version: 66.12
glider: 203
mission: 6
dive: 163
start: 1 12 115 9 42 34
data:
$ID,203
$MISSION,6
$DIVE,163
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,4
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$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,-63.024231
$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
$GPS1,120115,093604,1925.5323,-15705.3174,24,0.8,24,9.5,0.0,0.0,9,20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.4
$GPS2,120115,094223,1925.5626,-15705.2588,18,0.8,18,9.5,0.5,62.0,9,23.1
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H7
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,301.0,122036,-17.4,-9.167,-19.15,2608
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.90,-155.7,195,2821,1020,928,0.0,0.0,0,136,0.00,0.00,-36.75,0.000,16386,0.000,0.000,194,2815,2056,2081,2032,0,0,0,0,0,0,26.10,28.83,26.17
$GC,137,-0.90,-155.7,195,2817,2082,2034,3.3,-3.4,4,187,8.82,1.60,-32.15,0.000,18692,0.210,0.060,2498,3854,3243,3305,3182,0,0,0,0,0,0,25.66,25.30,25.95
$GC,331,-0.90,-155.7,2498,3854,3306,3183,41.9,-25.1,34,349,0.00,1.50,0.00,0.000,1030,0.000,0.024,2498,2788,3244,3305,3183,0,0,0,0,0,0,26.19,26.15,26.20
$GC,656,-0.90,-155.7,2498,2789,3308,3183,118.8,-20.4,67,663,0.00,1.48,0.00,0.000,516,0.000,0.023,2498,1771,3245,3307,3183,0,0,0,0,0,0,26.20,26.17,26.27
$GC,807,-0.90,-155.7,2498,1771,3311,3183,147.6,-18.3,82,818,0.08,1.52,0.00,0.000,3078,0.187,0.032,2506,2785,3246,3310,3183,0,0,0,0,0,0,25.89,26.08,26.01
$GC,1123,-0.90,-155.7,2507,2786,3311,3189,199.9,-17.3,113,1132,0.00,1.67,0.00,0.000,260,0.000,0.044,2501,3854,3248,3310,3186,0,0,0,0,0,0,26.22,26.10,26.28
$GC,1180,-0.90,-155.7,2501,3854,3312,3186,208.2,-15.4,118,1190,0.00,1.50,0.00,0.000,1030,0.000,0.024,2501,2793,3248,3310,3187,0,0,0,0,0,0,26.26,26.23,26.27
$GC,1496,-0.90,-155.7,2501,2794,3311,3189,255.5,-13.9,148,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2793,3249,3311,3188,0,0,0,0,0,0,26.23,26.29,26.29
$GC,1796,-0.90,-155.7,2501,2794,3312,3189,299.5,-14.8,158,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2793,3251,3310,3192,0,0,0,0,0,0,26.22,26.29,26.28
$GC,2096,-0.90,-155.7,2500,2793,3311,3187,341.2,-13.8,168,2103,0.00,1.65,0.00,0.000,260,0.000,0.046,2497,3856,3248,3309,3187,0,0,0,0,0,0,26.23,26.10,26.29
$GC,2202,-0.90,-155.7,2497,3855,3310,3187,354.7,-14.6,171,2209,0.00,1.55,0.00,0.000,1030,0.000,0.024,2497,2791,3248,3309,3188,0,0,0,0,0,0,26.27,26.25,26.27
$GC,2518,-0.90,-155.7,2498,2793,3306,3189,398.9,-13.5,182,2525,0.00,1.50,0.00,0.000,516,0.000,0.023,2497,1734,3246,3305,3187,0,0,0,0,0,0,26.22,26.20,26.29
$GC,2590,-0.90,-155.7,2497,1734,3305,3187,406.9,-13.1,184,2597,0.05,1.65,0.00,0.000,3078,0.144,0.035,2508,2794,3243,3300,3187,0,0,0,0,0,0,25.96,26.16,26.04
$GC,2912,-0.90,-155.7,2508,2795,3301,3189,448.2,-12.3,195,2919,0.00,1.62,0.00,0.000,260,0.000,0.046,2503,3851,3243,3300,3187,0,0,0,0,0,0,26.21,26.08,26.27
$GC,3033,-0.90,-155.7,2503,3852,3299,3189,463.9,-12.9,199,3040,0.00,1.52,0.00,0.000,1030,0.000,0.024,2502,2810,3242,3298,3187,0,0,0,0,0,0,26.23,26.22,26.25
$GC,3365,-0.90,-155.7,2503,2810,3295,3188,503.4,-11.9,210,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2810,3240,3294,3186,0,0,0,0,0,0,26.20,26.27,26.27
$GC,3665,-0.90,-155.7,2507,2809,3289,3187,539.1,-12.2,220,3672,0.00,1.65,0.00,0.000,260,0.000,0.047,2502,3856,3237,3288,3187,0,0,0,0,0,0,26.22,26.06,26.29
$GC,3851,-0.90,-155.7,2498,3857,3287,3188,563.4,-13.5,226,3858,0.00,1.50,0.00,0.000,1030,0.000,0.026,2498,2811,3236,3286,3186,0,0,0,0,0,0,26.27,26.21,26.26
