version: 66.12
glider: 178
mission: 18
dive: 78
start: 10 11 114 18 15 37
data:
$ID,178
$MISSION,18
$DIVE,78
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,350
$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_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,111014,180825,1225.874,14527.009,27,0.8,47,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-76.0
$GPS2,111014,181526,1225.902,14526.908,12,0.8,32,1.9
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,151.4,31142,-18.8,-10.000,-21.60,2227
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,163,2141,1577,1555,0.0,0.0,0,159,0.00,0.00,-65.25,0.000,16386,0.000,0.000,163,2140,3308,3356,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.77,-155.7,162,2141,3357,3262,3.4,-13.5,11,185,10.35,2.15,-6.15,0.000,18948,0.247,0.056,2621,756,3686,3747,3626,0,0,0,0,0,0,26.13,26.58,26.90
$GC,267,-0.64,-155.7,2624,757,3752,3629,51.0,-33.7,31,279,0.20,2.12,0.00,0.000,3078,0.190,0.037,2661,2147,3689,3751,3627,0,0,0,0,0,0,26.29,26.66,28.83
$GC,576,-0.61,-155.7,2661,2148,3759,3627,118.4,-15.6,62,584,0.00,2.17,0.00,0.000,260,0.000,0.047,2653,3560,3692,3758,3627,0,0,0,0,0,0,28.83,26.73,28.83
$GC,603,-0.59,-155.7,2652,3560,3758,3628,122.5,-15.6,64,611,0.00,2.10,0.00,0.000,1030,0.000,0.028,2651,2151,3692,3758,3627,0,0,0,0,0,0,28.83,26.84,28.83
$GC,908,-0.59,-155.7,2653,2148,3766,3629,161.9,-12.8,94,916,0.00,2.17,0.00,0.000,260,0.000,0.046,2642,3564,3696,3765,3628,0,0,0,0,0,0,28.83,26.83,28.83
$GC,945,-0.59,-155.7,2642,3564,3765,3628,166.6,-12.6,97,954,0.15,2.10,0.00,0.000,3078,0.148,0.028,2682,2137,3696,3765,3628,0,0,0,0,0,0,26.68,26.95,28.83
$GC,1258,-0.63,-155.7,2683,2135,3771,3629,196.5,-8.4,128,1268,0.00,2.08,0.00,0.000,516,0.000,0.037,2683,759,3699,3770,3628,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1447,-0.68,-155.7,2683,760,3770,3632,213.2,-9.1,137,1455,0.00,2.10,0.00,0.000,1030,0.000,0.032,2682,2168,3700,3770,3631,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1770,-0.74,-155.7,2683,2168,3771,3631,241.6,-8.6,148,1776,0.15,0.00,0.00,0.000,4102,0.083,0.000,2602,2168,3700,3770,3631,0,0,0,0,0,0,27.10,28.83,28.83
$GC,2070,-0.74,-155.7,2603,2170,3768,3632,276.2,-11.2,158,2078,0.00,2.12,0.00,0.000,516,0.000,0.038,2603,753,3699,3768,3631,0,0,0,0,0,0,28.83,27.02,28.83
$GC,2137,-0.74,-155.7,2603,754,3770,3632,282.9,-11.5,160,2145,0.15,2.12,0.00,0.000,3078,0.155,0.034,2634,2160,3699,3768,3631,0,0,0,0,0,0,26.81,27.04,28.83
$GC,2454,-0.77,-155.7,2634,2160,3766,3631,315.4,-10.4,171,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2159,3698,3766,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,-0.80,-155.7,2635,2161,3764,3632,346.3,-9.9,181,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2160,3696,3762,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.83,-155.7,2635,2161,3759,3632,371.8,-8.1,191,3065,0.00,2.12,0.00,0.000,516,0.000,0.040,2634,753,3693,3757,3630,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3079,-0.86,-155.7,2635,754,3758,3632,371.8,-8.1,191,3091,0.10,2.12,0.00,0.000,5126,0.111,0.035,2577,2152,3697,3757,3637,0,0,0,0,0,0,27.03,27.08,28.83
$GC,3384,-0.86,-155.7,2577,2154,3752,3632,406.7,-10.7,202,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2152,3690,3751,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3684,-0.86,-155.7,2577,2151,3747,3630,438.5,-10.4,212,3692,0.00,2.17,0.00,0.000,260,0.000,0.056,2565,3560,3687,3745,3630,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3721,-0.86,-155.7,2566,3566,3745,3631,441.5,-10.5,213,3729,0.00,2.10,0.00,0.000,1030,0.000,0.032,2566,2152,3687,3744,3630,0,0,0,0,0,0,28.83,27.14,28.83
