version: 66.12
glider: 203
mission: 8
dive: 50
start: 7 19 115 12 37 33
data:
$ID,203
$MISSION,8
$DIVE,50
$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,-3
$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,81
$R_STBD_OVSHOOT,44
$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
$GPS1,190715,123133,5817.9814,-14756.5625,42,0.9,42,17.7,0.5,244.2,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.6
$GPS2,190715,123651,5817.9326,-14756.7373,15,0.8,15,17.7,1.0,237.3,9,3.9
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,293.5,8111,-18.0,-11.000,-19.55,2718
$D_GRID,1632
$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,-194.6,195,2710,892,761,0.0,0.0,0,144,0.00,0.00,-45.08,0.000,16386,0.000,0.000,193,2709,2054,2092,2016,0,0,0,0,0,0,25.95,28.83,26.02
$GC,146,-0.92,-194.6,192,2706,2095,2014,3.2,-3.8,6,197,8.52,2.10,-37.88,0.000,18948,0.236,0.036,2333,1314,3634,3702,3567,0,0,0,0,0,0,25.80,25.46,25.98
$GC,222,-0.81,-194.6,2333,1314,3703,3569,14.9,-19.1,16,240,0.17,2.12,0.00,0.000,3078,0.157,0.026,2371,2712,3635,3702,3569,0,0,0,0,0,0,25.90,26.00,26.01
$GC,556,-0.79,-194.6,2371,2713,3703,3574,77.6,-18.2,62,565,0.00,1.75,0.00,0.000,260,0.000,0.038,2366,3861,3638,3702,3574,0,0,0,0,0,0,26.04,26.06,26.10
$GC,711,-0.79,-194.6,2366,3861,3703,3576,105.6,-17.6,77,718,0.00,1.67,0.00,0.000,1030,0.000,0.021,2365,2680,3638,3702,3575,0,0,0,0,0,0,26.13,26.09,26.13
$GC,1022,-0.79,-194.6,2365,2670,3703,3576,153.2,-13.7,108,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2670,3639,3702,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,1323,-0.81,-194.6,2365,2669,3703,3575,196.5,-14.4,138,1331,0.00,1.85,0.00,0.000,260,0.000,0.038,2357,3859,3638,3702,3575,0,0,0,0,0,0,26.08,26.10,26.14
$GC,1395,-0.81,-194.6,2357,3860,3703,3577,207.1,-14.8,145,1403,0.08,1.65,0.00,0.000,3078,0.176,0.022,2370,2694,3639,3702,3576,0,0,0,0,0,0,26.02,26.11,26.12
$GC,1707,-0.85,-194.6,2370,2699,3703,3577,246.1,-12.8,176,1714,0.00,1.80,0.00,0.000,260,0.000,0.040,2365,3854,3638,3702,3575,0,0,0,0,0,0,26.08,26.10,26.14
$GC,1743,-0.88,-194.6,2365,3858,3703,3577,250.3,-13.5,179,1750,0.00,1.65,0.00,0.000,1030,0.000,0.022,2365,2700,3638,3702,3575,0,0,0,0,0,0,26.15,26.12,26.16
$GC,2070,-0.90,-194.6,2365,2699,3702,3575,297.6,-14.6,190,2077,0.00,2.05,0.00,0.000,516,0.000,0.023,2365,1329,3638,3700,3576,0,0,0,0,0,0,26.08,26.11,26.15
$GC,2101,-0.93,-194.6,2365,1321,3699,3576,302.1,-14.3,191,2109,0.00,2.10,0.00,0.000,1030,0.000,0.028,2362,2703,3638,3700,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,2428,-0.96,-194.6,2362,2702,3699,3571,347.7,-14.1,202,2436,0.00,1.77,0.00,0.000,260,0.000,0.041,2362,3857,3637,3698,3576,0,0,0,0,0,0,26.08,26.10,26.15
$GC,2500,-0.98,-194.6,2362,3857,3694,3575,356.4,-14.1,204,2508,0.00,1.65,0.00,0.000,1030,0.000,0.023,2362,2701,3636,3697,3576,0,0,0,0,0,0,26.15,26.13,26.17
$GC,2822,-1.02,-194.6,2362,2701,3697,3575,402.2,-13.9,215,2830,0.10,1.77,0.00,0.000,4356,0.094,0.037,2293,3846,3635,3696,3575,0,0,0,0,0,0,26.10,26.10,26.15
$GC,2849,-1.05,-194.6,2293,3846,3696,3576,402.2,-13.9,215,2859,0.00,1.65,0.00,0.000,1030,0.000,0.023,2293,2698,3635,3695,3576,0,0,0,0,0,0,26.15,26.13,26.16
$GC,3154,-1.01,-194.6,2293,2698,3695,3575,461.4,-17.9,226,3160,0.08,0.00,0.00,0.000,2054,0.193,0.000,2305,2698,3634,3694,3575,0,0,0,0,0,0,26.01,26.15,26.13
$GC,3454,-1.00,-194.6,2305,2700,3694,3577,510.2,-16.0,236,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2698,3634,3693,3575,0,0,0,0,0,0,26.08,26.15,26.13
$GC,3754,-0.98,-194.6,2301,2698,3692,3575,556.3,-14.7,246,3761,0.00,1.80,0.00,0.000,260,0.000,0.041,2305,3853,3632,3690,3575,0,0,0,0,0,0,26.08,26.10,26.14