$GC,4178,-0.90,-155.7,2498,2811,3282,3187,604.2,-11.8,237,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2811,3234,3281,3187,0,0,0,0,0,0,26.19,26.26,26.25
$GC,4477,-0.90,-155.7,2498,2810,3281,3185,638.6,-11.4,247,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2811,3232,3280,3184,0,0,0,0,0,0,26.18,26.26,26.25
$GC,4777,-0.90,-155.7,2498,2810,3279,3182,672.4,-11.3,257,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2814,3227,3271,3183,0,0,0,0,0,0,26.20,26.27,26.25
$GC,5077,-0.90,-155.7,2498,2812,3276,3182,707.0,-11.8,267,5085,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3849,3228,3275,3181,0,0,0,0,0,0,26.19,25.99,26.25
$GC,5150,-0.90,-155.7,2497,3850,3275,3183,714.2,-11.6,269,5157,0.00,1.52,0.00,0.000,1030,0.000,0.027,2497,2828,3227,3274,3181,0,0,0,0,0,0,26.17,26.15,26.19
$GC,5471,-0.90,-155.7,2497,2827,3272,3180,751.7,-11.3,280,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2828,3225,3271,3180,0,0,0,0,0,0,26.15,26.22,26.20
$GC,5771,-0.90,-155.7,2497,2829,3271,3180,785.2,-11.0,290,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2828,3224,3270,3179,0,0,0,0,0,0,26.16,26.22,26.22
$GC,6071,-0.90,-155.7,2497,2827,3269,3176,816.4,-10.2,300,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2827,3222,3267,3177,0,0,0,0,0,0,26.13,26.20,26.19
$GC,6371,-0.90,-155.7,2497,2828,3267,3175,847.6,-10.4,310,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2828,3220,3265,3175,0,0,0,0,0,0,26.14,26.21,26.20
$GC,6671,-0.90,-155.7,2498,2829,3265,3176,877.7,-9.8,320,6679,0.00,1.65,0.00,0.000,260,0.000,0.051,2497,3858,3219,3264,3174,0,0,0,0,0,0,26.12,25.96,26.18
$GC,6723,-0.90,-155.7,2498,3859,3264,3174,880.9,-9.8,321,6730,0.00,1.52,0.00,0.000,1030,0.000,0.028,2495,2815,3219,3264,3174,0,0,0,0,0,0,26.15,26.12,26.17
$GC,7035,-0.90,-155.7,2497,2815,3264,3173,912.9,-9.7,332,7042,0.00,1.70,0.00,0.000,260,0.000,0.050,2502,3847,3218,3262,3174,0,0,0,0,0,0,26.14,25.92,26.20
$GC,7071,-0.90,-155.7,2497,3847,3263,3173,915.9,-9.6,333,7080,0.00,1.55,0.00,0.000,1030,0.000,0.028,2497,2820,3217,3262,3173,0,0,0,0,0,0,26.13,26.11,26.15
$GC,7400,-0.90,-155.7,2498,2821,3262,3174,947.0,-9.1,344,7407,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3849,3216,3261,3172,0,0,0,0,0,0,26.10,25.91,26.17
$GC,7431,-0.90,-155.7,2497,3850,3261,3173,950.0,-9.1,345,7438,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2822,3216,3261,3172,0,0,0,0,0,0,26.11,26.08,26.13
$GC,7763,-0.90,-155.7,2497,2823,3260,3172,979.6,-9.0,356,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2822,3215,3260,3171,0,0,0,0,0,0,26.08,26.16,26.15
$STATE,7881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7881,begin apogee
$GC,7885,-0.19,0.0,2498,2946,3260,3170,990.4,-9.0,360,8024,0.77,0.00,127.12,1.678,10244,0.118,0.000,2738,2946,2607,2648,2567,0,0,0,0,1,0,25.66,24.04,23.04
$STATE,8025,end apogee,CONTROL_FINISHED_OK
$STATE,8025,begin climb
$GC,8026,0.90,155.7,2739,2946,2661,2567,993.2,0.0,364,8174,1.02,1.60,136.77,1.051,10500,0.070,0.051,3089,3849,1974,2013,1935,0,0,0,0,0,0,24.28,24.30,23.38
$GC,8203,1.01,229.2,3089,3850,1999,1920,986.1,6.3,370,8278,0.08,1.42,64.15,1.035,11270,0.053,0.027,3150,2954,1666,1708,1624,0,0,0,0,0,0,24.67,24.66,23.50
$GC,8574,1.01,229.2,3150,2954,1694,1613,926.5,15.7,383,8581,0.00,1.58,0.00,0.000,516,0.000,0.024,3150,1892,1650,1692,1608,0,0,0,0,0,0,25.89,25.91,25.96
$GC,8599,1.01,229.2,3150,1891,1694,1607,926.5,15.7,383,8610,0.00,1.65,0.00,0.000,1030,0.000,0.035,3150,2956,1650,1693,1607,0,0,0,0,0,0,25.96,25.90,25.98