$GC,4044,-0.86,-155.7,2566,2148,3742,3626,481.6,-12.5,224,4051,0.00,2.20,0.00,0.000,260,0.000,0.050,2557,3563,3683,3740,3626,0,0,0,0,0,0,28.83,26.99,28.83
$GC,4085,-0.86,-155.7,2557,3563,3740,3627,485.1,-12.6,225,4093,0.15,2.10,0.00,0.000,3078,0.168,0.033,2594,2152,3683,3739,3627,0,0,0,0,0,0,26.79,27.13,28.83
$GC,4398,-0.86,-155.7,2594,2149,3737,3625,520.9,-10.8,236,4406,0.00,2.15,0.00,0.000,516,0.000,0.042,2594,744,3680,3736,3625,0,0,0,0,0,0,28.83,27.04,28.83
$GC,4445,-0.86,-155.7,2594,744,3736,3624,524.1,-10.8,237,4454,0.00,2.15,0.00,0.000,1030,0.000,0.037,2587,2149,3679,3735,3624,0,0,0,0,0,0,28.83,27.06,28.83
$GC,4750,-0.86,-155.7,2588,2151,3733,3623,558.8,-10.5,247,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2149,3677,3732,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5050,-0.86,-155.7,2587,2149,3730,3619,589.1,-10.1,257,5058,0.00,2.15,0.00,0.000,516,0.000,0.043,2587,751,3674,3729,3620,0,0,0,0,0,0,28.83,27.04,28.83
$GC,5097,-0.86,-155.7,2587,752,3730,3618,592.6,-10.2,258,5105,0.00,2.15,0.00,0.000,1030,0.000,0.038,2579,2150,3674,3729,3619,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5410,-0.86,-155.7,2579,2150,3727,3617,625.9,-10.1,269,5418,0.00,2.17,0.00,0.000,260,0.000,0.054,2569,3554,3671,3725,3617,0,0,0,0,0,0,28.83,26.96,28.83
$GC,5452,-0.86,-155.7,2569,3554,3726,3617,628.7,-10.1,270,5459,0.00,2.10,0.00,0.000,1030,0.000,0.034,2569,2148,3670,3724,3617,0,0,0,0,0,0,28.83,27.13,28.83
$GC,5769,-0.86,-155.7,2569,2146,3723,3617,663.6,-10.6,281,5776,0.00,2.12,0.00,0.000,516,0.000,0.044,2569,753,3669,3722,3616,0,0,0,0,0,0,28.83,27.02,28.83
$GC,5816,-0.86,-155.7,2569,753,3722,3616,666.7,-10.8,282,5824,0.12,2.12,0.00,0.000,3078,0.173,0.038,2585,2148,3668,3721,3616,0,0,0,0,0,0,26.77,27.04,28.83
$GC,6121,-0.86,-155.7,2589,2148,3720,3614,698.3,-9.6,292,6129,0.00,2.20,0.00,0.000,260,0.000,0.054,2580,3564,3667,3720,3614,0,0,0,0,0,0,28.83,26.94,28.83
$GC,6163,-0.86,-155.7,2582,3565,3720,3615,701.0,-9.6,293,6171,0.00,2.12,0.00,0.000,1030,0.000,0.033,2580,2148,3666,3719,3614,0,0,0,0,0,0,28.83,27.12,28.83
$GC,6476,-0.86,-155.7,2581,2146,3717,3613,734.4,-10.2,304,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2145,3664,3716,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6776,-0.86,-155.7,2581,2145,3716,3612,764.4,-10.0,314,6784,0.00,2.12,0.00,0.000,516,0.000,0.044,2581,751,3662,3714,3611,0,0,0,0,0,0,28.83,27.00,28.83
$GC,6803,-0.86,-155.7,2581,753,3715,3612,764.4,-10.0,314,6813,0.00,2.17,0.00,0.000,1030,0.000,0.039,2573,2159,3662,3715,3610,0,0,0,0,0,0,28.83,27.01,28.83
$GC,7108,-0.86,-155.7,2573,2160,3714,3609,798.1,-10.1,325,7116,0.00,2.20,0.00,0.000,516,0.000,0.045,2573,753,3662,3713,3611,0,0,0,0,0,0,28.83,26.94,28.83
$GC,7130,-0.86,-155.7,2573,754,3713,3610,798.1,-10.1,325,7138,0.00,2.17,0.00,0.000,1030,0.000,0.039,2565,2161,3660,3712,3609,0,0,0,0,0,0,28.83,27.00,28.83
$GC,7442,-0.86,-155.7,2565,2163,3711,3609,833.4,-10.6,336,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2161,3659,3711,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7743,-0.86,-155.7,2565,2162,3710,3607,865.0,-10.2,346,7750,0.00,2.17,0.00,0.000,516,0.000,0.044,2565,746,3657,3709,3606,0,0,0,0,0,0,28.83,26.97,28.83
$GC,7770,-0.86,-155.7,2565,746,3710,3607,868.1,-10.5,347,7778,0.15,2.15,0.00,0.000,3078,0.180,0.040,2593,2149,3657,3709,3606,0,0,0,0,0,0,26.65,26.99,28.83
