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elementURI="platform_speed_wrt_ground" type=04 *e code=003F elementURI="platform_speed_wrt_sea_water" type=04 *e code=0040 elementURI="platform_temperature" type=04 *e code=0041 elementURI="platform_vehicle_power" type=04 *e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003 *e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003 *e code=0044 elementURI="platform_x_sea_water_velocity" type=04 *e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0047 elementURI="platform_x_velocity_current" type=04 *e code=0048 elementURI="platform_y_sea_water_velocity" type=04 *e code=0049 elementURI="platform_y_velocity_wrt_ground" type=04 *e code=004A elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=004B elementURI="platform_y_velocity_current" type=04 *e code=004C elementURI="platform_yaw_angle" type=04 *e code=004D elementURI="platform_yaw_rate" type=04 *e code=004E elementURI="platform_z_sea_water_velocity" type=04 *e code=004F elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0050 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0051 elementURI="platform_z_velocity_current" type=04 *e code=0052 elementURI="projection_x_coordinate" type=04 *e code=0053 elementURI="projection_y_coordinate" type=04 *e code=0054 elementURI="projection_zone" type=04 *e code=0055 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0056 elementURI="sea_water_density" type=04 *e code=0057 elementURI="sea_water_electrical_conductivity" type=04 *e code=0058 elementURI="sea_water_potential_density" type=04 *e code=0059 elementURI="sea_water_potential_temperature" type=04 *e code=005A elementURI="sea_water_pressure" type=04 *e code=005B elementURI="sea_water_rhodamine" type=04 *e code=005C elementURI="sea_water_salinity" type=04 *e code=005D elementURI="sea_water_sigma_t" type=04 *e code=005E elementURI="sea_water_sigma_theta" type=04 *e code=005F elementURI="sea_water_speed" type=04 *e code=0060 elementURI="sea_water_temperature" type=04 *e code=0061 elementURI="speed_of_sound_in_sea_water" type=04 *e code=0062 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0063 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0064 elementURI="time" type=04 *e code=0065 elementURI="time_fix" type=04 *e code=0066 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0067 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 Fiq0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *e code=0068 elementURI="controlThread.enableBroadcast" type=02 *a code=0000 owner=0004 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0005 name="SyncHandler" iqDCreated PCaller Thread at 404514E0iqBProtected caller Thread ID is 832ƿiqhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" iqDCreated PCaller Thread at 404814E0iqBProtected caller Thread ID is 833*n code=0007 name="CycleStarter" *e code=0069 elementURI="CycleStarter.enableBroadcast" type=02 *a code=0001 owner=0007 element=0069 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006A elementURI="CycleStarter.time" type=00 *a code=0002 owner=0007 element=006A universal=0064 unitName="second" type=1F size=0008 fl=01 ƿiqvSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandExec" *e code=006B elementURI="CommandExec.enableBroadcast" type=02 *a code=0003 owner=0008 element=006B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006C elementURI="NAL9602.strobeMode" type=02 *a code=0004 owner=0008 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *a code=0005 owner=0008 element=006D universal=3FFF 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404B14E0iqBProtected caller Thread ID is 834*n code=000A name="CommandLine" *e code=0073 elementURI="CommandLine.enableBroadcast" type=02 *a code=000C owner=000A element=0073 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿiqdComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" iqDCreated PCaller Thread at 404E14E0iqBProtected caller Thread ID is 835*n code=000C name="logger" *e code=0074 elementURI="logger.enableBroadcast" type=02 *a code=000D owner=000C element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿiqZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" jqDCreated PCaller Thread at 405114E0jqBProtected caller Thread ID is 836*n code=000E name="LogSplitter" *e code=0075 elementURI="LogSplitter.enableBroadcast" type=02 *a code=000E owner=000E element=0075 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0076 elementURI="LogSplitter.platform_communications" type=00 *a code=000F owner=000E element=0076 universal=002A unitName="bool" type=02 size=0001 fl=05 ƿjqtSyncComponent "LogSplitter" handled in the control thread.Njq\Looking for Config files in directory: Config/NjqTOpening Config file at: Config/Control.cfg*n code=000F name="Config/Control" *e code=0077 elementURI="HorizontalControl.loadAtStartup" type=01 *a code=0010 owner=000F element=0077 universal=3FFF unitName="bool" type=02 size=0001 fl=05 jq*e code=0078 elementURI="HorizontalControl.kdHeading" type=01 *a code=0011 owner=000F element=0078 universal=3FFF unitName="second" type=0B size=0003 fl=05 )jqL=*e code=0079 elementURI="HorizontalControl.kiHeading" type=01 *a code=0012 owner=000F element=0079 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 Ijq:*e code=007A elementURI="HorizontalControl.kiwpHeading" type=01 *a code=0013 owner=000F element=007A universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 ijq:*e code=007B 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type=0B size=0003 fl=05 OjqB*e code=008D elementURI="VerticalControl.depthDeadband" type=01 *a code=0026 owner=000F element=008D universal=3FFF unitName="meter" type=0B size=0003 fl=05 Qjq#<*e code=008E elementURI="VerticalControl.depthRateDeadband" type=01 *a code=0027 owner=000F element=008E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 Tjqu<*e code=008F elementURI="VerticalControl.depthRateSamples" type=01 *a code=0028 owner=000F element=008F universal=3FFF unitName="count" type=0D size=0004 fl=05 YjqK*e code=0090 elementURI="VerticalControl.dropWtDepthExcursion" type=01 *a code=0029 owner=000F element=0090 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )\jqA*e code=0091 elementURI="VerticalControl.dropWtOverrideDelay" type=01 *a code=002A owner=000F element=0091 universal=3FFF unitName="minute" type=0B size=0003 fl=05 IcjqC*e code=0092 elementURI="VerticalControl.elevDeadband" type=01 *a code=002B owner=000F element=0092 universal=3FFF 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universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 0oqax@*e code=01EF elementURI="Config/Simulator.Xrr" type=00 *a code=0188 owner=0012 element=01EF universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 1oqax@*e code=01F0 elementURI="Config/Simulator.Xvr" type=00 *a code=0189 owner=0012 element=01F0 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 )1oq/Ȕ_@*e code=01F1 elementURI="Config/Simulator.Xvv" type=00 *a code=018A owner=0012 element=01F1 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 I1oq;Fz/K*e code=01F2 elementURI="Config/Simulator.Xwq" type=00 *a code=018B owner=0012 element=01F2 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 i1oq/Ȕ_*e code=01F3 elementURI="Config/Simulator.Xww" type=00 *a code=018C owner=0012 element=01F3 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 1oq;Fz/K*e code=01F4 elementURI="Config/Simulator.Yrabr" type=00 *a code=018D owner=0012 element=01F4 universal=3FFF 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size=0008 fl=05 4>pq*e code=020D elementURI="Config/Simulator.initZ" type=00 *a code=01A6 owner=0012 element=020D universal=3FFF unitName="meter" type=1F size=0008 fl=05 4Apq*e code=020E elementURI="Config/Simulator.initP" type=00 *a code=01A7 owner=0012 element=020E universal=3FFF unitName="radian_per_second" type=1F size=0008 fl=05 4Epq*e code=020F elementURI="Config/Simulator.initQ" type=00 *a code=01A8 owner=0012 element=020F universal=3FFF unitName="radian_per_second" type=1F size=0008 fl=05 5Ipq*e code=0210 elementURI="Config/Simulator.initR" type=00 *a code=01A9 owner=0012 element=0210 universal=3FFF unitName="radian_per_second" type=1F size=0008 fl=05 )5Lpq*e code=0211 elementURI="Config/Simulator.initU" type=00 *a code=01AA owner=0012 element=0211 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 I5Opq*e code=0212 elementURI="Config/Simulator.initV" type=00 *a code=01AB owner=0012 element=0212 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 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universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 6pq*e code=021F elementURI="Config/Simulator.sst" type=00 *a code=01B8 owner=0012 element=021F universal=3FFF unitName="celsius" type=1F size=0008 fl=05 7pq*e code=0220 elementURI="Config/Simulator.t300" type=00 *a code=01B9 owner=0012 element=0220 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 )7pq*e code=0221 elementURI="Config/Simulator.tMixed" type=00 *a code=01BA owner=0012 element=0221 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 I7pq*e code=0222 elementURI="Config/Simulator.vertCurrent" type=00 *a code=01BB owner=0012 element=0222 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 i7pq*e code=0223 elementURI="Config/Simulator.oceanModelData" type=00 *a code=01BC owner=0012 element=0223 universal=3FFF unitName="none" type=00 size=0021 fl=05 7pq!Resources/2003080103_mb_l3_las.nc*e code=0224 elementURI="Config/Simulator.defaultDensity" type=00 *a code=01BD owner=0012 element=0224 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 7pq@*e code=0225 elementURI="Config/Simulator.centerHystMovableMass" type=00 *a code=01BE owner=0012 element=0225 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 7pq*e code=0226 elementURI="Config/Simulator.speedMovableMass" type=00 *a code=01BF owner=0012 element=0226 universal=3FFF unitName="millimeter_per_second" type=1F size=0008 fl=05 7pqǺF?*e code=0227 elementURI="Config/Simulator.wideHystMovableMass" type=00 *a code=01C0 owner=0012 element=0227 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 8pq*e code=0228 elementURI="Config/Simulator.centerHystBuoyancy" type=00 *a code=01C1 owner=0012 element=0228 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 )8pq*e code=0229 elementURI="Config/Simulator.speedBuoyancy" type=00 *a code=01C2 owner=0012 element=0229 universal=3FFF unitName="cubic_centimeter_per_second" type=1F size=0008 fl=05 I8pqTqs*>*e code=022A elementURI="Config/Simulator.wideHystBuoyancy" type=00 *a code=01C3 owner=0012 element=022A universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 i8pq*e code=022B elementURI="Config/Simulator.buoyancyNeutralOffset" type=00 *a code=01C4 owner=0012 element=022B universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 8pq*e code=022C elementURI="Config/Simulator.entrainedAir" type=00 *a code=01C5 owner=0012 element=022C universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 8pq*e code=022D elementURI="Config/Simulator.massPositionOffset" type=00 *a code=01C6 owner=0012 element=022D universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 8pq*e code=022E elementURI="Config/Simulator.bottomLockGone" type=00 *a code=01C7 owner=0012 element=022E universal=3FFF unitName="meter" type=1F size=0008 fl=05 8pqY@*e code=022F elementURI="Config/Simulator.homingSensorTat" type=00 *a code=01C8 owner=0012 element=022F universal=3FFF unitName="second" type=1F 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type=01 *a code=03A0 owner=001D element=0407 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 t|qe8*e code=0408 elementURI="CBIT.gf24Offset" type=01 *a code=03A1 owner=001D element=0408 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 )t|qe8*e code=0409 elementURI="CBIT.gf12Offset" type=01 *a code=03A2 owner=001D element=0409 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 It|q8*e code=040A elementURI="CBIT.gf5Offset" type=01 *a code=03A3 owner=001D element=040A universal=3FFF unitName="microampere" type=0B size=0003 fl=05 it|q87*e code=040B elementURI="CBIT.gf3_3Offset" type=01 *a code=03A4 owner=001D element=040B universal=3FFF unitName="microampere" type=0B size=0003 fl=05 t|q7*e code=040C elementURI="CBIT.gf3_15Offset" type=01 *a code=03A5 owner=001D element=040C universal=3FFF unitName="microampere" type=0B size=0003 fl=05 t|qSI*e code=040D elementURI="CBIT.gfCommOffset" type=01 *a code=03A6 owner=001D element=040D universal=3FFF unitName="microampere" type=0B size=0003 fl=05 t|q*e code=040E elementURI="SBIT.loadAtStartup" type=01 *a code=03A7 owner=001D element=040E universal=3FFF unitName="bool" type=02 size=0001 fl=05 t|q*e code=040F elementURI="SBIT.simulateHardware" type=01 *a code=03A8 owner=001D element=040F universal=3FFF unitName="bool" type=02 size=0001 fl=05 u|q*e code=0410 elementURI="SBIT.kernelRelease" type=01 *a code=03A9 owner=001D element=0410 universal=3FFF unitName="none" type=00 size=0015 fl=05 )u|q2.6.32-45-generic-pae*e code=0411 elementURI="SBIT.kernelVersion" type=01 *a code=03AA owner=001D element=0411 universal=3FFF unitName="none" type=00 size=002B fl=05 Iu|q+#102-Ubuntu SMP Wed Jan 2 22:10:16 UTC 2013*e code=0412 elementURI="IBIT.loadAtStartup" type=01 *a code=03AB owner=001D element=0412 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iu|q*e code=0413 elementURI="IBIT.batteryCapacityThreshold" type=01 *a code=03AC owner=001D element=0413 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 u|q/H*e code=0414 elementURI="IBIT.batteryVoltageThreshold" type=01 *a code=03AD owner=001D element=0414 universal=3FFF unitName="volt" type=0B size=0003 fl=05 u|q3[Aƿ|qFLoaded Config Component "Config/BITN|qZOpening Config file at: Config/Navigation.cfg*n code=001E name="Config/Navigation" *e code=0415 elementURI="DeadReckonUsingMultipleVelocitySources.loadAtStartup" type=01 *a code=03AE owner=001E element=0415 universal=3FFF unitName="bool" type=02 size=0001 fl=05 u}q*e code=0416 elementURI="DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier" type=01 *a code=03AF owner=001E element=0416 universal=3FFF unitName="none" type=1F size=0008 fl=05 u }q?*e code=0417 elementURI="DeadReckonUsingMultipleVelocitySources.allowableFailures" type=01 *a code=03B0 owner=001E element=0417 universal=3FFF unitName="count" type=0D size=0004 fl=05 v}q*e code=0418 elementURI="DeadReckonUsingMultipleVelocitySources.orientationStaleAfter" type=01 *a code=03B1 owner=001E element=0418 universal=3FFF unitName="minute" type=0B size=0003 fl=05 )v}qB*e code=0419 elementURI="DeadReckonUsingMultipleVelocitySources.velocityStaleAfter" type=01 *a code=03B2 owner=001E element=0419 universal=3FFF unitName="second" type=0B size=0003 fl=05 Iv}qA*e code=041A elementURI="DeadReckonUsingMultipleVelocitySources.verbosity" type=01 *a code=03B3 owner=001E element=041A universal=3FFF unitName="count" type=0D size=0004 fl=05 iv}q*e code=041B elementURI="DeadReckonUsingSpeedCalculator.loadAtStartup" type=01 *a code=03B4 owner=001E element=041B universal=3FFF unitName="bool" type=02 size=0001 fl=05 v}q*e code=041C elementURI="DeadReckonUsingSpeedCalculator.accuracyPremultiplier" type=01 *a code=03B5 owner=001E element=041C universal=3FFF unitName="none" type=1F size=0008 fl=05 v}q?*e code=041D elementURI="DeadReckonUsingSpeedCalculator.allowableFailures" type=01 *a code=03B6 owner=001E element=041D universal=3FFF unitName="count" type=0D size=0004 fl=05 v"}q*e code=041E elementURI="DeadReckonUsingSpeedCalculator.orientationStaleAfter" type=01 *a code=03B7 owner=001E element=041E universal=3FFF unitName="minute" type=0B size=0003 fl=05 v%}qB*e code=041F elementURI="DeadReckonUsingSpeedCalculator.velocityStaleAfter" type=01 *a code=03B8 owner=001E element=041F universal=3FFF unitName="second" type=0B size=0003 fl=05 w(}qA*e code=0420 elementURI="DeadReckonUsingSpeedCalculator.verbosity" type=01 *a code=03B9 owner=001E element=0420 universal=3FFF unitName="count" type=0D size=0004 fl=05 )w,}q*e code=0421 elementURI="DeadReckonWithRespectToWater.loadAtStartup" type=01 *a code=03BA owner=001E element=0421 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Iw/}q*e code=0422 elementURI="DeadReckonWithRespectToWater.accuracyPremultiplier" type=01 *a code=03BB owner=001E element=0422 universal=3FFF unitName="none" type=1F size=0008 fl=05 iw2}q?*e code=0423 elementURI="DeadReckonWithRespectToWater.allowableFailures" type=01 *a code=03BC owner=001E element=0423 universal=3FFF unitName="count" type=0D size=0004 fl=05 w5}q*e code=0424 elementURI="DeadReckonWithRespectToWater.orientationStaleAfter" type=01 *a code=03BD owner=001E element=0424 universal=3FFF unitName="minute" type=0B size=0003 fl=05 w9}qB*e code=0425 elementURI="DeadReckonWithRespectToWater.velocityStaleAfter" type=01 *a code=03BE owner=001E element=0425 universal=3FFF unitName="second" type=0B size=0003 fl=05 w<}qA*e code=0426 elementURI="DeadReckonWithRespectToWater.verbosity" type=01 *a code=03BF owner=001E element=0426 universal=3FFF unitName="count" type=0D size=0004 fl=05 w?}q*e code=0427 elementURI="DeadReckonWithRespectToSeafloor.loadAtStartup" type=01 *a code=03C0 owner=001E element=0427 universal=3FFF unitName="bool" type=02 size=0001 fl=05 xB}q*e code=0428 elementURI="DeadReckonWithRespectToSeafloor.accuracyPremultiplier" type=01 *a code=03C1 owner=001E element=0428 universal=3FFF unitName="none" type=1F size=0008 fl=05 )xF}q?*e code=0429 elementURI="DeadReckonWithRespectToSeafloor.allowableFailures" type=01 *a code=03C2 owner=001E element=0429 universal=3FFF unitName="count" type=0D size=0004 fl=05 IxI}q*e code=042A elementURI="DeadReckonWithRespectToSeafloor.orientationStaleAfter" type=01 *a code=03C3 owner=001E element=042A universal=3FFF unitName="minute" type=0B size=0003 fl=05 ixL}qB*e code=042B elementURI="DeadReckonWithRespectToSeafloor.velocityStaleAfter" type=01 *a code=03C4 owner=001E element=042B universal=3FFF unitName="second" type=0B size=0003 fl=05 xO}qA*e code=042C elementURI="DeadReckonWithRespectToSeafloor.verbosity" type=01 *a code=03C5 owner=001E element=042C universal=3FFF unitName="count" type=0D size=0004 fl=05 xS}q*e code=042D elementURI="DeadReckonUsingDVLWaterTrack.loadAtStartup" type=01 *a code=03C6 owner=001E element=042D universal=3FFF unitName="bool" type=02 size=0001 fl=05 xV}q*e code=042E elementURI="DeadReckonUsingDVLWaterTrack.accuracyPremultiplier" type=01 *a code=03C7 owner=001E element=042E universal=3FFF unitName="none" type=1F size=0008 fl=05 xY}q?