$GC,8905,1.01,229.2,3150,2956,1693,1606,875.7,15.2,394,8912,0.00,1.45,0.00,0.000,260,0.000,0.047,3150,3853,1649,1692,1607,0,0,0,0,0,0,26.13,26.06,26.20
$GC,8961,1.01,229.2,3151,3853,1692,1607,870.8,15.3,395,8973,0.00,1.35,0.00,0.000,1030,0.000,0.027,3150,2940,1648,1691,1606,0,0,0,0,0,0,26.19,26.17,26.20
$GC,9267,1.01,229.2,3150,2940,1692,1605,821.0,14.9,406,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2940,1648,1692,1605,0,0,0,0,0,0,26.19,26.26,26.25
$GC,9567,1.01,229.2,3151,2940,1692,1605,777.1,14.5,416,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2936,1648,1691,1605,0,0,0,0,0,0,26.15,26.25,26.23
$GC,9866,1.01,229.2,3150,2941,1691,1605,735.2,13.9,426,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2940,1647,1690,1604,0,0,0,0,0,0,26.17,26.25,26.25
$GC,10167,1.01,229.2,3150,2936,1690,1605,694.6,13.6,436,10175,0.00,1.50,0.00,0.000,260,0.000,0.048,3150,3853,1646,1689,1604,0,0,0,0,0,0,26.15,26.03,26.22
$GC,10223,1.01,229.2,3150,3852,1690,1603,690.0,13.7,437,10235,0.00,1.33,0.00,0.000,1030,0.000,0.028,3150,2960,1646,1689,1604,0,0,0,0,0,0,26.17,26.15,26.18
$GC,10529,1.01,229.2,3150,2962,1689,1605,645.0,13.5,448,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2960,1646,1688,1604,0,0,0,0,0,0,26.15,26.23,26.22
$GC,10829,1.01,229.2,3151,2960,1689,1603,603.1,14.0,458,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2960,1645,1688,1603,0,0,0,0,0,0,26.12,26.20,26.20
$GC,11129,1.01,229.2,3150,2960,1688,1602,560.7,13.8,468,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2960,1646,1688,1604,0,0,0,0,0,0,26.12,26.20,26.18
$GC,11429,1.01,229.2,3151,2960,1688,1602,518.9,13.7,478,11436,0.00,1.55,0.00,0.000,516,0.000,0.023,3157,1893,1645,1687,1603,0,0,0,0,0,0,26.10,26.10,26.17
$GC,11460,1.01,229.2,3157,1892,1688,1600,514.6,13.7,479,11467,0.00,1.65,0.00,0.000,1030,0.000,0.036,3157,2962,1645,1687,1604,0,0,0,0,0,0,26.10,26.03,26.13
$GC,11792,1.01,229.2,3157,2964,1688,1604,469.6,13.2,490,11801,0.00,1.45,0.00,0.000,260,0.000,0.047,3157,3854,1645,1687,1603,0,0,0,0,0,0,26.05,25.98,26.11
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$STATE,16084,end climb,SURFACE_DEPTH_REACHED
$STATE,16084,begin surface coast
$FINISH,1.3,0.997125
$STATE,16093,end surface coast,CONTROL_FINISHED_OK
$STATE,16094,begin surface
$SM_CCo,16108,29.00,0.126,0,0,972,400.08
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$IRIDIUM_FIX,1913.80,-15703.99,120115,042357
$TT8_MAMPS,0.057673,0.057673
$HUMID,37.16
$INTERNAL_PRESSURE,9.1556
$TCM_TEMP,25.20
$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,16093.90 7744.22
$PA_BOOTCOUNT,243
$PA_DFQS,0/0
$PA_LOG,0.01/0.232/31.498/29.665
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$PA_DATA0,0.92/107.349/117.199/3.897
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.202/27.046/25.471
$PA_DISK_BANK,1
$24V_AH,23.04,54.274
$10V_AH,10.24,34.655
$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,19.075,76.500,406.250,29.000,0.000,0.000,0.000,265.550,0.500,16530.791,20.002,0.000,12681.633,473.947,3200.701,141.367,0.000,2046.849,0.000,1767.997,0.000,0.556,0.000
$DEVICE_MAMPS,209.610,70.380,1678.410,126.225,0.000,0.000,0.000,96.390,420.000,61.850,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,567.223,0.000,0.000,0.000,0.000,0.000,16530.949,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,287680
$DATA_FILE_SIZE,36703,839
$CAP_FILE_SIZE,185116,0
$CFSIZE,1024393216,1002307584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,18838.54,0x236db2,7,5
$CURRENT,0.073,88.72,1
$GPS,120115,141228,1927.364,-15706.518,38,1.0,38,9.5,0.5,24.3,8,8.1