version: 66.12
glider: 178
mission: 20
dive: 81
start: 3 16 115 18 55 42
data:
$ID,178
$MISSION,20
$DIVE,81
$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,52
$R_STBD_OVSHOOT,40
$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
$GPS1,160315,184906,1212.4011,14514.6094,29,1.1,29,1.9,0.7,83.7,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-74.2
$GPS2,160315,185531,1212.4116,14514.6279,13,1.1,13,1.9,0.3,89.9,7,8.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,271.0,96266,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,123,2468,1238,1229,0.0,0.0,0,187,0.00,0.00,-85.57,0.000,16386,0.000,0.000,121,2468,3473,3527,3420,0,0,0,0,0,0,26.23,28.83,26.30
$GC,189,-0.68,-175.2,120,2469,3529,3422,4.7,-14.1,14,214,10.55,2.17,-7.25,0.000,18948,0.249,0.041,2557,1051,3960,3998,3923,0,0,0,0,0,0,25.88,25.58,26.17
$GC,245,-0.68,-175.2,2556,1047,3999,3935,36.3,-43.0,24,256,0.00,2.22,0.00,0.000,1030,0.000,0.037,2549,2450,3966,3997,3935,0,0,0,0,0,0,26.27,26.21,26.29
$GC,555,-0.68,-175.2,2548,2451,3997,3939,138.9,-24.0,58,561,0.00,2.15,0.00,0.000,260,0.000,0.047,2539,3775,3966,3996,3937,0,0,0,0,0,0,26.35,26.31,26.41
$GC,585,-0.68,-175.2,2540,3775,3991,3939,146.0,-23.7,61,591,0.00,2.03,0.00,0.000,1030,0.000,0.024,2545,2433,3967,3996,3939,0,0,0,0,0,0,26.39,26.38,26.41
$GC,897,-0.68,-175.2,2544,2431,3994,3945,206.1,-17.7,90,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2430,3971,3997,3945,0,0,0,0,0,0,26.43,26.48,26.48
$GC,1196,-0.68,-175.2,2544,2431,3998,3947,248.7,-12.4,100,1202,0.00,2.10,0.00,0.000,516,0.000,0.031,2548,1067,3971,3996,3947,0,0,0,0,0,0,26.45,26.44,26.51
$GC,1221,-0.68,-175.2,2549,1068,3996,3948,248.7,-12.4,100,1231,0.00,2.20,0.00,0.000,1030,0.000,0.034,2541,2456,3971,3996,3947,0,0,0,0,0,0,26.47,26.43,26.49
$GC,1526,-0.68,-175.2,2540,2456,3998,3948,289.1,-13.0,111,1532,0.00,2.12,0.00,0.000,260,0.000,0.049,2531,3772,3971,3996,3947,0,0,0,0,0,0,26.46,26.41,26.53
$GC,1541,-0.68,-175.2,2531,3773,3995,3947,289.1,-13.0,111,1547,0.00,2.00,0.00,0.000,1030,0.000,0.025,2531,2454,3971,3996,3947,0,0,0,0,0,0,26.51,26.49,26.52
$GC,1857,-0.68,-175.2,2531,2453,3996,3948,335.5,-14.7,122,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2452,3972,3997,3947,0,0,0,0,0,0,26.46,26.53,26.53
$GC,2157,-0.68,-175.2,2532,2453,3996,3946,375.6,-12.9,132,2162,0.00,2.15,0.00,0.000,260,0.000,0.050,2522,3783,3970,3996,3944,0,0,0,0,0,0,26.47,26.42,26.53
$GC,2201,-0.68,-175.2,2523,3784,3996,3945,379.6,-12.7,133,2208,0.10,2.05,0.00,0.000,3078,0.119,0.026,2555,2439,3970,3996,3944,0,0,0,0,0,0,26.32,26.50,26.41
$GC,2517,-0.68,-175.2,2555,2439,3995,3940,414.3,-10.1,144,2523,0.00,2.12,0.00,0.000,516,0.000,0.033,2557,1061,3967,3995,3939,0,0,0,0,0,0,26.47,26.46,26.53
$GC,2562,-0.68,-175.2,2556,1061,3996,3939,417.5,-10.3,145,2569,0.00,2.22,0.00,0.000,1030,0.000,0.035,2550,2454,3963,3989,3937,0,0,0,0,0,0,26.47,26.44,26.50
$GC,2878,-0.68,-175.2,2550,2455,3997,3932,455.4,-11.5,156,2884,0.00,2.15,0.00,0.000,260,0.000,0.051,2541,3776,3963,3995,3931,0,0,0,0,0,0,26.48,26.41,26.53
$GC,2908,-0.68,-175.2,2540,3777,3997,3931,458.8,-11.5,157,2914,0.00,2.03,0.00,0.000,1030,0.000,0.026,2541,2453,3962,3995,3930,0,0,0,0,0,0,26.50,26.49,26.52
$GC,3238,-0.68,-175.2,2540,2450,3997,3924,494.8,-10.8,168,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3959,3995,3924,0,0,0,0,0,0,26.46,26.53,26.52
