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type=0B size=0003 fl=04 *a code=071A owner=0042 element=05CB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=071B owner=0042 element=05D0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=071C owner=0042 element=05D5 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=071D owner=0042 element=05DA universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=071E owner=0042 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=071F owner=0042 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0720 owner=0042 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0721 owner=0042 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0722 owner=0042 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0723 owner=0042 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0724 owner=0042 element=0025 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05E6 elementURI="CBIT.shorePowerOn" type=02 *a code=0725 owner=0042 element=05E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05E7 elementURI="CBIT.platform_fault" type=00 *a code=0726 owner=0042 element=05E7 universal=002F unitName="enum" type=02 size=0001 fl=05 *e code=05E8 elementURI="CBIT.platform_fault_leak" type=00 *a code=0727 owner=0042 element=05E8 universal=0030 unitName="enum" type=02 size=0001 fl=05 *a code=0728 owner=0042 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05E9 elementURI="CBIT.GFCHANA0Current" type=02 *a code=0729 owner=0042 element=05E9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EA elementURI="CBIT.GFCHANA1Current" type=02 *a code=072A owner=0042 element=05EA universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EB elementURI="CBIT.GFCHANA2Current" type=02 *a code=072B owner=0042 element=05EB universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EC elementURI="CBIT.GFCHANA3Current" type=02 *a code=072C owner=0042 element=05EC universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05ED elementURI="CBIT.GFCHANB0Current" type=02 *a code=072D owner=0042 element=05ED universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EE elementURI="CBIT.GFCHANB1Current" type=02 *a code=072E owner=0042 element=05EE universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EF elementURI="CBIT.GFCHANB2Current" type=02 *a code=072F owner=0042 element=05EF universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05F0 elementURI="CBIT.GFCHANB3Current" type=02 *a code=0730 owner=0042 element=05F0 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05F1 elementURI="CBIT.GFCHANOpenCurrent" type=02 *a code=0731 owner=0042 element=05F1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0732 owner=0042 element=05E4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05F2 elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=0733 owner=0042 element=05F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=05F3 elementURI="CBIT.binnedDepthRate" type=02 *a code=0734 owner=0042 element=05F3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0735 owner=0042 element=02C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0736 owner=0042 element=02C2 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0737 owner=0042 element=02C4 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0738 owner=0042 element=02C5 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0739 owner=0042 element=02C6 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=073A owner=0042 element=02CD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=073B owner=0042 element=02C7 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=073C owner=0042 element=02C8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=073D owner=0042 element=02CA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=073E owner=0042 element=02CC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=073F owner=0042 element=02CB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0740 owner=0042 element=02C9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0741 owner=0042 element=02CE universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0742 owner=0042 element=02CF universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0743 owner=0042 element=02D0 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0744 owner=0042 element=02D1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0745 owner=0042 element=02D2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0746 owner=0042 element=02D3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0747 owner=0042 element=02D4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0748 owner=0042 element=02D5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0749 owner=0042 element=02D6 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=074A owner=0042 element=02D7 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=074B owner=0042 element=02D8 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=074C owner=0042 element=02D9 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=074D owner=0042 element=02DA universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=074E owner=0042 element=02DB universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=074F owner=0042 element=02DC universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0750 owner=0042 element=02DD universal=3FFF unitName="microampere" type=0B size=0003 fl=04 {ƿ{fSyncComponent "CBIT" handled in the control thread.{Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test){HLoading Module at Modules/Trigger.so-{|Loaded Module: Trigger (Contains triggers for use in missions)*n code=0043 name="MissionManager" *a code=0751 owner=0043 element=05E1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0752 owner=0043 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05F4 elementURI="MissionManager.mission_started" type=00 *a code=0753 owner=0043 element=05F4 universal=001C unitName="count" type=0D size=0004 fl=05 ƿ1{zSyncComponent "MissionManager" handled in the control thread.