version: 66.12
glider: 203
mission: 8
dive: 129
start: 8 3 115 11 39 19
data:
$ID,203
$MISSION,8
$DIVE,129
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,-4
$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,95
$R_STBD_OVSHOOT,49
$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,21
$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
$GPS1,030815,112933,5636.2954,-15026.2100,34,0.8,34,16.6,0.0,0.0,9,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.7
$GPS2,030815,113908,5636.2109,-15026.0244,6,0.8,7,16.6,0.5,123.4,10,9.5
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.6,70630,-17.4,-10.556,-19.06,2832
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.89,-194.6,198,2802,991,872,0.0,0.0,0,138,0.00,0.00,-38.70,0.000,16386,0.000,0.000,198,2803,1942,1986,1899,0,0,0,0,0,0,26.01,28.83,26.08
$GC,139,-0.89,-194.6,199,2803,1987,1899,3.1,-4.0,5,206,8.55,2.28,-45.53,0.000,18948,0.230,0.037,2341,1324,3635,3708,3562,0,0,0,0,0,0,25.61,24.48,25.91
$GC,339,-0.83,-194.6,2341,1323,3710,3565,43.2,-22.3,37,358,0.12,2.08,0.00,0.000,3078,0.167,0.024,2364,2702,3637,3708,3566,0,0,0,0,0,0,25.80,26.01,25.94
$GC,664,-0.81,-194.6,2365,2704,3709,3570,107.4,-17.4,70,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2703,3638,3708,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,965,-0.81,-194.6,2364,2704,3709,3570,153.7,-14.7,100,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2702,3638,3708,3569,0,0,0,0,0,0,26.14,26.21,26.20
$GC,1265,-0.81,-194.6,2364,2702,3704,3569,197.1,-13.3,130,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2703,3638,3708,3569,0,0,0,0,0,0,26.13,26.18,26.17
$GC,1566,-0.83,-194.6,2364,2703,3709,3569,236.4,-13.7,160,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2703,3638,3708,3569,0,0,0,0,0,0,26.13,26.20,26.20
$GC,1886,-0.85,-194.6,2364,2704,3708,3570,276.0,-12.0,178,1894,0.00,1.75,0.00,0.000,260,0.000,0.038,2362,3852,3638,3707,3569,0,0,0,0,0,0,26.13,26.08,26.20
$GC,1913,-0.87,-194.6,2362,3853,3707,3570,276.0,-12.0,178,1923,0.00,1.62,0.00,0.000,1030,0.000,0.021,2362,2696,3637,3706,3569,0,0,0,0,0,0,26.21,26.18,26.22
$GC,2218,-0.89,-194.6,2362,2695,3706,3568,318.0,-13.1,189,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2696,3636,3704,3569,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2518,-0.91,-194.6,2363,2695,3706,3569,360.0,-14.1,199,2525,0.00,1.77,0.00,0.000,260,0.000,0.039,2354,3845,3636,3704,3569,0,0,0,0,0,0,26.14,26.08,26.20
$GC,2580,-0.94,-194.6,2354,3845,3705,3568,369.1,-14.4,201,2587,0.00,1.62,0.00,0.000,1030,0.000,0.022,2354,2706,3636,3704,3569,0,0,0,0,0,0,26.19,26.15,26.20
$GC,2911,-0.96,-194.6,2354,2707,3703,3571,417.6,-14.2,212,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2707,3635,3702,3569,0,0,0,0,0,0,26.13,26.20,26.20
$GC,3211,-0.97,-194.6,2354,2710,3702,3571,458.6,-13.3,222,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2707,3634,3700,3569,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3511,-1.00,-194.6,2355,2707,3700,3568,495.5,-11.7,232,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2707,3634,3699,3569,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3811,-1.02,-194.6,2354,2706,3699,3569,530.4,-11.5,242,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2706,3633,3698,3568,0,0,0,0,0,0,26.12,26.19,26.17
$GC,4111,-1.04,-194.6,2354,2706,3697,3569,565.2,-11.6,252,4119,0.10,1.77,0.00,0.000,4356,0.096,0.037,2282,3847,3632,3696,3569,0,0,0,0,0,0,26.07,26.06,26.13
$GC,4143,-1.04,-194.6,2283,3848,3696,3570,569.0,-12.2,253,4150,0.08,1.65,0.00,0.000,3078,0.181,0.022,2295,2706,3632,3695,3569,0,0,0,0,0,0,25.96,26.15,26.07
