version: 66.12
glider: 171
mission: 9
dive: 290
start: 1 18 116 15 32 5
data:
$ID,171
$MISSION,9
$DIVE,290
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$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,587.06018
$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,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,180116,152514,617.5025,8222.5869,196,0.9,196,-2.5,0.4,180.7,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-55.1
$GPS2,180116,153152,617.4777,8222.6045,13,1.4,17,-2.5,0.7,213.1,8,7.8
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,615.000,8215.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,239.1,14732,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-175.2,170,2320,529,459,0.0,0.0,0,154,0.00,0.00,-133.18,0.000,16386,0.000,0.000,171,2320,2742,2784,2701,0,0,0,0,0,0,26.25,28.83,26.32
$GC,157,-0.54,-175.2,170,2321,2785,2701,4.1,-7.3,11,191,6.22,2.40,-18.75,0.000,18948,0.197,1.176,1816,920,3616,3547,3686,0,0,0,0,0,0,25.20,24.02,25.58
$GC,340,-0.53,-175.2,1816,921,3547,3688,59.7,-25.1,42,348,0.00,2.20,0.00,0.000,1030,0.000,0.043,1805,2293,3617,3547,3688,0,0,0,0,0,0,26.01,25.96,26.06
$GC,706,-0.52,-175.2,1805,2293,3548,3691,126.3,-14.2,58,712,0.00,2.22,0.00,0.000,260,0.000,0.054,1795,3656,3619,3547,3691,0,0,0,0,0,0,26.60,26.03,26.65
$GC,791,-0.52,-175.2,1794,3656,3548,3691,138.8,-15.1,72,797,0.12,2.03,0.00,0.000,3078,0.130,0.030,1831,2301,3619,3548,3691,0,0,0,0,0,0,26.04,26.28,26.15
$GC,1163,-0.52,-175.2,1831,2301,3548,3692,186.5,-12.5,89,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2301,3619,3548,3691,0,0,0,0,0,0,26.70,26.77,26.76
$GC,1524,-0.52,-175.2,1831,2301,3548,3691,225.2,-10.3,104,1529,0.00,2.17,0.00,0.000,260,0.000,0.056,1819,3663,3619,3547,3691,0,0,0,0,0,0,26.75,26.10,26.81
$GC,1552,-0.52,-175.2,1820,3663,3548,3691,228.2,-10.2,109,1560,0.00,2.08,0.00,0.000,1030,0.000,0.032,1821,2314,3619,3547,3691,0,0,0,0,0,0,26.39,26.36,26.42
$GC,1931,-0.52,-175.2,1821,2314,3548,3687,263.2,-9.2,125,1938,0.00,2.22,0.00,0.000,516,0.000,0.041,1821,902,3617,3547,3687,0,0,0,0,0,0,26.78,26.25,26.84
$GC,1955,-0.51,-175.2,1821,902,3547,3687,265.5,-9.5,129,1963,0.00,2.22,0.00,0.000,1030,0.000,0.043,1811,2302,3616,3547,3686,0,0,0,0,0,0,26.25,26.20,26.30
$GC,2330,-0.51,-175.2,1810,2302,3548,3681,299.4,-8.4,141,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2302,3613,3547,3680,0,0,0,0,0,0,26.80,26.86,26.86
$GC,2688,-0.51,-175.2,1810,2302,3547,3675,328.6,-8.1,151,2694,0.00,2.20,0.00,0.000,516,0.000,0.041,1811,906,3611,3547,3675,0,0,0,0,0,0,26.82,26.25,26.87
$GC,2712,-0.51,-175.2,1812,907,3547,3675,330.6,-8.3,155,2719,0.08,2.22,0.00,0.000,3078,0.114,0.044,1831,2308,3610,3547,3674,0,0,0,0,0,0,26.03,26.21,26.10
