version: 66.12
glider: 178
mission: 20
dive: 100
start: 3 20 115 22 18 23
data:
$ID,178
$MISSION,20
$DIVE,100
$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,57
$R_STBD_OVSHOOT,43
$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
$GPS1,200315,221135,1213.5280,14441.4629,29,1.1,29,1.8,0.1,202.3,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-76.0
$GPS2,200315,221812,1213.5070,14441.4414,10,1.2,10,1.8,0.1,261.4,8,9.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,284.9,36237,-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,-175.2,132,2457,1244,1224,0.0,0.0,0,178,0.00,0.00,-80.95,0.000,16386,0.000,0.000,132,2458,3299,3343,3256,0,0,0,0,0,0,26.21,28.83,26.27
$GC,180,-0.68,-175.2,133,2464,3344,3257,3.7,-11.4,12,205,10.52,2.12,-10.50,0.000,18692,0.249,0.054,2543,3775,3965,3998,3933,0,0,0,0,0,0,25.80,24.83,26.13
$GC,321,-0.68,-175.2,2542,3775,3997,3942,58.8,-31.1,36,335,0.00,2.00,0.00,0.000,1030,0.000,0.024,2549,2432,3968,3995,3941,0,0,0,0,0,0,26.25,26.22,26.26
$GC,630,-0.68,-175.2,2549,2430,3995,3943,152.5,-21.7,67,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2429,3969,3996,3943,0,0,0,0,0,0,26.32,26.37,26.36
$GC,941,-0.68,-175.2,2549,2430,3995,3949,204.7,-12.0,96,950,0.00,2.15,0.00,0.000,260,0.000,0.045,2541,3767,3971,3995,3948,0,0,0,0,0,0,26.34,26.27,26.39
$GC,974,-0.68,-175.2,2540,3768,3997,3949,209.3,-12.5,97,982,0.00,1.95,0.00,0.000,1030,0.000,0.024,2547,2454,3972,3995,3949,0,0,0,0,0,0,26.39,26.34,26.39
$GC,1301,-0.68,-175.2,2546,2450,3997,3951,261.5,-16.6,108,1311,0.00,2.10,0.00,0.000,516,0.000,0.029,2551,1070,3973,3996,3951,0,0,0,0,0,0,26.33,26.32,26.36
$GC,1346,-0.68,-175.2,2550,1065,3997,3952,266.8,-15.9,109,1354,0.00,2.12,0.00,0.000,1030,0.000,0.032,2543,2442,3973,3995,3951,0,0,0,0,0,0,26.39,26.32,26.40
$GC,1663,-0.68,-175.2,2543,2442,3997,3952,309.2,-12.2,120,1671,0.00,2.10,0.00,0.000,260,0.000,0.047,2533,3770,3973,3995,3951,0,0,0,0,0,0,26.36,26.29,26.42
$GC,1721,-0.68,-175.2,2532,3771,3997,3951,316.8,-13.0,122,1728,0.00,1.98,0.00,0.000,1030,0.000,0.026,2533,2445,3973,3995,3951,0,0,0,0,0,0,26.41,26.39,26.42
$GC,2048,-0.68,-175.2,2534,2445,3996,3951,360.0,-12.2,133,2056,0.00,2.10,0.00,0.000,516,0.000,0.031,2534,1068,3973,3995,3951,0,0,0,0,0,0,26.34,26.32,26.41
$GC,2070,-0.68,-175.2,2535,1068,3995,3951,360.0,-12.2,133,2079,0.12,2.15,0.00,0.000,3078,0.154,0.033,2557,2453,3972,3995,3950,0,0,0,0,0,0,26.17,26.32,26.32
$GC,2384,-0.68,-175.2,2556,2454,3997,3947,390.9,-9.1,144,2392,0.00,2.12,0.00,0.000,260,0.000,0.048,2550,3782,3971,3996,3946,0,0,0,0,0,0,26.36,26.28,26.42
$GC,2411,-0.68,-175.2,2549,3783,3997,3947,390.9,-9.1,144,2422,0.00,1.98,0.00,0.000,1030,0.000,0.026,2550,2450,3971,3996,3946,0,0,0,0,0,0,26.40,26.37,26.42
$GC,2716,-0.68,-175.2,2550,2451,3995,3943,426.6,-10.7,155,2724,0.00,2.10,0.00,0.000,516,0.000,0.031,2550,1075,3969,3996,3942,0,0,0,0,0,0,26.36,26.33,26.42
$GC,2774,-0.68,-175.2,2549,1075,3997,3943,430.0,-10.5,156,2784,0.00,2.17,0.00,0.000,1030,0.000,0.032,2541,2460,3968,3995,3942,0,0,0,0,0,0,26.38,26.32,26.40
$GC,3079,-0.68,-175.2,2542,2460,3994,3937,460.8,-9.2,167,3087,0.00,2.12,0.00,0.000,260,0.000,0.049,2531,3781,3965,3994,3936,0,0,0,0,0,0,26.35,26.27,26.41
$GC,3121,-0.68,-175.2,2531,3785,3993,3936,463.7,-9.6,168,3128,0.00,2.00,0.00,0.000,1030,0.000,0.027,2531,2453,3964,3994,3935,0,0,0,0,0,0,26.40,26.37,26.41
