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*e code=0003 elementURI="acoustic_contact_address" type=04
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*e code=0008 elementURI="direction_of_sea_water_velocity" type=04
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*e code=000D elementURI="fix_distance_made_good" type=04
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*e code=0026 elementURI="platform_battery_fully_charged" type=04
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*e code=0039 elementURI="platform_relative_humidity" type=04
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*a code=0401 owner=0021 element=0267 universal=3FFF unitName="count" type=0D size=0004 fl=04
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*a code=0404 owner=0021 element=0265 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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*a code=040C owner=0023 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=045F elementURI="SpeedControl.speedCmd" type=02
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*e code=0461 elementURI="VerticalControl.massPositionCmd" type=02
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*a code=0410 owner=0023 element=0278 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0411 owner=0023 element=0277 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0412 owner=0023 element=0279 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0413 owner=0023 element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=0462 elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02
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*e code=0463 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02
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*e code=0465 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02
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*e code=0466 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02
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*e code=0467 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02
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�SyncComponent "ElevatorOffsetCalculator" handled in the control thread.���a�
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*e code=0469 elementURI="VerticalControl.depthCmd" type=02
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*e code=046A elementURI="VerticalControl.depthRateCmd" type=02
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*e code=046B elementURI="VerticalControl.pitchRateCmd" type=02
*a code=041E owner=0024 element=046B universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=046C elementURI="VerticalControl.buoyancyCmd" type=02
*a code=041F owner=0024 element=046C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0420 owner=0024 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=046D elementURI="VerticalControl.elevatorAngleCmd" type=02
*a code=0421 owner=0024 element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=046E elementURI="LoopControl.periodCmd" type=02
*a code=0422 owner=0024 element=046E universal=3FFF unitName="second" type=0B size=0003 fl=04
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*a code=0425 owner=0024 element=007F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0426 owner=0024 element=0080 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0427 owner=0024 element=0081 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0428 owner=0024 element=0082 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0429 owner=0024 element=0083 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=042A owner=0024 element=0084 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=042B owner=0024 element=0085 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=042C owner=0024 element=0086 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=042D owner=0024 element=0087 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=042E owner=0024 element=0088 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=042F owner=0024 element=0089 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0430 owner=0024 element=008A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0431 owner=0024 element=008B universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0432 owner=0024 element=008D universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0433 owner=0024 element=008C universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=0434 owner=0024 element=008E universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0435 owner=0024 element=008F universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0436 owner=0024 element=0090 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0437 owner=0024 element=0092 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
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*a code=0439 owner=0024 element=0093 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=043A owner=0024 element=0094 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=043B owner=0024 element=0095 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=043C owner=0024 element=0096 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=043D owner=0024 element=0098 universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=043E owner=0024 element=0097 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=043F owner=0024 element=0099 universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=0440 owner=0024 element=009A universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0441 owner=0024 element=009B universal=3FFF unitName="none" type=1F size=0008 fl=04
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*a code=0445 owner=0024 element=00A0 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0446 owner=0024 element=00A1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0447 owner=0024 element=00A3 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0448 owner=0024 element=00A2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0449 owner=0024 element=00A4 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=044A owner=0024 element=00A5 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=044B owner=0024 element=00A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=044C owner=0024 element=00A7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=044D owner=0024 element=00A8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=044E owner=0024 element=00A9 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=044F owner=0024 element=00AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0450 owner=0024 element=00AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0451 owner=0024 element=00AC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
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*a code=0453 owner=0024 element=00AE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0454 owner=0024 element=00AF universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0455 owner=0024 element=007A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0456 owner=0024 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0457 owner=0024 element=00B2 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0458 owner=0024 element=00B3 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0459 owner=0024 element=00B4 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=045A owner=0024 element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=045B owner=0024 element=00B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=045C owner=0024 element=0232 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=045D owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=045E owner=0024 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=045F owner=0024 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0460 owner=0024 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0461 owner=0024 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0462 owner=0024 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0463 owner=0024 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=046F elementURI="VerticalControl.depth2buoyIntInternal" type=02
*a code=0464 owner=0024 element=046F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*e code=0470 elementURI="VerticalControl.depthErrorInternal" type=02
*a code=0465 owner=0024 element=0470 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0471 elementURI="VerticalControl.depthIntegralInternal" type=02
*a code=0466 owner=0024 element=0471 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0472 elementURI="VerticalControl.dtInternal" type=02
*a code=0467 owner=0024 element=0472 universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=0473 elementURI="VerticalControl.elevatorIntegralInternal" type=02
*a code=0468 owner=0024 element=0473 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0474 elementURI="VerticalControl.massIntegralInternal" type=02
*a code=0469 owner=0024 element=0474 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0475 elementURI="VerticalControl.massPitchErrorInternal" type=02
*a code=046A owner=0024 element=0475 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0476 elementURI="VerticalControl.pitchInternal" type=02
*a code=046B owner=0024 element=0476 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0477 elementURI="VerticalControl.smoothDepthInternal" type=02
*a code=046C owner=0024 element=0477 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=046D owner=0024 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=0478 elementURI="VerticalControl.elevatorAngleAction" type=02
*a code=046E owner=0024 element=0478 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0479 elementURI="VerticalControl.massPositionAction" type=02
*a code=046F owner=0024 element=0479 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=047A elementURI="VerticalControl.buoyancyAction" type=02
*a code=0470 owner=0024 element=047A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=0471 owner=0024 element=0478 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0472 owner=0024 element=0479 universal=3FFF unitName="meter" type=0B size=0003 fl=04
1	�2b�

ƿ2b�
|SyncComponent "VerticalControl" handled in the control thread.*n code=0025 name="HorizontalControl"
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8Construct HorizontalControl.*e code=047B elementURI="HorizontalControl.horizontalMode" type=02
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*e code=047C elementURI="HorizontalControl.latitudeCmd" type=02
*a code=0474 owner=0025 element=047C universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=047D elementURI="HorizontalControl.longitudeCmd" type=02
*a code=0475 owner=0025 element=047D universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=047E elementURI="HorizontalControl.headingCmd" type=02
*a code=0476 owner=0025 element=047E universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=047F elementURI="HorizontalControl.headingRateCmd" type=02
*a code=0477 owner=0025 element=047F universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=0480 elementURI="HorizontalControl.rudderAngleCmd" type=02
*a code=0478 owner=0025 element=0480 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0481 elementURI="HorizontalControl.bearingCmd" type=02
*a code=0479 owner=0025 element=0481 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0482 elementURI="HorizontalControl.kdHeadingOverride" type=02
*a code=047A owner=0025 element=0482 universal=3FFF unitName="second" type=0B size=0003 fl=04
*e code=0483 elementURI="HorizontalControl.kiHeadingOverride" type=02
*a code=047B owner=0025 element=0483 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*e code=0484 elementURI="HorizontalControl.kpHeadingOverride" type=02
*a code=047C owner=0025 element=0484 universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=047D owner=0025 element=006E universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=047E owner=0025 element=006F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=047F owner=0025 element=0071 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0480 owner=0025 element=0072 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=0481 owner=0025 element=0070 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=0482 owner=0025 element=0073 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04
*a code=0483 owner=0025 element=0074 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0484 owner=0025 element=0075 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=0485 owner=0025 element=0076 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0486 owner=0025 element=0077 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0487 owner=0025 element=0078 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0488 owner=0025 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0489 owner=0025 element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=048A owner=0025 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=048B owner=0025 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=048C owner=0025 element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0485 elementURI="HorizontalControl.headingInternal" type=02
*a code=048D owner=0025 element=0485 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0486 elementURI="HorizontalControl.smoothHeadingInternal" type=02
*a code=048E owner=0025 element=0486 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0487 elementURI="HorizontalControl.headingIntegralInternal" type=02
*a code=048F owner=0025 element=0487 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0488 elementURI="HorizontalControl.xteIntegralInternal" type=02
*a code=0490 owner=0025 element=0488 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0489 elementURI="HorizontalControl.xteInternal" type=02
*a code=0491 owner=0025 element=0489 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=048A elementURI="HorizontalControl.kxteInternal" type=02
*a code=0492 owner=0025 element=048A universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=048B elementURI="HorizontalControl.bearingInternal" type=02
*a code=0493 owner=0025 element=048B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=048C elementURI="HorizontalControl.rudderAngleAction" type=02
*a code=0494 owner=0025 element=048C universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0495 owner=0025 element=048C universal=3FFF unitName="radian" type=2F size=0004 fl=04
q	��b�

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�SyncComponent "HorizontalControl" handled in the control thread.*n code=0026 name="SpeedControl"

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.Construct SpeedControl.*a code=0496 owner=0026 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0497 owner=0026 element=007C universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
*a code=0498 owner=0026 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=048D elementURI="SpeedControl.propOmegaAction" type=02
*a code=0499 owner=0026 element=048D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
�	��b�

