version: 66.12
glider: 179
mission: 13
dive: 38
start: 10 4 114 16 58 19
data:
$ID,179
$MISSION,13
$DIVE,38
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2.5
$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,360
$T_MISSION,400
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51623
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00267967
$HD_B,0.0102786
$HD_C,3.7969199e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2926
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$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,140
$AH0_10V,95.099998
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.156891
$PRESSURE_SLOPE,0.0001164844
$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,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,75000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,041014,165153,1416.885,14352.649,39,0.8,59,0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.6
$GPS2,041014,165802,1416.881,14352.646,4,0.8,25,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N1
$TGT_LATLONG,1429.500,14339.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,349.5,33067,-16.7,-9.167,-21.61,2230
$D_GRID,1000
$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,-0.80,-146.0,120,2272,1319,1264,0.0,0.0,0,142,0.00,0.00,-42.90,0.000,16386,0.000,0.000,120,2272,2269,2320,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-0.80,-146.0,120,2272,2321,2219,3.1,-4.9,7,201,11.00,2.25,-34.12,0.000,18692,0.246,0.059,2567,3648,3523,3534,3512,0,0,0,0,0,0,25.20,25.77,26.19
$GC,401,-0.62,-146.0,2567,3648,3534,3514,81.2,-32.8,44,411,0.28,2.12,0.00,0.000,3078,0.155,0.025,2639,2224,3524,3534,3514,0,0,0,0,0,0,25.53,26.03,28.83
$GC,715,-0.56,-146.0,2640,2221,3534,3516,148.8,-19.6,75,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2221,3525,3534,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1016,-0.56,-146.0,2639,2219,3535,3518,196.9,-14.3,105,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2219,3526,3534,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.56,-146.0,2639,2219,3535,3518,234.0,-12.6,117,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2219,3526,3534,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.56,-146.0,2639,2219,3534,3519,267.0,-10.4,127,1624,0.00,2.03,0.00,0.000,516,0.000,0.035,2639,852,3526,3534,3518,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1668,-0.56,-146.0,2640,852,3534,3518,270.6,-10.6,128,1676,0.12,2.10,0.00,0.000,3078,0.148,0.028,2666,2260,3525,3533,3518,0,0,0,0,0,0,26.06,26.30,28.83
$GC,1980,-0.63,-146.0,2666,2261,3533,3519,302.4,-8.8,139,1988,0.00,2.15,0.00,0.000,260,0.000,0.047,2658,3652,3525,3532,3518,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2107,-0.70,-146.0,2658,3652,3530,3519,312.4,-8.5,143,2115,0.12,2.03,0.00,0.000,5126,0.085,0.027,2599,2282,3524,3530,3518,0,0,0,0,0,0,26.32,26.39,28.83
$GC,2424,-0.70,-146.0,2599,2281,3528,3516,357.3,-14.3,154,2433,0.00,2.17,0.00,0.000,260,0.000,0.048,2589,3649,3521,3528,3515,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2462,-0.70,-146.0,2589,3649,3527,3515,362.0,-14.2,155,2470,0.00,2.03,0.00,0.000,1030,0.000,0.028,2589,2275,3521,3527,3515,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2783,-0.70,-146.0,2589,2275,3524,3512,403.6,-11.0,166,2791,0.00,2.10,0.00,0.000,516,0.000,0.038,2589,869,3517,3524,3511,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2865,-0.70,-146.0,2589,868,3524,3511,410.0,-11.0,168,2875,0.15,2.12,0.00,0.000,3078,0.152,0.031,2620,2285,3517,3523,3511,0,0,0,0,0,0,26.01,26.32,28.83
