GC,3084,-1.01,-194.6,2331,2700,3700,3575,443.8,-13.8,223,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2700,3637,3698,3576,0,0,0,0,0,0,26.17,26.23,26.22
$GC,3384,-1.01,-194.6,2331,2699,3698,3575,485.3,-14.3,233,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2699,3636,3697,3576,0,0,0,0,0,0,26.17,26.24,26.22
$GC,3684,-1.02,-194.6,2331,2699,3697,3575,527.9,-14.3,243,3690,0.00,1.83,0.00,0.000,260,0.000,0.038,2323,3846,3635,3696,3575,0,0,0,0,0,0,26.17,26.17,26.22
$GC,3744,-1.02,-194.6,2323,3847,3696,3577,536.8,-14.6,245,3750,0.00,1.70,0.00,0.000,1030,0.000,0.022,2323,2682,3635,3695,3576,0,0,0,0,0,0,26.22,26.20,26.23
$GC,4074,-1.02,-194.6,2323,2681,3696,3575,585.3,-14.6,256,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2682,3634,3694,3575,0,0,0,0,0,0,26.17,26.23,26.22
$GC,4374,-1.02,-194.6,2323,2683,3694,3579,629.6,-14.8,266,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2682,3634,3693,3575,0,0,0,0,0,0,26.17,26.23,26.22
$GC,4674,-1.07,-194.6,2323,2682,3694,3574,669.5,-12.5,276,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2681,3634,3693,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,4974,-1.12,-194.6,2323,2682,3693,3575,705.2,-11.9,286,4980,0.00,2.05,0.00,0.000,516,0.000,0.023,2322,1332,3633,3691,3576,0,0,0,0,0,0,26.16,26.15,26.22
$GC,5039,-1.16,-194.6,2323,1333,3693,3577,712.2,-11.8,288,5046,0.05,2.12,0.00,0.000,5126,0.064,0.028,2276,2698,3633,3691,3576,0,0,0,0,0,0,26.13,26.18,26.17
$GC,5365,-1.14,-194.6,2276,2699,3691,3576,758.1,-14.9,299,5371,0.00,2.10,0.00,0.000,516,0.000,0.024,2276,1333,3633,3690,3577,0,0,0,0,0,0,26.16,26.17,26.22
$GC,5410,-1.12,-194.6,2276,1332,3691,3576,762.7,-15.2,300,5417,0.00,2.12,0.00,0.000,1030,0.000,0.025,2267,2703,3632,3690,3575,0,0,0,0,0,0,26.20,26.18,26.22
$GC,5726,-1.10,-194.6,2267,2705,3690,3577,812.7,-15.0,311,5729,0.08,0.00,0.00,0.000,2054,0.208,0.000,2278,2704,3632,3689,3576,0,0,0,0,0,0,26.03,26.20,26.17
$GC,6026,-1.10,-194.6,2279,2705,3689,3577,858.7,-15.7,321,6032,0.00,2.10,0.00,0.000,516,0.000,0.024,2278,1333,3632,3688,3576,0,0,0,0,0,0,26.15,26.17,26.21
$GC,6056,-1.10,-194.6,2279,1332,3695,3575,863.4,-15.8,322,6062,0.00,2.12,0.00,0.000,1030,0.000,0.027,2278,2701,3632,3688,3576,0,0,0,0,0,0,26.20,26.17,26.22
$GC,6386,-1.10,-194.6,2278,2701,3688,3575,915.5,-16.0,333,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2700,3631,3687,3575,0,0,0,0,0,0,26.15,26.22,26.21
$GC,6686,-1.10,-194.6,2280,2701,3688,3575,960.9,-15.0,343,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2701,3631,3686,3576,0,0,0,0,0,0,26.15,26.22,26.21
$STATE,6894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6894,begin apogee
$GC,6898,-0.25,0.0,2279,2810,3688,3577,993.2,-15.5,350,7066,0.88,0.00,163.05,1.112,10246,0.122,0.000,2553,2809,2837,2875,2800,0,0,0,0,0,0,26.03,24.51,23.84
$STATE,7067,end apogee,CONTROL_FINISHED_OK
$STATE,7067,begin climb
$GC,7068,0.92,194.6,2554,2810,2870,2795,1002.2,0.0,355,7244,1.12,2.28,162.98,1.102,10756,0.064,0.022,2943,1429,2040,2078,2003,0,0,0,0,0,0,24.65,23.74,23.09
$GC,7433,0.89,267.9,2943,1429,2071,1991,991.7,8.2,368,7504,0.00,2.20,63.10,1.091,9222,0.000,0.026,2943,2785,1742,1783,1701,0,0,0,0,0,0,25.25,25.19,23.72
$GC,7823,0.87,267.9,2943,2786,1771,1685,947.8,12.1,381,7829,0.00,1.73,0.00,0.000,260,0.000,0.040,2943,3854,1726,1770,1683,0,0,0,0,0,0,25.58,25.60,25.65
$GC,7988,0.82,267.9,2943,3855,1770,1682,927.8,13.4,386,7994,0.05,1.58,0.00,0.000,5126,0.168,0.021,2932,2784,1725,1769,1681,0,0,0,0,0,0,25.68,25.81,25.78
$GC,8303,0.82,267.9,2932,2785,1770,1681,888.8,12.0,397,8310,0.00,1.73,0.00,0.000,260,0.000,0.039,2932,3856,1725,1770,1680,0,0,0,0,0,0,25.98,26.00,26.05
$GC,8394,0.79,267.9,2932,3857,1770,1681,876.5,13.2,400,8400,0.00,1.55,0.00,0.000,1030,0.000,0.022,2932,2796,1724,1768,1680,0,0,0,0,0,0,26.08,26.04,26.09
$GC,8724,0.77,267.9,2932,2797,1769,1681,836.1,12.0,411,8731,0.10,2.08,0.00,0.000,4612,0.182,0.024,2917,1429,1723,1768,1679,0,0,0,0,0,0,25.98,26.13,26.12
