version: 66.12
glider: 204
mission: 15
dive: 153
start: 3 29 115 23 27 26
data:
$ID,204
$MISSION,15
$DIVE,153
$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,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,-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,8
$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,79
$R_STBD_OVSHOOT,46
$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
$GPS1,290315,232134,1452.9128,14616.6064,27,0.9,27,1.0,0.0,0.0,8,12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.6
$GPS2,290315,232715,1452.9012,14616.5264,6,0.8,6,1.0,0.0,344.3,9,14.7
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,304.0,54311,-17.3,-11.000,-20.71,2428
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.85,-175.2,188,2615,801,800,0.0,0.0,0,148,0.00,0.00,-48.92,0.000,16386,0.000,0.000,188,2615,2111,2079,2144,0,0,0,0,0,0,26.13,28.83,26.19
$GC,150,-0.85,-175.2,188,2616,2084,2141,3.1,-4.3,6,210,11.93,1.70,-38.70,0.000,18692,0.233,0.063,2980,3687,3556,3530,3582,0,0,0,0,0,0,25.58,24.29,25.86
$GC,370,-0.85,-175.2,2981,3687,3530,3585,52.5,-30.9,40,381,0.00,1.52,0.00,0.000,1030,0.000,0.021,2987,2587,3557,3530,3585,0,0,0,0,0,0,26.20,26.18,26.22
$GC,676,-0.85,-175.2,2987,2587,3531,3585,135.4,-24.8,71,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2583,3557,3531,3584,0,0,0,0,0,0,26.10,26.17,26.15
$GC,979,-0.85,-175.2,2988,2587,3533,3586,200.1,-18.7,101,987,0.00,1.70,0.00,0.000,260,0.000,0.044,2980,3693,3558,3531,3585,0,0,0,0,0,0,26.19,26.01,26.25
$GC,1155,-0.85,-175.2,2979,3694,3536,3590,227.7,-18.3,106,1167,0.00,1.52,0.00,0.000,1030,0.000,0.020,2986,2588,3561,3534,3589,0,0,0,0,0,0,26.23,26.22,26.24
$GC,1461,-0.85,-175.2,2987,2588,3536,3588,279.3,-15.9,117,1468,0.00,2.00,0.00,0.000,516,0.000,0.025,2997,1229,3563,3537,3589,0,0,0,0,0,0,26.18,26.13,26.24
$GC,1527,-0.85,-175.2,2996,1230,3538,3590,287.5,-15.5,119,1535,0.00,2.08,0.00,0.000,1030,0.000,0.032,2988,2591,3563,3537,3589,0,0,0,0,0,0,26.16,26.08,26.18
$GC,1849,-0.85,-175.2,2987,2592,3538,3590,332.2,-13.5,130,1856,0.00,1.70,0.00,0.000,260,0.000,0.043,2979,3703,3563,3537,3589,0,0,0,0,0,0,26.20,26.03,26.27
$GC,1945,-0.85,-175.2,2980,3702,3536,3589,345.9,-14.9,133,1952,0.00,1.55,0.00,0.000,1030,0.000,0.022,2986,2607,3563,3537,3589,0,0,0,0,0,0,26.21,26.18,26.22
$GC,2271,-0.85,-175.2,2987,2607,3536,3586,393.1,-13.7,144,2279,0.00,1.73,0.00,0.000,260,0.000,0.043,2979,3693,3561,3536,3586,0,0,0,0,0,0,26.21,26.01,26.26
$GC,2368,-0.85,-175.2,2979,3694,3538,3586,406.8,-14.7,147,2375,0.00,1.55,0.00,0.000,1030,0.000,0.021,2987,2584,3560,3536,3584,0,0,0,0,0,0,26.22,26.20,26.24
$GC,2694,-0.85,-175.2,2987,2584,3535,3582,451.0,-13.2,158,2702,0.00,2.00,0.00,0.000,516,0.000,0.024,2996,1225,3558,3535,3581,0,0,0,0,0,0,26.17,26.10,26.24
$GC,2736,-0.85,-175.2,2998,1225,3533,3582,454.7,-13.3,159,2743,0.00,2.10,0.00,0.000,1030,0.000,0.029,2988,2605,3557,3534,3581,0,0,0,0,0,0,26.13,26.06,26.16
$GC,3048,-0.85,-175.2,2989,2605,3531,3578,494.0,-11.9,170,3055,0.00,1.73,0.00,0.000,260,0.000,0.044,2979,3694,3554,3531,3577,0,0,0,0,0,0,26.17,25.97,26.24
$GC,3099,-0.85,-175.2,2978,3694,3532,3577,498.0,-12.3,171,3107,0.00,1.55,0.00,0.000,1030,0.000,0.021,2987,2590,3553,3530,3577,0,0,0,0,0,0,26.21,26.17,26.22
$GC,3411,-0.85,-175.2,2986,2590,3529,3575,536.8,-11.7,182,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3550,3526,3574,0,0,0,0,0,0,26.17,26.25,26.23
$GC,3711,-0.85,-175.2,2986,2591,3525,3572,571.6,-11.5,192,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3547,3523,3571,0,0,0,0,0,0,26.19,26.25,26.25
