version: 66.12
glider: 204
mission: 15
dive: 123
start: 3 24 115 8 48 17
data:
$ID,204
$MISSION,15
$DIVE,123
$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,90
$R_STBD_OVSHOOT,35
$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
$GPS1,240315,083652,1420.0684,14632.2910,38,1.3,38,1.2,0.0,0.0,5,12.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.7
$GPS2,240315,084806,1420.0302,14632.0947,7,0.9,7,1.2,0.6,208.7,9,70.2
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,71.8,43823,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,187,2609,805,802,0.0,0.0,0,145,0.00,0.00,-46.53,0.000,16386,0.000,0.000,187,2609,2061,2035,2087,0,0,0,0,0,0,26.14,28.83,26.21
$GC,147,-0.80,-175.2,187,2609,2037,2087,3.2,-5.9,7,205,11.80,1.73,-38.08,0.000,18692,0.229,0.057,2998,3697,3554,3526,3582,0,0,0,0,0,0,25.68,25.34,25.98
$GC,231,-0.80,-175.2,2998,3697,3531,3582,16.3,-24.1,19,238,0.00,1.58,0.00,0.000,1030,0.000,0.021,3003,2591,3554,3526,3583,0,0,0,0,0,0,26.20,26.18,26.22
$GC,544,-0.80,-175.2,3003,2592,3528,3584,94.8,-24.2,63,551,0.00,1.70,0.00,0.000,260,0.000,0.045,2996,3694,3555,3527,3583,0,0,0,0,0,0,26.20,26.08,26.26
$GC,580,-0.80,-175.2,2996,3694,3529,3583,102.1,-23.8,66,591,0.00,1.50,0.00,0.000,1030,0.000,0.021,3002,2598,3555,3527,3583,0,0,0,0,0,0,26.24,26.22,26.25
$GC,886,-0.80,-175.2,3002,2599,3531,3584,164.5,-19.3,97,892,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2598,3556,3530,3583,0,0,0,0,0,0,26.22,26.28,26.27
$GC,1186,-0.80,-175.2,3003,2597,3533,3584,214.4,-15.5,121,1194,0.00,1.70,0.00,0.000,260,0.000,0.045,2995,3699,3558,3531,3585,0,0,0,0,0,0,26.24,26.10,26.29
$GC,1253,-0.80,-175.2,2995,3699,3533,3584,225.1,-16.3,123,1260,0.00,1.52,0.00,0.000,1030,0.000,0.021,3002,2601,3558,3532,3585,0,0,0,0,0,0,26.27,26.25,26.28
$GC,1579,-0.80,-175.2,3002,2599,3534,3584,273.4,-14.8,134,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2599,3559,3533,3585,0,0,0,0,0,0,26.26,26.32,26.31
$GC,1879,-0.80,-175.2,3002,2599,3534,3584,313.9,-13.0,144,1891,0.00,2.03,0.00,0.000,516,0.000,0.028,3008,1230,3558,3533,3584,0,0,0,0,0,0,26.24,26.20,26.29
$GC,2044,-0.80,-175.2,3009,1232,3534,3585,332.3,-12.1,149,2053,0.00,2.10,0.00,0.000,1030,0.000,0.032,3000,2611,3558,3533,3584,0,0,0,0,0,0,26.23,26.16,26.25
$GC,2356,-0.80,-175.2,3000,2611,3534,3579,371.0,-11.9,160,2363,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3703,3556,3532,3580,0,0,0,0,0,0,26.25,26.08,26.31
$GC,2392,-0.80,-175.2,2992,3705,3533,3579,374.8,-12.0,161,2399,0.00,1.55,0.00,0.000,1030,0.000,0.022,2995,2608,3555,3532,3578,0,0,0,0,0,0,26.27,26.25,26.29
$GC,2718,-0.80,-175.2,2995,2608,3530,3575,415.9,-12.7,172,2725,0.00,1.73,0.00,0.000,260,0.000,0.043,2987,3695,3551,3528,3575,0,0,0,0,0,0,26.24,26.10,26.30
$GC,2804,-0.80,-175.2,2988,3697,3528,3573,424.0,-13.0,174,2816,0.00,1.55,0.00,0.000,1030,0.000,0.021,2994,2584,3551,3528,3574,0,0,0,0,0,0,26.27,26.25,26.28
$GC,3110,-0.80,-175.2,2993,2583,3525,3571,464.0,-12.1,185,3118,0.00,2.00,0.00,0.000,516,0.000,0.024,3003,1226,3547,3524,3571,0,0,0,0,0,0,26.23,26.17,26.29
$GC,3191,-0.80,-175.2,3003,1227,3523,3572,470.9,-12.2,187,3202,0.00,2.10,0.00,0.000,1030,0.000,0.029,2994,2608,3547,3523,3571,0,0,0,0,0,0,26.19,26.13,26.21
$GC,3497,-0.80,-175.2,2994,2610,3520,3569,514.9,-13.7,198,3505,0.00,1.67,0.00,0.000,260,0.000,0.043,2986,3691,3543,3520,3567,0,0,0,0,0,0,26.22,26.06,26.28