*n code=0044 name="Reporter" ƿ2{nSyncComponent "Reporter" handled in the control thread.*n code=0045 name="NavChartDb" *e code=05F5 elementURI="NavChartDb.closestDistance" type=02 *a code=0754 owner=0045 element=05F5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05F6 elementURI="NavChartDb.nextDistance" type=02 *a code=0755 owner=0045 element=05F6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05F7 elementURI="NavChartDb.closestDepth" type=02 *a code=0756 owner=0045 element=05F7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05F8 elementURI="NavChartDb.nextDepth" type=02 *a code=0757 owner=0045 element=05F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0758 owner=0045 element=03C0 universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=0759 owner=0045 element=03C1 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ8{bComponent "NavChartDb" handled in its own thread.*n code=0046 name="NavChartDb ThreadHandler" #9{DCreated PCaller Thread at 40AD34E0#:{DProtected caller Thread ID is 6544N>{,Main Thread ID is 6456F>{&Running supervisor.?{2Handler Thread ID is 6545A{2Handler Thread ID is 6546 B{4Initializing ControlThread C{lInitializing DeadReckonUsingSpeedCalculator component.D{>Initialize NavChart Navigation. D{hInitializing UniversalFixResidualReporter component.D{HInitialize VerticalControlComponent. F{LInitialize HorizontalControlComponent.G{BInitialize SpeedControlComponent. G{@Initialize LoopControlComponent.G{BInitializing DepthRateCalculator. H{BInitializing PitchRateCalculator.H{:Initializing SpeedCalculator. H{HInitializing TempGradientCalculator.I{>Initializing YawRateCalculator. I{LInitializing ElevatorOffsetCalculator.*a code=075A owner=003A element=0331 universal=3FFF unitName="bool" type=02 size=0001 fl=04  Q{4Initialize SBIT Component.= Q{6git: 2019-05-01-10-gcab12ce R{dgit hash: cab12ce958be6da2bb158d8a74bde728d70637cd= R{0Kernel Release: 2.6.27.8*a code=075B owner=0040 element=02DF universal=3FFF unitName="bool" type=02 size=0001 fl=04  S{Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019ԿS{ T{HBeginning SBIT in 28.000000 seconds. U{4Initialize IBIT Component.)׿U{ !U{4Initialize CBIT Component.V{2Handler Thread ID is 6547 !b{*Initialized mux pins. !c{@Initializing the watchdog timer.g{2Handler Thread ID is 6548o{2Handler Thread ID is 6549Q p{2p{Powering down*e code=05F9 elementURI="WetLabsBB2FL.component_voltage" type=00 *a code=075C owner=0025 element=05F9 universal=3FFF unitName="volt" type=07 size=0002 fl=05 t{*e code=05FA elementURI="WetLabsBB2FL.component_avgVoltage" type=00 *a code=075D owner=0025 element=05FA universal=3FFF unitName="volt" type=07 size=0002 fl=05 x{*e code=05FB elementURI="WetLabsBB2FL.component_current" type=00 !z{TLast reboot was NOT due to watchdog timer. !{{.Initializing heartbeat.*a code=075E owner=0025 element=05FB universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 }{*e code=05FC elementURI="WetLabsBB2FL.component_avgCurrent" type=00 *a code=075F owner=0025 element=05FC universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 뿅{{ɀ{逿{ {){避{a {@a {@{2Handler Thread ID is 6550{dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP{2Handler Thread ID is 6551#{2Handler Thread ID is 6552"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000"{tAlready Loaded Electronic Nav Chart data from US1WC07M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000"{tAlready Loaded Electronic Nav Chart data from US2WC11M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000"{tAlready Loaded Electronic Nav Chart data from US3CA52M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000"{tAlready Loaded Electronic Nav Chart data from US4CA60M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000"{tAlready Loaded Electronic Nav Chart data from US5CA50M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000"{tAlready Loaded Electronic Nav Chart data from US5CA61M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000"{tAlready Loaded Electronic Nav Chart data from US5CA62M.000"{Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000"{tAlready Loaded Electronic Nav Chart data from US5CA83M.000 !{2Deactivating GF circuits. !{8Deactivating emergency mode. !{$Backplane powered.!{JLoading Mission: Missions/Startup.xml*n code=0047 name="Startup" *n code=0048 name="Startup:A.GoToSurface" ${,Construct GoToSurface.*a code=0760 owner=0048 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0761 owner=0048 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0762 owner=0048 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0763 owner=0048 element=043E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0764 owner=0048 element=043F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0765 owner=0048 element=0445 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0766 owner=0048 element=043C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0767 owner=0048 element=0443 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0768 owner=0048 element=0442 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0769 owner=0048 element=01A1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=076A owner=0048 element=019C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=076B owner=0048 element=016E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=076C owner=0048 element=018E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=076D owner=0048 element=0189 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076E owner=0048 element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0049 name="Startup:StartupSatComms" *n code=004A name="Startup:StartupSatComms:A" *n code=004B name="Startup:StartupSatComms:B" !{A !{JLoading Mission: Missions/Default.xml*n code=004C name="Default" *e code=05FD elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=076F owner=004C element=05FD universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0770 owner=004C element=05FD universal=3FFF unitName="minute" type=1F size=0008 fl=05 <{!M{vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=004D name="Default:A.Wait" &N{Construct Wait.