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vSyncComponent "SpeedControl" handled in the control thread.*n code=0027 name="LoopControl"
���b�
,Construct LoopControl.*a code=049A owner=0027 element=046E universal=3FFF unitName="second" type=0B size=0003 fl=04
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tSyncComponent "LoopControl" handled in the control thread.���b�
�Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)���b�
NLoading Module at Modules/Navigation.so*n code=0028 name="DeadReckonUsingMultipleVelocitySources"
*a code=049B owner=0028 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=049C owner=0028 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=049D owner=0028 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=049E owner=0028 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=049F owner=0028 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04A0 owner=0028 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=048E elementURI="SetNav.time_fix" type=02
*a code=04A1 owner=0028 element=048E universal=3FFF unitName="second" type=0B size=0003 fl=04
*e code=048F elementURI="SetNav.latitude_fix" type=02
*a code=04A2 owner=0028 element=048F universal=3FFF unitName="degree" type=2F size=0004 fl=04
*e code=0490 elementURI="SetNav.longitude_fix" type=02
*a code=04A3 owner=0028 element=0490 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*e code=0491 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00
*a code=04A4 owner=0028 element=0491 universal=0017 unitName="degree" type=37 size=0006 fl=05
*e code=0492 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00
*a code=04A5 owner=0028 element=0492 universal=001A unitName="degree" type=37 size=0006 fl=05
*e code=0493 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00
*a code=04A6 owner=0028 element=0493 universal=0006 unitName="meter" type=0B size=0003 fl=05
*e code=0494 elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00
*a code=04A7 owner=0028 element=0494 universal=0015 unitName="meter" type=0B size=0003 fl=05
*e code=0495 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00
*a code=04A8 owner=0028 element=0495 universal=000D unitName="meter" type=0B size=0003 fl=05
*e code=0496 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00
*a code=04A9 owner=0028 element=0496 universal=000E unitName="meter" type=0B size=0003 fl=05
*e code=0497 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00
*a code=04AA owner=0028 element=0497 universal=000F unitName="meter" type=0B size=0003 fl=05
*e code=0498 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00
*a code=04AB owner=0028 element=0498 universal=0010 unitName="radian" type=2F size=0004 fl=05
*e code=0499 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00
*a code=04AC owner=0028 element=0499 universal=0011 unitName="percent" type=0B size=0003 fl=05
*a code=04AD owner=0028 element=03ED universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04AE owner=0028 element=03EA universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04AF owner=0028 element=03E9 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04B0 owner=0028 element=03EB universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04B1 owner=0028 element=03EC universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04B2 owner=0028 element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04B3 owner=0028 element=0041 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04B4 owner=0028 element=0457 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*e code=049A elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02
*a code=04B5 owner=0028 element=049A universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=049B elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02
*a code=04B6 owner=0028 element=049B universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=049C elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02
*a code=04B7 owner=0028 element=049C universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=049D elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02
*a code=04B8 owner=0028 element=049D universal=3FFF unitName="count" type=0D size=0004 fl=05
1
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�SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=0029 name="NavChart"
*a code=04B9 owner=0029 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04BA owner=0029 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04BB owner=0029 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04BC owner=0029 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=049E elementURI="NavChart.sea_floor_depth_below_geoid" type=00
*a code=04BD owner=0029 element=049E universal=0053 unitName="meter" type=0B size=0003 fl=05
*e code=049F elementURI="NavChart.height_above_sea_floor" type=00
*a code=04BE owner=0029 element=049F universal=0014 unitName="meter" type=0B size=0003 fl=05
*e code=04A0 elementURI="NavChart.distance_from_shore" type=00
*a code=04BF owner=0029 element=04A0 universal=0009 unitName="meter" type=0B size=0003 fl=05
Q
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�D*e code=04A1 elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02
*a code=04C0 owner=0029 element=04A1 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=04C1 owner=0029 element=040D universal=3FFF unitName="bool" type=02 size=0001 fl=04
q
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nSyncComponent "NavChart" handled in the control thread.*n code=002A name="UniversalFixResidualReporter"
*a code=04C2 owner=002A element=0411 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04C3 owner=002A element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C4 owner=002A element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C5 owner=002A element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C6 owner=002A element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C7 owner=002A element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C8 owner=002A element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04C9 owner=002A element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04CA owner=002A element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04
�
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�SyncComponent "UniversalFixResidualReporter" handled in the control thread.��Cc�
�Loaded Module: Navigation (Contains the base navigation components)��Dc�
LLoading Module at Modules/Simulator.so���c�
�Loaded Module: Simulator (This is the module containing the Simulator)���c�
FLoading Module at Modules/Sensor.so*n code=002B name="DataOverHttps"
*e code=04A2 elementURI="DataOverHttps.platform_communications" type=00
*a code=04CB owner=002B element=04A2 universal=0029 unitName="bool" type=02 size=0001 fl=05
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*e code=04A3 elementURI="DataOverHttps.connectionStatus" type=02
*a code=04CC owner=002B element=04A3 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=04A4 elementURI="Radio_Surface.radio_surface_power" type=02
*a code=04CD owner=002B element=04A4 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=04CE owner=002B element=02A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04CF owner=002B element=00E1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04D0 owner=002B element=00E2 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04D1 owner=002B element=00E4 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04D2 owner=002B element=00E5 universal=3FFF unitName="count" type=0D size=0004 fl=04
�
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hComponent "DataOverHttps" handled in its own thread.*n code=002C name="DataOverHttps ThreadHandler"

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DCreated PCaller Thread at 409064E0�Ye�
DProtected caller Thread ID is 7101*n code=002D name="Depth_Keller"
*a code=04D3 owner=002D element=0104 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04D4 owner=002D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=04A5 elementURI="Depth_Keller.depth" type=00
*a code=04D5 owner=002D element=04A5 universal=0006 unitName="meter" type=0B size=0003 fl=05
*e code=04A6 elementURI="Depth_Keller.sea_water_pressure" type=00
*a code=04D6 owner=002D element=04A6 universal=0058 unitName="decibar" type=0B size=0003 fl=05
Q��he�
HC*a code=04D7 owner=002D element=0107 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
*a code=04D8 owner=002D element=0109 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04
*a code=04D9 owner=002D element=0105 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
*a code=04DA owner=002D element=0106 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
q�ke�

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vSyncComponent "Depth_Keller" handled in the control thread.*n code=002E name="DropWeight"
*e code=04A7 elementURI="DropWeight.dropWeightState" type=02
*a code=04DB owner=002E element=04A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05
��qe�

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rSyncComponent "DropWeight" handled in the control thread.*n code=002F name="NAL9602"
*a code=04DC owner=002F element=0124 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04DD owner=002F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04DE owner=002F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04DF owner=002F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04E0 owner=002F element=0067 universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=04A8 elementURI="NAL9602.SNRSatellite_0" type=00
*a code=04E1 owner=002F element=04A8 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04A9 elementURI="NAL9602.SNRSatellite_1" type=00
*a code=04E2 owner=002F element=04A9 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04AA elementURI="NAL9602.SNRSatellite_2" type=00
*a code=04E3 owner=002F element=04AA universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04AB elementURI="NAL9602.SNRSatellite_3" type=00
*a code=04E4 owner=002F element=04AB universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04AC elementURI="NAL9602.SNRSatellite_4" type=00
*a code=04E5 owner=002F element=04AC universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04AD elementURI="NAL9602.SNRSatellite_5" type=00
*a code=04E6 owner=002F element=04AD universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04AE elementURI="NAL9602.SNRSatellite_6" type=00
*a code=04E7 owner=002F element=04AE universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04AF elementURI="NAL9602.SNRSatellite_7" type=00
*a code=04E8 owner=002F element=04AF universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B0 elementURI="NAL9602.SNRSatellite_8" type=00
*a code=04E9 owner=002F element=04B0 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B1 elementURI="NAL9602.SNRSatellite_9" type=00
*a code=04EA owner=002F element=04B1 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B2 elementURI="NAL9602.SNRSatellite_10" type=00
*a code=04EB owner=002F element=04B2 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B3 elementURI="NAL9602.SNRSatellite_11" type=00
*a code=04EC owner=002F element=04B3 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B4 elementURI="NAL9602.goodFix" type=02
*a code=04ED owner=002F element=04B4 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=04B5 elementURI="NAL9602.numSatellites" type=02
*a code=04EE owner=002F element=04B5 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B6 elementURI="NAL9602.sigQuality" type=02
*a code=04EF owner=002F element=04B6 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=04B7 elementURI="NAL9602.SOG" type=02
*a code=04F0 owner=002F element=04B7 universal=3FFF unitName="knot" type=0B size=0003 fl=05
*e code=04B8 elementURI="NAL9602.COG" type=02
*a code=04F1 owner=002F element=04B8 universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=04B9 elementURI="NAL9602.time_fix" type=00
*a code=04F2 owner=002F element=04B9 universal=0063 unitName="second" type=1F size=0008 fl=05
*e code=04BA elementURI="NAL9602.latitude_fix" type=00
*a code=04F3 owner=002F element=04BA universal=0018 unitName="degree" type=37 size=0006 fl=05
����e�
;4*e code=04BB elementURI="NAL9602.longitude_fix" type=00
*a code=04F4 owner=002F element=04BB universal=001B unitName="degree" type=37 size=0006 fl=05
����e�
;4*e code=04BC elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002
*a code=04F5 owner=002F element=04BC universal=0019 unitName="degree" type=00 size=0000 fl=05
����e�
;4*e code=04BD elementURI="NAL9602.platform_communications" type=00
*a code=04F6 owner=002F element=04BD universal=0029 unitName="bool" type=02 size=0001 fl=05
*a code=04F7 owner=002F element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04F8 owner=002F element=02A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04F9 owner=002F element=02A8 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04FA owner=002F element=0125 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04FB owner=002F element=0126 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04FC owner=002F element=0129 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04FD owner=002F element=012A universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04FE owner=002F element=012B universal=3FFF unitName="byte" type=1F size=0008 fl=04
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lSyncComponent "NAL9602" handled in the control thread.*n code=0030 name="Onboard"
*a code=04FF owner=0030 element=012E universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=04BE elementURI="Onboard.Pressure" type=02
*a code=0500 owner=0030 element=04BE universal=3FFF unitName="pascal" type=0B size=0003 fl=05
*e code=04BF elementURI="Onboard.Temperature" type=02
*a code=0501 owner=0030 element=04BF universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=04C0 elementURI="Onboard.Humidity" type=02
*a code=0502 owner=0030 element=04C0 universal=3FFF unitName="percent" type=0B size=0003 fl=05
*e code=04C1 elementURI="Onboard.platform_battery_voltage" type=00
*a code=0503 owner=0030 element=04C1 universal=0025 unitName="volt" type=0B size=0003 fl=05
��e�
#<*e code=04C2 elementURI="Onboard.platform_average_current" type=00
*a code=0504 owner=0030 element=04C2 universal=0021 unitName="milliampere" type=0B size=0003 fl=05
	�
f�
#<*e code=04C3 elementURI="Onboard.MainBatteryVoltage" type=02
*a code=0505 owner=0030 element=04C3 universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=04C4 elementURI="Onboard.BackupBatteryVoltage" type=02
*a code=0506 owner=0030 element=04C4 universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=04C5 elementURI="Onboard.BatteryCurrent" type=02
*a code=0507 owner=0030 element=04C5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*a code=0508 owner=0030 element=0131 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0509 owner=0030 element=0132 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=050A owner=0030 element=0133 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=050B owner=0030 element=0134 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=050C owner=0030 element=0302 universal=3FFF unitName="count" type=0D size=0004 fl=04
1�f�

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lSyncComponent "Onboard" handled in the control thread.*n code=0031 name="Radio_Surface"
*a code=050D owner=0031 element=0144 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=050E owner=0031 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=050F owner=0031 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0510 owner=0031 element=04A4 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0511 owner=0031 element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
q�f�

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hComponent "Radio_Surface" handled in its own thread.*n code=0032 name="Radio_Surface ThreadHandler"