$GC,3816,-0.96,-194.6,2305,3854,3692,3575,565.3,-14.8,248,3823,0.10,1.67,0.00,0.000,3078,0.165,0.022,2328,2684,3632,3689,3576,0,0,0,0,0,0,26.02,26.12,26.13
$GC,4147,-0.96,-194.6,2328,2678,3691,3577,606.9,-12.2,259,4156,0.00,1.83,0.00,0.000,260,0.000,0.040,2323,3852,3632,3689,3576,0,0,0,0,0,0,26.08,26.10,26.14
$GC,4195,-0.96,-194.6,2323,3853,3690,3577,611.2,-12.3,260,4202,0.00,1.65,0.00,0.000,1030,0.000,0.023,2323,2699,3630,3689,3571,0,0,0,0,0,0,26.15,26.10,26.14
$GC,4511,-0.96,-194.6,2322,2696,3688,3575,655.8,-13.8,271,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2696,3631,3687,3576,0,0,0,0,0,0,26.08,26.13,26.14
$GC,4811,-0.96,-194.6,2323,2696,3688,3575,696.7,-13.7,281,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2696,3630,3686,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5111,-0.96,-194.6,2322,2697,3688,3577,738.3,-13.6,291,5119,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3852,3631,3687,3576,0,0,0,0,0,0,26.07,26.10,26.13
$GC,5188,-0.96,-194.6,2320,3853,3687,3577,747.0,-13.8,293,5195,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2698,3631,3686,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,5504,-0.96,-194.6,2319,2696,3687,3575,791.4,-13.7,304,5512,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3849,3631,3686,3576,0,0,0,0,0,0,26.08,26.10,26.14
$GC,5561,-0.96,-194.6,2319,3850,3686,3577,795.7,-13.6,305,5571,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2697,3630,3685,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,5866,-0.96,-194.6,2320,2698,3686,3577,839.7,-13.6,316,5873,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3849,3629,3684,3575,0,0,0,0,0,0,26.08,26.10,26.14
$GC,5907,-0.96,-194.6,2320,3852,3686,3579,844.1,-13.8,317,5914,0.00,1.65,0.00,0.000,1030,0.000,0.023,2320,2701,3629,3684,3575,0,0,0,0,0,0,26.15,26.10,26.15
$GC,6228,-0.96,-194.6,2319,2698,3684,3575,889.3,-13.6,328,6237,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3849,3633,3691,3575,0,0,0,0,0,0,26.07,26.09,26.13
$GC,6280,-0.96,-194.6,2319,3850,3684,3578,894.2,-13.9,329,6287,0.00,1.65,0.00,0.000,1030,0.000,0.024,2319,2702,3629,3683,3575,0,0,0,0,0,0,26.15,26.10,26.15
$GC,6591,-0.96,-194.6,2319,2702,3683,3577,938.8,-13.4,340,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3628,3682,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6892,-0.96,-194.6,2319,2702,3683,3577,978.8,-13.3,350,6899,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3846,3628,3681,3576,0,0,0,0,0,0,26.07,26.08,26.13
$GC,6948,-0.96,-194.6,2319,3848,3682,3577,983.1,-13.3,351,6958,0.00,1.65,0.00,0.000,1030,0.000,0.024,2319,2697,3628,3681,3575,0,0,0,0,0,0,26.14,26.10,26.15
$STATE,6982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6982,begin apogee
$GC,6986,-0.25,0.0,2320,2805,3681,3576,991.3,-13.4,353,7174,0.75,0.00,176.05,1.554,10246,0.120,0.000,2554,2804,2840,2880,2801,0,0,0,0,1,0,26.01,24.18,23.30
$STATE,7175,end apogee,CONTROL_FINISHED_OK
$STATE,7175,begin climb
$GC,7176,0.92,194.6,2554,2804,2895,2801,1002.2,0.0,359,7356,1.10,1.77,168.05,1.080,10500,0.054,0.041,2938,3849,2039,2078,2000,0,0,0,0,0,0,24.41,23.91,23.28
$GC,7580,0.85,210.7,2941,3848,2071,1987,986.1,10.4,372,7602,0.00,1.55,13.80,1.059,9222,0.000,0.024,2945,2795,1980,2021,1939,0,0,0,0,0,0,25.32,25.28,24.35
$GC,7912,0.81,243.5,2945,2794,2009,1924,951.0,9.8,384,7948,0.10,1.70,28.17,1.062,12548,0.189,0.039,2925,3847,1842,1884,1800,0,0,0,0,0,0,25.58,25.09,24.48
$GC,8123,0.76,243.5,2925,3847,1877,1788,927.7,11.3,391,8130,0.10,1.52,0.00,0.000,5126,0.181,0.024,2910,2791,1832,1876,1789,0,0,0,0,0,0,25.58,25.66,25.68