$GC,4011,-0.85,-175.2,2987,2591,3520,3569,607.3,-12.0,202,4019,0.00,1.73,0.00,0.000,260,0.000,0.043,2980,3693,3544,3520,3568,0,0,0,0,0,0,26.15,25.94,26.22
$GC,4063,-0.85,-175.2,2979,3694,3521,3569,611.4,-12.2,203,4070,0.00,1.60,0.00,0.000,1030,0.000,0.022,2986,2603,3547,3526,3568,0,0,0,0,0,0,26.10,26.08,26.10
$GC,4374,-0.85,-175.2,2985,2603,3519,3565,650.4,-11.7,214,4381,0.00,1.73,0.00,0.000,260,0.000,0.042,2979,3699,3540,3516,3564,0,0,0,0,0,0,26.12,25.93,26.18
$GC,4415,-0.85,-175.2,2980,3700,3516,3565,654.0,-11.5,215,4423,0.00,1.58,0.00,0.000,1030,0.000,0.024,2986,2600,3540,3516,3564,0,0,0,0,0,0,26.15,26.11,26.16
$GC,4737,-0.85,-175.2,2986,2599,3515,3563,689.2,-10.6,226,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2600,3538,3514,3562,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5037,-0.85,-175.2,2985,2600,3513,3561,722.7,-11.6,236,5045,0.00,2.08,0.00,0.000,516,0.000,0.026,2996,1216,3538,3511,3566,0,0,0,0,0,0,26.09,25.99,26.14
$GC,5078,-0.85,-175.2,2997,1216,3511,3561,725.8,-11.6,237,5087,0.00,2.15,0.00,0.000,1030,0.000,0.030,2988,2606,3535,3510,3560,0,0,0,0,0,0,26.04,25.97,26.07
$GC,5392,-0.85,-175.2,2987,2606,3510,3558,765.4,-12.1,248,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2606,3532,3508,3557,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5691,-0.85,-175.2,2987,2604,3509,3555,799.2,-10.8,258,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2606,3530,3507,3554,0,0,0,0,0,0,26.07,26.14,26.13
$GC,5991,-0.85,-175.2,2988,2607,3505,3554,830.6,-10.4,268,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2606,3529,3504,3554,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6292,-0.85,-175.2,2988,2606,3503,3551,862.2,-10.7,278,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2606,3527,3503,3551,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6591,-0.85,-175.2,2988,2606,3501,3550,896.0,-11.3,288,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2606,3525,3501,3550,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6891,-0.85,-175.2,2989,2607,3500,3549,929.5,-10.9,298,6900,0.00,1.75,0.00,0.000,260,0.000,0.045,2979,3692,3524,3499,3549,0,0,0,0,0,0,26.08,25.83,26.14
$GC,6928,-0.85,-175.2,2978,3693,3501,3549,933.0,-10.8,299,6938,0.00,1.62,0.00,0.000,1030,0.000,0.023,2986,2586,3523,3499,3548,0,0,0,0,0,0,26.05,26.03,26.07
$GC,7257,-0.85,-175.2,2981,2587,3499,3547,968.0,-10.3,310,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2586,3521,3497,3546,0,0,0,0,0,0,26.06,26.13,26.12
$STATE,7496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7496,begin apogee
$GC,7499,-0.17,0.0,2987,2417,3498,3546,993.0,-10.6,318,7651,0.80,0.00,140.57,1.261,10246,0.147,0.000,3213,2415,2835,2809,2862,0,0,0,0,0,0,25.51,24.53,23.69
$STATE,7652,end apogee,CONTROL_FINISHED_OK
$STATE,7652,begin climb
$GC,7653,0.85,175.2,3215,2416,2808,2860,1000.2,0.0,323,7813,1.12,2.25,149.27,1.215,10756,0.129,0.027,3544,1042,2119,2114,2124,0,0,0,0,0,0,24.67,24.12,23.30
$GC,7918,1.00,280.6,3543,1042,2108,2116,995.1,6.5,332,8019,0.20,2.20,89.25,1.198,11270,0.145,0.028,3597,2422,1689,1689,1690,0,0,0,0,0,0,25.18,25.37,23.57
$GC,8333,1.00,280.6,3597,2424,1682,1676,939.2,14.5,346,8341,0.00,2.03,0.00,0.000,260,0.000,0.045,3597,3694,1677,1680,1675,0,0,0,0,0,0,26.03,25.94,26.10
$GC,8380,1.00,280.6,3597,3695,1682,1676,934.3,14.7,347,8387,0.00,1.85,0.00,0.000,1030,0.000,0.022,3607,2410,1677,1680,1675,0,0,0,0,0,0,26.14,26.11,26.15
$GC,8692,1.00,280.6,3607,2406,1680,1674,884.2,15.2,358,8699,0.00,2.05,0.00,0.000,260,0.000,0.044,3607,3700,1675,1678,1673,0,0,0,0,0,0,26.16,26.03,26.21
