version: 66.12
glider: 204
mission: 15
dive: 106
start: 3 20 115 21 8 20
data:
$ID,204
$MISSION,15
$DIVE,106
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,500
$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_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,44
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,150
$AH0_10V,97
$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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,200315,210235,1414.9019,14555.5615,31,0.8,31,1.1,0.6,253.3,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.7
$GPS2,200315,210810,1414.9012,14555.5117,5,0.8,5,1.1,0.0,0.0,11,14.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,84.8,110128,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,-175.2,190,2619,805,787,0.0,0.0,0,143,0.00,0.00,-46.88,0.000,16386,0.000,0.000,188,2619,2064,2032,2096,0,0,0,0,0,0,26.16,28.83,26.23
$GC,144,-0.80,-175.2,189,2620,2034,2098,3.1,-5.4,7,198,11.85,1.65,-36.62,0.000,18692,0.235,0.063,3000,3688,3556,3528,3584,0,0,0,0,0,0,25.73,24.61,25.89
$GC,297,-0.80,-175.2,3000,3690,3530,3587,37.3,-27.5,35,306,0.00,1.55,0.00,0.000,1030,0.000,0.021,3005,2566,3557,3529,3586,0,0,0,0,0,0,26.24,26.18,26.25
$GC,612,-0.80,-175.2,3005,2567,3531,3587,122.3,-22.9,70,619,0.00,1.95,0.00,0.000,516,0.000,0.024,3010,1231,3557,3530,3585,0,0,0,0,0,0,26.25,26.20,26.30
$GC,658,-0.80,-175.2,3010,1231,3532,3585,131.6,-22.2,74,669,0.00,2.08,0.00,0.000,1030,0.000,0.032,3001,2602,3558,3530,3586,0,0,0,0,0,0,26.25,26.19,26.27
$GC,963,-0.80,-175.2,3001,2601,3534,3586,194.3,-19.6,105,969,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2602,3559,3533,3586,0,0,0,0,0,0,26.27,26.33,26.32
$GC,1273,-0.80,-175.2,3001,2602,3535,3588,245.7,-15.9,118,1281,0.00,1.70,0.00,0.000,260,0.000,0.045,2993,3691,3562,3535,3589,0,0,0,0,0,0,26.28,26.17,26.33
$GC,1354,-0.80,-175.2,2993,3691,3536,3589,255.5,-15.6,120,1361,0.00,1.50,0.00,0.000,1030,0.000,0.021,3000,2592,3562,3535,3589,0,0,0,0,0,0,26.32,26.30,26.33
$GC,1665,-0.80,-175.2,3000,2591,3536,3589,299.9,-13.3,131,1672,0.00,1.75,0.00,0.000,260,0.000,0.046,2993,3694,3562,3535,3589,0,0,0,0,0,0,26.26,26.17,26.32
$GC,1731,-0.80,-175.2,2993,3694,3536,3589,308.9,-14.1,133,1738,0.00,1.50,0.00,0.000,1030,0.000,0.021,3000,2607,3562,3535,3589,0,0,0,0,0,0,26.32,26.30,26.34
$GC,2057,-0.80,-175.2,3000,2608,3535,3590,355.6,-14.6,144,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2607,3561,3534,3589,0,0,0,0,0,0,26.25,26.32,26.31
$GC,2357,-0.80,-175.2,3000,2606,3536,3584,396.5,-13.1,154,2365,0.00,2.03,0.00,0.000,516,0.000,0.024,3010,1226,3560,3536,3584,0,0,0,0,0,0,26.28,26.23,26.34
$GC,2384,-0.80,-175.2,3007,1226,3537,3584,396.5,-13.1,154,2394,0.00,2.08,0.00,0.000,1030,0.000,0.029,3001,2601,3559,3534,3584,0,0,0,0,0,0,26.27,26.22,26.29
$GC,2689,-0.80,-175.2,3001,2603,3535,3581,437.3,-12.1,165,2697,0.00,1.67,0.00,0.000,260,0.000,0.043,2993,3703,3557,3534,3580,0,0,0,0,0,0,26.27,26.15,26.34
$GC,2790,-0.80,-175.2,2992,3704,3534,3581,447.7,-11.6,168,2799,0.00,1.55,0.00,0.000,1030,0.000,0.022,3000,2609,3554,3533,3576,0,0,0,0,0,0,26.31,26.28,26.32
$GC,3113,-0.80,-175.2,2999,2608,3530,3576,479.0,-9.2,179,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2608,3552,3529,3576,0,0,0,0,0,0,26.27,26.34,26.32
$GC,3413,-0.80,-175.2,3000,2610,3526,3575,508.6,-10.1,189,3421,0.00,1.67,0.00,0.000,260,0.000,0.044,2993,3694,3549,3525,3573,0,0,0,0,0,0,26.26,26.13,26.32
$GC,3459,-0.80,-175.2,2992,3694,3527,3573,511.8,-10.1,190,3467,0.00,1.60,0.00,0.000,1030,0.000,0.022,3000,2585,3549,3525,3573,0,0,0,0,0,0,26.29,26.26,26.32
