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ZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler"
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DCreated PCaller Thread at 403DC4E0��F���d
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@ƿ����d
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iF�����d
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TethysEncryptionƿ㒀�d
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IG�����d
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000000*e code=029B elementURI="Vehicle.sendDataToShore" type=01
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 �@*e code=02A0 elementURI="AHRS_sp3003D.loadControl" type=01
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*e code=0358 elementURI="PNI_TCM.readAccelerations" type=01
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zLooking for Config files in directory: Config/lrauv-aku/root/^�ߚ��d
nReading configuration overrides from Data/persisted.cfg�� �d
@Loading Module at Modules/BIT.so*n code=001D name="SBIT"
��Q���d
@Construct Startup Built In Test.*e code=0359 elementURI="SBIT.SBITRunning" type=02
*a code=02FA owner=001D element=0359 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=035A elementURI="VerticalControl.verticalMode" type=02
*a code=02FB owner=001D element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=035B elementURI="VerticalControl.elevatorAngleCmd" type=02
*a code=02FC owner=001D element=035B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=02FD owner=001D element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=035C elementURI="VerticalControl.massPositionCmd" type=02
*a code=02FE owner=001D element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=02FF owner=001D element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=035D elementURI="HorizontalControl.horizontalMode" type=02
*a code=0300 owner=001D element=035D universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=035E elementURI="HorizontalControl.rudderAngleCmd" type=02
*a code=0301 owner=001D element=035E universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0302 owner=001D element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0303 owner=001D element=007E universal=3FFF unitName="none" type=00 size=0008 fl=04
*a code=0304 owner=001D element=007F universal=3FFF unitName="none" type=00 size=0029 fl=04
*a code=0305 owner=001D element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0306 owner=001D element=00C8 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0307 owner=001D element=00C9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0308 owner=001D element=00C5 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=0309 owner=001D element=009F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=030A owner=001D element=01E1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=030B owner=001D element=01ED universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=030C owner=001D element=01FA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
q�n���d

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fSyncComponent "SBIT" handled in the control thread.*n code=001E name="IBIT"

�o���d
DConstruct Initiated Built In Test.*a code=030D owner=001E element=0061 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=030E owner=001E element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=030F owner=001E element=035B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0310 owner=001E element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0311 owner=001E element=005D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0312 owner=001E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0313 owner=001E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0314 owner=001E element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0315 owner=001E element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0316 owner=001E element=0359 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=035F elementURI="NAL9602.sigQuality" type=02
*a code=0317 owner=001E element=035F universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=0360 elementURI="NAL9602.goodFix" type=02
*a code=0318 owner=001E element=0360 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0319 owner=001E element=035D universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=031A owner=001E element=035E universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=031B owner=001E element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0361 elementURI="Onboard.Pressure" type=02
*a code=031C owner=001E element=0361 universal=3FFF unitName="pascal" type=0B size=0003 fl=04
*e code=0362 elementURI="Onboard.Humidity" type=02
*a code=031D owner=001E element=0362 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=031E owner=001E element=0081 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04
*a code=031F owner=001E element=0082 universal=3FFF unitName="volt" type=0B size=0003 fl=04
*a code=0320 owner=001E element=0068 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0321 owner=001E element=0067 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0322 owner=001E element=0069 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0323 owner=001E element=006A universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
*a code=0324 owner=001E element=00A8 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0325 owner=001E element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0326 owner=001E element=009F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0327 owner=001E element=00DA universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0328 owner=001E element=00C5 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=0329 owner=001E element=01E1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=032A owner=001E element=01FA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
������d

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fSyncComponent "IBIT" handled in the control thread.*n code=001F name="CBIT"
*a code=032B owner=001F element=0066 universal=3FFF unitName="bool" type=02 size=0001 fl=04
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FConstruct Continuous Built In Test.*e code=0363 elementURI="CBIT.clearFaultCmd" type=02
*a code=032C owner=001F element=0363 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0364 elementURI="CBIT.clearLeakFaultCmd" type=02
*a code=032D owner=001F element=0364 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0365 elementURI="CBIT.empiricalFaultElevOffset" type=02
*a code=032E owner=001F element=0365 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0366 elementURI="SpeedControl.speedCmd" type=02
*a code=032F owner=001F element=0366 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0330 owner=001F element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0367 elementURI="Batt_Ocean_Server.BattTemp_0" type=00
*a code=0331 owner=001F element=0367 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=0368 elementURI="Batt_Ocean_Server.BattTemp_1" type=00
*a code=0332 owner=001F element=0368 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=0369 elementURI="Batt_Ocean_Server.BattTemp_2" type=00
*a code=0333 owner=001F element=0369 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=036A elementURI="Batt_Ocean_Server.BattTemp_3" type=00
*a code=0334 owner=001F element=036A universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=036B elementURI="Batt_Ocean_Server.BattTemp_4" type=00
*a code=0335 owner=001F element=036B universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=036C elementURI="Batt_Ocean_Server.BattTemp_5" type=00
*a code=0336 owner=001F element=036C universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=036D elementURI="Batt_Ocean_Server.BattTemp_6" type=00
*a code=0337 owner=001F element=036D universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=036E elementURI="Batt_Ocean_Server.BattTemp_7" type=00
*a code=0338 owner=001F element=036E universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=036F elementURI="Batt_Ocean_Server.BattTemp_8" type=00
*a code=0339 owner=001F element=036F universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=0370 elementURI="Batt_Ocean_Server.BattTemp_9" type=00
*a code=033A owner=001F element=0370 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=0371 elementURI="Batt_Ocean_Server.BattTemp_10" type=00
*a code=033B owner=001F element=0371 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=0372 elementURI="Batt_Ocean_Server.BattTemp_11" type=00
*a code=033C owner=001F element=0372 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=033D owner=001F element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=033E owner=001F element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=033F owner=001F element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0340 owner=001F element=0013 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0341 owner=001F element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0342 owner=001F element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0373 elementURI="CBIT.shorePowerOn" type=02
*a code=0343 owner=001F element=0373 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=0374 elementURI="CBIT.platform_fault" type=00
*a code=0344 owner=001F element=0374 universal=002A unitName="enum" type=02 size=0001 fl=05
*e code=0375 elementURI="CBIT.platform_fault_leak" type=00
*a code=0345 owner=001F element=0375 universal=002B unitName="enum" type=02 size=0001 fl=05
*a code=0346 owner=001F element=0062 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=0376 elementURI="CBIT.GFCHANA0Current" type=02
*a code=0347 owner=001F element=0376 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0377 elementURI="CBIT.GFCHANA1Current" type=02
*a code=0348 owner=001F element=0377 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0378 elementURI="CBIT.GFCHANA2Current" type=02
*a code=0349 owner=001F element=0378 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0379 elementURI="CBIT.GFCHANA3Current" type=02
*a code=034A owner=001F element=0379 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=037A elementURI="CBIT.GFCHANB0Current" type=02
*a code=034B owner=001F element=037A universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=037B elementURI="CBIT.GFCHANB1Current" type=02
*a code=034C owner=001F element=037B universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=037C elementURI="CBIT.GFCHANB2Current" type=02
*a code=034D owner=001F element=037C universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=037D elementURI="CBIT.GFCHANB3Current" type=02
*a code=034E owner=001F element=037D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=037E elementURI="CBIT.GFCHANOpenCurrent" type=02
*a code=034F owner=001F element=037E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*a code=0350 owner=001F element=0365 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=037F elementURI="CBIT.empericalClassifierFaultDetected" type=02
*a code=0351 owner=001F element=037F universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=0380 elementURI="CBIT.binnedDepthRate" type=02
*a code=0352 owner=001F element=0380 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0353 owner=001F element=0068 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0354 owner=001F element=0067 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0355 owner=001F element=006C universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0356 owner=001F element=006D universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0357 owner=001F element=006E universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0358 owner=001F element=006F universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0359 owner=001F element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=035A owner=001F element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=035B owner=001F element=0072 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=035C owner=001F element=0073 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=035D owner=001F element=0074 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=035E owner=001F element=0075 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=035F owner=001F element=0076 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=0360 owner=001F element=0077 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=0361 owner=001F element=0078 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=0362 owner=001F element=0079 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=0363 owner=001F element=007A universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=0364 owner=001F element=007B universal=3FFF unitName="hour" type=0B size=0003 fl=04
��[���d

