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compass - /dev/ttyUSB1, 115200

gps - /dev/ttyACM0, 960057600

modem - /dev/ttyUSB0, 19200

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Kassandra:

compass - /dev/ttyUSB1ttyUSB2, 115200

modem - /dev/ttyUSB0ttyUSB1, 19200

altimeter - /dev/ttyUSB2ttyUSB0, 9600