version: 66.12
glider: 179
mission: 13
dive: 79
start: 10 13 114 7 12 23
data:
$ID,179
$MISSION,13
$DIVE,79
$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,44
$R_STBD_OVSHOOT,61
$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,21
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,131014,070534,1429.684,14439.537,3,0.7,3,0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.4
$GPS2,131014,071206,1429.668,14439.463,5,0.8,26,0.8
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,97.3,33232,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-146.0,122,2274,1184,1096,0.0,0.0,0,150,0.00,0.00,-50.05,0.000,16386,0.000,0.000,121,2274,2291,2345,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.80,-146.0,121,2274,2347,2238,3.2,-4.8,7,207,11.23,2.22,-33.92,0.000,18948,0.242,0.043,2576,843,3523,3534,3512,0,0,0,0,0,0,24.82,25.45,25.67
$GC,270,-0.62,-146.0,2576,843,3534,3514,32.5,-34.1,23,288,0.28,2.15,0.00,0.000,3078,0.151,0.030,2639,2231,3524,3534,3514,0,0,0,0,0,0,25.07,25.48,28.83
$GC,598,-0.56,-146.0,2639,2232,3534,3514,114.4,-21.4,58,612,0.00,2.28,0.00,0.000,260,0.000,0.044,2630,3667,3523,3533,3514,0,0,0,0,0,0,28.83,25.37,28.83
$GC,637,-0.51,-146.0,2629,3667,3534,3514,121.1,-19.9,61,649,0.17,2.15,0.00,0.000,3078,0.129,0.024,2678,2252,3524,3534,3514,0,0,0,0,0,0,25.22,25.51,28.83
$GC,943,-0.54,-146.0,2678,2252,3534,3514,162.8,-10.1,92,950,0.00,2.12,0.00,0.000,516,0.000,0.034,2678,861,3524,3534,3514,0,0,0,0,0,0,28.83,25.46,28.83
$GC,989,-0.58,-146.0,2678,861,3534,3515,166.8,-9.7,96,1000,0.00,2.17,0.00,0.000,1030,0.000,0.026,2672,2283,3524,3534,3514,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1294,-0.62,-146.0,2672,2283,3534,3515,199.5,-11.1,127,1302,0.00,2.17,0.00,0.000,260,0.000,0.045,2662,3655,3524,3533,3515,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1332,-0.68,-146.0,2662,3655,3534,3515,203.3,-11.4,129,1340,0.10,2.10,0.00,0.000,5126,0.095,0.025,2608,2273,3524,3534,3515,0,0,0,0,0,0,25.48,25.56,28.83
$GC,1654,-0.68,-146.0,2609,2268,3533,3515,249.7,-13.1,140,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2268,3523,3533,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.68,-146.0,2608,2267,3529,3515,285.1,-11.8,150,1961,0.00,2.22,0.00,0.000,260,0.000,0.044,2599,3652,3521,3529,3514,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2100,-0.68,-146.0,2598,3653,3527,3514,302.6,-11.9,155,2108,0.00,2.10,0.00,0.000,1030,0.000,0.025,2599,2282,3520,3527,3514,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2432,-0.68,-146.0,2598,2281,3522,3514,341.2,-11.4,166,2440,0.00,2.17,0.00,0.000,516,0.000,0.036,2598,868,3517,3521,3514,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2514,-0.68,-146.0,2598,868,3519,3514,348.5,-11.5,168,2523,0.15,2.22,0.00,0.000,3078,0.138,0.029,2629,2299,3516,3519,3514,0,0,0,0,0,0,25.22,25.47,28.83
$GC,2827,-0.73,-146.0,2629,2299,3518,3510,382.3,-10.3,179,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2299,3514,3518,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.78,-146.0,2629,2299,3515,3506,412.7,-10.1,189,3137,0.12,2.17,0.00,0.000,4356,0.082,0.047,2557,3645,3510,3514,3506,0,0,0,0,0,0,25.48,25.33,28.83
$GC,3211,-0.78,-146.0,2558,3645,3512,3506,420.7,-11.7,191,3221,0.12,2.05,0.00,0.000,3078,0.148,0.028,2588,2315,3508,3511,3506,0,0,0,0,0,0,25.20,25.47,28.83
