version: 66.12
glider: 204
mission: 15
dive: 55
start: 3 10 115 18 7 30
data:
$ID,204
$MISSION,15
$DIVE,55
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,360
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,500
$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_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,49
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,150
$AH0_10V,97
$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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,100315,180235,1322.3066,14539.3867,30,0.7,30,1.3,1.0,227.1,12,12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.5
$GPS2,100315,180720,1322.2928,14539.3350,6,0.8,6,1.3,0.0,0.0,11,12.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,105.8,72490,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-175.2,195,2621,718,689,0.0,0.0,0,158,0.00,0.00,-54.28,0.000,16386,0.000,0.000,193,2621,2183,2149,2217,0,0,0,0,0,0,26.82,28.83,26.89
$GC,160,-0.80,-175.2,194,2621,2150,2219,3.1,-5.2,8,208,11.38,2.03,-29.58,0.000,18948,0.233,0.040,3010,1218,3554,3525,3584,0,0,0,0,0,0,26.29,26.03,26.55
$GC,331,-0.80,-175.2,3010,1217,3527,3585,43.2,-22.7,41,345,0.00,2.05,0.00,0.000,1030,0.000,0.034,3001,2595,3555,3526,3585,0,0,0,0,0,0,26.74,26.69,26.77
$GC,644,-0.80,-175.2,3001,2596,3528,3584,129.5,-29.3,74,651,0.00,1.62,0.00,0.000,260,0.000,0.045,2993,3694,3555,3526,3584,0,0,0,0,0,0,27.05,26.79,27.10
$GC,719,-0.80,-175.2,2994,3695,3527,3586,147.4,-24.9,81,730,0.00,1.50,0.00,0.000,1030,0.000,0.022,3001,2566,3555,3526,3585,0,0,0,0,0,0,26.96,26.93,26.97
$GC,1024,-0.80,-175.2,3000,2566,3531,3586,201.0,-15.6,112,1032,0.00,1.90,0.00,0.000,516,0.000,0.027,3008,1240,3558,3530,3586,0,0,0,0,0,0,27.14,26.93,27.19
$GC,1045,-0.80,-175.2,3008,1240,3531,3586,201.0,-15.6,112,1053,0.00,2.00,0.00,0.000,1030,0.000,0.033,2999,2604,3558,3530,3586,0,0,0,0,0,0,26.96,26.91,26.98
$GC,1351,-0.80,-175.2,3000,2605,3531,3590,248.8,-14.4,122,1359,0.00,1.95,0.00,0.000,516,0.000,0.026,3007,1242,3560,3531,3589,0,0,0,0,0,0,27.19,26.98,27.25
$GC,1392,-0.80,-175.2,3008,1240,3537,3591,252.2,-13.6,123,1400,0.00,2.00,0.00,0.000,1030,0.000,0.031,2999,2611,3560,3531,3589,0,0,0,0,0,0,27.03,26.97,27.05
$GC,1704,-0.80,-175.2,2999,2612,3533,3590,294.2,-13.4,134,1712,0.00,1.62,0.00,0.000,260,0.000,0.045,2991,3689,3560,3532,3589,0,0,0,0,0,0,27.22,26.97,27.29
$GC,1795,-0.80,-175.2,2992,3690,3533,3590,306.3,-13.1,137,1805,0.00,1.48,0.00,0.000,1030,0.000,0.022,2996,2612,3560,3532,3589,0,0,0,0,0,0,27.11,27.10,27.13
$GC,2129,-0.80,-175.2,2997,2612,3532,3585,350.6,-14.0,148,2138,0.00,1.95,0.00,0.000,516,0.000,0.025,3006,1228,3557,3531,3584,0,0,0,0,0,0,27.24,27.05,27.32
$GC,2196,-0.80,-175.2,3006,1228,3533,3584,359.7,-14.4,150,2204,0.00,2.00,0.00,0.000,1030,0.000,0.031,2998,2601,3558,3532,3585,0,0,0,0,0,0,27.10,27.03,27.12
$GC,2518,-0.80,-175.2,2998,2601,3533,3580,403.5,-12.7,161,2525,0.00,1.60,0.00,0.000,260,0.000,0.044,2989,3693,3555,3531,3580,0,0,0,0,0,0,27.27,27.01,27.34
$GC,2573,-0.80,-175.2,2989,3693,3533,3578,407.5,-12.7,162,2583,0.00,1.50,0.00,0.000,1030,0.000,0.023,2997,2567,3554,3531,3578,0,0,0,0,0,0,27.17,27.14,27.18
$GC,2879,-0.80,-175.2,2996,2567,3528,3577,448.7,-12.3,173,2886,0.00,1.88,0.00,0.000,516,0.000,0.026,3006,1238,3551,3528,3575,0,0,0,0,0,0,27.29,27.08,27.35
$GC,2905,-0.80,-175.2,3006,1236,3529,3575,451.8,-12.2,174,2913,0.00,2.00,0.00,0.000,1030,0.000,0.033,2997,2604,3551,3527,3575,0,0,0,0,0,0,27.12,27.05,27.15
$GC,3232,-0.80,-175.2,2998,2605,3525,3572,489.6,-11.5,185,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2604,3547,3524,3571,0,0,0,0,0,0,27.30,27.37,27.36