$GC,3543,-0.80,-175.2,2986,3691,3521,3566,519.4,-13.7,199,3550,0.00,1.52,0.00,0.000,1030,0.000,0.021,2993,2600,3543,3520,3566,0,0,0,0,0,0,26.23,26.21,26.25
$GC,3860,-0.80,-175.2,2993,2600,3517,3563,562.2,-13.0,210,3868,0.00,2.05,0.00,0.000,516,0.000,0.025,3002,1234,3539,3516,3563,0,0,0,0,0,0,26.22,26.14,26.28
$GC,3887,-0.80,-175.2,3003,1231,3517,3565,562.2,-13.0,210,3897,0.00,2.10,0.00,0.000,1030,0.000,0.030,2993,2605,3539,3516,3563,0,0,0,0,0,0,26.17,26.12,26.20
$GC,4192,-0.80,-175.2,2993,2604,3514,3561,604.3,-12.7,221,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2605,3537,3513,3561,0,0,0,0,0,0,26.20,26.27,26.26
$GC,4492,-0.80,-175.2,2994,2604,3511,3557,641.7,-12.3,231,4500,0.00,1.67,0.00,0.000,260,0.000,0.044,2986,3693,3534,3510,3558,0,0,0,0,0,0,26.20,26.01,26.26
$GC,4529,-0.80,-175.2,2986,3692,3511,3558,645.6,-12.2,232,4535,0.00,1.52,0.00,0.000,1030,0.000,0.022,2992,2604,3534,3510,3558,0,0,0,0,0,0,26.22,26.19,26.23
$GC,4855,-0.80,-175.2,2992,2604,3508,3555,681.0,-9.8,243,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2604,3531,3507,3555,0,0,0,0,0,0,26.19,26.25,26.24
$GC,5155,-0.80,-175.2,2992,2604,3505,3553,707.6,-8.6,253,5163,0.00,2.05,0.00,0.000,516,0.000,0.024,2998,1226,3528,3504,3553,0,0,0,0,0,0,26.19,26.09,26.25
$GC,5187,-0.80,-175.2,2995,1227,3500,3554,710.3,-8.5,254,5195,0.00,2.10,0.00,0.000,1030,0.000,0.030,2988,2601,3528,3503,3553,0,0,0,0,0,0,26.13,26.06,26.15
$GC,5514,-0.80,-175.2,2989,2601,3504,3550,737.8,-8.5,265,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2601,3526,3502,3550,0,0,0,0,0,0,26.08,26.14,26.13
$GC,5814,-0.80,-175.2,2989,2602,3501,3550,765.5,-9.5,275,5821,0.00,1.70,0.00,0.000,260,0.000,0.044,2981,3701,3525,3501,3549,0,0,0,0,0,0,26.16,25.96,26.22
$GC,5864,-0.80,-175.2,2980,3701,3501,3547,768.5,-9.4,276,5871,0.00,1.58,0.00,0.000,1030,0.000,0.023,2987,2594,3524,3500,3548,0,0,0,0,0,0,26.17,26.13,26.18
$GC,6176,-0.80,-175.2,2988,2594,3499,3547,802.5,-10.5,287,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2593,3522,3498,3546,0,0,0,0,0,0,26.15,26.22,26.21
$GC,6475,-0.80,-175.2,2987,2593,3498,3544,836.2,-11.4,297,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2593,3520,3496,3544,0,0,0,0,0,0,26.12,26.18,26.17
$GC,6775,-0.80,-175.2,2988,2594,3494,3544,872.2,-11.9,307,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2593,3518,3494,3543,0,0,0,0,0,0,26.13,26.20,26.19
$GC,7075,-0.80,-175.2,2987,2594,3493,3543,907.3,-11.6,317,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2593,3516,3492,3541,0,0,0,0,0,0,26.09,26.16,26.15
$GC,7375,-0.80,-175.2,2987,2593,3492,3540,941.7,-11.4,327,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2593,3516,3491,3541,0,0,0,0,0,0,26.12,26.18,26.17
$GC,7675,-0.80,-175.2,2988,2594,3490,3540,975.4,-11.1,337,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2593,3514,3489,3539,0,0,0,0,0,0,26.08,26.16,26.15
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7828,-0.17,0.0,2990,2430,3490,3540,992.0,-11.0,342,7972,0.77,0.00,137.43,1.276,10246,0.151,0.000,3207,2428,2839,2813,2865,0,0,0,0,0,0,25.59,24.68,23.90
$STATE,7973,end apogee,CONTROL_FINISHED_OK
$STATE,7973,begin climb
$GC,7974,0.80,175.2,3209,2427,2811,2862,997.9,0.0,346,8134,1.05,2.33,147.00,1.212,10756,0.132,0.028,3523,1038,2116,2109,2124,0,0,0,0,0,0,24.81,24.17,23.41
$GC,8263,0.92,261.2,3523,1039,2108,2117,992.8,6.7,356,8345,0.15,2.17,72.15,1.231,11270,0.161,0.028,3555,2423,1770,1771,1769,0,0,0,0,0,0,25.24,25.46,23.83