$GC,3539,-0.68,-175.2,2540,2451,3997,3915,525.9,-10.3,178,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3956,3995,3918,0,0,0,0,0,0,26.46,26.53,26.51
$GC,3839,-0.68,-175.2,2542,2451,3995,3913,555.7,-9.9,188,3844,0.00,2.15,0.00,0.000,516,0.000,0.031,2540,1056,3953,3995,3912,0,0,0,0,0,0,26.45,26.44,26.51
$GC,3914,-0.68,-175.2,2540,1057,3996,3912,561.4,-9.7,190,3920,0.00,2.22,0.00,0.000,1030,0.000,0.034,2533,2447,3953,3995,3911,0,0,0,0,0,0,26.50,26.42,26.51
$GC,4229,-0.68,-175.2,2533,2448,3993,3907,594.9,-10.3,201,4235,0.00,2.17,0.00,0.000,260,0.000,0.053,2523,3772,3950,3993,3907,0,0,0,0,0,0,26.44,26.37,26.51
$GC,4259,-0.68,-175.2,2524,3773,3992,3907,598.1,-10.5,202,4265,0.10,2.03,0.00,0.000,3078,0.125,0.027,2563,2448,3949,3992,3907,0,0,0,0,0,0,26.26,26.46,26.40
$GC,4590,-0.68,-175.2,2564,2449,3990,3905,626.5,-8.7,213,4595,0.00,2.12,0.00,0.000,516,0.000,0.031,2564,1068,3947,3990,3904,0,0,0,0,0,0,26.44,26.41,26.49
$GC,4645,-0.68,-175.2,2565,1068,3989,3905,629.3,-8.8,214,4655,0.00,2.20,0.00,0.000,1030,0.000,0.034,2558,2448,3946,3989,3904,0,0,0,0,0,0,26.43,26.40,26.46
$GC,4950,-0.68,-175.2,2558,2449,3995,3901,658.4,-8.6,225,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2449,3944,3987,3901,0,0,0,0,0,0,26.43,26.50,26.48
$GC,5250,-0.68,-175.2,2558,2449,3985,3900,681.5,-7.3,235,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2448,3942,3986,3899,0,0,0,0,0,0,26.42,26.49,26.48
$GC,5550,-0.68,-175.2,2559,2449,3983,3897,701.5,-6.3,245,5556,0.00,2.12,0.00,0.000,516,0.000,0.032,2558,1069,3939,3983,3896,0,0,0,0,0,0,26.41,26.39,26.48
$GC,5575,-0.68,-175.2,2558,1070,3985,3897,701.5,-6.3,245,5585,0.00,2.22,0.00,0.000,1030,0.000,0.036,2552,2448,3939,3983,3896,0,0,0,0,0,0,26.40,26.36,26.43
$GC,5880,-0.68,-175.2,2551,2448,3984,3896,723.3,-6.9,256,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2448,3938,3982,3895,0,0,0,0,0,0,26.41,26.48,26.46
$GC,6181,-0.68,-175.2,2551,2449,3982,3894,746.2,-8.2,266,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2448,3936,3980,3893,0,0,0,0,0,0,26.39,26.47,26.46
$GC,6480,-0.68,-175.2,2551,2449,3980,3892,772.9,-9.1,276,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2448,3935,3979,3892,0,0,0,0,0,0,26.39,26.46,26.45
$GC,6780,-0.68,-175.2,2551,2449,3979,3891,800.9,-9.5,286,6786,0.00,2.15,0.00,0.000,516,0.000,0.033,2552,1070,3933,3977,3890,0,0,0,0,0,0,26.39,26.35,26.44
$GC,6806,-0.68,-175.2,2552,1071,3977,3890,800.9,-9.5,286,6814,0.00,2.22,0.00,0.000,1030,0.000,0.036,2545,2448,3933,3977,3889,0,0,0,0,0,0,26.37,26.33,26.40
$GC,7112,-0.68,-175.2,2545,2449,3978,3889,833.6,-9.8,297,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2448,3932,3976,3888,0,0,0,0,0,0,26.38,26.44,26.44
$GC,7411,-0.68,-175.2,2546,2449,3974,3887,860.6,-8.7,307,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2449,3930,3975,3886,0,0,0,0,0,0,26.37,26.44,26.43
$GC,7711,-0.68,-175.2,2546,2449,3974,3887,884.8,-7.8,317,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2449,3930,3974,3886,0,0,0,0,0,0,26.36,26.44,26.43
$GC,8011,-0.68,-175.2,2546,2449,3973,3885,907.4,-7.5,327,8017,0.00,2.15,0.00,0.000,516,0.000,0.032,2546,1065,3928,3973,3884,0,0,0,0,0,0,26.36,26.32,26.43
$GC,8031,-0.68,-175.2,2545,1066,3974,3885,907.4,-7.5,327,8037,0.00,2.25,0.00,0.000,1030,0.000,0.037,2539,2452,3928,3972,3884,0,0,0,0,0,0,26.34,26.29,26.36
$GC,8342,-0.68,-175.2,2540,2452,3971,3883,933.2,-8.0,338,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2452,3927,3971,3883,0,0,0,0,0,0,26.34,26.41,26.41
