mavlink-log 0.0.1

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Files changed (20) hide show
  1. checksums.yaml +7 -0
  2. data/.gitignore +18 -0
  3. data/.travis.yml +6 -0
  4. data/Gemfile +4 -0
  5. data/LICENSE.txt +22 -0
  6. data/README.md +35 -0
  7. data/Rakefile +6 -0
  8. data/lib/mavlink/log.rb +3 -0
  9. data/lib/mavlink/log/file.rb +89 -0
  10. data/lib/mavlink/log/messages.rb +138 -0
  11. data/lib/mavlink/log/version.rb +5 -0
  12. data/mavlink-log.gemspec +31 -0
  13. data/spec/data/delete-me-soon.tlog +0 -0
  14. data/spec/data/invalid/castle/long-flight.csv +2853 -0
  15. data/spec/data/invalid/eagle_tree/multi-session-2.fdr +6698 -0
  16. data/spec/data/invalid/empty.file +0 -0
  17. data/spec/data/invalid/spektrum/1.TLM +0 -0
  18. data/spec/file_spec.rb +23 -0
  19. data/spec/spec_helper.rb +38 -0
  20. metadata +195 -0
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data/.gitignore ADDED
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+ *.gem
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+ *.rbc
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+ .bundle
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+ .config
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+ .yardoc
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+ Gemfile.lock
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+ InstalledFiles
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+ _yardoc
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+ coverage
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+ doc/
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+ lib/bundler/man
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+ pkg
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+ rdoc
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+ spec/reports
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+ test/tmp
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+ test/version_tmp
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+ tmp
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+ .idea
data/.travis.yml ADDED
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+ rvm:
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+ - 1.9.3
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+ - 2.0.0
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+
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+ notifications:
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+ disabled: true
data/Gemfile ADDED
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+ source 'https://rubygems.org'
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+
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+ # Specify your gem's dependencies in mavlink-log.gemspec
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+ gemspec
data/LICENSE.txt ADDED
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+ Copyright (c) 2013 Nick Veys
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+
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+ MIT License
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+
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+ Permission is hereby granted, free of charge, to any person obtaining
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+ a copy of this software and associated documentation files (the
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+ "Software"), to deal in the Software without restriction, including
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+ without limitation the rights to use, copy, modify, merge, publish,
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+ distribute, sublicense, and/or sell copies of the Software, and to
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+ permit persons to whom the Software is furnished to do so, subject to
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+ the following conditions:
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+
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+ The above copyright notice and this permission notice shall be
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+ included in all copies or substantial portions of the Software.
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+
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+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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+ EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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+ MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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+ LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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+ OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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+ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
data/README.md ADDED
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+ # MAVLink::Log [![Build Status](https://travis-ci.org/code-lever/mavlink-log.png)](https://travis-ci.org/code-lever/mavlink-log) [![Dependency Status](https://gemnasium.com/code-lever/mavlink-log.png)](https://gemnasium.com/code-lever/mavlink-log) [![Code Climate](https://codeclimate.com/github/code-lever/mavlink-log.png)](https://codeclimate.com/github/code-lever/mavlink-log)
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+
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+ TODO: Write a gem description
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+
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+ Information:
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+
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+ * mavlink github: https://github.com/mavlink/mavlink
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+ * Spec: https://pixhawk.ethz.ch/mavlink
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+ * Common message definitions: https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml
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+
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+ ## Installation
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+
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+ Add this line to your application's Gemfile:
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+
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+ gem 'mavlink-log'
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+
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+ And then execute:
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+
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+ $ bundle
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+
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+ Or install it yourself as:
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+
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+ $ gem install mavlink-log
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+
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+ ## Usage
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+
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+ TODO: Write usage instructions here
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+
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+ ## Contributing
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+
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+ 1. Fork it
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+ 2. Create your feature branch (`git checkout -b my-new-feature`)
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+ 3. Commit your changes (`git commit -am 'Add some feature'`)
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+ 4. Push to the branch (`git push origin my-new-feature`)
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+ 5. Create new Pull Request
data/Rakefile ADDED
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+ #!/usr/bin/env rake
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+ require "bundler/gem_tasks"
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+ require 'rspec/core/rake_task'
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+
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+ RSpec::Core::RakeTask.new('spec')
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+ task :default => :spec
data/lib/mavlink/log.rb ADDED
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+ require "mavlink/log/file"
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+ require "mavlink/log/messages"
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+ require "mavlink/log/version"
data/lib/mavlink/log/file.rb ADDED
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+ require 'open-uri'
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+
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+ module MAVLink
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+ module Log
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+
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+ USEC_PER_SEC = 1000000.0
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+
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+ Header = Struct.new(:magic, :length, :sequence, :system, :component, :id)
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+
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+ Entry = Struct.new(:time, :header, :payload, :crc)
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+
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+ class File
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+
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+ attr_accessor :entries, :messages
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+
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+ # Determines if the file at the given URI is a MAVLink telemetry log file.
