Iampete1
4 years ago
committed by
Randy Mackay
3 changed files with 273 additions and 0 deletions
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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/*
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Dump logged AIS data to the serial port |
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./Tools/autotest/sim_vehicle.py -v Rover -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0 |
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param set SERIAL5_PROTOCOL 40 |
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param set AIS_TYPE 1 |
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*/ |
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#include "SIM_AIS.h" |
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#include <SITL/SITL.h> |
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extern const AP_HAL::HAL& hal; |
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using namespace SITL; |
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AIS::AIS() : SerialDevice::SerialDevice() |
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{ |
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char* file_path; |
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IGNORE_RETURN(asprintf(&file_path, SKETCHBOOK "/libraries/SITL/SIM_AIS_data.txt")); |
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file = fopen(file_path,"r"); |
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if (file == nullptr) { |
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AP_HAL::panic("AIS could not open data file"); |
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} |
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// seek past the header line
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char line[100]; |
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IGNORE_RETURN(fgets(line, sizeof(line), file)); |
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} |
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void AIS::update() |
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{ |
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if (file == nullptr) { |
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AP_HAL::panic("AIS lost data file"); |
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} |
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// just send a line of data at 1Hz:
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const uint32_t now = AP_HAL::millis(); |
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if (now - last_sent_ms < 1000) { |
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return; |
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} |
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last_sent_ms = now; |
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char line[100]; |
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if (!fgets(line, sizeof(line), file)) { |
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// got to the end of the file, circle back
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fseek(file,0,SEEK_SET); |
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if (!fgets(line, sizeof(line), file)) { |
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AP_HAL::panic("AIS lost data file"); |
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} |
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return; |
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} |
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//hal.console->printf("%s",line);
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write_to_autopilot(line, strlen(line)); |
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} |
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@ -0,0 +1,44 @@
@@ -0,0 +1,44 @@
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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/*
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Dump logged AIS data to the serial port |
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./Tools/autotest/sim_vehicle.py -v Rover --no-mavproxy -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0 |
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param set SERIAL5_PROTOCOL 40 |
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param set AIS_TYPE 1 |
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*/ |
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#pragma once |
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#include "SIM_SerialDevice.h" |
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#include <SITL/SITL.h> |
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namespace SITL { |
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class AIS : public SerialDevice { |
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public: |
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AIS(); |
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void update(); |
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private: |
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FILE* file; |
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uint32_t last_sent_ms; |
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}; |
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} |
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@ -0,0 +1,154 @@
@@ -0,0 +1,154 @@
