version: 66.14
glider: 640
mission: 9
dive: 49
start: 1 17 122 13 30 53
data:
$ID,640
$MISSION,9
$DIVE,49
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,370
$T_ABORT,500
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,170122,132502,-6400.4966,224.5583,96,3.3,136,-21.1,0.4,221.5,4,30.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.0
$GPS2,170122,133023,-6400.4678,224.5814,7,3.3,47,-21.1,0.0,14.6,4,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.1,54728,-18.3,-10.000,-21.04,2236
$D_GRID,990
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.70,-146.0,223,1856,2041,2059,0.0,0.0,0,89,0.00,0.00,-79.90,0.000,16386,0.000,0.000,223,1855,3288,3256,3321,0,0,0,0,0,0,14.71,28.83,14.72,8.51,58.34
$GC,92,-0.70,-146.0,223,1855,3257,3321,3.9,-7.7,12,114,6.03,2.67,-7.55,0.000,18692,0.366,2.278,2172,3313,3542,3523,3562,0,0,0,0,0,0,14.36,13.72,14.58,8.63,57.36
$GC,166,-0.70,-146.0,2172,3313,3524,3565,21.1,-16.4,25,174,0.00,2.50,0.00,0.000,5126,0.000,0.054,2172,1846,3544,3524,3564,0,0,0,0,0,0,14.57,14.47,14.59,8.65,56.65
$GC,297,-0.70,-146.0,2172,1844,3524,3565,48.6,-22.5,50,304,0.00,2.50,0.00,0.000,4612,0.000,0.084,2172,444,3544,3524,3564,0,0,0,0,0,0,14.71,14.50,14.71,8.65,57.20
$GC,331,-0.70,-146.0,2171,444,3525,3565,56.1,-20.1,56,338,0.00,2.40,0.00,0.000,3078,0.000,0.050,2162,1844,3545,3525,3565,0,0,0,0,0,0,14.62,14.52,14.63,8.65,57.16
$GC,656,-0.70,-146.0,2161,1846,3525,3565,117.6,-18.5,90,662,0.00,2.45,0.00,0.000,2308,0.000,0.081,2151,3261,3545,3525,3565,0,0,0,0,0,0,14.81,14.59,14.82,8.64,56.69
$GC,725,-0.70,-146.0,2151,3261,3525,3566,127.8,-17.4,93,729,0.00,2.38,0.00,0.000,3078,0.000,0.062,2151,1854,3545,3525,3566,0,0,0,0,0,0,14.72,14.62,14.73,8.64,56.93
$GC,1031,-0.70,-146.0,2151,1853,3525,3566,184.4,-18.1,108,1037,0.00,2.47,0.00,0.000,2564,0.000,0.084,2150,439,3545,3525,3566,0,0,0,0,0,0,14.88,14.66,14.89,8.64,57.28
$GC,1099,-0.70,-146.0,2150,439,3524,3566,195.0,-17.9,111,1104,0.08,2.38,0.00,0.000,3078,0.375,0.049,2164,1859,3545,3525,3566,0,0,0,0,0,0,14.59,14.69,14.75,8.65,57.52
$GC,1412,-0.70,-146.0,2164,1858,3525,3566,248.9,-17.1,127,1418,0.00,2.40,0.00,0.000,260,0.000,0.081,2154,3258,3545,3525,3565,0,0,0,0,0,0,14.92,14.70,14.93,8.65,58.54
$GC,1464,-0.70,-146.0,2153,3258,3525,3566,255.5,-16.9,129,1473,0.00,2.42,0.00,0.000,3078,0.000,0.063,2154,1845,3545,3525,3565,0,0,0,0,0,0,14.75,14.69,14.77,8.66,58.70
$GC,1772,-0.70,-146.0,2153,1844,3524,3565,310.7,-17.4,145,1778,0.00,2.45,0.00,0.000,2564,0.000,0.084,2154,440,3545,3525,3565,0,0,0,0,0,0,14.96,14.73,14.96,8.66,58.26
