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9600

138

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232

4800

139

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O

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f

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140

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f

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f

O

N

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485

19200

141

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O

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f

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f

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f

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485

9600

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O

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O

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f

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f

O

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485

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1.

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144

of

f

of

f

of

f

of

f

O

N

of

f

of

f

O

N

RS

232

19200

20

145

O

N

of

f

of

f

of

f

O

N

of

f

of

f

O

N

RS

232

9600

20

146

of

f

O

N

of

f

of

f

O

N

of

f

of

f

O

N

RS

232

4800

20

147

O

N

O

N

of

f

of

f

O

N

of

f

of

f

O

N

RS

232

2400

10

148

of

f

of

f

O

N

of

f

O

N

of

f

of

f

O

N

RS

485

19200

20

149

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f

O

N

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f

O

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f

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f

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485

9600

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150

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f

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485

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2

151

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Robert

son

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485

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a

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decimal

place

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N

is

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Ingress

1.

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152

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232

19200

20

153

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RS

232

9600

20

154

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of

f

O

N

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of

f

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RS

232

4800

20

155

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N

O

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of

f

O

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O

N

of

f

of

f

O

N

RS

232

2400

10

156

of

f

of

f

O

N

O

N

O

N

of

f

of

f

O

N

RS

485

19200

20

157

O

N

of

f

O

N

O

N

O

N

of

f

of

f

O

N

RS

485

9600

20

3

158

of

f

O

N

O

N

O

N

O

N

of

f

of

f

O

N

Robert

son

AS

CI

I short

(wit

h

leading

zeroes)

RS

232

4800

n,

8,

1

20

St

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out

put

-

see

'rat

e'

column

for

out

put

t

elegram

frequency Fixed

lengt

h

(13

charact

ers)

AS

CI

I t

elegram

in

format

:

$HHH.

H,

N,

SS

<CR>

<LF

>

where:

$

is

a

'$'

charact

er

HHH.

H

is

AS

CI

I heading,

no

leading

zero(es),

decimal

place

always

sent

N

is

Normal

- always

sent

as

'N'

SS

is

St

at

us,

A

SCI

I '

00'

(t

wo

zero

charact

ers)

is

O

K

80

is

'Not

Ready'

, '

10'

is

W

at

er

Ingress

1.

03

«
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45
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48
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Summary of Contents for iGC

Page 1: ...Intelligent Gyro Compass iGC 0707 SOM 00004 7 1 Tritech International Ltd Intelligent Gyro Compass iGC Product Manual 0707 SOM 00004 7 ...

Page 2: ... supplied by Tritech International Ltd on the understanding that it may not be copied used or disclosed to others except as authorised in writing by Tritech International Ltd Tritech International Ltd reserves the right to change modify and update designs and specifications as part of their ongoing product development programme All product names are trademarks of their respective companies ...

Page 3: ...s 17 4 5 Electrical Installation 18 5 Commissioning 20 5 1 General 20 5 2 Overview 20 5 3 Powering up for the first time 20 5 4 Checking iGC output using a terminal programme 21 5 5 Checking iGC output on an RS485 interface 22 5 6 iGC data Check procedures 22 5 6 1 Heading Checks 23 5 6 2 Pitch Roll Checks 23 5 6 3 Heave Acceleration Data Checks 23 5 6 4 Water Ingress Alarm Checks 23 5 6 5 Other D...

Page 4: ...nector 34 8 7 4 Replacement Of the Underwater Connector 34 8 7 5 Replacement Of Sensor Assembly I F PCB and Processor Module 34 9 Basic Fault Finding 36 9 1 General 36 9 2 Fault Symptoms 36 9 3 Firmware Reprogramming 37 A iGC Technical Specifications 38 B General Assembly Drawing 39 C iGC Bill of Materials 40 D iGC Mode Listing Proprietary iGC Outputs 41 E iGC Mode Listing Special Modes 43 F iGC M...

Page 5: ...tware or firmware revision numbers 3 A clear fault description 4 Details of any remedial action implemented Contamination If the product has been used in a contaminated or hazardous environment you must de contaminate the product and report any hazards prior to returning the unit for repair Under no circumstances should a product be returned that is contaminated with radioactive material The name ...