$GC,3517,-0.78,-146.0,2588,2313,3510,3502,461.9,-12.3,202,3524,0.00,2.28,0.00,0.000,516,0.000,0.039,2588,869,3505,3509,3501,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3583,-0.78,-146.0,2588,869,3509,3501,469.3,-12.8,204,3591,0.00,2.25,0.00,0.000,1030,0.000,0.031,2580,2304,3504,3509,3500,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3900,-0.78,-146.0,2580,2304,3506,3497,510.8,-12.1,215,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2304,3501,3506,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.78,-146.0,2580,2304,3503,3493,545.4,-11.0,225,4208,0.00,2.17,0.00,0.000,260,0.000,0.051,2570,3644,3498,3503,3493,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4237,-0.78,-146.0,2570,3644,3503,3493,548.5,-11.0,226,4245,0.00,2.08,0.00,0.000,1030,0.000,0.030,2570,2316,3497,3502,3492,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4554,-0.78,-146.0,2570,2314,3500,3489,586.0,-12.1,237,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2314,3494,3500,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.78,-146.0,2570,2312,3499,3486,621.8,-11.9,247,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2312,3492,3498,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,-0.78,-146.0,2570,2311,3495,3484,655.7,-11.3,257,5161,0.00,2.20,0.00,0.000,260,0.000,0.051,2561,3645,3489,3495,3484,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5220,-0.78,-146.0,2560,3646,3494,3483,662.2,-11.3,259,5228,0.12,2.08,0.00,0.000,3078,0.149,0.031,2592,2328,3488,3494,3483,0,0,0,0,0,0,25.13,25.39,28.83
$GC,5537,-0.78,-146.0,2592,2325,3493,3480,691.7,-8.9,270,5545,0.00,2.33,0.00,0.000,516,0.000,0.041,2592,863,3486,3493,3479,0,0,0,0,0,0,28.83,25.23,28.83
$GC,5569,-0.78,-146.0,2592,863,3493,3480,694.8,-9.0,271,5577,0.00,2.30,0.00,0.000,1030,0.000,0.034,2584,2311,3486,3492,3480,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5897,-0.78,-146.0,2584,2312,3491,3478,725.2,-9.1,282,5907,0.00,2.20,0.00,0.000,260,0.000,0.054,2574,3648,3484,3490,3478,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5946,-0.78,-146.0,2574,3648,3490,3478,727.9,-9.0,283,5954,0.00,2.08,0.00,0.000,1030,0.000,0.031,2574,2336,3484,3490,3478,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6251,-0.78,-146.0,2574,2329,3487,3476,758.8,-9.6,293,6259,0.00,2.35,0.00,0.000,516,0.000,0.044,2574,871,3481,3487,3476,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6288,-0.78,-146.0,2574,871,3487,3476,761.5,-9.8,294,6296,0.00,2.28,0.00,0.000,1030,0.000,0.035,2567,2300,3481,3487,3476,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6605,-0.78,-146.0,2567,2301,3485,3474,795.2,-10.3,305,6613,0.00,2.22,0.00,0.000,260,0.000,0.055,2557,3650,3479,3485,3474,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6642,-0.78,-146.0,2557,3650,3485,3474,798.3,-10.4,306,6650,0.12,2.10,0.00,0.000,3078,0.151,0.033,2587,2331,3479,3484,3474,0,0,0,0,0,0,25.03,25.27,28.83
$GC,6960,-0.78,-146.0,2587,2327,3484,3472,830.4,-10.0,317,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2328,3478,3483,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,-0.78,-146.0,2587,2326,3481,3472,860.9,-10.1,327,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2326,3476,3481,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,-0.78,-146.0,2587,2326,3480,3470,889.6,-9.2,337,7567,0.00,2.22,0.00,0.000,260,0.000,0.056,2578,3653,3474,3479,3470,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7581,-0.78,-146.0,2578,3653,3479,3470,889.6,-9.2,337,7591,0.00,2.10,0.00,0.000,1030,0.000,0.033,2578,2333,3474,3478,3470,0,0,0,0,0,0,28.83,25.26,28.83
$GC,7887,-0.78,-146.0,2578,2331,3478,3468,919.6,-9.0,348,7895,0.00,2.35,0.00,0.000,516,0.000,0.044,2578,872,3473,3478,3468,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7923,-0.78,-146.0,2578,871,3478,3468,922.1,-9.0,349,7931,0.00,2.33,0.00,0.000,1030,0.000,0.037,2570,2316,3473,3478,3468,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8246,-0.78,-146.0,2570,2316,3477,3467,954.2,-9.9,360,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2316,3472,3477,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,-0.78,-146.0,2570,2316,3476,3467,986.2,-11.3,370,8553,0.00,2.22,0.00,0.000,260,0.000,0.057,2560,3654,3471,3476,3466,0,0,0,0,0,0,28.83,25.05,28.83
