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Merge pull request #146 from Stanford-NavLab/derek/android_raw
Derek/android raw
2 parents f8ce440 + 228e9a5 commit 8eb494b

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+7154
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lines changed

‎.gitignore

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@@ -20,9 +20,15 @@ results/*
2020

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# ignore downloaded csv files in notebook tutorials
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*.csv
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!data/unit_test/*/*.csv
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!data/unit_test/**/*.csv
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!notebooks/tutorials/myreceiver.csv
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# ignore txt files in notebook tutorials
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*.txt
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!docs/source/requirements.txt
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!requirements.txt
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!data/unit_test/**/*.txt
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# Ignore downloaded precise ephimerides files by default
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*.sp3
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*.SP3
@@ -38,18 +44,18 @@ results/*
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# Ignore NMEA files by default
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*.nmea
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# Include unit test NMEA files
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!data/unit_test/*/*.nmea
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!data/unit_test/**/*.nmea
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# Ignore downloaded broadcast ephimerides files by default
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*.*n
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*.*o
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*.*g
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*.rnx
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# Include unit test files for broadcast ephemerides
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!data/unit_test/*/*/*.*n
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!data/unit_test/*/*/*.*o
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!data/unit_test/*/*/*.*g
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!data/unit_test/*/*/*.rnx
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!data/unit_test/**/*.*n
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!data/unit_test/**/*.*o
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!data/unit_test/**/*.*g
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!data/unit_test/**/*.rnx
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########################################
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##### Common Python and IDE files ######
@@ -133,7 +139,7 @@ instance/
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.scrapy
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# Sphinx documentation
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docs/_build/
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docs/build/
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# PyBuilder
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target/

‎CONTRIBUTORS.md

+1
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@@ -6,3 +6,4 @@ Bradley Collicott
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Shivam Soni
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Sriramya Bhamidipati
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Dalton Vega
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Daniel Neamati