Page 6: ...urrent topic Important When this is shown there is potential to cause harm to the device due to static discharge The components should not be handled without appropriate protection to prevent such a discharge occurring Caution This highlights areas where extra care is needed to ensure that certain delicate components are not damaged Warning DANGER OF INJURY TO SELF OR OTHERS Where this symbol is p...

Page 7: ...ead and understand all relevant sections of this manual Any queries comments or suggestions regarding the content of this manual or the safe installation operation or maintenance of the iGC should be referred to Tritech 1 2 Pressure Caution If a seal has failed AND then acts as a one way check during flooding it is possible that pressurised fluid and gas has been trapped inside the iGC pressure ve...

Page 8: ...surement This applies as much to supply circuitry as to the equipment described in this manual Before doing any work inside the iGC the electrical power supply to the iGC should isolated and the power connector unplugged This includes electrical faultfinding so as to avoid inadvertent contact between the pressure housing and exposed connections on any of the electrical components or circuit boards...

Page 9: ...e provide an easy upgrade or replacement path for customers looking for a more reliable or compact solution As standard the iGC is supplied with a PC software application that gives a clear animated display of heading pitch roll turns counter heave acceleration and iGC status This PC programme is normally used when the user does not have an effective heading display for diagnostics additional data...

Page 10: ... into a compatible format These PCBs are installed in the host system in place of the existing heading sensor interface PCB and emulate the original sensor outputs e g synchro analogue digital etc but use the iGC iFG as the data source These PCBs offer a simple hardware upgrade to existing systems without the requirement to rewrite control system software or redesign hardware They also offer addit...

Page 11: ...ro Compass iGC 0707 SOM 00004 7 11 Tritech International Ltd 3 Typical Applications There are various method of integrating the iGC with existing control systems the following drawings illustrate typical applications ...

Page 12: ...Typical Applications Intelligent Gyro Compass iGC 0707 SOM 00004 7 12 Tritech International Ltd ...

Page 13: ... In addition to the sketches shown there are numerous alternative options for interconnection of the iGC product family to existing or bespoke control systems If your desired application is not shown please contact Tritech for advice on the best method of achieving the interface that you require ...

Page 14: ...uding fasteners or brackets used to mount the iGC 2 Sources of electrically induced magnetic fields such as motors and transformers 3 Moving equipment e g manipulator arms pan tilt units etc The iGC is more susceptible to ferrous materials underneath the assembly than from the side or above 4 2 3 Alignment The electrical connector is mounted at the rear of the iGC In addition three meridian lines ...

Page 15: ...n Drawing The following drawing shows installation dimensions and fastener details for the installation of the iGC NB As stated previously non magnetic fasteners and mounting bracket should be used for mounting the iGC 4 4 iGC Electrical Installation 4 4 1 Preparation All electrical connections to the iGC are via a single Subconn 8 pin micro series connector This connector is a Male on the iGC MCB...

Page 16: ...ntact your local distributor or MacArtney A S for advice The mated connector should be retained using the Delrin locking sleeve supplied with the iGC This ensures that the connector does not become inadvertently partially or fully disconnected The iGC requires electric power at 24v DC nominal supply operating current typically between 220mA and 250mA The iGC will however function correctly at any ...

Page 17: ...s the iGC must be opened Firstly isolate the iGC supply and disconnect the iGC from its interconnecting cable if already connected Follow the procedure for iGC Disassembly see Section 8 7 Dismantling and Re assembly This procedure exposes the internal iGC components Identify the Mode Selector switch SW1 on the Interface PCB Item 4 on the G A Refer to the photograph below and to the General Assembl...

Page 18: ...al Installation of the iGC 1 Make any necessary wiring and modifications to the Host control system to provide the appropriate power supply and telemetry circuits 2 With the power to the Host control system isolated attach the interconnecting cable to the appropriate underwater connector at the Host end 3 Using a digital multimeter insert probes into sockets 1 and 2 of the interconnecting cable pr...

Page 19: ...aken when providing power to an iGC and iFG combined system The iGC has a lower voltage range than the iFG Over voltaging the iGC will result in damage Caution 1 When the correct iGC supply voltage has been confirmed isolate the iGC supply and check that there is no power present on the connector sockets pins 1 2 2 Connect the female Subconn connector to the iGC 3 Carefully power up the Host suppl...

