version: 66.12
glider: 178
mission: 20
dive: 69
start: 3 14 115 5 15 23
data:
$ID,178
$MISSION,20
$DIVE,69
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$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,148
$AH0_10V,95
$MINV_24V,22
$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,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,140315,045936,1221.0549,14529.6982,27,1.1,27,1.9,0.9,196.6,7,8.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-67.8
$GPS2,140315,051512,1220.9636,14529.5801,13,1.1,30,1.9,0.5,63.4,7,8.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,166.4,20120,-16.5,-10.000,-23.13,2699
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,119,2462,1251,1226,0.0,0.0,0,188,0.00,0.00,-85.80,0.000,16386,0.000,0.000,119,2461,3515,3574,3456,0,0,0,0,0,0,26.31,28.83,26.38
$GC,190,-0.68,-175.2,119,2462,3580,3457,5.5,-14.8,11,216,10.45,2.20,-6.47,0.000,18948,0.249,0.042,2555,1041,3966,3996,3937,0,0,0,0,0,0,26.01,25.22,26.18
$GC,344,-0.68,-175.2,2555,1042,3995,3942,66.0,-28.4,32,354,0.00,2.20,0.00,0.000,1030,0.000,0.034,2547,2448,3967,3994,3941,0,0,0,0,0,0,26.41,26.37,26.43
$GC,649,-0.68,-175.2,2546,2450,3996,3942,164.6,-24.0,63,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2448,3968,3995,3941,0,0,0,0,0,0,26.42,26.48,26.48
$GC,969,-0.68,-175.2,2548,2450,3995,3947,218.8,-14.9,87,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2450,3970,3995,3946,0,0,0,0,0,0,26.44,26.51,26.51
$GC,1270,-0.68,-175.2,2548,2450,3995,3948,255.1,-11.1,97,1277,0.00,2.12,0.00,0.000,516,0.000,0.031,2546,1048,3971,3995,3948,0,0,0,0,0,0,26.47,26.47,26.53
$GC,1302,-0.68,-175.2,2547,1049,3994,3949,258.2,-11.1,98,1310,0.00,2.17,0.00,0.000,1030,0.000,0.034,2540,2458,3971,3995,3948,0,0,0,0,0,0,26.51,26.46,26.51
$GC,1629,-0.68,-175.2,2538,2459,3997,3949,299.9,-13.7,109,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2458,3971,3995,3948,0,0,0,0,0,0,26.46,26.53,26.52
$GC,1929,-0.68,-175.2,2538,2459,3997,3948,341.7,-13.4,119,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2458,3971,3995,3947,0,0,0,0,0,0,26.46,26.54,26.53
$GC,2229,-0.68,-175.2,2539,2459,3996,3943,379.7,-12.8,129,2240,0.00,2.20,0.00,0.000,516,0.000,0.033,2540,1040,3968,3995,3942,0,0,0,0,0,0,26.46,26.48,26.53
$GC,2264,-0.68,-175.2,2540,1040,3994,3943,383.7,-12.9,130,2272,0.00,2.22,0.00,0.000,1030,0.000,0.034,2530,2457,3968,3995,3942,0,0,0,0,0,0,26.51,26.46,26.52
$GC,2587,-0.68,-175.2,2530,2459,3994,3936,427.7,-13.2,141,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2458,3964,3994,3935,0,0,0,0,0,0,26.46,26.53,26.53
$GC,2887,-0.68,-175.2,2530,2459,3996,3928,461.2,-10.9,151,2895,0.00,2.10,0.00,0.000,260,0.000,0.052,2520,3773,3960,3994,3927,0,0,0,0,0,0,26.46,26.43,26.53
$GC,2915,-0.68,-175.2,2519,3773,3996,3927,464.3,-10.9,152,2925,0.15,2.00,0.00,0.000,3078,0.148,0.026,2558,2420,3960,3994,3926,0,0,0,0,0,0,26.34,26.48,26.47
$GC,3245,-0.68,-175.2,2557,2421,3996,3920,491.0,-7.3,163,3254,0.00,2.08,0.00,0.000,516,0.000,0.033,2560,1075,3956,3994,3919,0,0,0,0,0,0,26.45,26.46,26.51
$GC,3273,-0.68,-175.2,2560,1075,3996,3922,491.0,-7.3,163,3285,0.00,2.15,0.00,0.000,1030,0.000,0.034,2553,2457,3956,3994,3918,0,0,0,0,0,0,26.49,26.44,26.51
$GC,3579,-0.68,-175.2,2559,2458,3998,3911,514.1,-6.7,174,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3952,3994,3911,0,0,0,0,0,0,26.44,26.51,26.50
$GC,3879,-0.68,-175.2,2554,2458,3992,3906,536.4,-8.0,184,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3949,3992,3906,0,0,0,0,0,0,26.44,26.51,26.50
