version: 66.12
glider: 179
mission: 13
dive: 78
start: 10 13 114 1 52 23
data:
$ID,179
$MISSION,13
$DIVE,78
$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,37
$R_STBD_OVSHOOT,37
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,131014,014154,1429.997,14438.176,40,0.8,60,0.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.5
$GPS2,131014,015206,1430.064,14437.918,4,0.8,24,0.7
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,111.6,35881,-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,-146.0,121,2269,1328,1262,0.0,0.0,0,139,0.00,0.00,-39.30,0.000,16386,0.000,0.000,121,2269,2189,2248,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.80,-146.0,121,2269,2248,2134,3.1,-4.3,5,206,11.12,2.30,-40.25,0.000,18948,0.242,0.047,2580,836,3523,3534,3513,0,0,0,0,0,0,24.80,25.39,25.59
$GC,227,-0.61,-146.0,2580,836,3534,3514,18.7,-29.2,15,246,0.28,2.20,0.00,0.000,3078,0.149,0.029,2643,2252,3524,3534,3514,0,0,0,0,0,0,25.04,25.42,28.83
$GC,559,-0.55,-146.0,2643,2253,3534,3515,102.5,-18.5,54,574,0.00,2.25,0.00,0.000,260,0.000,0.044,2633,3653,3524,3534,3515,0,0,0,0,0,0,28.83,25.20,28.83
$GC,598,-0.50,-146.0,2633,3653,3534,3515,108.5,-17.0,57,611,0.17,2.15,0.00,0.000,3078,0.132,0.025,2681,2241,3524,3534,3515,0,0,0,0,0,0,25.21,25.50,28.83
$GC,905,-0.50,-146.0,2681,2234,3534,3517,153.4,-14.2,88,919,0.00,2.12,0.00,0.000,516,0.000,0.034,2681,851,3526,3535,3517,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1029,-0.54,-146.0,2681,851,3534,3518,170.4,-13.4,100,1041,0.00,2.15,0.00,0.000,1030,0.000,0.028,2675,2252,3526,3534,3518,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1339,-0.59,-146.0,2675,2252,3535,3518,207.1,-10.3,127,1348,0.00,2.22,0.00,0.000,260,0.000,0.045,2665,3648,3526,3534,3518,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1438,-0.64,-146.0,2665,3648,3534,3518,216.6,-10.7,130,1446,0.00,2.10,0.00,0.000,1030,0.000,0.025,2665,2264,3526,3534,3518,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1755,-0.70,-146.0,2665,2263,3534,3518,251.3,-11.2,141,1761,0.15,0.00,0.00,0.000,4102,0.071,0.000,2596,2263,3526,3534,3518,0,0,0,0,0,0,25.50,28.83,28.83
$GC,2055,-0.70,-146.0,2596,2263,3533,3518,293.7,-14.7,151,2063,0.00,2.25,0.00,0.000,260,0.000,0.047,2586,3649,3525,3533,3518,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2187,-0.70,-146.0,2586,3649,3532,3518,312.0,-14.8,155,2195,0.12,2.08,0.00,0.000,3078,0.143,0.026,2618,2289,3525,3532,3518,0,0,0,0,0,0,25.29,25.53,28.83
$GC,2505,-0.73,-146.0,2619,2288,3528,3518,356.3,-12.6,166,2513,0.00,2.25,0.00,0.000,516,0.000,0.036,2619,854,3522,3527,3518,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2537,-0.77,-146.0,2618,854,3527,3518,359.7,-12.2,167,2545,0.00,2.22,0.00,0.000,1030,0.000,0.030,2611,2284,3522,3526,3518,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2858,-0.77,-146.0,2611,2284,3523,3516,400.4,-12.4,178,2867,0.00,2.20,0.00,0.000,260,0.000,0.050,2601,3646,3519,3522,3516,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2935,-0.80,-146.0,2601,3645,3521,3515,407.3,-12.1,180,2943,0.00,2.10,0.00,0.000,1030,0.000,0.028,2601,2283,3518,3520,3516,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3241,-0.80,-146.0,2601,2282,3519,3512,445.6,-11.4,190,3249,0.00,2.25,0.00,0.000,260,0.000,0.050,2592,3651,3514,3518,3511,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3307,-0.80,-146.0,2591,3651,3519,3511,452.2,-11.5,192,3315,0.00,2.10,0.00,0.000,1030,0.000,0.029,2592,2297,3514,3518,3511,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3624,-0.80,-146.0,2591,2293,3517,3507,490.7,-11.7,203,3632,0.00,2.28,0.00,0.000,516,0.000,0.039,2591