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AIS AIVDM data stream captured from a real receiver |
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!AIVDM,1,1,,B,403Ot`QuvFEfMo@7<0K?fL7028AU,0*60 |
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!AIVDM,2,1,4,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0F |
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!AIVDM,2,2,4,B,0016=H=4;v?Te;1hTmh@000000000000000,2*68 |
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!AIVDM,2,1,5,B,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*32 |
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!AIVDM,2,2,5,B,2216:08666?S0=ihTmhH888888888888880,2*58 |
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!AIVDM,2,1,6,B,5815;hT2AUU=KMMSR20q??N2v1<E9@4v2222,0*10 |
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!AIVDM,2,2,6,B,221JLP0:P4hd0N43lU850C0Sm8888888880,2*2C |
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!AIVDM,1,1,,A,3815;hUw00wfUdHMPfQ4s8WT0D`r,0*00 |
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!AIVDM,1,1,,A,33bE4P5000Of3c@MR@=0lBb80000,0*7F |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T0l`CBP000,0*4B |
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!AIVDM,2,1,7,B,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*66 |
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!AIVDM,2,2,7,B,00169H=666?i0<ihTmh@000000000000000,2*17 |
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!AIVDM,1,1,,A,33M@D8UP00Of5B8MRBJ6A?vT2DTb,0*09 |
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!AIVDM,2,1,8,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*03 |
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!AIVDM,2,2,8,B,0016=H=4;v?Te;1hTmh@000000000000000,2*64 |
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!AIVDM,1,1,,A,33bE4P5000Of3c@MR@=Dw2b:0000,0*62 |
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!AIVDM,1,1,,B,33aO?TUP00Of5B`MR?>hUOwF0DfJ,0*5E |
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!AIVDM,2,1,9,A,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*6B |
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!AIVDM,2,2,9,A,00169H=666?i0<ihTmh@000000000000000,2*1A |
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!AIVDM,1,1,,A,33m:7K5000Of4M>MR=S`gWlB0000,0*69 |
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!AIVDM,2,1,0,B,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*01 |
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!AIVDM,2,2,0,B,0016:0:2<69T0?TmhCTi@@0000000000000,2*65 |
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!AIVDM,1,1,,A,33aO?TUP00Of5BrMR?>PUOwF0Dm:,0*0C |
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!AIVDM,1,1,,B,33m:7K5000Of4N2MR=WpgWlB0000,0*71 |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T0g`CBP000,0*40 |
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!AIVDM,2,1,1,B,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*60 |
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!AIVDM,2,2,1,B,00169H=666?i0<ihTmh@000000000000000,2*11 |
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!AIVDM,1,1,,B,3815;hU0h1wfUdHMPfQ6B`WT0Dir,0*7F |
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!AIVDM,1,1,,A,33bU7n5000Of2hDMRB@:CTs00000,0*09 |
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!AIVDM,1,1,,B,33bE4P5000Of3c>MR@=ewRb:0000,0*5E |
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!AIVDM,2,1,2,A,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*00 |
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!AIVDM,2,2,2,A,0016:0:2<69T0?TmhCTi@@0000000000000,2*64 |
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!AIVDM,1,1,,B,33aB7F5000Of4L@MR@T0F`CBP000,0*1F |
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!AIVDM,2,1,3,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*08 |
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!AIVDM,2,2,3,B,0016=H=4;v?Te;1hTmh@000000000000000,2*6F |
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!AIVDM,2,1,4,B,53m:7K02;lo<h4PCR20HDDB0PDhLDh4pB222,0*34 |
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!AIVDM,2,2,4,B,22169H?856?j0:1hTmhH888888888888880,2*4E |
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!AIVDM,1,1,,B,33bU7n5000Of2gBMRB0:CTs00000,0*73 |
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!AIVDM,1,1,,B,33aO?TUP00Of5AtMR?;0egwD0D`b,0*20 |
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!AIVDM,1,1,,B,33bE4P5000Of3c6MR@>M9Rb:0000,0*33 |
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!AIVDM,1,1,,A,33aO?TUP00Of5B>MR?9hegwF0DiJ,0*13 |
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!AIVDM,1,1,,A,3815;hU0P2wfUdHMPfQ888WR0E0J,0*0D |
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!AIVDM,2,1,5,A,53m:7K02;lo<h4PCR20HDDB0PDhLDh4pB222,0*36 |
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!AIVDM,2,2,5,A,22169H?856?j0:1hTmhH888888888888880,2*4C |
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!AIVDM,1,1,,B,33aO?TUP00Of5B:MR?<PegwD0Dh:,0*5A |
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!AIVDM,2,1,6,A,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*04 |
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!AIVDM,2,2,6,A,0016:0:2<69T0?TmhCTi@@0000000000000,2*60 |
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!AIVDM,1,1,,B,33aB7F5001Of4I8MR@T8h8CBP000,0*1D |
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!AIVDM,2,1,7,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0C |
