version: 66.12
glider: 204
mission: 15
dive: 65
start: 3 12 115 18 38 2
data:
$ID,204
$MISSION,15
$DIVE,65
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,150
$AH0_10V,97
$MINV_24V,22.5
$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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120315,182805,1311.7263,14602.6377,27,0.8,27,1.4,0.5,46.8,10,13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.3
$GPS2,120315,183752,1311.6973,14602.5518,3,0.8,4,1.4,0.0,0.0,11,13.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,87.1,26311,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,-175.2,193,2615,821,798,0.0,0.0,0,156,0.00,0.00,-55.80,0.000,16386,0.000,0.000,192,2615,2334,2299,2370,0,0,0,0,0,0,26.76,28.83,26.82
$GC,157,-0.80,-175.2,193,2616,2300,2371,3.0,-3.6,7,206,11.38,2.08,-26.42,0.000,18948,0.231,0.043,3018,1228,3556,3528,3585,0,0,0,0,0,0,26.23,25.19,26.48
$GC,267,-0.80,-175.2,3019,1227,3529,3585,28.5,-23.8,26,278,0.00,2.03,0.00,0.000,1030,0.000,0.034,3009,2589,3557,3529,3585,0,0,0,0,0,0,26.67,26.60,26.70
$GC,584,-0.80,-175.2,3010,2590,3530,3587,112.9,-24.7,65,590,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2589,3557,3529,3585,0,0,0,0,0,0,27.00,27.06,27.05
$GC,885,-0.80,-175.2,3009,2588,3532,3585,172.6,-16.3,95,892,0.00,1.62,0.00,0.000,260,0.000,0.044,3001,3695,3558,3531,3586,0,0,0,0,0,0,27.09,26.84,27.15
$GC,936,-0.80,-175.2,3001,3696,3532,3587,181.6,-17.8,100,943,0.00,1.52,0.00,0.000,1030,0.000,0.021,3005,2588,3559,3531,3587,0,0,0,0,0,0,26.98,26.96,26.99
$GC,1257,-0.80,-175.2,3005,2589,3534,3591,233.2,-15.1,118,1265,0.00,1.92,0.00,0.000,516,0.000,0.024,3012,1226,3562,3534,3590,0,0,0,0,0,0,27.17,26.96,27.22
$GC,1338,-0.80,-175.2,3012,1227,3535,3592,241.4,-14.6,120,1346,0.00,2.03,0.00,0.000,1030,0.000,0.031,3003,2618,3562,3534,3590,0,0,0,0,0,0,27.01,26.95,27.03
$GC,1643,-0.80,-175.2,3004,2619,3535,3592,281.0,-11.7,130,1651,0.00,1.58,0.00,0.000,260,0.000,0.044,2995,3694,3562,3534,3590,0,0,0,0,0,0,27.21,26.95,27.27
$GC,1694,-0.80,-175.2,2995,3694,3536,3590,284.7,-11.8,131,1703,0.00,1.50,0.00,0.000,1030,0.000,0.022,3002,2599,3562,3534,3590,0,0,0,0,0,0,27.09,27.08,27.10
$GC,2007,-0.80,-175.2,3002,2600,3536,3591,329.1,-14.2,142,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2599,3561,3534,3589,0,0,0,0,0,0,27.24,27.32,27.30
$GC,2307,-0.80,-175.2,3003,2600,3535,3586,368.7,-12.6,152,2314,0.00,1.62,0.00,0.000,260,0.000,0.044,2995,3693,3559,3534,3584,0,0,0,0,0,0,27.26,26.99,27.32
$GC,2353,-0.80,-175.2,2995,3695,3535,3584,372.6,-12.4,153,2360,0.00,1.50,0.00,0.000,1030,0.000,0.022,3002,2569,3558,3534,3582,0,0,0,0,0,0,27.15,27.12,27.16
$GC,2668,-0.80,-175.2,3002,2569,3533,3579,410.5,-11.2,164,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2569,3555,3533,3578,0,0,0,0,0,0,27.27,27.35,27.34
$GC,2968,-0.80,-175.2,3002,2570,3530,3577,444.6,-11.4,174,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2569,3552,3529,3576,0,0,0,0,0,0,27.29,27.36,27.34
$GC,3269,-0.80,-175.2,3002,2569,3525,3574,481.0,-12.4,184,3276,0.00,1.67,0.00,0.000,260,0.000,0.045,2995,3693,3548,3525,3572,0,0,0,0,0,0,27.29,27.01,27.36
$GC,3304,-0.80,-175.2,2995,3693,3526,3572,485.0,-12.5,185,3311,0.00,1.50,0.00,0.000,1030,0.000,0.023,3002,2578,3548,3525,3572,0,0,0,0,0,0,27.18,27.15,27.19
$GC,3630,-0.80,-175.2,3002,2585,3522,3570,523.7,-10.7,196,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2578,3545,3521,3569,0,0,0,0,0,0,27.30,27.37,27.36
$GC,3930,-0.80,-175.2,3002,2580,3519,3568,552.8,-9.5,206,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2578,3541,3517,3566,0,0,0,0,0,0,27.30,27.38,27.36