,854,3511,3516,3507,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3665,-0.80,-146.0,2591,854,3516,3507,493.9,-11.7,204,3673,0.00,2.28,0.00,0.000,1030,0.000,0.031,2583,2297,3510,3515,3506,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3977,-0.80,-146.0,2583,2297,3512,3503,532.0,-12.3,215,3988,0.00,2.22,0.00,0.000,260,0.000,0.051,2573,3651,3507,3512,3503,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4012,-0.80,-146.0,2574,3651,3511,3502,535.6,-12.2,216,4020,0.00,2.10,0.00,0.000,1030,0.000,0.031,2573,2306,3507,3511,3503,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4333,-0.80,-146.0,2573,2302,3509,3499,576.3,-12.7,227,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2302,3504,3509,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.80,-146.0,2574,2302,3507,3497,614.3,-12.3,237,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2302,3502,3507,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4933,-0.80,-146.0,2573,2301,3505,3494,651.3,-12.5,247,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2301,3499,3505,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5234,-0.80,-146.0,2574,2300,3502,3491,688.2,-12.1,257,5242,0.00,2.25,0.00,0.000,260,0.000,0.053,2564,3651,3497,3503,3491,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5270,-0.80,-146.0,2564,3651,3502,3491,691.5,-12.1,258,5280,0.00,2.12,0.00,0.000,1030,0.000,0.032,2564,2306,3496,3502,3491,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5588,-0.80,-146.0,2564,2304,3500,3488,731.3,-11.9,269,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2304,3494,3500,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5889,-0.80,-146.0,2564,2302,3499,3486,766.6,-11.6,279,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2302,3492,3499,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6189,-0.80,-146.0,2563,2301,3497,3484,800.1,-11.0,289,6200,0.00,2.25,0.00,0.000,260,0.000,0.054,2554,3653,3490,3497,3483,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6254,-0.80,-146.0,2554,3653,3495,3483,807.0,-11.3,291,6262,0.12,2.12,0.00,0.000,3078,0.154,0.033,2584,2309,3489,3495,3483,0,0,0,0,0,0,25.03,25.30,28.83
$GC,6576,-0.80,-146.0,2585,2308,3494,3480,837.9,-9.0,302,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2308,3487,3494,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.80,-146.0,2585,2308,3493,3479,864.8,-9.1,312,6884,0.00,2.25,0.00,0.000,260,0.000,0.055,2576,3647,3486,3493,3479,0,0,0,0,0,0,28.83,25.09,28.83
$GC,6903,-0.80,-146.0,2575,3647,3493,3479,867.3,-9.2,313,6910,0.00,2.12,0.00,0.000,1030,0.000,0.034,2576,2311,3485,3492,3479,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7234,-0.80,-146.0,2576,2310,3491,3477,899.9,-10.0,324,7242,0.00,2.33,0.00,0.000,516,0.000,0.044,2575,867,3484,3491,3477,0,0,0,0,0,0,28.83,25.11,28.83
$GC,7291,-0.80,-146.0,2576,867,3490,3477,903.4,-10.3,325,7301,0.00,2.33,0.00,0.000,1030,0.000,0.035,2567,2310,3483,3490,3477,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7596,-0.80,-146.0,2567,2310,3490,3475,938.0,-10.2,336,7605,0.00,2.22,0.00,0.000,260,0.000,0.057,2558,3647,3482,3489,3475,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7633,-0.80,-146.0,2558,3647,3489,3475,940.8,-10.2,337,7641,0.12,2.12,0.00,0.000,3078,0.149,0.034,2588,2319,3482,3489,3475,0,0,0,0,0,0,24.98,25.23,28.83
$GC,7951,-0.83,-146.0,2588,2316,3488,3473,970.5,-9.1,348,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2316,3480,3488,3473,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8189,begin apogee
$GC,8193,-0.13,0.0,2589,2004,3487,3473,992.7,-9.3,356,8328,0.68,0.00,128.50,1.125,10244,0.109,0.000,2796,2003,2926,2971,2882,0,0,0,0,0,0,24.87,28.83,22.28