‎data/unit_test/android/measurements/all_sensors.txt

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@@ -0,0 +1,39 @@
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#
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# Header Description:
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#
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# Version: v3.0.6.4 Platform: 14 Manufacturer: Google Model: Pixel 7
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#
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# Raw,utcTimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,HardwareClockDiscontinuityCount,Svid,TimeOffsetNanos,State,ReceivedSvTimeNanos,ReceivedSvTimeUncertaintyNanos,Cn0DbHz,PseudorangeRateMetersPerSecond,PseudorangeRateUncertaintyMetersPerSecond,AccumulatedDeltaRangeState,AccumulatedDeltaRangeMeters,AccumulatedDeltaRangeUncertaintyMeters,CarrierFrequencyHz,CarrierCycles,CarrierPhase,CarrierPhaseUncertainty,MultipathIndicator,SnrInDb,ConstellationType,AgcDb,BasebandCn0DbHz,FullInterSignalBiasNanos,FullInterSignalBiasUncertaintyNanos,SatelliteInterSignalBiasNanos,SatelliteInterSignalBiasUncertaintyNanos,CodeType,ChipsetElapsedRealtimeNanos
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#
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# UncalAccel,utcTimeMillis,elapsedRealtimeNanos,UncalAccelXMps2,UncalAccelYMps2,UncalAccelZMps2,BiasXMps2,BiasYMps2,BiasZMps2
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#
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# Accel,utcTimeMillis,elapsedRealtimeNanos,AccelXMps2,AccelYMps2,AccelZMps2
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#
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# UncalGyro,utcTimeMillis,elapsedRealtimeNanos,UncalGyroXRadPerSec,UncalGyroYRadPerSec,UncalGyroZRadPerSec,DriftXRadPerSec,DriftYRadPerSec,DriftZRadPerSec
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#
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# Gyro,utcTimeMillis,elapsedRealtimeNanos,GyroXRadPerSec,GyroYRadPerSec,GyroZRadPerSec
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#
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# UncalMag,utcTimeMillis,elapsedRealtimeNanos,UncalMagXMicroT,UncalMagYMicroT,UncalMagZMicroT,BiasXMicroT,BiasYMicroT,BiasZMicroT
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#
18+
# Mag,utcTimeMillis,elapsedRealtimeNanos,MagXMicroT,MagYMicroT,MagZMicroT
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#
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# OrientationDeg,utcTimeMillis,elapsedRealtimeNanos,yawDeg,rollDeg,pitchDeg
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#
22+
# Fix,Provider,LatitudeDegrees,LongitudeDegrees,AltitudeMeters,SpeedMps,AccuracyMeters,BearingDegrees,UnixTimeMillis,SpeedAccuracyMps,BearingAccuracyDegrees,elapsedRealtimeNanos,VerticalAccuracyMeters,MockLocation,NumberOfUsedSignals,VerticalSpeedAccuracyMps,SolutionType
23+
#
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#,
25+
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# Nav,Svid,Type,Status,MessageId,Sub-messageId,Data(Bytes)
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#
28+
# Status,UnixTimeMillis,SignalCount,SignalIndex,ConstellationType,Svid,CarrierFrequencyHz,Cn0DbHz,AzimuthDegrees,ElevationDegrees,UsedInFix,HasAlmanacData,HasEphemerisData,BasebandCn0DbHz
29+
#
30+
# Agc,utcTimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,HardwareClockDiscontinuityCount,AgcDb,CarrierFrequencyHz,ConstellationType
31+
#
32+
UncalMag,1699400576748,16118834125931,-54.1436,-88.937996,-147.3638,-79.950134,-76.57953,-113.967804
33+
UncalGyro,1699400576750,16118836475732,-0.06261369,-0.09315695,0.036651913,-0.0020643917,-0.0038384064,-0.0013324362
34+
UncalAccel,1699400576750,16118836475732,0.17288144,0.44925246,9.886545,0.065623306,0.002461203,-0.031848617
35+
36+
Mag,1699400576748,16118834125931,-54.1436,-88.937996,-147.3638
37+
Gyro,1699400576750,16118836475732,-0.06261369,-0.09315695,0.036651913
38+
Accel,1699400576750,16118836475732,0.17288144,0.44925246,9.886545
39+
OrientationDeg,1699400576750,16118836475732,245.0,0.0,-2.0