$GC,1832,-0.70,-146.0,2153,440,3525,3565,320.9,-17.1,148,1839,0.08,2.35,0.00,0.000,3078,0.375,0.049,2167,1848,3545,3525,3565,0,0,0,0,0,0,14.66,14.76,14.81,8.67,58.42
$GC,2152,-0.70,-146.0,2167,1849,3525,3565,371.3,-15.8,164,2158,0.00,2.42,0.00,0.000,260,0.000,0.081,2158,3263,3545,3525,3565,0,0,0,0,0,0,14.97,14.76,14.97,8.67,58.54
$GC,2214,-0.70,-146.0,2157,3263,3525,3565,380.3,-15.4,167,2219,0.00,2.40,0.00,0.000,3078,0.000,0.061,2158,1849,3545,3525,3565,0,0,0,0,0,0,14.82,14.76,14.84,8.67,59.09
$GC,2533,-0.70,-146.0,2157,1850,3525,3566,433.1,-16.8,183,2539,0.00,2.45,0.00,0.000,2564,0.000,0.089,2158,440,3544,3524,3565,0,0,0,0,0,0,15.00,14.77,15.00,8.68,58.66
$GC,2613,-0.70,-146.0,2157,440,3525,3565,446.1,-15.9,187,2620,0.05,2.35,0.00,0.000,3078,0.431,0.049,2162,1855,3545,3525,3565,0,0,0,0,0,0,14.68,14.79,14.85,8.67,58.86
$GC,2933,-0.70,-146.0,2162,1856,3524,3565,497.1,-16.0,203,2939,0.00,2.40,0.00,0.000,260,0.000,0.080,2153,3260,3545,3525,3566,0,0,0,0,0,0,15.00,14.78,15.01,8.68,59.17
$GC,2995,-0.70,-146.0,2152,3258,3525,3565,506.1,-15.2,206,3000,0.00,2.33,0.00,0.000,3078,0.000,0.062,2153,1851,3544,3524,3565,0,0,0,0,0,0,14.85,14.79,14.86,8.68,59.09
$GC,3313,-0.70,-146.0,2152,1852,3524,3565,558.6,-16.7,222,3321,0.00,2.45,0.00,0.000,2564,0.000,0.089,2152,443,3544,3524,3565,0,0,0,0,0,0,15.02,14.79,15.02,8.69,58.82
$GC,3386,-0.70,-146.0,2152,443,3524,3565,568.4,-16.5,225,3395,0.05,2.38,0.00,0.000,3078,0.343,0.049,2159,1848,3545,3525,3565,0,0,0,0,0,0,14.67,14.78,14.79,8.69,58.78
$GC,3694,-0.70,-146.0,2159,1848,3524,3566,618.6,-15.6,241,3700,0.00,2.40,0.00,0.000,2308,0.000,0.080,2150,3262,3544,3524,3565,0,0,0,0,0,0,15.02,14.79,15.03,8.69,58.82
$GC,3755,-0.70,-146.0,2149,3262,3524,3565,627.4,-14.9,244,3760,0.00,2.38,0.00,0.000,3078,0.000,0.063,2149,1857,3545,3524,3566,0,0,0,0,0,0,14.86,14.80,14.88,8.69,58.97
$GC,4074,-0.70,-146.0,2149,1858,3524,3565,679.0,-16.3,260,4080,0.00,2.45,0.00,0.000,2564,0.000,0.087,2149,443,3545,3525,3565,0,0,0,0,0,0,15.03,14.81,15.04,8.70,59.37
$GC,4146,-0.70,-146.0,2149,443,3525,3565,688.5,-16.0,263,4155,0.05,2.38,0.00,0.000,3078,0.345,0.048,2157,1851,3544,3524,3565,0,0,0,0,0,0,14.69,14.80,14.81,8.70,58.89
$GC,4453,-0.70,-146.0,2157,1851,3525,3566,737.6,-15.4,279,4458,0.00,2.40,0.00,0.000,2308,0.000,0.081,2148,3263,3545,3525,3566,0,0,0,0,0,0,15.04,14.81,15.04,8.70,59.25
$GC,4503,-0.70,-146.0,2147,3263,3525,3565,743.0,-15.3,281,4511,0.05,2.35,0.00,0.000,3078,0.423,0.063,2163,1850,3545,3525,3566,0,0,0,0,0,0,14.73,14.83,14.89,8.70,59.45
$GC,4810,-0.70,-146.0,2163,1851,3525,3566,789.7,-14.8,297,4814,0.00,2.47,0.00,0.000,516,0.000,0.092,2163,436,3545,3525,3565,0,0,0,0,0,0,15.05,14.83,15.06,8.71,59.29