Page 20: ...e configuration packet is that it allows users to check the correct operating mode and settings using a simple terminal programme e g HyperTerminal for faultfinding Under most circumstances the Host data interface should ignore or discard this data and begin responding to or processing the normal output telegram packets once they start 5 3 Powering up for the first time With the host control syste...

Page 21: ...hould be seen on the terminal screen a typical output is shown below If the configuration screen is not seen check the cabling and power supply to the iGC check the terminal programme with a known good data source or looped back from itself by connecting pins 2 3 of the PC com port and typing on the keyboard Check that if using a programming cable that the programming switch is NOT in programming ...

Page 22: ...n the range 7V to 12V typically The 0V signal ground connection between the iGC and the Host MUST be connected for reliable performance 4 Additional alien devices on the RS485 bus if the iGC RS485 bus is connected other than point to point from iGC to Host the other devices on the bus should be approved Tritech devices and configured to Tritech specifications Do not connect non Tritech devices to ...

Page 23: ... This is not a limitation with the iGC sensors but with the mathematical angle conversions used in generating the output data If users require pitch angles to be measured beyond 60 please contact Tritech for an alternative firmware implementation that does not suffer from this problem Note that only certain Industry Standard telegram formats include the Pitch and Roll data so if this data is not r...

Page 24: ...ould be investigated before operating the system underwater When the interface PCB detects a water ingress condition the Red LED shown in the photograph illuminates The water ingress sensor function can be checked by placing a wet finger or a resistance less than 300kohm across the sensor pins 5 6 5 Other Data Checks In iGC Proprietary data formats additional data such as iGC temperature serial nu...

Page 25: ...acket should be designed to incorporate vernier adjustment on the axes to be calibrated With the vehicle s pitch roll and heading measured or set to known values e g 0 pitch and roll and known magnetic heading the mounting bracket is adjusted until the iGC outputs match the measured reference values Where the Host system s own software is used to process and display the iGC data fixed offsets to h...

Page 26: ...Upon completion of the swing routine the iGC constructs an offset curve by extrapolating between the measured points and stores this in memory The more points visited during the swing the more accurate the final offset curve will be The minimum number of points is four approximately equally spaced close to the cardinal points of the compass If this procedure is required please contact Tritech for ...

Page 27: ...tional iGC data to Industry Standard ASCII formats This mode is useful where specific telegram decoding parsing can be implemented by the Host system Full details of the output data formats in Proprietary modes can be found in Appendix D iGC Mode Listing Proprietary iGC Outputs Note Modes 0 to 47 are not user interpretable and are only usable via the iGC Navigation Software see Section 7 4 Using i...

Page 28: ...ct Tritech and the firmware conversion routines can be changed to support correct operation over the full 360 pitch range 7 4 Using iGC Navigation Software The iGC PC software is a stand alone application that provides the user with a real time display of Heading Pitch Roll turns counter heave and iGC status Normally this software is used where the iGC is not integrated to a complete host control ...

Page 29: ...l place System Time Digital display of PC system time in format hh mm ss Telemetry Status LED indicator showing telemetry status of iGC iFG iIF North Seeking Gyro survey gyro NSG and Seanet SCU LED colours as follows Red Comms failed or absent Green Comms good Grey No comms expected not enabled Yellow Comms failed or absent Sensor Status Box Text description of each sensor s status Heading Source ...

Page 30: ...Operation Intelligent Gyro Compass iGC 0707 SOM 00004 7 30 Tritech International Ltd Typical screenshot ...

Page 31: ...noted 1 Any time that a seal is disturbed before replacement in the iGC it should be thoroughly cleaned and inspected for damage 2 The seal housing should be thoroughly cleaned and inspected for damage 3 Any damaged seals or components with damaged sealing faces should be replaced with new components 4 All replacement seals should be correctly specified as per the iGC parts lists 5 Never use O rin...

Page 32: ...t should be replaced 8 6 Flooding If the iGC is flooded for any reason then speed is of the essence If the system software interface supports the water ingress sensor signal the iGC should be powered down immediately that the sensor detects water ingress After ensuring that pressure is not trapped inside the pressure vessel see disassembly procedure the iGC should be opened and inspected If the un...