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!AIVDM,2,2,7,B,0016=H=4;v?Te;1hTmh@000000000000000,2*6B |
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!AIVDM,1,1,,A,3815;hU1P0wfUdHMPfQ=r8WV0Dbr,0*2E |
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!AIVDM,1,1,,B,33bU7n5000Of2glMRBFrCTs20000,0*61 |
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!AIVDM,1,1,,A,33bE4P5000Of3btMR@>M6Bb:0000,0*6C |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T0v`CDP000,0*57 |
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!AIVDM,1,1,,A,33bU7n5000Of2gTMRB<JCTs20000,0*18 |
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!AIVDM,2,1,8,B,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*09 |
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!AIVDM,2,2,8,B,0016:0:2<69T0?TmhCTi@@0000000000000,2*6D |
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!AIVDM,1,1,,A,33aO?TUP00Of5C2MR??0p?wD0Dar,0*3F |
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!AIVDM,2,1,9,B,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*3E |
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!AIVDM,2,2,9,B,2216:08666?S0=ihTmhH888888888888880,2*54 |
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!AIVDM,2,1,0,B,5815;hT2AUU=KMMSR20q??N2v1<E9@4v2222,0*16 |
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!AIVDM,2,2,0,B,221JLP0:P4hd0N43lU850C0Sm8888888880,2*2A |
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!AIVDM,1,1,,B,33aO?TUP00Of5BDMR?<hp?wF0Dib,0*0A |
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!AIVDM,1,1,,B,3815;hUwP1wfUdHMPfQ=S`WV0DVr,0*27 |
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!AIVDM,1,1,,A,33m:7K5000Of4MpMR=O8gWlD0000,0*65 |
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!AIVDM,1,1,,A,33aO?TUP00Of5CDMR?=Pp?wD0DjJ,0*18 |
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!AIVDM,2,1,1,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0A |
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!AIVDM,2,2,1,B,0016=H=4;v?Te;1hTmh@000000000000000,2*6D |
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!AIVDM,2,1,2,A,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*36 |
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!AIVDM,2,2,2,A,2216:08666?S0=ihTmhH888888888888880,2*5C |
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!AIVDM,1,1,,A,3815;hUwh1wfUdHMPfQ0j8W`0Djr,0*7A |
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!AIVDM,2,1,3,B,53m:7K02;lo<h4PCR20HDDB0PDhLDh4pB222,0*33 |
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!AIVDM,2,2,3,B,22169H?856?j0:1hTmhH888888888888880,2*49 |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T7v8CDP000,0*08 |
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!AIVDM,1,1,,B,3815;hUwh0wfUdHMPfQ0e8WT0DMb,0*74 |
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!AIVDM,1,1,,A,33bU7n5000Of2hBMRB<rCTs20000,0*39 |
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!AIVDM,1,1,,B,33bE4P5000Of3c0MR@=JJ2b:0000,0*22 |
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!AIVDM,1,1,,B,33aB7F5000Of4I8MR@T1h`CDP000,0*4B |
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!AIVDM,2,1,4,A,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0C |
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!AIVDM,2,2,4,A,0016=H=4;v?Te;1hTmh@000000000000000,2*6B |
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!AIVDM,2,1,5,B,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*32 |
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!AIVDM,2,2,5,B,2216:08666?S0=ihTmhH888888888888880,2*58 |
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!AIVDM,1,1,,B,33bU7n5000Of2hFMRB<rCTs20000,0*3E |
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!AIVDM,1,1,,A,33bE4P5000Of3bvMR@=`Tjb<0000,0*0C |
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!AIVDM,1,1,,B,33aO?TUP00Of5BLMR?<Pp?wF0Dg:,0*6C |
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!AIVDM,2,1,6,B,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*67 |
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!AIVDM,2,2,6,B,00169H=666?i0<ihTmh@000000000000000,2*16 |
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!AIVDM,1,1,,B,33bE4P5P@0Of3c0MR@=WaRb<0000,0*62 |
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!AIVDM,2,1,7,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0C |
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!AIVDM,2,2,7,B,0016=H=4;v?Te;1hTmh@000000000000000,2*6B |
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!AIVDM,2,1,8,A,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*3C |
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!AIVDM,2,2,8,A,2216:08666?S0=ihTmhH888888888888880,2*56 |
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!AIVDM,2,1,9,A,5815;hT2AUU=KMMSR20q??N2v1<E9@4v2222,0*1C |
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!AIVDM,2,2,9,A,221JLP0:P4hd0N43lU850C0Sm8888888880,2*20 |
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!AIVDM,1,1,,A,3815;hU101wfUdHMPfQ;@8Wb0Dsb,0*4E |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T0?8ADP000,0*44 |
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!AIVDM,1,1,,B,33aO?TUP00Of5C@MR?;@p?wF0D`r,0*39 |
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!AIVDM,2,1,0,A,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*62 |
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!AIVDM,2,2,0,A,00169H=666?i0<ihTmh@000000000000000,2*13 |
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!AIVDM,1,1,,B,3815;hUwh1wfUdHMPfQ6L`WR0DlJ,0*0D |