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DCreated PCaller Thread at 409364E0�f�
DProtected caller Thread ID is 7102*n code=0033 name="DAT"
*a code=0512 owner=0033 element=00E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0513 owner=0033 element=00F1 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0514 owner=0033 element=00EA universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0515 owner=0033 element=00EB universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0516 owner=0033 element=00EC universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0517 owner=0033 element=00ED universal=3FFF unitName="enum" type=02 size=0001 fl=04
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*a code=062A owner=0034 element=05CC universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05CD elementURI="BPC1.BattVoltage_46" type=00
*a code=062B owner=0034 element=05CD universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05CE elementURI="BPC1.BattCapacity_47" type=00
*a code=062C owner=0034 element=05CE universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05CF elementURI="BPC1.BattCurrent_47" type=00
*a code=062D owner=0034 element=05CF universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05D0 elementURI="BPC1.BattStatus_47" type=00
*a code=062E owner=0034 element=05D0 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05D1 elementURI="BPC1.BattTemp_47" type=00
*a code=062F owner=0034 element=05D1 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05D2 elementURI="BPC1.BattVoltage_47" type=00
*a code=0630 owner=0034 element=05D2 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05D3 elementURI="BPC1.BattCapacity_48" type=00
*a code=0631 owner=0034 element=05D3 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05D4 elementURI="BPC1.BattCurrent_48" type=00
*a code=0632 owner=0034 element=05D4 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05D5 elementURI="BPC1.BattStatus_48" type=00
*a code=0633 owner=0034 element=05D5 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05D6 elementURI="BPC1.BattTemp_48" type=00
*a code=0634 owner=0034 element=05D6 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05D7 elementURI="BPC1.BattVoltage_48" type=00
*a code=0635 owner=0034 element=05D7 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05D8 elementURI="BPC1.BattCapacity_49" type=00
*a code=0636 owner=0034 element=05D8 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05D9 elementURI="BPC1.BattCurrent_49" type=00
*a code=0637 owner=0034 element=05D9 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05DA elementURI="BPC1.BattStatus_49" type=00
*a code=0638 owner=0034 element=05DA universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05DB elementURI="BPC1.BattTemp_49" type=00
*a code=0639 owner=0034 element=05DB universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05DC elementURI="BPC1.BattVoltage_49" type=00
*a code=063A owner=0034 element=05DC universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05DD elementURI="BPC1.BattCapacity_50" type=00
*a code=063B owner=0034 element=05DD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05DE elementURI="BPC1.BattCurrent_50" type=00
*a code=063C owner=0034 element=05DE universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05DF elementURI="BPC1.BattStatus_50" type=00
*a code=063D owner=0034 element=05DF universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05E0 elementURI="BPC1.BattTemp_50" type=00
*a code=063E owner=0034 element=05E0 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05E1 elementURI="BPC1.BattVoltage_50" type=00
*a code=063F owner=0034 element=05E1 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05E2 elementURI="BPC1.BattCapacity_51" type=00
*a code=0640 owner=0034 element=05E2 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05E3 elementURI="BPC1.BattCurrent_51" type=00
*a code=0641 owner=0034 element=05E3 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05E4 elementURI="BPC1.BattStatus_51" type=00
*a code=0642 owner=0034 element=05E4 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05E5 elementURI="BPC1.BattTemp_51" type=00
*a code=0643 owner=0034 element=05E5 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05E6 elementURI="BPC1.BattVoltage_51" type=00
*a code=0644 owner=0034 element=05E6 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05E7 elementURI="BPC1.BattCapacity_52" type=00
*a code=0645 owner=0034 element=05E7 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05E8 elementURI="BPC1.BattCurrent_52" type=00
*a code=0646 owner=0034 element=05E8 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05E9 elementURI="BPC1.BattStatus_52" type=00
*a code=0647 owner=0034 element=05E9 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05EA elementURI="BPC1.BattTemp_52" type=00
*a code=0648 owner=0034 element=05EA universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05EB elementURI="BPC1.BattVoltage_52" type=00
*a code=0649 owner=0034 element=05EB universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05EC elementURI="BPC1.BattCapacity_53" type=00
*a code=064A owner=0034 element=05EC universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05ED elementURI="BPC1.BattCurrent_53" type=00
*a code=064B owner=0034 element=05ED universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05EE elementURI="BPC1.BattStatus_53" type=00
*a code=064C owner=0034 element=05EE universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05EF elementURI="BPC1.BattTemp_53" type=00
*a code=064D owner=0034 element=05EF universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05F0 elementURI="BPC1.BattVoltage_53" type=00
*a code=064E owner=0034 element=05F0 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05F1 elementURI="BPC1.BattCapacity_54" type=00
*a code=064F owner=0034 element=05F1 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05F2 elementURI="BPC1.BattCurrent_54" type=00
*a code=0650 owner=0034 element=05F2 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05F3 elementURI="BPC1.BattStatus_54" type=00
*a code=0651 owner=0034 element=05F3 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05F4 elementURI="BPC1.BattTemp_54" type=00
*a code=0652 owner=0034 element=05F4 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05F5 elementURI="BPC1.BattVoltage_54" type=00
*a code=0653 owner=0034 element=05F5 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05F6 elementURI="BPC1.BattCapacity_55" type=00
*a code=0654 owner=0034 element=05F6 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05F7 elementURI="BPC1.BattCurrent_55" type=00
*a code=0655 owner=0034 element=05F7 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05F8 elementURI="BPC1.BattStatus_55" type=00
*a code=0656 owner=0034 element=05F8 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05F9 elementURI="BPC1.BattTemp_55" type=00
*a code=0657 owner=0034 element=05F9 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05FA elementURI="BPC1.BattVoltage_55" type=00
*a code=0658 owner=0034 element=05FA universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=05FB elementURI="BPC1.BattCapacity_56" type=00
*a code=0659 owner=0034 element=05FB universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=05FC elementURI="BPC1.BattCurrent_56" type=00
*a code=065A owner=0034 element=05FC universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=05FD elementURI="BPC1.BattStatus_56" type=00
*a code=065B owner=0034 element=05FD universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=05FE elementURI="BPC1.BattTemp_56" type=00
*a code=065C owner=0034 element=05FE universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=05FF elementURI="BPC1.BattVoltage_56" type=00
*a code=065D owner=0034 element=05FF universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0600 elementURI="BPC1.BattCapacity_57" type=00
*a code=065E owner=0034 element=0600 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0601 elementURI="BPC1.BattCurrent_57" type=00
*a code=065F owner=0034 element=0601 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0602 elementURI="BPC1.BattStatus_57" type=00
*a code=0660 owner=0034 element=0602 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0603 elementURI="BPC1.BattTemp_57" type=00
*a code=0661 owner=0034 element=0603 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0604 elementURI="BPC1.BattVoltage_57" type=00
*a code=0662 owner=0034 element=0604 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0605 elementURI="BPC1.BattCapacity_58" type=00
*a code=0663 owner=0034 element=0605 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0606 elementURI="BPC1.BattCurrent_58" type=00
*a code=0664 owner=0034 element=0606 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0607 elementURI="BPC1.BattStatus_58" type=00
*a code=0665 owner=0034 element=0607 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0608 elementURI="BPC1.BattTemp_58" type=00
*a code=0666 owner=0034 element=0608 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0609 elementURI="BPC1.BattVoltage_58" type=00
*a code=0667 owner=0034 element=0609 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=060A elementURI="BPC1.BattCapacity_59" type=00
*a code=0668 owner=0034 element=060A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=060B elementURI="BPC1.BattCurrent_59" type=00
*a code=0669 owner=0034 element=060B universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=060C elementURI="BPC1.BattStatus_59" type=00
*a code=066A owner=0034 element=060C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=060D elementURI="BPC1.BattTemp_59" type=00
*a code=066B owner=0034 element=060D universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=060E elementURI="BPC1.BattVoltage_59" type=00
*a code=066C owner=0034 element=060E universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=060F elementURI="BPC1.BattCapacity_60" type=00
*a code=066D owner=0034 element=060F universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0610 elementURI="BPC1.BattCurrent_60" type=00
*a code=066E owner=0034 element=0610 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0611 elementURI="BPC1.BattStatus_60" type=00
*a code=066F owner=0034 element=0611 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0612 elementURI="BPC1.BattTemp_60" type=00
*a code=0670 owner=0034 element=0612 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0613 elementURI="BPC1.BattVoltage_60" type=00
*a code=0671 owner=0034 element=0613 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0614 elementURI="BPC1.BattCapacity_61" type=00
*a code=0672 owner=0034 element=0614 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0615 elementURI="BPC1.BattCurrent_61" type=00
*a code=0673 owner=0034 element=0615 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0616 elementURI="BPC1.BattStatus_61" type=00
*a code=0674 owner=0034 element=0616 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0617 elementURI="BPC1.BattTemp_61" type=00
*a code=0675 owner=0034 element=0617 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0618 elementURI="BPC1.BattVoltage_61" type=00
*a code=0676 owner=0034 element=0618 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0619 elementURI="BPC1.BattCapacity_62" type=00
*a code=0677 owner=0034 element=0619 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=061A elementURI="BPC1.BattCurrent_62" type=00
*a code=0678 owner=0034 element=061A universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=061B elementURI="BPC1.BattStatus_62" type=00
*a code=0679 owner=0034 element=061B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=061C elementURI="BPC1.BattTemp_62" type=00
*a code=067A owner=0034 element=061C universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=061D elementURI="BPC1.BattVoltage_62" type=00
*a code=067B owner=0034 element=061D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
1
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fSyncComponent "BPC1" handled in the control thread.���n�
lLoaded Module: Sensor (Contains the sensor components)���n�
DLoading Module at Modules/Servo.so*n code=0035 name="BuoyancyServo"
*a code=067C owner=0035 element=021C universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=067D owner=0035 element=0226 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=067E owner=0035 element=0225 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=067F owner=0035 element=021E universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0680 owner=0035 element=021F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0681 owner=0035 element=0220 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0682 owner=0035 element=0222 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0683 owner=0035 element=0223 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0684 owner=0035 element=0224 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0685 owner=0035 element=0221 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0686 owner=0035 element=021D universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0687 owner=0035 element=0227 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0688 owner=0035 element=0229 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04
*a code=0689 owner=0035 element=022A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=068A owner=0035 element=0228 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=068B owner=0035 element=022D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=068C owner=0035 element=022C universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=068D owner=0035 element=022B universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=068E owner=0035 element=007E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=068F owner=0035 element=0082 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0690 owner=0035 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=061E elementURI="BuoyancyServo.platform_buoyancy_position" type=00
*a code=0691 owner=0035 element=061E universal=0028 unitName="cubic_centimeter" type=0B size=0003 fl=05
Q
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�4*a code=0692 owner=0035 element=047A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
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xSyncComponent "BuoyancyServo" handled in the control thread.*n code=0036 name="ElevatorServo"
*a code=0693 owner=0036 element=022F universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0694 owner=0036 element=023A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0695 owner=0036 element=0231 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0696 owner=0036 element=0233 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0697 owner=0036 element=0234 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0698 owner=0036 element=0237 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0699 owner=0036 element=0238 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=069A owner=0036 element=0239 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=069B owner=0036 element=0236 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=069C owner=0036 element=0230 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=069D owner=0036 element=0235 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=069E owner=0036 element=0232 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=069F owner=0036 element=0088 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=061F elementURI="ElevatorServo.platform_elevator_angle" type=00
*a code=06A0 owner=0036 element=061F universal=002E unitName="radian" type=2F size=0004 fl=05
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�;*a code=06A1 owner=0036 element=0478 universal=3FFF unitName="radian" type=2F size=0004 fl=04
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xSyncComponent "ElevatorServo" handled in the control thread.*n code=0037 name="MassServo"
*a code=06A2 owner=0037 element=023C universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=06A3 owner=0037 element=0242 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=06A4 owner=0037 element=023E universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=06A5 owner=0037 element=023F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06A6 owner=0037 element=0240 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06A7 owner=0037 element=0241 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=06A8 owner=0037 element=023D universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=06A9 owner=0037 element=0243 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=06AA owner=0037 element=0246 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06AB owner=0037 element=0245 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04
*a code=06AC owner=0037 element=0244 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=06AD owner=0037 element=009E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*e code=0620 elementURI="MassServo.platform_mass_position" type=00
*a code=06AE owner=0037 element=0620 universal=0032 unitName="meter" type=0B size=0003 fl=05
*a code=06AF owner=0037 element=0479 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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pSyncComponent "MassServo" handled in the control thread.*n code=0038 name="RudderServo"
*a code=06B0 owner=0038 element=0248 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=06B1 owner=0038 element=0253 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=06B2 owner=0038 element=024A universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=06B3 owner=0038 element=024C universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06B4 owner=0038 element=024D universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06B5 owner=0038 element=0250 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06B6 owner=0038 element=0251 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06B7 owner=0038 element=0252 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06B8 owner=0038 element=024F universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=06B9 owner=0038 element=0249 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=06BA owner=0038 element=024E universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06BB owner=0038 element=024B universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=06BC owner=0038 element=0077 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=0621 elementURI="RudderServo.platform_rudder_angle" type=00
*a code=06BD owner=0038 element=0621 universal=003C unitName="radian" type=2F size=0004 fl=05
*a code=06BE owner=0038 element=048C universal=3FFF unitName="radian" type=2F size=0004 fl=04
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tSyncComponent "RudderServo" handled in the control thread.*n code=0039 name="ThrusterServo"
*a code=06BF owner=0039 element=0255 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0622 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00
*a code=06C0 owner=0039 element=0622 universal=0038 unitName="radian_per_second" type=0B size=0003 fl=05
*a code=06C1 owner=0039 element=048D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=06C2 owner=0039 element=025C universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=06C3 owner=0039 element=0257 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=06C4 owner=0039 element=0259 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06C5 owner=0039 element=025A universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06C6 owner=0039 element=025B universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=06C7 owner=0039 element=0258 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=06C8 owner=0039 element=0256 universal=3FFF unitName="none" type=1F size=0008 fl=04
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*a code=06CA owner=0039 element=0260 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04
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xSyncComponent "ThrusterServo" handled in the control thread.���p�
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*a code=06D4 owner=003A element=036E universal=3FFF unitName="second" type=0B size=0003 fl=04
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vSyncComponent "ESPComponent" handled in the control thread.*n code=003B name="PAR_Licor"
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pSyncComponent "PAR_Licor" handled in the control thread.*n code=003C name="WetLabsBB2FL"
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hLcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output470
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TLcmSlateWriter::add(): dataName: Output470*e code=062A elementURI="WetLabsBB2FL.Output470" type=02
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hLcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output650
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hLcmSlateWriter::add(DAtaURI): WetLabsBB2FL.OutputChl
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg470nm
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg650nm
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vLcmSlateWriter::add(): dataName: VolumeScatCoeff117deg650nm*e code=062E elementURI="WetLabsBB2FL.VolumeScatCoeff117deg650nm" type=02
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff470nm
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff650nm
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�LcmSlateWriter::add(): mass_concentration_of_chlorophyll_in_sea_water*e code=0631 elementURI="WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water" type=00
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�2�os�
�created writer for : mass_concentration_of_chlorophyll_in_sea_water
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water
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�LcmSlateWriter::add(): dataName: bin_median_mass_concentration_of_chlorophyll_in_sea_water*e code=0632 elementURI="WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water" type=02
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
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�LcmSlateWriter::add(): dataName: bin_mean_mass_concentration_of_chlorophyll_in_sea_water*e code=0633 elementURI="WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water" type=02
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�LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_variance_mass_concentration_of_chlorophyll_in_sea_water
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fComponent "WetLabsBB2FL" handled in its own thread.*n code=003D name="WetLabsBB2FL ThreadHandler"
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DCreated PCaller Thread at 40BE04E0���s�
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@Construct Startup Built In Test.*e code=0635 elementURI="SBIT.SBITRunning" type=02
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fSyncComponent "SBIT" handled in the control thread.*n code=003F name="IBIT"
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*a code=072D owner=003F element=03C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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*a code=072F owner=003F element=03C8 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
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*a code=0732 owner=003F element=0078 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
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fSyncComponent "IBIT" handled in the control thread.*n code=0040 name="CBIT"
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FConstruct Continuous Built In Test.*e code=0636 elementURI="CBIT.clearFaultCmd" type=02
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*a code=073F owner=0040 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0639 elementURI="BPC1.BattTemp_0" type=00
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*a code=0741 owner=0040 element=04EB universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0742 owner=0040 element=04F0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0743 owner=0040 element=04F5 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0744 owner=0040 element=04FA universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0745 owner=0040 element=04FF universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0746 owner=0040 element=0504 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0747 owner=0040 element=0509 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0748 owner=0040 element=050E universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0749 owner=0040 element=0513 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=074A owner=0040 element=0518 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=074B owner=0040 element=051D universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=074C owner=0040 element=0522 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
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*a code=074E owner=0040 element=052C universal=3FFF unitName="celsius" type=0B size=0003 fl=04
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*a code=0750 owner=0040 element=0536 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0751 owner=0040 element=053B universal=3FFF unitName="celsius" type=0B size=0003 fl=04
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*a code=076E owner=0040 element=05CC universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=076F owner=0040 element=05D1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
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*a code=0774 owner=0040 element=05EA universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0775 owner=0040 element=05EF universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0776 owner=0040 element=05F4 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0777 owner=0040 element=05F9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0778 owner=0040 element=05FE universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0779 owner=0040 element=0603 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=077A owner=0040 element=0608 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=077B owner=0040 element=060D universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=077C owner=0040 element=0612 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=077D owner=0040 element=0617 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=077E owner=0040 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=077F owner=0040 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0780 owner=0040 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0781 owner=0040 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0782 owner=0040 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0783 owner=0040 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0784 owner=0040 element=0025 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=063A elementURI="CBIT.shorePowerOn" type=02
*a code=0785 owner=0040 element=063A universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=063B elementURI="CBIT.platform_fault" type=00
*a code=0786 owner=0040 element=063B universal=002F unitName="enum" type=02 size=0001 fl=05
*e code=063C elementURI="CBIT.platform_fault_leak" type=00
*a code=0787 owner=0040 element=063C universal=0030 unitName="enum" type=02 size=0001 fl=05
*a code=0788 owner=0040 element=006A universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=063D elementURI="CBIT.GFCHANA0Current" type=02
*a code=0789 owner=0040 element=063D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=063E elementURI="CBIT.GFCHANA1Current" type=02
*a code=078A owner=0040 element=063E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=063F elementURI="CBIT.GFCHANA2Current" type=02
*a code=078B owner=0040 element=063F universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0640 elementURI="CBIT.GFCHANA3Current" type=02
*a code=078C owner=0040 element=0640 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0641 elementURI="CBIT.GFCHANB0Current" type=02
*a code=078D owner=0040 element=0641 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0642 elementURI="CBIT.GFCHANB1Current" type=02
*a code=078E owner=0040 element=0642 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0643 elementURI="CBIT.GFCHANB2Current" type=02
*a code=078F owner=0040 element=0643 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0644 elementURI="CBIT.GFCHANB3Current" type=02
*a code=0790 owner=0040 element=0644 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=0645 elementURI="CBIT.GFCHANOpenCurrent" type=02
*a code=0791 owner=0040 element=0645 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*a code=0792 owner=0040 element=0638 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0646 elementURI="CBIT.empericalClassifierFaultDetected" type=02
*a code=0793 owner=0040 element=0646 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=0647 elementURI="CBIT.binnedDepthRate" type=02
*a code=0794 owner=0040 element=0647 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0795 owner=0040 element=03C6 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0796 owner=0040 element=03C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0797 owner=0040 element=03C7 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0798 owner=0040 element=03C8 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
*a code=0799 owner=0040 element=03C9 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04
*a code=079A owner=0040 element=03D0 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=079B owner=0040 element=03CA universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=079C owner=0040 element=03CB universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=079D owner=0040 element=03CD universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=079E owner=0040 element=03CF universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=079F owner=0040 element=03CE universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=07A0 owner=0040 element=03CC universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=07A1 owner=0040 element=03D1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A2 owner=0040 element=03D2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A3 owner=0040 element=03D3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A4 owner=0040 element=03D4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A5 owner=0040 element=03D5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A6 owner=0040 element=03D6 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A7 owner=0040 element=03D7 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A8 owner=0040 element=03D8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=07A9 owner=0040 element=03D9 universal=3FFF unitName="hour" type=0B size=0003 fl=04
*a code=07AA owner=0040 element=03DA universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=07AB owner=0040 element=03DB universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=07AC owner=0040 element=03DC universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=07AD owner=0040 element=03DD universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=07AE owner=0040 element=03DE universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=07AF owner=0040 element=03DF universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=07B0 owner=0040 element=03E0 universal=3FFF unitName="microampere" type=0B size=0003 fl=04
1�u�

