version: 66.12
glider: 178
mission: 20
dive: 102
start: 3 21 115 8 43 58
data:
$ID,178
$MISSION,20
$DIVE,102
$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,700.08618
$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,51
$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
$GPS1,210315,083236,1213.5574,14437.5439,31,1.0,31,1.8,0.3,30.3,8,7.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-75.9
$GPS2,210315,084347,1213.5273,14437.4219,13,1.4,29,1.8,0.4,228.0,7,9.5
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,288.3,29014,-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,94,end surface,CONTROL_FINISHED_OK
$STATE,94,begin dive
$GC,96,-0.68,-175.2,129,2436,1245,1228,0.0,0.0,0,180,0.00,0.00,-79.35,0.000,16386,0.000,0.000,128,2435,3275,3319,3232,0,0,0,0,0,0,26.32,28.83,26.38
$GC,182,-0.68,-175.2,127,2436,3321,3235,3.7,-10.3,12,207,10.40,2.12,-10.93,0.000,18692,0.245,0.057,2544,3767,3966,3998,3934,0,0,0,0,0,0,25.87,24.87,26.19
$GC,329,-0.68,-175.2,2543,3768,3997,3942,59.2,-31.3,38,347,0.00,1.98,0.00,0.000,1030,0.000,0.024,2548,2439,3968,3995,3941,0,0,0,0,0,0,26.29,26.27,26.29
$GC,642,-0.68,-175.2,2543,2437,3997,3944,151.9,-25.4,69,649,0.00,2.10,0.00,0.000,516,0.000,0.030,2552,1061,3969,3995,3943,0,0,0,0,0,0,26.29,26.30,26.35
$GC,684,-0.68,-175.2,2552,1062,3995,3945,160.1,-19.3,73,698,0.00,2.15,0.00,0.000,1030,0.000,0.031,2545,2449,3969,3995,3944,0,0,0,0,0,0,26.36,26.30,26.37
$GC,1015,-0.68,-175.2,2543,2449,3997,3950,215.9,-16.1,100,1025,0.00,2.15,0.00,0.000,516,0.000,0.034,2546,1056,3972,3995,3949,0,0,0,0,0,0,26.34,26.32,26.40
$GC,1040,-0.68,-175.2,2547,1056,3995,3950,215.9,-16.1,100,1050,0.00,2.17,0.00,0.000,1030,0.000,0.032,2539,2453,3972,3995,3949,0,0,0,0,0,0,26.37,26.32,26.39
$GC,1345,-0.68,-175.2,2540,2453,3995,3951,261.5,-13.4,111,1354,0.00,2.10,0.00,0.000,260,0.000,0.047,2529,3771,3972,3995,3950,0,0,0,0,0,0,26.37,26.29,26.43
$GC,1380,-0.68,-175.2,2530,3772,3995,3951,265.8,-13.7,112,1389,0.12,1.95,0.00,0.000,3078,0.160,0.024,2558,2443,3972,3995,3950,0,0,0,0,0,0,26.17,26.39,26.32
$GC,1704,-0.68,-175.2,2557,2443,3997,3951,305.7,-11.5,123,1714,0.00,2.10,0.00,0.000,516,0.000,0.031,2560,1061,3973,3996,3950,0,0,0,0,0,0,26.35,26.34,26.41
$GC,1753,-0.68,-175.2,2559,1062,3998,3951,308.7,-11.0,124,1761,0.00,2.17,0.00,0.000,1030,0.000,0.031,2553,2454,3973,3995,3951,0,0,0,0,0,0,26.39,26.33,26.41
$GC,2059,-0.68,-175.2,2556,2455,3999,3949,336.8,-8.3,134,2067,0.00,2.12,0.00,0.000,516,0.000,0.031,2553,1068,3971,3995,3948,0,0,0,0,0,0,26.36,26.36,26.42
$GC,2096,-0.68,-175.2,2552,1068,3997,3949,339.7,-8.3,135,2104,0.00,2.17,0.00,0.000,1030,0.000,0.033,2543,2456,3971,3995,3948,0,0,0,0,0,0,26.39,26.32,26.41
$GC,2419,-0.68,-175.2,2543,2456,3995,3943,373.1,-10.9,146,2427,0.00,2.10,0.00,0.000,260,0.000,0.048,2533,3772,3968,3995,3942,0,0,0,0,0,0,26.35,26.27,26.41
$GC,2451,-0.68,-175.2,2532,3773,3997,3942,377.1,-11.2,147,2459,0.00,1.98,0.00,0.000,1030,0.000,0.026,2533,2451,3968,3995,3941,0,0,0,0,0,0,26.41,26.38,26.41
$GC,2783,-0.68,-175.2,2534,2449,3994,3937,417.4,-11.7,158,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2448,3965,3994,3937,0,0,0,0,0,0,26.36,26.43,26.41
$GC,3083,-0.68,-175.2,2533,2449,3995,3930,452.5,-11.9,168,3094,0.00,2.12,0.00,0.000,260,0.000,0.048,2524,3765,3961,3994,3929,0,0,0,0,0,0,26.35,26.28,26.41
$GC,3114,-0.68,-175.2,2523,3765,3995,3929,456.2,-11.9,169,3122,0.15,1.98,0.00,0.000,3078,0.148,0.026,2562,2442,3960,3993,3928,0,0,0,0,0,0,26.11,26.32,26.27