$GC,3776,-0.80,-175.2,3000,2585,3524,3570,544.9,-9.9,201,3784,0.00,1.73,0.00,0.000,260,0.000,0.044,2993,3701,3546,3523,3570,0,0,0,0,0,0,26.22,26.13,26.28
$GC,3832,-0.80,-175.2,2992,3700,3524,3569,548.1,-9.9,202,3843,0.00,1.55,0.00,0.000,1030,0.000,0.024,2999,2612,3545,3521,3569,0,0,0,0,0,0,26.29,26.26,26.29
$GC,4138,-0.80,-175.2,3000,2612,3519,3568,580.2,-9.6,213,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3542,3517,3567,0,0,0,0,0,0,26.24,26.30,26.29
$GC,4438,-0.80,-175.2,2999,2611,3517,3563,611.2,-10.9,223,4445,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3694,3539,3515,3563,0,0,0,0,0,0,26.22,26.08,26.28
$GC,4523,-0.80,-175.2,2993,3694,3516,3563,618.3,-11.4,225,4534,0.00,1.58,0.00,0.000,1030,0.000,0.022,3000,2582,3539,3515,3563,0,0,0,0,0,0,26.27,26.22,26.28
$GC,4829,-0.80,-175.2,2999,2581,3512,3561,656.8,-11.4,236,4836,0.00,1.75,0.00,0.000,260,0.000,0.043,2992,3702,3536,3511,3561,0,0,0,0,0,0,26.22,26.07,26.27
$GC,4874,-0.80,-175.2,2993,3703,3512,3562,660.4,-11.4,237,4881,0.00,1.58,0.00,0.000,1030,0.000,0.024,2999,2605,3536,3511,3561,0,0,0,0,0,0,26.22,26.19,26.24
$GC,5191,-0.80,-175.2,2999,2605,3509,3557,697.1,-10.9,248,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2605,3533,3508,3558,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5490,-0.80,-175.2,2999,2605,3508,3555,729.1,-10.4,258,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2605,3530,3506,3555,0,0,0,0,0,0,26.19,26.26,26.25
$GC,5790,-0.80,-175.2,2999,2605,3506,3553,760.2,-10.3,268,5799,0.00,1.73,0.00,0.000,260,0.000,0.044,2997,3702,3529,3505,3553,0,0,0,0,0,0,26.20,26.03,26.26
$GC,5832,-0.80,-175.2,2992,3702,3506,3552,763.5,-10.4,269,5840,0.00,1.60,0.00,0.000,1030,0.000,0.024,2999,2588,3528,3504,3552,0,0,0,0,0,0,26.20,26.17,26.20
$GC,6154,-0.80,-175.2,3000,2589,3502,3552,796.8,-9.9,280,6161,0.00,1.77,0.00,0.000,260,0.000,0.044,2992,3695,3526,3502,3551,0,0,0,0,0,0,26.17,26.02,26.23
$GC,6205,-0.80,-175.2,2993,3696,3503,3551,800.0,-9.9,281,6213,0.00,1.58,0.00,0.000,1030,0.000,0.022,2999,2587,3526,3502,3550,0,0,0,0,0,0,26.21,26.18,26.22
$GC,6517,-0.80,-175.2,2999,2586,3502,3549,833.0,-10.2,292,6525,0.00,1.73,0.00,0.000,260,0.000,0.044,2992,3692,3524,3500,3549,0,0,0,0,0,0,26.17,26.00,26.22
$GC,6554,-0.80,-175.2,2992,3693,3501,3548,836.2,-10.1,293,6561,0.00,1.55,0.00,0.000,1030,0.000,0.023,2999,2603,3524,3500,3548,0,0,0,0,0,0,26.19,26.16,26.20
$GC,6880,-0.80,-175.2,2999,2604,3499,3548,867.8,-9.7,304,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3522,3498,3547,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7180,-0.80,-175.2,2999,2603,3498,3545,896.1,-9.3,314,7190,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3693,3521,3497,3545,0,0,0,0,0,0,26.12,25.99,26.18
$GC,7234,-0.80,-175.2,2992,3693,3498,3544,899.3,-9.2,315,7243,0.00,1.60,0.00,0.000,1030,0.000,0.023,2999,2599,3520,3496,3544,0,0,0,0,0,0,26.15,26.13,26.17
$GC,7547,-0.80,-175.2,2999,2598,3496,3544,929.4,-9.1,326,7554,0.00,1.73,0.00,0.000,260,0.000,0.044,2992,3696,3519,3495,3544,0,0,0,0,0,0,26.14,25.95,26.20
$GC,7593,-0.80,-175.2,2992,3695,3495,3543,932.4,-9.2,327,7602,0.00,1.58,0.00,0.000,1030,0.000,0.023,2999,2595,3519,3495,3543,0,0,0,0,0,0,26.15,26.10,26.16
$GC,7911,-0.80,-175.2,2999,2594,3494,3542,965.3,-10.2,338,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2594,3517,3493,3542,0,0,0,0,0,0,26.12,26.17,26.17
$STATE,8180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8180,begin apogee