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fSyncComponent "CBIT" handled in the control thread.��\���d
�Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)��]���d
HLoading Module at Modules/Control.so*n code=0020 name="VerticalControl"

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4Construct VerticalControl.*a code=0365 owner=0020 element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0381 elementURI="VerticalControl.depthCmd" type=02
*a code=0366 owner=0020 element=0381 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=0382 elementURI="VerticalControl.depthRateCmd" type=02
*a code=0367 owner=0020 element=0382 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*e code=0383 elementURI="VerticalControl.pitchCmd" type=02
*a code=0368 owner=0020 element=0383 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0384 elementURI="VerticalControl.pitchRateCmd" type=02
*a code=0369 owner=0020 element=0384 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=0385 elementURI="VerticalControl.buoyancyCmd" type=02
*a code=036A owner=0020 element=0385 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=036B owner=0020 element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=036C owner=0020 element=035B universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0386 elementURI="LoopControl.periodCmd" type=02
*a code=036D owner=0020 element=0386 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=036E owner=0020 element=0366 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=036F owner=0020 element=00A5 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0370 owner=0020 element=00A6 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0371 owner=0020 element=00A7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0372 owner=0020 element=00A8 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0373 owner=0020 element=00A9 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0374 owner=0020 element=00AA universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0375 owner=0020 element=00AB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0376 owner=0020 element=00AC universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0377 owner=0020 element=00AD universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0378 owner=0020 element=00AE universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0379 owner=0020 element=00AF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=037A owner=0020 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=037B owner=0020 element=00B1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=037C owner=0020 element=00B2 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=037D owner=0020 element=00B4 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=037E owner=0020 element=00B3 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04
*a code=037F owner=0020 element=00B5 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0380 owner=0020 element=00B6 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0381 owner=0020 element=00B7 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0382 owner=0020 element=00B9 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0383 owner=0020 element=00B8 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=0384 owner=0020 element=00BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0385 owner=0020 element=00BB universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0386 owner=0020 element=00BC universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0387 owner=0020 element=00BD universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0388 owner=0020 element=00BF universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=0389 owner=0020 element=00BE universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=038A owner=0020 element=00C0 universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=038B owner=0020 element=00C1 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=038C owner=0020 element=00C2 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=038D owner=0020 element=00C3 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=038E owner=0020 element=00C4 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=038F owner=0020 element=00C5 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=0390 owner=0020 element=00C6 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0391 owner=0020 element=00C7 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0392 owner=0020 element=00C8 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0393 owner=0020 element=00C9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0394 owner=0020 element=00CA universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0395 owner=0020 element=00CB universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=0396 owner=0020 element=00CC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0397 owner=0020 element=00CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0398 owner=0020 element=00CE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0399 owner=0020 element=00CF universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=039A owner=0020 element=00D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=039B owner=0020 element=00D1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=039C owner=0020 element=00D2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=039D owner=0020 element=00D3 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=039E owner=0020 element=00D4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=039F owner=0020 element=00D5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03A0 owner=0020 element=00A1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=03A1 owner=0020 element=00D6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03A2 owner=0020 element=00D7 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03A3 owner=0020 element=00D8 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=03A4 owner=0020 element=00D9 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=03A5 owner=0020 element=00DA universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03A6 owner=0020 element=00DB universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=03A7 owner=0020 element=01E1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03A8 owner=0020 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03A9 owner=0020 element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03AA owner=0020 element=0031 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03AB owner=0020 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03AC owner=0020 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03AD owner=0020 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03AE owner=0020 element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0387 elementURI="VerticalControl.depth2buoyIntInternal" type=02
*a code=03AF owner=0020 element=0387 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*e code=0388 elementURI="VerticalControl.depthErrorInternal" type=02
*a code=03B0 owner=0020 element=0388 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0389 elementURI="VerticalControl.depthIntegralInternal" type=02
*a code=03B1 owner=0020 element=0389 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=038A elementURI="VerticalControl.dtInternal" type=02
*a code=03B2 owner=0020 element=038A universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=038B elementURI="VerticalControl.elevatorIntegralInternal" type=02
*a code=03B3 owner=0020 element=038B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=038C elementURI="VerticalControl.massIntegralInternal" type=02
*a code=03B4 owner=0020 element=038C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=038D elementURI="VerticalControl.massPitchErrorInternal" type=02
*a code=03B5 owner=0020 element=038D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=038E elementURI="VerticalControl.pitchInternal" type=02
*a code=03B6 owner=0020 element=038E universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=038F elementURI="VerticalControl.smoothDepthInternal" type=02
*a code=03B7 owner=0020 element=038F universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=03B8 owner=0020 element=0366 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=0390 elementURI="VerticalControl.elevatorAngleAction" type=02
*a code=03B9 owner=0020 element=0390 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0391 elementURI="VerticalControl.massPositionAction" type=02
*a code=03BA owner=0020 element=0391 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0392 elementURI="VerticalControl.buoyancyAction" type=02
*a code=03BB owner=0020 element=0392 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=03BC owner=0020 element=0390 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=03BD owner=0020 element=0391 universal=3FFF unitName="meter" type=0B size=0003 fl=04
1�圀�d