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+ #
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+ # @param uri URI to file to read
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+ # @return [MAVLink::Log::File] loaded file if the file is a MAVLink log file, nil otherwise
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+ def self.mavlink?(uri)
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+ File.new(uri) rescue nil
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+ end
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+
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+ def initialize(uri)
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+ @entries = []
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+ @messages = []
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+ open(uri, 'rb') do |file|
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+ loop do
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+ raw_time = file.read(8)
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+ break if raw_time.nil?
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+
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+ time = to_time(raw_time)
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+ header = to_header(file.read(6))
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+ payload = file.read(header.length)
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+ crc = file.read(2).unpack('S>')[0]
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+ @entries << Entry.new(time, header, payload, crc)
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+ @messages << MessageFactory.build(@entries.last)
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+ end
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+ end
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+ #@messages.each do |e|
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+ # puts e.inspect
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+ #end
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+ rescue => e
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+ raise ArgumentError, "File does not appear to be an MAVLink log (#{e})"
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+ end
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+
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+ # Gets the duration of the session, in seconds.
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+ #
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+ # @return [Float] duration of the session, in seconds
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+ def duration
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+ return 0 if @entries.empty?
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+ (@entries.last.time - @entries.first.time) / USEC_PER_SEC
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+ end
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+
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+ def started_at
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+ Time.at(@entries.first.time / USEC_PER_SEC)
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+ end
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+
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+ def ended_at
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+ Time.at(@entries.last.time / USEC_PER_SEC)
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+ end
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+
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+ # Determines if KML methods can be called for this file.
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+ #
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+ # @return [Boolean] true if KML can be generated for this file, false otherwise
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+ def to_kml?
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+ @entries.any? { |e| e.header.id == GlobalPositionInt::ID }
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+ end
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+
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+ private
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+
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+ def to_time(raw_time)
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+ (raw_time[0..3].unpack('L>')[0] << 32) | raw_time[4..7].unpack('L>')[0]
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+ end
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+
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+ def to_header(raw_header)
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+ magic = raw_header[0].unpack('C')[0]
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+ length = raw_header[1].unpack('C')[0]
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+ sequence = raw_header[2].unpack('C')[0]
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+ system = raw_header[3].unpack('C')[0]
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+ component = raw_header[4].unpack('C')[0]
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+ id = raw_header[5].unpack('C')[0]
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+ Header.new(magic, length, sequence, system, component, id)
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+ end
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+
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+ end
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+
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+ end
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+ end
data/lib/mavlink/log/messages.rb ADDED
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+ module MAVLink
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+ module Log
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+
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+ class Message
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+
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+ class << self
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+ attr_accessor :id
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+ end
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+
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+ end
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+
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+ class TimedMessage < Message
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+
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+ attr_accessor :time_boot_ms
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+
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+ def initialize(raw_payload)
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+ @time_boot_ms = raw_payload[0..3].unpack('L<')[0]
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+ end
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+
