version: 66.12
glider: 203
mission: 8
dive: 68
start: 7 22 115 21 52 50
data:
$ID,203
$MISSION,8
$DIVE,68
$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,103
$R_STBD_OVSHOOT,42
$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
$GPS1,220715,214703,5747.4785,-14753.3164,26,0.8,26,17.6,0.5,258.5,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.0
$GPS2,220715,215239,5747.5586,-14753.3301,6,0.8,8,17.6,0.0,18.1,10,9.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,269.2,52582,-18.0,-11.000,-19.55,2718
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.92,-194.6,198,2798,990,880,0.0,0.0,0,143,0.00,0.00,-42.85,0.000,16386,0.000,0.000,196,2797,2037,2075,1999,0,0,0,0,0,0,25.90,28.83,25.97
$GC,144,-0.92,-194.6,197,2797,2076,1999,3.0,-4.0,5,209,8.57,2.28,-41.50,0.000,18948,0.237,0.038,2334,1336,3636,3705,3567,0,0,0,0,0,0,25.70,24.91,25.91
$GC,385,-0.86,-194.6,2334,1336,3705,3572,51.3,-21.2,43,399,0.12,2.10,0.00,0.000,3078,0.169,0.026,2357,2714,3638,3704,3572,0,0,0,0,0,0,25.91,26.02,26.03
$GC,693,-0.86,-194.6,2358,2715,3705,3577,111.8,-16.8,74,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2714,3640,3704,3576,0,0,0,0,0,0,26.03,26.08,26.09
$GC,994,-0.86,-194.6,2358,2715,3706,3577,157.6,-14.7,104,1002,0.00,2.08,0.00,0.000,516,0.000,0.022,2357,1331,3639,3702,3576,0,0,0,0,0,0,26.05,26.08,26.11
$GC,1097,-0.88,-194.6,2353,1333,3704,3577,172.3,-13.8,114,1104,0.00,2.08,0.00,0.000,1030,0.000,0.025,2350,2705,3640,3704,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,1409,-0.88,-194.6,2354,2704,3706,3576,215.5,-13.5,145,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2705,3640,3704,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,1730,-0.88,-194.6,2349,2704,3705,3576,258.7,-13.6,173,1738,0.00,1.75,0.00,0.000,260,0.000,0.040,2347,3843,3642,3704,3581,0,0,0,0,0,0,26.06,26.07,26.12
$GC,1766,-0.88,-194.6,2347,3843,3704,3576,263.2,-13.6,174,1773,0.00,1.62,0.00,0.000,1030,0.000,0.022,2348,2700,3640,3704,3576,0,0,0,0,0,0,26.14,26.09,26.15
$GC,2093,-0.88,-194.6,2347,2700,3703,3576,311.4,-15.0,185,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2701,3639,3703,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2393,-0.88,-194.6,2348,2701,3702,3576,355.5,-14.4,195,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3638,3701,3576,0,0,0,0,0,0,26.06,26.13,26.13
$GC,2693,-0.88,-194.6,2348,2701,3701,3578,396.9,-13.5,205,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2700,3638,3700,3576,0,0,0,0,0,0,26.10,26.14,26.13
$GC,2993,-0.90,-194.6,2348,2701,3699,3577,439.1,-14.2,215,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2699,3637,3699,3576,0,0,0,0,0,0,26.06,26.13,26.13
$GC,3293,-0.91,-194.6,2347,2700,3699,3576,482.5,-14.4,225,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2699,3636,3697,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3593,-0.93,-194.6,2347,2700,3697,3576,523.0,-13.8,235,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2700,3636,3696,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,3893,-0.95,-194.6,2351,2699,3696,3575,563.5,-13.7,245,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2700,3635,3694,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4193,-0.98,-194.6,2348,2700,3703,3575,603.4,-12.7,255,4201,0.00,2.05,0.00,0.000,516,0.000,0.023,2348,1327,3634,3693,3576,0,0,0,0,0,0,26.06,26.08,26.13
$GC,4226,-1.00,-194.6,2348,1328,3694,3577,607.6,-12.9,256,4236,0.00,2.08,0.00,0.000,1030,0.000,0.028,2348,2695,3634,3693,3575,0,0,0,0,0,0,26.12,26.08,26.13
