version: 66.12
glider: 178
mission: 18
dive: 101
start: 10 16 114 17 25 2
data:
$ID,178
$MISSION,18
$DIVE,101
$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,63
$R_STBD_OVSHOOT,33
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,161014,171555,1213.945,14445.214,26,0.8,46,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-75.5
$GPS2,161014,172451,1213.921,14445.114,13,1.1,33,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S5
$TGT_LATLONG,1216.500,14421.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,290.2,43179,-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,-155.7,163,2112,1439,1428,0.0,0.0,0,163,0.00,0.00,-69.32,0.000,16386,0.000,0.000,161,2112,3293,3341,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,165,-0.77,-155.7,161,2112,3343,3245,3.6,-14.6,12,190,10.65,2.35,-6.22,0.000,18692,0.249,0.056,2602,3562,3687,3747,3627,0,0,0,0,0,0,25.74,26.11,26.25
$GC,364,-0.71,-155.7,2602,3563,3756,3627,75.6,-23.1,41,376,0.15,2.12,0.00,0.000,3078,0.173,0.028,2637,2161,3691,3755,3627,0,0,0,0,0,0,25.92,26.20,28.83
$GC,670,-0.68,-155.7,2637,2157,3761,3627,138.8,-16.5,72,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2158,3693,3760,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,971,-0.68,-155.7,2637,2157,3765,3627,182.0,-12.7,102,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2158,3695,3764,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.68,-155.7,2637,2159,3769,3629,216.0,-10.1,123,1293,0.00,2.20,0.00,0.000,260,0.000,0.047,2629,3554,3697,3767,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1313,-0.68,-155.7,2630,3555,3767,3629,219.1,-10.1,124,1322,0.00,2.12,0.00,0.000,1030,0.000,0.028,2628,2149,3697,3767,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1644,-0.68,-155.7,2629,2144,3770,3628,255.7,-11.3,135,1655,0.00,2.15,0.00,0.000,516,0.000,0.037,2629,753,3697,3768,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1724,-0.70,-155.7,2629,753,3770,3630,262.7,-11.1,137,1732,0.00,2.20,0.00,0.000,1030,0.000,0.033,2623,2162,3698,3768,3629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2030,-0.70,-155.7,2623,2163,3770,3629,295.8,-9.6,147,2038,0.00,2.22,0.00,0.000,260,0.000,0.047,2613,3561,3698,3767,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2077,-0.70,-155.7,2613,3563,3768,3630,299.0,-9.6,148,2085,0.12,2.15,0.00,0.000,3078,0.152,0.028,2645,2136,3698,3767,3629,0,0,0,0,0,0,26.06,26.27,28.83
$GC,2390,-0.74,-155.7,2645,2134,3765,3630,327.2,-8.4,159,2400,0.00,2.28,0.00,0.000,260,0.000,0.047,2636,3557,3696,3764,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2420,-0.77,-155.7,2637,3558,3764,3630,329.7,-8.4,160,2430,0.00,2.15,0.00,0.000,1030,0.000,0.029,2636,2149,3695,3763,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2755,-0.81,-155.7,2636,2147,3760,3629,358.1,-7.5,171,2763,0.00,2.17,0.00,0.000,516,0.000,0.038,2636,758,3693,3758,3629,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2782,-0.84,-155.7,2637,759,3759,3630,360.4,-7.5,172,2790,0.00,2.20,0.00,0.000,1030,0.000,0.034,2628,2158,3693,3758,3629,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3115,-0.87,-155.7,2628,2159,3754,3629,387.9,-8.6,183,3124,0.12,2.25,0.00,0.000,4356,0.091,0.048,2555,3562,3689,3751,3628,0,0,0,0,0,0,26.24,26.17,28.83
$GC,3153,-0.87,-155.7,2556,3558,3751,3629,391.5,-9.0,184,3161,0.12,2.15,0.00,0.000,3078,0.170,0.030,2583,2150,3689,3750,3628,0,0,0,0,0,0,26.01,26.27,28.83