$GC,3085,-0.51,-175.2,1830,2308,3547,3669,357.5,-7.3,167,3090,0.00,2.17,0.00,0.000,516,0.000,0.041,1831,904,3607,3547,3668,0,0,0,0,0,0,26.82,26.23,26.88
$GC,3114,-0.51,-175.2,1830,904,3549,3668,359.8,-8.0,172,3121,0.00,2.22,0.00,0.000,1030,0.000,0.044,1821,2301,3607,3547,3668,0,0,0,0,0,0,26.25,26.20,26.30
$GC,3480,-0.51,-175.2,1821,2301,3547,3663,394.5,-10.1,183,3486,0.00,2.20,0.00,0.000,516,0.000,0.041,1821,909,3604,3546,3662,0,0,0,0,0,0,26.82,26.22,26.88
$GC,3516,-0.51,-175.2,1821,910,3546,3662,398.3,-10.5,189,3523,0.00,2.22,0.00,0.000,1030,0.000,0.044,1811,2301,3604,3546,3662,0,0,0,0,0,0,26.25,26.20,26.29
$GC,3914,-0.51,-175.2,1811,2301,3545,3656,440.7,-10.5,205,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2301,3601,3546,3656,0,0,0,0,0,0,26.82,26.89,26.89
$GC,4273,-0.51,-175.2,1809,2301,3546,3652,475.3,-9.2,215,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2301,3599,3546,3652,0,0,0,0,0,0,26.83,26.90,26.89
$GC,4633,-0.50,-175.2,1810,2301,3546,3648,505.7,-8.1,225,4639,0.00,2.17,0.00,0.000,516,0.000,0.041,1811,903,3597,3546,3648,0,0,0,0,0,0,26.83,26.20,26.89
$GC,4698,-0.50,-175.2,1810,903,3546,3648,511.1,-7.8,236,4707,0.08,2.22,0.00,0.000,3078,0.113,0.043,1830,2304,3596,3545,3647,0,0,0,0,0,0,25.99,26.18,26.06
$GC,5066,-0.50,-175.2,1830,2304,3546,3643,532.7,-5.4,247,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2304,3594,3546,3643,0,0,0,0,0,0,26.83,26.90,26.89
$GC,5425,-0.50,-175.2,1830,2304,3545,3640,552.5,-5.6,257,5432,0.00,2.22,0.00,0.000,516,0.000,0.041,1831,904,3592,3545,3640,0,0,0,0,0,0,26.83,26.17,26.89
$GC,5467,-0.50,-175.2,1830,904,3544,3640,555.1,-6.4,264,5475,0.00,2.22,0.00,0.000,1030,0.000,0.044,1821,2301,3592,3545,3639,0,0,0,0,0,0,26.20,26.15,26.25
$GC,5860,-0.50,-175.2,1820,2301,3545,3637,583.1,-7.5,279,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3590,3544,3637,0,0,0,0,0,0,26.83,26.91,26.89
$GC,6217,-0.50,-175.2,1820,2301,3544,3635,612.0,-8.2,289,6225,0.00,2.22,0.00,0.000,516,0.000,0.040,1821,902,3588,3543,3634,0,0,0,0,0,0,26.83,26.15,26.89
$GC,6249,-0.50,-175.2,1820,903,3542,3635,614.6,-9.2,294,6255,0.00,2.20,0.00,0.000,1030,0.000,0.044,1811,2313,3588,3542,3634,0,0,0,0,0,0,26.23,26.13,26.28
$GC,6614,-0.50,-175.2,1810,2313,3542,3631,646.0,-8.5,305,6621,0.00,2.22,0.00,0.000,516,0.000,0.040,1811,909,3586,3542,3631,0,0,0,0,0,0,26.83,26.14,26.89
$GC,6675,-0.50,-175.2,1810,909,3541,3632,651.3,-9.0,315,6682,0.08,2.22,0.00,0.000,3078,0.112,0.044,1831,2301,3586,3540,3632,0,0,0,0,0,0,25.94,26.12,26.01
$GC,7050,-0.51,-175.2,1831,2301,3540,3630,678.0,-7.0,327,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2301,3584,3540,3629,0,0,0,0,0,0,26.83,26.89,26.89