$GC,4555,-1.03,-194.6,2347,2696,3693,3577,650.7,-13.4,267,4563,0.00,1.77,0.00,0.000,260,0.000,0.041,2347,3852,3634,3692,3576,0,0,0,0,0,0,26.06,26.06,26.11
$GC,4612,-1.06,-194.6,2348,3852,3692,3576,655.2,-13.6,268,4623,0.08,1.65,0.00,0.000,5126,0.119,0.023,2296,2698,3633,3691,3576,0,0,0,0,0,0,26.03,26.10,26.11
$GC,4918,-1.04,-194.6,2295,2697,3691,3576,707.6,-16.0,279,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2697,3633,3690,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,5218,-1.02,-194.6,2296,2697,3690,3575,752.4,-14.8,289,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2697,3632,3689,3576,0,0,0,0,0,0,26.06,26.13,26.11
$GC,5518,-1.00,-194.6,2296,2698,3689,3577,797.4,-15.2,299,5523,0.08,0.00,0.00,0.000,2054,0.192,0.000,2309,2697,3632,3688,3576,0,0,0,0,0,0,25.95,26.10,26.08
$GC,5817,-1.00,-194.6,2309,2697,3688,3574,838.5,-13.3,309,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2697,3632,3688,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6118,-1.00,-194.6,2309,2697,3688,3576,876.2,-12.3,319,6126,0.00,2.05,0.00,0.000,516,0.000,0.024,2309,1325,3631,3687,3576,0,0,0,0,0,0,26.05,26.08,26.10
$GC,6159,-1.00,-194.6,2309,1326,3688,3576,880.1,-12.2,320,6168,0.00,2.10,0.00,0.000,1030,0.000,0.026,2308,2702,3631,3687,3575,0,0,0,0,0,0,26.11,26.07,26.12
$GC,6482,-1.00,-194.6,2309,2703,3687,3576,922.9,-13.3,331,6489,0.00,1.77,0.00,0.000,260,0.000,0.041,2306,3846,3631,3686,3576,0,0,0,0,0,0,26.05,26.06,26.10
$GC,6518,-1.00,-194.6,2307,3848,3687,3578,927.2,-13.5,332,6525,0.00,1.70,0.00,0.000,1030,0.000,0.023,2306,2706,3630,3686,3575,0,0,0,0,0,0,26.11,26.08,26.12
$GC,6844,-1.00,-194.6,2306,2706,3686,3575,974.1,-14.5,343,6853,0.00,2.08,0.00,0.000,516,0.000,0.024,2306,1317,3631,3686,3576,0,0,0,0,0,0,26.06,26.07,26.12
$GC,6882,-1.00,-194.6,2307,1318,3686,3577,979.0,-14.7,344,6894,0.00,2.12,0.00,0.000,1030,0.000,0.027,2306,2708,3631,3686,3576,0,0,0,0,0,0,26.11,26.05,26.11
$STATE,6967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6967,begin apogee
$GC,6971,-0.25,0.0,2308,2816,3687,3576,992.8,-15.1,347,7142,0.80,0.00,163.95,1.101,10246,0.122,0.000,2556,2814,2838,2876,2801,0,0,0,0,0,0,25.95,24.51,23.85
$STATE,7142,end apogee,CONTROL_FINISHED_OK
$STATE,7143,begin climb
$GC,7144,0.92,194.6,2558,2815,2867,2794,1001.6,0.0,352,7321,1.10,2.38,163.43,1.093,10756,0.066,0.023,2944,1413,2036,2073,2000,0,0,0,0,0,0,24.68,23.81,23.15
$GC,7456,0.88,247.7,2944,1412,2065,1989,992.9,9.0,363,7515,0.00,2.20,45.38,1.080,9222,0.000,0.027,2944,2787,1820,1860,1781,0,0,0,0,0,0,25.03,24.99,23.70
$GC,7811,0.85,247.7,2945,2786,1852,1768,950.0,12.7,375,7819,0.00,1.70,0.00,0.000,260,0.000,0.040,2944,3859,1810,1851,1769,0,0,0,0,0,0,25.48,25.50,25.54
$GC,7883,0.80,247.7,2944,3860,1852,1769,941.6,13.0,377,7890,0.10,1.58,0.00,0.000,5126,0.191,0.023,2925,2771,1809,1851,1768,0,0,0,0,0,0,25.49,25.62,25.63
$GC,8205,0.79,247.7,2926,2772,1850,1769,903.2,11.4,388,8212,0.00,1.70,0.00,0.000,260,0.000,0.040,2925,3851,1809,1850,1768,0,0,0,0,0,0,25.84,25.86,25.91
$GC,8298,0.76,247.7,2925,3851,1851,1767,892.2,11.9,391,8306,0.10,1.50,0.00,0.000,5126,0.177,0.024,2909,2800,1808,1850,1767,0,0,0,0,0,0,25.81,25.92,25.94
$GC,8630,0.76,281.7,2909,2801,1851,1768,857.8,9.7,402,8668,0.00,0.00,30.10,1.017,8198,0.000,0.000,2909,2800,1689,1731,1648,0,0,0,0,0,0,25.98,25.33,24.68
$GC,8960,0.76,290.1,2909,2801,1714,1628,823.6,10.7,413,8967,0.00,1.65,0.00,0.000,260,0.000,0.041,2909,3853,1669,1713,1626,0,0,0,0,0,0,25.86,25.91,25.92
$GC,9006,0.76,295.8,2910,3854,1714,1627,820.0,10.8,414,9026,0.00,1.50,11.50,0.993,9222,0.000,0.024,2915,2799,1631,1674,1588,0,0,0,0,0,0,25.97,25.92,24.90