ƿu�
fSyncComponent "CBIT" handled in the control thread.��u�
�Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)*n code=0041 name="MissionManager"
*a code=07B1 owner=0041 element=0635 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=07B2 owner=0041 element=0069 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0648 elementURI="MissionManager.mission_started" type=00
*a code=07B3 owner=0041 element=0648 universal=001C unitName="count" type=0D size=0004 fl=05
ƿu�
zSyncComponent "MissionManager" handled in the control thread.*n code=0042 name="Reporter"
ƿu�
nSyncComponent "Reporter" handled in the control thread.*n code=0043 name="NavChartDb"
*e code=0649 elementURI="NavChartDb.closestDistance" type=02
*a code=07B4 owner=0043 element=0649 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=064A elementURI="NavChartDb.nextDistance" type=02
*a code=07B5 owner=0043 element=064A universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=064B elementURI="NavChartDb.closestDepth" type=02
*a code=07B6 owner=0043 element=064B universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=064C elementURI="NavChartDb.nextDepth" type=02
*a code=07B7 owner=0043 element=064C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=07B8 owner=0043 element=040E universal=3FFF unitName="none" type=00 size=0047 fl=04
*a code=07B9 owner=0043 element=040F universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
ƿu�
bComponent "NavChartDb" handled in its own thread.*n code=0044 name="NavChartDb ThreadHandler"

"� u�
DCreated PCaller Thread at 40C5C4E0"� u�
DProtected caller Thread ID is 7104N�&u�
,Main Thread ID is 7015F�&u�
&Running supervisor.��'u�
2Handler Thread ID is 7105�)u�
2Handler Thread ID is 7106
�*u�
4Initializing ControlThread
�*u�
BInitializing DepthRateCalculator.��+u�
BInitializing PitchRateCalculator.
�+u�
:Initializing SpeedCalculator.��,u�
HInitializing TempGradientCalculator.
�,u�
>Initializing YawRateCalculator.��-u�
LInitializing ElevatorOffsetCalculator.
�.u�
HInitialize VerticalControlComponent.��0u�
LInitialize HorizontalControlComponent.
�0u�
BInitialize SpeedControlComponent.��1u�
@Initialize LoopControlComponent.��2u�
>Initialize NavChart Navigation.
�2u�
hInitializing UniversalFixResidualReporter component.*a code=07BA owner=002E element=010B universal=3FFF unitName="bool" type=02 size=0001 fl=04
�<u�
4Initialize SBIT Component.=�=u�
8git: 2020-05-06_C-4-ge907442�=u�
dgit hash: e907442e8d324ef9e313fad2e4afa1f9562153e8=�=u�
0Kernel Release: 2.6.27.8=�>u�
lKernel Version:#1 PREEMPT Tue Sep 24 11:12:27 PDT 2019i�>u�

�?u�
HBeginning SBIT in 20.000000 seconds.��?u�
4Initialize IBIT Component.��@u�

 �Au�
4Initialize CBIT Component.��Bu�
2Handler Thread ID is 7107
 �Lu�
*Initialized mux pins.
 �Lu�
@Initializing the watchdog timer.�Tu�
2Handler Thread ID is 7108��Uu�
�dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP�`u�
2Handler Thread ID is 7109 �cu�
TLast reboot was NOT due to watchdog timer.
 �cu�
.Initializing heartbeat.��ku�
2Handler Thread ID is 7110�mu�
Powering down*e code=064D elementURI="WetLabsBB2FL.component_voltage" type=00
*a code=07BB owner=003C element=064D universal=3FFF unitName="volt" type=07 size=0002 fl=05
i��qu�
*e code=064E elementURI="WetLabsBB2FL.component_avgVoltage" type=00
*a code=07BC owner=003C element=064E universal=3FFF unitName="volt" type=07 size=0002 fl=05
���vu�
*e code=064F elementURI="WetLabsBB2FL.component_current" type=00
*a code=07BD owner=003C element=064F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
���u�
*e code=0650 elementURI="WetLabsBB2FL.component_avgCurrent" type=00
"��u�
2Handler Thread ID is 7111�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US1WC07M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US2WC11M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US3CA52M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US4CA60M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US5CA50M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US5CA61M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US5CA62M.000�!��u�
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000�!��u�
tAlready Loaded Electronic Nav Chart data from US5CA83M.000*a code=07BE owner=003C element=0650 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
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@!���u�
@
 ��u�
2Deactivating GF circuits.
 ��u�
8Deactivating emergency mode.	߿�u�
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$Backplane powered.� ��u�
JLoading Mission: Missions/Startup.xml*n code=0045 name="Startup"
*n code=0046 name="Startup:A.GoToSurface"