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|SyncComponent "VerticalControl" handled in the control thread.*n code=0021 name="HorizontalControl"
��最�d
8Construct HorizontalControl.*a code=03BE owner=0021 element=035D universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0393 elementURI="HorizontalControl.latitudeCmd" type=02
*a code=03BF owner=0021 element=0393 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=0394 elementURI="HorizontalControl.longitudeCmd" type=02
*a code=03C0 owner=0021 element=0394 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=0395 elementURI="HorizontalControl.headingCmd" type=02
*a code=03C1 owner=0021 element=0395 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0396 elementURI="HorizontalControl.headingRateCmd" type=02
*a code=03C2 owner=0021 element=0396 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=03C3 owner=0021 element=035E universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0397 elementURI="HorizontalControl.bearingCmd" type=02
*a code=03C4 owner=0021 element=0397 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=03C5 owner=0021 element=0095 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=03C6 owner=0021 element=0096 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=03C7 owner=0021 element=0097 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=03C8 owner=0021 element=0098 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=03C9 owner=0021 element=0099 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=03CA owner=0021 element=009A universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04
*a code=03CB owner=0021 element=009B universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=03CC owner=0021 element=009C universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=03CD owner=0021 element=009D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03CE owner=0021 element=009E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03CF owner=0021 element=009F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03D0 owner=0021 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03D1 owner=0021 element=0046 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03D2 owner=0021 element=0013 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03D3 owner=0021 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03D4 owner=0021 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0398 elementURI="HorizontalControl.headingInternal" type=02
*a code=03D5 owner=0021 element=0398 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0399 elementURI="HorizontalControl.smoothHeadingInternal" type=02
*a code=03D6 owner=0021 element=0399 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=039A elementURI="HorizontalControl.headingIntegralInternal" type=02
*a code=03D7 owner=0021 element=039A universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=039B elementURI="HorizontalControl.xteIntegralInternal" type=02
*a code=03D8 owner=0021 element=039B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=039C elementURI="HorizontalControl.xteInternal" type=02
*a code=03D9 owner=0021 element=039C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=039D elementURI="HorizontalControl.kxteInternal" type=02
*a code=03DA owner=0021 element=039D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=039E elementURI="HorizontalControl.bearingInternal" type=02
*a code=03DB owner=0021 element=039E universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=039F elementURI="HorizontalControl.rudderAngleAction" type=02
*a code=03DC owner=0021 element=039F universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=03DD owner=0021 element=039F universal=3FFF unitName="radian" type=2F size=0004 fl=04
q����d

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�SyncComponent "HorizontalControl" handled in the control thread.*n code=0022 name="SpeedControl"

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.Construct SpeedControl.*a code=03DE owner=0022 element=0366 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=03DF owner=0022 element=00A3 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
*a code=03E0 owner=0022 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A0 elementURI="SpeedControl.propOmegaAction" type=02
*a code=03E1 owner=0022 element=03A0 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
��%���d

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vSyncComponent "SpeedControl" handled in the control thread.*n code=0023 name="LoopControl"
��&���d
,Construct LoopControl.*a code=03E2 owner=0023 element=0386 universal=3FFF unitName="second" type=0B size=0003 fl=04
��&���d

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tSyncComponent "LoopControl" handled in the control thread.��'���d
�Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)��(���d
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*a code=03E3 owner=0024 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A1 elementURI="DepthRateCalculator.depth_rate" type=00
*a code=03E4 owner=0024 element=03A1 universal=0003 unitName="meter_per_second" type=0B size=0003 fl=05
1	�<���d

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�SyncComponent "DepthRateCalculator" handled in the control thread.*n code=0025 name="PitchRateCalculator"
*a code=03E5 owner=0025 element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A2 elementURI="PitchRateCalculator.platform_pitch_rate" type=00
*a code=03E6 owner=0025 element=03A2 universal=0031 unitName="radian_per_second" type=0B size=0003 fl=05
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ƿA���d
�SyncComponent "PitchRateCalculator" handled in the control thread.*n code=0026 name="SpeedCalculator"
*a code=03E7 owner=0026 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A3 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00
*a code=03E8 owner=0026 element=03A3 universal=0039 unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03A4 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00
*a code=03E9 owner=0026 element=03A4 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05
*a code=03EA owner=0026 element=008B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=03EB owner=0026 element=00A3 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
�	�L���d

ƿL���d
|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0027 name="TempGradientCalculator"
*a code=03EC owner=0027 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03ED owner=0027 element=0059 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A5 elementURI="TempGradientCalculator.upward_derivative_of_sea_water_temperature" type=00
*a code=03EE owner=0027 element=03A5 universal=005E unitName="celsius_per_meter" type=0B size=0003 fl=05
*e code=03A6 elementURI="TempGradientCalculator.thermoclineDepth" type=02
*a code=03EF owner=0027 element=03A6 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=03A7 elementURI="TempGradientCalculator.targetDepth" type=02
*a code=03F0 owner=0027 element=03A7 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=03F1 owner=0027 element=0085 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03F2 owner=0027 element=0086 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=03F3 owner=0027 element=0087 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03F4 owner=0027 element=0088 universal=3FFF unitName="meter" type=0B size=0003 fl=04
�	�[���d