$GC,7408,-0.51,-175.2,1830,2301,3539,3628,702.3,-6.9,337,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2301,3583,3539,3628,0,0,0,0,0,0,26.83,26.90,26.89
$GC,7767,-0.51,-175.2,1830,2301,3539,3627,728.3,-7.3,347,7774,0.00,2.22,0.00,0.000,516,0.000,0.041,1831,910,3582,3538,3626,0,0,0,0,0,0,26.83,26.10,26.89
$GC,7839,-0.51,-175.2,1830,910,3538,3627,733.8,-8.2,359,7846,0.00,2.22,0.00,0.000,1030,0.000,0.044,1822,2298,3581,3537,3626,0,0,0,0,0,0,26.15,26.09,26.19
$GC,8237,-0.51,-175.2,1821,2298,3538,3625,764.8,-7.9,375,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2298,3581,3538,3625,0,0,0,0,0,0,26.83,26.90,26.89
$GC,8595,-0.51,-175.2,1822,2298,3538,3624,792.3,-7.5,385,8603,0.00,2.20,0.00,0.000,516,0.000,0.039,1822,909,3580,3537,3623,0,0,0,0,0,0,26.83,26.10,26.89
$GC,8644,-0.51,-175.2,1822,910,3537,3623,796.0,-7.2,393,8651,0.00,2.25,0.00,0.000,1030,0.000,0.046,1811,2311,3580,3537,3623,0,0,0,0,0,0,26.10,26.06,26.15
$GC,9029,-0.51,-175.2,1811,2311,3536,3623,826.0,-7.8,407,9035,0.00,2.22,0.00,0.000,516,0.000,0.041,1812,902,3579,3536,3622,0,0,0,0,0,0,26.83,26.07,26.89
$GC,9088,-0.51,-175.2,1811,902,3535,3622,830.9,-8.3,417,9096,0.10,2.25,0.00,0.000,3078,0.145,0.045,1829,2303,3578,3535,3622,0,0,0,0,0,0,25.97,26.05,26.08
$GC,9463,-0.51,-175.2,1829,2303,3535,3621,857.3,-7.1,429,9468,0.00,2.20,0.00,0.000,516,0.000,0.043,1830,901,3577,3535,3620,0,0,0,0,0,0,26.82,26.04,26.89
$GC,9511,-0.51,-175.2,1829,902,3534,3620,861.0,-7.5,437,9517,0.00,2.22,0.00,0.000,1030,0.000,0.046,1821,2312,3577,3534,3620,0,0,0,0,0,0,26.13,26.01,26.17
$GC,9895,-0.52,-175.2,1821,2312,3534,3619,891.4,-8.2,451,9900,0.00,2.20,0.00,0.000,516,0.000,0.041,1821,903,3576,3534,3619,0,0,0,0,0,0,26.82,26.06,26.88
$GC,9954,-0.52,-175.2,1821,903,3534,3619,896.6,-8.6,461,9961,0.00,2.25,0.00,0.000,1030,0.000,0.045,1811,2301,3576,3534,3619,0,0,0,0,0,0,26.06,26.01,26.11
$GC,10326,-0.52,-175.2,1810,2301,3534,3618,929.7,-8.9,473,10334,0.00,2.22,0.00,0.000,516,0.000,0.041,1811,905,3575,3533,3617,0,0,0,0,0,0,26.82,26.06,26.88
$GC,10350,-0.52,-175.2,1811,906,3533,3618,932.0,-9.4,477,10358,0.00,2.25,0.00,0.000,1030,0.000,0.046,1800,2307,3575,3533,3617,0,0,0,0,0,0,26.03,25.97,26.08
$GC,10725,-0.52,-175.2,1800,2307,3533,3617,967.2,-9.5,489,10731,0.00,2.20,0.00,0.000,516,0.000,0.043,1800,902,3574,3533,3616,0,0,0,0,0,0,26.82,26.02,26.88
$GC,10772,-0.52,-175.2,1800,902,3532,3616,972.0,-10.0,497,10780,0.10,2.25,0.00,0.000,3078,0.104,0.045,1828,2304,3573,3531,3616,0,0,0,0,0,0,25.78,25.98,25.84
$STATE,11011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11011,begin apogee