‎data/unit_test/android/measurements/filter_test.txt

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@@ -0,0 +1,60 @@
1+
# Header Description:
2+
#
3+
# Version: v3.0.6.4 Platform: 14 Manufacturer: Google Model: Pixel 7
4+
#
5+
# Raw,utcTimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,HardwareClockDiscontinuityCount,Svid,TimeOffsetNanos,State,ReceivedSvTimeNanos,ReceivedSvTimeUncertaintyNanos,Cn0DbHz,PseudorangeRateMetersPerSecond,PseudorangeRateUncertaintyMetersPerSecond,AccumulatedDeltaRangeState,AccumulatedDeltaRangeMeters,AccumulatedDeltaRangeUncertaintyMeters,CarrierFrequencyHz,CarrierCycles,CarrierPhase,CarrierPhaseUncertainty,MultipathIndicator,SnrInDb,ConstellationType,AgcDb,BasebandCn0DbHz,FullInterSignalBiasNanos,FullInterSignalBiasUncertaintyNanos,SatelliteInterSignalBiasNanos,SatelliteInterSignalBiasUncertaintyNanos,CodeType,ChipsetElapsedRealtimeNanos
6+
#
7+
# UncalAccel,utcTimeMillis,elapsedRealtimeNanos,UncalAccelXMps2,UncalAccelYMps2,UncalAccelZMps2,BiasXMps2,BiasYMps2,BiasZMps2
8+
#
9+
# Accel,utcTimeMillis,elapsedRealtimeNanos,AccelXMps2,AccelYMps2,AccelZMps2
10+
#
11+
# UncalGyro,utcTimeMillis,elapsedRealtimeNanos,UncalGyroXRadPerSec,UncalGyroYRadPerSec,UncalGyroZRadPerSec,DriftXRadPerSec,DriftYRadPerSec,DriftZRadPerSec
12+
#
13+
# Gyro,utcTimeMillis,elapsedRealtimeNanos,GyroXRadPerSec,GyroYRadPerSec,GyroZRadPerSec
14+
#
15+
# UncalMag,utcTimeMillis,elapsedRealtimeNanos,UncalMagXMicroT,UncalMagYMicroT,UncalMagZMicroT,BiasXMicroT,BiasYMicroT,BiasZMicroT
16+
#
17+
# Mag,utcTimeMillis,elapsedRealtimeNanos,MagXMicroT,MagYMicroT,MagZMicroT
18+
#
19+
# OrientationDeg,utcTimeMillis,elapsedRealtimeNanos,yawDeg,rollDeg,pitchDeg
20+
#
21+
# Fix,Provider,LatitudeDegrees,LongitudeDegrees,AltitudeMeters,SpeedMps,AccuracyMeters,BearingDegrees,UnixTimeMillis,SpeedAccuracyMps,BearingAccuracyDegrees,elapsedRealtimeNanos,VerticalAccuracyMeters,MockLocation,NumberOfUsedSignals,VerticalSpeedAccuracyMps,SolutionType
22+
#
23+
# Nav,Svid,Type,Status,MessageId,Sub-messageId,Data(Bytes)
24+
#
25+
# Status,UnixTimeMillis,SignalCount,SignalIndex,ConstellationType,Svid,CarrierFrequencyHz,Cn0DbHz,AzimuthDegrees,ElevationDegrees,UsedInFix,HasAlmanacData,HasEphemerisData,BasebandCn0DbHz
26+
#
27+
# Agc,utcTimeMillis,TimeNanos,LeapSecond,TimeUncertaintyNanos,FullBiasNanos,BiasNanos,BiasUncertaintyNanos,DriftNanosPerSecond,DriftUncertaintyNanosPerSecond,HardwareClockDiscontinuityCount,AgcDb,CarrierFrequencyHz,ConstellationType
28+
#
29+
30+
,
31+
Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,4,0,16431,258211922049091,40,28.9247398376465,673.79223808383,0.810194643298776,16,40099.906865387,0.12,1575420030,,,,1,,1,,25.3247394561768,-0.203726812614656,1,-0.203726812614656,1,C,16136559319000
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Raw,1699400594000,61090000000,,,0,0,6.97952480009538,129,1,22,5,0,16423,258211919403574,47,26.8327293395996,-217.707468015832,0.907391618543127,16,-10738.1343296097,0.12,1575420030,,,,0,,1,,23.2327289581299,-0.261934484012756,1,-0.261934484012756,1,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,41,129,1,22,8,0,16431,258211926996567,18,38.272045135498,-38.5257054338549,0.15,16,-2553.86673837627,0.12,1575420030,,,,1,,1,,34.672046661377,-1.22236087568794,1,-1.22236087568794,1,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,9,-1E+020,16431,258211929973007,31,31.8292331695557,460.338516260469,0.681008220512064,16,27869.5071475313,0.12,1575420030,,,,0,,1,,28.2292327880859,-1.1641532291423,1,-1.1641532291423,1,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,20,0,16431,258211922721057,19,37.9027328491211,158.335504969759,0.15,16,9467.35814519183,0.12,1575420030,,,,0,,0,,34.302734375,0,1,0,1,C,16136559319000
