version: 66.11
glider: 192
mission: 2
dive: 644
start: 1 14 114 2 47 44
data:
$ID,192
$MISSION,2
$DIVE,644
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15451.163
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,140114,023735,6346.447,-5721.069,24,1.9,24,-30.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-59.4
$GPS2,140114,024656,6346.350,-5721.146,26,2.0,26,-30.2
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_1
$TGT_LATLONG,6350.000,-5600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,115.3,66616,-15.5,-8.250,-18.49,2720
$D_GRID,1254
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.89,-146.0,103,2595,496,475,0.0,0.0,0,129,0.00,0.00,-106.47,0.000,16386,0.000,0.000,102,2596,2622,2666,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-0.89,-146.0,101,2595,2668,2578,3.3,-1.7,11,174,10.30,1.52,-20.80,0.000,18948,0.415,0.123,2213,1730,3338,3500,3177,0,0,0,0,0,0,13.88,14.33,14.77
$GC,351,-0.83,-146.0,1376,1728,3496,3174,40.1,-18.2,32,359,0.12,1.55,0.00,0.000,3078,0.290,0.112,2233,2579,3340,3503,3177,0,0,0,0,0,0,13.93,14.14,28.83
$GC,662,-0.78,-146.0,2233,2579,3503,3177,93.3,-16.9,63,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2579,3340,3503,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.73,-146.0,2233,2579,3503,3176,148.8,-17.7,76,974,0.15,0.00,0.00,0.000,2054,0.292,0.000,2267,2579,3339,3503,3175,0,0,0,0,0,0,13.99,28.83,28.83
$GC,1273,-0.71,-146.0,2267,2579,3503,3174,190.8,-13.6,86,1276,0.00,1.58,0.00,0.000,260,0.000,0.123,2263,3425,3339,3503,3175,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1331,-0.68,-146.0,2262,3425,3503,3174,195.8,-13.7,87,1338,0.00,1.50,0.00,0.000,1030,0.000,0.079,2263,2570,3338,3503,3174,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1639,-0.66,-146.0,2263,2569,3503,3175,241.3,-13.6,98,1644,0.12,1.65,0.00,0.000,2308,0.269,0.122,2290,3421,3339,3503,3175,0,0,0,0,0,0,14.00,13.85,28.83
$GC,1676,-0.63,-146.0,2291,3421,3503,3175,246.0,-13.2,99,1680,0.00,1.52,0.00,0.000,1030,0.000,0.080,2291,2576,3339,3503,3175,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2012,-0.62,-146.0,2291,2576,3505,3174,283.3,-10.7,110,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2576,3340,3506,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-0.62,-146.0,2290,2576,3506,3175,313.3,-9.6,120,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2575,3341,3507,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,-0.61,-146.0,2290,2576,3508,3175,341.4,-9.4,130,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2576,3341,3508,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.60,-146.0,2291,2576,3509,3175,369.4,-9.5,140,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2576,3342,3509,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,-0.60,-146.0,2290,2576,3510,3175,398.9,-10.0,150,3216,0.00,1.60,0.00,0.000,260,0.000,0.119,2284,3425,3342,3510,3175,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3266,-0.59,-146.0,2283,3425,3510,3175,402.8,-10.1,151,3270,0.12,1.50,0.00,0.000,3078,0.241,0.074,2311,2567,3342,3510,3175,0,0,0,0,0,0,13.85,14.09,28.83
$GC,3583,-0.59,-146.0,2312,2568,3512,3175,434.0,-9.1,162,3587,0.00,1.48,0.00,0.000,516,0.000,0.085,2312,1746,3343,3512,3175,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3626,-0.59,-146.0,2312,1745,3512,3175,437.3,-9.2,163,3630,0.00,1.55,0.00,0.000,1030,0.000,0.107,2308,2575,3343,3512,3175,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3952,-0.59,-146.0,2308,2575,3514,3175,468.9,-9.2,174,3955,0.00,1.58,0.00,0.000,260,0.000,0.119,2301,3431,3344,3514,3175,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4011,-0.59,-146.0,2301,3430,3514,3175,472.3,-9.2,175,4017,0.00,1.50,0.00,0.000,1030,0.000,0.075,2301,2572,3344,3514,3175,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4318,-0.59,-146.0,2301,2572,3515,3175,502.8,-9.2,186,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2572,3344,3514,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4617,-0.59,-146.0,2301,2572,3515,3175,529.0,-8.7,196,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2572,3345,3515,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.59,-146.0,2301,2572,3516,3175,556.1,-9.3,206,4921,0.00,1.60,0.00,0.000,260,0.000,0.119,2295,3426,3345,3516,3175,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4971,-0.59,-146.0,2295,3426,3516,3175,559.6,-9.5,207,4974,0.00,1.50,0.00,0.000,1030,0.000,0.073,2295,2566,3345,3516,3175,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5287,-0.59,-146.0,2295,2566,3517,3175,590.9,-9.4,218,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2566,3346,3517,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.59,-146.0,2295,2566,3518,3175,619.8,-9.7,228,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2566,3346,3517,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5886,-0.59,-146.0,2295,2566,3517,3175,651.5,-10.8,238,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2566,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6185,-0.59,-146.0,2295,2566,3518,3175,681.8,-9.9,248,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2566,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6486,-0.59,-146.0,2295,2566,3518,3175,709.5,-9.0,258,6490,0.00,1.62,0.00,0.000,260,0.000,0.117,2289,3425,3346,3518,3175,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6530,-0.59,-146.0,2289,3425,3518,3175,712.9,-9.1,259,6534,0.12,1.50,0.00,0.000,3078,0.243,0.073,2315,2572,3347,3519,3175,0,0,0,0,0,0,13.81,14.07,28.83