$GC,3476,-0.87,-155.7,2584,2147,3747,3628,424.5,-10.2,195,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2149,3686,3745,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-0.87,-155.7,2584,2146,3742,3626,454.2,-9.5,205,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2146,3683,3741,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.87,-155.7,2583,2147,3738,3624,485.8,-11.3,215,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2146,3680,3737,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4376,-0.87,-155.7,2584,2145,3736,3619,518.3,-10.3,225,4386,0.00,2.20,0.00,0.000,516,0.000,0.041,2584,759,3677,3734,3620,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4425,-0.87,-155.7,2585,758,3735,3619,521.5,-10.2,226,4434,0.00,2.22,0.00,0.000,1030,0.000,0.037,2577,2155,3676,3734,3619,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4731,-0.87,-155.7,2577,2156,3730,3619,556.4,-11.3,236,4741,0.00,2.28,0.00,0.000,260,0.000,0.053,2566,3555,3673,3729,3617,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4775,-0.87,-155.7,2567,3557,3729,3619,560.6,-11.5,237,4783,0.00,2.20,0.00,0.000,1030,0.000,0.037,2566,2148,3673,3729,3618,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5097,-0.87,-155.7,2567,2144,3726,3617,601.9,-12.4,248,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2144,3670,3725,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-0.87,-155.7,2567,2144,3723,3616,636.3,-11.3,258,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2144,3668,3722,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5697,-0.87,-155.7,2567,2143,3721,3612,671.4,-12.0,268,5705,0.00,2.33,0.00,0.000,260,0.000,0.053,2558,3554,3666,3720,3613,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5734,-0.87,-155.7,2558,3554,3721,3613,674.7,-12.0,269,5742,0.12,2.20,0.00,0.000,3078,0.166,0.037,2586,2150,3666,3719,3613,0,0,0,0,0,0,25.89,26.15,28.83
$GC,6052,-0.87,-155.7,2587,2146,3718,3611,706.9,-9.0,280,6060,0.00,2.25,0.00,0.000,516,0.000,0.042,2586,749,3661,3712,3611,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6084,-0.87,-155.7,2587,750,3717,3612,709.4,-8.9,281,6092,0.00,2.25,0.00,0.000,1030,0.000,0.037,2580,2150,3663,3716,3611,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6412,-0.87,-155.7,2580,2152,3715,3610,739.0,-9.1,292,6424,0.00,2.28,0.00,0.000,260,0.000,0.054,2569,3548,3661,3714,3609,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6468,-0.87,-155.7,2570,3549,3714,3611,742.3,-9.4,293,6479,0.00,2.20,0.00,0.000,1030,0.000,0.033,2569,2144,3661,3714,3609,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6773,-0.87,-155.7,2570,2142,3712,3609,776.6,-10.6,304,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2141,3659,3711,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7073,-0.87,-155.7,2570,2141,3711,3607,807.3,-9.9,314,7084,0.00,2.25,0.00,0.000,516,0.000,0.043,2569,749,3657,3709,3606,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7099,-0.87,-155.7,2570,749,3710,3605,807.3,-9.9,314,7110,0.00,2.28,0.00,0.000,1030,0.000,0.039,2560,2160,3656,3708,3605,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7404,-0.87,-155.7,2560,2161,3708,3606,839.5,-9.3,325,7410,0.12,0.00,0.00,0.000,2054,0.180,0.000,2587,2160,3655,3707,3604,0,0,0,0,0,0,25.82,28.83,28.83
$GC,7704,-0.87,-155.7,2587,2162,3707,3605,863.3,-7.8,335,7715,0.00,2.25,0.00,0.000,260,0.000,0.054,2579,3551,3654,3706,3603,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7780,-0.87,-155.7,2579,3551,3705,3603,868.6,-8.4,337,7788,0.00,2.17,0.00,0.000,1030,0.000,0.034,2579,2154,3654,3705,3603,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8098,-0.87,-155.7,2579,2152,3703,3602,899.2,-9.5,348,8106,0.00,2.25,0.00,0.000,516,0.000,0.044,2579,747,3652,3703,3601,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8120,-0.87,-155.7,2579,749,3705,3602,899.2,-9.5,348,8130,0.00,2.28,0.00,0.000,1030,0.000,0.039,2571,2157,3652,3703,3601,