$GC,4179,-0.68,-175.2,2553,2458,3991,3905,562.7,-9.0,194,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3946,3988,3904,0,0,0,0,0,0,26.43,26.49,26.48
$GC,4479,-0.68,-175.2,2554,2458,3986,3902,590.3,-9.3,204,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3943,3987,3900,0,0,0,0,0,0,26.43,26.50,26.49
$GC,4779,-0.68,-175.2,2552,2458,3985,3898,618.6,-9.6,214,4786,0.00,2.17,0.00,0.000,516,0.000,0.034,2553,1069,3940,3983,3897,0,0,0,0,0,0,26.42,26.41,26.49
$GC,4816,-0.68,-175.2,2554,1070,3983,3898,621.4,-9.7,215,4823,0.00,2.17,0.00,0.000,1030,0.000,0.035,2546,2457,3940,3983,3897,0,0,0,0,0,0,26.45,26.39,26.46
$GC,5133,-0.68,-175.2,2547,2458,3981,3895,653.3,-9.6,226,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2457,3938,3981,3896,0,0,0,0,0,0,26.41,26.48,26.47
$GC,5433,-0.68,-175.2,2545,2458,3981,3894,681.5,-9.3,236,5444,0.00,2.12,0.00,0.000,516,0.000,0.034,2546,1077,3936,3979,3893,0,0,0,0,0,0,26.41,26.43,26.46
$GC,5458,-0.68,-175.2,2547,1077,3978,3892,681.5,-9.3,236,5469,0.00,2.15,0.00,0.000,1030,0.000,0.036,2538,2450,3936,3979,3893,0,0,0,0,0,0,26.44,26.39,26.46
$GC,5764,-0.68,-175.2,2538,2451,3979,3891,713.1,-9.8,247,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2450,3933,3977,3890,0,0,0,0,0,0,26.41,26.48,26.47
$GC,6064,-0.68,-175.2,2537,2451,3977,3889,742.1,-9.5,257,6075,0.00,2.12,0.00,0.000,260,0.000,0.053,2528,3772,3931,3975,3888,0,0,0,0,0,0,26.38,26.34,26.44
$GC,6089,-0.68,-175.2,2529,3772,3974,3890,742.1,-9.5,257,6101,0.12,1.98,0.00,0.000,3078,0.156,0.028,2558,2449,3931,3975,3888,0,0,0,0,0,0,26.25,26.42,26.38
$GC,6394,-0.68,-175.2,2558,2451,3976,3888,767.2,-7.1,268,6405,0.00,2.15,0.00,0.000,516,0.000,0.033,2560,1068,3930,3974,3887,0,0,0,0,0,0,26.37,26.37,26.43
$GC,6425,-0.68,-175.2,2560,1068,3973,3887,769.5,-7.2,269,6435,0.00,2.15,0.00,0.000,1030,0.000,0.035,2556,2451,3929,3973,3886,0,0,0,0,0,0,26.40,26.36,26.42
$GC,6755,-0.68,-175.2,2556,2452,3972,3885,794.1,-7.7,280,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2451,3928,3972,3884,0,0,0,0,0,0,26.36,26.44,26.43
$GC,7055,-0.68,-175.2,2557,2452,3970,3882,817.5,-7.7,290,7063,0.00,2.15,0.00,0.000,516,0.000,0.033,2556,1067,3926,3970,3882,0,0,0,0,0,0,26.34,26.35,26.39
$GC,7092,-0.68,-175.2,2555,1067,3973,3883,819.8,-7.8,291,7100,0.00,2.17,0.00,0.000,1030,0.000,0.037,2551,2448,3926,3970,3882,0,0,0,0,0,0,26.40,26.32,26.42
$GC,7409,-0.68,-175.2,2553,2448,3971,3882,846.2,-8.0,302,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2448,3925,3969,3881,0,0,0,0,0,0,26.37,26.44,26.43
$GC,7710,-0.68,-175.2,2550,2449,3969,3881,870.5,-8.0,312,7718,0.00,2.17,0.00,0.000,516,0.000,0.034,2551,1066,3924,3968,3880,0,0,0,0,0,0,26.34,26.34,26.41
$GC,7732,-0.68,-175.2,2550,1067,3970,3881,870.5,-8.0,312,7742,0.00,2.20,0.00,0.000,1030,0.000,0.037,2544,2457,3924,3968,3880,0,0,0,0,0,0,26.39,26.32,26.40
$GC,8037,-0.68,-175.2,2544,2457,3966,3879,898.1,-8.4,323,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3920,3966,3874,0,0,0,0,0,0,26.36,26.42,26.41
$GC,8337,-0.68,-175.2,2542,2458,3966,3878,923.5,-8.4,333,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3921,3965,3877,0,0,0,0,0,0,26.34,26.41,26.41
$GC,8638,-0.68,-175.2,2545,2457,3964,3876,949.2,-8.4,343,8645,0.00,2.17,0.00,0.000,516,0.000,0.034,2544,1074,3920,3964,3876,0,0,0,0,0,0,26.33,26.31,26.39
$GC,8675,-0.68,-175.2,2542,1074,3965,3876,952.0,-8.4,344,8682,0.00,2.17,0.00,0.000,1030,0.000,0.037,2542,2450,3919,3964,3875,0,0,0,0,0,0,26.36,26.29,26.37