$GC,8454,0.76,276.6,2910,2792,1876,1788,895.7,9.8,402,8495,0.00,2.10,28.92,1.039,8708,0.000,0.022,2917,1425,1704,1746,1662,0,0,0,0,0,0,25.89,25.17,24.70
$GC,8504,0.77,301.7,2917,1425,1745,1658,892.5,10.1,403,8536,0.00,2.15,23.00,1.026,9222,0.000,0.028,2917,2793,1605,1649,1561,0,0,0,0,0,0,25.48,25.44,24.47
$GC,8845,0.77,301.7,2917,2794,1639,1547,848.3,12.6,415,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2792,1592,1639,1545,0,0,0,0,0,0,25.82,25.88,25.88
$GC,9145,0.77,301.7,2917,2793,1639,1545,809.6,12.7,425,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2792,1591,1639,1544,0,0,0,0,0,0,25.96,26.03,26.02
$GC,9446,0.77,301.7,2918,2794,1639,1545,773.1,11.7,435,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2792,1590,1637,1544,0,0,0,0,0,0,26.01,26.08,26.08
$GC,9745,0.77,301.7,2917,2792,1638,1543,739.0,11.5,445,9753,0.00,2.08,0.00,0.000,516,0.000,0.026,2919,1428,1590,1637,1543,0,0,0,0,0,0,26.05,26.08,26.11
$GC,9777,0.77,301.7,2919,1430,1638,1544,736.0,11.2,446,9785,0.00,2.10,0.00,0.000,1030,0.000,0.028,2919,2802,1590,1637,1543,0,0,0,0,0,0,26.11,26.08,26.12
$GC,10099,0.77,319.3,2919,2803,1638,1544,701.3,10.3,457,10120,0.00,0.00,15.07,0.940,8198,0.000,0.000,2918,2802,1536,1582,1491,0,0,0,0,0,0,26.06,25.74,25.16
$GC,10399,0.77,319.3,2919,2802,1572,1477,669.2,11.0,467,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2802,1524,1571,1477,0,0,0,0,0,0,25.94,26.01,26.01
$GC,10699,0.77,319.3,2919,2804,1573,1478,633.9,12.4,477,10708,0.00,2.10,0.00,0.000,516,0.000,0.025,2918,1429,1523,1571,1476,0,0,0,0,0,0,26.03,26.08,26.09
$GC,10787,0.77,319.3,2919,1418,1572,1476,626.6,12.1,479,10799,0.00,2.12,0.00,0.000,1030,0.000,0.027,2918,2809,1523,1571,1476,0,0,0,0,0,0,26.10,26.07,26.11
$GC,11092,0.77,319.3,2919,2808,1572,1476,586.8,12.2,490,11099,0.00,1.60,0.00,0.000,260,0.000,0.041,2919,3853,1523,1571,1476,0,0,0,0,0,0,26.06,26.08,26.11
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$STATE,16159,end climb,SURFACE_DEPTH_REACHED
$STATE,16160,begin surface coast
$FINISH,0.6,1.023624
$STATE,16170,end surface coast,CONTROL_FINISHED_OK
$STATE,16170,begin surface
$SM_CCo,16246,0.00,0.000,0,0,638,539.91
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$IRIDIUM_FIX,5756.79,-14757.50,150508,015928
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.38
$INTERNAL_PRESSURE,8.765
$TCM_TEMP,17.70
$XPDR_PINGS,2
$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,16201.07 7596.75
$PA_BOOTCOUNT,353
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$PA_LOG,0.01/0.261/31.498/29.637
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$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.192/27.046/25.480
$PA_DISK_BANK,1
$24V_AH,23.28,9.988
$10V_AH,10.29,29.618
$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,19.025,111.000,580.400,0.000,0.000,0.000,0.000,219.350,0.500,16610.271,17.100,0.000,12590.900,613.752,3221.370,156.344,0.000,2219.312,0.000,1818.685,0.000,0.549,0.000
$DEVICE_MAMPS,235.620,74.970,1554.480,0.000,0.000,0.000,0.000,97.920,420.000,61.918,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,580.444,0.000,0.000,0.000,0.000,0.000,16610.330,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,214264
$DATA_FILE_SIZE,36718,847
$CAP_FILE_SIZE,151688,0
$CFSIZE,1024393216,991543296
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$INTR,0,16871.13,0x236db2,7,5
$INTR,1,16175.70,0x236db2,7,5
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$GPS,190715,170903,5817.640,-14801.177,27,0.8,27,17.7,0.5,213.6,10,7.7