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8425,-0.87,-155.7,2572,2158,3703,3601,932.1,-10.0,359,8435,0.00,2.33,0.00,0.000,260,0.000,0.055,2561,3564,3651,3702,3600,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8464,-0.87,-155.7,2561,3565,3703,3601,935.6,-10.1,360,8472,0.00,2.25,0.00,0.000,1030,0.000,0.034,2560,2141,3650,3701,3600,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8786,-0.87,-155.7,2561,2138,3703,3598,969.6,-10.2,371,8794,0.00,2.38,0.00,0.000,260,0.000,0.055,2553,3562,3649,3700,3599,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8819,-0.87,-155.7,2554,3563,3701,3600,972.5,-10.3,372,8827,0.15,2.25,0.00,0.000,3078,0.164,0.035,2588,2141,3649,3700,3599,0,0,0,0,0,0,25.72,26.05,28.83
$STATE,9020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9020,begin apogee
$GC,9023,-0.13,0.0,2589,2267,3700,3599,990.3,-8.3,379,9164,0.77,0.00,131.50,1.278,10246,0.130,0.000,2823,2267,3046,3083,3009,0,0,0,0,0,0,25.70,28.83,24.13
$STATE,9165,end apogee,CONTROL_FINISHED_OK
$STATE,9165,begin climb
$GC,9166,0.77,155.7,2824,2267,3082,3008,992.8,0.0,383,9318,0.80,2.47,139.52,1.260,10500,0.045,0.053,3128,3647,2410,2454,2367,0,0,0,0,0,0,25.10,24.46,23.66
$GC,9337,0.68,155.7,3129,3648,2449,2367,979.5,10.9,389,9345,0.20,2.33,0.00,0.000,5126,0.181,0.031,3094,2243,2406,2447,2365,0,0,0,0,0,0,24.75,24.89,28.83
$GC,9655,0.64,155.7,3094,2240,2443,2357,928.1,15.0,400,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2239,2398,2441,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,0.60,155.7,3094,2240,2442,2356,886.0,13.7,410,9963,0.12,2.25,0.00,0.000,4612,0.203,0.041,3069,845,2397,2441,2354,0,0,0,0,0,0,25.79,26.06,28.83
$GC,9987,0.56,155.7,3070,846,2442,2353,882.7,13.2,411,9995,0.00,2.25,0.00,0.000,1030,0.000,0.037,3069,2249,2396,2441,2352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10309,0.54,155.7,3070,2250,2440,2354,845.1,11.3,422,10318,0.00,2.30,0.00,0.000,260,0.000,0.053,3069,3658,2395,2439,2352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10382,0.50,155.7,3070,3660,2440,2353,838.0,11.7,424,10390,0.17,2.22,0.00,0.000,5126,0.176,0.031,3038,2240,2395,2439,2352,0,0,0,0,0,0,25.83,26.13,28.83
$GC,10695,0.51,160.1,3038,2237,2438,2352,805.5,9.8,435,10703,0.00,2.20,0.00,0.000,516,0.000,0.041,3045,855,2394,2437,2351,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,17974,end climb,SURFACE_DEPTH_REACHED
$STATE,17974,begin surface coast
$FINISH,-0.3,1.021461
$STATE,17994,end surface coast,CONTROL_FINISHED_OK
$STATE,17994,begin surface
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$IRIDIUM_FIX,1207.91,14446.20,161014,121439
$TT8_MAMPS,0.053179,0.053179
$HUMID,46.53
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.80
$XPDR_PINGS,2
$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,18021.38 7761.01
$PA_BOOTCOUNT,102
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$PA_LOG,0.04/0.086/1.969/1.782
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$PA_DATA0,0.94/110.632/117.199/0.613
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.047/1.764/1.627
$24V_AH,23.66,19.775
$10V_AH,10.10,31.958
$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
$DEVICE_SECS,22.800,152.775,461.225,0.000,0.000,0.000,0.000,400.550,0.500,18627.742,36.102,0.000,14491.707,568.318,3333.165,194.550,0.000,2388.222,0.000,1747.034,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,572.738,0.000,0.000,0.000,0.000,0.000,18627.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,228864
$DATA_FILE_SIZE,36813,845
$CAP_FILE_SIZE,162452,0
$CFSIZE,260034560,249483264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.066,254.26,1
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