version: 66.12
glider: 203
mission: 8
dive: 14
start: 7 12 115 15 10 17
data:
$ID,203
$MISSION,8
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,51
$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,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,100
$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,-62.66111
$PRESSURE_SLOPE,0.0001160131
$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,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120715,150434,5900.7056,-14715.8379,41,0.8,41,18.1,0.0,0.0,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.3
$GPS2,120715,151006,5900.7231,-14715.8271,8,0.8,9,18.1,0.0,0.0,10,10.0
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,93.2,11104,-18.6,-10.000,-20.21,2392
$D_GRID,1304
$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,-0.95,-155.7,204,2806,885,756,0.0,0.0,0,154,0.00,0.00,-57.83,0.000,16386,0.000,0.000,204,2805,2351,2388,2315,0,0,0,0,0,0,26.95,28.83,27.02
$GC,156,-0.95,-155.7,204,2804,2389,2315,3.4,-4.8,8,193,8.38,1.58,-23.70,0.000,18692,0.249,0.069,2319,3843,3476,3546,3407,0,0,0,0,0,0,26.53,25.86,26.74
$GC,417,-0.95,-155.7,2319,3843,3547,3411,57.0,-18.3,55,427,0.00,1.48,0.00,0.000,1030,0.000,0.025,2319,2802,3478,3546,3410,0,0,0,0,0,0,26.94,26.89,26.94
$GC,723,-0.95,-155.7,2319,2804,3547,3414,112.3,-17.0,86,731,0.00,2.00,0.00,0.000,516,0.000,0.027,2319,1427,3479,3546,3413,0,0,0,0,0,0,27.08,26.91,27.14
$GC,815,-0.95,-155.7,2318,1424,3546,3414,128.2,-17.0,95,830,0.08,2.03,0.00,0.000,3078,0.216,0.032,2327,2791,3479,3546,3413,0,0,0,0,0,0,26.79,26.92,26.92
$GC,1125,-0.95,-155.7,2327,2792,3547,3414,177.6,-15.4,126,1134,0.00,2.00,0.00,0.000,516,0.000,0.026,2328,1424,3479,3546,3413,0,0,0,0,0,0,27.15,26.98,27.21
$GC,1163,-0.95,-155.7,2328,1423,3547,3415,182.7,-15.0,129,1173,0.00,2.05,0.00,0.000,1030,0.000,0.031,2322,2807,3479,3546,3413,0,0,0,0,0,0,27.03,26.97,27.05
$GC,1469,-0.95,-155.7,2323,2810,3547,3414,229.9,-15.4,160,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2806,3479,3546,3413,0,0,0,0,0,0,27.19,27.26,27.25
$GC,1789,-0.95,-155.7,2323,2806,3546,3412,279.4,-15.4,180,1796,0.00,2.00,0.00,0.000,516,0.000,0.026,2322,1425,3479,3545,3413,0,0,0,0,0,0,27.22,27.06,27.28
$GC,1880,-0.95,-155.7,2322,1425,3546,3413,292.3,-15.0,183,1891,0.00,2.03,0.00,0.000,1030,0.000,0.031,2319,2801,3479,3545,3413,0,0,0,0,0,0,27.10,27.05,27.13
$GC,2205,-0.95,-155.7,2320,2802,3545,3414,339.6,-14.0,194,2213,0.00,2.00,0.00,0.000,516,0.000,0.026,2319,1426,3478,3543,3413,0,0,0,0,0,0,27.24,27.09,27.31
$GC,2257,-0.95,-155.7,2320,1423,3544,3413,344.1,-14.1,195,2264,0.00,2.03,0.00,0.000,1030,0.000,0.031,2319,2802,3478,3544,3413,0,0,0,0,0,0,27.13,27.07,27.15