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�SyncComponent "TempGradientCalculator" handled in the control thread.*n code=0028 name="VerticalTemperatureHomogeneityIndexCalculator"
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*a code=03F6 owner=0028 element=0059 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A8 elementURI="VerticalTemperatureHomogeneityIndexCalculator.mean_sea_water_temperature" type=02
*a code=03F7 owner=0028 element=03A8 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=03A9 elementURI="VerticalTemperatureHomogeneityIndexCalculator.vertical_temperature_homogeneity_index" type=02
*a code=03F8 owner=0028 element=03A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=03AA elementURI="VerticalTemperatureHomogeneityIndexCalculator.standard_deviation_sea_water_temperature" type=02
*a code=03F9 owner=0028 element=03AA universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*a code=03FA owner=0028 element=008D universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=03FB owner=0028 element=008E universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03FC owner=0028 element=008F universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03FD owner=0028 element=0090 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03FE owner=0028 element=0091 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=03FF owner=0028 element=0092 universal=3FFF unitName="meter" type=0B size=0003 fl=04
1
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�SyncComponent "VerticalTemperatureHomogeneityIndexCalculator" handled in the control thread.*n code=0029 name="YawRateCalculator"
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*e code=03AB elementURI="YawRateCalculator.platform_yaw_rate" type=00
*a code=0401 owner=0029 element=03AB universal=0046 unitName="radian_per_second" type=0B size=0003 fl=05
q
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�SyncComponent "YawRateCalculator" handled in the control thread.��p���d
�Loaded Module: Derivation (Contains the base derivation components)��q���d
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*a code=0403 owner=002A element=00ED universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0404 owner=002A element=00EE universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0405 owner=002A element=03A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*e code=03AC elementURI="StratificationFrontDetector.level" type=02
*a code=0406 owner=002A element=03AC universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03AD elementURI="StratificationFrontDetector.front" type=02
*a code=0407 owner=002A element=03AD universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=03AE elementURI="StratificationFrontDetector.stratified" type=02
*a code=0408 owner=002A element=03AE universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=03AF elementURI="StratificationFrontDetector.homogeneous" type=02
*a code=0409 owner=002A element=03AF universal=3FFF unitName="bool" type=02 size=0001 fl=05
�����d
>threshold set to: 0.399988 degC
�����d
 (re)initializing�
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�SyncComponent "StratificationFrontDetector" handled in the control thread.������d
�Loaded Module: Estimation (Contains the base estimation components)������d
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NLoading Module at Modules/Navigation.so*n code=002B name="DeadReckonUsingMultipleVelocitySources"
*a code=040A owner=002B element=005D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=040B owner=002B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=040C owner=002B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=040D owner=002B element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03B0 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00
*a code=040E owner=002B element=03B0 universal=0013 unitName="degree" type=37 size=0006 fl=05
*e code=03B1 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00
*a code=040F owner=002B element=03B1 universal=0016 unitName="degree" type=37 size=0006 fl=05
*e code=03B2 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00
*a code=0410 owner=002B element=03B2 universal=0002 unitName="meter" type=0B size=0003 fl=05
*e code=03B3 elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00
*a code=0411 owner=002B element=03B3 universal=0011 unitName="meter" type=0B size=0003 fl=05
*e code=03B4 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00
*a code=0412 owner=002B element=03B4 universal=0009 unitName="meter" type=0B size=0003 fl=05
*e code=03B5 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00
*a code=0413 owner=002B element=03B5 universal=000A unitName="meter" type=0B size=0003 fl=05
*e code=03B6 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00
*a code=0414 owner=002B element=03B6 universal=000B unitName="meter" type=0B size=0003 fl=05
*e code=03B7 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00
*a code=0415 owner=002B element=03B7 universal=000C unitName="radian" type=2F size=0004 fl=05
*e code=03B8 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00
*a code=0416 owner=002B element=03B8 universal=000D unitName="percent" type=0B size=0003 fl=05
*a code=0417 owner=002B element=00F0 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0418 owner=002B element=00F1 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0419 owner=002B element=00F2 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=041A owner=002B element=00F3 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=041B owner=002B element=00F4 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=041C owner=002B element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=041D owner=002B element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=041E owner=002B element=03A3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*e code=03B9 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02
*a code=041F owner=002B element=03B9 universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=03BA elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02
*a code=0420 owner=002B element=03BA universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=03BB elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02
*a code=0421 owner=002B element=03BB universal=3FFF unitName="count" type=0D size=0004 fl=05
�
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�SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=002C name="DeadReckonUsingSpeedCalculator"
*a code=0422 owner=002C element=005D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0423 owner=002C element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0424 owner=002C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0425 owner=002C element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03BC elementURI="DeadReckonUsingSpeedCalculator.latitude" type=00
*a code=0426 owner=002C element=03BC universal=0013 unitName="degree" type=37 size=0006 fl=05
*e code=03BD elementURI="DeadReckonUsingSpeedCalculator.longitude" type=00
*a code=0427 owner=002C element=03BD universal=0016 unitName="degree" type=37 size=0006 fl=05
*e code=03BE elementURI="DeadReckonUsingSpeedCalculator.depth" type=00
*a code=0428 owner=002C element=03BE universal=0002 unitName="meter" type=0B size=0003 fl=05
*e code=03BF elementURI="DeadReckonUsingSpeedCalculator.horizontal_path_length_since_last_fix" type=00
*a code=0429 owner=002C element=03BF universal=0011 unitName="meter" type=0B size=0003 fl=05
*e code=03C0 elementURI="DeadReckonUsingSpeedCalculator.fix_distance_made_good" type=00
*a code=042A owner=002C element=03C0 universal=0009 unitName="meter" type=0B size=0003 fl=05
*e code=03C1 elementURI="DeadReckonUsingSpeedCalculator.fix_horizontal_path_length_since_last_fix" type=00
*a code=042B owner=002C element=03C1 universal=000A unitName="meter" type=0B size=0003 fl=05
*e code=03C2 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_distance" type=00
*a code=042C owner=002C element=03C2 universal=000B unitName="meter" type=0B size=0003 fl=05
*e code=03C3 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_bearing" type=00
*a code=042D owner=002C element=03C3 universal=000C unitName="radian" type=2F size=0004 fl=05
*e code=03C4 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_percent_distance_traveled" type=00
*a code=042E owner=002C element=03C4 universal=000D unitName="percent" type=0B size=0003 fl=05
*a code=042F owner=002C element=00F6 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0430 owner=002C element=00F7 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0431 owner=002C element=00F8 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0432 owner=002C element=00F9 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0433 owner=002C element=00FA universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0434 owner=002C element=03A3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*e code=03C5 elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_orientation_read" type=02
*a code=0435 owner=002C element=03C5 universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=03C6 elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_velocity_read" type=02
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1����d

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�SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.*n code=002D name="DeadReckonWithRespectToWater"
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*a code=0438 owner=002D element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0439 owner=002D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=043A owner=002D element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03C7 elementURI="DeadReckonWithRespectToWater.latitude" type=00
*a code=043B owner=002D element=03C7 universal=0013 unitName="degree" type=37 size=0006 fl=05
*e code=03C8 elementURI="DeadReckonWithRespectToWater.longitude" type=00
*a code=043C owner=002D element=03C8 universal=0016 unitName="degree" type=37 size=0006 fl=05
*e code=03C9 elementURI="DeadReckonWithRespectToWater.depth" type=00
*a code=043D owner=002D element=03C9 universal=0002 unitName="meter" type=0B size=0003 fl=05
*e code=03CA elementURI="DeadReckonWithRespectToWater.horizontal_path_length_since_last_fix" type=00
*a code=043E owner=002D element=03CA universal=0011 unitName="meter" type=0B size=0003 fl=05
*e code=03CB elementURI="DeadReckonWithRespectToWater.fix_distance_made_good" type=00
*a code=043F owner=002D element=03CB universal=0009 unitName="meter" type=0B size=0003 fl=05
*e code=03CC elementURI="DeadReckonWithRespectToWater.fix_horizontal_path_length_since_last_fix" type=00
*a code=0440 owner=002D element=03CC universal=000A unitName="meter" type=0B size=0003 fl=05
*e code=03CD elementURI="DeadReckonWithRespectToWater.fix_residual_distance" type=00
*a code=0441 owner=002D element=03CD universal=000B unitName="meter" type=0B size=0003 fl=05
*e code=03CE elementURI="DeadReckonWithRespectToWater.fix_residual_bearing" type=00
*a code=0442 owner=002D element=03CE universal=000C unitName="radian" type=2F size=0004 fl=05
*e code=03CF elementURI="DeadReckonWithRespectToWater.fix_residual_percent_distance_traveled" type=00
*a code=0443 owner=002D element=03CF universal=000D unitName="percent" type=0B size=0003 fl=05
*a code=0444 owner=002D element=00FC universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0445 owner=002D element=00FD universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0446 owner=002D element=00FE universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0447 owner=002D element=00FF universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0448 owner=002D element=0100 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0449 owner=002D element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03D0 elementURI="DeadReckonWithRespectToWater.elapsed_since_orientation_read" type=02
*a code=044A owner=002D element=03D0 universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=03D1 elementURI="DeadReckonWithRespectToWater.elapsed_since_velocity_read" type=02
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q�D���d

