version: 66.12
glider: 204
mission: 15
dive: 50
start: 3 9 115 18 27 36
data:
$ID,204
$MISSION,15
$DIVE,50
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,53
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090315,182137,1325.3715,14529.2451,15,0.8,15,1.2,0.0,0.0,10,85.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.0
$GPS2,090315,182726,1325.3927,14529.1748,15,0.8,15,1.2,0.5,234.8,10,108.9
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,87.3,91614,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,-0.80,-175.2,187,2622,814,808,0.0,0.0,0,147,0.00,0.00,-47.33,0.000,16386,0.000,0.000,186,2621,2098,2062,2134,0,0,0,0,0,0,26.82,28.83,26.89
$GC,149,-0.80,-175.2,188,2622,2066,2134,3.0,-5.1,8,202,11.38,2.03,-35.90,0.000,18948,0.233,0.038,3014,1215,3553,3524,3582,0,0,0,0,0,0,26.29,26.01,26.54
$GC,281,-0.80,-175.2,3014,1214,3527,3583,30.4,-27.1,33,292,0.00,2.03,0.00,0.000,1030,0.000,0.031,3005,2589,3554,3526,3583,0,0,0,0,0,0,26.73,26.67,26.75
$GC,592,-0.80,-175.2,3005,2590,3527,3584,121.4,-26.5,70,601,0.00,1.62,0.00,0.000,260,0.000,0.043,2997,3693,3552,3522,3583,0,0,0,0,0,0,27.03,26.78,27.09
$GC,659,-0.80,-175.2,2996,3692,3527,3582,137.5,-24.6,76,670,0.00,1.50,0.00,0.000,1030,0.000,0.022,3004,2577,3554,3526,3583,0,0,0,0,0,0,26.94,26.91,26.95
$GC,964,-0.80,-175.2,3004,2577,3529,3591,195.7,-18.1,107,970,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2576,3556,3528,3585,0,0,0,0,0,0,27.13,27.20,27.19
$GC,1265,-0.80,-175.2,3004,2577,3532,3589,240.1,-14.4,119,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2575,3559,3531,3588,0,0,0,0,0,0,27.18,27.25,27.24
$GC,1564,-0.80,-175.2,3004,2577,3528,3589,283.6,-14.6,129,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2575,3559,3531,3588,0,0,0,0,0,0,27.22,27.29,27.28
$GC,1865,-0.80,-175.2,3004,2576,3532,3587,322.8,-13.3,139,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2575,3559,3531,3587,0,0,0,0,0,0,27.25,27.32,27.31
$GC,2165,-0.80,-175.2,3004,2575,3532,3585,364.7,-13.7,149,2172,0.00,1.65,0.00,0.000,260,0.000,0.044,2996,3692,3557,3531,3584,0,0,0,0,0,0,27.27,27.01,27.33
$GC,2210,-0.80,-175.2,2997,3693,3531,3585,368.9,-13.6,150,2218,0.00,1.50,0.00,0.000,1030,0.000,0.022,3004,2569,3557,3530,3584,0,0,0,0,0,0,27.16,27.13,27.17
$GC,2527,-0.80,-175.2,3004,2569,3531,3581,414.8,-13.6,161,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2568,3555,3530,3580,0,0,0,0,0,0,27.29,27.34,27.34
$GC,2827,-0.80,-175.2,3003,2568,3531,3575,449.5,-10.9,171,2835,0.00,1.67,0.00,0.000,260,0.000,0.045,2996,3694,3552,3530,3575,0,0,0,0,0,0,27.29,27.03,27.36
$GC,2868,-0.80,-175.2,2997,3696,3530,3576,452.8,-10.7,172,2875,0.00,1.50,0.00,0.000,1030,0.000,0.023,3004,2578,3551,3528,3575,0,0,0,0,0,0,27.19,27.15,27.20
$GC,3189,-0.80,-175.2,3004,2578,3526,3573,487.1,-10.4,183,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2577,3549,3525,3573,0,0,0,0,0,0,27.30,27.38,27.36
$GC,3489,-0.80,-175.2,3003,2577,3523,3569,523.8,-12.8,193,3497,0.00,1.92,0.00,0.000,516,0.000,0.028,3011,1224,3545,3522,3569,0,0,0,0,0,0,27.31,27.10,27.37
$GC,3535,-0.80,-175.2,3012,1225,3521,3570,527.2,-12.8,194,3543,0.00,2.00,0.00,0.000,1030,0.000,0.031,3002,2602,3545,3521,3569,0,0,0,0,0,0,27.15,27.08,27.17
$GC,3847,-0.80,-175.2,3003,2604,3518,3566,567.5,-11.7,205,3856,0.00,1.65,0.00,0.000,260,0.000,0.045,2994,3692,3541,3517,3565,0,0,0,0,0,0,27.32,27.05,27.38
$GC,3914,-0.80,-175.2,2994,3692,3518,3564,574.9,-11.8,207,3921,0.00,1.50,0.00,0.000,1030,0.000,0.024,3001,2583,3540,3517,3563,0,0,0,0,0,0,27.20,27.17,27.22