$GC,3442,-0.68,-175.2,2560,2443,3996,3923,484.6,-8.0,180,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2442,3958,3994,3922,0,0,0,0,0,0,26.29,26.36,26.36
$GC,3741,-0.68,-175.2,2560,2443,3996,3918,507.6,-7.3,190,3750,0.00,2.15,0.00,0.000,516,0.000,0.033,2563,1061,3955,3994,3916,0,0,0,0,0,0,26.33,26.29,26.39
$GC,3790,-0.68,-175.2,2562,1062,3995,3916,510.0,-7.2,191,3800,0.00,2.17,0.00,0.000,1030,0.000,0.031,2556,2453,3954,3994,3914,0,0,0,0,0,0,26.36,26.29,26.37
$GC,4109,-0.68,-175.2,2557,2453,3992,3910,535.1,-8.2,202,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2453,3951,3993,3910,0,0,0,0,0,0,26.33,26.40,26.39
$GC,4409,-0.68,-175.2,2558,2453,3990,3907,559.5,-8.0,212,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2453,3948,3990,3906,0,0,0,0,0,0,26.33,26.40,26.39
$GC,4710,-0.68,-175.2,2558,2453,3987,3905,584.0,-8.4,222,4719,0.00,2.15,0.00,0.000,516,0.000,0.032,2557,1067,3946,3988,3904,0,0,0,0,0,0,26.32,26.27,26.37
$GC,4734,-0.68,-175.2,2556,1068,3989,3905,584.0,-8.4,222,4745,0.00,2.20,0.00,0.000,1030,0.000,0.034,2550,2456,3945,3987,3904,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5040,-0.68,-175.2,2549,2457,3987,3903,612.0,-8.5,233,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2457,3943,3985,3902,0,0,0,0,0,0,26.31,26.38,26.37
$GC,5340,-0.68,-175.2,2551,2457,3983,3900,638.7,-9.2,243,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2457,3941,3983,3900,0,0,0,0,0,0,26.29,26.36,26.35
$GC,5639,-0.68,-175.2,2548,2457,3984,3898,667.0,-9.7,253,5647,0.00,2.20,0.00,0.000,516,0.000,0.032,2550,1061,3939,3982,3897,0,0,0,0,0,0,26.29,26.24,26.36
$GC,5692,-0.68,-175.2,2551,1061,3981,3897,669.8,-9.8,254,5703,0.00,2.20,0.00,0.000,1030,0.000,0.034,2542,2450,3939,3981,3897,0,0,0,0,0,0,26.29,26.22,26.32
$GC,5997,-0.68,-175.2,2542,2450,3978,3896,702.2,-9.7,265,6008,0.00,2.15,0.00,0.000,260,0.000,0.053,2532,3769,3937,3979,3895,0,0,0,0,0,0,26.27,26.16,26.33
$GC,6022,-0.68,-175.2,2533,3769,3979,3896,702.2,-9.7,265,6033,0.00,2.03,0.00,0.000,1030,0.000,0.027,2532,2443,3937,3979,3895,0,0,0,0,0,0,26.32,26.29,26.34
$GC,6328,-0.68,-175.2,2533,2441,3978,3894,734.2,-9.6,276,6335,0.00,2.15,0.00,0.000,516,0.000,0.033,2532,1066,3935,3977,3893,0,0,0,0,0,0,26.28,26.21,26.34
$GC,6360,-0.68,-175.2,2531,1067,3978,3894,737.0,-9.8,277,6370,0.12,2.20,0.00,0.000,3078,0.160,0.034,2556,2450,3935,3977,3893,0,0,0,0,0,0,26.02,26.20,26.17
$GC,6685,-0.68,-175.2,2555,2451,3978,3892,763.0,-7.9,288,6693,0.00,2.15,0.00,0.000,260,0.000,0.052,2548,3772,3933,3976,3891,0,0,0,0,0,0,26.27,26.13,26.33
$GC,6713,-0.68,-175.2,2548,3772,3975,3891,763.0,-7.9,288,6723,0.00,2.03,0.00,0.000,1030,0.000,0.027,2548,2435,3933,3976,3891,0,0,0,0,0,0,26.31,26.30,26.32
$GC,7018,-0.68,-175.2,2549,2436,3974,3890,792.7,-9.1,299,7026,0.00,2.10,0.00,0.000,516,0.000,0.033,2548,1078,3932,3975,3889,0,0,0,0,0,0,26.26,26.19,26.32
$GC,7051,-0.68,-175.2,2547,1079,3975,3890,795.5,-9.0,300,7060,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2447,3931,3974,3889,0,0,0,0,0,0,26.25,26.17,26.28
$GC,7381,-0.68,-175.2,2542,2448,3973,3888,824.0,-8.4,311,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2447,3930,3973,3887,0,0,0,0,0,0,26.19,26.25,26.25
$GC,7681,-0.68,-175.2,2541,2448,3974,3887,848.4,-8.0,321,7689,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1069,3929,3972,3886,0,0,0,0,0,0,26.24,26.15,26.30
$GC,7709,-0.68,-175.2,2542,1070,3972,3887,848.4,-8.0,321,7719,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2454,3928,3971,3886,0,0,0,0,0,0,26.23,26.15,26.25