$GC,2568,-0.95,-155.7,2320,2802,3543,3413,390.0,-14.2,206,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2802,3477,3542,3413,0,0,0,0,0,0,27.27,27.34,27.34
$GC,2868,-0.95,-155.7,2319,2802,3541,3413,432.7,-14.4,216,2876,0.00,1.98,0.00,0.000,516,0.000,0.027,2319,1431,3476,3540,3413,0,0,0,0,0,0,27.29,27.13,27.36
$GC,2920,-0.95,-155.7,2319,1432,3541,3414,436.5,-14.5,217,2931,0.00,2.03,0.00,0.000,1030,0.000,0.032,2319,2806,3476,3540,3413,0,0,0,0,0,0,27.17,27.11,27.19
$GC,3225,-0.95,-155.7,2322,2806,3539,3413,483.8,-14.4,228,3233,0.00,2.00,0.00,0.000,516,0.000,0.026,2319,1420,3476,3539,3413,0,0,0,0,0,0,27.30,27.14,27.36
$GC,3457,-0.95,-155.7,2320,1421,3539,3414,512.0,-13.2,235,3467,0.00,2.05,0.00,0.000,1030,0.000,0.032,2319,2814,3475,3538,3413,0,0,0,0,0,0,27.20,27.14,27.21
$GC,3762,-0.95,-155.7,2319,2813,3537,3413,559.1,-14.5,246,3770,0.00,2.00,0.00,0.000,516,0.000,0.027,2325,1427,3474,3536,3413,0,0,0,0,0,0,27.32,27.16,27.39
$GC,3994,-0.95,-155.7,2319,1430,3537,3414,590.1,-14.9,253,4003,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2796,3474,3536,3413,0,0,0,0,0,0,27.21,27.16,27.23
$GC,4299,-0.95,-155.7,2319,2798,3536,3414,636.0,-13.8,263,4308,0.00,1.98,0.00,0.000,516,0.000,0.026,2319,1436,3473,3534,3413,0,0,0,0,0,0,27.34,27.18,27.39
$GC,4392,-0.95,-155.7,2318,1434,3536,3414,648.9,-14.0,266,4399,0.00,2.03,0.00,0.000,1030,0.000,0.033,2318,2802,3473,3534,3413,0,0,0,0,0,0,27.22,27.16,27.24
$GC,4724,-0.95,-155.7,2319,2803,3534,3414,692.9,-13.1,277,4732,0.00,1.98,0.00,0.000,516,0.000,0.027,2319,1432,3472,3532,3413,0,0,0,0,0,0,27.34,27.19,27.41
$GC,4916,-0.95,-155.7,2319,1431,3533,3412,715.4,-12.8,283,4923,0.00,2.03,0.00,0.000,1030,0.000,0.032,2319,2806,3472,3532,3413,0,0,0,0,0,0,27.23,27.17,27.25
$GC,5227,-0.95,-155.7,2319,2806,3532,3413,754.9,-11.7,294,5234,0.00,1.55,0.00,0.000,260,0.000,0.047,2319,3856,3471,3531,3412,0,0,0,0,0,0,27.35,27.17,27.42
$GC,5458,-0.95,-155.7,2319,3857,3533,3414,781.0,-12.2,301,5466,0.00,1.48,0.00,0.000,1030,0.000,0.027,2319,2820,3471,3530,3413,0,0,0,0,0,0,27.28,27.23,27.29
$GC,5770,-0.95,-155.7,2319,2821,3531,3414,821.9,-12.5,312,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2820,3471,3530,3413,0,0,0,0,0,0,27.36,27.44,27.41
$GC,6070,-0.95,-155.7,2319,2819,3531,3413,860.9,-12.7,322,6077,0.00,2.03,0.00,0.000,516,0.000,0.027,2319,1406,3471,3529,3413,0,0,0,0,0,0,27.36,27.21,27.43
$GC,6181,-0.95,-155.7,2319,1407,3530,3413,871.5,-12.3,325,6191,0.00,2.05,0.00,0.000,1030,0.000,0.032,2318,2799,3470,3529,3412,0,0,0,0,0,0,27.25,27.20,27.27
$GC,6486,-0.95,-155.7,2318,2799,3529,3413,911.9,-11.9,336,6494,0.00,2.00,0.00,0.000,516,0.000,0.027,2319,1414,3470,3528,3412,0,0,0,0,0,0,27.38,27.21,27.44