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+ end
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+
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+ class HeartBeat < Message
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+
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+ ID = 0
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+
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+ attr_accessor :type, :autopilot, :base_mode, :custom_mode, :system_status, :mavlink_version
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+
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+ def initialize(raw_payload)
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+ @type = raw_payload[0].unpack('C')[0]
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+ @autopilot = raw_payload[1].unpack('C')[0]
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+ @base_mode = raw_payload[2].unpack('C')[0]
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+ @custom_mode = raw_payload[3..6].unpack('L<')[0]
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+ @system_status = raw_payload[7].unpack('C')[0]
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+ @mavlink_version = raw_payload[8].unpack('C')[0]
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+ end
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+
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+ end
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+
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+ class SysStatus < Message
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+
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+ ID = 1
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+
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+ attr_accessor :onboard_control_sensors_present, :onboard_control_sensors_enabled,
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+ :onboard_control_sensors_health, :load, :voltage_battery, :current_battery,
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+ :battery_remaining, :drop_rate_comm, :errors_comm,
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+ :errors_count1, :errors_count2, :errors_count3, :errors_count4
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+
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+ def initialize(raw_payload)
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+ @onboard_control_sensors_present = raw_payload[0..3].unpack('L<')[0] #
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+ @onboard_control_sensors_enabled = raw_payload[4..7].unpack('L<')[0] #
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+ @onboard_control_sensors_health = raw_payload[8..11].unpack('L<')[0] #
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+ @load = raw_payload[12..13].unpack('S<')[0] / 10.0 # 0%..100%
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+ @voltage_battery = raw_payload[14..15].unpack('S<')[0] / 1000.0 # V
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+ @current_battery = raw_payload[16..17].unpack('s<')[0] / 100.0 # A (-1: not measured)
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+ @battery_remaining = raw_payload[18].unpack('C')[0] # 0%..100% (-1: not measured)
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+ @drop_rate_comm = raw_payload[19..20].unpack('S<')[0] / 100 # 0%..100% (bad packet %age)
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+ @errors_comm = raw_payload[21..22].unpack('S<')[0] # bad packet count
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+ @errors_count1 = raw_payload[23..24].unpack('S<')[0] #
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+ @errors_count2 = raw_payload[25..26].unpack('S<')[0] #
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+ @errors_count3 = raw_payload[27..28].unpack('S<')[0] #
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+ @errors_count4 = raw_payload[29..30].unpack('S<')[0] #
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+ end
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+
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+ end
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+
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+ class Attitude < TimedMessage
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+
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+ ID = 30
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+
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+ attr_accessor :roll, :pitch, :yaw, :rollspeed, :pitchspeed, :yawspeed
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+
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+ def initialize(raw_payload)
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+ super
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+ @roll = raw_payload[0..3].unpack('e')[0] # radians (-pi..pi)
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+ @pitch = raw_payload[4..7].unpack('e')[0] # radians (-pi..pi)
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+ @yaw = raw_payload[8..11].unpack('e')[0] # radians (-pi..pi)
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+ @rollspeed = raw_payload[12..15].unpack('e')[0] # rad/s
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+ @pitchspeed = raw_payload[16..19].unpack('e')[0] # rad/s
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+ @yawspeed = raw_payload[20..23].unpack('e')[0] # rad/s
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+ end
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+ end
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+
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+ class GlobalPositionInt < TimedMessage
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+
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+ ID = 33
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+
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+ attr_accessor :lat, :lon, :alt, :relative_alt, :vx, :vy, :vz, :hdg
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+
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+ def initialize(raw_payload)
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+ super
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+ @lat = raw_payload[4..7].unpack('l<')[0] / 10000000.0 # dec. degrees
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+ @lon = raw_payload[8..11].unpack('l<')[0] / 10000000.0 # dec. degrees
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+ @alt = raw_payload[12..15].unpack('l<')[0] / 1000.0 # meters
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+ @relative_alt = raw_payload[16..19].unpack('l<')[0] / 1000.0 # meters
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+ @vx = raw_payload[20..21].unpack('s<')[0] / 100.0 # m/s
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+ @vy = raw_payload[22..23].unpack('s<')[0] / 100.0 # m/s