$GC,11018,-0.11,0.0,1828,1949,3531,3617,991.2,-7.8,507,11168,0.38,0.00,147.85,1.000,10246,0.090,0.000,1958,1946,2898,2930,2867,0,0,0,0,0,0,25.99,24.56,23.40
$STATE,11170,end apogee,CONTROL_FINISHED_OK
$STATE,11170,begin climb
$GC,11172,0.54,175.2,1958,1946,2926,2863,997.5,0.0,511,11334,0.60,0.00,155.80,0.988,10758,0.068,0.000,2174,1944,2183,2256,2110,0,0,0,0,0,0,24.96,24.30,23.24
$GC,11663,0.59,203.1,2174,1945,2240,2099,969.3,7.0,545,11695,0.00,2.35,25.40,0.920,8452,0.000,0.050,2174,3379,2066,2130,2002,0,0,0,0,0,0,26.24,24.72,23.96
$GC,11802,0.58,203.1,2174,3379,2121,2000,957.8,9.0,568,11810,0.00,2.25,0.00,0.000,1030,0.000,0.034,2182,1965,2060,2121,1999,0,0,0,0,0,0,25.84,25.82,25.88
$GC,12169,0.58,203.1,2181,1965,2119,1998,928.4,8.0,579,12175,0.00,2.28,0.00,0.000,260,0.000,0.051,2182,3377,2057,2118,1997,0,0,0,0,0,0,26.44,25.91,26.50
$GC,12217,0.58,203.1,2182,3378,2119,1998,924.2,8.9,587,12223,0.00,2.22,0.00,0.000,1030,0.000,0.034,2188,1963,2057,2118,1997,0,0,0,0,0,0,26.12,26.08,26.15
$GC,12602,0.59,210.1,2188,1963,2117,1997,894.2,7.6,601,12614,0.00,2.28,6.72,0.715,8452,0.000,0.050,2188,3387,2040,2101,1980,0,0,0,0,0,0,26.58,25.08,24.31
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$GC,19054,0.71,317.3,2226,1957,1676,1517,309.7,10.3,875,19060,0.00,2.22,0.00,0.000,516,0.000,0.041,2225,557,1596,1675,1517,0,0,0,0,0,0,26.78,26.13,26.84
$GC,19078,0.71,317.3,2226,558,1675,1516,307.4,9.6,879,19086,0.00,2.17,0.00,0.000,1030,0.000,0.032,2226,1958,1595,1675,1516,0,0,0,0,0,0,26.27,26.23,26.31
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$STATE,22770,end climb,SURFACE_DEPTH_REACHED
$STATE,22770,begin surface coast
$FINISH,1.1,1.021082
$STATE,22782,end surface coast,CONTROL_FINISHED_OK
$STATE,22782,begin surface
$SM_CCo,22799,19.12,0.157,1,0,505,587.25
$SM_GC,-0.12,5.68,1.67,19.12,0.030,0.028,0.157,169,2297,505,-5.67,1.53,587.25,0,0,0,0,1,0,26.08,25.99,24.85
$IRIDIUM_FIX,613.84,8227.47,180116,091505
$TT8_MAMPS,0.050932,0.050932
$HUMID,49.13
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3908704
$24V_AH,23.24,44.184
$10V_AH,9.98,26.974
$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
$DEVICE_SECS,14.075,165.375,770.800,19.125,0.000,0.000,0.000,232.625,0.000,0.000,18.355,0.000,19147.861,1326.947,2279.654,448.651,0.000,2386.024,0.000,1652.540,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22807.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.925,0.000,0.000,0.000
$MEM,261200
$DATA_FILE_SIZE,39975,1121
$CAP_FILE_SIZE,199326,0
$CFSIZE,260034560,223363072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$INTR,0,17540.95,0x234072,1,24
$CURRENT,0.093,16.37,1
$GPS,180116,215335,616.509,8220.357,41,1.0,41,-2.5,0.0,0.0,8,7.6