$GC,3170,-0.73,-146.0,2620,2285,3521,3507,445.1,-11.2,179,3178,0.00,2.12,0.00,0.000,260,0.000,0.051,2610,3646,3513,3521,3506,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3207,-0.77,-146.0,2611,3647,3520,3507,448.6,-11.2,180,3214,0.00,2.00,0.00,0.000,1030,0.000,0.030,2611,2307,3512,3519,3506,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3528,-0.77,-146.0,2611,2305,3519,3502,483.7,-10.4,191,3536,0.00,2.15,0.00,0.000,260,0.000,0.052,2602,3652,3510,3518,3502,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3565,-0.77,-146.0,2602,3652,3518,3502,486.6,-10.4,192,3572,0.00,2.03,0.00,0.000,1030,0.000,0.031,2602,2295,3510,3518,3502,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3886,-0.77,-146.0,2602,2294,3517,3499,523.2,-11.0,203,3894,0.00,2.17,0.00,0.000,260,0.000,0.052,2593,3657,3507,3516,3498,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3913,-0.77,-146.0,2593,3656,3516,3499,523.2,-11.0,203,3923,0.00,2.03,0.00,0.000,1030,0.000,0.031,2592,2304,3507,3516,3498,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4218,-0.77,-146.0,2592,2302,3513,3496,559.5,-10.7,214,4226,0.00,2.20,0.00,0.000,516,0.000,0.042,2593,859,3504,3513,3496,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4254,-0.77,-146.0,2593,860,3512,3495,562.4,-10.6,215,4262,0.00,2.20,0.00,0.000,1030,0.000,0.034,2584,2302,3503,3512,3495,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4571,-0.77,-146.0,2584,2302,3510,3492,599.3,-11.6,226,4578,0.00,2.12,0.00,0.000,260,0.000,0.054,2574,3645,3501,3510,3492,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4597,-0.77,-146.0,2575,3645,3509,3492,599.3,-11.6,226,4608,0.00,2.03,0.00,0.000,1030,0.000,0.032,2574,2304,3500,3509,3491,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4902,-0.77,-146.0,2574,2302,3508,3489,639.9,-12.4,237,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2302,3498,3507,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5202,-0.77,-146.0,2574,2302,3506,3486,678.7,-13.2,247,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2302,3495,3505,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.77,-146.0,2574,2303,3503,3484,718.6,-13.3,257,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2302,3493,3503,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5802,-0.77,-146.0,2574,2302,3502,3482,755.9,-12.1,267,5810,0.00,2.20,0.00,0.000,516,0.000,0.045,2574,866,3491,3501,3481,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5839,-0.77,-146.0,2574,866,3501,3481,759.9,-12.1,268,5848,0.12,2.20,0.00,0.000,3078,0.164,0.037,2597,2302,3491,3501,3481,0,0,0,0,0,0,25.92,26.19,28.83
$GC,6162,-0.77,-146.0,2597,2302,3500,3479,792.4,-9.8,279,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2302,3489,3499,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,-0.77,-146.0,2597,2302,3499,3478,821.2,-9.7,289,6469,0.00,2.15,0.00,0.000,260,0.000,0.056,2588,3647,3487,3498,3477,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6548,-0.80,-146.0,2588,3646,3497,3477,829.7,-9.8,292,6556,0.00,2.03,0.00,0.000,1030,0.000,0.034,2588,2326,3486,3496,3477,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6880,-0.80,-146.0,2588,2325,3495,3475,862.9,-10.0,303,6888,0.00,2.25,0.00,0.000,516,0.000,0.045,2588,867,3485,3495,3475,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6942,-0.80,-146.0,2588,867,3495,3475,869.3,-10.2,305,6950,0.00,2.25,0.00,0.000,1030,0.000,0.037,2579,2313,3484,3494,3474,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7274,-0.80,-146.0,2579,2314,3492,3474,904.4,-10.6,316,7282,0.00,2.15,0.00,0.000,260,0.000,0.057,2569,3653,3483,3492,3474,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7300,-0.80,-146.0,2570,3652,3491,3474,904.4,-10.6,316,7311,0.00,2.03,0.00,0.000,1030,0.000,0.034,2569,2331,3482,3491,3474,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7606,-0.80,-146.0,2569,2328,3490,3473,941.1,-11.0,327,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2329,3481,3490,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7906,-0.80,-146.0,2569,2326,3490,3472,975.4,-11.4,337,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2327,3480,3489,3472,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8055,begin apogee
