version: 66.12
glider: 204
mission: 15
dive: 74
start: 3 14 115 13 37 0
data:
$ID,204
$MISSION,15
$DIVE,74
$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,75
$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,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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,140315,133035,1312.6141,14612.6572,35,0.8,35,1.5,1.4,87.4,11,16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.4
$GPS2,140315,133650,1312.6232,14612.5508,14,0.9,14,1.5,0.6,57.4,10,12.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.7,126255,-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,-175.2,201,2628,805,780,0.0,0.0,0,162,0.00,0.00,-60.88,0.000,16386,0.000,0.000,201,2627,2469,2423,2516,0,0,0,0,0,0,26.19,28.83,26.25
$GC,164,-0.80,-175.2,201,2629,2430,2516,3.4,-4.4,7,200,11.65,1.62,-20.42,0.000,18692,0.233,0.060,3000,3687,3554,3525,3584,0,0,0,0,0,0,25.89,25.49,26.13
$GC,287,-0.80,-175.2,3000,3688,3526,3586,37.3,-27.8,28,297,0.00,1.55,0.00,0.000,1030,0.000,0.021,3004,2570,3555,3526,3585,0,0,0,0,0,0,26.28,26.24,26.28
$GC,596,-0.80,-175.2,3004,2568,3527,3585,123.3,-25.4,63,603,0.00,1.75,0.00,0.000,260,0.000,0.044,2996,3681,3555,3526,3585,0,0,0,0,0,0,26.28,26.23,26.34
$GC,642,-0.80,-175.2,2996,3681,3528,3585,132.6,-22.5,67,652,0.00,1.50,0.00,0.000,1030,0.000,0.022,3003,2602,3556,3527,3585,0,0,0,0,0,0,26.32,26.30,26.34
$GC,947,-0.80,-175.2,3003,2601,3532,3586,196.2,-17.6,98,952,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2601,3558,3530,3586,0,0,0,0,0,0,26.31,26.36,26.36
$GC,1247,-0.80,-175.2,3004,2603,3533,3590,246.3,-16.5,110,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2602,3560,3532,3589,0,0,0,0,0,0,26.32,26.39,26.38
$GC,1547,-0.80,-175.2,3003,2603,3534,3591,283.8,-11.8,120,1555,0.00,2.03,0.00,0.000,516,0.000,0.024,3008,1207,3561,3533,3589,0,0,0,0,0,0,26.32,26.32,26.38
$GC,1609,-0.80,-175.2,3008,1207,3534,3589,292.8,-13.5,122,1617,0.00,2.08,0.00,0.000,1030,0.000,0.029,3000,2594,3561,3533,3589,0,0,0,0,0,0,26.36,26.31,26.37
$GC,1941,-0.80,-175.2,3000,2595,3533,3589,344.5,-14.8,133,1951,0.00,1.70,0.00,0.000,260,0.000,0.043,2991,3690,3560,3533,3587,0,0,0,0,0,0,26.33,26.30,26.39
$GC,2000,-0.80,-175.2,2991,3690,3533,3586,349.4,-14.6,134,2010,0.00,1.52,0.00,0.000,1030,0.000,0.021,2995,2581,3559,3533,3585,0,0,0,0,0,0,26.39,26.36,26.39
$GC,2305,-0.80,-175.2,2995,2581,3533,3582,392.7,-13.0,145,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2581,3557,3532,3582,0,0,0,0,0,0,26.32,26.39,26.37
$GC,2605,-0.80,-175.2,2995,2582,3533,3578,432.5,-13.0,155,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2581,3554,3532,3577,0,0,0,0,0,0,26.32,26.39,26.38
$GC,2905,-0.80,-175.2,2996,2582,3529,3577,469.6,-12.4,165,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2581,3549,3527,3572,0,0,0,0,0,0,26.31,26.41,26.37
$GC,3205,-0.80,-175.2,2995,2581,3525,3571,506.9,-12.4,175,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2578,3547,3524,3571,0,0,0,0,0,0,26.32,26.39,26.37
$GC,3505,-0.80,-175.2,2996,2582,3521,3570,542.6,-11.7,185,3516,0.00,1.98,0.00,0.000,516,0.000,0.025,3004,1231,3544,3520,3568,0,0,0,0,0,0,26.30,26.31,26.36
$GC,3540,-0.80,-175.2,3004,1232,3520,3570,546.1,-11.6,186,3547,0.00,2.08,0.00,0.000,1030,0.000,0.031,2995,2601,3544,3520,3569,0,0,0,0,0,0,26.35,26.29,26.36
$GC,3861,-0.80,-175.2,2995,2601,3518,3564,584.1,-11.8,197,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3540,3516,3564,0,0,0,0,0,0,26.29,26.37,26.36