$GC,3433,-0.68,-175.2,2530,2452,3996,3929,500.1,-11.4,179,3441,0.00,2.12,0.00,0.000,516,0.000,0.033,2531,1068,3960,3994,3926,0,0,0,0,0,0,26.36,26.30,26.42
$GC,3455,-0.68,-175.2,2532,1068,3994,3929,500.1,-11.4,179,3465,0.15,2.17,0.00,0.000,3078,0.150,0.034,2562,2450,3961,3994,3928,0,0,0,0,0,0,26.13,26.29,26.28
$GC,3760,-0.68,-175.2,2560,2451,3996,3924,529.7,-8.5,190,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2450,3958,3994,3923,0,0,0,0,0,0,26.34,26.41,26.39
$GC,4061,-0.68,-175.2,2563,2451,3994,3918,553.9,-7.9,200,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2450,3955,3994,3917,0,0,0,0,0,0,26.32,26.40,26.38
$GC,4360,-0.68,-175.2,2563,2451,3993,3912,579.6,-8.9,210,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2450,3953,3994,3912,0,0,0,0,0,0,26.34,26.39,26.40
$GC,4660,-0.68,-175.2,2562,2451,3995,3909,607.0,-9.0,220,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2450,3950,3992,3908,0,0,0,0,0,0,26.32,26.39,26.38
$GC,4960,-0.68,-175.2,2561,2451,3991,3907,631.9,-7.9,230,4968,0.00,2.15,0.00,0.000,260,0.000,0.052,2554,3770,3947,3989,3906,0,0,0,0,0,0,26.33,26.20,26.39
$GC,4992,-0.68,-175.2,2556,3771,3989,3907,634.1,-7.9,231,5000,0.00,2.00,0.00,0.000,1030,0.000,0.028,2554,2454,3947,3989,3906,0,0,0,0,0,0,26.35,26.32,26.36
$GC,5315,-0.68,-175.2,2554,2453,3989,3905,659.8,-7.7,242,5324,0.00,2.15,0.00,0.000,516,0.000,0.033,2555,1069,3945,3987,3904,0,0,0,0,0,0,26.30,26.25,26.36
$GC,5389,-0.68,-175.2,2554,1070,3988,3904,664.3,-7.5,244,5397,0.00,2.20,0.00,0.000,1030,0.000,0.034,2548,2457,3944,3986,3903,0,0,0,0,0,0,26.29,26.22,26.31
$GC,5707,-0.68,-175.2,2547,2458,3987,3902,689.2,-7.4,255,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2457,3943,3986,3900,0,0,0,0,0,0,26.29,26.36,26.35
$GC,6007,-0.68,-175.2,2549,2458,3982,3900,713.5,-8.4,265,6017,0.00,2.17,0.00,0.000,516,0.000,0.032,2549,1062,3940,3983,3898,0,0,0,0,0,0,26.30,26.23,26.36
$GC,6031,-0.68,-175.2,2549,1062,3982,3900,713.5,-8.4,265,6042,0.00,2.22,0.00,0.000,1030,0.000,0.036,2542,2454,3940,3982,3899,0,0,0,0,0,0,26.28,26.21,26.31
$GC,6337,-0.68,-175.2,2540,2456,3982,3898,743.5,-9.2,276,6344,0.00,2.17,0.00,0.000,516,0.000,0.033,2543,1060,3938,3981,3896,0,0,0,0,0,0,26.28,26.22,26.34
$GC,6359,-0.68,-175.2,2542,1061,3981,3897,743.5,-9.2,276,6369,0.00,2.22,0.00,0.000,1030,0.000,0.036,2537,2453,3939,3981,3897,0,0,0,0,0,0,26.26,26.21,26.30
$GC,6664,-0.68,-175.2,2537,2453,3979,3896,775.8,-10.0,287,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2452,3937,3979,3896,0,0,0,0,0,0,26.29,26.35,26.34
$GC,6964,-0.68,-175.2,2537,2453,3977,3895,805.3,-9.6,297,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2452,3935,3978,3893,0,0,0,0,0,0,26.25,26.32,26.31
$GC,7264,-0.68,-175.2,2537,2453,3977,3892,835.1,-9.9,307,7274,0.00,2.20,0.00,0.000,516,0.000,0.033,2537,1060,3934,3977,3892,0,0,0,0,0,0,26.26,26.20,26.32
$GC,7299,-0.68,-175.2,2537,1062,3977,3893,838.0,-9.9,308,7310,0.00,2.20,0.00,0.000,1030,0.000,0.036,2533,2443,3934,3977,3892,0,0,0,0,0,0,26.22,26.17,26.26
$GC,7624,-0.68,-175.2,2532,2444,3977,3891,870.2,-9.7,319,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2442,3933,3977,3890,0,0,0,0,0,0,26.25,26.32,26.31
$GC,7925,-0.68,-175.2,2534,2443,3976,3889,899.8,-9.8,329,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2443,3931,3973,3889,0,0,0,0,0,0,26.22,26.30,26.29
$GC,8224,-0.68,-175.2,2532,2444,3975,3889,929.2,-9.6,339,8232,0.00,2.17,0.00,0.000,260,0.000,0.052,2523,3772,3930,3973,3888,0,0,0,0,0,0,26.23,26.10,26.29