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!AIVDM,1,1,,B,33aB7F5000Of4I8MR@T0<`ADP000,0*1C |
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!AIVDM,2,1,1,A,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*09 |
||||
!AIVDM,2,2,1,A,0016=H=4;v?Te;1hTmh@000000000000000,2*6E |
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!AIVDM,2,1,2,B,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*35 |
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!AIVDM,2,2,2,B,2216:08666?S0=ihTmhH888888888888880,2*5F |
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!AIVDM,2,1,3,B,5815;hT2AUU=KMMSR20q??N2v1<E9@4v2222,0*15 |
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!AIVDM,2,2,3,B,221JLP0:P4hd0N43lU850C0Sm8888888880,2*29 |
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!AIVDM,1,1,,A,3815;hUwh1wfUdHMPfQ1p8Wd0DsJ,0*44 |
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!AIVDM,1,1,,A,33bE4P5000Of3c8MR@=IeRb<0000,0*63 |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T5:8ADP000,0*44 |
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!AIVDM,2,1,4,B,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*65 |
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!AIVDM,2,2,4,B,00169H=666?i0<ihTmh@000000000000000,2*14 |
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!AIVDM,1,1,,B,33bE4P5000Of3c<MR@=70Rb<0000,0*4F |
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!AIVDM,1,1,,A,33aO?TUP00Of5BrMR?;0p?wH0DW:,0*08 |
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!AIVDM,2,1,5,A,53aB7F02?1U90PdR2208D5Dl4LT>22222222,0*31 |
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!AIVDM,2,2,5,A,2216:08666?S0=ihTmhH888888888888880,2*5B |
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!AIVDM,1,1,,A,33bE4P5000Of3c>MR@=GQRb<0000,0*5F |
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!AIVDM,1,1,,B,33aO?TUP00Of5BvMR??@p?wF0De:,0*47 |
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!AIVDM,2,1,6,A,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*64 |
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!AIVDM,2,2,6,A,00169H=666?i0<ihTmh@000000000000000,2*15 |
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!AIVDM,1,1,,B,3815;hU0@1wfUdHMPfQ558WN0E3r,0*3A |
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!AIVDM,1,1,,B,33aB7F5000Of4I8MR@T=Q8ADP000,0*24 |
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!AIVDM,2,1,7,B,53bE4P029KAA08Dt000DhU<48E@R0d000000,0*66 |
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!AIVDM,2,2,7,B,00169H=666?i0<ihTmh@000000000000000,2*17 |
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!AIVDM,1,1,,B,3815;hU0P1wfUdHMPfQ058WT0Dcr,0*64 |
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!AIVDM,1,1,,B,33aB7F5000Of4I8MR@T6E8ADP000,0*3B |
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!AIVDM,1,1,,B,33bU7n5000Of2glMRAwJCTs40000,0*6D |
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!AIVDM,1,1,,A,33bE4P5000Of3c<MR@=B5jb<0000,0*04 |
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!AIVDM,1,1,,B,33aO?TUP00Of5BfMR?:0b?wF0Dk:,0*3E |
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!AIVDM,1,1,,A,33m:7K5000Of4MlMR=T`gWnF0000,0*3A |
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!AIVDM,1,1,,B,33bE4P5000Of3c<MR@=S>Rb<0000,0*25 |
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!AIVDM,2,1,8,B,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*09 |
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!AIVDM,2,2,8,B,0016:0:2<69T0?TmhCTi@@0000000000000,2*6D |
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!AIVDM,2,1,9,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*02 |
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!AIVDM,2,2,9,B,0016=H=4;v?Te;1hTmh@000000000000000,2*65 |
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!AIVDM,2,1,0,A,53m:7K02;lo<h4PCR20HDDB0PDhLDh4pB222,0*33 |
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!AIVDM,2,2,0,A,22169H?856?j0:1hTmhH888888888888880,2*49 |
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!AIVDM,1,1,,A,33aB7F5000Of4I8MR@T9M8ADP000,0*3F |
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!AIVDM,2,1,1,A,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*03 |
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!AIVDM,2,2,1,A,0016:0:2<69T0?TmhCTi@@0000000000000,2*67 |
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!AIVDM,1,1,,B,33aB7F5000Of4I8MR@T2g8ADP000,0*1D |
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!AIVDM,2,1,2,A,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0A |
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!AIVDM,2,2,2,A,0016=H=4;v?Te;1hTmh@000000000000000,2*6D |
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!AIVDM,1,1,,B,33bU7n5000Of2hBMRB6bCTs40000,0*26 |
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!AIVDM,1,1,,A,33bE4P5000Of3c<MR@=lijb>0000,0*74 |
||||
!AIVDM,1,1,,B,33bE4P5Oh0Of3c<MR@=nEBb>0000,0*56 |
||||
!AIVDM,2,1,3,B,53bU7n02=f5I09`h00058dhuN18E<tiHD000,0*02 |
||||
!AIVDM,2,2,3,B,0016:0:2<69T0?TmhCTi@@0000000000000,2*66 |
||||
!AIVDM,1,1,,A,33aO?TUP00Of5C8MR?<Pb?wF0Dh:,0*07 |
||||
!AIVDM,2,1,4,B,53aO?TT2C4pe09IP00058dhuN08D4<tp0000,0*0F |
||||
!AIVDM,2,2,4,B,0016=H=4;v?Te;1hTmh@000000000000000,2*68 |
||||
!AIVDM,1,1,,A,33bE4P5000Of3c>MR@>2ORb>0000,0*35 |
||||
!AIVDM,1,1,,B,33aO?TUP00Of5BRMR?>hb?wD0Dnb,0*09 |
||||
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Reference in new issue