*n code=004E name="Default:B.GoToSurface" 'P{,Construct GoToSurface.*a code=0771 owner=004E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0772 owner=004E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0773 owner=004E element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0774 owner=004E element=043E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0775 owner=004E element=043F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0776 owner=004E element=0445 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0777 owner=004E element=043C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0778 owner=004E element=0443 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0779 owner=004E element=0442 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077A owner=004E element=01A1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=077B owner=004E element=019C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=077C owner=004E element=016E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=077D owner=004E element=018E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=077E owner=004E element=0189 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=077F owner=004E element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004F name="Default:CheckIn" *n code=0050 name="Default:CheckIn:Read_GPS" *n code=0051 name="Default:CheckIn:Read_Iridium" *n code=0052 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0053 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" )r{$Construct Execute.*n code=0054 name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=0055 name="Default:CheckIn:C.Wait" *{Construct Wait.*n code=0056 name="Default:CheckIn:D" *a code=0780 owner=0056 element=05FD universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0781 owner=0056 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0057 name="Default:CheckIn:E" *n code=0058 name="Default:D" *n code=0059 name="Default:E.Execute" ,{$Construct Execute.!{& 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs {Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,NAL9602,Onboard,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,Ӯ: o@A >*Initializing AHRS_M2.I5a1U@a-]@]dPressure reading out of range: 1628.471313 decibar)G*a code=0782 owner=003F element=030B universal=3FFF unitName="bool" type=02 size=0001 fl=04 Powering up>Depth measurement is not active w wa e@ae@ae@ae@Em@Im@Mu@Qu@;Iɋ4Initializing EZServoServo.6Initializing BuoyancyServo. %4Initializing EZServoServo. =6Initializing ElevatorServo.E4Initializing EZServoServo..Initializing MassServo. 4Initializing EZServoServo. 2Initializing RudderServo.4Initializing EZServoServo.56Initializing ThrusterServo.E*e code=05FE elementURI="controlThread.durationOfLastRun" type=00 *a code=0783 owner=0004 element=05FE universal=3FFF unitName="second" type=07 size=0002 fl=05 i}x> : ҵo@Aa1Na-Ra-R R:a1V 9RɦVMV*DROP WEIGHT MISSING. V-VHardware Faultib>Ib C)%sG wE wEɌ]Xz:aIaaɋaii](Scheduling is paused!BCritical error at 20190614T140550NVStop Mission called by CBIT::checkCriticals-!NHardware Fault in component: DropWeight M!NHardware Fault in component: DropWeighti=: .o@A"9"&)ZGb< bS= b wj wjɌttIttɋtxx-e ^Rudder initialization uart error serial timeout]e 6Rudder failed to initialize1 e -e (Communications Fault! BCritical error at 20190614T140550 -! \Communications Fault in component: RudderServo i >ǧ: !o@Az9i:Ŷ>I8)jGzUC z2= w wɌIɋ!! 4Uninitialize Rudder Servo.Powering down*e code=05FF elementURI="RudderServo.component_voltage" type=00 *a code=0784 owner=0034 element=05FF universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0600 elementURI="RudderServo.component_avgVoltage" type=00 *a code=0785 owner=0034 element=0600 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0601 elementURI="RudderServo.component_current" type=00 *a code=0786 owner=0034 element=0601 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0602 elementURI="RudderServo.component_avgCurrent" type=00 *a code=0787 owner=0034 element=0602 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 qi>|: vp@A"9")ZG^~< bN= wf wfɌttIttɋtxx iV=: Q p@A"9"i*>I()ZG^y; bJ= wf wfɌppIppɋttt ~4Initializing EZServoServo. 2Initializing RudderServo.!^Clearing failed state for component RudderServo1 i"> : -:p@A"A9")Z0G^= bJ= wf wfɌppIppɋptti=: Tp@A"9"i(I.C)ZG^] bJ= wf wfɌppIppɋttt!1i=Q>W: mp@A69D)UsGuſ; u1= w wɌI鋡ɋ鐩i=!: 'p@A~9iI C)u*G} }\= w wɌI鋡ɋ鐩a  ~:  Y 6aqi}z> (: p@A~9)u]G}= }J= w wɌI鋡ɋ鐩~:Y8*e code=0603 elementURI="ThrusterServo.component_voltage" type=00 *a code=0788 owner=0035 element=0603 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0604 elementURI="ThrusterServo.component_avgVoltage" type=00 *a code=0789 owner=0035 element=0604 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )*e code=0605 elementURI="ThrusterServo.component_current" type=00 *a code=078A owner=0035 element=0605 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I*e code=0606 elementURI="ThrusterServo.component_avgCurrent" type=00 *a code=078B owner=0035 element=0606 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i}a  )i5>,.:  up@A=S9=-iM>IUʕC)G%; 3=Q 1?a 1 yQ ?a % Q %>a % % wɌIɋ*e code=0607 elementURI="BuoyancyServo.component_voltage" type=00 *a code=078C owner=0031 element=0607 universal=3FFF unitName="volt" type=07 size=0002 fl=05 A*e code=0608 elementURI="BuoyancyServo.component_avgVoltage" type=00 *a code=078D owner=0031 element=0608 universal=3FFF unitName="volt" type=07 size=0002 fl=05 mA~:*e code=0609 elementURI="MassServo.component_voltage" type=00 *a code=078E owner=0033 element=0609 universal=3FFF unitName="volt" type=07 size=0002 fl=05 A*e code=060A elementURI="MassServo.component_avgVoltage" type=00 *a code=078F owner=0033 element=060A universal=3FFF unitName="volt" type=07 size=0002 fl=05 AY53: i>5: Op@A~9~)mG}i }h=yQ N? 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