#��u�
,Construct GoToSurface.*a code=07BF owner=0046 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=07C0 owner=0046 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=07C1 owner=0046 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=07C2 owner=0046 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=07C3 owner=0046 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=07C4 owner=0046 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=07C5 owner=0046 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=07C6 owner=0046 element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=07C7 owner=0046 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=07C8 owner=0046 element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=07C9 owner=0046 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=07CA owner=0046 element=0082 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=07CB owner=0046 element=00A2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=07CC owner=0046 element=009D universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=07CD owner=0046 element=00B1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*n code=0047 name="Startup:StartupSatComms"
*n code=0048 name="Startup:StartupSatComms:A"
*n code=0049 name="Startup:StartupSatComms:B"
� ��u�
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>

� ��u�
JLoading Mission: Missions/Default.xml*n code=004A name="Default"
*e code=0651 elementURI="Default.ElapsedSinceDefaultStarted" type=00
*a code=07CE owner=004A element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=07CF owner=004A element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=05
���^v�
� �`v�
vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=004B name="Default:A.Wait"
�%�qv�
Construct Wait.*n code=004C name="Default:B.GoToSurface"

&�rv�
,Construct GoToSurface.*a code=07D0 owner=004C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=07D1 owner=004C element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=07D2 owner=004C element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=07D3 owner=004C element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=07D4 owner=004C element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=07D5 owner=004C element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=07D6 owner=004C element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=07D7 owner=004C element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=07D8 owner=004C element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=07D9 owner=004C element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=07DA owner=004C element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=07DB owner=004C element=0082 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=07DC owner=004C element=00A2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=07DD owner=004C element=009D universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=07DE owner=004C element=00B1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*n code=004D name="Default:CheckIn"
*n code=004E name="Default:CheckIn:Read_GPS"
*n code=004F name="Default:CheckIn:Read_Iridium"
*n code=0050 name="Default:CheckIn:Read_Iridium:A_Timeout"
*n code=0051 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute"
�(��v�
$Construct Execute.*n code=0052 name="Default:CheckIn:Read_Iridium:A_Timeout:B"
*n code=0053 name="Default:CheckIn:C.Wait"
�)��v�
Construct Wait.*n code=0054 name="Default:CheckIn:D"
*a code=07DF owner=0054 element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=05
*a code=07E0 owner=0054 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0055 name="Default:CheckIn:E"
*n code=0056 name="Default:D"
*n code=0057 name="Default:E.Execute"
�+��v�
$Construct Execute.� ��v�
�&
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</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>


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�Component order: CycleStarter,Depth_Keller,DropWeight,NAL9602,Onboard,DAT,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,98����� �on\��A�rPowering upa�� ����k>a�� ٚ��E	��KG�%�Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2�%Powering up�%"Initializing DAT.*a code=07E1 owner=0034 element=00DB universal=3FFF unitName="bool" type=02 size=0001 fl=04
=-Dgot command ! echo 1 > /dev/loadB2�ݕ������=@�ݕ�u�	��	��!
E�@!
I�@!
M�@!
Q�@�M		�M	p:ɌU	���U	�)�U	�	�]	����	)��	��	4Initializing EZServoServo.�
6Initializing BuoyancyServo.

4Initializing EZServoServo.
M
6Initializing ElevatorServo.�U
4Initializing EZServoServo.��
.Initializing MassServo.
�
4Initializing EZServoServo.
�
2Initializing RudderServo.��
4Initializing EZServoServo.�6Initializing ThrusterServo.��
*e code=0652 elementURI="controlThread.durationOfLastRun" type=00
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CHAN A2 (12V): -0.000847
CHAN A3 (5V): -0.002177
CHAN B0 (3.3V): -0.001105
CHAN B1 (3.15aV): -0.001782
CHAN B2 (3.15bV): -0.001050
CHAN B3 (GND): -0.002604
OPEN: 0.004116
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*a code=0809 owner=0058 element=0674 universal=3FFF unitName="minute" type=1F size=0008 fl=05
J@%	 �@� %	~DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min*e code=0675 elementURI="circle_acoustic_contact.AcousticContactTimeout" type=00
*a code=080A owner=0058 element=0675 universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=080B owner=0058 element=0675 universal=3FFF unitName="minute" type=1F size=0008 fl=05
Z@=	 �@� E	�DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min*e code=0676 elementURI="circle_acoustic_contact.ContactLabel" type=00
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*a code=080D owner=0058 element=0676 universal=3FFF unitName="count" type=1F size=0008 fl=05
j@]	� e	~DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count*e code=0677 elementURI="circle_acoustic_contact.ContactDepth" type=00
*a code=080E owner=0058 element=0677 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=080F owner=0058 element=0677 universal=3FFF unitName="meter" type=1F size=0008 fl=05
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*a code=0811 owner=0058 element=0678 universal=3FFF unitName="degree" type=1F size=0008 fl=05
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*a code=0817 owner=0058 element=067B universal=3FFF unitName="meter" type=1F size=0008 fl=05
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*a code=0819 owner=0058 element=067C universal=3FFF unitName="second" type=1F size=0008 fl=05
�@N@� %�DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s*e code=067D elementURI="circle_acoustic_contact.NumberOfPings" type=00
*a code=081A owner=0058 element=067D universal=3FFF unitName="count" type=1F size=0008 fl=04
*a code=081B owner=0058 element=067D universal=3FFF unitName="count" type=1F size=0008 fl=05
�@=�?� E�DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count*e code=067E elementURI="circle_acoustic_contact.InnerCircleTime" type=00
*a code=081C owner=0058 element=067E universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=081D owner=0058 element=067E universal=3FFF unitName="minute" type=1F size=0008 fl=05
�@]� ��DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min*e code=067F elementURI="circle_acoustic_contact.CircleMaxError" type=00
*a code=081E owner=0058 element=067F universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=081F owner=0058 element=067F universal=3FFF unitName="meter" type=1F size=0008 fl=05
�@�Y@� �~DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m*e code=0680 elementURI="circle_acoustic_contact.CircleTurnToPort" type=00
*a code=0820 owner=0058 element=0680 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0821 owner=0058 element=0680 universal=3FFF unitName="bool" type=02 size=0001 fl=05

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*a code=0822 owner=0058 element=0681 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=0823 owner=0058 element=0681 universal=3FFF unitName="meter" type=1F size=0008 fl=05
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*a code=0825 owner=0058 element=0682 universal=3FFF unitName="meter" type=1F size=0008 fl=05
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xDefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m*e code=0683 elementURI="circle_acoustic_contact.YoYoMinAltitude" type=00
*a code=0826 owner=0058 element=0683 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=0827 owner=0058 element=0683 universal=3FFF unitName="meter" type=1F size=0008 fl=05
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*a code=0829 owner=0058 element=0684 universal=3FFF unitName="degree" type=1F size=0008 fl=05
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*a code=082B owner=0058 element=0685 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05
ZA}�?� �lDefineArg circle_acoustic_contact.Speed = 1.000000 m/s*e code=0686 elementURI="circle_acoustic_contact.KwpHeading" type=00
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jA�{�G�z�?� �zDefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m*e code=0687 elementURI="circle_acoustic_contact.MinAltitude" type=00
*a code=082E owner=0058 element=0687 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=082F owner=0058 element=0687 universal=3FFF unitName="meter" type=1F size=0008 fl=05
zA�@� �tDefineArg circle_acoustic_contact.MinAltitude = 7.000000 m*e code=0688 elementURI="circle_acoustic_contact.MaxDepth" type=00
*a code=0830 owner=0058 element=0688 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=0831 owner=0058 element=0688 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�A
@Z@� mrDefineArg circle_acoustic_contact.MaxDepth = 105.000000 m*e code=0689 elementURI="circle_acoustic_contact.MinOffshore" type=00
*a code=0832 owner=0058 element=0689 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04
*a code=0833 owner=0058 element=0689 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05
�A�p�@� �vDefineArg circle_acoustic_contact.MinOffshore = 1.500000 km� �^Inserting Stack: Missions/Insert/AbortDrift.xml*n code=0059 name="circle_acoustic_contact:AbortDrift"
*e code=068A elementURI="circle_acoustic_contact:AbortDrift.AcousticTimeout" type=00
*a code=0834 owner=0059 element=068A universal=3FFF unitName="hour" type=1F size=0008 fl=04
*a code=0835 owner=0059 element=068A universal=3FFF unitName="hour" type=1F size=0008 fl=05
�A�A� ��DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h*n code=005A name="circle_acoustic_contact:AbortDrift:A"
*n code=005B name="circle_acoustic_contact:AbortDrift:B.AbortDrift"
�-�*Construct AbortDrift.*a code=0836 owner=005B element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0837 owner=005B element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=005C name="circle_acoustic_contact:AbortDrift:C.Execute"