$GC,4469,-1.02,-194.6,2295,2705,3696,3569,620.9,-15.6,264,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2706,3632,3695,3569,0,0,0,0,0,0,26.13,26.19,26.18
$GC,4769,-0.99,-194.6,2295,2705,3693,3569,666.7,-15.4,274,4775,0.08,0.00,0.00,0.000,2054,0.201,0.000,2312,2706,3631,3693,3569,0,0,0,0,0,0,25.93,26.11,26.06
$GC,5069,-0.99,-194.6,2312,2707,3693,3577,711.1,-15.1,284,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2706,3630,3692,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5369,-0.99,-194.6,2313,2708,3692,3570,757.3,-15.4,294,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2706,3629,3690,3569,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5669,-0.99,-194.6,2312,2706,3690,3569,804.5,-15.9,304,5677,0.00,1.77,0.00,0.000,260,0.000,0.039,2305,3845,3629,3689,3569,0,0,0,0,0,0,26.11,26.06,26.17
$GC,5716,-0.99,-194.6,2307,3844,3690,3571,809.6,-15.8,305,5723,0.00,1.65,0.00,0.000,1030,0.000,0.022,2307,2692,3630,3691,3569,0,0,0,0,0,0,26.19,26.15,26.19
$GC,6032,-0.99,-194.6,2307,2693,3689,3570,862.1,-15.6,316,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2692,3628,3688,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6332,-0.99,-194.6,2307,2692,3688,3568,906.0,-14.3,326,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2692,3628,3687,3569,0,0,0,0,0,0,26.11,26.17,26.17
$GC,6632,-0.99,-194.6,2307,2692,3688,3568,948.4,-13.9,336,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2692,3628,3687,3569,0,0,0,0,0,0,26.11,26.18,26.17
$STATE,6661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6661,begin apogee
$GC,6665,-0.25,0.0,2307,2809,3687,3570,952.6,-13.8,337,6834,0.80,0.00,161.85,1.068,10246,0.119,0.000,2556,2808,2839,2872,2807,0,0,0,0,0,0,25.83,24.44,23.75
$STATE,6834,end apogee,CONTROL_FINISHED_OK
$STATE,6834,begin climb
$GC,6836,0.89,194.6,2556,2808,2865,2798,960.5,0.0,342,7014,1.08,2.33,163.93,1.057,10756,0.063,0.021,2931,1424,2035,2069,2002,0,0,0,0,0,0,24.59,23.90,23.22
$GC,7208,0.86,217.3,2931,1429,2061,1986,944.1,9.7,355,7239,0.00,2.12,19.52,1.037,9222,0.000,0.026,2931,2782,1945,1981,1910,0,0,0,0,0,0,25.52,25.48,24.35
$GC,7534,0.83,217.3,2931,2782,1974,1898,907.6,11.2,366,7542,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3860,1935,1973,1897,0,0,0,0,0,0,25.94,25.94,26.01
$GC,7636,0.77,217.3,2931,3862,1974,1897,896.5,11.8,369,7643,0.10,1.52,0.00,0.000,5126,0.183,0.023,2917,2785,1933,1972,1895,0,0,0,0,0,0,25.84,26.03,26.01
$GC,7958,0.75,230.2,2912,2787,1973,1896,862.4,10.1,380,7970,0.00,1.65,4.05,0.952,8452,0.000,0.036,2911,3851,1903,1944,1863,0,0,0,0,0,0,26.10,25.66,24.96
$GC,8059,0.72,230.2,2911,3853,1964,1874,852.9,10.8,383,8070,0.10,1.50,1.90,0.206,13318,0.171,0.023,2894,2791,1903,1945,1861,0,0,0,0,0,0,25.89,26.10,25.67
$GC,8375,0.73,274.8,2894,2790,1971,1869,822.2,8.9,394,8431,0.00,1.75,46.50,0.989,8452,0.000,0.039,2894,3852,1710,1748,1672,0,0,0,0,0,0,26.13,25.32,24.60
$GC,8486,0.73,303.0,2894,3853,1742,1663,813.3,9.5,397,8521,0.00,1.50,25.50,0.974,9222,0.000,0.023,2898,2804,1597,1637,1558,0,0,0,0,0,0,25.75,25.71,24.59
$GC,8827,0.73,311.3,2898,2807,1625,1542,775.7,10.3,409,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2806,1580,1620,1540,0,0,0,0,0,0,25.99,26.06,26.06
$GC,9126,0.73,330.1,2898,2807,1625,1541,746.1,9.9,419,9161,0.00,0.00,23.75,0.940,8198,0.000,0.000,2898,2806,1485,1526,1444,0,0,0,0,0,0,26.09,25.60,24.89
$GC,9456,0.75,344.2,2898,2806,1520,1433,712.9,10.0,430,9477,0.00,1.65,13.15,0.939,8452,0.000,0.037,2898,3858,1431,1472,1390,0,0,0,0,0,0,26.04,25.76,25.01