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+ @vz = raw_payload[24..25].unpack('s<')[0] / 100.0 # m/s
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+ @hdg = raw_payload[26..27].unpack('S<')[0] / 100.0 # degrees (0.0..359.99) (0xFFFF if unknown)
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+ end
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+
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+ end
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+
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+ class VfrHud < Message
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+
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+ ID = 74
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+
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+ attr_accessor :airspeed, :groundspeed, :heading, :throttle, :alt, :climb
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+
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+ def initialize(raw_payload)
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+ @airspeed = raw_payload[0..3].unpack('e')[0] # m/s
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+ @groundspeed = raw_payload[4..7].unpack('e')[0] # m/s
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+ @heading = raw_payload[8..9].unpack('s<')[0] # degrees (0..360)
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+ @throttle = raw_payload[10..11].unpack('S<')[0] # 0..100%
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+ @alt = raw_payload[12..15].unpack('e')[0] # meters (MSL)
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+ @climb = raw_payload[16..19].unpack('e')[0] # m/s
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+ end
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+
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+ end
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+
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+ class MessageFactory
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+
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+ def self.build(entry)
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+ case(entry.header.id)
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+ when HeartBeat::ID; HeartBeat.new(entry.payload)
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+ when SysStatus::ID; SysStatus.new(entry.payload)
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+ when Attitude::ID; Attitude.new(entry.payload)
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+ when GlobalPositionInt::ID; GlobalPositionInt.new(entry.payload)
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+ when VfrHud::ID; VfrHud.new(entry.payload)
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+ else
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+ #puts entry.header.inspect
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+ nil
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+ end
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+ end
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+
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+ end
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+
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+ end
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+ end
data/lib/mavlink/log/version.rb ADDED
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+ module MAVLink
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+ module Log
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+ VERSION = "0.0.1"
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+ end
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+ end
data/mavlink-log.gemspec ADDED
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+ # coding: utf-8
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+ lib = File.expand_path('../lib', __FILE__)
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+ $LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
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+ require 'mavlink/log/version'
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+
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+ Gem::Specification.new do |spec|
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+ spec.name = "mavlink-log"
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+ spec.version = MAVLink::Log::VERSION
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+ spec.authors = ["Nick Veys"]
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+ spec.email = ["nick@codelever.com"]
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+ spec.description = %q{Read and interpret MAVLink telemetry log files.}
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+ spec.summary = %q{MAVLink telemetry log file reader}
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+ spec.homepage = "http://github.com/code-lever/mavlink-log"
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+ spec.license = "MIT"
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+
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+ spec.files = `git ls-files`.split($/)
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+ spec.executables = spec.files.grep(%r{^bin/}) { |f| File.basename(f) }
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+ spec.test_files = spec.files.grep(%r{^(test|spec|features)/})
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+ spec.require_paths = ["lib"]
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+
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+ spec.add_development_dependency 'awesome_print'
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+ spec.add_development_dependency 'bundler', '~> 1.3'
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+ spec.add_development_dependency 'ci_reporter', '= 1.8.4'
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+ spec.add_development_dependency 'rake', '~> 10.0'
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+ spec.add_development_dependency 'rspec', '~> 2.13'
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+ spec.add_development_dependency 'simplecov'
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+ spec.add_development_dependency 'simplecov-gem-adapter'
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+ spec.add_development_dependency 'simplecov-rcov'
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+
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+ spec.add_dependency 'ruby_kml', '~> 0.1'
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+ end
data/spec/data/invalid/castle/long-flight.csv ADDED
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+ # Note - Full 9 minute fly of continous maneuvers. Snakes, Wall, Diamond Loops, piro-flips, funnels, piro circles, piro-flip circles, aileron tic-tocs, elevator tic-tocs, continous forward flips, and many combo maneuvers. Motor temperature at end of flight was 125F. Battery was 101F.