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�SyncComponent "DeadReckonWithRespectToWater" handled in the control thread.*n code=002E name="DeadReckonWithRespectToSeafloor"
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*a code=044D owner=002E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=044E owner=002E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=044F owner=002E element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03D2 elementURI="DeadReckonWithRespectToSeafloor.latitude" type=00
*a code=0450 owner=002E element=03D2 universal=0013 unitName="degree" type=37 size=0006 fl=05
*e code=03D3 elementURI="DeadReckonWithRespectToSeafloor.longitude" type=00
*a code=0451 owner=002E element=03D3 universal=0016 unitName="degree" type=37 size=0006 fl=05
*e code=03D4 elementURI="DeadReckonWithRespectToSeafloor.depth" type=00
*a code=0452 owner=002E element=03D4 universal=0002 unitName="meter" type=0B size=0003 fl=05
*e code=03D5 elementURI="DeadReckonWithRespectToSeafloor.horizontal_path_length_since_last_fix" type=00
*a code=0453 owner=002E element=03D5 universal=0011 unitName="meter" type=0B size=0003 fl=05
*e code=03D6 elementURI="DeadReckonWithRespectToSeafloor.fix_distance_made_good" type=00
*a code=0454 owner=002E element=03D6 universal=0009 unitName="meter" type=0B size=0003 fl=05
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*a code=0455 owner=002E element=03D7 universal=000A unitName="meter" type=0B size=0003 fl=05
*e code=03D8 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_distance" type=00
*a code=0456 owner=002E element=03D8 universal=000B unitName="meter" type=0B size=0003 fl=05
*e code=03D9 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_bearing" type=00
*a code=0457 owner=002E element=03D9 universal=000C unitName="radian" type=2F size=0004 fl=05
*e code=03DA elementURI="DeadReckonWithRespectToSeafloor.fix_residual_percent_distance_traveled" type=00
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*a code=0459 owner=002E element=0102 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=045A owner=002E element=0103 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=045B owner=002E element=0104 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=045C owner=002E element=0105 universal=3FFF unitName="minute" type=0B size=0003 fl=04
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*a code=045E owner=002E element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03DB elementURI="DeadReckonWithRespectToSeafloor.elapsed_since_orientation_read" type=02
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*e code=03DC elementURI="DeadReckonWithRespectToSeafloor.elapsed_since_velocity_read" type=02
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��w���d

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�SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.*n code=002F name="DeadReckonUsingDVLWaterTrack"
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*a code=0462 owner=002F element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0463 owner=002F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0464 owner=002F element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03DD elementURI="DeadReckonUsingDVLWaterTrack.latitude" type=00
*a code=0465 owner=002F element=03DD universal=0013 unitName="degree" type=37 size=0006 fl=05
*e code=03DE elementURI="DeadReckonUsingDVLWaterTrack.longitude" type=00
*a code=0466 owner=002F element=03DE universal=0016 unitName="degree" type=37 size=0006 fl=05
*e code=03DF elementURI="DeadReckonUsingDVLWaterTrack.depth" type=00
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*e code=03E1 elementURI="DeadReckonUsingDVLWaterTrack.fix_distance_made_good" type=00
*a code=0469 owner=002F element=03E1 universal=0009 unitName="meter" type=0B size=0003 fl=05
*e code=03E2 elementURI="DeadReckonUsingDVLWaterTrack.fix_horizontal_path_length_since_last_fix" type=00
*a code=046A owner=002F element=03E2 universal=000A unitName="meter" type=0B size=0003 fl=05
*e code=03E3 elementURI="DeadReckonUsingDVLWaterTrack.fix_residual_distance" type=00
*a code=046B owner=002F element=03E3 universal=000B unitName="meter" type=0B size=0003 fl=05
*e code=03E4 elementURI="DeadReckonUsingDVLWaterTrack.fix_residual_bearing" type=00
*a code=046C owner=002F element=03E4 universal=000C unitName="radian" type=2F size=0004 fl=05
*e code=03E5 elementURI="DeadReckonUsingDVLWaterTrack.fix_residual_percent_distance_traveled" type=00
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*a code=046E owner=002F element=0108 universal=3FFF unitName="count" type=0D size=0004 fl=04
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*e code=03E6 elementURI="DVL_micro.platform_velocity_wrt_sea_water" type=12 blobType=11 fixedSize=0003
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*e code=03E7 elementURI="DeadReckonUsingDVLWaterTrack.elapsed_since_orientation_read" type=02
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�SyncComponent "DeadReckonUsingDVLWaterTrack" handled in the control thread.*n code=0030 name="NavChart"
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*a code=0477 owner=0030 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0478 owner=0030 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0479 owner=0030 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*e code=03EA elementURI="NavChart.height_above_sea_floor" type=00
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������d
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nSyncComponent "NavChart" handled in the control thread.*n code=0031 name="UniversalFixResidualReporter"
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*a code=0480 owner=0031 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=0482 owner=0031 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0483 owner=0031 element=000B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0484 owner=0031 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0485 owner=0031 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04
q�ğ��d

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�SyncComponent "UniversalFixResidualReporter" handled in the control thread.��ş��d
�Loaded Module: Navigation (Contains the base navigation components)��Ɵ��d
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������d
*a code=0487 owner=0032 element=029B universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0488 owner=0032 element=017B universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0489 owner=0032 element=017C universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=048A owner=0032 element=017D universal=3FFF unitName="minute" type=0B size=0003 fl=04
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��G���d

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xSyncComponent "DataOverHttps" handled in the control thread.*n code=0033 name="Depth_Keller"
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���_���d
HC*a code=0490 owner=0033 element=0185 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
*a code=0491 owner=0033 element=0186 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04
*a code=0492 owner=0033 element=0187 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
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��a���d

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vSyncComponent "Depth_Keller" handled in the control thread.*n code=0034 name="NAL9602"
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*a code=0495 owner=0034 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0496 owner=0034 element=0013 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0497 owner=0034 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=0498 owner=0034 element=03EF universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03F0 elementURI="NAL9602.SNRSatellite_1" type=00
*a code=0499 owner=0034 element=03F0 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03F1 elementURI="NAL9602.SNRSatellite_2" type=00
*a code=049A owner=0034 element=03F1 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03F2 elementURI="NAL9602.SNRSatellite_3" type=00
*a code=049B owner=0034 element=03F2 universal=3FFF unitName="count" type=0D size=0004 fl=05
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*e code=03FB elementURI="NAL9602.numSatellites" type=02
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*a code=04A6 owner=0034 element=035F universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03FC elementURI="NAL9602.SOG" type=02
*a code=04A7 owner=0034 element=03FC universal=3FFF unitName="knot" type=0B size=0003 fl=05
*e code=03FD elementURI="NAL9602.COG" type=02
*a code=04A8 owner=0034 element=03FD universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03FE elementURI="NAL9602.time_fix" type=00
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;4*e code=0400 elementURI="NAL9602.longitude_fix" type=00
*a code=04AB owner=0034 element=0400 universal=0017 unitName="degree" type=37 size=0006 fl=05