*e code=042F elementURI="DeadReckonUsingDVLWaterTrack.allowableFailures" type=01 *a code=03C8 owner=001E element=042F universal=3FFF unitName="count" type=0D size=0004 fl=05 y]}q*e code=0430 elementURI="DeadReckonUsingDVLWaterTrack.orientationStaleAfter" type=01 *a code=03C9 owner=001E element=0430 universal=3FFF unitName="minute" type=0B size=0003 fl=05 )y`}qB*e code=0431 elementURI="DeadReckonUsingDVLWaterTrack.velocityStaleAfter" type=01 *a code=03CA owner=001E element=0431 universal=3FFF unitName="second" type=0B size=0003 fl=05 Iyc}qA*e code=0432 elementURI="DeadReckonUsingDVLWaterTrack.verbosity" type=01 *a code=03CB owner=001E element=0432 universal=3FFF unitName="count" type=0D size=0004 fl=05 iyf}q*e code=0433 elementURI="DeadReckonUsingCompactModelForecast.loadAtStartup" type=01 *a code=03CC owner=001E element=0433 universal=3FFF unitName="bool" type=02 size=0001 fl=05 yj}q*e code=0434 elementURI="DeadReckonUsingCompactModelForecast.accuracyPremultiplier" type=01 *a code=03CD owner=001E element=0434 universal=3FFF unitName="none" type=1F size=0008 fl=05 ym}q?*e code=0435 elementURI="DeadReckonUsingCompactModelForecast.allowableFailures" type=01 *a code=03CE owner=001E element=0435 universal=3FFF unitName="count" type=0D size=0004 fl=05 yp}q*e code=0436 elementURI="DeadReckonUsingCompactModelForecast.orientationStaleAfter" type=01 *a code=03CF owner=001E element=0436 universal=3FFF unitName="minute" type=0B size=0003 fl=05 yt}qB*e code=0437 elementURI="DeadReckonUsingCompactModelForecast.velocityStaleAfter" type=01 *a code=03D0 owner=001E element=0437 universal=3FFF unitName="second" type=0B size=0003 fl=05 zw}qA*e code=0438 elementURI="DeadReckonUsingCompactModelForecast.verbosity" type=01 *a code=03D1 owner=001E element=0438 universal=3FFF unitName="count" type=0D size=0004 fl=05 )zz}q*e code=0439 elementURI="LBLNavigation.loadAtStartup" type=01 *a code=03D2 owner=001E element=0439 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Iz}}q*e code=043A elementURI="LBLNavigation.verbosity" type=01 *a code=03D3 owner=001E element=043A universal=3FFF unitName="enum" type=02 size=0001 fl=05 iz}q*e code=043B elementURI="LBLNavigation.speedOfSound" type=01 *a code=03D4 owner=001E element=043B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 z}qD*e code=043C elementURI="LBLNavigation.navigationError" type=01 *a code=03D5 owner=001E element=043C universal=3FFF unitName="degree" type=2F size=0004 fl=05 z}q*e code=043D elementURI="LBLNavigation.baselineLockout" type=01 *a code=03D6 owner=001E element=043D universal=3FFF unitName="meter" type=0B size=0003 fl=05 z}qHC*e code=043E elementURI="LBLNavigation.advancePing" type=01 *a code=03D7 owner=001E element=043E universal=3FFF unitName="ratio" type=0B size=0003 fl=05 z}q?*e code=043F elementURI="LBLNavigation.advancePosition" type=01 *a code=03D8 owner=001E element=043F universal=3FFF unitName="ratio" type=0B size=0003 fl=05 {}q?*e code=0440 elementURI="LBLNavigation.maxPositionChange" type=01 *a code=03D9 owner=001E element=0440 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ){}q@@*e code=0441 elementURI="LBLNavigation.maxSpeedWrtTransponder" type=01 *a code=03DA owner=001E element=0441 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 I{}q?*e code=0442 elementURI="LBLNavigation.pingFilterSize" type=01 *a code=03DB owner=001E element=0442 universal=3FFF unitName="count" type=0D size=0004 fl=05 i{}q*e code=0443 elementURI="LBLNavigation.maxPingAgeInFilter" type=01 *a code=03DC owner=001E element=0443 universal=3FFF unitName="second" type=0B size=0003 fl=05 {}qB*e code=0444 elementURI="LBLNavigation.maxPingAge" type=01 *a code=03DD owner=001E element=0444 universal=3FFF unitName="second" type=0B size=0003 fl=05 {}q @*e code=0445 elementURI="LBLNavigation.fixFilterSize" type=01 *a code=03DE owner=001E element=0445 universal=3FFF unitName="count" type=0D size=0004 fl=05 {}q *e code=0446 elementURI="LBLNavigation.fixHalfLifeInFilter" type=01 *a code=03DF owner=001E element=0446 universal=3FFF unitName="second" type=0B size=0003 fl=05 {}qA*e code=0447 elementURI="NavChart.loadAtStartup" type=01 *a code=03E0 owner=001E element=0447 universal=3FFF unitName="bool" type=02 size=0001 fl=05 |}q*e code=0448 elementURI="NavChart.UseChartAltitude" type=01 *a code=03E1 owner=001E element=0448 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )|}q*e code=0449 elementURI="NavChartDb.charts" type=01 *a code=03E2 owner=001E element=0449 universal=3FFF unitName="none" type=00 size=0023 fl=05 I|}q#US1WC07M,US2WC11M,US3CA52M,US5CA50M*e code=044A elementURI="NavChartDb.cycleTimeout" type=01 *a code=03E3 owner=001E element=044A universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 i|}qL=*e code=044B elementURI="UniversalFixResidualReporter.loadAtStartup" type=01 *a code=03E4 owner=001E element=044B universal=3FFF unitName="bool" type=02 size=0001 fl=05 |}q*e code=044C elementURI="UniversalFixResidualReporter.verbosity" type=01 *a code=03E5 owner=001E element=044C universal=3FFF unitName="count" type=0D size=0004 fl=05 |}q*e code=044D elementURI="WorkSite.loadAtStartup" type=01 *a code=03E6 owner=001E element=044D universal=3FFF unitName="bool" type=02 size=0001 fl=05 |}q*e code=044E elementURI="WorkSite.writeInterval" type=01 *a code=03E7 owner=001E element=044E universal=3FFF unitName="minute" type=0B size=0003 fl=05 |}qpB*e code=044F elementURI="WorkSite.verbosity" type=01 *a code=03E8 owner=001E element=044F universal=3FFF unitName="count" type=0D size=0004 fl=05 }}qƿ ~qTLoaded Config Component "Config/NavigationN"~qtLooking for Config files in directory: Config/lrauv-brizo/N&~qlOpening Config file at: Config/lrauv-brizo/Control.cfg*e code=0450 elementURI="BackSeatDriver.loadAtStartup" type=01 *a code=03E9 owner=000F element=0450 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )}3~q4~qw95~qBi7~qQ8*e code=0451 elementURI="VeritcalControl.buoyancyLimitHiCC" type=01 *a code=03EA owner=000F element=0451 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 I}:~q+:);~qp:I<~qM;@~q=B~q#i?E~qG~q> I~qzDK~q#? q>q>q?i??q @?q)@q@qtA?qAqAq?B?q)CqICqC!q D"qID%q>NjqlOpening Config file at: Config/lrauv-brizo/vehicle.cfg)RvqbrizoIRxq iR{qff44FF44R|q9228R}q177271R?qR?q)Uq /dev/ttyTX0IU?qiUq /dev/ttyTX2U?qiXq /dev/loadC6Xq /dev/ttyC6X?q Sq /dev/loadC5)Sq /dev/ttyC5IS?q cq /dev/loadC2)cq /dev/ttyC2Ic?qiSq /dev/loadC1Sq /dev/ttyC1S?q^q /dev/loadC0^q/dev/mcp3553C0^?q _?q)_?qi]q /dev/loadB7]q /dev/ttyS2]?qI`q /dev/loadB6I[q /dev/loadB4i[q /dev/ttyB4[?qYq /dev/loadB0Yq/dev/mcp3553B0Y?qY?q Z?q \q /dev/loadA6*e code=0452 elementURI="ESPComponent.secLoadControl" type=01 *a code=03EB owner=0019 element=0452 universal=3FFF unitName="none" type=00 size=000B fl=05 i}q /dev/loadA7I\q /dev/ttyTX1i\q /dev/ttyA6\?q\q /dev/loadA5\q /dev/ttyA5\?Àq[Āq /dev/loadA4[ŀq /dev/ttyA4[?ǀq)aȀq /dev/loadA3Iaɀq /dev/ttyA3ia?ˀqÙq /dev/loadA2Ùq /dev/ttyA2U?πqaЀq /dev/loadA1 bрq /dev/ttyA1)b?ӀqNqlOpening Config file at: Config/lrauv-brizo/Battery.cfg*n code=001F name="Config/Battery" *e code=0453 elementURI="Config/Battery.stick1" type=00 *a code=03EC owner=001F element=0453 universal=3FFF unitName="none" type=00 size=0004 fl=05 }'q0262*e code=0454 elementURI="Config/Battery.stick2" type=00 *a code=03ED owner=001F element=0454 universal=3FFF unitName="none" type=00 size=0004 fl=05 }*q0119*e code=0455 elementURI="Config/Battery.stick3" type=00 *a code=03EE owner=001F element=0455 universal=3FFF unitName="none" type=00 size=0004 fl=05 },q00BF*e code=0456 elementURI="Config/Battery.stick4" type=00 *a code=03EF owner=001F element=0456 universal=3FFF unitName="none" type=00 size=0004 fl=05 }/q0089*e code=0457 elementURI="Config/Battery.stick5" type=00 *a code=03F0 owner=001F element=0457 universal=3FFF unitName="none" type=00 size=0004 fl=05 ~2q00C2*e code=0458 elementURI="Config/Battery.stick6" type=00 *a code=03F1 owner=001F element=0458 universal=3FFF unitName="none" type=00 size=0004 fl=05 )~5q00F1*e code=0459 elementURI="Config/Battery.stick7" type=00 *a code=03F2 owner=001F element=0459 universal=3FFF unitName="none" type=00 size=0004 fl=05 I~8q011A*e code=045A elementURI="Config/Battery.stick8" type=00 *a code=03F3 owner=001F element=045A universal=3FFF unitName="none" type=00 size=0004 fl=05 i~;q027C*e code=045B elementURI="Config/Battery.stick9" type=00 *a code=03F4 owner=001F element=045B universal=3FFF unitName="none" type=00 size=0004 fl=05 ~>q0268*e code=045C elementURI="Config/Battery.stick10" type=00 *a code=03F5 owner=001F element=045C universal=3FFF unitName="none" type=00 size=0004 fl=05 ~Aq00BE*e code=045D elementURI="Config/Battery.stick11" type=00 *a code=03F6 owner=001F element=045D universal=3FFF unitName="none" type=00 size=0004 fl=05 ~Dq0086*e code=045E elementURI="Config/Battery.stick12" type=00 *a code=03F7 owner=001F element=045E universal=3FFF unitName="none" type=00 size=0004 fl=05 ~Fq0284*e code=045F elementURI="Config/Battery.stick13" type=00 *a code=03F8 owner=001F element=045F universal=3FFF unitName="none" type=00 size=0004 fl=05 Iq0285*e code=0460 elementURI="Config/Battery.stick14" type=00 *a code=03F9 owner=001F element=0460 universal=3FFF unitName="none" type=00 size=0004 fl=05 )Lq0129*e code=0461 elementURI="Config/Battery.stick15" type=00 *a code=03FA owner=001F element=0461 universal=3FFF unitName="none" type=00 size=0004 fl=05 IOq026B*e code=0462 elementURI="Config/Battery.stick16" type=00 *a code=03FB owner=001F element=0462 universal=3FFF unitName="none" type=00 size=0004 fl=05 iRq0120*e code=0463 elementURI="Config/Battery.stick17" type=00 *a code=03FC owner=001F element=0463 universal=3FFF unitName="none" type=00 size=0004 fl=05 Uq00C9*e code=0464 elementURI="Config/Battery.stick18" type=00 *a code=03FD owner=001F element=0464 universal=3FFF unitName="none" type=00 size=0004 fl=05 Xq0186*e code=0465 elementURI="Config/Battery.stick19" type=00 *a code=03FE owner=001F element=0465 universal=3FFF unitName="none" type=00 size=0004 fl=05 [q025D*e code=0466 elementURI="Config/Battery.stick20" type=00 *a code=03FF owner=001F element=0466 universal=3FFF unitName="none" type=00 size=0004 fl=05 ]q0263*e code=0467 elementURI="Config/Battery.stick21" type=00 *a code=0400 owner=001F element=0467 universal=3FFF unitName="none" type=00 size=0004 fl=05 aq0114*e code=0468 elementURI="Config/Battery.stick22" type=00 *a code=0401 owner=001F element=0468 universal=3FFF unitName="none" type=00 size=0004 fl=05 )dq020B*e code=0469 elementURI="Config/Battery.stick23" type=00 *a code=0402 owner=001F element=0469 universal=3FFF unitName="none" type=00 size=0004 fl=05 Igq0286*e code=046A elementURI="Config/Battery.stick24" type=00 *a code=0403 owner=001F element=046A universal=3FFF unitName="none" type=00 size=0004 fl=05 iiq011E*e code=046B elementURI="Config/Battery.stick25" type=00 *a code=0404 owner=001F element=046B universal=3FFF unitName="none" type=00 size=0004 fl=05 mq0266*e code=046C elementURI="Config/Battery.stick26" type=00 *a code=0405 owner=001F element=046C universal=3FFF unitName="none" type=00 size=0004 fl=05 pq0112*e code=046D elementURI="Config/Battery.stick27" type=00 *a code=0406 owner=001F element=046D universal=3FFF unitName="none" type=00 size=0004 fl=05 ɀrq00AF*e code=046E elementURI="Config/Battery.stick28" type=00 *a code=0407 owner=001F element=046E universal=3FFF unitName="none" type=00 size=0004 fl=05 逿uq0151*e code=046F elementURI="Config/Battery.stick29" type=00 *a code=0408 owner=001F element=046F universal=3FFF unitName="none" type=00 size=0004 fl=05 xq00DC*e code=0470 elementURI="Config/Battery.stick30" type=00 *a code=0409 owner=001F element=0470 universal=3FFF unitName="none" type=00 size=0004 fl=05 ){q00BA*e code=0471 elementURI="Config/Battery.stick31" type=00 *a code=040A owner=001F element=0471 universal=3FFF unitName="none" type=00 size=0004 fl=05 I~q025E*e code=0472 elementURI="Config/Battery.stick32" type=00 *a code=040B owner=001F element=0472 universal=3FFF unitName="none" type=00 size=0004 fl=05 iq026E*e code=0473 elementURI="Config/Battery.stick33" type=00 *a code=040C owner=001F element=0473 universal=3FFF unitName="none" type=00 size=0004 fl=05 q0113*e code=0474 elementURI="Config/Battery.stick34" type=00 *a code=040D owner=001F element=0474 universal=3FFF unitName="none" type=00 size=0004 fl=05 q00EF*e code=0475 elementURI="Config/Battery.stick35" type=00 *a code=040E owner=001F element=0475 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɂq014F*e code=0476 elementURI="Config/Battery.stick36" type=00 *a code=040F owner=001F element=0476 universal=3FFF unitName="none" type=00 size=0004 fl=05 避q0088*e code=0477 elementURI="Config/Battery.stick37" type=00 *a code=0410 owner=001F element=0477 universal=3FFF unitName="none" type=00 size=0004 fl=05 q00A3*e code=0478 elementURI="Config/Battery.stick38" type=00 *a code=0411 owner=001F element=0478 universal=3FFF unitName="none" type=00 size=0004 fl=05 )q0274*e code=0479 elementURI="Config/Battery.stick39" type=00 *a code=0412 owner=001F element=0479 universal=3FFF unitName="none" type=00 size=0004 fl=05 Iq022F*e code=047A elementURI="Config/Battery.stick40" type=00 *a code=0413 owner=001F element=047A universal=3FFF unitName="none" type=00 size=0004 fl=05 iq0270*e code=047B elementURI="Config/Battery.stick41" type=00 *a code=0414 owner=001F element=047B universal=3FFF unitName="none" type=00 size=0004 fl=05 q00B9*e code=047C elementURI="Config/Battery.stick42" type=00 *a code=0415 owner=001F element=047C universal=3FFF unitName="none" type=00 size=0004 fl=05 q008C*e code=047D elementURI="Config/Battery.stick43" type=00 *a code=0416 owner=001F element=047D universal=3FFF unitName="none" type=00 size=0004 fl=05 ɂq0089*e code=047E elementURI="Config/Battery.stick44" type=00 *a code=0417 owner=001F element=047E universal=3FFF unitName="none" type=00 size=0004 fl=05 邿q00E4*e code=047F elementURI="Config/Battery.stick45" type=00 *a code=0418 owner=001F element=047F universal=3FFF unitName="none" type=00 size=0004 fl=05 q0269*e code=0480 elementURI="Config/Battery.stick46" type=00 *a code=0419 owner=001F element=0480 universal=3FFF unitName="none" type=00 size=0004 fl=05 )q026F*e code=0481 elementURI="Config/Battery.stick47" type=00 *a code=041A owner=001F element=0481 universal=3FFF unitName="none" type=00 size=0004 fl=05 Iq00EC*e code=0482 elementURI="Config/Battery.stick48" type=00 *a code=041B owner=001F element=0482 universal=3FFF unitName="none" type=00 size=0004 fl=05 iq008A*e code=0483 elementURI="Config/Battery.stick49" type=00 *a code=041C owner=001F element=0483 universal=3FFF unitName="none" type=00 size=0004 fl=05 q027B*e code=0484 elementURI="Config/Battery.stick50" type=00 *a code=041D owner=001F element=0484 universal=3FFF unitName="none" type=00 size=0004 fl=05 q00E5*e code=0485 elementURI="Config/Battery.stick51" type=00 *a code=041E owner=001F element=0485 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ƀq00EB*e code=0486 elementURI="Config/Battery.stick52" type=00 *a code=041F owner=001F element=0486 universal=3FFF unitName="none" type=00 size=0004 fl=05 郿q0267*e code=0487 elementURI="Config/Battery.stick53" type=00 *a code=0420 owner=001F element=0487 universal=3FFF unitName="none" type=00 size=0004 fl=05 q0260*e code=0488 elementURI="Config/Battery.stick54" type=00 *a code=0421 owner=001F element=0488 universal=3FFF unitName="none" type=00 size=0004 fl=05 )q009C*e code=0489 elementURI="Config/Battery.stick55" type=00 *a code=0422 owner=001F element=0489 universal=3FFF unitName="none" type=00 size=0004 fl=05 IŁq00A6*e code=048A elementURI="Config/Battery.stick56" type=00 *a code=0423 owner=001F element=048A universal=3FFF unitName="none" type=00 size=0004 fl=05 iȁq026D*e code=048B elementURI="Config/Battery.stick57" type=00 *a code=0424 owner=001F element=048B universal=3FFF unitName="none" type=00 size=0004 fl=05 ˁq027E*e code=048C elementURI="Config/Battery.stick58" type=00 *a code=0425 owner=001F element=048C universal=3FFF unitName="none" type=00 size=0004 fl=05 ́q00F3*e code=048D elementURI="Config/Battery.stick59" type=00 *a code=0426 owner=001F element=048D universal=3FFF unitName="none" type=00 size=0004 fl=05 ɄЁq0275*e code=048E elementURI="Config/Battery.stick60" type=00 *a code=0427 owner=001F element=048E universal=3FFF unitName="none" type=00 size=0004 fl=05 鄿Ӂq00AD*e code=048F elementURI="Config/Battery.stick61" type=00 *a code=0428 owner=001F element=048F universal=3FFF unitName="none" type=00 size=0004 fl=05 ցq0278*e code=0490 elementURI="Config/Battery.stick62" type=00 *a code=0429 owner=001F element=0490 universal=3FFF unitName="none" type=00 size=0004 fl=05 )فq0126ƿqNLoaded Config Component "Config/BatteryNqlOpening Config file at: Config/lrauv-brizo/Science.cfg h)q)h?+qi/qlinkname esp noauth local lock 115200 10.89.5.2:10.89.5.3 persist maxfail 0 holdoff 10 lcp-echo-interval 60 lcp-echo-failure 3 proxyarp ktune deflate 12 ms-dns 8.8.8.8j?0qj2q l3qUWQ9986 k6q3-)k9qk;q+9Ck=qL7A`?l?>ql@qmAq bb2flmba-5406lDq2lEq5 mFq)mHq1imIq>7mKq6mLq ><)f?NqIfOq)gRq@IgSqigUqO9}2?gWqr0@GPogYqE2g2o'?g[qT#hȾg\q;On?NqjOpening Config file at: Config/lrauv-brizo/logger.cfgNqdOpening Config file at: Config/lrauv-brizo/BIT.cfgp?q q qr q rq A)qqCIq?q)tq"9Itq8itq 7tqMxtqYtqt?q)uq2.6.27.8Iuq'#1 PREEMPT Tue Sep 24 11:12:27 PDT 2019iu? qNeqrOpening Config file at: Config/lrauv-brizo/Navigation.cfgu?oq vqqdvsqvuqdy?vqx?xq x?zqIw?|qI|q,US1WC07M,US2WC11M,US3CA52M,US5CA50M,US3CA69M^ƃqnReading configuration overrides from Data/persisted.cfg ʃq˃qĩq)?̓q Iq^?IIq_?Iq~?Iq@? J?qHq)Iq)iIq<I q<I q))J? q q%:I q`廩 q`? qqBLoading Module at Modules/Dock.soqLoaded Module: Dock (Contains behaviors and commands for docking)qFLoading Module at Modules/Sample.soqLoaded Module: Sample (This is a Sample Module of Sample Components)qNLoading Module at Modules/Derivation.so*n code=0020 name="DepthRateCalculator" *e code=0491 elementURI="DepthRateCalculator.enableBroadcast" type=02 *a code=042A owner=0020 element=0491 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=042B owner=0020 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0492 elementURI="DepthRateCalculator.depth_rate" type=00 *a code=042C owner=0020 element=0492 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 1݄qƿބqSyncComponent "DepthRateCalculator" handled in the control thread.