$GC,4161,-0.80,-175.2,2995,2601,3514,3563,620.3,-12.2,207,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3538,3513,3563,0,0,0,0,0,0,26.29,26.36,26.35
$GC,4462,-0.80,-175.2,2995,2601,3511,3560,656.2,-12.2,217,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3535,3510,3560,0,0,0,0,0,0,26.29,26.36,26.34
$GC,4761,-0.80,-175.2,2995,2601,3509,3557,692.9,-12.2,227,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2601,3533,3508,3558,0,0,0,0,0,0,26.27,26.34,26.33
$GC,5061,-0.80,-175.2,2995,2601,3506,3555,730.2,-12.6,237,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3530,3505,3555,0,0,0,0,0,0,26.28,26.34,26.34
$GC,5361,-0.80,-175.2,2996,2602,3504,3554,767.9,-12.6,247,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2601,3528,3503,3553,0,0,0,0,0,0,26.26,26.33,26.32
$GC,5661,-0.80,-175.2,2996,2602,3503,3552,803.6,-11.6,257,5669,0.00,2.05,0.00,0.000,516,0.000,0.026,3004,1226,3526,3501,3551,0,0,0,0,0,0,26.27,26.22,26.33
$GC,5707,-0.80,-175.2,3003,1227,3502,3552,806.5,-11.5,258,5715,0.00,2.10,0.00,0.000,1030,0.000,0.031,2995,2602,3526,3501,3551,0,0,0,0,0,0,26.29,26.22,26.31
$GC,6019,-0.80,-175.2,2995,2603,3500,3550,843.1,-10.9,269,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3524,3500,3549,0,0,0,0,0,0,26.25,26.32,26.31
$GC,6319,-0.80,-175.2,2995,2601,3499,3547,875.0,-10.5,279,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3523,3498,3548,0,0,0,0,0,0,26.25,26.32,26.31
$GC,6619,-0.80,-175.2,2995,2603,3497,3547,905.8,-10.4,289,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3521,3496,3546,0,0,0,0,0,0,26.24,26.30,26.29
$GC,6919,-0.80,-175.2,2995,2603,3494,3545,936.3,-10.1,299,6930,0.00,2.05,0.00,0.000,516,0.000,0.025,3003,1228,3519,3494,3544,0,0,0,0,0,0,26.21,26.20,26.27
$GC,6979,-0.80,-175.2,3004,1228,3494,3546,942.1,-9.9,301,6987,0.00,2.10,0.00,0.000,1030,0.000,0.031,2994,2601,3518,3493,3544,0,0,0,0,0,0,26.23,26.17,26.25
$GC,7306,-0.80,-175.2,2995,2600,3494,3542,975.8,-10.5,312,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3517,3492,3543,0,0,0,0,0,0,26.22,26.28,26.28
$STATE,7454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7454,begin apogee
$GC,7458,-0.17,0.0,2995,2437,3492,3544,991.6,-10.5,317,7602,0.75,0.00,136.85,1.294,10246,0.157,0.000,3208,2434,2838,2812,2864,0,0,0,0,0,0,25.94,24.89,24.16
$STATE,7602,end apogee,CONTROL_FINISHED_OK
$STATE,7602,begin climb
$GC,7604,0.80,175.2,3208,2434,2810,2858,997.4,0.0,321,7762,1.08,2.25,144.65,1.294,10756,0.138,0.028,3530,1043,2116,2111,2121,0,0,0,0,0,0,25.03,24.26,23.54
$GC,7941,0.90,241.3,3530,1043,2106,2112,986.9,7.5,333,8008,0.00,2.15,55.15,1.293,9222,0.000,0.029,3525,2421,1851,1851,1851,0,0,0,0,0,0,25.65,25.60,24.10
$GC,8301,0.90,247.9,3525,2423,1842,1838,953.4,9.7,345,8313,0.12,2.00,0.93,0.197,10500,0.193,0.044,3548,3693,1827,1832,1823,0,0,0,0,0,0,25.77,25.87,25.75
$GC,8407,0.90,247.9,3548,3693,1847,1824,942.9,11.0,348,8415,0.00,1.85,0.00,0.000,1030,0.000,0.023,3557,2412,1835,1846,1824,0,0,0,0,0,0,26.09,26.07,26.10
$GC,8724,0.90,247.9,3557,2407,1847,1823,906.0,10.9,359,8732,0.00,2.05,0.00,0.000,516,0.000,0.031,3568,1044,1834,1845,1824,0,0,0,0,0,0,26.16,26.17,26.22
$GC,8755,0.90,247.9,3568,1045,1845,1825,903.1,11.0,360,8763,0.00,2.10,0.00,0.000,1030,0.000,0.030,3558,2421,1834,1844,1824,0,0,0,0,0,0,26.22,26.17,26.24
$GC,9077,0.90,247.9,3559,2422,1844,1824,868.0,10.6,371,9085,0.00,1.98,0.00,0.000,260,0.000,0.046,3548,3693,1833,1843,1824,0,0,0,0,0,0,26.21,26.17,26.27
