version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 279
start: 4 20 119 9 21 31
data:
$ID,573
$MISSION,30
$DIVE,279
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$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,335
$T_MISSION,345
$T_ABORT,360
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,260
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.97279
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,200419,090601,-3209.4746,2913.7883,41,0.7,46,-26.7,2.3,226.0,12,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-58.0
$GPS2,200419,092105,-3209.8054,2913.1296,15,0.7,17,-26.7,2.0,224.2,12,8.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3211.681,2900.562
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,286.7,20000,-15.6,-9.950,-18.64,2991
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,72,2019,552,600,0.0,0.0,0,117,0.00,0.00,-93.25,0.000,16386,0.000,0.000,72,2019,3167,3179,3155,0,0,0,0,0,0,14.90,28.83,14.91
$GC,121,-0.82,-194.6,72,2015,3179,3155,3.9,-11.3,17,151,13.12,2.50,-6.95,0.000,18948,0.322,0.087,2214,606,3607,3674,3541,0,0,0,0,0,0,14.23,13.00,14.60
$GC,194,-0.82,-194.6,2213,605,3684,3541,25.7,-17.5,30,202,0.05,2.38,0.00,0.000,3078,0.361,0.049,2220,2015,3608,3676,3541,0,0,0,0,0,0,14.23,14.47,14.47
$GC,266,-0.82,-194.6,2220,2015,3676,3541,40.0,-18.5,43,272,0.00,2.47,0.00,0.000,2308,0.000,0.077,2217,3412,3608,3675,3541,0,0,0,0,0,0,14.96,14.50,14.96
$GC,465,-0.82,-194.6,2217,3412,3677,3541,63.2,-11.1,82,472,0.00,2.38,0.00,0.000,3078,0.000,0.041,2217,2002,3609,3677,3541,0,0,0,0,0,0,14.72,14.57,14.74
$GC,535,-0.82,-194.6,2217,2002,3677,3541,70.9,-11.3,95,541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2002,3609,3677,3541,0,0,0,0,0,0,15.01,15.01,15.02
$GC,603,-0.82,-194.6,2217,2003,3677,3541,79.1,-11.7,108,610,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3412,3609,3677,3541,0,0,0,0,0,0,15.02,14.63,15.03
$GC,674,-0.82,-194.6,2217,3413,3677,3541,87.1,-11.0,121,680,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2010,3609,3677,3541,0,0,0,0,0,0,14.85,14.73,14.85
$GC,744,-0.82,-194.6,2217,2010,3678,3541,95.2,-11.8,134,750,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2010,3609,3677,3541,0,0,0,0,0,0,15.02,15.03,15.03
$GC,812,-0.82,-194.6,2217,2010,3678,3540,103.1,-11.5,147,819,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3415,3608,3677,3540,0,0,0,0,0,0,15.04,14.64,15.04
$GC,889,-0.82,-194.6,2217,3414,3677,3541,111.6,-12.0,161,895,0.00,2.35,0.00,0.000,3078,0.000,0.039,2217,2009,3609,3677,3541,0,0,0,0,0,0,14.85,14.75,14.88
$GC,959,-0.82,-194.6,2216,2009,3681,3541,119.5,-11.5,174,966,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3418,3609,3678,3541,0,0,0,0,0,0,15.04,14.46,15.04
$GC,1049,-0.82,-194.6,2216,3418,3677,3541,129.8,-9.8,191,1058,0.00,2.35,0.00,0.000,3078,0.000,0.039,2217,2012,3609,3678,3541,0,0,0,0,0,0,14.85,14.76,14.86
$GC,1122,-0.82,-194.6,2217,2013,3678,3541,137.8,-11.4,204,1128,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3415,3607,3674,3541,0,0,0,0,0,0,15.02,14.65,15.04
$GC,1162,-0.82,-194.6,2217,3415,3678,3541,142.9,-13.5,211,1169,0.00,2.35,0.00,0.000,3078,0.000,0.039,2217,2012,3609,3678,3541,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1235,-0.82,-194.6,2216,2012,3678,3541,150.1,-11.1,224,1241,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3418,3609,3677,3541,0,0,0,0,0,0,15.06,14.50,15.06
$GC,1274,-0.82,-194.6,2216,3418,3678,3541,154.9,-11.0,231,1281,0.00,2.35,0.00,0.000,3078,0.000,0.038,2216,2011,3609,3678,3540,0,0,0,0,0,0,14.71,14.63,14.72