*n code=0021 name="PitchRateCalculator" *e code=0493 elementURI="PitchRateCalculator.enableBroadcast" type=02 *a code=042D owner=0021 element=0493 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=042E owner=0021 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0494 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=042F owner=0021 element=0494 universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 qqƿqSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0022 name="SpeedCalculator" *e code=0495 elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=0430 owner=0022 element=0495 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0431 owner=0022 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0496 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=0432 owner=0022 element=0496 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 Yq*e code=0497 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=0433 owner=0022 element=0497 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 ]q*e code=0498 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *a code=0434 owner=0022 element=0498 universal=002E unitName="meter" type=0B size=0003 fl=05 aq*a code=0435 owner=0022 element=029F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0436 owner=0022 element=0086 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 qƿq|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0023 name="YawRateCalculator" *e code=0499 elementURI="YawRateCalculator.enableBroadcast" type=02 *a code=0437 owner=0023 element=0499 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0438 owner=0023 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=049A elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=0439 owner=0023 element=049A universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 qƿqSyncComponent "YawRateCalculator" handled in the control thread.*n code=0024 name="ElevatorOffsetCalculator" *e code=049B elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *a code=043A owner=0024 element=049B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=043B owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=043C owner=0024 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=043D owner=0024 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=049C elementURI="SpeedControl.speedCmd" type=02 *a code=043E owner=0024 element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=049D elementURI="VerticalControl.pitchCmd" type=02 *a code=043F owner=0024 element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=049E elementURI="VerticalControl.massPositionCmd" type=02 *a code=0440 owner=0024 element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0441 owner=0024 element=02AB universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0442 owner=0024 element=02AA universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0443 owner=0024 element=02AC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0444 owner=0024 element=00BF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=049F elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *a code=0445 owner=0024 element=049F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04A0 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=0446 owner=0024 element=04A0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04A1 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=0447 owner=0024 element=04A1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04A2 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=0448 owner=0024 element=04A2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=04A3 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=0449 owner=0024 element=04A3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04A4 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=044A owner=0024 element=04A4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 1 qƿ qSyncComponent "ElevatorOffsetCalculator" handled in the control thread.*n code=0025 name="ShortestDistanceToPolygonSidesCalculator" *e code=04A5 elementURI="ShortestDistanceToPolygonSidesCalculator.enableBroadcast" type=02 *a code=044B owner=0025 element=04A5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=044C owner=0025 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=044D owner=0025 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=044E owner=0025 element=02AE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=044F owner=0025 element=02AF universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0450 owner=0025 element=02B0 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0451 owner=0025 element=02B1 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0452 owner=0025 element=02B2 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0453 owner=0025 element=02B3 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0454 owner=0025 element=02B4 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0455 owner=0025 element=02B5 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0456 owner=0025 element=02B6 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0457 owner=0025 element=02B7 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0458 owner=0025 element=02B8 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0459 owner=0025 element=02B9 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=045A owner=0025 element=02BA universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=045B owner=0025 element=02BB universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=045C owner=0025 element=02BC universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=045D owner=0025 element=02BD universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=045E owner=0025 element=02BE universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=045F owner=0025 element=02BF universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0460 owner=0025 element=02C0 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0461 owner=0025 element=02C1 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0462 owner=0025 element=02C2 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=04A6 elementURI="ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides" type=02 *a code=0463 owner=0025 element=04A6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=04A7 elementURI="ShortestDistanceToPolygonSidesCalculator.side_shortest_distance" type=02 *a code=0464 owner=0025 element=04A7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=04A8 elementURI="ShortestDistanceToPolygonSidesCalculator.inside_polygon" type=02 *a code=0465 owner=0025 element=04A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 q qƿqSyncComponent "ShortestDistanceToPolygonSidesCalculator" handled in the control thread.qLoaded Module: Derivation (Contains the base derivation components)qHLoading Module at Modules/Control.so*n code=0026 name="VerticalControl" *e code=04A9 elementURI="VerticalControl.enableBroadcast" type=02 *a code=0466 owner=0026 element=04A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 _q4Construct VerticalControl.*e code=04AA elementURI="VerticalControl.verticalMode" type=02 *a code=0467 owner=0026 element=04AA universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=04AB elementURI="VerticalControl.depthCmd" type=02 *a code=0468 owner=0026 element=04AB universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=04AC elementURI="VerticalControl.depthRateCmd" type=02 *a code=0469 owner=0026 element=04AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=046A owner=0026 element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=04AD elementURI="VerticalControl.pitchRateCmd" type=02 *a code=046B owner=0026 element=04AD universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=04AE elementURI="VerticalControl.buoyancyCmd" type=02 *a code=046C owner=0026 element=04AE universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=046D owner=0026 element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=04AF elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=046E owner=0026 element=04AF universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=04B0 elementURI="LoopControl.periodCmd" type=02 *a code=046F owner=0026 element=04B0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0470 owner=0026 element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0471 owner=0026 element=0088 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0472 owner=0026 element=0089 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0473 owner=0026 element=008A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0474 owner=0026 element=008B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0475 owner=0026 element=008C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0476 owner=0026 element=008D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0477 owner=0026 element=008E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0478 owner=0026 element=008F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0479 owner=0026 element=0090 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=047A owner=0026 element=0091 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=047B owner=0026 element=0092 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=047C owner=0026 element=0093 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=047D owner=0026 element=0094 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=047E owner=0026 element=0095 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=047F owner=0026 element=0097 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0480 owner=0026 element=0096 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0481 owner=0026 element=0098 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0482 owner=0026 element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0483 owner=0026 element=009A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0484 owner=0026 element=009C universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0485 owner=0026 element=009B universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0486 owner=0026 element=009D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0487 owner=0026 element=009E universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0488 owner=0026 element=009F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0489 owner=0026 element=00A0 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=048A owner=0026 element=00A2 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=048B owner=0026 element=00A1 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=048C owner=0026 element=00A3 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=048D owner=0026 element=00A4 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=048E owner=0026 element=00A5 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=048F owner=0026 element=00A6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0490 owner=0026 element=00A8 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0491 owner=0026 element=00A9 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0492 owner=0026 element=00AA universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0493 owner=0026 element=00AB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0494 owner=0026 element=00AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0495 owner=0026 element=00AC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0496 owner=0026 element=00AE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0497 owner=0026 element=00AF universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0498 owner=0026 element=00B0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0499 owner=0026 element=00B1 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=049A owner=0026 element=00B2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=049B owner=0026 element=00B3 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=049C owner=0026 element=00B4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=049D owner=0026 element=00B5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=049E owner=0026 element=00B6 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=049F owner=0026 element=00B7 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=04A0 owner=0026 element=00B8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04A1 owner=0026 element=00B9 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04A2 owner=0026 element=0084 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A3 owner=0026 element=00BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04A4 owner=0026 element=00BC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04A5 owner=0026 element=00BD universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04A6 owner=0026 element=00BE universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04A7 owner=0026 element=00BF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04A8 owner=0026 element=00C0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04A9 owner=0026 element=025E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04AA owner=0026 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04AB owner=0026 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04AC owner=0026 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04AD owner=0026 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04AE owner=0026 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04AF owner=0026 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04B0 owner=0026 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04B1 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=04B1 owner=0026 element=04B1 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=04B2 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=04B2 owner=0026 element=04B2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=04B3 elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=04B3 owner=0026 element=04B3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04B4 elementURI="VerticalControl.dtInternal" type=02 *a code=04B4 owner=0026 element=04B4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=04B5 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=04B5 owner=0026 element=04B5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04B6 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=04B6 owner=0026 element=04B6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=04B7 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=04B7 owner=0026 element=04B7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04B8 elementURI="VerticalControl.pitchInternal" type=02 *a code=04B8 owner=0026 element=04B8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04B9 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=04B9 owner=0026 element=04B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04BA owner=0026 element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=04BA elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=04BB owner=0026 element=04BA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04BB elementURI="VerticalControl.massPositionAction" type=02 *a code=04BC owner=0026 element=04BB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=04BC elementURI="VerticalControl.buoyancyAction" type=02 *a code=04BD owner=0026 element=04BC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=04BE owner=0026 element=04BA universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04BF owner=0026 element=04BB universal=3FFF unitName="meter" type=0B size=0003 fl=04 qƿq|SyncComponent "VerticalControl" handled in the control thread.*n code=0027 name="HorizontalControl" *e code=04BD elementURI="HorizontalControl.enableBroadcast" type=02 *a code=04C0 owner=0027 element=04BD universal=3FFF unitName="bool" type=02 size=0001 fl=05 q8Construct HorizontalControl.*e code=04BE elementURI="HorizontalControl.horizontalMode" type=02 *a code=04C1 owner=0027 element=04BE universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=04BF elementURI="HorizontalControl.latitudeCmd" type=02 *a code=04C2 owner=0027 element=04BF universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=04C0 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=04C3 owner=0027 element=04C0 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=04C1 elementURI="HorizontalControl.headingCmd" type=02 *a code=04C4 owner=0027 element=04C1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=04C2 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=04C5 owner=0027 element=04C2 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=04C3 elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=04C6 owner=0027 element=04C3 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=04C4 elementURI="HorizontalControl.bearingCmd" type=02 *a code=04C7 owner=0027 element=04C4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=04C5 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=04C8 owner=0027 element=04C5 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=04C6 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=04C9 owner=0027 element=04C6 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=04C7 elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=04CA owner=0027 element=04C7 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=04CB owner=0027 element=0078 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04CC owner=0027 element=0079 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04CD owner=0027 element=007B universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04CE owner=0027 element=007C universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=04CF owner=0027 element=007A universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=04D0 owner=0027 element=007D universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=04D1 owner=0027 element=007E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04D2 owner=0027 element=007F universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=04D3 owner=0027 element=0080 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D4 owner=0027 element=0081 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D5 owner=0027 element=0082 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D6 owner=0027 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D7 owner=0027 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D8 owner=0027 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D9 owner=0027 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04DA owner=0027 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04C8 elementURI="HorizontalControl.headingCmdInternal" type=02 *a code=04DB owner=0027 element=04C8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04C9 elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *a code=04DC owner=0027 element=04C9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04CA elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=04DD owner=0027 element=04CA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04CB elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=04DE owner=0027 element=04CB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04CC elementURI="HorizontalControl.xteInternal" type=02 *a code=04DF owner=0027 element=04CC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=04CD elementURI="HorizontalControl.kxteInternal" type=02 *a code=04E0 owner=0027 element=04CD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04CE elementURI="HorizontalControl.bearingInternal" type=02 *a code=04E1 owner=0027 element=04CE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=04CF elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=04E2 owner=0027 element=04CF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04E3 owner=0027 element=04CF universal=3FFF unitName="radian" type=2F size=0004 fl=04 …qƿ…qSyncComponent "HorizontalControl" handled in the control thread.