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;4*e code=0401 elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002
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;4*e code=0402 elementURI="NAL9602.platform_communications" type=00
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*a code=04AF owner=0034 element=029B universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04B0 owner=0034 element=029C universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04B1 owner=0034 element=0191 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04B2 owner=0034 element=0192 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04B3 owner=0034 element=0193 universal=3FFF unitName="bool" type=02 size=0001 fl=04
1
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lSyncComponent "NAL9602" handled in the control thread.*n code=0035 name="Onboard"
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pCould not find element OnboardSecondaryBatteryCurrent.ad������d
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pCould not find element OnboardMotherboard3_15VCurrent.ad������d
�Could not open device '/dev/invalid' at OnboardMotherboard3_15VCurrent.ad������d
vCould not find element OnboardMotherboard3_15VCurrent.adRes������d
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nCould not find element OnboardMotherboard3_3VCurrent.ad������d
�Could not open device '/dev/invalid' at OnboardMotherboard3_3VCurrent.ad������d
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vCould not find element OnboardMotherboard3_3VCurrent.adVref������d
nCould not find element OnboardMotherboard1_8VCurrent.ad������d
�Could not open device '/dev/invalid' at OnboardMotherboard1_8VCurrent.ad������d
tCould not find element OnboardMotherboard1_8VCurrent.adRes������d
vCould not find element OnboardMotherboard1_8VCurrent.adVref*a code=04B5 owner=0035 element=0361 universal=3FFF unitName="pascal" type=0B size=0003 fl=05
*e code=0403 elementURI="Onboard.Temperature" type=02
*a code=04B6 owner=0035 element=0403 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*a code=04B7 owner=0035 element=0362 universal=3FFF unitName="percent" type=0B size=0003 fl=05
*e code=0404 elementURI="Onboard.SecBattCurrent" type=02
*a code=04B8 owner=0035 element=0404 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0405 elementURI="Onboard.EmergBattCurrent" type=02
*a code=04B9 owner=0035 element=0405 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0406 elementURI="Onboard.MB5VCurrent" type=02
*a code=04BA owner=0035 element=0406 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0407 elementURI="Onboard.MB3p15VCurrent" type=02
*a code=04BB owner=0035 element=0407 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0408 elementURI="Onboard.MB3p3VCurrent" type=02
*a code=04BC owner=0035 element=0408 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0409 elementURI="Onboard.MB1p8VCurrent" type=02
*a code=04BD owner=0035 element=0409 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=040A elementURI="Onboard.platform_average_current" type=00
*a code=04BE owner=0035 element=040A universal=001C unitName="milliampere" type=0B size=0003 fl=05
Q
)�ߡ��d
�9*e code=040B elementURI="Onboard.platform_battery_charge_usage" type=00
*a code=04BF owner=0035 element=040B universal=001E unitName="unspecified" type=0B size=0003 fl=05
Q
-�㡀�d
aD*a code=04C0 owner=0035 element=019A universal=3FFF unitName="pound_per_square_inch_per_volt" type=0B size=0003 fl=04
*a code=04C1 owner=0035 element=019B universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
*a code=04C2 owner=0035 element=02E2 universal=3FFF unitName="count" type=0D size=0004 fl=04
q
�䡀�d

ƿ塀�d
lSyncComponent "Onboard" handled in the control thread.*n code=0036 name="Radio_Surface"
*a code=04C3 owner=0036 element=01A6 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04C4 owner=0036 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C5 owner=0036 element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=040C elementURI="Radio_Surface.RadioPower" type=02
*a code=04C6 owner=0036 element=040C universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=04C7 owner=0036 element=01A8 universal=3FFF unitName="meter" type=0B size=0003 fl=04
�
�졀�d

ƿ졀�d
hComponent "Radio_Surface" handled in its own thread.*n code=0037 name="Radio_Surface ThreadHandler"
������d
DCreated PCaller Thread at 407B84E0������d
DProtected caller Thread ID is 8360*n code=0038 name="PNI_TCM"
*a code=04C8 owner=0038 element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04C9 owner=0038 element=0013 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04CA owner=0038 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04CB owner=0038 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=040D elementURI="PNI_TCM.CompassOrientation" type=02
*a code=04CC owner=0038 element=040D universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=040E elementURI="PNI_TCM.CompassTemperature" type=02
*a code=04CD owner=0038 element=040E universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=040F elementURI="PNI_TCM.Mx" type=02
*a code=04CE owner=0038 element=040F universal=3FFF unitName="microtesla" type=0B size=0003 fl=05
*e code=0410 elementURI="PNI_TCM.My" type=02
*a code=04CF owner=0038 element=0410 universal=3FFF unitName="microtesla" type=0B size=0003 fl=05
*e code=0411 elementURI="PNI_TCM.Mz" type=02
*a code=04D0 owner=0038 element=0411 universal=3FFF unitName="microtesla" type=0B size=0003 fl=05
*e code=0412 elementURI="PNI_TCM.platform_magnetic_orientation" type=00
*a code=04D1 owner=0038 element=0412 universal=002C unitName="radian" type=2F size=0004 fl=05
*e code=0413 elementURI="PNI_TCM.platform_orientation" type=00
*a code=04D2 owner=0038 element=0413 universal=002E unitName="radian" type=2F size=0004 fl=05
*e code=0414 elementURI="PNI_TCM.platform_pitch_angle" type=00
*a code=04D3 owner=0038 element=0414 universal=0030 unitName="radian" type=2F size=0004 fl=05
*e code=0415 elementURI="PNI_TCM.platform_roll_angle" type=00
*a code=04D4 owner=0038 element=0415 universal=0035 unitName="radian" type=2F size=0004 fl=05
*e code=0416 elementURI="PNI_TCM.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003
*a code=04D5 owner=0038 element=0416 universal=002F unitName="none" type=00 size=0000 fl=05
*a code=04D6 owner=0038 element=019F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04D7 owner=0038 element=01A2 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=04D8 owner=0038 element=01A3 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=04D9 owner=0038 element=01A4 universal=3FFF unitName="degree" type=2F size=0004 fl=04
1����d

ƿ���d
lSyncComponent "PNI_TCM" handled in the control thread.�����d
lLoaded Module: Sensor (Contains the sensor components)�����d
DLoading Module at Modules/Servo.so��o���d
�Loaded Module: Servo (This is the module containing motor controllers)��p���d
LLoading Module at Modules/Simulator.so��Ȣ��d
�Loaded Module: Simulator (This is the module containing the Simulator)��ɢ��d
HLoading Module at Modules/Trigger.so��ߢ��d
|Loaded Module: Trigger (Contains triggers for use in missions)*n code=0039 name="MissionManager"
*a code=04DA owner=0039 element=0359 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04DB owner=0039 element=0061 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0417 elementURI="MissionManager.mission_started" type=00
*a code=04DC owner=0039 element=0417 universal=0018 unitName="count" type=0D size=0004 fl=05
ƿ⢀�d
zSyncComponent "MissionManager" handled in the control thread.*n code=003A name="Reporter"
ƿ㢀�d
nSyncComponent "Reporter" handled in the control thread.*n code=003B name="NavChartDb"
*e code=0418 elementURI="NavChartDb.closestDistance" type=02
*a code=04DD owner=003B element=0418 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0419 elementURI="NavChartDb.nextDistance" type=02
*a code=04DE owner=003B element=0419 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=041A elementURI="NavChartDb.closestDepth" type=02
*a code=04DF owner=003B element=041A universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=041B elementURI="NavChartDb.nextDepth" type=02
*a code=04E0 owner=003B element=041B universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=04E1 owner=003B element=0114 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
ƿ颀�d
bComponent "NavChartDb" handled in its own thread.*n code=003C name="NavChartDb ThreadHandler"