$GC,6518,-0.95,-155.7,2319,1415,3529,3414,915.1,-11.9,337,6526,0.00,2.05,0.00,0.000,1030,0.000,0.033,2318,2805,3471,3528,3415,0,0,0,0,0,0,27.26,27.20,27.27
$GC,6845,-0.95,-155.7,2319,2805,3529,3412,953.1,-11.0,348,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2805,3470,3528,3413,0,0,0,0,0,0,27.38,27.45,27.44
$GC,7145,-0.95,-155.7,2319,2805,3528,3413,987.2,-11.6,358,7153,0.00,2.03,0.00,0.000,516,0.000,0.027,2319,1402,3469,3526,3413,0,0,0,0,0,0,27.38,27.22,27.45
$STATE,7171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7171,begin apogee
$GC,7176,-0.25,0.0,2320,2608,3527,3413,990.4,-11.8,359,7374,0.73,0.00,191.45,0.868,10246,0.131,0.000,2553,2609,2839,2880,2799,0,0,0,0,0,0,27.08,24.98,24.44
$STATE,7375,end apogee,CONTROL_FINISHED_OK
$STATE,7375,begin climb
$GC,7376,0.95,155.7,2553,2608,2872,2792,998.9,0.0,365,7528,1.12,2.10,139.02,1.032,11012,0.074,0.042,2941,3843,2191,2224,2159,0,0,0,0,0,0,25.13,24.72,24.07
$GC,7563,0.97,366.2,2942,3844,2211,2142,1001.4,1.0,372,7778,0.00,1.88,199.75,0.983,9222,0.000,0.025,2945,2599,1333,1378,1288,0,0,0,0,0,0,25.41,25.37,24.05
$GC,8073,0.97,366.2,2945,2600,1362,1268,938.7,13.4,389,8081,0.00,2.10,0.00,0.000,516,0.000,0.031,2945,1222,1313,1361,1266,0,0,0,0,0,0,26.19,26.03,26.25
$GC,8184,0.97,366.2,2945,1221,1360,1268,926.9,13.4,392,8195,0.00,2.10,0.00,0.000,1030,0.000,0.028,2945,2599,1312,1359,1266,0,0,0,0,0,0,26.23,26.18,26.25
$GC,8490,0.97,366.2,2944,2600,1359,1265,884.5,12.6,403,8497,0.00,1.92,0.00,0.000,260,0.000,0.044,2945,3855,1311,1358,1264,0,0,0,0,0,0,26.60,26.42,26.67
$GC,8632,0.97,366.2,2945,3855,1359,1264,868.3,13.9,407,8642,0.00,1.83,0.00,0.000,1030,0.000,0.025,2945,2581,1311,1358,1264,0,0,0,0,0,0,26.60,26.56,26.61
$GC,8937,0.97,366.2,2945,2585,1358,1265,826.7,12.4,418,8944,0.00,1.95,0.00,0.000,260,0.000,0.043,2945,3847,1311,1358,1265,0,0,0,0,0,0,26.82,26.63,26.89
$GC,9013,0.97,366.2,2945,3848,1359,1265,818.9,13.0,420,9020,0.00,1.77,0.00,0.000,1030,0.000,0.025,2945,2602,1310,1358,1263,0,0,0,0,0,0,26.78,26.72,26.77
$GC,9318,0.97,366.2,2945,2599,1359,1263,778.1,12.4,430,9326,0.00,1.92,0.00,0.000,260,0.000,0.043,2945,3853,1310,1357,1263,0,0,0,0,0,0,26.94,26.74,27.01
$GC,9395,0.97,366.2,2946,3854,1359,1265,769.4,13.3,432,9402,0.00,1.77,0.00,0.000,1030,0.000,0.025,2945,2600,1310,1357,1263,0,0,0,0,0,0,26.86,26.83,26.88
$GC,9706,0.97,366.2,2945,2598,1362,1264,726.3,13.6,443,9714,0.00,1.92,0.00,0.000,260,0.000,0.044,2945,3851,1310,1357,1263,0,0,0,0,0,0,27.02,26.84,27.09
$GC,9938,0.97,366.2,2945,3855,1358,1264,695.9,14.8,450,9950,0.00,1.77,0.00,0.000,1030,0.000,0.025,2945,2597,1310,1357,1263,0,0,0,0,0,0,26.97,26.94,26.98