*n code=0028 name="SpeedControl" *e code=04D0 elementURI="SpeedControl.enableBroadcast" type=02 *a code=04E4 owner=0028 element=04D0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ņq.Construct SpeedControl.*a code=04E5 owner=0028 element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04E6 owner=0028 element=0086 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=04E7 owner=0028 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04D1 elementURI="SpeedControl.propOmegaAction" type=02 *a code=04E8 owner=0028 element=04D1 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 1 DžqƿȅqvSyncComponent "SpeedControl" handled in the control thread.*n code=0029 name="LoopControl" *e code=04D2 elementURI="LoopControl.enableBroadcast" type=02 *a code=04E9 owner=0029 element=04D2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʅq,Construct LoopControl.*a code=04EA owner=0029 element=04B0 universal=3FFF unitName="second" type=0B size=0003 fl=04 q ˅qƿ˅qtSyncComponent "LoopControl" handled in the control thread.˅qLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)̅qNLoading Module at Modules/Navigation.so*n code=002A name="DeadReckonUsingMultipleVelocitySources" *e code=04D3 elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *a code=04EB owner=002A element=04D3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04EC owner=002A element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04ED owner=002A element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04EE owner=002A element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04EF owner=002A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04F0 owner=002A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04F1 owner=002A element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04D4 elementURI="SetNav.time_fix" type=02 *a code=04F2 owner=002A element=04D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=04D5 elementURI="SetNav.latitude_fix" type=02 *a code=04F3 owner=002A element=04D5 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=04D6 elementURI="SetNav.longitude_fix" type=02 *a code=04F4 owner=002A element=04D6 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=04D7 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *a code=04F5 owner=002A element=04D7 universal=0017 unitName="degree" type=37 size=0006 fl=05 ]+q*e code=04D8 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *a code=04F6 owner=002A element=04D8 universal=001A unitName="degree" type=37 size=0006 fl=05 a-q*e code=04D9 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *a code=04F7 owner=002A element=04D9 universal=0006 unitName="meter" type=0B size=0003 fl=05 e/q*e code=04DA elementURI="DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground" type=00 *a code=04F8 owner=002A element=04DA universal=003E unitName="meter_per_second" type=0B size=0003 fl=05 i2q*e code=04DB elementURI="DeadReckonUsingMultipleVelocitySources.platform_course" type=00 *a code=04F9 owner=002A element=04DB universal=002C unitName="unspecified" type=0B size=0003 fl=05 m5q*e code=04DC elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=04FA owner=002A element=04DC universal=0015 unitName="meter" type=0B size=0003 fl=05 q7q*e code=04DD elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=04FB owner=002A element=04DD universal=000D unitName="meter" type=0B size=0003 fl=05 u:q*e code=04DE elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=04FC owner=002A element=04DE universal=000E unitName="meter" type=0B size=0003 fl=05 yInitializing YawRateCalculator. qLInitializing ElevatorOffsetCalculator.qInitializing. qHInitialize VerticalControlComponent.qLInitialize HorizontalControlComponent. qBInitialize SpeedControlComponent.q@Initialize LoopControlComponent.q>Initialize NavChart Navigation. qhInitializing UniversalFixResidualReporter component.*a code=073E owner=0034 element=0121 universal=3FFF unitName="bool" type=02 size=0001 fl=04 #'q4Initialize SBIT Component.=#'qgit: 2022-07-07#'qdgit hash: 48b7c4fbe3545a8904a3b2b7df7cd86ca01e1427=#(q0Kernel Release: 2.6.27.8*a code=073F owner=0046 element=040F universal=3FFF unitName="bool" type=02 size=0001 fl=04 #)qKernel Reporting Different Version From Configuration. Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021Ͽ)q#*qHBeginning SBIT in 48.000000 seconds.#+q4Initialize IBIT Component.)ҿ+q $+q4Initialize CBIT Component.,q0Handler Thread ID is 929 $6q*Initialized mux pins. $6q@Initializing the watchdog timer.>q0Handler Thread ID is 930Jq0Handler Thread ID is 931KqdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP$NqTLast reboot was NOT due to watchdog timer. $Nq.Initializing heartbeat.Vq0Handler Thread ID is 932 eq݌Ggq0Handler Thread ID is 933鲿iqqA lqqA)rqV佡 rq yrqqA rq rq? zq0Handler Thread ID is 934 zq2Initializing CTD_Seabird."~q0Handler Thread ID is 936Mq2"qPowering up&q0Handler Thread ID is 938%qLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000%qtAlready Loaded Electronic Nav Chart data from US1WC07M.000%qLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000%qtAlready Loaded Electronic Nav Chart data from US2WC11M.000%qLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000%qtAlready Loaded Electronic Nav Chart data from US3CA52M.000%qLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000%qtAlready Loaded Electronic Nav Chart data from US5CA50M.000%qLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA69M.000%qtAlready Loaded Electronic Nav Chart data from US3CA69M.000 $q2Deactivating GF circuits. $q8Deactivating emergency mode. $q$Backplane powered.$q^Loading Mission from file: Missions/Startup.xml*n code=004D name="Startup" *n code=004E name="Startup:A.GoToSurface" *e code=05F3 elementURI="GoToSurface.enableBroadcast" type=02 *a code=0740 owner=004E element=05F3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 'q,Construct GoToSurface.*a code=0741 owner=004E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0742 owner=004E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0743 owner=004E element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0744 owner=004E element=04AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0745 owner=004E element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0746 owner=004E element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0747 owner=004E element=04AA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0748 owner=004E element=04AF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0749 owner=004E element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=074A owner=004E element=00BF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=074B owner=004E element=00BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=074C owner=004E element=008C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=074D owner=004E element=00AC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=074E owner=004E element=00A7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=074F owner=004E element=00BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004F name="Startup:StartupSatComms" *n code=0050 name="Startup:StartupSatComms:A" *n code=0051 name="Startup:StartupSatComms:B" $qA $q^Loading Mission from file: Missions/Default.xml*n code=0052 name="Default" *e code=05F4 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=0750 owner=0052 element=05F4 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0751 owner=0052 element=05F4 universal=3FFF unitName="minute" type=1F size=0008 fl=05 )]q$^qvDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0053 name="Default:A.Wait" )_qConstruct Wait.*n code=0054 name="Default:B.GoToSurface" *a code=0752 owner=0054 element=05F3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *aq,Construct GoToSurface.*a code=0753 owner=0054 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0754 owner=0054 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0755 owner=0054 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0756 owner=0054 element=04AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0757 owner=0054 element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0758 owner=0054 element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0759 owner=0054 element=04AA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=075A owner=0054 element=04AF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=075B owner=0054 element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=075C owner=0054 element=00BF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=075D owner=0054 element=00BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=075E owner=0054 element=008C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=075F owner=0054 element=00AC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0760 owner=0054 element=00A7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0761 owner=0054 element=00BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0055 name="Default:CheckIn" *n code=0056 name="Default:CheckIn:Read_GPS" *n code=0057 name="Default:CheckIn:Read_Iridium" *n code=0058 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0059 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" ,q$Construct Execute.*n code=005A name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=005B name="Default:CheckIn:C.Wait" -qConstruct Wait.*n code=005C name="Default:CheckIn:D" *a code=0762 owner=005C element=05F4 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0763 owner=005C element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005D name="Default:CheckIn:E" *n code=005E name="Default:D" *n code=005F name="Default:E.Execute" /q$Construct Execute.$q& 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs q}Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,NAL9602,Power24vConverter,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,ShortestDistanceToPolygonSidesCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,, ,-]"A&*Initializing AHRS_M2.Powering upɥ Am md@ Em ٫m GuPowering up.u)}]@}:ii ]@ a@ e@ i@ m@ q@%`廩%p:i-)-ɖ--Im u}4Initializing EZServoServo.6Initializing BuoyancyServo. 4Initializing EZServoServo. 6Initializing ElevatorServo.4Initializing EZServoServo.- .Initializing MassServo. 5 4Initializing EZServoServo. m 2Initializing RudderServo.m 4Initializing EZServoServo. 0Initializing ThrusterHE.i *e code=05F5 elementURI="controlThread.durationOfLastRun" type=00 *a code=0764 owner=0004 element=05F5 universal=3FFF unitName="second" type=07 size=0002 fl=05 >-,,6w"An ?٫rEr)vgv=4-'{I-=!I- i}i}i)ɖI i =$,,]"A"?٫"E)&_&.46 =I6W=i:i:DiD)DɖDHIH L-% ^Rudder initialization uart error serial timeout]% 6Rudder failed to initialize% -% (Communications Faulti1 -$E \Communications Fault in component: RudderServoM >E0*,,໪"A" ?٫"TE)&Z&%4r(IrC=izizi ) ɖ  I   4Uninitialize Rudder Servo.Powering downɾ i%,>1,,"A" ?٫"JE)*^*,4R,IRN=iZiZ`id)dɖddId hi!U=A7,,?o"A" ?٫"E)&YRyIRJ=i^i^hih)hɖhlI  }4Initializing EZServoServo. %2Initializing RudderServo.i1$E^Clearing failed state for component RudderServoEMS>"5Powering down5555k=,,I"A"S ?٫"VE)&c&264Re<IRJ=iZiZ`id)dɖddId hix=TD,,'"A" ?٫"E)*K* 4R@;IRJ=iZiZ`id)dɖddId hi -->N~J,,.,"A5 ?٫=E)EQE4;I-=iiQiY)YɖYYIa aiy>eQ,,E"A ?٫1EI A) A)<I^=iii)ɖI i>UW,,_"A~q ?٫~E) R 4&IJ=iii)ɖI  i=],,y"A ?٫E)̥d˥ 84<I*=iii)ɖI IT>)C uSd,,o"A]p ?٫]?Eeie)mAm?3dXIc=iii)ɖI i>uj,,J"A] ?٫]E)mjmC4ɵ)<IU=i i yi)ɖI m vтiIe4>bq,,R&"A}U ?٫}E)̍eˍ94gI?=iii)ɖI 9*Zero Speed 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Da@Y;)C>>٫>ъE)FcF264N;INM=Rr6QQR>YPyPaVBT9VW<iV>iXdidih)hɖhhIA I=#]SBIT PASSED=#]nListing configuration overrides from Data/persisted.cfg=#e4DAT.loadAtStartup=0 bool; =#e0DAT.sbdAddress=-1 enum; =#e@DVL_micro.loadAtStartup=0 bool; =#eBDepth_Keller.offset=3.6 decibar; =#eLExpress mostRecent CBIT.ampHoursUsed; =#epExpress none CTD_Seabird.bin_median_sea_water_salinity; =#mExpress linearApproximation CTD_Seabird.bin_median_sea_water_temperature 1.000000 kelvin; =#m~Express linearApproximation NAL9602.sigQuality 1.000000 count; =#mExpress none WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water; =#mExpress linearApproximation WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water 0.200000 microgram_per_liter; =#mExpress linearApproximation height_above_sea_floor 10.000000 meter; =#mShortestDistanceToPolygonSidesCalculator.latVertex1=34.55 degree; =#mShortestDistanceToPolygonSidesCalculator.latVertex2=34.4 degree; =#mShortestDistanceToPolygonSidesCalculator.latVertex3=34.13 degree; =#uShortestDistanceToPolygonSidesCalculator.latVertex4=34.42 degree; =#uShortestDistanceToPolygonSidesCalculator.latVertex5=nan degree; =#u~ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool; =#uShortestDistanceToPolygonSidesCalculator.lonVertex1=-120.67 degree; =#uShortestDistanceToPolygonSidesCalculator.lonVertex2=-119.28 degree; =#uShortestDistanceToPolygonSidesCalculator.lonVertex3=-119.28 degree; =#}ShortestDistanceToPolygonSidesCalculator.lonVertex4=-120.67 degree; =#}ShortestDistanceToPolygonSidesCalculator.lonVertex5=nan degree; =#}lVerticalControl.buoyancyNeutral=633 cubic_centimeter; =#}VVerticalControl.massDefault=-7 millimeter; =#}jVerticalControl.massPositionLimitAft=-28 millimeter; =#}hVerticalControl.massPositionLimitFwd=32 millimeter; }iZ=i>I,,"A4<9ca@o@Yаy?`=Hb?Y?@? ?`? h? ca@ޕ;)C">٫"!E)&a&24^<IbH=b,QQb>YdydafBd9f^<if>il$r.Started mission Startupar rqr&v:Aggregate::initialize Startupv 'v@Initialize GoToSurfaceComponent. 'vNo depth rate setting specified. Using default value of nan m/s. 'z~No pitch setting specified. Using default value of nan degrees. 'zNo speed setting specified. Using default value of 1.000000 m/s. 'zNo surface timeout specified. Using default value of 1000.000000 seconds.'~nReceived pitch timeout configuration 60.000000 seconds. )'ZAggregate::initialize Startup:StartupSatComms1Xz:ii)ɖI !i9U/=A,,o"A9a@<@p@YIڇyC`=HEν?e?Ŀ`?@t?Q?@o? a@K;)BZ>٫FE HH)NYN#4VrIVL=V,QQV>YXyXaZBX9ZC<i^>i`*a code=0765 owner=0050 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 (jdInitialize ReadDataComponent to sense latitude_fixhh h)lpitit)tɖttIx xi-=Rl,,L8"A9Ab@\p@Y(։yv]=H&`?@n? @jgR?? ;?d? 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Bο @ڻ??@?? *tJ@*sr;)*CB>٫B/E)DDVyIVN=V`9QQV>YXyXaZDX9^*9i^>i```id ]f7d aj7ٞd ejtIdh9h qj"CYd f:)f#:IfV79imw?yi q)qIyiyii)ɖI ij=) v.,,f6#A4<9.vJ@.sX@Y._oy.\=.H2`O? ?EοŻ?P?EԪ?? .vJ@.r;).CB>٫BE)F@F3N3<INK=NB˸QQR>YPyPaRDP9VJ9iV>iXXXi\ ]b7\ ab7ٞ\ ebtI\`9` qb"CY\ ^:)^S:I^*r79hjt?yh l)lIliltitit)tɖttIx xi %= xMoved sent file to Logs/20220711T173632/Express0001.lzma.bak $SBD MOMSN=16962787e,,6#A9f;{J@fX@YfJLoyfaZ=fH1uR? ?@Nο@ө?`??`? f;{J@fՑr;)fCn>٫nE)vEv3e<ܻIe5=m'9QQm>YiyiauDq9u!:iu>ii ]7 a7ٞ etI鞁9 q"CY g:):I79u?y )Iii!i!)!ɖ!!I) )ia=@,,:6#A9.zJ@.|X@Y.-oy.AZ=.H1 mQ?) ?@Mο?S?@D?`=? .zJ@.Fr;).CB>٫B^E)F>F43I\="9QQ>Y y a D 9 <i>ii! ]%7! a%7ٞ! e-tI!)9) q-"CY! % :)%:I%77915;x?y9 9)AIAiAIiIiQ)QɖQQIY YiqL=i>I> LG  )E yA E Ŧ@kj,,@6#AiI9.tJ@.X@Y.D oy.٫:FE)>=>3F%<IFR=FD9QQF>YHyHaJDH9JqiN>iPPPiT ]V7T aZ7ٞT eZtITX9X qZ#CYT V:)VY:IV79\bv?y` d)dIdidhilil)lɖllIp pi|n=^T,,6#A9.pJ@.X@Y.woy. ]=.H`3@bI??:ο6? ?9ު?C? .pJ@.Kr;).C>>٫>E)DDJQ<INI=bX8QQb>Y`y`afDd9f8if>illli| ]7| a7ٞ| etI| 9  q #CY| ~:)~#:I~79Zu?y 9)9IAiAIiIiQ)QɖQQIY Yiq%=|,,)6#A9.pJ@.X@Y.j oy.]=.HY3J?`?q;οa?˻?b?`? ? .pJ@.Мr;).CB>٫B^E)F8F3VIVI=VJڸQQZ>YXyXaZDX9^8i^>i)))i) ]57) a57ٞ) e5tI)199 q=#CY) -:)->:I- 79AE;x?yA I)IIIiIYiYiY)YɖaaIa ii=) d,,ʥ7#A;9.pJ@.zX@Y. oy../^=.H`t3@J? ?@C;οNIѻ???&? .pJ@.r;).CB>٫BE)FJF04]<Ie?=e8QQe>YayiamDi9mim>iyyyi ]7 a7ٞ etI鞁9 q#CY g:):I]79Yv?y )Ii)i)i)))ɖ)1I1 9iIE=Վ,,7#A9.vJ@.X@Y.ny.ѻ\=.H2N?i?@Eο 3?@a?Ԫ?s? .vJ@._r;).CB>٫BuE)F?F3V='IVV=VW9QQZ>YXyXaZDX9^a:i^>i```id ]j7d aj7ٞd ejtIdh9l qn#CYd f:)f:If[379Xw?y ) I i ii)ɖI i]=J,,^57#A9.zJ@.uX@Y.eny.Z=.HU2`Q?t? )Nο5?ә?/?? .zJ@. r;).C>8>٫BE)FHF4%ʻI%C=% QQ%>Y)y)a-D)9-/:i5>i999i ]7 a7ٞ etI9 q#CY :):I{Q79x?y  )Iiyiyiy)ɖI i=i>I>y,,L6O7#AiI96xJ@6UX@Y6ny6ZZ=6H2 rO?@?'Jο?@? y?? 6xJ@6r;)6CB>٫BwE)F<F3IC=A6QQ>YyaD9i>ii) ]57) a57ٞ) e=tI)999 q=#CY) -z:)-:I-m79y?y )Iiii)ɖI i==5bgot command report mod platform_buoyancy_position*a code=0769 owner=004A element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 Q,,ri7#A9.tJ@.vX@Y.ny.[=.H3 L?@^?@Bο~@w?@?(?? .tJ@.r;).CBR>٫BE)FHF4z =I~U=~8QQ~>YyaD9 !i >ii ]7 a%7ٞ e%tI!9! q%#CY 4:):I79)5vv?y1 9)9I9i9Yiaia)aɖiiIq qi%Pplatform_buoyancy_position 947.324951 cc^=,,7#A9.jrJ@.0X@Y.ny.[=.Hq3 PJ??@>ο?@? .?@? .jrJ@.r;).C6>٫:E)>J>04F;IFR=F8QQF>YHyHaJDH9NiN>iPPPiT ]V7T aZ7ٞT eZtITX9X qZ#CYT V:)V:IVY79\bx?y` d)dIdidhilil)lɖllIp pi|=) ,,Ȝ7#A4<4<9.nJ@.X@Y.ny.a\=.H@3H??8οE?@?ܪ? ? .nJ@.r;).C62>٫6PE)>I>X4Fn<IFJ=FG8QQF>YHyHaJDH9J iN>iPPPiT ]V7T aV7ٞT eZtITX9X qZ#CYT V:)V:IV79\^u?y` d)dIdidhihil)lɖllIp pi|-=n,,Υ7#A9.kJ@.X@Y.ny.Z^=.Hk4 F??2οwǻ?ԓ???@? .kJ@.r;).CR4>٫RE)ZOZc4IC= r9QQ>Y9y9a=D99ExܹiE>iIIIiQ ]U7Q a7ٞQ etIQ9 q#CYQ U#<)U$٫BE)F<F3}¼I}C=9QQ>YyaD9-9i>ii ]7 a7ٞ etI鞙9 q#CY :):I579x?y )Iiii)ɖI 1iIe=i>Il>,,dY7#AiI9.sJ@.X@Y._ny.}[=.H4 J? ?{@ο? r??@J? .sJ@.Gr;).CBX>٫B߆E)FAF?3V6IVY=V-9QQZ>YXyXaZD\9b{::ib>ii ]7 a7ٞ etI鞙9 q#CY g:){:I79ry?y )Iiii)ɖI 1iIiI)%)C eG 5tA)%ɫy)-@,,:8#A9.pJ@.X@Y.{ny.-Z=.HK4H?`?`<ο }???c? .pJ@.r;),>o>٫BE)F:F{3^<IbK=bSg8QQf>YdydafDd9jij>ipppip ]v7p av7ٞp evtIpt9x qz$CYp rE:)r:Ir+79v?y !)!I!i!1i1i1)YɖYYIY ai1U=+,,@8#A9.XnJ@.X@Y.ny./Z=.H4@^E?F? 7οf ޒ?`'?C? q? .XnJ@.r;).CR>٫R[E)ZVZE4nJ =InF=r:8QQr>YpyparDt9v͹iv>ixxxi| ]7| a7ٞ| etI|9  q $CY| ~:)~:I~G79]s?y )Ii)i)i)))ɖ))I1 1iAY=) U ,,78#A9.fJ@.GX@Y.qny.\=.H5>? ?(ο@@?? x? E? .fJ@.r;).CBX>٫B߆E)J)J3~nI~I=~T8QQ~>YyaD9 ՙi >ii ]7 a%7ٞ e%tI!9! q%$CY I:)':I]c79)5ry?y1 9)9I9i9ii)ɖI i=<,,Q8#A9>^J@>X@Y>Qny>O^=>H@6M9??`ο@? ?`?f? >^J@>r;)>CRT>٫RRE)V@V3^<I^N=r9QQr>YpyparDt9vԗiv>ixxxi| ]7| a7ٞ| etI| 9  q $CY| ~R:)~:I~~79uw?y )Iiii ) ɖ  I  iI=g,,k8#A9:`J@:±X@Y:3ny:]=:H6:?g?ο B??}?? :`J@:Er;)8R>٫RiE)VKV 4v0 <IvG=vK9QQv>YxyxazDx9~9i~>iAAAiI ]M7I aU7ٞI eUtIIQ9Q qU$CYI M:)M#:IM79yv?y )Iiii)ɖI i1}=i>I>HO!,,F~8#Ai$I$9BTeJ@BX@YB٫RE)V8V3!:II=QQ>Y y a D 9 *:i>ii! ]%7! a-7ٞ! e-tI!)9) q-$CY! %g:)%{:I%*791=vv?y9 A)AIAiAIiQiQ)QɖQQIY YiqO={',,|`8#A9riJ@rX@Yri8nyrd[=rH5A?4?@/ο? z?? ? riJ@rr;)rC>٫gE)%:%{35<I5G=="8QQ=>Y9y9aEDA9E-:iE>iIIIiQ ]}7Q a}7ٞQ etIQ9 q$CYQ UI:)U:IU679#t?y )Iiii)ɖI i]=!-,,p?8#A9.0>٫>E)F5F3R:IRT=V@QQV>YTyTaVDX9Z<=iZ>i```i` ]f7` af7ٞ` eftI`d9h qj$CY` b$:)b:Ib79Y]t?yY a)aIaiaqiqiq)qɖyyIy i=) 4,, 8#A;;9.bJ@.óX@Y.sany.~\=.H06@;?@?|"οz0?x?`Ϊ?{? .bJ@.Fr;).CB>٫BE)FDFJ3IE=]XQQ >Y y a D 9i>ii! ]-7! a-7ٞ! e-tI!)9) q-$CY! %:)%:I%799=Yv?y9 A)AIIiIQiQiY)Yɖ  I i)E=t:,,8#A9.PbJ@.X@Y.+Qny.,(]=.Hb6 ;? ?@S!οm請?}?