�ꢀ�d
DCreated PCaller Thread at 408664E0�뢀�d
DProtected caller Thread ID is 8361N��d
,Main Thread ID is 6604F��d
&Running supervisor.����d
2Handler Thread ID is 8362!ƿ��d
 L���d

���d
2Handler Thread ID is 8363
���d
4Initializing ControlThread������d
4Initialize SBIT Component.������d
6git: 2015-12-17-10-gfeb4075������d
dgit hash: feb4075d7f18c835d2291dda5f82e8447878ad38*a code=04E2 owner=001D element=007D universal=3FFF unitName="bool" type=02 size=0001 fl=04
������d
�Kernel Reporting Different Release From Configuration.
Kernel Expected: 2.6.27.8
Kernel Reported: 2.6.27.8-00011-g2bc81df-dirty������d
�Kernel Reporting Different Version From Configuration.
Kernel Expected: #639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
Kernel Reported: #646 PREEMPT Thu Feb 11 17:01:12 PST 2016I_�����d

������d
HBeginning SBIT in 20.000000 seconds.�����d
4Initialize IBIT Component.�a�����d
������d
4Initialize CBIT Component.������d
TLast reboot was NOT due to watchdog timer.������d
2Handler Thread ID is 8364�����d
2Handler Thread ID is 8365*e code=041C elementURI="Radio_Surface.durationOfLastRun" type=00
*a code=04E3 owner=0036 element=041C universal=3FFF unitName="second" type=07 size=0002 fl=05
i�����d
Q9����d
Powering up�+���d
2Handler Thread ID is 8366��/���d
�Looking for Electronic Nav Chart files in directory: Resources/ElectronicNavigationCharts��0���d
tAlready Loaded Electronic Nav Chart data from US1WC07M.000��0���d
tAlready Loaded Electronic Nav Chart data from US2MI01M.000��1���d
tAlready Loaded Electronic Nav Chart data from US2MI80M.000��1���d
tAlready Loaded Electronic Nav Chart data from US2WC11M.000��1���d
tAlready Loaded Electronic Nav Chart data from US3CA52M.000��1���d
tAlready Loaded Electronic Nav Chart data from US4CA60M.000��2���d
tAlready Loaded Electronic Nav Chart data from US4IN01M.000��2���d
tAlready Loaded Electronic Nav Chart data from US4MI56M.000��2���d
tAlready Loaded Electronic Nav Chart data from US4MI57M.000��2���d
tAlready Loaded Electronic Nav Chart data from US4MI59M.000��3���d
tAlready Loaded Electronic Nav Chart data from US4MI89M.000��3���d
tAlready Loaded Electronic Nav Chart data from US4MI90M.000��3���d
tAlready Loaded Electronic Nav Chart data from US4WI03M.000��3���d
tAlready Loaded Electronic Nav Chart data from US4WI06M.000��3���d
tAlready Loaded Electronic Nav Chart data from US4WI33M.000��4���d
tAlready Loaded Electronic Nav Chart data from US4WI34M.000��4���d
tAlready Loaded Electronic Nav Chart data from US5CA50M.000��4���d
tAlready Loaded Electronic Nav Chart data from US5CA61M.000��4���d
tAlready Loaded Electronic Nav Chart data from US5CA62M.000��4���d
tAlready Loaded Electronic Nav Chart data from US5CA83M.000*e code=041D elementURI="logger.durationOfLastRun" type=00
*a code=04E4 owner=000A element=041D universal=3FFF unitName="second" type=07 size=0002 fl=05
���E���d
�=
�J���d
HInitialize VerticalControlComponent.��L���d
LInitialize HorizontalControlComponent.
�M���d
BInitialize SpeedControlComponent.��M���d
@Initialize LoopControlComponent.
�M���d
BInitializing DepthRateCalculator.��N���d
BInitializing PitchRateCalculator.
�N���d
:Initializing SpeedCalculator.��N���d
HInitializing TempGradientCalculator.
�O���d
 (re)initializing��O���d
>Initializing YawRateCalculator.��P���d
|Initializing DeadReckonUsingMultipleVelocitySources component.��Q���d
nWill consider orientation measurement stale after 120s.��Q���d
fWill consider velocity measurement stale after 20s.
�R���d
lInitializing DeadReckonUsingSpeedCalculator component.�R���d
nWill consider orientation measurement stale after 120s.�S���d
fWill consider velocity measurement stale after 20s.��S���d
hInitializing DeadReckonWithRespectToWater component.��T���d
nWill consider orientation measurement stale after 120s.��T���d
fWill consider velocity measurement stale after 20s.
�T���d
nInitializing DeadReckonWithRespectToSeafloor component.�U���d
nWill consider orientation measurement stale after 120s.�U���d
fWill consider velocity measurement stale after 20s.��V���d
hInitializing DeadReckonUsingDVLWaterTrack component.��V���d
nWill consider orientation measurement stale after 120s.��V���d
fWill consider velocity measurement stale after 20s.
�W���d
>Initialize NavChart Navigation.��W���d
hInitializing UniversalFixResidualReporter component.��\���d
JLoading Mission: Missions/Startup.xml*n code=003D name="Startup"
*n code=003E name="Startup:A.GoToSurface"

�y���d
,Construct GoToSurface.*a code=04E5 owner=003E element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04E6 owner=003E element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04E7 owner=003E element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04E8 owner=003E element=0382 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=04E9 owner=003E element=0383 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=04EA owner=003E element=0366 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=04EB owner=003E element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=04EC owner=003E element=035B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=04ED owner=003E element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=04EE owner=003E element=00DA universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04EF owner=003E element=00D6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*n code=003F name="Startup:StartupSatComms"
*n code=0040 name="Startup:StartupSatComms:A"
�������d
�=*n code=0041 name="Startup:StartupSatComms:B"
������d
A
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>

������d
JLoading Mission: Missions/Default.xml*n code=0042 name="Default"
���ˣ��d
�=*e code=041E elementURI="Default.ElapsedSinceDefaultStarted" type=00
*a code=04F0 owner=0042 element=041E universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=04F1 owner=0042 element=041E universal=3FFF unitName="minute" type=1F size=0008 fl=05
)�����d
�����d
vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0043 name="Default:A.GoToSurface"
�!����d
,Construct GoToSurface.*a code=04F2 owner=0043 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F3 owner=0043 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F4 owner=0043 element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F5 owner=0043 element=0382 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=04F6 owner=0043 element=0383 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=04F7 owner=0043 element=0366 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=04F8 owner=0043 element=035A universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=04F9 owner=0043 element=035B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=04FA owner=0043 element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=04FB owner=0043 element=00DA universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04FC owner=0043 element=00D6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*n code=0044 name="Default:CheckIn"
*n code=0045 name="Default:CheckIn:Read_GPS"
*n code=0046 name="Default:CheckIn:Read_Iridium"
*n code=0047 name="Default:CheckIn:Read_Iridium:A_Timeout"
*n code=0048 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute"