$GC,4870,-0.70,-146.0,2163,436,3525,3566,797.8,-14.7,300,4874,0.00,2.35,0.00,0.000,3078,0.000,0.049,2153,1855,3545,3525,3565,0,0,0,0,0,0,14.94,14.85,14.95,8.70,59.09
$GC,5181,-0.70,-146.0,2153,1856,3525,3566,845.7,-15.5,316,5185,0.00,2.38,0.00,0.000,2308,0.000,0.080,2143,3261,3545,3525,3566,0,0,0,0,0,0,15.07,14.83,15.07,8.71,59.25
$GC,5230,-0.70,-146.0,2142,3260,3525,3566,851.2,-15.4,318,5238,0.08,2.35,0.00,0.000,3078,0.349,0.063,2169,1847,3545,3525,3566,0,0,0,0,0,0,14.76,14.84,14.91,8.70,59.41
$GC,5537,-0.70,-146.0,2169,1848,3526,3566,895.7,-14.0,334,5541,0.00,2.45,0.00,0.000,4612,0.000,0.093,2169,439,3545,3525,3566,0,0,0,0,0,0,15.07,14.84,15.07,8.71,59.33
$GC,5606,-0.70,-146.0,2169,438,3526,3566,903.3,-13.7,337,5614,0.00,2.38,0.00,0.000,3078,0.000,0.048,2159,1875,3546,3526,3566,0,0,0,0,0,0,14.96,14.86,14.97,8.71,59.29
$GC,5913,-0.70,-146.0,2159,1875,3526,3566,948.3,-14.5,353,5917,0.00,2.33,0.00,0.000,2308,0.000,0.081,2149,3254,3546,3526,3566,0,0,0,0,0,0,15.08,14.85,15.09,8.72,58.78
$GC,5951,-0.70,-146.0,2148,3253,3525,3566,953.3,-14.3,355,5957,0.00,2.38,0.00,0.000,3078,0.000,0.065,2149,1853,3546,3526,3567,0,0,0,0,0,0,14.90,14.85,14.92,8.72,58.93
$STATE,6209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6210,begin apogee
$GC,6214,-0.14,0.0,2149,1745,3526,3566,991.2,-14.7,368,6337,0.52,0.00,119.32,2.623,10246,0.242,0.000,2342,1743,2943,2941,2946,0,0,0,0,0,0,14.78,13.85,13.02,8.72,59.09
$STATE,6338,end apogee,CONTROL_FINISHED_OK
$STATE,6338,begin climb
$GC,6339,0.70,146.0,2342,1743,2940,2945,996.8,0.0,374,6471,0.75,2.72,119.82,2.539,10500,0.172,0.069,2617,3174,2345,2345,2346,0,0,0,0,0,0,13.82,13.52,12.74,8.68,58.19
$GC,6493,0.70,146.0,2617,3174,2348,2346,984.0,11.3,382,6498,0.00,2.53,0.00,0.000,5126,0.000,0.064,2627,1789,2347,2349,2346,0,0,0,0,0,0,13.84,13.74,13.85,8.64,56.26
$GC,6809,0.70,146.0,2627,1789,2351,2346,935.7,15.1,398,6815,0.00,2.60,0.00,0.000,4612,0.000,0.083,2639,358,2348,2351,2346,0,0,0,0,0,0,14.47,14.26,14.48,8.62,57.28
$GC,6902,0.70,146.0,2638,358,2351,2346,923.7,15.0,402,6911,0.08,2.40,0.00,0.000,5126,0.361,0.040,2615,1773,2349,2352,2346,0,0,0,0,0,0,14.24,14.35,14.39,8.62,57.95
$GC,7209,0.70,146.0,2615,1774,2351,2346,878.1,14.2,418,7214,0.00,2.42,0.00,0.000,260,0.000,0.070,2615,3177,2348,2351,2346,0,0,0,0,0,0,14.71,14.49,14.71,8.61,58.34
$GC,7278,0.70,146.0,2615,3177,2352,2346,870.3,14.0,421,7286,0.00,2.40,0.00,0.000,5126,0.000,0.063,2624,1769,2349,2351,2347,0,0,0,0,0,0,14.62,14.52,14.63,8.61,58.58