@? ? .PbJ@.Lr;).CZR>٫ZE)b=b3fIjM=j#9QQj>YlylanDl9r]ٸir>itttix ]z7x a~7ٞx e~tIx|9| q~$CYx z:)z7:Iz$79  vv?y  )Ii!i!i!)!ɖ!!I) )iAe8=؜A,,9#A9N^J@N}X@YNT/nyNZ^=NH 7 9? ?`οp?`_?X? ? N^J@Nr;)NC>٫-E)̥F˥4LD<I==˜9QQ >Y y a D 9i>ii ]7 a7ٞ etI9 q$CY :)/:IC79"u?y )Ii ii)ɖI ii>I>=G,, 9#AiI9.^J@.ݮX@Y.ny.^=.Hp78?@?ο`?`{? ?? .^J@.Er;).C>>٫BE)F6F3NIN^=Rw:QQR>YPyPaRDP9Vf߸iV>iXXXi\ ]b7\ ab7ٞ\ eftI\d9d qf$CY\ ^k:)^:I^Z79hjZu?yl l)pIpiptitix)xɖI i== =,Ga sA)cy@M,,:9#A9.dJ@.{X@Y.{ ny.\=.H 6T=?s?X&ο??|? ժ?? .dJ@.r;).C>>٫>^E)F<F3JINJ=N¨QQN>YPyPaRDP9R:iV>iXXXi\ ]^7\ ab7ٞ\ ebtI\`9` qb%CY\ ^:)^:I^Nv79df;x?yh l)lIliptitit)xɖxxIx |i-=}T,,.WT9#A9.iJ@.FX@Y. ny.0Z=.H5@??;/ο??䟪?? .iJ@.r;).CBM>٫BE)F@F3} =I}==}/XQQ>YyaD9O1:i>ii ]7 a7ٞ etI鞙9 q%CY :)f:IՓ79xt?y )Iiii)ɖI i=) 8[,,0n9#A9.&eJ@.X@Y.Any..[=.H`)6٫BE)JJJ04VqμIVY=VyQQZ>YXyXaZDX9^8i^>i111i9 ]E79 aE7ٞ9 eEtI9A9A qE%CY9 =:)=:I=79IUv?yQ Y)YIYiYaiiii)iɖiiIq qi[=xa,,_ 9#A9.'dJ@.X@Y.=ny.Z=.H`M6@o;?f?`$ο@ ???@? .'dJ@.Tr;).CB>٫BE)F@F3r/=IvF=v8QQv>YtyxazDx9ziz>ii  ] 7  a 7ٞ  etI 9 q%CY  0:) :I 79x?y )Iiii)ɖI i =Sh,,`9#A9._J@.X@Y.Gny."\=.H6 n8??ο@? _?'ê?`? ._J@.gr;).CN>٫RuE)TT^;I^M=^!ϸQQb>Y`y`abD`9fH)if>ihhhil ]r7l ar7ٞl ertIlt9t qv%CYl n ;)n:In79xzXw?yx |)|I|i i i )ɖI i)M-=i>I>m?n,,j»9#AiI9.bYJ@.(X@Y.1ny.W]=.H 7e3??`ο q?@??? .bYJ@.r;).CH٫L)RRR4Z]9QQZ>Y\y\a^D\9b1ib>idddih ]j7h an7ٞh entIhl9l qn%CYh j?:)j:Ij\79ptyt x)xIxix|ii)ɖI  i!=$=*'u,,9#A9.XJ@.X@Y.Hny.]=.H7@2?@?ο@e?}?`?? .XJ@.Br;).CB>٫BE)F;F)3 <I < 9QQ >YyaD9si>iAAAiI ]M7I aU7ٞI eUtIIQ9Q qU%CYI M9:)M:IM79Zu?y )Iiii)ɖI i==NQ{,,-x9#A9*u`J@*;X@Y*31ny*"\=*H 68?٫BE)FFF4VIVQ=VQQZ>YXyXaZDX9^.:i^>iqqqiy ]7y a7ٞy etIy9 q%CYy }:)}/:I}979 w?y )Iiii)ɖI i)E=) 9,, V :#A4<4<9.XcJ@.X@Y.ny.do[=.H`6:?#?#ο?@|?̭?<? .XcJ@.r;).C>>٫BFE)FCF3J;IJL=N9QQN>YLyLaRDP9R9iR>iXXXiX ]^7X a^7ٞX e^tIX`9` qb%CYX ZX:)Z:IZR79dfv?yd h)hIhilpipip)tɖttIt xi %=c,,81#:#A9.`J@.wX@Y.(ny.[=.H6`8?`?@ο ? ?`? ? .`J@.r;).C@٫@)JJJ04r QQr>YtytavDt9vH͹iz>ii! ]-7! a-7ٞ! e-tI!)9) q5%CY! %k:)%:I%fo79YYyY a)aIaiaqiqiq)qɖI i=,,( =:#A9.aJ@.X@Y.Ony.h[=.Ho69?? ο@@? X?? ? .aJ@.Ըr;),BR>٫BE)F@F3z:I~<~QQ~>YYyYa]DY9e <9ie>iiiiiq ]}7q a}7ٞq e}tIqy9y q}%CYq u:)u:Iu79vv?y )Iiii)ɖI i!]=i>It>Hu,,V:#AiI9._J@.X@Y.!Eny.\=.H6K8??@ο`?@??? ._J@.Zr;).CB>٫B=E)FDFJ3V/IVO=V/8QQZ>YXyXaZDX9^㭹i^>iyyyi ]7 a7ٞ etI鞁9 q%CY :):I\79z?y )Ii i i ) ɖ I i)M=),,p:#AI& >)( VЍG` l) y  ĥ@9-G\J@- X@Y-UAny-yg]=e>ٲe@-H 47 5?w? ο%???? -G\J@-Nr;)-CmT>٫uRE)E3 <I 6= P8QQ >YyaUDQ9]i]>iaaaii ]m7i au7ٞi etIi9 q&CYi mD!<)mP",,˝:#A9.@^J@.X@Y.@Ony.m]=.H67??ο?`A?\?@? .@^J@.Er;).C>>٫BE)F<F3JO<IJe=N*QQN>YLyPaRDP9R49iR?iXXXiX ]^7X a^7ٞX e^tIX`9` qb&CYX Zj:)Z:IZ79dft?yd h)hIhilpipit)tɖttIt xi %=) 1,,Sy:#A;;9.=aJ@.X@Y.YUny.%\=.Hz6@J:?@?DοȤ?@?`ת?? .=aJ@.er;),>o>٫BE)F;F)3}FI}==}(aQQ>YyaD99i>ii ]7 a7ٞ etI鞙9 q&CY g:):IQ79v?y 9)9I9i9AiIiI)IɖIIIQ iu==ܮ,,"T:#A9.bJ@.޲X@Y.1ny.A\=.H6;?z?"!ο? ?ت? ? .bJ@.r;),BR>٫BE)F`F04bڔ;IbW=bp9QQf>YdydafDd9j9ij>ii ] 7 a 7ٞ e tI9 q&CY :)I79vv?y )Iiii ) ɖ  I i)==}got command maintain control VerticalControl.buoyancyAction 950 cubic_centimeter*n code=0060 name="Maintain_VerticalControl.buoyancyAction" *e code=05F6 elementURI="Maintain_VerticalControl.buoyancyAction.enableBroadcast" type=02 *a code=076A owner=0060 element=05F6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=076B owner=0060 element=04BC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ƕSyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.õ,,^.:#A9*eJ@*gX@Y*Eny*\=*H6A>??@'ο%o? ?Ϫ?`? *eJ@*fr;)*C>>٫BE)FAF?3VIVL=Z PQQZ>YXyXa^D\9^ :i^>idddid ]j7d aj7ٞd ejtIdh9l qn&CYd f|:)fq:If/79pry?yp t)tItit|i|i|)|ɖI i ] Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,NAL9602,Power24vConverter,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,ShortestDistanceToPolygonSidesCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,]4=iIp>,, :#AiI9.kJ@.X@Y.[ny.K[=.H15C? ?`3ο@?@Ȇ??? .kJ@.r;).CJ>٫NE)RQR4Z<IZJ=ZWQQZ>Y\y\a^D\9br:ib>idddih ]j7h an7ٞh entIhl9l qn&CYh j:)j:IjGK79pvYv?yt x)xIxixii)ɖ  I  i y:i)E(= Sending 332 bytes from file Logs/20220711T173632/Express0005.lzma,,7 ;#A9.mJ@.X@Y.4ny.[=.H 4E?? 6ο Ec???U? .mJ@.r;),6m>٫6:E)>D>J3F;IFM=FpŹQQJ>YHyHaJDH9N!9iN>iTTTiT ]Z7T aZ7ٞT eZtIT\9\ q^&CYT V:)V:IVf79`bu?yd d)hIhih=Xz:i9iA)AɖAAIA IiM y:iY=,,%;#A9.;kJ@.X@Y.ny.\=.H@4`C? ?@1ο`b@ ?`?TҪ? #? .;kJ@.r;).CB;>٫BjE)FCF3fIfF=f*QQf>YhyhajDh9n}ӹin>ipppit ]z7t az7ٞt eztItx9x q~&CYt v:)v:Iv79y?y ) I i Xz:ii)ɖ!!I! )i- y:i=) *,,?;#A24<09NjJ@NlX@YN nyN]=NH4C?@?v0ο`X@b? ??? NjJ@Npr;)NC}>٫}E)̅H˅4<I:=ZQQ>YyaD9<i>ii  ] 7  a7ٞ  etI 9 q&CY  ;) c;I 79!% w?y! )))I)i1=Xz:i9i9)AɖAAIA IiM y:ia}=}xMoved sent file to Logs/20220711T173632/Express0005.lzma.bak}$SBD MOMSN=16962829k,,sY;#A9.nJ@.X@Y.ny.\=.H`4`GG?l?n8ο?@?hϪ?4? .nJ@.r;).Cb>٫bFE)f6f3n+;In]=n9QQr>YpyparDp9vR1:iv>ixxxi| ]7| a7ٞ| etI|9 q &CY| ~:)~/:I~79v?y )Ii-Xz:i)i)))ɖ11I1 9i= y:iQm>=;,,Os;#A9*lsJ@*2X@Y*mny*[=*H@3bK?y?@@ο} ???? *lsJ@*lr;)*CB>٫BuE)FHF4z[лI~H=~QQ~>YyaD9^7:i >ii ]7 a7ٞ e%tI!9! q%&CY :):I79)-Xw?y) 1)1I9i9EXz:iIiI)IɖIIIQ Qi] y:iiK=i>I>#,,+;#AiI9.}rJ@.CX@Y.ny.9v\=.H|3K??>οw)??`c̪?? .}rJ@.ir;).CB>٫B-E)DDV<IVO=VǹQQZ>YXyXaZDX9^i^>i!!!i) ]-7) a57ٞ) e5tI)191 q5&CY) -g:)-:I-79"u?y )Ii=Xz:iAiA)AɖAAII IiU y:ia=cO,, ;#A9.fuJ@.,X@Y.ny.\=.H3N?b?MDο`a? ̗?Ϊ?? .fuJ@.9r;).C>>٫>iE)F@F3NdINK=bޯQQb>YdydafDd9f9ij>i|||i ]7 a 7ٞ e tI 9  q 'CY :){:I 799=v?y9 A)AIAiAUXz:iQiQ)QɖqyIy i y:iQ= uG鲁 )y5@5,, ;#A9.yJ@.jX@Y.Soy.l\=.HH2"R??`Lο`?ۜ?ʪ? 8? .yJ@.r;).CB>٫BE)F8F3vʈ;IvE=vp˹QQz>YxyxazDx9~%:i~>i)))i) ]57) a57ٞ) e5tI)199 q'CY) -a<)-c٫B-E)FEF3V!<IVN=VϸQQV>YXyXaZDX9^i^>i!!!i! ]-7! a-7ٞ! e-tI!191 q5'CY! %:)%:I%7D799="u?y9 A)AIIiIUXz:iQiY)YɖYYIY aie y:iyU=,,F;#A9.y~J@.?X@Y.; oy.b\=.H1V?@?1Uο?ߛ?ɪ? 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R!J@Rrr;)RCnk>٫nsE)vKv 4~=<I~F=ek9QQe>YayaaeDi9mim>iqqqi ]7 a7ٞ etI鞙9 q*CY :):Iӗ79t?y )IiXz:ii)ɖI !i% y:im>,,.@#A9.-J@.X@Y.Apy.c]=.H* 6~?X?@ο@d ? ?@ ? ? .-J@.br;).C>>٫>ъE)F<F3JXINQ=NʸQQN>YPyPaVDT9VPiV>i\\\iQ ]]7Q a]7ٞQ e]tIQY9a qe*CYQ U:)U6:IUȲ79im=v?yi q)qIqiqXz:ii)ɖI i y:i=) ,,l@#A4<4<9.+J@.X@Y."Bpy.\=.H]*@=?`1?dο@@A??Ԫ?? .+J@.sr;).C:6>٫:݉E)>F>4FmIFK=JQQJ>YHyHaJDH9NF:iN>iPPPiT ]Z7T aZ7ٞT eZtITX9X q^*CYT V$:)VD:IV79`bw?y` d)dIdidnXz:ilil)lɖlpI i y:i1= Sending 477 bytes from file Logs/20220711T173632/Express0008.lzma ,,y!6@#A9~6J@~X@Y~_Opy~u\=~H%*?/?Cο` ??ʪ?? ~6J@~br;)~CR>٫E)̱˱E;IE0=E-QQM>YIyIaMDI9U9iu>ii ]7 a7ٞ etI9 q*CY  :):I79vv?y! )))I)i)5Xz:i9i9)9ɖ99IA AiM y:i >,,O@#A9. J@.X@Y.Epy.[=.H)\?? ɪο@?`?ƻ?? . J@.rr;).CR>٫R;E)Z4Zf3^өIbg=b8QQb>YdydafDd9fm9if>illlil ]r7l ar7ٞl ertIlt9t qv*CYl n:)n:In79xzWx?yx |)|Ii Xz:i i)ɖI i% y:i1P=i>I>=,,@i@#AiI9.2J@.Y@Y."py.[=.H@) ??ο ?? ?a? .2J@.fr;).C6>٫6E):>:43Bm;IFN=Fװ9QQF>YHyHaJDH9J09iJ>iPPPiP ]V7P aV7ٞP eVtIPX9X qZ*CYP R|:)R:IR79\^w?y\ `)`IdidjXz:ihil)lɖllIy i y:ie=UxMoved sent file to Logs/20220711T173632/Express0008.lzma.bakURSBD MOMSN=16962834, MTMSN=20220711T205008( ,,@#A9.J@.X@Y."py.u3\=.H`a*@Q?M?`ο ??Cª?D? .J@.{r;),B>٫BiE)F6F3N?<INI=R 5QQR>YPyPaRDT9V)iV>iXXXi\ ]b7\ ab7ٞ\ ebtI\`9d qf*CY\ ^E:)^:I^;79hjv?yh )Ii-Xz:i)i)))ɖ11I1 yi} y:i = ',,@#A9.J@.|X@Y.'py.]=.H`*??`ο a???? .J@.ir;).C>>٫>E)FKF 4J?<IJJ=N/QQN>YLyPaRDP9RMiR>iXXXiX ]^7X a^7ٞX ebtIX`9` qb+CYX ZR:)Z:IZ%W79dft?yd h)hIlilrXz:ipit)tɖttIt xi~ y:i %=) AA u eG鲉 ) y @JU-,,_@#A46;9%]J@%#X@Y%py%(]=%H *??ο']? ?`?/? %]J@%~r;)%C}>٫}E)̅6˅3I =d8QQ>YyaD9P9i >ii ]%7 a%7ٞ e%tII9I qM+CY ;);Iz79QU w?yQ Y)YIaiaXz:ii)ɖI i y:iMR>o=4,,@#A9N.J@NX@YNCoyN[=NHI*??^ο`` ??B?? N.J@N6nr;)Ln>٫nE)v8v3[<Is==9QQ?YyaD9:i?ii ] 7 a 7ٞ etI9 q5+CY ;);IÑ799Et?yA I)IIIiIXz:ii)ɖI i y:iE>g:,,@#A9.J@.SY@Y.py.([=.H@ *҆?`?`ο`@? 2?@? ? .J@.r;).CbV>٫bE)f<f3jInV=n|ظQQn>YpyparDp9re9ir>ixxxix ]~7x a~7ٞx e~tIx9 q+CYx z :)z:Iz79  tx?y  )IieXz:iaii)iɖiiIi qi} y:in=i>Il>MOA,,Z~A#AiI9.>J@.X@Y.py. \=.H@*t??@ο+?@ ?ݽ?`? .>J@.qr;).C>٫uE)->-43g%<I?=6QQ>YyaD9_Di>ii1 ]=71 a=7ٞ1 e=tI1A9A qE+CY1 5:)5:I5R79IMXw?yI )Ii%Xz:i!i!)!ɖ!)I) QiU y:ii>G,,cA#A9.YJ@.X@Y.oy.y\=.H`*@??)ο ??˪? ? .YJ@.r;).Cr>٫r^E)v8v3 8I R= t9QQ >YyaD97i>i999i9 ]E79 aE7ٞ9 eEtI9I9I qM+CY9 =:)=#:I=>79qu;x?yy y)IiXz:ii)ɖI i y:iM,,(9A#A9.J@.X@Y.oy.]=.H@*`Ń?`? ըο@@?c?ݪ? t? .J@.A~r;),nq>٫nLjE)v>v43E;I>=lQQ>YyaD9a8i>ii ]7 a7ٞ etI9 q+CY ':):I79w?y )Ii=Xz:i9iA)AɖAAII IiU y:iAe=) @AT,,SA#A4<9.J@.X@Y.{=py."E]=.H**?6? ο`(?Z?Q?`? .J@.zr;),6O>٫6ŋE):6:3B<IB_=F2QQF>YDyHaJDH9J.8iJ>iPPPiP ]V7P aV7ٞP eVtIPX9X qZ+CYP R:)RY:IR79\^wu?y\ `)`I`idnXz:ipit)tɖttI| AiE y:iY=Z,,XumA#A9.|J@.BY@Y.oy./[=.H`*@V?K?ϱοK???G?? .|J@.r;).C6>٫6iE)>R>4F.IFJ=F$:QQJ>YHyHaJDH9N5-:iN>iPPPiT ]Z7T a^7ٞT ebtIT`9` qf+CYT V;)Vh;IV479lrv?yp t)tItitzXz:i|i|)|ɖ||I i  y:ia}F=a,,IA#A9.J@.i Y@Y. py.{Y=.H)@6??@ο Ի? ~?m?@? .J@.ʚr;).C>6>٫B݉E)F8F3IA=%QQ%>Y!y!a-D)9-\:i->iqqqiy ]7y a7ٞy etIy9 q+CYy }:)}r:I}!R79w?y )IiXz:ii)ɖI i y:i-=i>I>_g,,&A#AiI9.J@.nY@Y.oy.nY=.H)@{?`?ο`Vջ?P?vu? ? .J@.^r;).CB>٫BE)NFN4<IC=*9QQ>YyaD9i>ii ]7 a7ٞ etI鞹9 q+CY :):I?n79!v?y 9)9I9i9EXz:iIiI)IɖIII  i y:i)}=n,, A#A9.1J@.Y@Y.coy.0[=.H@*g?5?9ο?@ܷ?$?? .1J@.8r;).CB>٫BE)J7Jp3v<IvV=v8QQv>YxyxazDx9~j;i~>ii ]7 a7ٞ etI9 q+CY ^:):IX79  Zu?y  Y)YIYiYeXz:iiii)iɖiiIq i y:i =t,,A#A9>cJ@>)X@Y>oy>m]=>H [*??٭οv? \??@k? >cJ@>ȟr;)>CN>٫R!E)VFV4b<II= QQ >Y y a D98ܹi>ii ]7 a7ٞ etI9 q,CY g:):I79\t?y )IiXz:i i ) ɖ  I i y:i) =#{,,xA#A9BJ@BX@YB"pyB^=BH@@* ??ο`{`?? ?`? BJ@Br;)@N>٫RъE)VVVE4-[I1)1I59=MܬQQU> G鲩 )y@YiyaD9<i>i   i ]7 a7ٞ etI9 q,CY /:) :I79=v?y )IiMXz:iIiI)QɖQQIQ Yi] y:iq!> ,,B#A9:J@:X@Y: py:]=:HJ*q?>? ܬοv ?j??E? :J@:r;):Cr>٫rE)v@v3<I _= k9QQ >YyaD9,9i?i!!!i) ]-7) a57ٞ) e5tI)191 q5,CY) -E:)-Y:I-H79aet?ya i)iIiiiXz:ii)ɖI i y:i!=9,,0"B#A92_J@2%Y@Y2toy2`![=2H )@V??ο ?B?V?? 2_J@2 r;)2C:>٫>ӇE)BEB3^S!I^O=^9QQ^>Y`y`abD`9b:if>ihhhi ]7 a7ٞ etI鞩9 q,CY M:):I79x?y )IiXz:ii)ɖI! !im y:iy%=i>I>a,,&S>٫>%E)BIBX4UI]A=]7QQ]>YayaaeDa9e9ie>ii1 ]571 a57ٞ1 e=tI1999 q=,CY1 5+:)1I579AE:y?yI Q)QIQiQ]Xz:iaia)aɖaaIi i y:i=F,, VB#A92yJ@2?Y@Y2oy2v[=2H*O?H?οf? ?ι?`? 2yJ@2r;)0B>٫B-E)FBF3 =I @= QQ >YyauDq9}ui}>ii ]7 a7ٞ etI鞉9 q,CY d<)fr,,mpB#A9.J@.Y@Y.oy.S\=.H V*`7? ? ײοV@??`>Ϫ? ? .J@.r;).C>>٫>iE)BAB?3JIJe=^9QQ^>Y\y`abD`9bظib?ihhhih ]~7h a~7ٞh e~tIh9 q,CYh j<;)j#;IjH79  v?y  )I1i9EXz:iAiA)IɖIIII QiU y:iij=) X,,׉B#A;9.ίJ@.Y@Y.oy.[]=.H4*?*?ο L?` ?? r? .ίJ@.r;).CB>٫BFE)FFF4nIrF=rQQr>YtytavDt9v(iv>i|||i| ]7| a7ٞ| e tI| 9  q ,CY| ~:)~D:I~d79v?y )!I!i!-Xz:i)i1)1ɖ11I1 i y:i1U=,,cB#A9.J@.cX@Y.oy.^=.Hb*`\?@Y ?UοL?c? _?i? .J@.r;).Co>٫%E)-G-4I@=H8QQ>YyaD9/i>ii ]7 a7ٞ etI9 q,CY  =)1 =In79v?y ) I i UXz:iYiY)YɖYYIa aim y:iu6>?̮,,B#A9.iJ@./Y@Y.`py.]=.H )`+?`C?Dο`8?`J?@Xܪ?g? .iJ@.E}r;).C^>٫buE)fAf?3 'I O= KQQ>YyaD9%F:i>i!!!i) ]-7) a57ٞ) e5tI)191 q5,CY) -*:)-l:I-79AEXw?yA I)IIIiI]Xz:iYiY)YɖYYI i y:i>I>i>^ӵ,,?oB#AiI9NUJ@N Y@YNIpyNh([=NH@(Q?@?-οgA??@롪?v? NUJ@NVr;)NCb>٫bE)f.fP3m<ImA=mX2QQm>YqyqauDq9}:i}>ii ]7 a7ٞ etI鞉9 q,CY v:):Iѹ79t?y !)!I!i!5Xz:ii)ɖI !i% y:i= >,,wLB#A9Z^J@Z$ Y@YZ9pyZڢZ=ZH (`??@ο,?u? ?? Z^J@Z&r;)ZCn8>٫nE)v:v{3I Q= -7QQ >YyaD96i>iIIIiI ]u7I au7ٞI e}tIIy9y q},CYI M;)M;IM79x?y )IiXz:ii)ɖI  i y:i}>,,i C#A9.J@.Y@Y.oy.|[=.H])`E??ο?୸?@b?? .J@.Y|y|a~D9Mi>i   i ]7 a7ٞ etI9! q%-CY :):I979YYyY a)iIiiiuXz:iqiy)yɖyyI i y:i =) E,,B&C#A;9.NJ@.Y@Y.oy.J\=.H)ĉ??@7ο /?? Ъ?z? .NJ@.%r;).C^o>٫bE)fFf4}H;I}<QQ>YyaD91i>ii ]7 a7ٞ etI鞙9 q-CY E:):I 79v?y 9)9I9iAMXz:iIiI)QɖQQIQ Yi] y:i}> ,G )myimF@,,Rd@C#A9.J@.kY@Y.py. \=.H*)@??`7ο?Ƽ?@?\? .J@.r;).C%>٫%E)-<-3IB=pQQ>YyaD93%:i>iQQQiY ]e7Y ae7ٞY eetIYa9a qe-CYY ]g:)YI]*79y}w?y )IiUXz:iQiQ)QɖYYIY aie y:i >RA,,m٫6ӇE)>?>3FIFb=F>9QQJ>YHyHaJDH9NKiN>iPPPiT ]Z7T aZ7ٞT eZtITX9X qZ-CYT V:)VM:IVMB79x?y ) I i Xz:ii)ɖI! !i- y:i9]4=i>It>j,,tC#AiI9.J@.bY@Y.py.[=.H *).? s?@&ο`?պ?@?? .J@.r;),}>٫}-E)̅H˅4a=I;=`7QQ>YyaD9E:i>ii  ] 7  a7ٞ  etI 9 q-CY  :) K:I `79%"u?y! )))I)i)Xz:ii)ɖI i% y:iq=vReceived command: run Maintenance/tank_ballast_and_trim.xml=- got command run ./Missions/Maintenance/tank_ballast_and_trim.xml$- Loading Mission from file: ./Missions/Maintenance/tank_ballast_and_trim.xmlS,,xC#A9 XJ@ Y@Y oy Y= HH(`”??ο zݻ??t?`? XJ@ ~r;) C]>٫]E)m@m39@IJ=,l9QQ>YyaD9:i>ii ]%7 a%7ٞ e%tI)9) q--CY :)/:I|79QUYv?yQep:ia)iɖiiIi qi} y:i=*n code=0061 name="ballast_and_trim" *e code=05F7 elementURI="ballast_and_trim.MissionTimeout" type=00 *a code=076C owner=0061 element=05F7 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=076D owner=0061 element=05F7 universal=3FFF unitName="minute" type=1F size=0008 fl=05 % @$-tDefineArg ballast_and_trim.MissionTimeout = 120.000000 min*e code=05F8 elementURI="ballast_and_trim.SkipComms" type=00 *a code=076E owner=0061 element=05F8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076F owner=0061 element=05F8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 5$=ZDefineArg ballast_and_trim.SkipComms = 0 bool*e code=05F9 elementURI="ballast_and_trim.Depth1" type=00 *a code=0770 owner=0061 element=05F9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0771 owner=0061 element=05F9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 )M@$U\DefineArg ballast_and_trim.Depth1 = 7.000000 m*e code=05FA elementURI="ballast_and_trim.Depth2" type=00 *a code=0772 owner=0061 element=05FA universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0773 owner=0061 element=05FA universal=3FFF unitName="meter" type=1F size=0008 fl=05 ie$mRDefineArg ballast_and_trim.Depth2 = nan m*e code=05FB elementURI="ballast_and_trim.DepthDeadband" type=00 *a code=0774 owner=0061 element=05FB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0775 owner=0061 element=05FB universal=3FFF unitName="meter" type=1F size=0008 fl=05 }?$jDefineArg ballast_and_trim.DepthDeadband = 0.100000 m*e code=05FC elementURI="ballast_and_trim.SurfaceThreshold" type=00 *a code=0776 owner=0061 element=05FC universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0777 owner=0061 element=05FC universal=3FFF unitName="meter" type=1F size=0008 fl=05 @$pDefineArg ballast_and_trim.SurfaceThreshold = 2.500000 m*e code=05FD elementURI="ballast_and_trim.MaxWaitOnSurface" type=00 *a code=0778 owner=0061 element=05FD universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0779 owner=0061 element=05FD universal=3FFF unitName="minute" type=1F size=0008 fl=05 )@$vDefineArg ballast_and_trim.MaxWaitOnSurface = 20.000000 min*e code=05FE elementURI="ballast_and_trim.SettleTime" type=00 *a code=077A owner=0061 element=05FE universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=077B owner=0061 element=05FE universal=3FFF unitName="minute" type=1F size=0008 fl=05 i@$jDefineArg ballast_and_trim.SettleTime = 10.000000 min*e code=05FF elementURI="ballast_and_trim.EstimationTimeout" type=00 *a code=077C owner=0061 element=05FF universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=077D owner=0061 element=05FF universal=3FFF unitName="minute" type=1F size=0008 fl=05 @$xDefineArg ballast_and_trim.EstimationTimeout = 45.000000 min*e code=0600 elementURI="ballast_and_trim.MinEstimationTime" type=00 *a code=077E owner=0061 element=0600 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=077F owner=0061 element=0600 universal=3FFF unitName="minute" type=1F size=0008 fl=05 @$xDefineArg ballast_and_trim.MinEstimationTime = 10.000000 min*e code=0601 elementURI="ballast_and_trim.MassEstimationErrorBound" type=00 *a code=0780 owner=0061 element=0601 universal=3FFF unitName="millimeter" type=1F size=0008 fl=04 *a code=0781 owner=0061 element=0601 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 )=Mb0?$EDefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mm*e code=0602 elementURI="ballast_and_trim.BuoyEstimationErrorBound" type=00 *a code=0782 owner=0061 element=0602 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=04 *a code=0783 owner=0061 element=0602 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 i]hUMu>$eDefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cc*e code=0603 elementURI="ballast_and_trim.EstimationConfidence" type=00 *a code=0784 owner=0061 element=0603 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0785 owner=0061 element=0603 universal=3FFF unitName="percent" type=1F size=0008 fl=05 G?$ zDefineArg ballast_and_trim.EstimationConfidence = 99.900002 %*e code=0604 elementURI="ballast_and_trim.WaitToFloat" type=00 *a code=0786 owner=0061 element=0604 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0787 owner=0061 element=0604 universal=3FFF unitName="minute" type=1F size=0008 fl=05 - r@$- jDefineArg ballast_and_trim.WaitToFloat = 5.000000 min$5 lInserting Stack from file: Missions/Insert/Science.xml,,= C#A9.8J@. Y@Y.oy.Z=.H@(@ ?`?οH*?ڵ? ?`? .8J@.Pr;).Cb>٫bE)fCf3;IH=4(9QQ>YyaD9i>i999iA ]M7A aM7ٞA eMtIAI9I qM-CYA A)E:IEܘ79u?yp:i ) ɖ  I )  i y:i>t,,C#A4<4<9.J@.Y@Y.oy.zj[=.H@M)? :?ο@?з?@/?? .J@.}r;).C6>٫6 E)<YYyYa]DY9]8ie>iiiii  ]7  a7ٞ  etI 9 q-CY  :) :I r79!%>u?y!p:i)ɖI i y:iMS>,,C#A9.LJ@.Y@Y.tpy.*n\=.H_)?`?ο@X??ɪ?]? .LJ@.ʖr;),T>٫RE)?3IM=;QQ>Y y a D 9cȹi>ii ]7 au7ٞ eutIq9q qu-CY <)*n code=0062 name="ballast_and_trim:Science" *e code=0605 elementURI="ballast_and_trim:Science.PeakDetectChlActive" type=00 *a code=0788 owner=0062 element=0605 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0789 owner=0062 element=0605 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )$ ~DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool*e code=0606 elementURI="ballast_and_trim:Science.TimeWindowPeakReport" type=00 *a code=078A owner=0062 element=0606 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=078B owner=0062 element=0606 universal=3FFF unitName="minute" type=1F size=0008 fl=05 i= $= DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min*e code=0607 elementURI="ballast_and_trim:Science.HighestChlPeakReportActive" type=00 *a code=078C owner=0062 element=0607 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=078D owner=0062 element=0607 universal=3FFF unitName="bool" type=02 size=0001 fl=05 $ DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool*e code=0608 elementURI="ballast_and_trim:Science.HighestSaltPeakReportActive" type=00 *a code=078E owner=0062 element=0608 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=078F owner=0062 element=0608 universal=3FFF unitName="bool" type=02 size=0001 fl=05 $ DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool*e code=0609 elementURI="ballast_and_trim:Science.HighestOilPeakReportActive" type=00 *a code=0790 owner=0062 element=0609 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0791 owner=0062 element=0609 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) ,,!C#A96J@6JY@Y6aoy6m~\=6H`^)`??)ο'??˪? ? 