$GC,4240,-0.80,-175.2,3001,2583,3515,3564,613.2,-11.8,218,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2582,3538,3514,3562,0,0,0,0,0,0,27.32,27.39,27.39
$GC,4540,-0.80,-175.2,3001,2582,3512,3560,649.9,-12.2,228,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2582,3535,3511,3560,0,0,0,0,0,0,27.32,27.39,27.39
$GC,4840,-0.80,-175.2,3001,2582,3510,3557,686.9,-12.3,238,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2582,3532,3508,3557,0,0,0,0,0,0,27.34,27.40,27.39
$GC,5140,-0.80,-175.2,3001,2583,3506,3556,723.5,-11.8,248,5147,0.00,1.65,0.00,0.000,260,0.000,0.045,2994,3691,3529,3505,3554,0,0,0,0,0,0,27.34,27.04,27.39
$GC,5186,-0.80,-175.2,2994,3691,3505,3555,727.3,-11.9,249,5193,0.00,1.52,0.00,0.000,1030,0.000,0.024,3001,2603,3529,3505,3554,0,0,0,0,0,0,27.20,27.17,27.20
$GC,5502,-0.80,-175.2,3002,2604,3504,3553,765.3,-11.1,260,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2602,3527,3503,3552,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5802,-0.80,-175.2,3002,2602,3502,3552,798.3,-11.1,270,5809,0.00,1.98,0.00,0.000,516,0.000,0.028,3010,1218,3525,3501,3550,0,0,0,0,0,0,27.33,27.09,27.39
$GC,5833,-0.80,-175.2,3010,1219,3502,3550,801.3,-11.2,271,5841,0.00,2.03,0.00,0.000,1030,0.000,0.032,3002,2601,3525,3501,3550,0,0,0,0,0,0,27.15,27.08,27.17
$GC,6160,-0.80,-175.2,3002,2602,3500,3549,839.0,-11.4,282,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2601,3523,3498,3548,0,0,0,0,0,0,27.33,27.40,27.39
$GC,6460,-0.80,-175.2,3001,2601,3499,3545,873.8,-11.6,292,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2601,3522,3498,3546,0,0,0,0,0,0,27.36,27.41,27.40
$GC,6760,-0.80,-175.2,3002,2602,3497,3545,907.2,-10.8,302,6767,0.00,1.62,0.00,0.000,260,0.000,0.047,2993,3694,3520,3496,3544,0,0,0,0,0,0,27.33,27.02,27.39
$GC,6795,-0.80,-175.2,2993,3694,3493,3544,910.6,-10.7,303,6802,0.00,1.50,0.00,0.000,1030,0.000,0.025,2999,2590,3520,3496,3544,0,0,0,0,0,0,27.20,27.20,27.22
$GC,7121,-0.80,-175.2,3000,2590,3495,3542,944.1,-9.9,314,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2590,3518,3493,3543,0,0,0,0,0,0,27.33,27.40,27.39
$GC,7421,-0.80,-175.2,3001,2590,3494,3542,971.3,-8.8,324,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2590,3517,3492,3542,0,0,0,0,0,0,27.33,27.41,27.39
$STATE,7660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7660,begin apogee
$GC,7663,-0.17,0.0,3002,2424,3492,3542,991.6,-8.5,332,7806,0.70,0.00,135.27,1.279,10246,0.160,0.000,3207,2422,2838,2813,2864,0,0,0,0,0,0,26.73,25.13,24.42
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7808,0.80,175.2,3208,2422,2810,2857,994.8,0.0,336,7967,1.05,2.28,141.93,1.265,10756,0.142,0.028,3526,1028,2115,2111,2120,0,0,0,0,0,0,25.30,24.78,24.07
$GC,8046,0.91,250.8,3526,1027,2108,2111,987.6,7.1,344,8121,0.12,2.17,62.83,1.265,11270,0.173,0.031,3551,2426,1809,1812,1807,0,0,0,0,0,0,25.55,25.70,24.18
$GC,8417,0.91,250.8,3551,2427,1803,1793,939.2,13.0,357,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2426,1797,1802,1792,0,0,0,0,0,0,26.44,26.52,26.51
$GC,8716,0.91,250.8,3551,2428,1801,1791,903.5,11.4,367,8724,0.00,1.95,0.00,0.000,260,0.000,0.046,3543,3698,1795,1800,1790,0,0,0,0,0,0,26.76,26.51,26.82
$GC,8752,0.91,250.8,3542,3698,1802,1790,900.3,11.5,368,8759,0.00,1.83,0.00,0.000,1030,0.000,0.025,3551,2411,1795,1800,1790,0,0,0,0,0,0,26.65,26.64,26.69