$GC,4230,-0.80,-175.2,3002,2578,3516,3563,582.0,-9.8,216,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2578,3539,3515,3563,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4530,-0.80,-175.2,3002,2579,3512,3562,611.2,-9.5,226,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2577,3536,3512,3561,0,0,0,0,0,0,27.32,27.39,27.37
$GC,4830,-0.80,-175.2,3002,2579,3511,3558,640.6,-9.9,236,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2578,3533,3509,3558,0,0,0,0,0,0,27.31,27.39,27.38
$GC,5130,-0.80,-175.2,3002,2579,3508,3557,672.0,-10.7,246,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2579,3531,3507,3556,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5430,-0.80,-175.2,3002,2578,3507,3554,704.8,-10.9,256,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2578,3528,3505,3551,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5730,-0.80,-175.2,3002,2579,3504,3552,738.9,-11.5,266,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2578,3527,3503,3551,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6030,-0.80,-175.2,3002,2579,3501,3551,773.0,-11.3,276,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2578,3525,3501,3550,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6330,-0.80,-175.2,3001,2577,3500,3549,806.2,-10.8,286,6337,0.00,1.67,0.00,0.000,260,0.000,0.046,2994,3694,3524,3499,3549,0,0,0,0,0,0,27.32,27.01,27.38
$GC,6366,-0.80,-175.2,2995,3696,3499,3550,809.7,-10.8,287,6373,0.00,1.50,0.00,0.000,1030,0.000,0.024,3002,2587,3524,3499,3549,0,0,0,0,0,0,27.19,27.16,27.20
$GC,6691,-0.80,-175.2,3002,2588,3499,3547,844.9,-10.7,298,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2588,3522,3497,3547,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6992,-0.80,-175.2,3002,2589,3497,3547,877.1,-10.6,308,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2588,3521,3496,3546,0,0,0,0,0,0,27.32,27.39,27.38
$GC,7291,-0.80,-175.2,3002,2589,3495,3546,908.7,-10.5,318,7299,0.00,1.95,0.00,0.000,516,0.000,0.028,3010,1227,3519,3494,3544,0,0,0,0,0,0,27.32,27.05,27.38
$GC,7342,-0.80,-175.2,3010,1226,3495,3544,911.6,-10.6,319,7353,0.00,2.03,0.00,0.000,1030,0.000,0.031,3001,2603,3518,3493,3544,0,0,0,0,0,0,27.12,27.05,27.14
$GC,7648,-0.80,-175.2,3001,2603,3494,3543,945.6,-10.5,330,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2603,3516,3493,3540,0,0,0,0,0,0,27.32,27.39,27.38
$GC,7948,-0.80,-175.2,3001,2604,3493,3544,976.4,-10.2,340,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2603,3514,3487,3542,0,0,0,0,0,0,27.32,27.39,27.38
$STATE,8097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8097,begin apogee
$GC,8100,-0.17,0.0,3002,2422,3492,3542,991.7,-10.2,345,8242,0.70,0.00,133.52,1.289,10246,0.158,0.000,3207,2420,2839,2813,2865,0,0,0,0,0,0,26.67,25.12,24.39
$STATE,8243,end apogee,CONTROL_FINISHED_OK
$STATE,8243,begin climb
$GC,8244,0.80,175.2,3208,2421,2810,2859,997.3,0.0,349,8403,1.05,2.28,141.65,1.275,10756,0.139,0.028,3529,1036,2116,2111,2121,0,0,0,0,0,0,25.29,24.67,23.96
$GC,8556,0.90,244.1,3529,1037,2107,2115,988.9,7.3,360,8624,0.12,2.15,57.08,1.290,11270,0.180,0.029,3551,2420,1838,1838,1838,0,0,0,0,0,0,25.70,25.89,24.27
$GC,8943,0.90,244.1,3551,2422,1832,1825,949.9,10.5,373,8951,0.00,1.98,0.00,0.000,260,0.000,0.045,3543,3692,1827,1831,1824,0,0,0,0,0,0,26.51,26.27,26.58
$GC,8989,0.90,244.1,3543,3693,1831,1825,946.3,10.6,374,8997,0.00,1.83,0.00,0.000,1030,0.000,0.023,3551,2405,1826,1830,1823,0,0,0,0,0,0,26.46,26.44,26.48