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Raw,1699400594000,,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,22,0,16431,258211922317083,13,42.4839363098145,-567.684723572082,0.15,16,-34649.880028782,0.12,1575420030,,,,0,,1,,38.8839378356934,0,1,0,1,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,27,0,0,258211921611963,28,33.0135765075684,387.762719856579,0.626245567821059,16,23296.501056823,0.12,1575420030,,,,0,,1,,29.4135780334473,-1.48429538455316,1,-1.48429538455316,1,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,30,0,16431,258211928161464,1000000000,26.2534351348877,-261.414537601032,0.931419617257112,16,-15980.1245826519,0.12,1575420030,,,,0,,1,,22.653434753418,-1.80443744055416,1,-1.80443744055416,1,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,4,0,16384,258211922049676,49,26.7956199645996,673.833614186049,299792458,0,40770.4963580883,0.12,1176450050,,,,0,,1,,23.1956195831299,-1.77522804402381,3.12385718460672,-1.77522804402381,1,Q,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,8,0,81921,258211926997117,14,33.0259170532227,-38.2977534440163,0.626659350144782,16,-2697.77970892831,3.40282346638529E+038,1176450050,,,,0,,1,,29.4259166717529,5.84986986957447,3.12385718460672,5.84986986957447,1,Q,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,9,0,81921,258211929973619,36,28.2081813812256,460.350581450078,0.84384288133741,16,29277.1390438102,0.12,1176450050,,,,0,,1,,24.6081809997559,4.74392418756796,3.12385718460672,4.74392418756796,1,Q,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,14,0,81921,258211926553160,9,32.6406631469727,-473.582004556451,0.643903874933962,16,-30429.328609282,0.12,1176450050,,,,0,,1,,29.0406646728516,0,3.12385718460672,0,1,Q,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,27,0,81921,258211921612498,11,35.6838760375977,387.318966272652,0.506165285117345,16,24567.5688427452,0.12,1176450050,,,,0,,1,,32.0838775634766,6.14090810230266,3.12385718460672,6.14090810230266,1,Q,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,30,0,81921,258211928162008,26,28.8370723724365,-261.408385717629,0.815236517008725,16,-16791.5131865011,0.12,1176450050,,,,0,,1,,25.2370719909668,3.40514831701829,3.12385718460672,3.40514831701829,1,Q,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,2,0,32995,9793935377558,38,37.9177703857422,336.31600154944,0.15,16,20164.9423869211,0.12,1599750020,,,,0,,3,,34.3177719116211,52.1540641784668,2.00000004749745,52.1540641784668,2.00000004749745,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,13,0,32995,9793933435763,58,32.8277587890625,-136.005301460845,0.636728519326442,16,-8418.06508885007,0.12,1600875010,,,,0,,3,,29.2277603149414,52.1540641784668,2.00000004749745,52.1540641784668,2.00000004749745,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,12,0,32995,9793932988551,43,36.6587600708008,407.293705649432,0.15,16,24638.6356785467,0.12,1601437440,,,,0,,3,,33.0587615966797,52.1540641784668,2.00000004749745,52.1540641784668,2.00000004749745,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,1,0,32867,9793924342452,65,31.3822650909424,857.15428638355,0.700095061837817,16,52576.1685464271,0.12,1602562560,,,,0,,3,,27.7822647094727,52.1540641784668,2.00000004749745,52.1540641784668,2.00000004749745,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,7,0,85026,258211919447428,30,32.4211387634277,367.140686465518,0.653936498669077,16,22709.7075748226,0.12,1575420030,,,,0,,6,,28.8211402893066,-0.407453626394272,1.50000002374873,-0.407453626394272,1.50000002374873,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,19,0,85026,258211910199972,129,14.3971691131592,-452.430125296286,1.46422972813604,16,-26122.5688084543,0.12,1575420030,,,,1,,6,,10.7971696853638,-0.407453626394272,1.50000002374873,-0.407453626394272,1.50000002374873,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,30,0,85026,258211915684863,34,30.6708927154541,448.250014251133,0.732685878349371,16,27519.8981736206,0.12,1575420030,,,,1,,6,,27.0708923339844,-0.407453626394272,1.50000002374873,-0.407453626394272,1.50000002374873,C,16136559319000
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Raw,1699400594000,61090000000,,,-1.38343575091027E+018,0,6.97952480009538,129,1,22,7,0,84003,258211919447984,18,30.733419418335,367.055037252276,0.731989983817165,16,22994.3891320565,0.12,1176450050,,,,0,,6,,27.1334190368652,-4.84036281704903,3.62385720835545,-4.84036281704903,1.50000002374873,Q,16136559319000
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