$GC,3531,-0.80,-175.2,2997,2604,3522,3568,524.9,-11.9,195,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2604,3544,3520,3569,0,0,0,0,0,0,27.30,27.38,27.36
$GC,3831,-0.80,-175.2,2997,2603,3519,3564,560.6,-11.7,205,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2604,3541,3518,3565,0,0,0,0,0,0,27.31,27.39,27.36
$GC,4131,-0.80,-175.2,2997,2604,3516,3563,594.5,-11.1,215,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3538,3514,3563,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4432,-0.80,-175.2,2997,2604,3512,3561,628.0,-11.4,225,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2604,3535,3511,3560,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4732,-0.80,-175.2,2997,2605,3510,3559,664.2,-12.3,235,4739,0.00,1.65,0.00,0.000,260,0.000,0.047,2989,3689,3533,3509,3558,0,0,0,0,0,0,27.32,27.03,27.38
$GC,4763,-0.80,-175.2,2989,3690,3509,3557,668.3,-12.4,236,4770,0.00,1.50,0.00,0.000,1030,0.000,0.024,2996,2611,3532,3508,3557,0,0,0,0,0,0,27.19,27.17,27.19
$GC,5094,-0.80,-175.2,2996,2612,3507,3556,708.4,-11.9,247,5102,0.00,1.98,0.00,0.000,516,0.000,0.026,3006,1224,3530,3506,3555,0,0,0,0,0,0,27.32,27.09,27.39
$GC,5155,-0.80,-175.2,3005,1225,3504,3555,714.9,-11.7,249,5163,0.00,2.03,0.00,0.000,1030,0.000,0.032,2997,2604,3529,3504,3554,0,0,0,0,0,0,27.14,27.07,27.16
$GC,5477,-0.80,-175.2,2998,2605,3504,3554,750.8,-10.9,260,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2604,3528,3503,3553,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5777,-0.80,-175.2,2997,2605,3502,3551,784.8,-11.6,270,5786,0.00,2.00,0.00,0.000,516,0.000,0.028,3006,1226,3525,3501,3550,0,0,0,0,0,0,27.32,27.08,27.39
$GC,5829,-0.80,-175.2,3006,1227,3502,3551,788.6,-11.6,271,5836,0.00,2.03,0.00,0.000,1030,0.000,0.032,2997,2602,3525,3501,3550,0,0,0,0,0,0,27.13,27.06,27.16
$GC,6134,-0.80,-175.2,2997,2603,3500,3549,825.6,-11.4,281,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2602,3524,3500,3548,0,0,0,0,0,0,27.32,27.39,27.39
$GC,6434,-0.80,-175.2,2997,2604,3500,3548,859.9,-11.4,291,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2603,3522,3498,3546,0,0,0,0,0,0,27.32,27.40,27.39
$GC,6734,-0.80,-175.2,2997,2602,3497,3545,894.5,-11.5,301,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3521,3497,3545,0,0,0,0,0,0,27.32,27.40,27.39
$GC,7034,-0.80,-175.2,2997,2602,3497,3544,926.3,-10.3,311,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2603,3519,3495,3543,0,0,0,0,0,0,27.32,27.40,27.39
$GC,7335,-0.80,-175.2,2997,2604,3494,3544,954.8,-9.0,321,7342,0.00,1.62,0.00,0.000,260,0.000,0.047,2989,3694,3518,3493,3543,0,0,0,0,0,0,27.32,27.00,27.39
$GC,7370,-0.80,-175.2,2989,3696,3494,3543,957.6,-8.9,322,7377,0.00,1.50,0.00,0.000,1030,0.000,0.024,2992,2589,3518,3493,3543,0,0,0,0,0,0,27.19,27.15,27.20
$GC,7696,-0.80,-175.2,2991,2591,3493,3542,986.0,-8.5,333,7704,0.00,1.95,0.00,0.000,516,0.000,0.028,2999,1228,3516,3492,3541,0,0,0,0,0,0,27.32,27.05,27.39
$GC,7743,-0.80,-175.2,2999,1228,3492,3542,988.8,-8.5,334,7754,0.00,2.03,0.00,0.000,1030,0.000,0.033,2991,2601,3516,3491,3541,0,0,0,0,0,0,27.11,27.04,27.14
$STATE,7757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7757,begin apogee
$GC,7760,-0.17,0.0,2991,2423,3492,3541,991.3,-8.5,335,7901,0.75,0.00,133.73,1.296,10246,0.158,0.000,3212,2421,2838,2813,2864,0,0,0,0,0,0,26.70,25.13,24.42
$STATE,7901,end apogee,CONTROL_FINISHED_OK
$STATE,7901,begin climb
$GC,7902,0.80,175.2,3213,2423,2809,2860,994.9,0.0,339,8056,1.05,2.20,142.32,1.271,10756,0.139,0.028,3530,1033,2118,2114,2122,0,0,0,0,0,0,25.29,24.56,24.02