Page 33: ...be regarded as a single replaceable unit 8 7 1 Removal of Pressure Dome The procedure for removal of the dome is as follows 1 Thoroughly clean and de grease the outside of the iGC 2 Unscrew the dome Item 1 from the end cap Item 2 Normally this can be done by hand with the assistance of clean rubber gloves or rubber sheet to improve grip on the smooth anodised surface If additional torque is requir...

Page 34: ... a 30mm length of 4 8mm diameter heatshrink over the connector wire tails This is used to protect the wire tails from abrasion when the connector is screwed into the endcap 3 Remove clean re grease and re fit the connector sealing O ring Ensure that the O ring groove is clean 4 Insert the wires into the connector hole and carefully screw the connector into the endcap while turning the wires to avo...

Page 35: ...ing screws 5 Using a multimeter check that there is no electrical continuity between the tab of both regulators and the iGC end cap There is a threaded hole on the inside surface of the end cap that facilitates electrical continuity for checking This is important as a short circuit between the regulator tabs and the iGC housing may cause rapid corrosion of the iGC housing If continuity is measured...

Page 36: ...rface with the iGC This might include a Manuals b System drawings particularly electrical diagrams 2 Have a good set of diagnostic tools 3 Start at the general work towards the particular 4 Use all the information available For example a Are any other systems malfunctioning b Are all functions malfunctioning or just one or a few c Are there connections between these faults 9 2 Fault Symptoms The f...

Page 37: ...f data is OK from iGC investigate the host system telemetry interfaces No output data from iGC when tested with test cable and laptop Use a terminal programme set to 19 200 n 8 1 and check for configuration output message when the iGC is powered up Refer to Chapter 5 Commissioning for details of what to expect If configuration data looks OK check host interface for correct operation function No co...

Page 38: ... static conditions Repeatability 0 2 Output modes Full range of industry standard outputs proprietary iGC formats and special formats Sesnor range Rate gyros 300 per second full scale Accelerometers 5g full scale Magnetometers 1 Gauss full scale Output hardware interfaces RS232 and RS485 Output data rate 20Hz typical Other output rates dependent on output format Serial data rate 2400 4800 9600 192...

Page 39: ...Intelligent Gyro Compass iGC 0707 SOM 00004 7 39 Tritech International Ltd Appendix B General Assembly Drawing ...

Page 40: ...013 101 001 00 15 16 2 M3 x 10mm lg Pan head pozi m v screw st stl SP 0013 101 001 00 16 17 2 TO 220 insilating bush SP 0013 101 001 03 18 1 Insulating washer SP 0013 101 001 04 19 3 2mm Jumper link typ red SP 0013 101 001 00 19 20 Silicone grease 111 21 Thread locking compound 222 22 1 Subconn Locking sleeve circlip SP 0013 101 001 00 22 23 1 Identification Serial No Label SP 0013 101 001 05 24 1...

Page 41: ...ff off 13 ON off ON ON off off off off 14 off ON ON ON off off off off 0 15 ON ON ON ON off off off off Mode not available Standard binary output packet in iGC Proprietary format streamed ouput Contents Heading Pitch Roll Heave acceleration CRC Will accept command requests and poll commands for extended packets 1 03 16 off off off off ON off off off Extended iGC Packet output Streaming 20Hz RS232 ...

Page 42: ...nd industry standard packets depending on poll command Will accept ad hoc command requests and all poll commands 1 03 48 off off off off ON ON off off Standard iGC ASCII output Streaming 20Hz RS232 19200 n 8 1 20 49 ON off off off ON ON off off Standard iGC ASCII output Streaming 20Hz RS232 9600 n 8 1 20 50 off ON off off ON ON off off Standard iGC ASCII output Streaming 20Hz RS232 4800 n 8 1 20 5...

Page 43: ...I heading in degrees 1000 packed with leading zero es r is a r character or sign n nnnn is heading rate in rad s 10000 P is a P character or sign nnnn is pitch angle in degrees 10 q is a q character or sign nnnnn is pitch rate in rad s 10000 R is a R character or sign nnnn is roll angle in degrees 10 p is a p character or sign nnnnn is roll rate in rad s 10000 X is an X character or sign nnnnn is ...