$GC,8728,1.00,280.6,3606,3702,1680,1674,879.8,15.4,359,8736,0.00,1.85,0.00,0.000,1030,0.000,0.024,3616,2428,1676,1679,1673,0,0,0,0,0,0,26.20,26.17,26.21
$GC,9050,1.00,280.6,3617,2426,1677,1673,829.3,15.0,370,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2426,1674,1677,1672,0,0,0,0,0,0,26.16,26.23,26.22
$GC,9350,1.00,280.6,3617,2426,1676,1673,785.3,14.8,380,9358,0.00,2.00,0.00,0.000,260,0.000,0.043,3613,3692,1674,1676,1672,0,0,0,0,0,0,26.15,25.98,26.21
$GC,9417,1.00,280.6,3612,3693,1678,1673,775.6,15.1,382,9424,0.00,1.85,0.00,0.000,1030,0.000,0.022,3621,2414,1674,1676,1672,0,0,0,0,0,0,26.16,26.11,26.18
$GC,9738,1.00,280.6,3623,2409,1674,1671,728.2,14.4,393,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2409,1672,1674,1671,0,0,0,0,0,0,26.13,26.18,26.18
$GC,10039,1.00,280.6,3620,2409,1676,1671,684.6,14.5,403,10046,0.00,2.05,0.00,0.000,260,0.000,0.045,3616,3694,1672,1674,1670,0,0,0,0,0,0,26.13,25.91,26.20
$GC,10120,1.00,280.6,3615,3695,1676,1671,675.8,14.7,405,10131,0.12,1.85,0.00,0.000,5126,0.175,0.023,3596,2424,1671,1673,1670,0,0,0,0,0,0,25.70,26.06,25.89
$GC,10425,1.00,280.6,3595,2424,1676,1671,632.8,12.4,416,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2424,1671,1673,1669,0,0,0,0,0,0,26.10,26.16,26.15
$GC,10725,1.00,280.6,3597,2425,1673,1669,595.4,12.6,426,10733,0.00,2.03,0.00,0.000,260,0.000,0.044,3596,3696,1671,1673,1669,0,0,0,0,0,0,26.10,25.86,26.17
$GC,10776,1.00,280.6,3594,3697,1675,1670,591.8,12.7,427,10788,0.00,1.88,0.00,0.000,1030,0.000,0.023,3604,2409,1671,1673,1669,0,0,0,0,0,0,26.08,26.06,26.10
$GC,11082,1.00,280.6,3603,2407,1675,1670,549.6,12.5,438,11089,0.00,2.05,0.00,0.000,260,0.000,0.044,3602,3691,1671,1673,1669,0,0,0,0,0,0,26.07,25.85,26.13
$GC,11173,1.00,280.6,3600,3692,1675,1670,538.0,13.2,441,11184,0.00,1.85,0.00,0.000,1030,0.000,0.023,3610,2422,1671,1673,1669,0,0,0,0,0,0,26.07,26.04,26.09
$GC,11498,1.00,280.6,3609,2422,1674,1670,496.4,12.9,452,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2422,1670,1672,1669,0,0,0,0,0,0,26.05,26.13,26.12
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$GC,13392,1.03,299.9,3632,1041,1610,1605,271.9,12.2,514,13401,0.00,2.12,0.00,0.000,1030,0.000,0.029,3626,2418,1605,1607,1604,0,0,0,0,0,0,26.00,25.94,26.03
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$STATE,15796,end climb,SURFACE_DEPTH_REACHED
$STATE,15796,begin surface coast
$FINISH,1.0,1.010362
$STATE,15811,end surface coast,CONTROL_FINISHED_OK
$STATE,15811,begin surface
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$IRIDIUM_FIX,1447.60,14616.74,240108,124924
$TT8_MAMPS,0.053928,0.053928
$HUMID,36.33
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.60
$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,15806.36 6591.19
$PA_BOOTCOUNT,958
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$PA_HOME,0.05/0.099/1.856/1.663
$PA_DISK_BANK,1
$24V_AH,23.30,51.989
$10V_AH,10.04,35.471
$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,24.375,91.400,510.100,21.775,0.000,0.000,0.000,254.775,0.250,16200.880,7.758,0.000,12471.901,575.991,3024.760,109.465,0.000,2109.499,0.000,1674.610,0.000,0.549,0.000
$DEVICE_MAMPS,233.325,62.730,1261.485,115.515,0.000,0.000,0.000,84.150,420.000,63.512,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,509.196,0.000,0.000,0.000,0.000,0.000,16201.040,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229132
$DATA_FILE_SIZE,33337,755
$CAP_FILE_SIZE,135112,0
$CFSIZE,1024393216,1003290624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16640.85,0x236db2,7,5
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$GPS,300315,035234,1454.185,14614.107,38,1.1,38,1.0,0.0,0.0,8,12.2