$GC,8183,-0.17,0.0,3001,2432,3493,3542,992.9,-10.2,347,8327,0.75,0.00,137.15,1.282,10246,0.156,0.000,3211,2430,2838,2812,2865,0,0,0,0,0,0,25.68,24.74,23.99
$STATE,8328,end apogee,CONTROL_FINISHED_OK
$STATE,8328,begin climb
$GC,8329,0.80,175.2,3212,2431,2810,2863,999.1,0.0,351,8489,1.05,2.20,146.68,1.268,11012,0.135,0.044,3512,3687,2119,2114,2124,0,0,0,0,0,0,24.87,24.13,23.38
$GC,8583,0.95,280.9,3512,3688,2112,2117,996.9,5.9,360,8685,0.20,1.92,90.00,1.268,11270,0.139,0.022,3576,2400,1688,1689,1687,0,0,0,0,0,0,25.07,25.27,23.53
$GC,8994,0.95,280.9,3576,2404,1681,1674,944.6,13.6,374,9001,0.00,2.08,0.00,0.000,260,0.000,0.043,3568,3699,1676,1680,1673,0,0,0,0,0,0,25.92,25.87,25.98
$GC,9035,0.95,280.9,3568,3699,1680,1672,940.2,13.7,375,9044,0.00,1.88,0.00,0.000,1030,0.000,0.024,3577,2430,1675,1680,1670,0,0,0,0,0,0,26.05,25.98,26.06
$GC,9358,0.95,280.9,3577,2426,1679,1670,892.2,14.7,386,9365,0.00,2.00,0.00,0.000,260,0.000,0.043,3568,3695,1674,1678,1671,0,0,0,0,0,0,26.15,26.07,26.21
$GC,9409,0.95,280.9,3568,3694,1679,1671,888.0,14.9,387,9419,0.00,1.85,0.00,0.000,1030,0.000,0.023,3577,2414,1674,1677,1671,0,0,0,0,0,0,26.20,26.18,26.22
$GC,9715,0.95,280.9,3577,2412,1678,1669,838.8,14.8,398,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2412,1673,1677,1670,0,0,0,0,0,0,26.19,26.26,26.26
$GC,10014,0.95,280.9,3576,2411,1677,1668,794.2,14.8,408,10022,0.00,2.05,0.00,0.000,260,0.000,0.045,3569,3695,1671,1675,1668,0,0,0,0,0,0,26.19,26.06,26.25
$GC,10056,0.95,280.9,3569,3695,1678,1668,789.1,15.1,409,10063,0.00,1.85,0.00,0.000,1030,0.000,0.024,3577,2425,1671,1675,1668,0,0,0,0,0,0,26.20,26.17,26.22
$GC,10372,0.95,280.9,3577,2424,1675,1669,742.1,14.0,420,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2420,1671,1674,1668,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10672,0.95,280.9,3578,2424,1674,1669,701.2,13.5,430,10681,0.00,2.00,0.00,0.000,260,0.000,0.043,3570,3692,1670,1674,1667,0,0,0,0,0,0,26.15,26.03,26.22
$GC,10705,0.95,280.9,3570,3694,1675,1669,697.1,13.6,431,10712,0.00,1.85,0.00,0.000,1030,0.000,0.024,3578,2417,1671,1676,1667,0,0,0,0,0,0,26.19,26.16,26.20
$GC,11026,0.95,280.9,3578,2413,1675,1667,653.7,13.4,442,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2413,1670,1673,1667,0,0,0,0,0,0,26.15,26.20,26.20
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$STATE,16984,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,0.8,0.996064
$STATE,16999,end surface coast,CONTROL_FINISHED_OK
$STATE,16999,begin surface
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$IRIDIUM_FIX,1405.28,14555.15,150108,103023
$TT8_MAMPS,0.055426,0.055426
$HUMID,35.86
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.60
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16983.41 7291.52
$PA_BOOTCOUNT,911
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$PA_HOME,0.05/0.090/1.856/1.672
$PA_DISK_BANK,1
$24V_AH,23.38,30.851
$10V_AH,10.07,32.253
$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,24.300,123.025,520.625,13.025,0.000,0.000,0.000,249.875,0.000,17413.951,6.549,0.000,13519.062,591.882,3137.747,105.410,0.000,2221.754,0.000,1761.746,0.000,0.549,0.000
$DEVICE_MAMPS,234.855,63.495,1282.140,118.575,0.000,0.000,0.000,90.270,420.000,63.255,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,545.560,0.000,0.000,0.000,0.000,0.000,17413.910,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229008
$DATA_FILE_SIZE,36744,810
$CAP_FILE_SIZE,149242,0
$CFSIZE,1024393216,1007779840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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