$GC,8015,-0.68,-175.2,2542,2455,3970,3885,874.6,-8.0,332,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2455,3927,3970,3885,0,0,0,0,0,0,26.22,26.29,26.28
$GC,8314,-0.68,-175.2,2542,2455,3969,3884,899.0,-8.1,342,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3926,3970,3883,0,0,0,0,0,0,26.25,26.32,26.31
$GC,8614,-0.68,-175.2,2541,2456,3970,3883,923.4,-8.4,352,8622,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1065,3925,3968,3882,0,0,0,0,0,0,26.22,26.15,26.28
$GC,8642,-0.68,-175.2,2541,1065,3970,3883,923.4,-8.4,352,8652,0.00,2.22,0.00,0.000,1030,0.000,0.037,2542,2451,3925,3968,3882,0,0,0,0,0,0,26.20,26.15,26.22
$GC,8947,-0.68,-175.2,2541,2452,3969,3882,953.4,-9.1,363,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3924,3967,3881,0,0,0,0,0,0,26.18,26.25,26.24
$GC,9247,-0.68,-175.2,2541,2451,3969,3881,979.9,-8.9,373,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2451,3923,3967,3880,0,0,0,0,0,0,26.20,26.27,26.27
$STATE,9365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9365,begin apogee
$GC,9370,-0.11,0.0,2542,2107,3966,3881,990.5,-8.9,377,9520,0.65,0.00,137.62,1.303,10246,0.119,0.000,2741,2102,3277,3317,3238,0,0,0,0,0,0,25.89,24.79,24.06
$STATE,9521,end apogee,CONTROL_FINISHED_OK
$STATE,9521,begin climb
$GC,9523,0.68,175.2,2742,2102,3316,3237,999.0,0.0,382,9693,0.70,2.40,156.73,1.287,10756,0.047,0.034,3020,725,2561,2606,2517,0,0,0,0,0,0,25.06,24.26,23.54
$GC,9917,0.68,175.2,3020,723,2599,2509,974.4,12.7,395,9926,0.00,2.22,0.00,0.000,1030,0.000,0.028,3020,2113,2553,2599,2508,0,0,0,0,0,0,25.83,25.78,25.85
$GC,10235,0.68,175.2,3019,2114,2605,2506,931.1,13.1,406,10243,0.00,2.25,0.00,0.000,516,0.000,0.036,3030,718,2552,2598,2506,0,0,0,0,0,0,26.14,26.10,26.20
$GC,10323,0.68,175.2,3030,719,2598,2506,919.4,13.3,409,10335,0.10,2.15,0.00,0.000,5126,0.165,0.028,3002,2095,2550,2596,2505,0,0,0,0,0,0,25.92,26.15,26.03
$GC,10654,0.68,175.2,3003,2096,2595,2504,878.9,11.8,420,10666,0.00,2.28,0.00,0.000,260,0.000,0.044,3002,3503,2549,2595,2504,0,0,0,0,0,0,26.22,26.16,26.28
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$STATE,18352,end climb,SURFACE_DEPTH_REACHED
$STATE,18352,begin surface coast
$FINISH,-0.9,1.022017
$STATE,18377,end surface coast,CONTROL_FINISHED_OK
$STATE,18377,begin surface
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$IRIDIUM_FIX,1207.91,14455.96,150108,220307
$TT8_MAMPS,0.053179,0.053179
$HUMID,38.34
$INTERNAL_PRESSURE,9.37536
$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,1649996
$PA_UPTIME,18485.75 8242.81
$PA_BOOTCOUNT,321
$PA_DFQS,0/0
$PA_LOG,0.08/0.150/1.969/1.719
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$PA_DATA0,0.28/33.089/117.199/78.157
$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.03/0.059/1.764/1.615
$PA_DISK_BANK,1
$24V_AH,23.54,27.997
$10V_AH,10.32,26.462
$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,20.925,151.950,456.875,137.225,0.000,0.000,0.000,287.775,0.250,19115.660,32.168,0.000,14967.273,710.897,3293.809,216.692,0.000,2462.054,0.000,1793.490,0.000,0.552,0.000
$DEVICE_MAMPS,244.800,56.610,1302.795,61.200,0.000,0.000,0.000,78.030,420.000,64.692,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,561.380,0.000,0.000,0.000,0.000,0.000,19115.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,230464
$DATA_FILE_SIZE,36746,824
$CAP_FILE_SIZE,161600,0
$CFSIZE,260034560,249475072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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