$GC,8257,-0.68,-175.2,2522,3773,3975,3889,932.3,-9.6,340,8265,0.15,2.00,0.00,0.000,3078,0.148,0.028,2560,2445,3930,3973,3888,0,0,0,0,0,0,25.96,26.24,26.12
$GC,8585,-0.68,-175.2,2561,2446,3973,3886,956.3,-7.0,351,8594,0.00,2.12,0.00,0.000,516,0.000,0.033,2561,1069,3930,3973,3887,0,0,0,0,0,0,26.16,26.10,26.22
$GC,8634,-0.68,-175.2,2560,1070,3974,3887,958.4,-6.9,352,8642,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2457,3927,3968,3887,0,0,0,0,0,0,26.20,26.13,26.23
$GC,8940,-0.68,-175.2,2559,2457,3973,3886,981.0,-6.9,362,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2457,3928,3971,3886,0,0,0,0,0,0,26.20,26.28,26.27
$STATE,9088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9088,begin apogee
$GC,9092,-0.11,0.0,2561,2102,3971,3885,991.7,-7.1,367,9237,0.57,0.00,138.40,1.310,10246,0.109,0.000,2741,2097,3279,3319,3240,0,0,0,0,0,0,25.94,24.79,24.06
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9238,begin climb
$GC,9240,0.68,175.2,2740,2098,3319,3238,998.1,0.0,371,9409,0.73,2.45,156.23,1.293,11012,0.045,0.041,3013,3507,2563,2609,2518,0,0,0,0,0,0,25.01,24.08,23.53
$GC,9633,0.68,175.2,3012,3508,2599,2515,972.7,13.3,385,9641,0.00,2.20,0.00,0.000,1030,0.000,0.024,3024,2105,2555,2597,2514,0,0,0,0,0,0,25.84,25.81,25.86
$GC,9956,0.68,175.2,3025,2106,2594,2511,930.4,13.0,396,9964,0.00,2.30,0.00,0.000,260,0.000,0.044,3024,3512,2552,2595,2510,0,0,0,0,0,0,26.14,26.09,26.20
$GC,10079,0.68,175.2,3023,3512,2597,2511,913.3,14.5,400,10091,0.12,2.17,0.00,0.000,5126,0.197,0.024,3003,2100,2552,2595,2510,0,0,0,0,0,0,25.92,26.19,26.04
$GC,10406,0.68,175.2,3002,2101,2594,2510,870.3,12.9,411,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2105,2548,2588,2509,0,0,0,0,0,0,26.23,26.30,26.29
$GC,10706,0.68,175.2,3004,2100,2591,2509,830.2,13.6,421,10714,0.00,2.20,0.00,0.000,516,0.000,0.037,3012,705,2550,2592,2509,0,0,0,0,0,0,26.24,26.20,26.30
$GC,10783,0.68,175.2,3010,706,2593,2507,821.4,13.6,423,10791,0.00,2.20,0.00,0.000,1030,0.000,0.027,3012,2110,2549,2591,2507,0,0,0,0,0,0,26.27,26.21,26.29
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$STATE,17851,end climb,SURFACE_DEPTH_REACHED
$STATE,17851,begin surface coast
$FINISH,0.1,1.021898
$STATE,17877,end surface coast,CONTROL_FINISHED_OK
$STATE,17877,begin surface
$SM_CCo,17893,71.85,0.065,0,0,1239,500.17
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$IRIDIUM_FIX,1207.91,14444.93,150108,062546
$TT8_MAMPS,0.050932,0.050932
$HUMID,39.76
$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,17920.67 8012.71
$PA_BOOTCOUNT,319
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$PA_DATA0,0.22/25.820/117.199/85.426
$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.03/0.059/1.764/1.616
$PA_DISK_BANK,1
$24V_AH,23.53,27.012
$10V_AH,10.19,26.315
$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,21.125,140.050,443.700,71.850,0.000,0.000,0.000,280.525,0.000,18342.371,12.798,0.000,14388.560,613.867,3142.531,201.833,0.000,2285.451,0.000,1751.127,0.000,0.551,0.000
$DEVICE_MAMPS,248.625,54.315,1309.680,65.025,0.000,0.000,0.000,97.920,420.000,64.680,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,553.055,0.000,0.000,0.000,0.000,0.000,18342.592,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229932
$DATA_FILE_SIZE,36779,812
$CAP_FILE_SIZE,154352,0
$CFSIZE,260034560,249696256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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