$GC,10243,0.97,366.2,2946,2593,1358,1262,653.3,12.7,461,10252,0.00,1.92,0.00,0.000,260,0.000,0.044,2945,3855,1310,1357,1264,0,0,0,0,0,0,27.10,26.91,27.17
$GC,10316,0.97,366.2,2945,3856,1357,1264,644.4,13.3,463,10323,0.00,1.77,0.00,0.000,1030,0.000,0.025,2944,2600,1310,1357,1263,0,0,0,0,0,0,27.02,26.99,27.04
$GC,10637,0.97,366.2,2946,2588,1358,1262,604.7,12.3,474,10645,0.00,2.03,0.00,0.000,516,0.000,0.036,2945,1228,1310,1357,1263,0,0,0,0,0,0,27.14,26.96,27.22
$GC,10754,0.97,366.2,2946,1227,1358,1263,592.7,13.0,477,10765,0.00,2.03,0.00,0.000,1030,0.000,0.029,2945,2606,1310,1357,1263,0,0,0,0,0,0,27.04,26.99,27.06
$GC,11060,0.97,366.2,2945,2606,1357,1262,548.1,13.8,488,11067,0.00,1.88,0.00,0.000,260,0.000,0.046,2945,3845,1310,1357,1263,0,0,0,0,0,0,27.20,26.99,27.25
$GC,11291,0.97,366.2,2945,3845,1357,1262,516.8,14.8,495,11302,0.00,1.75,0.00,0.000,1030,0.000,0.026,2945,2589,1309,1355,1263,0,0,0,0,0,0,27.11,27.08,27.13
$GC,11596,0.97,366.2,2946,2588,1357,1264,473.8,13.8,506,11604,0.00,1.90,0.00,0.000,260,0.000,0.043,2945,3843,1309,1356,1263,0,0,0,0,0,0,27.22,27.03,27.29
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$GC,15389,0.98,529.5,2959,1223,920,760,5.0,8.4,831,15413,0.00,2.08,17.33,0.151,9222,0.000,0.028,2959,2600,676,754,599,0,0,0,0,0,0,26.92,26.91,26.67
$STATE,15421,end climb,SURFACE_DEPTH_REACHED
$STATE,15421,begin surface coast
$FINISH,0.4,1.003870
$STATE,15441,end surface coast,CONTROL_FINISHED_OK
$STATE,15441,begin surface
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$IRIDIUM_FIX,5837.82,-14716.64,080508,043237
$TT8_MAMPS,0.165529,0.165529
$HUMID,38.26
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,18.10
$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,1654118
$PA_UPTIME,15470.09 7476.00
$PA_BOOTCOUNT,316
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$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.185/27.046/25.487
$PA_DISK_BANK,1
$24V_AH,24.05,2.557
$10V_AH,10.03,7.799
$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,17.500,118.700,610.325,0.000,0.000,0.000,0.000,235.150,0.250,0.000,10.578,0.000,11643.711,674.542,3383.113,130.459,0.000,2368.723,0.000,2131.794,0.000,0.549,0.000
$DEVICE_MAMPS,249.390,68.850,1031.985,0.000,0.000,0.000,0.000,93.330,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,574.771,0.000,0.000,0.000,0.000,0.000,15868.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.316,0.000,0.000,0.000
$MEM,187104
$DATA_FILE_SIZE,36711,841
$CAP_FILE_SIZE,146824,0
$CFSIZE,1024393216,995098624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
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$CURRENT,0.151,265.65,1
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