2
+ # Graph Data - 1 Sessions - Saved Wednesday, September 29, 2010
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+ # Start Of Session - Sample Time: 0.200
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+ # Reset Source (Cause of reset): Normal Boot-up Sequence
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+ # Idle Times:
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+ Throttle , Power-Out , Voltage , Ripple , Current , Temperature , Speed
7
+ True , True , True , True , True , True , True
8
+ 0.9702 , 0.000 , 0.00 , 0.000 , 0.0 , 76.8 , 0
9
+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.8 , 87.9 , 0
10
+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
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+ 0.9702 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
18
+ 1.0642 , 0.000 , 41.63 , 0.000 , 0.0 , 87.9 , 0
19
+ 1.0799 , 0.000 , 41.63 , 0.000 , 0.0 , 84.1 , 0
20
+ 1.1426 , 2.353 , 41.63 , 0.423 , 0.0 , 87.9 , 0
21
+ 1.1426 , 4.706 , 41.63 , 0.634 , 0.0 , 87.9 , 0
22
+ 1.1426 , 7.059 , 41.63 , 0.845 , 0.8 , 87.9 , 7313
23
+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 87.9 , 10163
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+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 87.9 , 12389
25
+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 88.7 , 13936
26
+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 87.9 , 15479
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+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 89.5 , 16694
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+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 87.9 , 17661
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+ 1.1504 , 7.059 , 41.63 , 0.634 , 0.8 , 87.9 , 18645
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+ 1.1504 , 7.059 , 41.63 , 0.634 , 0.8 , 87.9 , 19537
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+ 1.1504 , 7.059 , 41.63 , 0.634 , 0.8 , 88.7 , 20335
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+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.0 , 88.7 , 21070
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+ 1.1504 , 7.059 , 41.63 , 0.634 , 0.8 , 88.7 , 21813
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+ 1.1426 , 7.059 , 41.63 , 0.634 , 0.8 , 88.7 , 22411
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+ 1.1975 , 8.235 , 41.63 , 0.845 , 0.8 , 88.7 , 23122
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+ 1.2288 , 10.588 , 41.63 , 1.057 , 1.6 , 88.7 , 24219
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+ 1.2445 , 12.941 , 41.63 , 1.268 , 3.3 , 88.7 , 26042
38
+ 1.2367 , 15.686 , 41.41 , 1.268 , 4.9 , 88.7 , 28595
39
+ 1.2445 , 18.039 , 41.41 , 1.690 , 5.7 , 88.7 , 31218
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+ 1.2367 , 18.824 , 41.41 , 1.690 , 7.3 , 87.9 , 34371
41
+ 1.2445 , 18.824 , 41.41 , 1.690 , 7.3 , 89.5 , 37257
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+ 1.2445 , 18.824 , 41.41 , 1.479 , 6.5 , 89.5 , 39414
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+ 1.2445 , 18.824 , 41.41 , 1.479 , 6.5 , 89.5 , 41246
44
+ 1.2837 , 19.608 , 41.41 , 1.479 , 6.5 , 89.5 , 43073
45
+ 1.3229 , 21.961 , 41.41 , 1.690 , 7.3 , 89.5 , 45170
46
+ 1.3699 , 24.314 , 41.41 , 1.690 , 9.0 , 90.2 , 47481
47
+ 1.4326 , 27.059 , 41.20 , 1.690 , 9.8 , 90.2 , 50164
48
+ 1.5658 , 29.412 , 41.20 , 2.113 , 11.4 , 89.5 , 52756
49
+ 1.5815 , 32.157 , 41.20 , 2.113 , 13.0 , 90.2 , 55783
50
+ 1.6677 , 34.118 , 41.20 , 2.113 , 14.7 , 90.2 , 59179
51
+ 1.6833 , 36.863 , 41.20 , 2.113 , 15.5 , 91.0 , 61869
52
+ 1.6833 , 39.216 , 41.20 , 1.902 , 15.5 , 91.0 , 64203
53
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1220
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1221
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1223
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1229
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1241
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1600
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1713
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1714
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1715
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1716
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1717
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1718
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1719
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1720
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1721
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1722
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1723
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1724
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1725
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1726
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1727
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1728
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1729
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1730
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1731
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1732
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1733
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1734
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1735
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1736
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1737
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1738
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1739
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1740
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1741
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1742
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1743
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1744
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1745
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1746
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1747
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1748
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1749
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1750
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1751
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1752
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1753
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1754
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1755
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1756
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1757
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1758
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1759
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1760
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1761
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1762
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1763
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1764
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1765
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1766
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1767
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1768
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1769
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1770
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1771
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1772
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1773
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1774
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1775
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1776
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1777
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1778
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1779
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1780
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1781
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1782
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1783
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1784
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1785
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1786
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1787
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1788
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1789
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1790
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1791
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1792
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1793
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1794
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1795
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1796
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1797
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1798
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1799
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1800
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1801
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1802
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1803
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1804
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1805
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1806
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1807
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1808
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1809
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1810
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1811
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1812
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1813
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1814
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1815
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1816
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1817
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1818
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1819
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1820
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1821
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1822
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1823
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1824
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1825
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1826
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1827
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1828
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1829
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1830
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1831
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1832
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1833
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1834
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1835
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1836
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1837
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1838
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1839
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1840
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1841
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1842
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1843
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1844
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1845
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1846
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1847
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1848
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1849
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1850
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1851
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1852
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1853
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1854
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1855
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1856
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1857
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1858
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1859
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1860
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1861
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1862
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1863
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1864
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1865
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1866
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1867
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1868
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1869
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1870
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1871
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1872
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1873
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1874
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1875
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1876
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1877
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1878
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1879
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1880
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1881
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1882
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1883
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1884
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1885
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1886
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1887
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1888
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1889
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1890
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1891
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1892
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1893
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1894
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1895
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1896
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1897
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1898
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1899
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1900
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1901
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1902
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1903
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1904
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1905