$GC,6863,-0.61,-146.0,2315,2571,3518,3175,740.2,-8.2,270,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2571,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7156,-0.62,-146.0,2315,2571,3519,3175,765.8,-8.7,280,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2572,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,-0.63,-146.0,2316,2571,3518,3175,792.0,-8.5,290,7460,0.00,1.65,0.00,0.000,260,0.000,0.119,2311,3420,3346,3518,3175,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7493,-0.65,-146.0,2311,3420,3518,3175,794.9,-8.3,291,7496,0.00,1.52,0.00,0.000,1030,0.000,0.073,2311,2555,3346,3519,3174,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7834,-0.66,-146.0,2311,2555,3518,3175,822.1,-7.8,302,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2555,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8130,-0.67,-146.0,2311,2555,3518,3175,845.6,-7.9,312,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2555,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,-0.68,-146.0,2311,2555,3519,3175,867.9,-7.3,322,8432,0.00,1.65,0.00,0.000,260,0.000,0.120,2305,3430,3347,3519,3175,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8465,-0.69,-146.0,2305,3430,3519,3175,870.5,-7.3,323,8468,0.00,1.50,0.00,0.000,1030,0.000,0.073,2305,2571,3347,3519,3175,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8802,-0.70,-146.0,2305,2571,3519,3176,894.7,-6.9,334,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2571,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,-0.71,-146.0,2305,2571,3518,3175,915.7,-7.1,344,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2571,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9401,-0.72,-146.0,2305,2571,3519,3175,937.8,-7.5,354,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2571,3347,3519,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9702,-0.73,-146.0,2305,2571,3519,3175,960.5,-7.5,364,9705,0.00,1.60,0.00,0.000,260,0.000,0.119,2299,3426,3347,3519,3175,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9746,-0.74,-146.0,2299,3426,3518,3175,963.4,-7.6,365,9749,0.00,1.50,0.00,0.000,1030,0.000,0.073,2298,2564,3346,3518,3175,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10071,-0.74,-146.0,2299,2564,3518,3175,989.5,-7.7,376,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2565,3346,3518,3175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10095,begin apogee
$GC,10109,-0.22,0.0,2299,2476,3519,3175,991.7,-7.6,377,10290,0.47,0.00,170.68,2.863,10246,0.203,0.000,2430,2475,2741,2851,2631,0,0,0,0,0,0,13.68,28.83,12.08
$STATE,10291,end apogee,CONTROL_FINISHED_OK
$STATE,10291,begin climb
$GC,10298,0.89,146.0,2430,2475,2851,2632,996.2,0.0,383,10497,1.25,0.00,193.50,2.763,11014,0.151,0.000,2790,2475,2145,2240,2051,0,0,0,0,0,0,13.32,28.83,11.43
$GC,10786,0.86,146.0,2790,2475,2239,2042,948.2,12.1,400,10790,0.00,1.52,0.00,0.000,516,0.000,0.091,2796,1634,2140,2238,2042,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10825,0.82,146.0,1808,1633,2193,2035,944.0,12.1,401,10829,0.00,1.55,0.00,0.000,1030,0.000,0.107,2796,2480,2140,2239,2041,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11156,0.78,146.0,2796,2480,2239,2040,902.8,12.3,412,11158,0.15,0.00,0.00,0.000,4102,0.249,0.000,2761,2480,2139,2239,2040,0,0,0,0,0,0,14.26,28.83,28.83
$GC,11457,0.76,146.0,2761,2480,2239,2039,870.9,10.9,422,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2480,2138,2239,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11756,0.74,146.0,2761,2480,2239,2038,838.5,10.6,432,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2480,2138,2239,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12056,0.72,146.0,2761,2480,2239,2037,808.1,10.0,442,12060,0.00,1.55,0.00,0.000,516,0.000,0.093,2765,1638,2138,2239,2037,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12096,0.69,146.0,2765,1638,2239,2036,804.5,9.9,443,12100,0.10,1.58,0.00,0.000,5126,0.204,0.107,2738,2484,2137,2239,2036,0,0,0,0,0,0,14.04,14.19,28.83
$GC,12427,0.69,146.0,2737,2484,2239,2035,775.5,8.6,454,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2484,2137,2239,2035,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21302,end climb,SURFACE_DEPTH_REACHED
$STATE,21303,begin surface coast
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$FREEZE,1.49,-0.349,-0.934,0,1,0
$FINISH,1.5,1.013791
$STATE,21341,end surface coast,CONTROL_FINISHED_OK
$STATE,21341,begin surface
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$RAFOS_CLK,992
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$RAFOS,3,1389687903,8.433333,8.417500,60,60,57,56,49,47,181,215,115,154,195,135
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$RAFOS,5,1389674484,4.700000,4.690000,61,56,55,53,50,49,167,206,193,130,111,149
$RAFOS,4,1389673993,4.566667,4.553611,62,62,61,60,58,56,157,203,193,167,181,213
$RAFOS,3,1389673513,4.433333,4.420278,72,54,54,53,48,47,203,180,133,212,190,151
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$RAFOS,1,1389672544,4.166667,4.151111,63,56,54,52,51,50,201,214,178,144,122,187
$RAFOS,0,1389672064,4.033333,4.017778,59,57,56,55,50,48,160,214,196,178,124,106
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$IRIDIUM_FIX,6317.84,-5728.74,130114,202011
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.05
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$TCM_TEMP,13.70
$XPDR_PINGS,115
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,11.4,264.517
$10V_AH,11.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,573.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227696
$DATA_FILE_SIZE,36779,821
$CAP_FILE_SIZE,160630,0
$CFSIZE,259252224,202698752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.1
$CURRENT,0.151,290.1,1
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