6J@6|r;)4$nDefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool*e code=060A elementURI="ballast_and_trim:Science.PatchTracking" type=00 *a code=0792 owner=0062 element=060A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0793 owner=0062 element=060A universal=3FFF unitName="bool" type=02 size=0001 fl=05 i5>٫} E)̅>˅43M=Ib=$rDefineArg ballast_and_trim:Science.PatchTracking = 0 bool*e code=060B elementURI="ballast_and_trim:Science.DetectTrough" type=00 *a code=0794 owner=0062 element=060B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0795 owner=0062 element=060B universal=3FFF unitName="bool" type=02 size=0001 fl=05 $pDefineArg ballast_and_trim:Science.DetectTrough = 0 booluBN9QQu>Yyyya}Dy9}S9i>ii ]7 a7ٞ etI鞑9 q-CY o:):I7*e code=060C elementURI="ballast_and_trim:Science.FilterWidthHorizontal" type=00 915r?y1Ep:iA)AɖAIi>I>*a code=0796 owner=0062 element=060C universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0797 owner=0062 element=060C universal=3FFF unitName="count" type=1F size=0008 fl=05 @$DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count*e code=060D elementURI="ballast_and_trim:Science.NumProfilesSlidingwindow" type=00 I i y:i*a code=0798 owner=0062 element=060D universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0799 owner=0062 element=060D universal=3FFF unitName="count" type=1F size=0008 fl=05 )mY@$uDefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count*e code=060E elementURI="ballast_and_trim:Science.OffPeakFractionHorizontal" type=00 *a code=079A owner=0062 element=060E universal=3FFF unitName="percent" type=1F size=0008 fl=04 >*a code=079B owner=0062 element=060E universal=3FFF unitName="percent" type=1F size=0008 fl=05 i}?$DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %*e code=060F elementURI="ballast_and_trim:Science.PeakDetectNO3Active" type=00 *a code=079C owner=0062 element=060F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=079D owner=0062 element=060F universal=3FFF unitName="bool" type=02 size=0001 fl=05 $~DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool*e code=0610 elementURI="ballast_and_trim:Science.PeakDetectOilActive" type=00 *a code=079E owner=0062 element=0610 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=079F owner=0062 element=0610 universal=3FFF unitName="bool" type=02 size=0001 fl=05 $~DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool*e code=0611 elementURI="ballast_and_trim:Science.PeakDetectFDOMActive" type=00 *a code=07A0 owner=0062 element=0611 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A1 owner=0062 element=0611 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )$DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool*e code=0612 elementURI="ballast_and_trim:Science.PeakDetectSalinityActive" type=00 *a code=07A2 owner=0062 element=0612 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A3 owner=0062 element=0612 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i $DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool*e code=0613 elementURI="ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=07A4 owner=0062 element=0613 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A5 owner=0062 element=0613 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %$-DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=07A6 owner=0062 element=0388 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0614 elementURI="ballast_and_trim:Science.EnabledAanderaaO2" type=00 *a code=07A7 owner=0062 element=0614 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A8 owner=0062 element=0614 universal=3FFF unitName="bool" type=02 size=0001 fl=05 $zDefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool*a code=07A9 owner=0062 element=0390 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0615 elementURI="ballast_and_trim:Science.EnabledNeilBrown" type=00 *a code=07AA owner=0062 element=0615 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07AB owner=0062 element=0615 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i]$exDefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool*a code=07AC owner=0062 element=0398 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0616 elementURI="ballast_and_trim:Science.EnabledSeabird" type=00 *a code=07AD owner=0062 element=0616 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07AE owner=0062 element=0616 universal=3FFF unitName="bool" type=02 size=0001 fl=05 }$tDefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool*a code=07AF owner=0062 element=03CB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0617 elementURI="ballast_and_trim:Science.EnabledWetLabsBB2FL" type=00 *a code=07B0 owner=0062 element=0617 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07B1 owner=0062 element=0617 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) $ ~DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool*a code=07B2 owner=0062 element=03D6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0618 elementURI="ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=07B3 owner=0062 element=0618 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07B4 owner=0062 element=0618 universal=3FFF unitName="bool" type=02 size=0001 fl=05 E $U DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool*a code=07B5 owner=0062 element=03E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0619 elementURI="ballast_and_trim:Science.EnabledWetLabsUBAT" type=00 *a code=07B6 owner=0062 element=0619 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07B7 owner=0062 element=0619 universal=3FFF unitName="bool" type=02 size=0001 fl=05 $ |DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool*e code=061A elementURI="ballast_and_trim:Science.LowPassWindowLength" type=00 *a code=07B8 owner=0062 element=061A universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=07B9 owner=0062 element=061A universal=3FFF unitName="count" type=1F size=0008 fl=05 ) 4@$ DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count*e code=061B elementURI="ballast_and_trim:Science.MedianFilterLen" type=00 *a code=07BA owner=0062 element=061B universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=07BB owner=0062 element=061B universal=3FFF unitName="count" type=1F size=0008 fl=05 i @$ DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count*e code=061C elementURI="ballast_and_trim:Science.PeakShallowBound" type=00 *a code=07BC owner=0062 element=061C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=07BD owner=0062 element=061C universal=3FFF unitName="meter" type=1F size=0008 fl=05 e $m vDefineArg ballast_and_trim:Science.PeakShallowBound = nan m*e code=061D elementURI="ballast_and_trim:Science.PeakDeepBound" type=00 *a code=07BE owner=0062 element=061D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=07BF owner=0062 element=061D universal=3FFF unitName="meter" type=1F size=0008 fl=05 } $ pDefineArg ballast_and_trim:Science.PeakDeepBound = nan m*e code=061E elementURI="ballast_and_trim:Science.DepChangeThreshForAttitudeFlip" type=00 *a code=07C0 owner=0062 element=061E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=07C1 owner=0062 element=061E universal=3FFF unitName="meter" type=1F size=0008 fl=05 ) @$ DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m*e code=061F elementURI="ballast_and_trim:Science.PeakChl" type=00 *a code=07C2 owner=0062 element=061F universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 I- *a code=07C3 owner=0062 element=061F universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 $5 zDefineOutput ballast_and_trim:Science.PeakChl = 0.000000 ug/l*e code=0620 elementURI="ballast_and_trim:Science.PeakChlDepth" type=00 *a code=07C4 owner=0062 element=0620 universal=3FFF unitName="meter" type=1F size=0008 fl=05 E *a code=07C5 owner=0062 element=0620 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $M ~DefineOutput ballast_and_trim:Science.PeakChlDepth = 0.000000 m*e code=0621 elementURI="ballast_and_trim:Science.PeakChlTemperature" type=00 ,,D#AiI9.J@.Y@Y.py.]=.H`n)`}??`ο  ?/?`۪? K? .J@.r;),^>٫b E)dd*a code=07C6 owner=0062 element=0621 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 fffffq@*a code=07C7 owner=0062 element=0621 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PeakChlTemperature = 0.000000 degC*e code=0622 elementURI="ballast_and_trim:Science.PeakChlLatitude" type=00 *a code=07C8 owner=0062 element=0622 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07C9 owner=0062 element=0622 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg*e code=0623 elementURI="ballast_and_trim:Science.PeakChlLongitude" type=00 *a code=07CA owner=0062 element=0623 universal=3FFF unitName="degree" type=1F size=0008 fl=05 I-*a code=07CB owner=0062 element=0623 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $=DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg*e code=0624 elementURI="ballast_and_trim:Science.PeakNO3" type=00 *a code=07CC owner=0062 element=0624 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 E*a code=07CD owner=0062 element=0624 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 $U~DefineOutput ballast_and_trim:Science.PeakNO3 = 0.000000 umol/l*e code=0625 elementURI="ballast_and_trim:Science.PeakNO3Depth" type=00 *a code=07CE owner=0062 element=0625 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07CF owner=0062 element=0625 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $~DefineOutput ballast_and_trim:Science.PeakNO3Depth = 0.000000 m*e code=0626 elementURI="ballast_and_trim:Science.PeakNO3Latitude" type=00 *a code=07D0 owner=0062 element=0626 universal=3FFF unitName="degree" type=1F size=0008 fl=05 U*a code=07D1 owner=0062 element=0626 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $]DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg*e code=0627 elementURI="ballast_and_trim:Science.PeakNO3Longitude" type=00 m*Im"=u4QQu>YqyqauDy9}mni}>i*a code=07D2 owner=0062 element=0627 universal=3FFF unitName="degree" type=1F size=0008 fl=05 I*a code=07D3 owner=0062 element=0627 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdegi ] 7 a 7ٞ e tI鞉 9  q-CY :):Ib 79>u?yMp:iI)QɖQQIQ Yi] y:*e code=0628 elementURI="ballast_and_trim:Science.PeakOil" type=00 *a code=07D4 owner=0062 element=0628 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 m*a code=07D5 owner=0062 element=0628 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 $u|DefineOutput ballast_and_trim:Science.PeakOil = 0.000000 kg/m3*e code=0629 elementURI="ballast_and_trim:Science.PeakOilDepth" type=00 *a code=07D6 owner=0062 element=0629 universal=3FFF unitName="meter" type=1F size=0008 fl=05 %*a code=07D7 owner=0062 element=0629 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $-~DefineOutput ballast_and_trim:Science.PeakOilDepth = 0.000000 m*e code=062A elementURI="ballast_and_trim:Science.PeakOilLatitude" type=00 iy]>*a code=07D8 owner=0062 element=062A universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07D9 owner=0062 element=062A universal=3FFF unitName="degree" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg*e code=062B elementURI="ballast_and_trim:Science.PeakOilLongitude" type=00 *a code=07DA owner=0062 element=062B universal=3FFF unitName="degree" type=1F size=0008 fl=05 I*a code=07DB owner=0062 element=062B universal=3FFF unitName="degree" type=1F size=0008 fl=04 $=DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg*e code=062C elementURI="ballast_and_trim:Science.PeakFDOM" type=00 *a code=07DC owner=0062 element=062C universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 M*a code=07DD owner=0062 element=062C universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 $zDefineOutput ballast_and_trim:Science.PeakFDOM = 0.000000 ppb*e code=062D elementURI="ballast_and_trim:Science.PeakFDOMDepth" type=00 *a code=07DE owner=0062 element=062D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07DF owner=0062 element=062D universal=3FFF unitName="meter" type=1F size=0008 fl=04 $ DefineOutput ballast_and_trim:Science.PeakFDOMDepth = 0.000000 m*e code=062E elementURI="ballast_and_trim:Science.PeakFDOMTemperature" type=00 *a code=07E0 owner=0062 element=062E universal=3FFF unitName="celsius" type=1F size=0008 fl=05 E*a code=07E1 owner=0062 element=062E universal=3FFF unitName="celsius" type=1F size=0008 fl=04 $MDefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC*e code=062F elementURI="ballast_and_trim:Science.PeakFDOMLatitude" type=00 *a code=07E2 owner=0062 element=062F universal=3FFF unitName="degree" type=1F size=0008 fl=05 I *a code=07E3 owner=0062 element=062F universal=3FFF unitName="degree" type=1F size=0008 fl=04 $% DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg*e code=0630 elementURI="ballast_and_trim:Science.PeakFDOMLongitude" type=00 *a code=07E4 owner=0062 element=0630 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07E5 owner=0062 element=0630 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $ DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg*e code=0631 elementURI="ballast_and_trim:Science.PatchFDOMDistance" type=00 *a code=07E6 owner=0062 element=0631 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07E7 owner=0062 element=0631 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $ ~DefineOutput ballast_and_trim:Science.PatchFDOMDistance = nan m*e code=0632 elementURI="ballast_and_trim:Science.PeakSalt" type=00 *a code=07E8 owner=0062 element=0632 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 m *a code=07E9 owner=0062 element=0632 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 $u zDefineOutput ballast_and_trim:Science.PeakSalt = 0.000000 psu*e code=0633 elementURI="ballast_and_trim:Science.PeakSaltDepth" type=00 *a code=07EA owner=0062 element=0633 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I *a code=07EB owner=0062 element=0633 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $ DefineOutput ballast_and_trim:Science.PeakSaltDepth = 0.000000 m*e code=0634 elementURI="ballast_and_trim:Science.PeakSaltTemperature" type=00 *a code=07EC owner=0062 element=0634 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 fffffq@*a code=07ED owner=0062 element=0634 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 $- DefineOutput ballast_and_trim:Science.PeakSaltTemperature = 0.000000 degC*e code=0635 elementURI="ballast_and_trim:Science.PeakSaltLatitude" type=00 *a code=07EE owner=0062 element=0635 universal=3FFF unitName="degree" type=1F size=0008 fl=05 5 *a code=07EF owner=0062 element=0635 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $ DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg*e code=0636 elementURI="ballast_and_trim:Science.PeakSaltLongitude" type=00 *a code=07F0 owner=0062 element=0636 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07F1 owner=0062 element=0636 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $ DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg> ,,K[*D#A9.J@.KY@Y.Z+py.A\=.H`*);? ?ο ?&?fت? ? .J@.A{r;),^2>٫bPE*e code=0637 elementURI="ballast_and_trim:Science.PatchChl" type=00 *a code=07F2 owner=0062 element=0637 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 Iv*a code=07F3 owner=0062 element=0637 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 $z|DefineOutput ballast_and_trim:Science.PatchChl = 0.000000 ug/l)fBf3*e code=0638 elementURI="ballast_and_trim:Science.PatchChlDepth" type=00 *a code=07F4 owner=0062 element=0638 universal=3FFF unitName="meter" type=1F size=0008 fl=05 %*a code=07F5 owner=0062 element=0638 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $-DefineOutput ballast_and_trim:Science.PatchChlDepth = 0.000000 m*e code=0639 elementURI="ballast_and_trim:Science.PatchChlLatitude" type=00 ?;I}=}QQ?YyaD9"9i?ii ]7 a7ٞ etI鞙9 q-CY :):I`"79u?yp:i)ɖI *a code=07F6 owner=0062 element=0639 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ]*a code=07F7 owner=0062 element=0639 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $eDefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg*e code=063A elementURI="ballast_and_trim:Science.PatchChlLongitude" type=00 *a code=07F8 owner=0062 element=063A universal=3FFF unitName="degree" type=1F size=0008 fl=05 ui- y:iA*a code=07F9 owner=0062 element=063A universal=3FFF unitName="degree" type=1F size=0008 fl=04 $UDefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg*e code=063B elementURI="ballast_and_trim:Science.PatchChlDistance" type=00 *a code=07FA owner=0062 element=063B universal=3FFF unitName="meter" type=1F size=0008 fl=05 Ie*a code=07FB owner=0062 element=063B universal=3FFF unitName="meter" type=1F size=0008 fl=04 >$|DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m*e code=063C elementURI="ballast_and_trim:Science.PatchSalt" type=00 *a code=07FC owner=0062 element=063C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=07FD owner=0062 element=063C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 $|DefineOutput ballast_and_trim:Science.PatchSalt = 0.000000 psu*e code=063D elementURI="ballast_and_trim:Science.PatchSaltDepth" type=00 *a code=07FE owner=0062 element=063D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07FF owner=0062 element=063D universal=3FFF unitName="meter" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PatchSaltDepth = 0.000000 m*e code=063E elementURI="ballast_and_trim:Science.PatchSaltLatitude" type=00 *a code=0800 owner=0062 element=063E universal=3FFF unitName="degree" type=1F size=0008 fl=05 @M*a code=0801 owner=0062 element=063E universal=3FFF unitName="degree" type=1F size=0008 fl=04 $]DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg*e code=063F elementURI="ballast_and_trim:Science.PatchSaltLongitude" type=00 *a code=0802 owner=0062 element=063F universal=3FFF unitName="degree" type=1F size=0008 fl=05 @%*a code=0803 owner=0062 element=063F universal=3FFF unitName="degree" type=1F size=0008 fl=04 $-DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg*e code=0640 elementURI="ballast_and_trim:Science.PatchSaltDistance" type=00 *a code=0804 owner=0062 element=0640 universal=3FFF unitName="meter" type=1F size=0008 fl=05 "@=*a code=0805 owner=0062 element=0640 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $M~DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m*e code=0641 elementURI="ballast_and_trim:Science.PatchOil" type=00 *a code=0806 owner=0062 element=0641 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 2@U*a code=0807 owner=0062 element=0641 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 $zDefineOutput ballast_and_trim:Science.PatchOil = 0.000000 psu*e code=0642 elementURI="ballast_and_trim:Science.PatchOilDepth" type=00 *a code=0808 owner=0062 element=0642 universal=3FFF unitName="meter" type=1F size=0008 fl=05 B@*a code=0809 owner=0062 element=0642 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $}DefineOutput ballast_and_trim:Science.PatchOilDepth = 0.000000 m*e code=0643 elementURI="ballast_and_trim:Science.PatchOilLatitude" type=00 *a code=080A owner=0062 element=0643 universal=3FFF unitName="degree" type=1F size=0008 fl=05 R@*a code=080B owner=0062 element=0643 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg*e code=0644 elementURI="ballast_and_trim:Science.PatchOilLongitude" type=00 *a code=080C owner=0062 element=0644 universal=3FFF unitName="degree" type=1F size=0008 fl=05 b@*a code=080D owner=0062 element=0644 universal=3FFF unitName="degree" type=1F size=0008 fl=04 $DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg*e code=0645 elementURI="ballast_and_trim:Science.PatchOilDistance" type=00 *a code=080E owner=0062 element=0645 universal=3FFF unitName="meter" type=1F size=0008 fl=05 r@*a code=080F owner=0062 element=0645 universal=3FFF unitName="meter" type=1F size=0008 fl=04 $|DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m*n code=0063 name="ballast_and_trim:Science:A" *n code=0064 name="ballast_and_trim:Science:B" *n code=0065 name="ballast_and_trim:Science:C" *n code=0066 name="ballast_and_trim:Science:D" *n code=0067 name="ballast_and_trim:Science:E" *n code=0068 name="ballast_and_trim:Science:F" *n code=0069 name="ballast_and_trim:Science:Read_Oil" *n code=006A name="ballast_and_trim:Science:OceanCurrent" *n code=006B name="ballast_and_trim:Science:OceanCurrent:A." *a code=0810 owner=006B element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0811 owner=006B element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0812 owner=006B element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0813 owner=006B element=0496 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0646 elementURI="CurrentEstimator.current_speed_vehicle_frame" type=02 *a code=0814 owner=006B element=0646 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0647 elementURI="CurrentEstimator.current_speed_navigation_frame" type=02 *a code=0815 owner=006B element=0647 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0648 elementURI="CurrentEstimator.current_direction_vehicle_frame" type=02 *a code=0816 owner=006B element=0648 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ,,wDD#A9.