.-$Construct Execute.*n code=005D name="circle_acoustic_contact:AbortDrift.Redefine.AcousticTimeout"
*a code=0838 owner=005D element=068A universal=3FFF unitName="hour" type=1F size=0008 fl=05
� E�RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout*n code=005E name="circle_acoustic_contact:B."
*a code=0839 owner=005E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=083A owner=005E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=083B owner=005E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=083C owner=005E element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=083D owner=005E element=04DB universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=083E owner=005E element=04DD universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=083F owner=005E element=04E3 universal=3FFF unitName="none" type=00 size=0000 fl=04
*a code=0840 owner=005E element=04C6 universal=3FFF unitName="count" type=0D size=0004 fl=05
*a code=0841 owner=005E element=04C7 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=068B elementURI="Tracking.contact_label" type=02
*a code=0842 owner=005E element=068B universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=068C elementURI="Tracking.contact_latitude" type=02
*a code=0843 owner=005E element=068C universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=068D elementURI="Tracking.contact_latitude_lowpass" type=02
*a code=0844 owner=005E element=068D universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=068E elementURI="Tracking.contact_longitude" type=02
*a code=0845 owner=005E element=068E universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=068F elementURI="Tracking.contact_longitude_lowpass" type=02
*a code=0846 owner=005E element=068F universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=0690 elementURI="Tracking.eastings_to_contact" type=02
*a code=0847 owner=005E element=0690 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0691 elementURI="Tracking.northings_to_contact" type=02
*a code=0848 owner=005E element=0691 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0692 elementURI="Tracking.contact_depth" type=02
*a code=0849 owner=005E element=0692 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0693 elementURI="Tracking.contact_depth_lowpass" type=02
*a code=084A owner=005E element=0693 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0694 elementURI="Tracking.range_to_contact" type=02
*a code=084B owner=005E element=0694 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0695 elementURI="Tracking.azimuth_to_contact_vehicleFrame" type=02
*a code=084C owner=005E element=0695 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0696 elementURI="Tracking.elevation_to_contact_vehicleFrame" type=02
*a code=084D owner=005E element=0696 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0697 elementURI="Tracking.heading_to_contact" type=02
*a code=084E owner=005E element=0697 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0698 elementURI="Tracking.direction_vehicleFrame" type=12 blobType=11 fixedSize=0003
*a code=084F owner=005E element=0698 universal=3FFF unitName="none" type=00 size=0000 fl=05
*e code=0699 elementURI="Tracking.direction_navigationFrame" type=12 blobType=11 fixedSize=0003
*a code=0850 owner=005E element=0699 universal=3FFF unitName="none" type=00 size=0000 fl=05
*e code=069A elementURI="Tracking.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003
*a code=0851 owner=005E element=069A universal=3FFF unitName="meter" type=00 size=0000 fl=05
*e code=069B elementURI="Tracking.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003
*a code=0852 owner=005E element=069B universal=3FFF unitName="meter" type=00 size=0000 fl=05
*n code=005F name="circle_acoustic_contact:UpdateCenter"
*a code=0853 owner=005F element=0694 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*n code=0060 name="circle_acoustic_contact:UpdateCenter:A"
*a code=0854 owner=0060 element=0678 universal=3FFF unitName="degree" type=1F size=0008 fl=05
*a code=0855 owner=0060 element=068C universal=3FFF unitName="degree" type=2F size=0004 fl=04
*n code=0061 name="circle_acoustic_contact:UpdateCenter:B"
*a code=0856 owner=0061 element=0679 universal=3FFF unitName="degree" type=1F size=0008 fl=05
*a code=0857 owner=0061 element=068E universal=3FFF unitName="degree" type=2F size=0004 fl=04
� ]\Inserting Stack: Missions/Insert/NeedComms.xml�f�)����Ŧ\��A��"`a>ٚ"�
E��$@$I�0)�2v�C	�bRKG��r������ry��9~5?���U===�~9�~A�~A*n code=0062 name="circle_acoustic_contact:NeedComms"
*e code=069C elementURI="circle_acoustic_contact:NeedComms.DiveInterval" type=00
	�I	��Ɍ����)��	�����)��*a code=0858 owner=0062 element=069C universal=3FFF unitName="hour" type=1F size=0008 fl=04
*a code=0859 owner=0062 element=069C universal=3FFF unitName="hour" type=1F size=0008 fl=05
��)�B��@� 5�DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h*e code=069D elementURI="circle_acoustic_contact:NeedComms.WaitForPitchUp" type=00
*a code=085A owner=0062 element=069D universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=085B owner=0062 element=069D universal=3FFF unitName="minute" type=1F size=0008 fl=05
I�]�=�BM��@� }�DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min*e code=069E elementURI="circle_acoustic_contact:NeedComms.SurfacePitch" type=00
*a code=085C owner=0062 element=069E universal=3FFF unitName="degree" type=1F size=0008 fl=04
*a code=085D owner=0062 element=069E universal=3FFF unitName="degree" type=1F size=0008 fl=05
�B��D�JW�?� ��DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=069F elementURI="circle_acoustic_contact:NeedComms.SurfaceDepthRate" type=00
*a code=085E owner=0062 element=069F universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04
*a code=085F owner=0062 element=069F universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05
�B��� ��DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s*e code=06A0 elementURI="circle_acoustic_contact:NeedComms.SurfaceSpeed" type=00
*a code=0860 owner=0062 element=06A0 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04
*a code=0861 owner=0062 element=06A0 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05

C5�?� =�DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=06A1 elementURI="circle_acoustic_contact:NeedComms.GPSTimeout" type=00
*a code=0862 owner=0062 element=06A1 universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=0863 owner=0062 element=06A1 universal=3FFF unitName="minute" type=1F size=0008 fl=05
C]@z@� ]�DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min*e code=06A2 elementURI="circle_acoustic_contact:NeedComms.CommsTimeout" type=00
*a code=0864 owner=0062 element=06A2 universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=0865 owner=0062 element=06A2 universal=3FFF unitName="minute" type=1F size=0008 fl=05
*C� �@� ��DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min*a code=0866 owner=0062 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0867 owner=0062 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0063 name="circle_acoustic_contact:NeedComms:A"
*a code=0868 owner=0063 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0064 name="circle_acoustic_contact:NeedComms:B.GoToSurface"

25,Construct GoToSurface.*a code=0869 owner=0064 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=086A owner=0064 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=086B owner=0064 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=086C owner=0064 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=086D owner=0064 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=086E owner=0064 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=086F owner=0064 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0870 owner=0064 element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0871 owner=0064 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=0872 owner=0064 element=00B5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0873 owner=0064 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0874 owner=0064 element=0082 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0875 owner=0064 element=00A2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0876 owner=0064 element=009D universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0877 owner=0064 element=00B1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*n code=0065 name="circle_acoustic_contact:NeedComms:C"
*n code=0066 name="circle_acoustic_contact:NeedComms:C:A_Timeout"
*n code=0067 name="circle_acoustic_contact:NeedComms:C:A_Timeout:A"
*n code=0068 name="circle_acoustic_contact:NeedComms:D"
*n code=0069 name="circle_acoustic_contact:NeedComms:E"
*n code=006A name="circle_acoustic_contact:NeedComms:E:A_Timeout"
*n code=006B name="circle_acoustic_contact:NeedComms:E:A_Timeout:A"
*n code=006C name="circle_acoustic_contact:E"
*a code=0878 owner=006C element=069C universal=3FFF unitName="hour" type=1F size=0008 fl=05
� �lInserting Stack: Missions/Insert/StandardEnvelopes.xml*n code=006D name="circle_acoustic_contact:StandardEnvelopes"
*e code=06A3 elementURI="circle_acoustic_contact:StandardEnvelopes.MinAltitude" type=00
*a code=0879 owner=006D element=06A3 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=087A owner=006D element=06A3 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�Cm@� ��DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m*e code=06A4 elementURI="circle_acoustic_contact:StandardEnvelopes.MaxDepth" type=00
*a code=087B owner=006D element=06A4 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=087C owner=006D element=06A4 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�C
i@� �DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m*e code=06A5 elementURI="circle_acoustic_contact:StandardEnvelopes.MinOffshore" type=00
*a code=087D owner=006D element=06A5 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=087E owner=006D element=06A5 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�C%@�@� -�DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=006E name="circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope"

756Construct AltitudeEnvelope.*a code=087F owner=006E element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0880 owner=006E element=00AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0881 owner=006E element=00A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0882 owner=006E element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0883 owner=006E element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0884 owner=006E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0885 owner=006E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0886 owner=006E element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0887 owner=006E element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0888 owner=006E element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=0889 owner=006E element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=088A owner=006E element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*n code=006F name="circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope"
�7�0Construct DepthEnvelope.*a code=088B owner=006F element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=088C owner=006F element=00AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=088D owner=006F element=00A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=088E owner=006F element=008A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=088F owner=006F element=00A4 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0890 owner=006F element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0891 owner=006F element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0892 owner=006F element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0893 owner=006F element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0894 owner=006F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0895 owner=006F element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0896 owner=006F element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0897 owner=006F element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0898 owner=006F element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=0899 owner=006F element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=089A owner=006F element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*n code=0070 name="circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope"

8�	6Construct OffshoreEnvelope.*a code=089B owner=0070 element=047B universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=089C owner=0070 element=047C universal=3FFF unitName="degree" type=37 size=0006 fl=04
*a code=089D owner=0070 element=047D universal=3FFF unitName="degree" type=37 size=0006 fl=04
*a code=089E owner=0070 element=0481 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=089F owner=0070 element=047E universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=08A0 owner=0070 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=08A1 owner=0070 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=08A2 owner=0070 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=08A3 owner=0070 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=08A4 owner=0070 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=08A5 owner=0070 element=047B universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=08A6 owner=0070 element=047E universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=08A7 owner=0070 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*n code=0071 name="circle_acoustic_contact:G"
*a code=08A8 owner=0071 element=06A3 universal=3FFF unitName="meter" type=1F size=0008 fl=05
*n code=0072 name="circle_acoustic_contact:H"
*a code=08A9 owner=0072 element=06A4 universal=3FFF unitName="meter" type=1F size=0008 fl=05
*n code=0073 name="circle_acoustic_contact:I"
*a code=08AA owner=0073 element=06A5 universal=3FFF unitName="meter" type=1F size=0008 fl=05
*n code=0074 name="circle_acoustic_contact:J.Pitch"

:�
Construct.*a code=08AB owner=0074 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=08AC owner=0074 element=0469 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=08AD owner=0074 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=08AE owner=0074 element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=08AF owner=0074 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=08B0 owner=0074 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=08B1 owner=0074 element=046B universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
*a code=08B2 owner=0074 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=08B3 owner=0074 element=009F universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*n code=0075 name="circle_acoustic_contact:K.Buoyancy"
�:&Construct Buoyancy.*a code=08B4 owner=0075 element=022A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=08B5 owner=0075 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=08B6 owner=0075 element=046C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=08B7 owner=0075 element=0081 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
� %XInserting Stack: Missions/Insert/Science.xml���)��b�ߦ\��A��"�q>ٚ"�E	�b�KG��n������n\��9~=
�/=�UE
\=�~A
�~I
eM
^C�~I
	�Q
	��
Ɍ�
���
)��
	��
���
)��
��II���=��)��-�>*n code=0076 name="circle_acoustic_contact:Science"
*e code=06A6 elementURI="circle_acoustic_contact:Science.SampleISUS" type=00
*a code=08B8 owner=0076 element=06A6 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=08B9 owner=0076 element=06A6 universal=3FFF unitName="bool" type=02 size=0001 fl=05
�E�	� �	zDefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool*e code=06A7 elementURI="circle_acoustic_contact:Science.SampleISUSmaxPitch" type=00
*a code=08BA owner=0076 element=06A7 universal=3FFF unitName="degree" type=1F size=0008 fl=04
*a code=08BB owner=0076 element=06A7 universal=3FFF unitName="degree" type=1F size=0008 fl=05
�EU
es-8R��?� ]
�DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg*e code=06A8 elementURI="circle_acoustic_contact:Science.SampleISUSminPitch" type=00
*a code=08BC owner=0076 element=06A8 universal=3FFF unitName="degree" type=1F size=0008 fl=04
*a code=08BD owner=0076 element=06A8 universal=3FFF unitName="degree" type=1F size=0008 fl=05
�Eu
es-8R�� u
�DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg*e code=06A9 elementURI="circle_acoustic_contact:Science.PeakDetectChlActive" type=00
*a code=08BE owner=0076 element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=08BF owner=0076 element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05
�E�
� �
�DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool*e code=06AA elementURI="circle_acoustic_contact:Science.TimeWindowPeakReport" type=00
*a code=08C0 owner=0076 element=06AA universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=08C1 owner=0076 element=06AA universal=3FFF unitName="minute" type=1F size=0008 fl=05