$GC,8669,0.92,261.2,3559,2423,1763,1753,943.4,12.8,370,8677,0.00,2.00,0.00,0.000,260,0.000,0.044,3550,3694,1755,1757,1753,0,0,0,0,0,0,26.03,25.95,26.10
$GC,8721,0.92,261.2,3550,3693,1763,1753,939.8,13.0,371,8732,0.00,1.85,0.00,0.000,1030,0.000,0.021,3559,2405,1757,1761,1754,0,0,0,0,0,0,26.12,26.10,26.13
$GC,9026,0.92,261.2,3558,2404,1760,1753,896.6,13.0,382,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2403,1755,1759,1751,0,0,0,0,0,0,26.17,26.23,26.22
$GC,9326,0.92,261.2,3560,2404,1760,1750,858.6,12.5,392,9334,0.00,2.05,0.00,0.000,260,0.000,0.043,3550,3695,1754,1759,1750,0,0,0,0,0,0,26.17,26.06,26.24
$GC,9357,0.92,261.2,3551,3696,1760,1751,855.1,12.5,393,9365,0.00,1.83,0.00,0.000,1030,0.000,0.022,3559,2425,1754,1759,1750,0,0,0,0,0,0,26.21,26.18,26.22
$GC,9684,0.92,261.2,3560,2424,1760,1750,814.3,12.3,404,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2423,1754,1759,1749,0,0,0,0,0,0,26.16,26.23,26.22
$GC,9984,0.92,261.2,3560,2422,1759,1749,778.5,11.8,414,9992,0.00,2.00,0.00,0.000,260,0.000,0.043,3550,3692,1753,1758,1748,0,0,0,0,0,0,26.14,26.02,26.20
$GC,10030,0.92,261.2,3550,3693,1759,1750,775.1,11.9,415,10040,0.00,1.85,0.00,0.000,1030,0.000,0.022,3559,2409,1753,1758,1748,0,0,0,0,0,0,26.19,26.16,26.19
$GC,10344,0.92,261.2,3558,2406,1762,1750,734.1,12.3,426,10352,0.00,2.05,0.00,0.000,260,0.000,0.043,3550,3701,1752,1756,1748,0,0,0,0,0,0,26.11,25.98,26.17
$GC,10401,0.92,261.2,3550,3700,1759,1748,726.7,12.6,428,10408,0.00,1.85,0.00,0.000,1030,0.000,0.024,3560,2429,1753,1758,1748,0,0,0,0,0,0,26.13,26.10,26.16
$GC,10727,0.92,261.2,3559,2426,1757,1748,689.1,11.1,439,10737,0.00,2.00,0.00,0.000,260,0.000,0.043,3550,3692,1751,1756,1747,0,0,0,0,0,0,26.10,25.96,26.15
$GC,10765,0.92,261.2,3551,3692,1758,1748,685.1,11.2,440,10773,0.00,1.85,0.00,0.000,1030,0.000,0.023,3559,2411,1752,1757,1748,0,0,0,0,0,0,26.14,26.11,26.15
$GC,11087,0.92,261.2,3560,2408,1756,1749,650.8,10.4,451,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2407,1751,1755,1748,0,0,0,0,0,0,26.10,26.17,26.17
$GC,11387,0.92,261.2,3559,2406,1755,1747,620.2,10.3,461,11395,0.00,2.05,0.00,0.000,260,0.000,0.043,3550,3692,1751,1755,1747,0,0,0,0,0,0,26.08,25.93,26.14
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$STATE,17328,end climb,SURFACE_DEPTH_REACHED
$STATE,17328,begin surface coast
$FINISH,1.0,1.022445
$STATE,17343,end surface coast,CONTROL_FINISHED_OK
$STATE,17343,begin surface
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$IRIDIUM_FIX,1411.96,14630.94,180108,220916
$TT8_MAMPS,0.055426,0.055426
$HUMID,35.35
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.80
$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,17328.46 7180.08
$PA_BOOTCOUNT,928
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.093/1.856/1.669
$PA_DISK_BANK,1
$24V_AH,23.41,39.087
$10V_AH,10.06,33.496
$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,24.100,115.200,520.250,13.125,0.000,0.000,0.000,461.275,0.000,18061.211,7.946,0.000,13949.115,591.624,3381.937,113.726,0.000,2440.313,0.000,1765.892,0.000,0.549,0.000
$DEVICE_MAMPS,228.735,58.140,1276.020,115.515,0.000,0.000,0.000,84.915,420.000,63.442,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,562.828,0.000,0.000,0.000,0.000,0.000,18061.340,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229040
$DATA_FILE_SIZE,36707,835
$CAP_FILE_SIZE,149967,0
$CFSIZE,1024393216,1006108672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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