Page 44: ... off ON off off ON ON off 101 ON off ON off off ON ON off 102 off ON ON off off ON ON off 103 ON ON ON off off ON ON off 104 off off off ON off ON ON off 105 ON off off ON off ON ON off 106 off ON off ON off ON ON off 107 ON ON off ON off ON ON off 108 off off ON ON off ON ON off 109 ON off ON ON off ON ON off 110 off ON ON ON off ON ON off 111 ON ON ON ON off ON ON off 112 off off off off ON ON O...

Page 45: ...gram Code Mode Code SW 1 SW 2 SW 3 SW 4 SW 5 SW 6 SW 7 SW 8 Telegram Description Protocol Baud Rate Params Rate Hz Notes Applicable Firmware 124 off off ON ON ON ON ON off 125 ON off ON ON ON ON ON off 126 off ON ON ON ON ON ON off 127 ON ON ON ON ON ON ON off ...

Page 46: ...n for output telegram frequency 4 bytes sent in sequence no delimiter hundreds pattern 0 0 00hhhh tens pattern 0 0 01tttt units pattern 0 0 10uuuu decimals pattern 0 0 11uuuu 1 03 144 off off off off ON off off ON RS232 19200 20 145 ON off off off ON off off ON RS232 9600 20 146 off ON off off ON off off ON RS232 4800 20 147 ON ON off off ON off off ON RS232 2400 10 148 off off ON off ON off off O...

Page 47: ...ON RS485 9600 10 174 off ON ON ON off ON off ON RS485 4800 10 5 175 ON ON ON ON off ON off ON Robertson ASCII long with leading zeroes RS485 2400 n 8 1 5 Streaming output see rate column for output telegram frequency Fixed length 30 characters ASCII telegram in format HHH H N SS LL QQ RR R PP P CR LF where is a character HHH H is ASCII heading no leading zero es N is Normal always sent as N SS is ...

Page 48: ...SCII fixed length with leading zeroes RS485 2400 n 8 1 5 Streaming output see rate column for output telegram frequency Fixed length 20 chars ASCII telegram in format HhhhhPsppppRsrrrrf CR LF where H is a H character hhhh is ASCII heading in degrees 10 packed with leading zero es P is a P character s is or sign pppp is pitch angle in degrees 10 R is an R character s is or sign rrrr is roll angle i...

Page 49: ...N ON ON RS232 9600 20 234 off ON off ON off ON ON ON RS232 4800 10 235 ON ON off ON off ON ON ON RS232 4800 5 236 off off ON ON off ON ON ON RS485 19200 20 237 ON off ON ON off ON ON ON RS485 9600 20 238 off ON ON ON off ON ON ON RS485 4800 10 13 239 ON ON ON ON off ON ON ON Octans Gyrocompass 2 format NMEA RS485 2400 n 8 1 5 Streaming output see rate column for output telegram frequency Three Alt...

Page 50: ...Applicable Firmware 250 off ON off ON ON ON ON ON RS232 4800 251 ON ON off ON ON ON ON ON RS232 2400 252 off off ON ON ON ON ON ON RS485 15200 253 ON off ON ON ON ON ON ON RS485 9600 254 off ON ON ON ON ON ON ON RS485 4800 255 ON ON ON ON ON ON ON ON RS485 2400 NMEA 0183 message containing Pitch Roll and Heading 30 chars PTNTHPR ddd d N abbbb N acccc N kk CR LF where abbbb is pitch bb degrees bb m...

Page 51: ...Appendix G iGC iFG Electrical Interconnection Schematic ...

Page 52: ...3 101 001 00 15 16 0 M3 x 10mm lg Pan head pozi m v screw st stl SP 0013 101 001 00 16 17 2 TO 220 insilating bush SP 0013 101 001 03 18 1 Insulating washer SP 0013 101 001 04 19 2 2mm Jumper link typ red SP 0013 101 001 00 19 20 1 Silicone grease 111 21 0 Thread locking compound 222 22 0 Subconn Locking sleeve circlip SP 0013 101 001 00 22 23 0 Identification Serial No Label SP 0013 101 001 05 24...

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