$STATE,8576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8576,begin apogee
$GC,8582,-0.13,0.0,2560,2018,3476,3466,990.2,-11.7,371,8715,0.80,0.00,126.12,1.124,10244,0.116,0.000,2801,2018,2926,2970,2883,0,0,0,0,0,0,24.84,28.83,22.35
$STATE,8715,end apogee,CONTROL_FINISHED_OK
$STATE,8716,begin climb
$GC,8717,0.80,146.0,2801,2018,2970,2881,996.9,0.0,375,8870,0.88,2.45,140.57,1.106,10756,0.055,0.049,3104,603,2330,2385,2275,0,0,0,0,0,0,23.94,23.90,22.19
$GC,8873,1.20,369.2,3104,603,2384,2273,999.6,-1.1,380,9094,0.38,2.35,206.18,1.098,11270,0.054,0.031,3234,2005,1420,1473,1367,0,0,0,0,0,0,23.89,23.89,22.21
$GC,9389,0.99,369.2,3234,2005,1473,1357,871.7,28.8,398,9397,0.25,2.28,0.00,0.000,4356,0.177,0.047,3170,3401,1414,1472,1357,0,0,0,0,0,0,24.98,25.26,28.83
$GC,9447,0.80,369.2,3170,3402,1473,1357,857.6,27.2,400,9455,0.28,2.22,0.00,0.000,5126,0.163,0.033,3107,2001,1415,1473,1357,0,0,0,0,0,0,25.04,25.39,28.83
$GC,9780,0.75,369.2,3107,2001,1473,1355,805.9,15.0,411,9788,0.00,2.25,0.00,0.000,516,0.000,0.050,3115,601,1413,1472,1355,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9832,0.71,369.2,3115,602,1472,1353,801.0,15.0,412,9840,0.15,2.20,0.00,0.000,5126,0.142,0.032,3078,2005,1412,1472,1352,0,0,0,0,0,0,25.23,25.46,28.83
$GC,10137,0.71,369.2,3078,2006,1473,1351,759.7,12.6,422,10145,0.00,2.28,0.00,0.000,260,0.000,0.049,3077,3403,1412,1473,1351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10214,0.71,369.2,3077,3403,1472,1351,752.0,13.0,424,10222,0.00,2.22,0.00,0.000,1030,0.000,0.034,3083,2004,1412,1473,1351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10526,0.71,369.2,3082,2004,1473,1351,707.3,13.3,435,10534,0.00,2.30,0.00,0.000,516,0.000,0.051,3093,593,1412,1473,1351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10573,0.71,369.2,3093,592,1473,1351,703.0,13.4,436,10580,0.00,2.25,0.00,0.000,1030,0.000,0.032,3093,2025,1411,1473,1350,0,0,0,0,0,0,28.83,25.39,28.83
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$STATE,16621,end climb,SURFACE_DEPTH_REACHED
$STATE,16621,begin surface coast
$FINISH,0.7,0.997942
$STATE,16642,end surface coast,CONTROL_FINISHED_OK
$STATE,16642,begin surface
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$IRIDIUM_FIX,1420.86,14442.24,131014,070221
$TT8_MAMPS,0.053179,0.053179
$HUMID,50.59
$INTERNAL_PRESSURE,9.36875
$TCM_TEMP,25.70
$XPDR_PINGS,3
$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,16670.88 8157.10
$PA_BOOTCOUNT,665
$PA_DFQS,0/0
$PA_LOG,0.07/0.135/1.969/1.734
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$PA_DATA0,0.93/108.621/117.199/2.624
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.075/1.764/1.599
$PA_DISK_BANK,3
$24V_AH,22.19,25.417
$10V_AH,9.56,29.918
$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,24.125,166.100,535.100,0.000,0.000,0.000,0.000,0.000,0.750,16712.340,32.876,0.000,13105.812,596.119,2958.008,122.728,0.000,2037.892,0.000,1774.435,0.000,0.545,0.000
$DEVICE_MAMPS,241.740,56.610,1123.785,0.000,0.000,0.000,0.000,0.000,420.000,77.306,29.210,0.000,2.190,21.460,48.420,55.910,0.000,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,536.778,0.000,0.000,0.000,0.000,0.000,16712.391,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.347,0.000,0.000,0.000
$MEM,230348
$DATA_FILE_SIZE,36682,796
$CAP_FILE_SIZE,170852,1
$CFSIZE,260034560,251318272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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