$GC,9068,0.91,250.8,3551,2409,1800,1791,864.5,10.5,379,9077,0.00,2.00,0.00,0.000,260,0.000,0.047,3542,3694,1794,1799,1790,0,0,0,0,0,0,26.93,26.67,26.99
$GC,9100,0.91,250.8,3542,3694,1800,1789,860.9,10.7,380,9108,0.00,1.80,0.00,0.000,1030,0.000,0.024,3551,2409,1794,1799,1790,0,0,0,0,0,0,26.83,26.79,26.85
$GC,9432,0.91,250.8,3552,2411,1799,1790,825.7,10.5,391,9440,0.00,1.98,0.00,0.000,260,0.000,0.047,3542,3699,1793,1798,1789,0,0,0,0,0,0,27.03,26.76,27.10
$GC,9463,0.91,250.8,3542,3699,1799,1789,822.5,10.7,392,9471,0.00,1.80,0.00,0.000,1030,0.000,0.025,3551,2424,1794,1799,1790,0,0,0,0,0,0,26.92,26.89,26.94
$GC,9785,0.91,250.8,3551,2424,1799,1788,787.4,10.8,403,9793,0.00,2.05,0.00,0.000,516,0.000,0.031,3562,1023,1792,1796,1788,0,0,0,0,0,0,27.09,26.89,27.16
$GC,9812,0.91,250.8,3562,1024,1795,1789,784.2,11.0,404,9819,0.00,2.08,0.00,0.000,1030,0.000,0.031,3552,2434,1791,1794,1788,0,0,0,0,0,0,26.94,26.88,26.97
$GC,10138,0.91,250.8,3553,2430,1796,1789,750.2,10.3,415,10147,0.00,1.90,0.00,0.000,260,0.000,0.046,3543,3691,1791,1795,1788,0,0,0,0,0,0,27.14,26.86,27.20
$GC,10201,0.91,250.8,3542,3691,1797,1787,743.7,10.5,417,10208,0.00,1.77,0.00,0.000,1030,0.000,0.024,3551,2417,1792,1796,1788,0,0,0,0,0,0,27.03,27.00,27.05
$GC,10527,0.91,250.8,3551,2408,1794,1786,710.8,10.0,428,10535,0.00,1.95,0.00,0.000,260,0.000,0.045,3542,3689,1791,1794,1788,0,0,0,0,0,0,27.17,26.89,27.24
$GC,10559,0.91,251.2,3543,3689,1796,1788,707.6,10.0,429,10567,0.00,1.77,0.00,0.000,1030,0.000,0.024,3551,2410,1791,1794,1788,0,0,0,0,0,0,27.06,27.03,27.08
$GC,10886,0.97,290.6,3551,2408,1795,1788,678.5,8.5,440,10926,0.00,2.08,31.27,1.140,8452,0.000,0.046,3543,3691,1647,1649,1646,0,0,0,0,0,0,27.20,26.16,25.42
$GC,10950,1.01,319.5,3542,3691,1646,1641,672.9,8.9,442,10987,0.12,1.83,25.77,1.124,11270,0.148,0.024,3592,2414,1532,1535,1529,0,0,0,0,0,0,26.23,26.39,25.00
$GC,11306,1.01,319.5,3592,2415,1525,1513,626.3,13.7,454,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2414,1518,1525,1512,0,0,0,0,0,0,26.68,26.76,26.75
$GC,11606,1.01,319.5,3591,2414,1524,1510,581.4,15.3,464,11615,0.00,1.95,0.00,0.000,260,0.000,0.046,3590,3684,1517,1524,1511,0,0,0,0,0,0,26.88,26.62,26.94
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$STATE,16156,end climb,SURFACE_DEPTH_REACHED
$STATE,16156,begin surface coast
$FINISH,0.7,1.008334
$STATE,16167,end surface coast,CONTROL_FINISHED_OK
$STATE,16167,begin surface
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$IRIDIUM_FIX,1318.67,14528.80,040108,074918
$TT8_MAMPS,0.159537,0.159537
$HUMID,36.88
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.30
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$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16196.03 6919.69
$PA_BOOTCOUNT,855
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$PA_DATA0,0.49/57.829/117.199/53.417
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.078/1.856/1.683
$PA_DISK_BANK,0
$24V_AH,24.07,9.966
$10V_AH,9.98,15.992
$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,233.325,58.905,1279.080,0.000,0.000,0.000,0.000,86.445,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,509.825,0.000,0.000,0.000,0.000,0.000,16529.121,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.290,0.000,0.000,0.000
$MEM,229080
$DATA_FILE_SIZE,33455,757
$CAP_FILE_SIZE,131997,0
$CFSIZE,1024393216,1013301248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,15587.56,0x236db2,7,5
$CURRENT,0.128,218.70,1
$GPS,090315,225905,1324.640,14530.992,31,1.2,31,1.2,0.0,0.0,9,20.0