$GC,8997,-0.68,-175.2,2543,2450,3964,3875,980.7,-8.9,355,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2449,3919,3964,3874,0,0,0,0,0,0,26.32,26.39,26.38
$STATE,9115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9115,begin apogee
$GC,9120,-0.11,0.0,2541,2104,3966,3873,991.9,-9.4,359,9264,0.65,0.00,136.10,1.313,10246,0.120,0.000,2749,2102,3279,3320,3239,0,0,0,0,0,0,26.14,24.98,24.27
$STATE,9264,end apogee,CONTROL_FINISHED_OK
$STATE,9264,begin climb
$GC,9266,0.68,175.2,2744,2103,3319,3237,999.1,0.0,363,9431,0.73,0.00,155.10,1.301,10758,0.054,0.000,3009,2101,2566,2611,2521,0,0,0,0,0,0,25.20,24.60,23.93
$GC,9717,0.68,175.2,3011,2107,2601,2505,972.4,11.4,379,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2102,2555,2601,2509,0,0,0,0,0,0,25.99,26.06,26.06
$GC,10017,0.68,175.2,3009,2102,2601,2508,939.0,11.2,389,10027,0.00,2.28,0.00,0.000,260,0.000,0.047,3010,3507,2553,2598,2508,0,0,0,0,0,0,26.22,26.20,26.29
$GC,10077,0.68,175.2,3009,3508,2600,2508,931.4,11.7,391,10085,0.00,2.12,0.00,0.000,1030,0.000,0.026,3020,2114,2553,2598,2508,0,0,0,0,0,0,26.32,26.28,26.33
$GC,10405,0.68,175.2,3021,2115,2595,2508,892.4,12.0,402,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2114,2551,2595,2508,0,0,0,0,0,0,26.27,26.34,26.34
$GC,10705,0.68,175.2,3019,2115,2597,2508,856.9,11.7,412,10713,0.00,2.25,0.00,0.000,516,0.000,0.037,3031,696,2551,2595,2507,0,0,0,0,0,0,26.32,26.31,26.39
$GC,10753,0.68,175.2,3030,697,2597,2507,853.5,11.8,413,10761,0.12,2.20,0.00,0.000,5126,0.187,0.028,3004,2113,2549,2594,2505,0,0,0,0,0,0,26.15,26.32,26.33
$GC,11058,0.68,175.2,3005,2113,2595,2507,818.6,10.4,423,11069,0.00,2.22,0.00,0.000,516,0.000,0.037,3013,703,2550,2594,2506,0,0,0,0,0,0,26.32,26.31,26.39
$GC,11088,0.68,175.2,3020,704,2593,2506,815.4,10.4,424,11096,0.00,2.17,0.00,0.000,1030,0.000,0.029,3012,2105,2549,2593,2505,0,0,0,0,0,0,26.37,26.32,26.39
$GC,11421,0.68,175.2,3011,2106,2594,2507,780.1,10.4,435,11430,0.00,2.25,0.00,0.000,260,0.000,0.044,3012,3500,2549,2593,2505,0,0,0,0,0,0,26.31,26.29,26.37
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$STATE,18104,end climb,SURFACE_DEPTH_REACHED
$STATE,18104,begin surface coast
$FINISH,0.5,1.022106
$STATE,18120,end surface coast,CONTROL_FINISHED_OK
$STATE,18120,begin surface
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$IRIDIUM_FIX,1214.53,14532.67,080108,183253
$TT8_MAMPS,0.050183,0.050183
$HUMID,40.54
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.50
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18141.45 7896.87
$PA_BOOTCOUNT,286
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$PA_LOG,0.07/0.138/1.969/1.731
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.052/1.764/1.622
$PA_DISK_BANK,0
$24V_AH,23.93,12.312
$10V_AH,10.23,24.031
$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,20.975,114.225,460.975,51.050,0.000,0.000,0.000,560.375,0.000,19125.871,33.418,0.000,15058.947,594.879,3259.207,194.960,0.000,2465.685,0.000,1547.064,0.000,0.552,0.000
$DEVICE_MAMPS,249.390,52.785,1312.740,62.730,0.000,0.000,0.000,96.390,420.000,64.279,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,542.178,0.000,0.000,0.000,0.000,0.000,19126.080,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229896
$DATA_FILE_SIZE,33398,795
$CAP_FILE_SIZE,148007,0
$CFSIZE,260034560,252252160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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