$GC,9306,0.90,244.1,3552,2401,1830,1823,911.4,10.3,385,9316,0.00,1.98,0.00,0.000,260,0.000,0.044,3543,3693,1825,1829,1822,0,0,0,0,0,0,26.82,26.57,26.89
$GC,9341,0.90,244.1,3543,3693,1831,1823,908.0,10.5,386,9349,0.00,1.80,0.00,0.000,1030,0.000,0.023,3551,2407,1826,1829,1823,0,0,0,0,0,0,26.73,26.71,26.77
$GC,9668,0.90,244.1,3552,2405,1828,1823,870.4,11.9,397,9675,0.00,2.00,0.00,0.000,260,0.000,0.044,3543,3695,1825,1828,1822,0,0,0,0,0,0,26.96,26.70,27.03
$GC,9700,0.90,244.1,3543,3696,1827,1823,866.4,12.0,398,9708,0.00,1.77,0.00,0.000,1030,0.000,0.024,3551,2422,1825,1828,1822,0,0,0,0,0,0,26.86,26.83,26.88
$GC,10032,0.90,244.1,3552,2420,1828,1820,826.2,12.1,409,10040,0.00,1.95,0.00,0.000,260,0.000,0.044,3544,3701,1824,1827,1821,0,0,0,0,0,0,27.05,26.77,27.12
$GC,10073,0.90,244.1,3542,3701,1828,1821,822.8,12.3,410,10081,0.00,1.80,0.00,0.000,1030,0.000,0.024,3551,2415,1823,1826,1821,0,0,0,0,0,0,26.94,26.91,26.96
$GC,10385,0.90,244.1,3551,2412,1826,1820,784.9,11.1,421,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2412,1823,1825,1821,0,0,0,0,0,0,27.11,27.18,27.17
$GC,10685,0.90,244.1,3551,2412,1827,1819,752.5,10.6,431,10693,0.00,1.98,0.00,0.000,260,0.000,0.047,3543,3701,1820,1825,1815,0,0,0,0,0,0,27.14,26.85,27.21
$GC,10751,0.90,244.1,3543,3702,1826,1821,745.5,11.1,433,10759,0.00,1.80,0.00,0.000,1030,0.000,0.024,3551,2415,1822,1824,1820,0,0,0,0,0,0,27.02,27.00,27.05
$GC,11078,0.90,244.1,3551,2412,1826,1821,710.2,10.6,444,11085,0.00,1.95,0.00,0.000,260,0.000,0.046,3543,3693,1821,1825,1818,0,0,0,0,0,0,27.17,26.88,27.24
$GC,11119,0.90,244.1,3543,3693,1826,1819,706.5,10.7,445,11126,0.00,1.77,0.00,0.000,1030,0.000,0.024,3551,2412,1822,1825,1819,0,0,0,0,0,0,27.05,27.03,27.08
$GC,11435,0.90,244.1,3551,2408,1826,1825,672.0,10.5,456,11444,0.00,1.98,0.00,0.000,260,0.000,0.047,3542,3702,1821,1824,1819,0,0,0,0,0,0,27.20,26.89,27.27
$GC,11503,0.90,244.1,3544,3703,1825,1820,665.1,10.8,458,11510,0.00,1.80,0.00,0.000,1030,0.000,0.025,3551,2418,1822,1825,1819,0,0,0,0,0,0,27.08,27.05,27.10
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$GC,14527,0.95,280.6,3551,2426,1686,1686,355.9,10.5,559,14535,0.00,1.95,0.00,0.000,260,0.000,0.044,3543,3701,1681,1685,1678,0,0,0,0,0,0,27.02,26.73,27.09
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$STATE,17928,end climb,SURFACE_DEPTH_REACHED
$STATE,17928,begin surface coast
$FINISH,1.0,1.022165
$STATE,17943,end surface coast,CONTROL_FINISHED_OK
$STATE,17943,begin surface
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$IRIDIUM_FIX,1303.16,14602.01,070108,080043
$TT8_MAMPS,0.161784,0.161784
$HUMID,36.41
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.50
$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,1651515
$PA_UPTIME,17927.20 7441.03
$PA_BOOTCOUNT,870
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$PA_DATA0,0.86/100.631/117.199/10.614
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.081/1.856/1.680
$PA_DISK_BANK,0
$24V_AH,23.96,12.625
$10V_AH,9.91,26.728
$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,23.425,105.700,512.575,13.525,0.000,0.000,0.000,446.200,0.250,0.000,5.775,0.000,14576.571,570.757,3313.882,89.938,0.000,2395.300,0.000,1719.385,0.000,0.548,0.000
$DEVICE_MAMPS,231.030,59.670,1289.790,124.695,0.000,0.000,0.000,82.620,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,564.786,0.000,0.000,0.000,0.000,0.000,18548.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,140.023,0.000,0.000,0.000
$MEM,228960
$DATA_FILE_SIZE,36686,836
$CAP_FILE_SIZE,150206,0
$CFSIZE,1024393216,1011810304
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