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1906
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1907
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1908
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1909
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1910
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1911
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1912
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1913
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1914
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1915
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1916
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1917
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1918
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1919
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1920
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1921
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1922
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1923
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1924
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1925
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1926
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1927
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1928
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1929
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1930
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1931
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1932
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1933
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1934
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1935
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1936
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1937
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1938
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1939
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1940
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1941
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1942
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1943
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1944
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1945
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1946
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1947
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1948
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1949
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1950
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1951
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1952
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1953
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1954
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1955
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1956
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1957
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1958
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1959
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1960
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1961
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1962
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1963
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1964
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1965
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1966
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1967
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1968
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1969
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1970
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1971
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1972
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1973
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1974
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1975
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1976
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1977
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
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1986
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1987
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1988
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1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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1998
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1999
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2000
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2001
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2002
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2003
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2004
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2005
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2006
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2007
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2008
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2009
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2010
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2011
+ 1.7696 , 85.098 , 37.19 , 0.634 , 14.7 , 112.2 , 92383
2012
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2013
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2014
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2015
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2016
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2017
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2018
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2019
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2020
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2021
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2022
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2023
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2024
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2025
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2026
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2027
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2028
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2029
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2030
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2031
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2032
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2033
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2034
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2035
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2036
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2037
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2038
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2039
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2040
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2041
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2042
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2043
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2044
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2045
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2046
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2047
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2048
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2049
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2050
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2051
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2052
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2053
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2054
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2055
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2056
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2057
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2058
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2059
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2060
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2061
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2062
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2063
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2064
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2065
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2066
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2067
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2068
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2069
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2070
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2071
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2072
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2073
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2074
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2075
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2076
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2077
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2078
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2079
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2080
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2081
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2082
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2083
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2084
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2085
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2086
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2087
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2088
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2089
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2090
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2091
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2092
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2093
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2094
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2095
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2096
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2097
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2098
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2099
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2100
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2101
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2102
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2103
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2104
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2105
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2106
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2107
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2108
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2109
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2110
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2111
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2112
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2113
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2114
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2115
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2116
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2117
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2118
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2119
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2120
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2121
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2122
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2123
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2124
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2125
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2126
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2127
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2128
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2129
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2130
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2131
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2132
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2133
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2134
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2135
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2136
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2137
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2138
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2139
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2140
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2141
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2142
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2143
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2144
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2145
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2146
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2147
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2148
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2149
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2150
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2151
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2152
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2153
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2154
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2155
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2156
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2157
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2158
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2159
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2160
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2161
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2162
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2163
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2164
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2165
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2166
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2167
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2168
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2169
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2170
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2171
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2172
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2173
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2174
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2175
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2176
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2177
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2178
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2179
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2180
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2181
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