$GC,8058,-0.13,0.0,2569,1997,3489,3472,992.5,-11.5,342,8192,0.75,0.00,124.90,1.159,10244,0.125,0.000,2800,1997,2926,2972,2880,0,0,0,0,0,0,25.43,28.83,22.98
$STATE,8192,end apogee,CONTROL_FINISHED_OK
$STATE,8192,begin climb
$GC,8194,0.80,146.0,2801,1997,2973,2879,997.4,0.0,346,8343,0.88,2.33,137.73,1.133,10756,0.062,0.050,3106,617,2330,2386,2275,0,0,0,0,0,0,24.45,24.44,22.53
$GC,8377,0.95,258.8,3106,617,2384,2268,994.1,4.0,352,8490,0.12,2.25,103.47,1.115,11270,0.090,0.032,3154,1989,1871,1931,1812,0,0,0,0,0,0,24.47,24.51,22.53
$GC,8805,0.81,258.8,3154,1989,1931,1800,915.1,19.7,367,8813,0.15,2.33,0.00,0.000,4356,0.174,0.048,3114,3412,1865,1930,1800,0,0,0,0,0,0,25.23,25.39,28.83
$GC,8882,0.69,258.8,3115,3413,1930,1800,903.4,19.4,369,8890,0.20,2.20,0.00,0.000,5126,0.161,0.034,3071,2017,1865,1930,1800,0,0,0,0,0,0,25.26,25.60,28.83
$GC,9194,0.66,258.8,3071,2017,1930,1797,856.1,14.0,380,9202,0.00,2.25,0.00,0.000,516,0.000,0.051,3080,602,1863,1929,1797,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9221,0.62,258.8,3080,602,1929,1797,852.2,14.0,381,9229,0.12,2.20,0.00,0.000,5126,0.162,0.034,3050,2023,1863,1929,1797,0,0,0,0,0,0,25.60,25.86,28.83
$GC,9553,0.62,258.8,3050,2023,1929,1796,812.4,11.4,392,9561,0.00,2.20,0.00,0.000,260,0.000,0.050,3049,3404,1862,1929,1795,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9630,0.62,258.8,3050,3404,1929,1796,805.1,11.4,394,9637,0.00,2.15,0.00,0.000,1030,0.000,0.034,3059,2017,1862,1929,1795,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9942,0.62,258.8,3059,2017,1929,1795,770.2,10.1,405,9950,0.00,2.22,0.00,0.000,260,0.000,0.049,3059,3406,1862,1929,1795,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9968,0.62,258.8,3059,3407,1929,1795,767.5,10.1,406,9976,0.00,2.12,0.00,0.000,1030,0.000,0.034,3068,2025,1862,1929,1796,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10300,0.62,258.8,3068,2024,1929,1794,733.3,10.2,417,10308,0.00,2.25,0.00,0.000,516,0.000,0.052,3079,602,1862,1929,1795,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10347,0.62,258.8,3079,602,1929,1794,730.1,10.1,418,10355,0.12,2.17,0.00,0.000,5126,0.165,0.034,3047,2023,1861,1929,1794,0,0,0,0,0,0,25.80,26.10,28.83
$GC,10659,0.62,258.8,3048,2023,1928,1793,700.7,9.2,429,10667,0.00,2.20,0.00,0.000,260,0.000,0.050,3048,3402,1860,1928,1793,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10741,0.62,258.8,3048,3402,1929,1793,694.8,9.8,431,10751,0.00,2.12,0.00,0.000,1030,0.000,0.034,3056,2025,1860,1928,1793,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,17224,end climb,SURFACE_DEPTH_REACHED
$STATE,17224,begin surface coast
$FINISH,0.9,0.998882
$STATE,17244,end surface coast,CONTROL_FINISHED_OK
$STATE,17244,begin surface
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$IRIDIUM_FIX,1405.28,14352.30,041014,123102
$TT8_MAMPS,0.159537,0.159537
$HUMID,50.94
$INTERNAL_PRESSURE,9.35898
$TCM_TEMP,26.00
$XPDR_PINGS,5
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17272.33 8548.30
$PA_BOOTCOUNT,625
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$PA_LOG,0.06/0.127/1.969/1.742
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$PA_DATA0,0.42/49.063/117.199/62.182
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.066/1.764/1.608
$PA_DISK_BANK,3
$24V_AH,22.53,5.078
$10V_AH,9.76,22.930
$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
$DEVICE_SECS,23.850,152.525,550.000,0.000,0.000,0.000,0.000,260.400,1.250,0.000,32.364,0.000,13870.349,593.635,3100.245,112.126,0.000,2266.088,0.000,1745.955,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,539.789,0.000,0.000,0.000,0.000,0.000,17688.730,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,181.757,0.000,0.000,0.000
$MEM,230608
$DATA_FILE_SIZE,36755,800
$CAP_FILE_SIZE,158592,0
$CFSIZE,260034560,254889984
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