[J@.! Y@Y.\;py.[=.Hx( ??ο;@\??? ? .[J@.Ur;).C^>٫bE*e code=0649 elementURI="CurrentEstimator.current_direction_navigation_frame" type=02 *a code=0817 owner=006B element=0649 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=064A elementURI="CurrentEstimator.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=0818 owner=006B element=064A universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=064B elementURI="CurrentEstimator.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=0819 owner=006B element=064B universal=3FFF unitName="none" type=00 size=0000 fl=05 *n code=006C name="ballast_and_trim:Science:PeakDetectChl" )fPf:4*n code=006D name="ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth" 68Construct PeakDetectVsDepth.*a code=081A owner=006D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=081B owner=006D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=081C owner=006D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006E name="ballast_and_trim:Science:PeakDetectChl:B" *n code=006F name="ballast_and_trim:Science:HighestChlPeakReport" *n code=0070 name="ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal" 8>Construct PeakDetectHorizontal.e/;Ie)=m QQm>) YyaD9S!:i>ii ]7 a7ٞ etI9 q.CY E:):IC79t?y*a code=081D owner=0070 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=081E owner=0070 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=081F owner=0070 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0820 owner=0070 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0821 owner=0070 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0822 owner=0070 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 5p:i1)1ɖ11I9 9iE y:iQu6>*n code=0071 name="ballast_and_trim:Science:PeakDetectNO3" *n code=0072 name="ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth" 98Construct PeakDetectVsDepth.*a code=0823 owner=0072 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0824 owner=0072 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0825 owner=0072 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0073 name="ballast_and_trim:Science:PeakDetectNO3:B" *n code=0074 name="ballast_and_trim:Science:PeakDetectOil" *n code=0075 name="ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth" :8Construct PeakDetectVsDepth.*a code=0826 owner=0075 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0827 owner=0075 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0828 owner=0075 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0076 name="ballast_and_trim:Science:PeakDetectOil:B" *n code=0077 name="ballast_and_trim:Science:HighestOilPeakReport" *n code=0078 name="ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal" Construct PeakDetectHorizontal.*a code=0829 owner=0078 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082A owner=0078 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082B owner=0078 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082C owner=0078 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082D owner=0078 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082E owner=0078 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0079 name="ballast_and_trim:Science:PeakDetectFDOM" *n code=007A name="ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth" = 8Construct PeakDetectVsDepth.*a code=082F owner=007A element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0830 owner=007A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0831 owner=007A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007B name="ballast_and_trim:Science:PeakDetectFDOM:B" *n code=007C name="ballast_and_trim:Science:PeakDetectSalinity" _J,,!^D#A9.J@.n Y@Y.Z)py.ז[=.H@q(`??ο!-?`? 5?G? .J@.sr;),b>٫buE)f;f)3rxIr{=r2]9QQr ?YtytavDt9zr9iz ?i|||i ]7 a 7ٞ e tI 9  q .CY :)D:IX79Xw?y-p:i)))ɖ))I1 1i= y:i*n code=007D name="ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth" >8Construct PeakDetectVsDepth.*a code=0832 owner=007D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0833 owner=007D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0834 owner=007D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 }=*n code=007E name="ballast_and_trim:Science:PeakDetectSalinity:B" *n code=007F name="ballast_and_trim:Science:HighestSaltPeakReport" *n code=0080 name="ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" @>Construct PeakDetectHorizontal.*a code=0835 owner=0080 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0836 owner=0080 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0837 owner=0080 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0838 owner=0080 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0839 owner=0080 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083A owner=0080 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0081 name="ballast_and_trim:RunBallastAndTrim" $zInserting Stack from file: Missions/Insert/BallastAndTrim.xmlIQ )U .C eG! 9 )m uyq u @2,,xD#A9.QJ@.Y@Y.Apy.]\=.H(?@?.οx@??Yͪ?? .QJ@.ӈr;),~>٫~-E) = 3-<I-D=-iQQ->Y1y1a5D195y&i=>ii ]7 a7ٞ etI9 q.CY ݑ<)Ē*n code=0082 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim" *e code=064C elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth" type=00 *a code=083B owner=0082 element=064C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=083C owner=0082 element=064C universal=3FFF unitName="meter" type=1F size=0008 fl=05 AE9@$MDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m*e code=064D elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed" type=00 *a code=083D owner=0082 element=064D universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=083E owner=0082 element=064D universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 A$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s*e code=064E elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate" type=00 *a code=083F owner=0082 element=064E universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0840 owner=0082 element=064E universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 B?$- DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s*e code=064F elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit" type=00 *a code=0841 owner=0082 element=064F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0842 owner=0082 element=064F universal=3FFF unitName="degree" type=1F size=0008 fl=05 B DJW?$ DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg*e code=0650 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive" type=00 *a code=0843 owner=0082 element=0650 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0844 owner=0082 element=0650 universal=3FFF unitName="minute" type=1F size=0008 fl=05 "B $ DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min*e code=0651 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout" type=00 *a code=0845 owner=0082 element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0846 owner=0082 element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=05 2B @$ DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min*e code=0652 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime" type=00 *a code=0847 owner=0082 element=0652 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0848 owner=0082 element=0652 universal=3FFF unitName="minute" type=1F size=0008 fl=05 BB @$E DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min*e code=0653 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout" type=00 *a code=0849 owner=0082 element=0653 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=084A owner=0082 element=0653 universal=3FFF unitName="minute" type=1F size=0008 fl=05 RBU @{$,,͒D#A9.J@.WY@Y.1.py.|]=.H#)`h??ο  ?? ܪ?? .J@.or;).C^A>٫bE$nDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min*e code=0654 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime" type=00 *a code=084B owner=0082 element=0654 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=084C owner=0082 element=0654 universal=3FFF unitName="minute" type=1F size=0008 fl=05 bBv@$zDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min)fZf%4*e code=0655 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound" type=00 *a code=084D owner=0082 element=0655 universal=3FFF unitName="millimeter" type=1F size=0008 fl=04 *a code=084E owner=0082 element=0655 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 rBMb0?$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm*e code=0656 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound" type=00 *a code=084F owner=0082 element=0656 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=04 *a code=0850 owner=0082 element=0656 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 BhUMu>$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc*e code=0657 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence" type=00 yI%:=%19QQ%>Y)y)a-D)9-~i->iyyyiy ]7y a7ٞy etIy9 q.CYy }w:)}:I}79{?y*a code=0851 owner=0082 element=0657 universal=3FFF unitName="percent" type=1F size=0008 fl=04 i>I*a code=0852 owner=0082 element=0657 universal=3FFF unitName="percent" type=1F size=0008 fl=05 BG?$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %p:i)ɖI *e code=0658 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband" type=00 *a code=0853 owner=0082 element=0658 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0854 owner=0082 element=0658 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BU?$UDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m*e code=0659 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband" type=00 *a code=0855 owner=0082 element=0659 universal=3FFF unitName="millimeter" type=1F size=0008 fl=04 im y:iy*a code=0856 owner=0082 element=0659 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 BMb0?$ DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm*n code=0083 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A" *a code=0857 owner=0083 element=00A5 universal=3FFF unitName="none" type=1F size=0008 fl=05 -->*n code=0084 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B" *a code=0858 owner=0084 element=00A0 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *n code=0085 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C" *a code=0859 owner=0085 element=009A universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0086 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D" *a code=085A owner=0086 element=00A8 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *n code=0087 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E" *a code=085B owner=0087 element=008D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=0088 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F" *n code=0089 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth" *n code=008A name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A" *a code=085C owner=008A element=00BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *n code=008B name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold" *n code=008C name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point" FConstruct.*a code=085D owner=008C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=085E owner=008C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=085F owner=008C element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0860 owner=008C element=04BE universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0861 owner=008C element=04C1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0862 owner=008C element=04C2 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0863 owner=008C element=04C3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0864 owner=008C element=04BF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0865 owner=008C element=04C0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=008D name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy" F&Construct Buoyancy.*a code=0866 owner=008D element=0247 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0867 owner=008D element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0868 owner=008D element=04AE universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0869 owner=008D element=008B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=008E name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch" GM Construct.*a code=086A owner=008E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=086B owner=008E element=04AB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=086C owner=008E element=04AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=086D owner=008E element=04AF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=086E owner=008E element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=086F owner=008E element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0870 owner=008E element=04AD universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0871 owner=008E element=04AA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0872 owner=008E element=00A9 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=008F name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive" *n code=0090 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A" *n code=0091 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait" H Construct Wait.*n code=0092 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth" *n code=0093 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A" *n code=0094 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed" ڥ*,, D#AiI@9.J@. Y@Y..py.]F\=.H@`( ?@?οF?z?|Ī?,? .J@.0r;).C^>٫b#E)f@f3a=I ^= 5QQ >YyaD9R:i>i!!!i) ]-7) a-7ٞ) e5tI)191 q5.CY) -I:)-:I-U7 JConstruct.*a code=0873 owner=0094 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0874 owner=0094 element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0875 owner=0094 element=04B0 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0095 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch" JConstruct.9v?yp:i)ɖ*a code=0876 owner=0095 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0877 owner=0095 element=04AB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0878 owner=0095 element=04AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0879 owner=0095 element=04AF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=087A owner=0095 element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=087B owner=0095 element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=087C owner=0095 element=04AD universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=087D owner=0095 element=04AA universal=3FFF unitName="enum" type=02 size=0001 fl=05 I i y:*n code=0096 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout" *n code=0097 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A" *a code=087E owner=0097 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0098 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute" L-$Construct Execute.im=*n code=0099 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth" *n code=009A name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed" M Construct.*a code=087F owner=009A element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0880 owner=009A element=049C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0881 owner=009A element=04B0 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=009B name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch" M%Construct.*a code=0882 owner=009B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0883 owner=009B element=04AB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0884 owner=009B element=04AC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0885 owner=009B element=04AF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0886 owner=009B element=049E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0887 owner=009B element=049D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0888 owner=009B element=04AD universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0889 owner=009B element=04AA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=009C name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C" *a code=088A owner=009C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009D name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait" NConstruct Wait.*n code=009E name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E" *a code=088B owner=009E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009F name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F." *e code=065A elementURI="BallastAndTrim.enableBroadcast" type=02 *a code=088C owner=009F element=065A universal=3FFF unitName="bool" type=02 size=0001 fl=05 O 2Construct BallastAndTrim.