$GC,8641,-0.68,-175.2,2538,2453,3972,3882,959.5,-9.0,348,8647,0.00,2.15,0.00,0.000,516,0.000,0.032,2539,1069,3925,3970,3881,0,0,0,0,0,0,26.34,26.29,26.40
$GC,8667,-0.68,-175.2,2540,1070,3970,3882,959.5,-9.0,348,8676,0.00,2.22,0.00,0.000,1030,0.000,0.037,2533,2455,3926,3970,3882,0,0,0,0,0,0,26.34,26.28,26.36
$STATE,8970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8970,begin apogee
$GC,8975,-0.11,0.0,2533,2092,3969,3882,991.3,-9.8,359,9116,0.68,0.00,136.90,1.314,10246,0.119,0.000,2742,2089,3280,3321,3240,0,0,0,0,0,0,26.08,24.89,24.18
$STATE,9117,end apogee,CONTROL_FINISHED_OK
$STATE,9117,begin climb
$GC,9119,0.68,175.2,2741,2089,3321,3239,998.0,0.0,363,9289,0.73,2.53,155.55,1.301,10500,0.046,0.044,3015,3510,2563,2609,2517,0,0,0,0,0,0,25.12,24.37,23.67
$GC,9513,0.68,175.2,3014,3511,2598,2514,971.4,13.3,377,9519,0.00,2.22,0.00,0.000,1030,0.000,0.024,3025,2108,2554,2596,2513,0,0,0,0,0,0,25.86,25.84,25.86
$GC,9844,0.68,175.2,3027,2109,2595,2510,930.3,12.3,388,9850,0.00,2.30,0.00,0.000,260,0.000,0.044,3026,3519,2552,2595,2509,0,0,0,0,0,0,26.19,26.15,26.25
$GC,9989,0.68,175.2,3026,3519,2594,2510,911.0,13.3,393,9995,0.10,2.22,0.00,0.000,5126,0.177,0.024,3008,2097,2551,2594,2509,0,0,0,0,0,0,26.03,26.27,26.15
$GC,10320,0.68,175.2,3009,2097,2592,2509,873.2,11.2,404,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2097,2550,2592,2508,0,0,0,0,0,0,26.32,26.39,26.39
$GC,10620,0.68,175.2,3009,2097,2592,2509,839.9,11.1,414,10626,0.00,2.30,0.00,0.000,260,0.000,0.044,3008,3512,2550,2592,2508,0,0,0,0,0,0,26.34,26.29,26.41
$GC,10651,0.68,175.2,3008,3514,2594,2509,836.1,11.3,415,10657,0.00,2.20,0.00,0.000,1030,0.000,0.024,3017,2100,2550,2592,2508,0,0,0,0,0,0,26.37,26.35,26.39
$GC,10982,0.68,175.2,3017,2101,2589,2508,796.3,12.0,426,10987,0.00,2.22,0.00,0.000,516,0.000,0.037,3027,707,2549,2590,2508,0,0,0,0,0,0,26.34,26.30,26.41
$GC,11027,0.68,175.2,3026,707,2592,2507,792.4,12.0,427,11033,0.00,2.22,0.00,0.000,1030,0.000,0.027,3027,2115,2548,2590,2506,0,0,0,0,0,0,26.33,26.29,26.35
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$STATE,18144,end climb,SURFACE_DEPTH_REACHED
$STATE,18144,begin surface coast
$FINISH,-0.5,1.022109
$STATE,18178,end surface coast,CONTROL_FINISHED_OK
$STATE,18178,begin surface
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$IRIDIUM_FIX,1205.71,14518.01,110108,030203
$TT8_MAMPS,0.051681,0.051681
$HUMID,40.43
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.70
$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,18210.71 17511.27
$PA_BOOTCOUNT,298
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$PA_LOG,0.07/0.142/1.969/1.727
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.03/0.054/1.764/1.620
$PA_DISK_BANK,0
$24V_AH,23.67,18.036
$10V_AH,10.19,24.911
$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,20.650,145.800,450.350,62.325,0.000,0.000,0.000,266.625,0.000,18635.340,15.540,0.000,14872.137,655.877,2896.622,201.322,0.000,2137.229,0.000,1816.124,0.000,0.552,0.000
$DEVICE_MAMPS,249.390,52.785,1313.505,64.260,0.000,0.000,0.000,97.155,420.000,50.896,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,568.187,0.000,0.000,0.000,0.000,0.000,18635.549,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229964
$DATA_FILE_SIZE,36703,835
$CAP_FILE_SIZE,156259,0
$CFSIZE,260034560,251260928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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