$GC,9501,0.75,357.2,2905,3860,1466,1382,709.8,10.1,431,9521,0.00,1.52,12.50,0.926,9222,0.000,0.023,2903,2788,1380,1423,1338,0,0,0,0,0,0,25.93,25.91,24.89
$GC,9817,0.77,357.2,2903,2790,1412,1324,673.3,10.8,442,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2789,1367,1410,1324,0,0,0,0,0,0,26.03,26.10,26.09
$GC,10116,0.79,357.2,2903,2790,1410,1324,640.0,11.0,452,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2789,1366,1410,1323,0,0,0,0,0,0,26.10,26.17,26.17
$GC,10417,0.81,357.2,2903,2790,1410,1323,606.5,11.4,462,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2789,1365,1409,1322,0,0,0,0,0,0,26.12,26.20,26.19
$GC,10716,0.83,357.2,2902,2785,1409,1324,571.7,11.8,472,10724,0.00,2.08,0.00,0.000,516,0.000,0.025,2906,1427,1366,1410,1322,0,0,0,0,0,0,26.14,26.13,26.20
$GC,10743,0.86,357.2,2907,1425,1410,1322,571.7,11.8,472,10754,0.00,2.10,0.00,0.000,1030,0.000,0.027,2906,2802,1365,1409,1322,0,0,0,0,0,0,26.17,26.13,26.20
$GC,11048,0.88,357.2,2907,2804,1409,1323,533.4,11.5,483,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2802,1362,1409,1316,0,0,0,0,0,0,26.13,26.20,26.19
$GC,11348,0.90,357.2,2906,2803,1417,1322,498.5,11.7,493,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2802,1365,1409,1321,0,0,0,0,0,0,26.12,26.20,26.19
$GC,11648,0.92,357.2,2907,2802,1410,1321,464.9,11.1,503,11656,0.10,2.05,0.00,0.000,2564,0.096,0.021,2969,1431,1364,1408,1321,0,0,0,0,0,0,26.07,26.13,26.14
$GC,11680,0.92,357.2,2970,1432,1409,1323,461.5,11.3,504,11688,0.00,2.10,0.00,0.000,1030,0.000,0.027,2969,2805,1364,1409,1320,0,0,0,0,0,0,26.17,26.12,26.19
$GC,12002,0.89,357.2,2970,2806,1409,1323,415.1,14.3,515,12010,0.10,1.65,0.00,0.000,4356,0.170,0.036,2949,3853,1365,1408,1322,0,0,0,0,0,0,25.91,26.08,26.06
$GC,12034,0.86,357.2,2949,3854,1409,1322,410.8,14.1,516,12041,0.00,1.52,0.00,0.000,1030,0.000,0.022,2948,2801,1364,1408,1320,0,0,0,0,0,0,26.17,26.15,26.17
$GC,12366,0.86,357.2,2949,2802,1408,1322,367.7,13.0,527,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2801,1364,1408,1321,0,0,0,0,0,0,26.13,26.20,26.20
$GC,12666,0.86,357.2,2949,2801,1408,1322,328.9,12.5,537,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2800,1363,1407,1320,0,0,0,0,0,0,26.12,26.18,26.17
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$STATE,15531,end climb,SURFACE_DEPTH_REACHED
$STATE,15531,begin surface coast
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$STATE,15551,end surface coast,CONTROL_FINISHED_OK
$STATE,15551,begin surface
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$IRIDIUM_FIX,5613.59,-15024.04,300508,010136
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.38
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.60
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15581.59 7256.53
$PA_BOOTCOUNT,435
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$PA_HOME,0.01/0.208/27.046/25.464
$PA_DISK_BANK,2
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$10V_AH,10.17,35.035
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,229.500,73.440,1067.940,0.000,0.000,0.000,0.000,91.800,420.000,61.841,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,565.845,0.000,0.000,0.000,0.000,0.000,16211.870,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,180088
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$CAP_FILE_SIZE,129241,0
$CFSIZE,1024393216,983842816
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,1,15556.06,0x236db2,7,5
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$GPS,030815,160034,5636.093,-15029.699,30,0.8,31,16.6,0.0,0.0,10,6.6