$GC,1344,-0.82,-194.6,2216,2011,3678,3541,162.9,-11.6,244,1350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2011,3609,3678,3541,0,0,0,0,0,0,15.07,15.05,15.05
$GC,1413,-0.82,-194.6,2216,2011,3678,3541,171.0,-11.4,257,1420,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3414,3609,3677,3541,0,0,0,0,0,0,15.07,14.66,15.07
$GC,1457,-0.82,-194.6,2216,3413,3678,3540,175.9,-11.7,265,1464,0.00,2.35,0.00,0.000,3078,0.000,0.039,2216,2011,3609,3678,3541,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1527,-0.82,-194.6,2216,2010,3678,3541,183.4,-11.3,278,1533,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2010,3609,3678,3541,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1596,-0.82,-194.6,2216,2010,3677,3540,191.2,-11.5,291,1603,0.00,2.53,0.00,0.000,2308,0.000,0.073,2216,3422,3609,3677,3541,0,0,0,0,0,0,15.10,14.66,15.07
$GC,1635,-0.82,-194.6,2216,3422,3677,3541,195.5,-10.7,298,1642,0.00,2.38,0.00,0.000,3078,0.000,0.038,2216,2004,3609,3678,3540,0,0,0,0,0,0,14.78,14.65,14.79
$GC,1706,-0.82,-194.6,2215,2005,3677,3541,203.0,-10.9,311,1712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,2006,3609,3678,3540,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1774,-0.82,-194.6,2216,2005,3677,3541,210.8,-11.3,324,1780,0.00,2.50,0.00,0.000,2308,0.000,0.073,2216,3413,3609,3677,3541,0,0,0,0,0,0,15.08,14.51,15.09
$GC,1813,-0.82,-194.6,2215,3413,3677,3540,215.2,-10.8,331,1820,0.00,2.33,0.00,0.000,3078,0.000,0.039,2215,2018,3608,3677,3540,0,0,0,0,0,0,14.88,14.77,14.90
$GC,1883,-0.82,-194.6,2215,2017,3677,3540,222.6,-11.1,344,1889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2018,3609,3678,3541,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1952,-0.82,-194.6,2214,2015,3677,3540,230.3,-11.2,357,1958,0.00,0.00,0.00,0.000,2054,0.000,0.000,2215,2018,3608,3677,3540,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2021,-0.82,-194.6,2215,2018,3677,3540,237.9,-11.1,370,2027,0.00,2.47,0.00,0.000,2308,0.000,0.073,2213,3413,3608,3676,3540,0,0,0,0,0,0,15.07,14.67,15.07
$GC,2079,-0.82,-194.6,2214,3413,3676,3540,244.3,-10.4,381,2086,0.00,2.35,0.00,0.000,3078,0.000,0.041,2214,1998,3608,3676,3540,0,0,0,0,0,0,14.88,14.73,14.89
$GC,2149,-0.82,-194.6,2213,1998,3675,3540,252.0,-11.2,394,2155,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,1998,3607,3675,3540,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2218,-0.82,-194.6,2214,1998,3675,3540,259.8,-11.6,407,2227,0.00,2.53,0.00,0.000,2308,0.000,0.074,2214,3421,3606,3675,3537,0,0,0,0,0,0,15.09,14.66,15.09
$GC,2264,-0.82,-194.6,2213,3421,3675,3540,265.2,-11.3,415,2271,0.00,2.35,0.00,0.000,3078,0.000,0.039,2214,2024,3607,3675,3540,0,0,0,0,0,0,14.67,14.59,14.69
$GC,2336,-0.82,-194.6,2213,2024,3674,3539,272.7,-11.0,428,2342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2022,3606,3674,3539,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2404,-0.82,-194.6,2213,2024,3674,3537,280.8,-12.6,441,2411,0.00,2.50,0.00,0.000,2308,0.000,0.076,2214,3415,3606,3673,3539,0,0,0,0,0,0,15.10,14.50,15.11
$GC,2443,-0.82,-194.6,2213,3415,3673,3538,285.8,-12.1,448,2450,0.00,2.35,0.00,0.000,3078,0.000,0.040,2214,2011,3606,3673,3539,0,0,0,0,0,0,14.89,14.77,14.90
$GC,2514,-0.82,-194.6,2213,2011,3673,3539,294.2,-11.6,461,2520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2011,3606,3673,3539,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2587,-0.82,-194.6,2213,2011,3672,3538,302.5,-11.3,472,2593,0.00,2.53,0.00,0.000,2308,0.000,0.075,2210,3422,3605,3672,3538,0,0,0,0,0,0,15.11,14.67,15.11
$GC,2644,-0.82,-194.6,2210,3422,3672,3538,307.6,-11.6,474,2652,0.05,2.35,0.00,0.000,3078,0.319,0.041,2222,2001,3605,3672,3538,0,0,0,0,0,0,14.54,14.75,14.75