F�
�� �
�DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min*e code=06AB elementURI="circle_acoustic_contact:Science.HighestChlPeakReportActive" type=00
*a code=08C2 owner=0076 element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=08C3 owner=0076 element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=05
F�
� �
�DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool*e code=06AC elementURI="circle_acoustic_contact:Science.PatchTracking" type=00
*a code=08C4 owner=0076 element=06AC universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=08C5 owner=0076 element=06AC universal=3FFF unitName="bool" type=02 size=0001 fl=05
*F�
� ��DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool*e code=06AD elementURI="circle_acoustic_contact:Science.FilterWidthHorizontal" type=00
*a code=08C6 owner=0076 element=06AD universal=3FFF unitName="count" type=1F size=0008 fl=04
*a code=08C7 owner=0076 element=06AD universal=3FFF unitName="count" type=1F size=0008 fl=05
:F�@� ��DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count*e code=06AE elementURI="circle_acoustic_contact:Science.NumProfilesSlidingwindow" type=00
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*a code=08C9 owner=0076 element=06AE universal=3FFF unitName="count" type=1F size=0008 fl=05
JF�Y@� ��DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count*e code=06AF elementURI="circle_acoustic_contact:Science.OffPeakFractionHorizontal" type=00
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*a code=08CB owner=0076 element=06AF universal=3FFF unitName="percent" type=1F size=0008 fl=05
ZF��������?� ��DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %*e code=06B0 elementURI="circle_acoustic_contact:Science.PeakDetectNO3Active" type=00
*a code=08CC owner=0076 element=06B0 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=08CD owner=0076 element=06B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05
jF�� ��DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool*e code=06B1 elementURI="circle_acoustic_contact:Science.PeakDetectOilActive" type=00
*a code=08CE owner=0076 element=06B1 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=08CF owner=0076 element=06B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05
zF� 
�DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool*e code=06B2 elementURI="circle_acoustic_contact:Science.PeakDetectFDOMActive" type=00
غ�)��S���\��A��"Cb>ٚ" EI�,)�,*a code=08D0 owner=0076 element=06B2 universal=3FFF unitName="bool" type=02 size=0001 fl=04
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*a code=08D1 owner=0076 element=06B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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�DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool*e code=06B3 elementURI="circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive" type=00
*a code=08D2 owner=0076 element=06B3 universal=3FFF unitName="bool" type=02 size=0001 fl=04
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*a code=08D3 owner=0076 element=06B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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�DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=08D4 owner=0076 element=033B universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06B4 elementURI="circle_acoustic_contact:Science.EnabledAanderaaO2" type=00
*a code=08D5 owner=0076 element=06B4 universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08D6 owner=0076 element=06B4 universal=3FFF unitName="bool" type=1F size=0008 fl=05
�F�
� �
�DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool*a code=08D7 owner=0076 element=0349 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06B5 elementURI="circle_acoustic_contact:Science.EnabledNeilBrown" type=00
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�=*a code=08D8 owner=0076 element=06B5 universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08D9 owner=0076 element=06B5 universal=3FFF unitName="bool" type=1F size=0008 fl=05
�Fu� }�DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool*a code=08DA owner=0076 element=0351 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06B6 elementURI="circle_acoustic_contact:Science.EnabledSeabird" type=00
*a code=08DB owner=0076 element=06B6 universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08DC owner=0076 element=06B6 universal=3FFF unitName="bool" type=1F size=0008 fl=05
�F�� ��DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool*a code=08DD owner=0076 element=0393 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06B7 elementURI="circle_acoustic_contact:Science.EnabledTurbulence_NPS" type=00
*a code=08DE owner=0076 element=06B7 universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08DF owner=0076 element=06B7 universal=3FFF unitName="bool" type=1F size=0008 fl=05
�F�� ��DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool*a code=08E0 owner=0076 element=0399 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06B8 elementURI="circle_acoustic_contact:Science.EnabledWetLabsBB2FL" type=00
*a code=08E1 owner=0076 element=06B8 universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08E2 owner=0076 element=06B8 universal=3FFF unitName="bool" type=1F size=0008 fl=05
G��?� ��DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool*a code=08E3 owner=0076 element=03A4 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06B9 elementURI="circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A" type=00
*a code=08E4 owner=0076 element=06B9 universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08E5 owner=0076 element=06B9 universal=3FFF unitName="bool" type=1F size=0008 fl=05
*GM� U�DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool*a code=08E6 owner=0076 element=03B5 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06BA elementURI="circle_acoustic_contact:Science.EnabledWetLabsUBAT" type=00
*a code=08E7 owner=0076 element=06BA universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08E8 owner=0076 element=06BA universal=3FFF unitName="bool" type=1F size=0008 fl=05
BG�� ��DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool*a code=08E9 owner=0076 element=037B universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=06BB elementURI="circle_acoustic_contact:Science.EnabledISUS" type=00
*a code=08EA owner=0076 element=06BB universal=3FFF unitName="bool" type=1F size=0008 fl=04
*a code=08EB owner=0076 element=06BB universal=3FFF unitName="bool" type=1F size=0008 fl=05
ZG�� ��DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool*e code=06BC elementURI="circle_acoustic_contact:Science.LowPassWindowLength" type=00
*a code=08EC owner=0076 element=06BC universal=3FFF unitName="count" type=1F size=0008 fl=04
*a code=08ED owner=0076 element=06BC universal=3FFF unitName="count" type=1F size=0008 fl=05
jG�4@� �DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count*e code=06BD elementURI="circle_acoustic_contact:Science.MedianFilterLen" type=00
*a code=08EE owner=0076 element=06BD universal=3FFF unitName="count" type=1F size=0008 fl=04
*a code=08EF owner=0076 element=06BD universal=3FFF unitName="count" type=1F size=0008 fl=05
zG@� %�DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count*e code=06BE elementURI="circle_acoustic_contact:Science.PeakChlShallowBound" type=00
*a code=08F0 owner=0076 element=06BE universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=08F1 owner=0076 element=06BE universal=3FFF unitName="meter" type=1F size=0008 fl=05
�Gu�� }�DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m*e code=06BF elementURI="circle_acoustic_contact:Science.PeakChlDeepBound" type=00
*a code=08F2 owner=0076 element=06BF universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=08F3 owner=0076 element=06BF universal=3FFF unitName="meter" type=1F size=0008 fl=05
�G��� ��DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m*e code=06C0 elementURI="circle_acoustic_contact:Science.PeakShallowBound" type=00
*a code=08F4 owner=0076 element=06C0 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=08F5 owner=0076 element=06C0 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�G-�� 5�DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m*e code=06C1 elementURI="circle_acoustic_contact:Science.PeakDeepBound" type=00
*a code=08F6 owner=0076 element=06C1 universal=3FFF unitName="meter" type=1F size=0008 fl=04
*a code=08F7 owner=0076 element=06C1 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�GU�� ]~DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m*e code=06C2 elementURI="circle_acoustic_contact:Science.PeakChl" type=00
*a code=08F8 owner=0076 element=06C2 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05
�G�*a code=08F9 owner=0076 element=06C2 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l*e code=06C3 elementURI="circle_acoustic_contact:Science.PeakChlDepth" type=00
*a code=08FA owner=0076 element=06C3 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�G�*a code=08FB owner=0076 element=06C3 universal=3FFF unitName="meter" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m*e code=06C4 elementURI="circle_acoustic_contact:Science.PeakChlTemperature" type=00
*a code=08FC owner=0076 element=06C4 universal=3FFF unitName="celsius" type=1F size=0008 fl=05
�G-fffffq@*a code=08FD owner=0076 element=06C4 universal=3FFF unitName="celsius" type=1F size=0008 fl=04
� 5�DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC*e code=06C5 elementURI="circle_acoustic_contact:Science.PeakChlLatitude" type=00
*a code=08FE owner=0076 element=06C5 universal=3FFF unitName="degree" type=1F size=0008 fl=05
�Gm�*a code=08FF owner=0076 element=06C5 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg*e code=06C6 elementURI="circle_acoustic_contact:Science.PeakChlLongitude" type=00
*a code=0900 owner=0076 element=06C6 universal=3FFF unitName="degree" type=1F size=0008 fl=05
H��*a code=0901 owner=0076 element=06C6 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg*e code=06C7 elementURI="circle_acoustic_contact:Science.PeakNO3" type=00
*a code=0902 owner=0076 element=06C7 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05
H�*a code=0903 owner=0076 element=06C7 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04
� �DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l*e code=06C8 elementURI="circle_acoustic_contact:Science.PeakNO3Depth" type=00
*a code=0904 owner=0076 element=06C8 universal=3FFF unitName="meter" type=1F size=0008 fl=05
"H-*a code=0905 owner=0076 element=06C8 universal=3FFF unitName="meter" type=1F size=0008 fl=04
� ]�DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m*e code=06C9 elementURI="circle_acoustic_contact:Science.PeakNO3Latitude" type=00
*a code=0906 owner=0076 element=06C9 universal=3FFF unitName="degree" type=1F size=0008 fl=05
2Hm�*a code=0907 owner=0076 element=06C9 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg*e code=06CA elementURI="circle_acoustic_contact:Science.PeakNO3Longitude" type=00
*a code=0908 owner=0076 element=06CA universal=3FFF unitName="degree" type=1F size=0008 fl=05
BH��*a code=0909 owner=0076 element=06CA universal=3FFF unitName="degree" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg*e code=06CB elementURI="circle_acoustic_contact:Science.PatchChl" type=00
*a code=090A owner=0076 element=06CB universal=3FFF unitName="meter" type=1F size=0008 fl=05
RH�*a code=090B owner=0076 element=06CB universal=3FFF unitName="meter" type=1F size=0008 fl=04
� �DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m*e code=06CC elementURI="circle_acoustic_contact:Science.PatchChlDepth" type=00
*a code=090C owner=0076 element=06CC universal=3FFF unitName="meter" type=1F size=0008 fl=05
bH%*a code=090D owner=0076 element=06CC universal=3FFF unitName="meter" type=1F size=0008 fl=04
� U�DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m*e code=06CD elementURI="circle_acoustic_contact:Science.PatchChlLatitude" type=00
*a code=090E owner=0076 element=06CD universal=3FFF unitName="degree" type=1F size=0008 fl=05
rHe�*a code=090F owner=0076 element=06CD universal=3FFF unitName="degree" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg*e code=06CE elementURI="circle_acoustic_contact:Science.PatchChlLongitude" type=00
*a code=0910 owner=0076 element=06CE universal=3FFF unitName="degree" type=1F size=0008 fl=05
�H��*a code=0911 owner=0076 element=06CE universal=3FFF unitName="degree" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg*e code=06CF elementURI="circle_acoustic_contact:Science.PatchChlDistance" type=00
*a code=0912 owner=0076 element=06CF universal=3FFF unitName="meter" type=1F size=0008 fl=05
�H��*a code=0913 owner=0076 element=06CF universal=3FFF unitName="meter" type=1F size=0008 fl=04
� ��DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m*e code=06D0 elementURI="circle_acoustic_contact:Science.PeakOil" type=00
*a code=0914 owner=0076 element=06D0 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05
�HM	*a code=0915 owner=0076 element=06D0 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04
� ]	�DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3*e code=06D1 elementURI="circle_acoustic_contact:Science.PeakOilDepth" type=00
*a code=0916 owner=0076 element=06D1 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�H�	*a code=0917 owner=0076 element=06D1 universal=3FFF unitName="meter" type=1F size=0008 fl=04
� �	�DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m*e code=06D2 elementURI="circle_acoustic_contact:Science.PeakOilLatitude" type=00
*a code=0918 owner=0076 element=06D2 universal=3FFF unitName="degree" type=1F size=0008 fl=05
�H
�*a code=0919 owner=0076 element=06D2 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� 
�DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg*e code=06D3 elementURI="circle_acoustic_contact:Science.PeakOilLongitude" type=00
*a code=091A owner=0076 element=06D3 universal=3FFF unitName="degree" type=1F size=0008 fl=05
�H-
�*a code=091B owner=0076 element=06D3 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� 5
�DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg*e code=06D4 elementURI="circle_acoustic_contact:Science.PeakFDOM" type=00
*a code=091C owner=0076 element=06D4 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05
�HM
*a code=091D owner=0076 element=06D4 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04
� U
�DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb*e code=06D5 elementURI="circle_acoustic_contact:Science.PeakFDOMDepth" type=00
*a code=091E owner=0076 element=06D5 universal=3FFF unitName="meter" type=1F size=0008 fl=05
�Hm
*a code=091F owner=0076 element=06D5 universal=3FFF unitName="meter" type=1F size=0008 fl=04
� u
�DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m*e code=06D6 elementURI="circle_acoustic_contact:Science.PeakFDOMLatitude" type=00
*a code=0920 owner=0076 element=06D6 universal=3FFF unitName="degree" type=1F size=0008 fl=05
I�
�*a code=0921 owner=0076 element=06D6 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� �
�DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg*e code=06D7 elementURI="circle_acoustic_contact:Science.PeakFDOMLongitude" type=00
*a code=0922 owner=0076 element=06D7 universal=3FFF unitName="degree" type=1F size=0008 fl=05
I�
�*a code=0923 owner=0076 element=06D7 universal=3FFF unitName="degree" type=1F size=0008 fl=04
� �
�DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg*e code=06D8 elementURI="circle_acoustic_contact:Science.PatchFDOMDistance" type=00
*a code=0924 owner=0076 element=06D8 universal=3FFF unitName="meter" type=1F size=0008 fl=05
"I�*a code=0925 owner=0076 element=06D8 universal=3FFF unitName="meter" type=1F size=0008 fl=04
� 
�DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m*n code=0077 name="circle_acoustic_contact:Science:A"
*n code=0078 name="circle_acoustic_contact:Science:B"
*a code=0926 owner=0078 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0079 name="circle_acoustic_contact:Science:C"
*n code=007A name="circle_acoustic_contact:Science:D"
*n code=007B name="circle_acoustic_contact:Science:E"
*n code=007C name="circle_acoustic_contact:Science:F"
*n code=007D name="circle_acoustic_contact:Science:G"
*n code=007E name="circle_acoustic_contact:Science:H"
*n code=007F name="circle_acoustic_contact:Science:Read_Oil"
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@&Y>@&�=�(*n code=0080 name="circle_acoustic_contact:Science:PeakDetectChl"
*n code=0081 name="circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth"
�@N8Construct PeakDetectVsDepth.*a code=0927 owner=0081 element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0928 owner=0081 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0929 owner=0081 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
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*n code=0082 name="circle_acoustic_contact:Science:PeakDetectChl:B"
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	�)Ɍ1*n code=0083 name="circle_acoustic_contact:Science:HighestChlPeakReport"
*n code=0084 name="circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal"