$GC,9321,0.76,295.8,2916,2800,1665,1577,781.2,12.1,425,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2801,1620,1664,1576,0,0,0,0,0,0,25.92,25.99,25.98
$GC,9621,0.76,295.8,2915,2798,1665,1582,745.0,11.9,435,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2799,1619,1664,1574,0,0,0,0,0,0,25.98,26.06,26.04
$GC,9922,0.76,295.8,2915,2798,1659,1575,710.8,11.3,445,9930,0.00,1.65,0.00,0.000,260,0.000,0.040,2914,3860,1619,1663,1575,0,0,0,0,0,0,26.01,26.03,26.08
$GC,9973,0.76,295.8,2915,3860,1664,1574,707.0,11.5,446,9981,0.00,1.55,0.00,0.000,1030,0.000,0.024,2918,2799,1618,1662,1574,0,0,0,0,0,0,26.09,26.05,26.10
$GC,10285,0.76,295.8,2919,2799,1665,1574,668.6,11.7,457,10292,0.00,1.65,0.00,0.000,260,0.000,0.040,2919,3861,1618,1663,1574,0,0,0,0,0,0,26.03,26.06,26.10
$GC,10316,0.76,295.8,2918,3861,1664,1573,664.6,11.9,458,10324,0.00,1.52,0.00,0.000,1030,0.000,0.024,2919,2783,1618,1663,1573,0,0,0,0,0,0,26.10,26.06,26.10
$GC,10648,0.76,295.8,2917,2784,1665,1574,625.6,11.7,469,10657,0.00,2.03,0.00,0.000,516,0.000,0.025,2914,1430,1618,1663,1573,0,0,0,0,0,0,26.04,26.07,26.10
$GC,10691,0.76,295.8,2919,1431,1664,1574,621.7,11.7,470,10700,0.00,2.10,0.00,0.000,1030,0.000,0.027,2918,2804,1618,1663,1573,0,0,0,0,0,0,26.10,26.06,26.11
$GC,11014,0.76,299.7,2920,2805,1665,1574,585.0,10.9,481,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2804,1618,1663,1573,0,0,0,0,0,0,26.03,26.10,26.10
$GC,11314,0.76,299.7,2919,2805,1664,1574,551.1,11.4,491,11322,0.00,1.60,0.00,0.000,260,0.000,0.041,2919,3849,1618,1663,1573,0,0,0,0,0,0,26.05,26.06,26.10
$GC,11360,0.76,299.7,2919,3848,1664,1572,547.3,11.5,492,11368,0.08,1.50,0.00,0.000,5126,0.202,0.024,2913,2787,1617,1663,1572,0,0,0,0,0,0,25.94,26.08,26.08
$GC,11677,0.76,304.3,2913,2787,1664,1572,510.8,10.8,503,11688,0.00,1.73,1.88,0.212,8452,0.000,0.039,2914,3850,1601,1649,1554,0,0,0,0,0,0,26.03,26.05,25.80
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$GC,13157,0.80,342.9,2924,2797,1470,1374,341.5,11.3,552,13165,0.00,2.08,0.00,0.000,516,0.000,0.024,2932,1420,1422,1469,1375,0,0,0,0,0,0,26.01,26.04,26.08
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$STATE,16202,end climb,SURFACE_DEPTH_REACHED
$STATE,16202,begin surface coast
$FINISH,0.5,1.023871
$STATE,16217,end surface coast,CONTROL_FINISHED_OK
$STATE,16218,begin surface
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$IRIDIUM_FIX,5724.52,-14754.97,180508,111506
$TT8_MAMPS,0.058422,0.058422
$HUMID,39.09
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.50
$XPDR_PINGS,0
$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,16247.38 7526.14
$PA_BOOTCOUNT,373
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$PA_HOME,0.01/0.196/27.046/25.476
$PA_DISK_BANK,1
$24V_AH,23.15,17.736
$10V_AH,10.19,30.834
$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,18.550,84.750,574.175,0.000,0.000,0.000,0.000,239.200,0.000,16630.400,9.963,0.000,12869.789,618.988,2999.594,129.074,0.000,2112.889,0.000,1604.173,0.000,0.548,0.000
$DEVICE_MAMPS,237.150,90.270,1100.835,0.000,0.000,0.000,0.000,94.860,420.000,61.939,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,578.527,0.000,0.000,0.000,0.000,0.000,16630.320,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,213744
$DATA_FILE_SIZE,36660,843
$CAP_FILE_SIZE,138075,0
$CFSIZE,1024393216,989790208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16604.01,0x236db2,7,5
$INTR,1,16222.34,0x236db2,7,5
$CURRENT,0.121,175.86,1
$GPS,230715,022503,5747.256,-14758.687,23,0.8,23,17.6,0.7,86.0,10,8.4