$GC,7585,0.70,146.0,2624,1769,2351,2346,824.6,14.7,437,7590,0.00,2.47,0.00,0.000,4612,0.000,0.083,2636,359,2349,2352,2346,0,0,0,0,0,0,14.83,14.60,14.83,8.61,58.42
$GC,7644,0.70,146.0,2635,359,2351,2346,816.3,14.9,440,7650,0.08,2.35,0.00,0.000,5126,0.366,0.039,2611,1785,2348,2351,2346,0,0,0,0,0,0,14.53,14.63,14.69,8.61,58.46
$GC,7963,0.70,146.0,2611,1785,2351,2346,773.0,13.5,456,7969,0.00,2.30,0.00,0.000,2308,0.000,0.069,2611,3157,2348,2351,2346,0,0,0,0,0,0,14.90,14.67,14.90,8.60,58.50
$GC,8034,0.70,146.0,2611,3157,2351,2346,765.0,13.4,459,8042,0.00,2.38,0.00,0.000,5126,0.000,0.065,2620,1754,2349,2352,2346,0,0,0,0,0,0,14.79,14.69,14.81,8.60,58.23
$GC,8342,0.70,146.0,2620,1754,2351,2346,721.4,13.9,475,8346,0.00,2.42,0.00,0.000,4612,0.000,0.083,2631,360,2349,2352,2346,0,0,0,0,0,0,14.95,14.73,14.95,8.60,59.01
$GC,8397,0.70,146.0,2631,359,2352,2346,713.6,14.1,478,8402,0.05,2.33,0.00,0.000,5126,0.428,0.041,2616,1781,2349,2352,2346,0,0,0,0,0,0,14.64,14.75,14.80,8.60,59.21
$GC,8715,0.70,146.0,2615,1779,2352,2346,670.8,13.5,494,8721,0.00,2.35,0.00,0.000,260,0.000,0.070,2616,3166,2349,2352,2346,0,0,0,0,0,0,14.97,14.76,14.97,8.59,59.13
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$GC,11417,0.70,146.0,2628,1772,2353,2346,312.7,13.1,629,11423,0.00,2.45,0.00,0.000,4612,0.000,0.083,2639,356,2349,2353,2346,0,0,0,0,0,0,15.03,14.82,15.03,8.57,58.58
$GC,11478,0.70,146.0,2639,356,2353,2346,304.7,13.3,632,11484,0.08,2.30,0.00,0.000,5126,0.354,0.040,2614,1773,2349,2353,2346,0,0,0,0,0,0,14.74,14.83,14.89,8.57,58.82
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$STATE,14088,end climb,SURFACE_DEPTH_REACHED
$STATE,14088,begin surface coast
$FINISH,0.2,1.027157
$STATE,14110,end surface coast,CONTROL_FINISHED_OK
$STATE,14110,begin surface
$SM_CCo,14183,0.00,0.000,0,0,2114,203.84
$SM_GC,1.74,5.75,0.17,0.00,0.075,0.092,0.000,237,1904,2114,-6.42,-0.74,203.84,0,0,0,0,0,0,14.45,14.45,14.49
$IRIDIUM_FIX,-6400.09,227.24,170122,092547
$TT8_MAMPS,0.018725,0.336301
$HUMID,57.52
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.74,161.341
$10V_AH,13.04,0.000
$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
$DEVICE_SECS,14.050,182.875,283.800,0.000,0.000,30.611,11.746,154.210,0.000,0.000,48.925,2351.897,9005.154,465.850,2597.869,88.782,0.000,1554.564,0.000,1881.781,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.143,1402.396,228.857,1143.642,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342916
$DATA_FILE_SIZE,66166,870
$CAP_FILE_SIZE,148864,0
$CFSIZE,1023623168,1016004608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3315.78,0x235ad2,0,24
$GPS,170122,172907,-6400.903,223.923,75,0.8,81,-21.1,0.0,42.3,10,9.3