BM>Construct PeakDetectHorizontal.��1)�q	�q��y)�y��*a code=092A owner=0084 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=092B owner=0084 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=092C owner=0084 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=092D owner=0084 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
I���=*a code=092E owner=0084 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=092F owner=0084 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0085 name="circle_acoustic_contact:Science:PeakDetectNO3"
*n code=0086 name="circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth"

C�8Construct PeakDetectVsDepth.*a code=0930 owner=0086 element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0931 owner=0086 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0932 owner=0086 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0087 name="circle_acoustic_contact:Science:PeakDetectNO3:B"
*n code=0088 name="circle_acoustic_contact:Science:PeakDetectOil"
*n code=0089 name="circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth"
�D�8Construct PeakDetectVsDepth.*a code=0933 owner=0089 element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0934 owner=0089 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0935 owner=0089 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=008A name="circle_acoustic_contact:Science:PeakDetectOil:B"
*n code=008B name="circle_acoustic_contact:Science:PeakDetectFDOM"
*n code=008C name="circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth"

Fu8Construct PeakDetectVsDepth.*a code=0936 owner=008C element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0937 owner=008C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0938 owner=008C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=008D name="circle_acoustic_contact:Science:PeakDetectFDOM:B"
*n code=008E name="circle_acoustic_contact:Science.Redefine.PeakDetectChlActive"
*a code=0939 owner=008E element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05
� e�RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool*n code=008F name="circle_acoustic_contact:Science.Redefine.SampleISUS"
*a code=093A owner=008F element=06A6 universal=3FFF unitName="bool" type=02 size=0001 fl=05
� u�RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool*n code=0090 name="circle_acoustic_contact:Science.Redefine.SampleISUSmaxPitch"
*a code=093B owner=0090 element=06A7 universal=3FFF unitName="degree" type=1F size=0008 fl=05
� ��RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg*n code=0091 name="circle_acoustic_contact:Science.Redefine.SampleISUSminPitch"
*a code=093C owner=0091 element=06A8 universal=3FFF unitName="degree" type=1F size=0008 fl=05
� ��RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg*n code=0092 name="circle_acoustic_contact:M.SetSpeed"

I�Construct.*a code=093D owner=0092 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=093E owner=0092 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=093F owner=0092 element=046E universal=3FFF unitName="second" type=0B size=0003 fl=05
*n code=0093 name="circle_acoustic_contact:YoYos"
*n code=0094 name="circle_acoustic_contact:YoYos:A.DepthEnvelope"

J-0Construct DepthEnvelope.*a code=0940 owner=0094 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0941 owner=0094 element=00AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0942 owner=0094 element=00A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0943 owner=0094 element=008A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0944 owner=0094 element=00A4 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0945 owner=0094 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0946 owner=0094 element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0947 owner=0094 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0948 owner=0094 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
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*a code=094D owner=0094 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=094E owner=0094 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=094F owner=0094 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*n code=0095 name="circle_acoustic_contact:YoYos:B.AltitudeEnvelope"
�J�6Construct AltitudeEnvelope.*a code=0950 owner=0095 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0951 owner=0095 element=00AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0952 owner=0095 element=00A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0953 owner=0095 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0954 owner=0095 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0955 owner=0095 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0956 owner=0095 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0957 owner=0095 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0958 owner=0095 element=046D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0959 owner=0095 element=0461 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=095A owner=0095 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=095B owner=0095 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*n code=0096 name="circle_acoustic_contact:YoYos:C.YoYo"

K�Construct YoYo.*a code=095C owner=0096 element=00B0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=095D owner=0096 element=00AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=095E owner=0096 element=00A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=095F owner=0096 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0960 owner=0096 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0961 owner=0096 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0962 owner=0096 element=045F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0963 owner=0096 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0964 owner=0096 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0965 owner=0096 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0966 owner=0096 element=0468 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0967 owner=0096 element=046A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0968 owner=0096 element=0460 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*n code=0097 name="circle_acoustic_contact:CircleWrapper"
*n code=0098 name="circle_acoustic_contact:CircleWrapper:CircleContact"
*a code=0969 owner=0098 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0099 name="circle_acoustic_contact:CircleWrapper:CircleContact:A"
*a code=096A owner=0099 element=0072 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05
*n code=009A name="circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle"

M}	Construct.*a code=096B owner=009A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=096C owner=009A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=096D owner=009A element=0481 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=096E owner=009A element=047B universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=096F owner=009A element=047C universal=3FFF unitName="degree" type=37 size=0006 fl=05
*a code=0970 owner=009A element=047D universal=3FFF unitName="degree" type=37 size=0006 fl=05
*n code=009B name="circle_acoustic_contact:CircleWrapper:CircleContactClose"
*a code=0971 owner=009B element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=009C name="circle_acoustic_contact:CircleWrapper:CircleContactClose:A"
*a code=0972 owner=009C element=0072 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05
*n code=009D name="circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle"
�N�
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*a code=0974 owner=009D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0975 owner=009D element=0481 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0976 owner=009D element=047B universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0977 owner=009D element=047C universal=3FFF unitName="degree" type=37 size=0006 fl=05
*a code=0978 owner=009D element=047D universal=3FFF unitName="degree" type=37 size=0006 fl=05
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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="circle_acoustic_contact">

    <Description>
        This mission runs a circle around a specified acoustic contact. The
        tracking behavior periodically queries the DAT for range and direction
        to the contact, and the DAT acoustically interrogates the contact. The
        tracking component then calculates the position of the contact to update
        the center of the circle. When the vehicle surfaces and updates its own
        position with GPS, it queries the contact again, then sends the contact
        position to shore.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="AcousticContactTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications with shore.
    </Description><Units:minute/><Value>15</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="ContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>0</Value></DefineArg>
    
    <DefineArg Name="ContactDepth"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CenterLatitude"><Description>
        The latitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>36.81544</Value></DefineArg>

    <DefineArg Name="CenterLongitude"><Description>
        The longitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>-121.82506</Value></DefineArg>

    <DefineArg Name="OuterCircleRadius"><Description>
        Radius of circle around acoustic contact during wait time
    </Description><Units:meter/><Value>300</Value></DefineArg>

    <DefineArg Name="InnerCircleRadius"><Description>
        Radius of circle around acoustic contact during wait time
    </Description><Units:meter/><Value>50</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="InnerCircleTime"><Description>
        Time before each normal communication cycle to move to the inner circle.
        Default value of 0 means vehicle will stay at OuterCircleRadius the
        whole time.
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth during yo-yo's.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth during yo-yo's.
    </Description><Units:meter/><Value>33</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Min altitude while in yo-yo mode.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>105</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>1.5</Value></DefineArg>

<!-- Missions should always start with a timeout. -->

    <Timeout Duration="MissionTimeout"/>

<!-- Add tracking directive high in the stack (above NeedComms to enable tracking from surface). -->

    <Insert Filename="Insert/AbortDrift.xml">
        <RedefineArg Name="AcousticTimeout"><Arg Name="AcousticContactTimeout"/></RedefineArg>
    </Insert>

    <Estimation:Tracking>
        <Parallel/>
        <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="ContactDepth"/></Setting>
        <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:Tracking>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><Estimation:Tracking.range_to_contact/></Elapsed>
            <Lt><Arg Name="AcousticContactTimeout"/></Lt>
        </When>

        <Assign><Sequence/><Arg Name="CenterLatitude"/><Estimation:Tracking.contact_latitude/></Assign>

        <Assign><Sequence/><Arg Name="CenterLongitude"/><Estimation:Tracking.contact_longitude/></Assign>

    </Aggregate>

<!-- Most missions have the NeedComms aggregate at high priority. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
    </Guidance:Buoyancy>

    <Insert Filename="Insert/Science.xml" Id="Science">
        <Description>
            Get science data, including PeakDetectChl
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
        <RedefineArg Name="SampleISUSmaxPitch"><Units:degree/><Value>30.0</Value></RedefineArg>
        <RedefineArg Name="SampleISUSminPitch"><Units:degree/><Value>10.0</Value></RedefineArg>
    </Insert>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="YoYos">

        <Parallel/>

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

    </Aggregate>

    <Aggregate Id="CircleWrapper">

        <Sequence/>

        <Aggregate Id="CircleContact">

            <Description>
                Circle the contact while updating its position using the
                tracking behavior.
            </Description>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Lt><Arg Name="NeedCommsTime"/><Sub><Arg Name="InnerCircleTime"/></Sub></Lt>
            </When>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="OuterCircleRadius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

        <Aggregate Id="CircleContactClose">

            <Description>
                Circle the contact closely while updating its position using the
                tracking behavior.
            </Description>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Ge><Arg Name="NeedCommsTime"/><Sub><Arg Name="InnerCircleTime"/></Sub></Ge>
            </When>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="InnerCircleRadius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>

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