$GC,2770,-0.82,-194.6,2222,2001,3672,3537,322.7,-10.5,481,2776,0.00,2.53,0.00,0.000,2308,0.000,0.074,2222,3417,3604,3672,3537,0,0,0,0,0,0,15.13,14.69,15.13
$GC,2822,-0.82,-194.6,2222,3417,3671,3536,327.1,-10.2,483,2827,0.00,2.33,0.00,0.000,3078,0.000,0.040,2222,2023,3604,3672,3536,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2957,-0.82,-194.6,2222,2022,3672,3535,340.9,-9.9,490,2962,0.00,2.47,0.00,0.000,2308,0.000,0.074,2222,3412,3603,3671,3535,0,0,0,0,0,0,15.14,14.70,15.14
$GC,3000,-0.82,-194.6,2222,3412,3671,3535,345.3,-9.9,492,3006,0.00,2.35,0.00,0.000,3078,0.000,0.041,2222,2008,3603,3671,3535,0,0,0,0,0,0,14.92,14.79,14.93
$GC,3146,-0.82,-194.6,2222,2008,3671,3534,360.3,-10.8,499,3151,0.00,2.53,0.00,0.000,2308,0.000,0.075,2222,3416,3602,3671,3534,0,0,0,0,0,0,15.14,14.70,15.14
$GC,3223,-0.82,-194.6,2222,3416,3670,3534,366.5,-9.7,502,3230,0.00,2.35,0.00,0.000,3078,0.000,0.041,2222,2008,3602,3670,3534,0,0,0,0,0,0,14.92,14.81,14.94
$STATE,3251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3251,begin apogee
$GC,3257,-0.19,0.0,2222,1946,3670,3534,370.9,-10.4,504,3415,1.02,0.00,154.12,1.419,10246,0.155,0.000,2423,1944,2813,2866,2761,0,0,0,0,0,0,14.49,14.30,13.48
$STATE,3417,end apogee,CONTROL_FINISHED_OK
$STATE,3417,begin climb
$GC,3420,0.82,194.6,2423,1944,2865,2761,380.0,0.0,512,3583,1.50,0.00,156.40,1.395,10758,0.095,0.000,2736,1944,2017,2071,1964,0,0,0,0,0,0,14.33,14.26,13.47
$GC,3692,0.96,308.1,2736,1944,2063,1961,369.2,6.1,526,3796,0.17,2.60,93.57,1.374,10500,0.105,0.069,2797,3359,1555,1615,1495,0,0,0,0,0,0,14.59,14.31,13.52
$GC,3834,0.96,308.1,2796,3359,1612,1496,356.3,10.3,533,3839,0.00,2.38,0.00,0.000,1030,0.000,0.047,2797,1981,1554,1613,1495,0,0,0,0,0,0,14.59,14.49,14.60
$GC,3977,0.96,308.1,2796,1981,1609,1495,340.5,10.9,540,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1981,1552,1610,1495,0,0,0,0,0,0,14.92,14.94,14.93
$GC,4097,0.96,308.1,2796,1977,1608,1495,329.2,10.0,546,4102,0.00,2.50,0.00,0.000,516,0.000,0.083,2797,560,1551,1608,1495,0,0,0,0,0,0,15.01,14.51,15.02
$GC,4123,0.96,308.1,2796,560,1608,1495,326.4,10.8,547,4129,0.00,2.33,0.00,0.000,1030,0.000,0.044,2797,1968,1551,1608,1495,0,0,0,0,0,0,14.85,14.76,14.86
$GC,4261,0.96,308.1,2796,1968,1607,1493,308.3,12.7,554,4266,0.00,2.42,0.00,0.000,260,0.000,0.070,2797,3360,1549,1605,1494,0,0,0,0,0,0,15.05,14.71,15.07
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$STATE,6999,end climb,SURFACE_DEPTH_REACHED
$STATE,6999,begin surface coast
$FINISH,-0.3,1.007901
$STATE,7031,end surface coast,CONTROL_FINISHED_OK
$STATE,7031,begin surface
$SM_CCo,7114,0.00,0.000,0,0,596,543.58
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$IRIDIUM_FIX,-3155.70,2917.86,200419,054856
$TT8_MAMPS,0.019474,0.872585
$HUMID,62.36
$INTERNAL_PRESSURE,9.05272
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,370.9,13.1
$SC_FREEKB,3775424
$24V_AH,13.00,161.424
$10V_AH,12.80,0.000
$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,28.925,194.425,612.100,0.000,0.000,24.265,39.228,503.900,8.250,0.000,17.747,2426.319,1827.299,900.037,2514.146,334.966,0.000,1970.006,0.000,1715.437,0.000,54.962,0.000
$DEVICE_MAMPS,361.080,198.135,1419.075,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7148.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.550,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,36722,1049
$CAP_FILE_SIZE,221147,0
$CFSIZE,1023623168,981516288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3510.90,0x23609a,1,24
$GPS,200419,112107,-3211.207,2910.632,24,0.9,26,-26.7,0.9,255.3,8,8.2