$GC,8097,-0.86,-155.7,2594,2151,3708,3606,895.6,-8.0,358,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2149,3656,3708,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,-0.86,-155.7,2593,2149,3707,3604,919.0,-7.8,368,8405,0.00,2.22,0.00,0.000,260,0.000,0.056,2585,3557,3655,3706,3604,0,0,0,0,0,0,28.83,26.86,28.83
$GC,8465,-0.86,-155.7,2586,3558,3706,3606,924.2,-8.0,370,8473,0.00,2.12,0.00,0.000,1030,0.000,0.035,2585,2154,3655,3706,3604,0,0,0,0,0,0,28.83,27.08,28.83
$GC,8787,-0.86,-155.7,2586,2152,3706,3605,951.5,-8.3,381,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2151,3654,3704,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9087,-0.86,-155.7,2585,2150,3704,3602,976.2,-8.2,391,9095,0.00,2.17,0.00,0.000,516,0.000,0.045,2585,745,3651,3702,3601,0,0,0,0,0,0,28.83,26.94,28.83
$GC,9149,-0.86,-155.7,2586,746,3704,3603,981.2,-8.6,393,9156,0.00,2.17,0.00,0.000,1030,0.000,0.041,2577,2150,3652,3703,3602,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9263,-0.13,0.0,2576,2266,3703,3602,991.6,-9.0,397,9401,0.80,0.00,128.88,1.288,10246,0.137,0.000,2823,2265,3046,3084,3009,0,0,0,0,0,0,26.48,28.83,24.37
$STATE,9402,end apogee,CONTROL_FINISHED_OK
$STATE,9402,begin climb
$GC,9403,0.77,155.7,2824,2265,3084,3007,993.9,0.0,401,9547,0.80,0.00,136.95,1.280,10758,0.044,0.000,3132,2264,2412,2455,2369,0,0,0,0,0,0,25.42,28.83,24.03
$GC,9831,0.70,155.7,3133,2266,2444,2358,932.1,17.6,416,9837,0.15,0.00,0.00,0.000,4102,0.195,0.000,3098,2264,2399,2443,2355,0,0,0,0,0,0,25.98,28.83,28.83
$GC,10131,0.66,155.7,3098,2266,2442,2355,885.9,15.1,426,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2265,2397,2441,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10431,0.61,155.7,3099,2265,2441,2354,842.1,14.7,436,10438,0.12,0.00,0.00,0.000,4102,0.198,0.000,3068,2264,2396,2440,2353,0,0,0,0,0,0,26.47,28.83,28.83
$GC,10731,0.58,155.7,3069,2266,2440,2353,803.2,12.9,446,10739,0.00,2.22,0.00,0.000,516,0.000,0.045,3076,852,2395,2439,2352,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10773,0.56,155.7,3076,857,2440,2351,799.5,12.9,447,10781,0.00,2.17,0.00,0.000,1030,0.000,0.038,3076,2244,2394,2439,2350,0,0,0,0,0,0,28.83,26.74,28.83
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$STATE,18004,end climb,SURFACE_DEPTH_REACHED
$STATE,18004,begin surface coast
$FINISH,-0.0,1.021570
$STATE,18024,end surface coast,CONTROL_FINISHED_OK
$STATE,18024,begin surface
$SM_CCo,18099,0.00,0.000,0,0,1599,354.95
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$IRIDIUM_FIX,1223.36,14526.53,111014,125548
$TT8_MAMPS,0.158788,0.158788
$HUMID,46.18
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.80
$XPDR_PINGS,4
$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,18051.57 8409.80
$PA_BOOTCOUNT,79
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$PA_LOG,0.04/0.077/1.969/1.791
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$PA_DATA0,0.37/43.204/117.199/68.041
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.042/1.764/1.632
$24V_AH,24.03,9.869
$10V_AH,10.02,28.059
$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
$DEVICE_SECS,22.550,138.625,438.150,0.000,0.000,0.000,0.000,292.500,1.000,0.000,34.794,0.000,14708.529,549.280,3071.426,175.091,0.000,2176.926,0.000,1654.875,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,576.931,0.000,0.000,0.000,0.000,0.000,18543.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.284,0.000,0.000,0.000
$MEM,228532
$DATA_FILE_SIZE,36819,849
$CAP_FILE_SIZE,156904,0
$CFSIZE,260034560,251670528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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