$����d
$Construct Execute.*n code=0049 name="Default:CheckIn:Read_Iridium:A_Timeout:B"
*n code=004A name="Default:CheckIn:C.Wait"

%�!���d
Construct Wait.���,���d
M=*n code=004B name="Default:CheckIn:D"
*a code=04FD owner=004B element=041E universal=3FFF unitName="minute" type=1F size=0008 fl=05
*a code=04FE owner=004B element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=004C name="Default:CheckIn:E"
*n code=004D name="Default:C"
*n code=004E name="Default:D.Execute"

'�6���d
$Construct Execute.��J���d
= 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Guidance="Tethys/Guidance"
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Sequence/>
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Sequence/>
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


�O���d
�Component order: CycleStarter,DataOverHttps,Depth_Keller,NAL9602,Onboard,PNI_TCM,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalTemperatureHomogeneityIndexCalculator,YawRateCalculator,StratificationFrontDetector,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToWater,DeadReckonWithRespectToSeafloor,DeadReckonUsingDVLWaterTrack,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,SBIT,IBIT,CBIT,Reporter,LogSplitter,�AQ�xt�� �DE����A*e code=041F elementURI="CycleStarter.durationOfLastRun" type=00
*a code=04FF owner=0007 element=041F universal=3FFF unitName="second" type=07 size=0002 fl=05
�^k;*e code=0420 elementURI="DataOverHttps.durationOfLastRun" type=00
*a code=0500 owner=0032 element=0420 universal=3FFF unitName="second" type=07 size=0002 fl=05
	�z�:��M
�=���^=��� ّ����� ���Ѵ�*e code=0421 elementURI="Depth_Keller.durationOfLastRun" type=00
i�
�>*a code=0501 owner=0033 element=0421 universal=3FFF unitName="second" type=07 size=0002 fl=05
)�]�=*e code=0422 elementURI="NAL9602.durationOfLastRun" type=00
*a code=0502 owner=0034 element=0422 universal=3FFF unitName="second" type=07 size=0002 fl=05
I�}�8����>ɖ���C*e code=0423 elementURI="Onboard.durationOfLastRun" type=00
*a code=0503 owner=0035 element=0423 universal=3FFF unitName="second" type=07 size=0002 fl=05
i�e�;��u�=*e code=0424 elementURI="PNI_TCM.durationOfLastRun" type=00
*a code=0504 owner=0038 element=0424 universal=3FFF unitName="second" type=07 size=0002 fl=05
��]<)�e�9*e code=0425 elementURI="DepthRateCalculator.durationOfLastRun" type=00
*a code=0505 owner=0024 element=0425 universal=3FFF unitName="second" type=07 size=0002 fl=05
���Q9*e code=0426 elementURI="PitchRateCalculator.durationOfLastRun" type=00
*a code=0506 owner=0025 element=0426 universal=3FFF unitName="second" type=07 size=0002 fl=05
ɠ���
T=*e code=0427 elementURI="SpeedCalculator.durationOfLastRun" type=00
*a code=0507 owner=0026 element=0427 universal=3FFF unitName="second" type=07 size=0002 fl=05
�-�8*e code=0428 elementURI="TempGradientCalculator.durationOfLastRun" type=00
*a code=0508 owner=0027 element=0428 universal=3FFF unitName="second" type=07 size=0002 fl=05
	��*e code=0429 elementURI="VerticalTemperatureHomogeneityIndexCalculator.durationOfLastRun" type=00
*a code=0509 owner=0028 element=0429 universal=3FFF unitName="second" type=07 size=0002 fl=05
)���8*e code=042A elementURI="YawRateCalculator.durationOfLastRun" type=00
*a code=050A owner=0029 element=042A universal=3FFF unitName="second" type=07 size=0002 fl=05
I�u�8*e code=042B elementURI="StratificationFrontDetector.durationOfLastRun" type=00
*a code=050B owner=002A element=042B universal=3FFF unitName="second" type=07 size=0002 fl=05
i���8�	`Starting up and don't have orientation data yet.�	TAll data for platform velocity is invalid.)�	��	�=)�	�
�u	@�
�u	@�
�u	@�
�u	@�}	�Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan*e code=042C elementURI="DeadReckonUsingMultipleVelocitySources.durationOfLastRun" type=00
*a code=050C owner=002B element=042C universal=3FFF unitName="second" type=07 size=0002 fl=05
��U�<
U`Starting up and don't have orientation data yet.!�]@!�]@!�]@!�]@*e code=042D elementURI="DeadReckonUsingSpeedCalculator.durationOfLastRun" type=00
*a code=050D owner=002C element=042D universal=3FFF unitName="second" type=07 size=0002 fl=05
����:����=��`Starting up and don't have orientation data yet.a�@a!�@a%�@a)�@*e code=042E elementURI="DeadReckonWithRespectToWater.durationOfLastRun" type=00
*a code=050E owner=002D element=042E universal=3FFF unitName="second" type=07 size=0002 fl=05
ɡ�:
}`Starting up and don't have orientation data yet.�I}@�M}@�Q}@�U�@*e code=042F elementURI="DeadReckonWithRespectToSeafloor.durationOfLastRun" type=00
*a code=050F owner=002E element=042F universal=3FFF unitName="second" type=07 size=0002 fl=05
顥�:��`Starting up and don't have orientation data yet.�u�@�y�@�}�@���@*e code=0430 elementURI="DeadReckonUsingDVLWaterTrack.durationOfLastRun" type=00
��u
Z=*a code=0510 owner=002F element=0430 universal=3FFF unitName="second" type=07 size=0002 fl=05
	��:*e code=0431 elementURI="NavChart.durationOfLastRun" type=00
*a code=0511 owner=0030 element=0431 universal=3FFF unitName="second" type=07 size=0002 fl=05
)�=*e code=0432 elementURI="UniversalFixResidualReporter.durationOfLastRun" type=00
*a code=0512 owner=0031 element=0432 universal=3FFF unitName="second" type=07 size=0002 fl=05
I�e*e code=0433 elementURI="MissionManager.durationOfLastRun" type=00
*a code=0513 owner=0039 element=0433 universal=3FFF unitName="second" type=07 size=0002 fl=05
i���8Iw�iw��w:)v���u���v��iv��*e code=0434 elementURI="VerticalControl.durationOfLastRun" type=00
*a code=0514 owner=0020 element=0434 universal=3FFF unitName="second" type=07 size=0002 fl=05
��X;��-b=�{e*e code=0435 elementURI="HorizontalControl.durationOfLastRun" type=00
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