$GC,8955,0.77,279.2,2917,1428,1769,1679,813.9,10.6,418,8963,0.00,2.15,2.70,0.615,9222,0.000,0.028,2917,2803,1700,1744,1657,0,0,0,0,0,0,26.16,26.13,24.82
$GC,9260,0.77,279.2,2917,2804,1764,1667,778.1,11.4,428,9266,0.00,2.10,0.00,0.000,516,0.000,0.025,2918,1437,1714,1763,1666,0,0,0,0,0,0,26.11,26.14,26.17
$GC,9444,0.77,286.1,2918,1436,1765,1666,758.6,10.7,434,9466,0.00,2.12,13.93,0.988,9222,0.000,0.027,2918,2800,1667,1712,1623,0,0,0,0,0,0,26.17,26.15,25.08
$GC,9770,0.77,286.1,2918,2801,1703,1616,721.9,11.3,445,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2800,1658,1702,1614,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10070,0.77,303.6,2918,2799,1702,1613,689.8,10.3,455,10093,0.00,2.10,16.23,0.945,8708,0.000,0.023,2920,1423,1595,1640,1551,0,0,0,0,0,0,26.10,25.55,25.07
$GC,10122,0.78,320.2,2919,1424,1631,1546,687.1,10.4,456,10143,0.00,2.17,15.15,0.936,9222,0.000,0.027,2919,2794,1534,1578,1490,0,0,0,0,0,0,25.88,25.86,24.86
$GC,10458,0.78,335.1,2918,2795,1567,1472,649.1,10.4,468,10476,0.00,0.00,14.68,0.919,8198,0.000,0.000,2919,2795,1471,1515,1427,0,0,0,0,0,0,25.97,25.64,25.01
$GC,10757,0.80,335.1,2919,2793,1504,1413,615.8,11.5,478,10763,0.00,2.10,0.00,0.000,516,0.000,0.025,2920,1438,1457,1503,1411,0,0,0,0,0,0,25.98,26.01,26.05
$GC,10792,0.82,335.1,2920,1439,1504,1412,612.4,11.5,479,10798,0.00,2.15,0.00,0.000,1030,0.000,0.027,2919,2805,1457,1503,1411,0,0,0,0,0,0,26.04,26.03,26.03
$GC,11117,0.82,335.1,2919,2805,1504,1410,573.0,12.1,490,11124,0.00,1.65,0.00,0.000,260,0.000,0.041,2919,3847,1456,1503,1410,0,0,0,0,0,0,26.08,26.10,26.15
$GC,11148,0.82,335.1,2920,3847,1504,1409,568.8,12.5,491,11154,0.00,1.52,0.00,0.000,1030,0.000,0.023,2926,2806,1456,1503,1409,0,0,0,0,0,0,26.14,26.11,26.12
$GC,11478,0.84,335.1,2926,2807,1504,1411,527.3,12.6,502,11484,0.00,1.67,0.00,0.000,260,0.000,0.041,2925,3853,1456,1503,1409,0,0,0,0,0,0,26.12,26.13,26.18
$GC,11508,0.84,335.1,2926,3854,1504,1410,523.1,12.8,503,11515,0.00,1.55,0.00,0.000,1030,0.000,0.022,2932,2776,1457,1503,1412,0,0,0,0,0,0,26.17,26.15,26.19
$GC,11839,0.85,335.1,2932,2774,1504,1408,480.9,12.1,514,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2775,1455,1502,1409,0,0,0,0,0,0,26.13,26.20,26.20
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$GC,14086,0.88,387.8,2933,1436,1361,1269,219.6,10.4,608,14110,0.00,2.10,15.65,0.678,9222,0.000,0.027,2932,2805,1255,1301,1210,0,0,0,0,0,0,26.01,25.98,25.20
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$STATE,15842,end climb,SURFACE_DEPTH_REACHED
$STATE,15842,begin surface coast
$FINISH,0.6,1.021545
$STATE,15862,end surface coast,CONTROL_FINISHED_OK
$STATE,15862,begin surface
$SM_CCo,15936,0.00,0.000,0,0,1116,422.65
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$IRIDIUM_FIX,5724.52,-14836.53,190508,193400
$TT8_MAMPS,0.05992,0.05992
$HUMID,40.03
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.50
$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,1654118
$PA_UPTIME,15506.43 15280.76
$PA_BOOTCOUNT,381
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$PA_HOME,0.01/0.197/27.046/25.475
$PA_DISK_BANK,1
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$10V_AH,10.18,31.317
$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
$DEVICE_SECS,18.600,91.575,527.525,0.000,0.000,0.000,0.000,234.625,0.250,15881.540,11.964,0.000,12598.435,585.190,2939.643,130.226,0.000,1979.426,0.000,1822.993,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,569.284,0.000,0.000,0.000,0.000,0.000,15881.529,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,180084
$DATA_FILE_SIZE,36736,828
$CAP_FILE_SIZE,144206,0
$CFSIZE,1024393216,989102080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,1,15866.79,0x236db2,7,5
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$GPS,240715,103806,5749.014,-14839.170,26,0.7,29,17.4,0.7,49.5,10,9.6