$STATE,8329,end apogee,CONTROL_FINISHED_OK
$STATE,8329,begin climb
$GC,8330,0.80,146.0,2796,2003,2971,2880,996.6,0.0,360,8483,0.90,2.42,140.88,1.109,10756,0.057,0.049,3105,610,2330,2385,2275,0,0,0,0,0,0,23.89,23.87,22.11
$GC,8517,0.96,262.0,3106,610,2384,2268,993.4,3.8,366,8638,0.15,2.30,109.03,1.095,11270,0.079,0.031,3167,2001,1857,1916,1799,0,0,0,0,0,0,24.24,24.27,21.88
$GC,8943,0.83,262.0,3167,2001,1915,1786,921.5,17.5,381,8951,0.17,2.33,0.00,0.000,4356,0.171,0.047,3120,3406,1850,1915,1786,0,0,0,0,0,0,24.94,25.18,28.83
$GC,9036,0.72,262.0,3121,3406,1915,1786,908.2,15.8,384,9046,0.20,2.20,0.00,0.000,5126,0.158,0.033,3078,2027,1850,1915,1786,0,0,0,0,0,0,25.01,25.34,28.83
$GC,9360,0.69,262.0,3078,2027,1914,1783,873.8,9.8,395,9368,0.00,2.33,0.00,0.000,516,0.000,0.050,3086,601,1848,1913,1783,0,0,0,0,0,0,28.83,25.24,28.83
$GC,9418,0.69,262.0,3087,601,1914,1782,868.1,9.9,397,9425,0.00,2.25,0.00,0.000,1030,0.000,0.033,3087,2027,1848,1914,1782,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9744,0.65,262.0,3087,2027,1914,1781,834.6,10.3,408,9753,0.12,2.25,0.00,0.000,4356,0.169,0.047,3052,3398,1847,1914,1781,0,0,0,0,0,0,25.07,25.20,28.83
$GC,9837,0.65,262.0,3053,3398,1914,1781,825.9,9.6,411,9845,0.00,2.17,0.00,0.000,1030,0.000,0.034,3060,2036,1847,1914,1781,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10164,0.67,268.7,3060,2036,1914,1780,797.2,8.9,422,10180,0.00,2.42,5.85,0.746,8708,0.000,0.050,3070,594,1830,1898,1763,0,0,0,0,0,0,28.83,25.23,23.37
$GC,10224,0.67,268.7,3070,594,1898,1762,791.5,9.2,424,10232,0.00,2.28,0.00,0.000,1030,0.000,0.033,3070,2028,1829,1897,1762,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10551,0.67,268.7,3070,2028,1897,1761,759.9,9.6,435,10559,0.00,2.25,0.00,0.000,260,0.000,0.049,3070,3407,1829,1898,1761,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10633,0.67,268.7,3070,3408,1898,1761,753.0,10.4,437,10641,0.00,2.20,0.00,0.000,1030,0.000,0.034,3079,2030,1829,1898,1761,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10945,0.67,268.7,3079,2030,1898,1761,717.8,10.8,448,10953,0.00,2.33,0.00,0.000,516,0.000,0.050,3089,603,1829,1897,1761,0,0,0,0,0,0,28.83,25.12,28.83
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$STATE,17628,end climb,SURFACE_DEPTH_REACHED
$STATE,17628,begin surface coast
$FINISH,0.9,1.019809
$STATE,17648,end surface coast,CONTROL_FINISHED_OK
$STATE,17649,begin surface
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$IRIDIUM_FIX,1425.31,14437.84,131014,014345
$TT8_MAMPS,0.053928,0.053928
$HUMID,51.65
$INTERNAL_PRESSURE,9.34921
$TCM_TEMP,25.60
$XPDR_PINGS,17
$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,17675.88 8639.43
$PA_BOOTCOUNT,664
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$PA_HOME,0.04/0.075/1.764/1.599
$PA_DISK_BANK,3
$24V_AH,21.88,24.869
$10V_AH,9.57,29.831
$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,23.550,171.300,541.550,0.000,0.000,0.000,0.000,429.500,4.250,18336.650,31.395,0.000,14028.175,602.203,3555.074,133.976,0.000,2542.683,0.000,1890.230,0.000,0.545,0.000
$DEVICE_MAMPS,241.740,56.610,1124.550,0.000,0.000,0.000,0.000,88.740,420.000,77.635,29.210,0.000,2.190,21.460,48.420,55.910,0.000,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,555.539,0.000,0.000,0.000,0.000,0.000,18336.682,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.350,0.000,0.000,0.000
$MEM,230252
$DATA_FILE_SIZE,36671,822
$CAP_FILE_SIZE,171833,0
$CFSIZE,260034560,251408384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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