$GC,9163,0.90,247.9,3552,3695,1845,1825,858.0,11.4,374,9171,0.00,1.83,0.00,0.000,1030,0.000,0.023,3557,2422,1833,1844,1823,0,0,0,0,0,0,26.27,26.23,26.28
$GC,9490,0.90,247.9,3558,2423,1842,1825,823.8,10.5,385,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2422,1832,1841,1824,0,0,0,0,0,0,26.21,26.27,26.27
$GC,9790,0.90,247.9,3558,2423,1841,1825,792.5,10.3,395,9797,0.00,2.00,0.00,0.000,260,0.000,0.044,3548,3699,1832,1840,1824,0,0,0,0,0,0,26.20,26.16,26.26
$GC,9846,0.90,247.9,3548,3699,1842,1823,786.4,10.5,397,9854,0.00,1.88,0.00,0.000,1030,0.000,0.024,3557,2414,1832,1841,1824,0,0,0,0,0,0,26.25,26.23,26.26
$GC,10177,0.93,265.3,3558,2411,1839,1825,754.6,9.3,408,10202,0.00,0.00,19.17,1.198,8198,0.000,0.000,3557,2410,1756,1759,1753,0,0,0,0,0,0,26.20,25.70,24.96
$GC,10477,0.93,265.3,3557,2410,1750,1741,725.1,10.1,418,10487,0.00,2.03,0.00,0.000,260,0.000,0.047,3548,3692,1744,1749,1740,0,0,0,0,0,0,26.11,26.07,26.17
$GC,10556,0.93,265.3,3549,3692,1751,1739,718.2,10.5,420,10563,0.00,1.85,0.00,0.000,1030,0.000,0.023,3557,2408,1744,1750,1739,0,0,0,0,0,0,26.20,26.17,26.21
$GC,10867,0.93,265.3,3558,2406,1749,1740,685.0,10.2,431,10875,0.00,2.03,0.00,0.000,260,0.000,0.044,3548,3692,1744,1749,1739,0,0,0,0,0,0,26.18,26.13,26.25
$GC,10898,0.93,265.3,3548,3696,1751,1741,682.2,10.2,432,10906,0.00,1.83,0.00,0.000,1030,0.000,0.024,3557,2419,1744,1749,1739,0,0,0,0,0,0,26.25,26.19,26.25
$GC,11220,0.94,275.2,3558,2419,1749,1740,650.2,9.6,443,11232,0.00,2.05,2.60,0.592,8452,0.000,0.044,3549,3699,1721,1729,1714,0,0,0,0,0,0,26.18,26.06,24.78
$GC,11286,0.95,276.5,3548,3699,1746,1725,644.0,10.0,445,11297,0.00,1.85,3.90,1.023,9222,0.000,0.024,3557,2425,1712,1716,1708,0,0,0,0,0,0,26.23,26.19,24.82
$GC,11611,0.95,276.5,3557,2425,1739,1715,610.6,10.4,456,11619,0.00,0.00,1.58,0.247,8198,0.000,0.000,3557,2424,1712,1718,1706,0,0,0,0,0,0,26.16,25.96,25.42
$GC,11911,0.95,276.5,3557,2424,1739,1713,576.3,11.7,466,11923,0.00,2.05,1.50,0.242,8452,0.000,0.044,3549,3692,1716,1727,1706,0,0,0,0,0,0,26.16,25.99,25.44
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$STATE,17422,end climb,SURFACE_DEPTH_REACHED
$STATE,17422,begin surface coast
$FINISH,1.0,1.022378
$STATE,17432,end surface coast,CONTROL_FINISHED_OK
$STATE,17433,begin surface
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$IRIDIUM_FIX,1309.80,14611.83,090108,025823
$TT8_MAMPS,0.053928,0.053928
$HUMID,34.40
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.80
$XPDR_PINGS,1
$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,17461.99 7263.83
$PA_BOOTCOUNT,879
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$PA_LOG,0.07/0.132/1.876/1.649
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$PA_DATA0,0.91/107.116/117.199/4.130
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.083/1.856/1.679
$PA_DISK_BANK,0
$24V_AH,23.54,15.619
$10V_AH,10.12,30.002
$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,24.600,93.275,547.100,0.000,0.000,0.000,0.000,282.600,0.250,17893.930,15.595,0.000,14091.633,580.541,3111.186,88.937,0.000,2205.573,0.000,1679.873,0.000,0.548,0.000
$DEVICE_MAMPS,232.560,60.435,1294.380,0.000,0.000,0.000,0.000,87.975,420.000,63.203,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229080
$DATA_FILE_SIZE,36678,840
$CAP_FILE_SIZE,143938,0
$CFSIZE,1024393216,1010941952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$INTR,0,18569.83,0x236db2,7,5
$INTR,1,100.85,0x233782,0,24
$CURRENT,0.053,316.76,1
$GPS,140315,182935,1315.465,14611.029,27,0.8,27,1.4,1.1,21.2,11,15.3