$GC,8205,0.88,228.4,3531,1034,2105,2111,983.3,8.0,349,8258,0.00,2.15,44.17,1.275,9222,0.000,0.031,3524,2431,1906,1907,1905,0,0,0,0,0,0,25.94,25.89,24.37
$GC,8563,0.94,274.1,3524,2431,1894,1886,952.7,8.2,361,8607,0.17,0.00,37.75,1.284,10246,0.177,0.000,3569,2432,1721,1724,1719,0,0,0,0,0,0,26.10,25.37,24.63
$GC,8892,0.94,274.1,3569,2431,1711,1701,918.5,10.4,372,8904,0.00,1.95,0.00,0.000,260,0.000,0.046,3561,3693,1705,1709,1701,0,0,0,0,0,0,26.58,26.35,26.65
$GC,8952,0.94,274.1,3557,3693,1711,1700,911.7,10.8,374,8960,0.00,1.83,0.00,0.000,1030,0.000,0.024,3570,2406,1705,1710,1701,0,0,0,0,0,0,26.55,26.51,26.56
$GC,9278,0.94,274.1,3570,2402,1710,1699,877.1,10.7,385,9286,0.00,2.00,0.00,0.000,260,0.000,0.045,3561,3695,1704,1708,1700,0,0,0,0,0,0,26.86,26.62,26.93
$GC,9310,0.94,274.1,3561,3695,1710,1699,873.4,10.9,386,9317,0.00,1.80,0.00,0.000,1030,0.000,0.024,3570,2412,1703,1708,1699,0,0,0,0,0,0,26.77,26.74,26.79
$GC,9641,0.94,274.1,3570,2408,1708,1700,835.6,11.6,397,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2407,1702,1706,1698,0,0,0,0,0,0,26.98,27.06,27.05
$GC,9941,0.94,274.1,3569,2407,1707,1697,800.6,11.6,407,9948,0.00,1.98,0.00,0.000,260,0.000,0.047,3561,3695,1701,1705,1698,0,0,0,0,0,0,27.05,26.79,27.13
$GC,9997,0.94,274.1,3561,3695,1707,1698,793.5,12.0,409,10005,0.00,1.80,0.00,0.000,1030,0.000,0.024,3570,2414,1701,1705,1697,0,0,0,0,0,0,26.96,26.93,26.98
$GC,10329,0.94,274.1,3570,2410,1705,1697,753.6,12.1,420,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2410,1700,1703,1697,0,0,0,0,0,0,27.12,27.19,27.18
$GC,10629,0.94,274.1,3570,2410,1704,1698,717.3,11.9,430,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2410,1700,1703,1697,0,0,0,0,0,0,27.15,27.22,27.22
$GC,10929,0.94,274.1,3570,2411,1704,1698,681.6,11.7,440,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2410,1700,1703,1697,0,0,0,0,0,0,27.17,27.24,27.24
$GC,11229,0.94,274.1,3571,2411,1703,1698,648.2,11.1,450,11237,0.00,1.95,0.00,0.000,260,0.000,0.047,3561,3691,1700,1703,1697,0,0,0,0,0,0,27.20,26.91,27.27
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$GC,14082,0.98,296.7,3581,1043,1702,1685,328.8,9.6,545,14108,0.00,2.03,17.00,0.928,9222,0.000,0.031,3571,2425,1627,1630,1624,0,0,0,0,0,0,27.08,27.01,25.92
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$STATE,17188,end climb,SURFACE_DEPTH_REACHED
$STATE,17188,begin surface coast
$FINISH,0.8,1.022139
$STATE,17198,end surface coast,CONTROL_FINISHED_OK
$STATE,17198,begin surface
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$IRIDIUM_FIX,1314.23,14541.71,050108,073001
$TT8_MAMPS,0.158039,0.158039
$HUMID,35.43
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.60
$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,1651515
$PA_UPTIME,17227.38 7644.50
$PA_BOOTCOUNT,860
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.079/1.856/1.682
$PA_DISK_BANK,0
$24V_AH,24.02,10.850
$10V_AH,9.93,19.300
$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
$DEVICE_SECS,23.525,106.250,545.550,0.000,0.000,0.000,0.000,222.275,0.250,0.000,7.790,0.000,13900.706,594.393,2977.822,78.449,0.000,2158.603,0.000,1706.662,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,545.480,0.000,0.000,0.000,0.000,0.000,17561.730,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.499,0.000,0.000,0.000
$MEM,229100
$DATA_FILE_SIZE,33484,808
$CAP_FILE_SIZE,141826,0
$CFSIZE,1024393216,1012809728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16118.29,0x236db2,7,5
$CURRENT,0.065,211.64,1
$GPS,100315,225605,1321.078,14541.539,24,1.0,24,1.3,0.7,193.8,10,48.4