*a code=088D owner=009F element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=088E owner=009F element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=065B elementURI="BallastAndTrim.mass_position_estimated_mean" type=02 *a code=088F owner=009F element=065B universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *e code=065C elementURI="BallastAndTrim.mass_position_estimated_variance" type=02 *a code=0890 owner=009F element=065C universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *e code=065D elementURI="BallastAndTrim.buoyancy_position_estimated_mean" type=02 *a code=0891 owner=009F element=065D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=065E elementURI="BallastAndTrim.buoyancy_position_estimated_variance" type=02 *a code=0892 owner=009F element=065E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=00A0 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertDepthDeadband" *a code=0893 owner=00A0 element=0658 universal=3FFF unitName="meter" type=1F size=0008 fl=05 $ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband*n code=00A1 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachDepthTimeout" *a code=0894 owner=00A1 element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=05 $ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.MaxWaitOnSurface*n code=00A2 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertSettleTime" *a code=0895 owner=00A2 element=0652 universal=3FFF unitName="minute" type=1F size=0008 fl=05 $E RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime*n code=00A3 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.EstTimeout" *a code=0896 owner=00A3 element=0653 universal=3FFF unitName="minute" type=1F size=0008 fl=05 $U RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout*n code=00A4 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.MinEstTime" @1,,LD#A9.@J@.Y@Y.`Jpy."k\=.H(`]? ?Mο N ?@? Ȫ?`? .@J@.pr;),b2>٫bPE)fHf4*a code=0897 owner=00A4 element=0654 universal=3FFF unitName="minute" type=1F size=0008 fl=05 $RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime*n code=00A5 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.MassEstErrorBound" *a code=0898 owner=00A5 element=0655 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 $ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound*n code=00A6 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.BuoyEstErrorBound" *a code=0899 owner=00A6 element=0656 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 $ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound*n code=00A7 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.EstConfidence" *a code=089A owner=00A7 element=0657 universal=3FFF unitName="percent" type=1F size=0008 fl=05 $RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence*n code=00A8 name="ballast_and_trim:RunBallastAndTrim:Depth1" ] {<I]5=]{QQe>YayaaeDa9m:9im>*n code=00A9 name="ballast_and_trim:RunBallastAndTrim:Depth1:A" *a code=089B owner=00A9 element=064C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00AA name="ballast_and_trim:RunBallastAndTrim:Depth1:B" ii ]7 a%7ٞ e%tI!9! q%.CY ):I7*n code=00AB name="ballast_and_trim:RunBallastAndTrim:Depth2" *n code=00AC name="ballast_and_trim:RunBallastAndTrim:Depth2:A" *a code=089C owner=00AC element=064C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00AD name="ballast_and_trim:RunBallastAndTrim:Depth2:B" *n code=00AE name="ballast_and_trim:Float_Up" 9u?yp:i)ɖ*a code=089D owner=00AE element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=089E owner=00AE element=00BF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00AF name="ballast_and_trim:Float_Up:A.Buoyancy" W&Construct Buoyancy.*a code=089F owner=00AF element=0247 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08A0 owner=00AF element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 I iiu y:*a code=08A1 owner=00AF element=04AE universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=08A2 owner=00AF element=0088 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=00B0 name="ballast_and_trim:Float_Up:B.Wait" XConstruct Wait.i1e3>$} ]W Maximum duration of mission 120 Skip communications at start of mission. 7 NaN How much vertical drift from the specified depth is allowed durnig the mission. 0.1 Surface threshold depth. 2.5 Maximum wait time for the vehicle to go under the surface (i.e., reach the surface threshold depth). 20 How long to wait after reaching target depth before starting ballast and trim. 10 Timeout for ballast and trim estimation. 45 Minimum time to run ballast and trim estimation before determining convergence (must be shorter than timeout). 10 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 0.25 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 15 Confidence level that the estimator has reached the desired error range (larger values take longer to converge). 99.9 5 Float to surface instead of driving. 7,,?D#A9.jJ@.0Y@Y.G[py.\=.H '`??}ο?@?ժ?? .jJ@.Ȇr;).Cl٫l)vCv3=}pRunning ./Missions/Maintenance/tank_ballast_and_trim.xml1QQ>YyaD97i>iYYYiY ]e7Y ae7ٞY emtIYi9i qm.CYY ]8:)]:I]79qyyy} )>Aggregate::uninitialize Default1 *DUninitialize GoToSurfaceComponent.q*NAggregate::uninitialize Default:CheckIn$@Started mission ballast_and_trimq0LAggregate::initialize ballast_and_trim 1\Aggregate::initialize ballast_and_trim:Science1q1q1 6xAggregate::initialize ballast_and_trim:Science:PeakDetectChlq6Initialize.*a code=08A3 owner=006D element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A4 owner=006D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 7Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport18Initialize.q8xAggregate::initialize ballast_and_trim:Science:PeakDetectNO3 9Initialize.*a code=08A5 owner=0072 element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A6 owner=0072 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 ) 1 :xAggregate::initialize ballast_and_trim:Science:PeakDetectOilq:Initialize.*a code=08A7 owner=0075 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A8 owner=0075 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 ;Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport1<Initialize.q<zAggregate::initialize ballast_and_trim:Science:PeakDetectFDOM =Initialize.*a code=08A9 owner=007A element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AA owner=007A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 1 >Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinityq>Initialize.*a code=08AB owner=007D element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AC owner=007D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 m?mAggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport1 m@mInitialize.u 5uvAggregate::initialize ballast_and_trim:Science:OceanCurrentu5uAggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinityq>Uninitialize.q<~Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM =Uninitialize.;Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport1 <Uninitialize.1 :|Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOilq:Uninitialize.q8|Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3 9Uninitialize.7Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport1 8Uninitialize.1 6|Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChlq6Uninitialize.q1*a code=08AD owner=0067 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 3Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_waterq*a code=08AE owner=0065 element=0568 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 2Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature*a code=08AF owner=0065 element=056B universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 2Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity1*a code=08B0 owner=0064 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 2vInitialize ReadDataComponent to sense sea_water_temperature*a code=08B1 owner=0064 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 2pInitialize ReadDataComponent to sense sea_water_salinityp:i)ɖI i y:i>e >,,B@D#A;;9.J@.TY@Y.iPpy.\=.H`' Ԕ??ο` ??KΪ?`? .J@.kr;).C^>٫b~E)f<f3e<ImYiyqauDq9uR7iu>ii ]7 a7ٞ etI"-Powering up鞩Q9Q qU.CY  <)YE,,E#A9.!J@.Y@Y.4Zpy. \=.H '?.?ο`5???? .!J@.r;).Cn>٫rHE)vIvX4eIH=QQ>YyaD98i>ii ]7 a7ٞ etI9 q.CY d<)BBBBBp:i)ɖI i y:i>QK,,y/E#A9.ιJ@. Y@Y. Upy.\=.H [( N? 1?ο8 ?:?!Ѫ?? .ιJ@.fr;).C^>٫b^E)f@f3u+ <I}G=U98QQU>YYyYa]DY9eie>iiiiiq ]u7q a}7ٞq e}tIqy9y q}.CYq u:)u:Iu:79;x?yi>I>HDone Waiting.q$H8Uninitialize Wait Component.GCompleted ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive#GAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive$ IAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth1% JInitialize.$BBBBBBUp:iQ)QɖYYIY aie y:i}7>9R,,UIE#AiI@9.J@. 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"?M? > F@>|;)>CJ">٫JE)NTN4VM;IVJ=V@;QQZ>YXyXaZDX9^i^>idddid ]j7d aj7ٞd ejtIdh9l qn2CYd fE:)f:Ifle79prz?ypCxCxCxCxB|B|B|B|BB3Oi)d>IjQ8i)vɖ%TR!I! )i- y:i=im>Im>=U 4got command maintain clearg,,:%J#AiI9BSF@BT@YBMyB۩^=BH%? J?7ǿV <?x?&B?N? BSF@B;)BCN>٫NE)R]R'+4ZcIZE=Z>;QQ^>Y\y\a^D\9bib>idddih ]n7h an7ٞh entIhl9l qn2CYh jR:)jD:Ij79tv}?ytC|C|C|C|B|BBBBBMi)j>I둽Q8i!)%֛ɖ%kV!I) )i5 y:9i }Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,NAL9602,Power24vConverter,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,ShortestDistanceToPolygonSidesCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,%= % Y) i) ) - r =) ) - ;)- 7E,,>J#A92ˀF@2T@Y2RLy22]=2H`v?`? 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Ŀs@?s?e^?SZ? .qE@.x;).CN>٫NE)VZV%4ZoI^G=^ߊQQ^>Y`y`abD`9fx:if>ihhhil ]r7l ar7ٞl ertIlp9p qr5CYl n:)n<:In*79tz}?yxCCCCBB B B B B %7Fi!)%?I%%)i))-xɖ-E)I1 1YV:iIi%Pplatform_buoyancy_position 818.396973 ccB>j,,M#A9>?}E@>S@Y>Fy>]=>H_ u?#? Ŀr@jص??p?Z? >?}E@>x;)>CJ>٫J/E)RdR 84ZLq=IZK=^q9QQ^>Y`y`abD`9fE:if>illlil ]r7l ar7ٞl ertIlt9t qv5CYl n:)n:InPF79xzw?yxCCCCB B B B B B %Fi!)%?I-)i))-"ɖ-2)I1 1i9I=nAY`U:ia%Pplatform_buoyancy_position 813.965088 cc=i>I9Yi;)E= got command stop=(Scheduling is pausedN^Stop Mission called by CommandExec::commandStopq,,M#AiI9.E@.kS@Y.Fy.Z=.H@?`L"?ſLr`B? ?@ɪ?`[? .E@.x;).CB>٫BxE)F\FP)4V8IVK=Vn9QQV>YXyXaZDX9^:i^>i```id ]f7d aj7ٞd ejtIdh9h qj5CYd f:)f:Ifa79pr7|?ypCxCxCxCxB|B|BYBYBYBY$m8MissionManager is completed.$mNUninitializing Mission ballast_and_trimqm0mPAggregate::uninitialize ballast_and_trimm 1m`Aggregate::uninitialize ballast_and_trim:Science1mqmmm 5mzAggregate::uninitialize ballast_and_trim:Science:OceanCurrentuq u@utAggregate::uninitialize ballast_and_trim:RunBallastAndTrim u AuAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim u1!uq!u!u!uq"uDuAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth"u$u I}Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth1%} J}Uninitialize.q%}1*} T}Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1*} U}Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1:B'y'u'q'm'i!%##a#!#!#!# !# e% a- ]- Y- U- Q- M- I- E- A- =- 9- 5- 1--])e%e!eee      }yuqmiea]YUQMIEA=951-)%!a%a %a %aEaMaMaMaMaMaMaMaMaMaM]F]b[iY)]>I]8]:ia)eɖeaIi iYS:i%-Pplatform_buoyancy_position 807.115784 cc5O>"Powering down̵̵̽̽Px,,iM#A9.E@.pS@Y.G}Fy.]Z=.Hɾ? ? ſ٫RE)ZBZ3v9<IvF=v 9QQv>YxyxazDx9z]9i~>ii  ] 7  a7ٞ  etI 9 q5CY  0:) :I }79!%y?y!$-.Started mission Default)- )-:Aggregate::initialize Default1- *-@Initialize GoToSurfaceComponent. *-No depth rate setting specified. Using default value of nan m/s. *5~No pitch setting specified. Using default value of nan degrees. *5No speed setting specified. Using default value of 1.000000 m/s. *5No surface timeout specified. Using default value of 1000.000000 seconds.*5nReceived pitch timeout configuration 60.000000 seconds.E)E4Initialize Wait Component. 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V@Y.˱`y.5=.H@;]?I?ʿWϼ??@ Ѱ?`q)? .FH@. ;).C6>٫6E):B:3B"X;IFP=F}9QQF>YDyHaJDH9J<iJ>iPPPiP ]V7P aV7ٞP eZtIPX9X qZ8CYP R:)Ro:IR 79QUx?yY a)aIaia)eDone Waiting.e)e8Uninitialize Wait Component.qiqiq)qɖqyIy ib=S,,LPQ#A9.H@.,W@Y.`y.,T=.Hxy?9?S˿ Ff?? M:? 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O|;).CB>٫B܌E)FCF3N=<INL=R`#QQR>YPyPaVDT9Vo;iV>i\\\i\ ]bA7\ abA7ٞ\ ebtI\d9d qfBY\ ^:)^:I^GA79hj ?yh l)pIpiptitix)xɖxxIx |i-=,,@f#A9*S@*%b@Y*!ry*ٷ[=*H`@'? ? e׿`@?:? ?? *S@*lf|;)*CB>٫B#E)FaF24V`IVI=VQQZ>YXyXaZDX9^o;i^>iqqqiy ]B7y aB7ٞy etIy9 qBYy }:)}D:I}B79'?y )Iiii)ɖI i==)A Aa,,#A;92S@2p>٫B\E)FTF4b<IbI=bDQQb>YdydafDd9j`;ij>illli9 ]EB79 aEB7ٞ9 eEtI9A9A qEBY9 =:)=<:I=7B79IU?yQ Y)YIYiYiiiii)iɖiiIq qiI=0,,#A92S@2Pb@Y2ry2AM]=2H@<@P?@ ?`d׿W?R ?w?? 2S@2|;)2CB>٫B E)JHJ4fIfJ=f-QQj>YhyhajDh9nG;in>ipppit ]zB7t azB7ٞt eztItx9x q~BYt v[:)v+:IvmB79!%?y! )))I)i)YiYiY)aɖaaIa ii]=Z,,ѳ#A9.T@.\db@Y.ry..^=.H\ c?@x?׿`dSe?@??9? .T@.aZ|;).CB8>٫BE)FRF4eHIeA=e,QQe>YiyiamDi9mE:;iu>iyyyi ]B7 aB7ٞ etI9 qBY :):IϨB79Å?y )Iii i ) ɖ  I i)=iE>IAB,,%ͫ#AiI9.h3T@./b@Y.| sy.[=.H Ӭ@\?` ?ؿ`M`R?`? ?@? .h3T@._{;),B>٫B!E)F^F,4=I?=AQQ>Y!y!a%D!9%ݔ;i->i111i9 ]=B79 a=B7ٞ9 eEtI9A9A qEBY9 =:)=<:I=B79IM?yQ Y)YIYiYaiiii)iɖiiIq qie=l,,L#A9.KT@.͛b@Y.zFsy.Z=.HQ? 2?@,ؿ1Is??ݓ?? .KT@.::{;),BT>٫BRE)F?F3vIv`=vQQv>YxyxazDx9~M;i~>i!!!i) ]5C7) a5C7ٞ) e5tI)191 q5BY) -:)-:I-C79|?y )Ii1i1i9)9ɖ99IA Ai=T,,,d#A92\T@2b@Y2٫B^E)F<F3V\IVN=VjIQQZ>YXyXaZDX9^3;i^>i```id ]jC7d ajC7ٞd ejtIdh9h qjBYd f:)fY:IfIC799=߅?yA I)IIIiIQiYiY)YɖYYIa aiyS=)A Aq,,@#Ap;9.osT@.6b@Y.sy.Z=.H|`}?`D?@APؿ A?@.?Ԍ? ? .osT@.{;).CV6>٫V݉E)^D^J3v=<IvF=vԹQQv>YxyxazDx9z?\;i~>i!!!i) ]-C7) a5C7ٞ) e5tI)191 q5BY) -:)-:I-dC79aeC?ya i)iIiiiii)ɖI i=ש ,,C5#A9.T@.Fb@Y.csy.Z=.H? ?bؿ= ?j0?=?@ ? .T@.Q{;).CB4>٫BE)FiF=A4f:<IfL=fQQj>YhyhajDh9nH;i->i999iA ]EC7A aEC7ٞA eMtIAI9I qMBYA Eg:)E:IEC79QUĄ?yY a)aIaiaiiqiq)qɖqqIy yi`= - ͌G9 Q )} y @,, N#A9.T@.b@Y.sy.O[=.HJ? F?qؿ@9"?k-?陪? ? .T@.z;).C<٫<)FFF4Nx9QQN>YLyLaRDP9R ';iR>iXXXiX ]^C7X a^C7ٞX e^tIX`9` qbBYX Z:)Z:IZC79ddyd h)hIhihpipip)pɖttIt xi%=iE>IE>,,h#AiI9.T@.b@Y.sy.-[=.H ?`? Z}ؿ6'?,?`Ԝ?` ? .T@.Rz;).C6>٫:܌E)>L> 4F/;IFYHyHaJDH9N;iN>iPPPiT ]VD7T aZD7ٞT eZtITX9X qZBYT V:)V:IV%D79\b ?y` d)dIdidhilil)lɖllIp pi|=yReceived command: sched asap "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 90 min;set ballast_and_trim.MaxWaitOnSurface 10 min;set ballast_and_trim.MassEstimationErrorBound 1 mm" 4d679 1 2=got command schedule asap "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 90 min;set ballast_and_trim.MaxWaitOnSurface 10 min;set ballast_and_trim.MassEstimationErrorBound 1 mm" 4d679 1 2.000000=PScheduling command #1 of 2 with id=4d679= Scheduled #1 (#1 of 2 with id='4d679'): "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 90 min;set ballast_and_trim.MaxWaitOnSurface 10 min;set ballast_and_trim.MassEstimationErrorBound 1 mm", ASAPp ,,#A9.T@.cc@Y.sy.X[=.H?`p?׉ؿ3-?`)?'? ? .T@.20z;).CB4>٫BE)FDFJ3~[I~C=!"9QQ>Yya D 9 ;i >ii ]%D7 a%D7ٞ e%tI)9) q-BY :)Q:I^D7915Ą?y1 9)9IAiAIiIiQ)QɖQQIQ YiqN=%&,,䆜#A9.T@.Hc@Y.sy.[=.H"@?w?pؿ215?,(?]?@ ? .T@.z;).CBq>٫BLjE)FLF 4f{IfN=f9QQf>YhyhajDh9n;in>ipppit ]vD7t azD7ٞt eztItx9x qzBYt v:)v:IvD79|?y ) I i ii)ɖI i=)A A,,,|d#A;62SBD MTMSN=20220711T2057219JT@Jc@YJ syJfg\=JH| ?w?Nؿ ~.@?,? ª?` ? JT@J#z;)JCR>٫R!E)TT^ =I^K=bSQQb>Y`y`afDd9f:if>illlil ]rD7l arD7ٞl ertIlt9t qvBYl n:)lInD79xz?yx |)|I|i i i ) ɖI i)M+=3,,<Ь#A9.(T@.&c@Y.^sy.\=.H`͌@?_?ؿ@,E?1+?˪? ? .(T@.y;).CR>٫RӇE)V`V04^*+I^K=b9QQb>Y`y`abD`9f:if>ihhhil ]rE7l arE7ٞl ertIlp9t qvBYl n:)n:InE79xz?yx |)|I|i i i ) ɖI i)I :,,#A9.6T@.2c@Y.sy.[=.H{`?8?`ؿ@I*@E?%+??@ ? .6T@.y;).CBk>٫BsE)FAF?3NE=INL=RLw6QQR>YPyTaVDT9V:iV>i\\\i ]%E7 a%E7ٞ e%tI!9! q%BY w:)':IU;E79156?y1 9)9I9i9IiIiI)IɖIIIQ QiiK=iE>IEp>@,,4#AiI9.8T@.:c@Y.vsy.g[=.HU&?@?ؿ( C?(??` ? .8T@.Ky;).C6o>٫6E):?:3BIBL=FB9QQF>YDyHaJDH9Jڟ:iJ>iPPPiP ]VE7P aVE7ٞP eVtIPX9X qZBYP R:)R:IRnpE79\^5?y\ `)`I`idhihih)hɖllIp pi|=CG,,#A9.T@.@c@Y.ksy.[=.H8t+?@?ؿ'`'D?`P$?-?2? .T@.SGy;).CRT>٫RRE)VAV?3^oI^G=b9QQb>Y`y`abD`9fg\:if>ihhhil ]rE7l arE7ٞl ertIlp9p qvBYl n:)n:InE79xz|?yx |)|I|i| i i ) ɖI i)M,=uEM,,7#A9.T@.aFc@Y.*sy.i?[=.HG0??_ؿ@&jA?@q?ǟ?`? .T@.!y;).C^>٫^E)b=b3j<IjI=j0:QQn>YlylanDl9r`:ir>itttix ]~E7x a~E7ٞx e~tIx|9| qBYx z:)z:IzE79  ?y  )Ii!i!i!)!ɖ!!I) )iAe6=)I I2-T,,Q#A9.!T@.Ec@Y.hry.\=.HR0?@?@8ؿ`&D?`?`d? ? .!T@..y;).C6h>٫6E):Q:4B<IBO=F)9QQF>YDyHaJDH9JiJ>iPPPiP ]VF7P aVF7ٞP eVtIPX9X qZBYP R-:)R:IRF79\^?y\ `)`I`idhihih)hɖllI9 AiQj=hWZ,,`k#A9.T@.Fc@Y.^ry.Z\=.H`01?? ^ؿ@&H?}?@Ԫ?N? .T@.y;).CR.>٫RÎE)V?V3^ <I^G=b:QQb>Y`y`abD`9f 9if>ihhhil ]rF7l arF7ٞl ertIlp9t qvBYl n:)n:InMF79xzE?yx |)|I|i i i ) ɖI i)l=Aa,,F#A9.T@.Lc@Y.{ry.Y\=.H 6?@)?ؿ%`F?+?AҪ?`? .T@.%y;),>>٫>E)BKB 4qI:=:QQ>Y1y1a5D195J:i=>iAAAiI ]MF7I aUF7ٞI eUtIIQ9Q qUBYI M:)M:IMF79Y]?ya a)iIiiiqiyiy)yɖyyI iI)> %G9 Q)}륾y9@i=>I=>ig,,#AiI9.U@.Rc@Y.Vry.[=.Hj;? ?`ؿ$@fA?? y?@-? .U@.y;).C>>٫BE)FWF 4J|IJ`=NB9QQN>YLyLaRDP9R:iR>iXXXiX ]^F7X a^F7ٞX e^tIX`9` qbBYX Z:)Z2:IZF79df҄?yd h)hIhilpipit)tɖttIt xi %=hm,,#A92I U@2]c@Y2~)ry2Z=2H`HC?B?ؿt"]5?(? }?? 2I U@2&y;)2CBo>٫BE)FKF 4VIVI=ZH9QQZ>YXyXaZDX9^:i^>iAAAiI ]MF7I aUF7ٞI eUtIIQ9Q qUBYI M:)M:IM]F795?y )Iiii)ɖI i=C{t,,ҭ#A9* U@*[c@Y*qry**Z=*HH B?߶?@1ؿ "7?@?+?? * U@*y;)*CBT>٫BRE)FaF24I7=W`9QQ>YyaD9 )i >ii ]G7 a%G7ٞ e%tI!9! q%BY :)Y:I#0G79)5|?y1 9)9I9i9AiIiI)IɖIIIQ AiQu=)A A%z,,G#A4<9.: U@.[c@Y.mqy.Z=.H`A?Ȯ?ؿ"]6?@?`?@J? .: U@.G9y;),B>٫BFE)F_F.4N <INd=N::QQN>YPyPaRDP9RiV>iXXXiX ]^G7X a^G7ٞX ebtIX`9` qbBYX Z:)Zh:IZaG79df?yd h)hIhilpipip)pɖttIt xi=J,,Z#A9.U@.Xc@Y.qy.͍[=.H͆??? ؿ #6? ? 竪?? .U@.+y;).CB6>٫B݉E)FDFJ3N=RINJ=b":QQb>Y`y`afDd9fif>illlil ]rG7l arG7ٞl ertIlt9t qvBYl ns:)n:InG79xzC?yx )I!i!)i)i1)1ɖ11I1 9iQP=b,,[] #A9*,U@*Wc@Y*V@qy*O[=*Hp@]???ؿ!#@5?`?ϸ?7? *,U@*Hy;)*C@٫@)FFF4V9:QQV>YXyXaZDX9Zwi^>i!!!i) ]-G7) a5G7ٞ) e5tI)191 q5BY) -:)-:I-cG799AyA I)IIIiIQiYiY)YɖYYI i=iE{>IEl>},,i8:#AiI9. U@.aZc@Y.cpy.[=.H?A?@? ؿ" 1? ?B? ? . U@.!;y;).CB>٫BuE)F>F43*ɺI<-?:QQ>YyaD99i>ii ]H7 a%H7ٞ e%tI!9! q%BY V:)':I H79)5n?y1 9)9I9i9IiIiI)IɖIIIQ i=ɔ,,T#A9. U@.X\c@Y.py.˥[=.H ~`B?W?ؿ g" .?@U?!?;? . U@.`y;).CBo>٫BE)FDFJ3rY;IrY=v6 :QQv>YtytazDx9z9iz>ii ] H7 a H7ٞ e tI9 qBY 0:)D:I?H795?y! !))I)i)1i1i9)9ɖ9AIA IiY5=,,9m#A9.%U@.ac@Y.~py.sZ=.HˆF? A?ؿ!%?K?@@?? .%U@.[y;).CRV>٫RE)VIVX4^xI^M=b>:QQb>Y`y`abD`9f_:if>ihhhil ]rH7l arH7ٞl ertIlp9p qvBYl n:)n]:In}uH79xz?yx |)|I|i| i i ) ɖ  I i)M*=)A EAA_ܡ,, ·#A;9. U@.]c@Y./py.06[=.H@fC??ؿK"H%?`?n?E? . U@.xy;).CN>٫R#E)VQV4^l<I^J==Received command: sched asap "set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 99 %;run" 4d679 2 2%r=:QQ%>Y!y!a-D)9-\i->i111i9 ]EH79 aEH7ٞ9 eEtI9A9I qMBY9 =E:)=:I=aH79QU'?yQ Y)YIYiYiiiii)iɖiqIq yi^==MMgot command schedule asap "set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 99 %;run" 4d679 2 2.000000=MPScheduling command #2 of 2 with id=4d679=UYScheduled #2 (#2 of 2 with id='4d679'): "set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 99 %;run", ASAP=Mgot command load ./Missions/Maintenance/tank_ballast_and_trim.xml$MLoading Mission from file: ./Missions/Maintenance/tank_ballast_and_trim.xmla  $ tDefineArg ballast_and_trim.MissionTimeout = 120.000000 mina  $ ZDefineArg ballast_and_trim.SkipComms = 0 boola ) $ \DefineArg ballast_and_trim.Depth1 = 7.000000 ma i $ RDefineArg ballast_and_trim.Depth2 = nan ma  $ jDefineArg ballast_and_trim.DepthDeadband = 0.100000 ma  $ pDefineArg ballast_and_trim.SurfaceThreshold = 2.500000 ma ) $ vDefineArg ballast_and_trim.MaxWaitOnSurface = 20.000000 mina i $ jDefineArg ballast_and_trim.SettleTime = 10.000000 mina ! $- xDefineArg ballast_and_trim.EstimationTimeout = 45.000000 mina5 1 $= xDefineArg ballast_and_trim.MinEstimationTime = 10.000000 mina ) $ DefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mma % i! $- DefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cca 5 1 $= zDefineArg ballast_and_trim.EstimationConfidence = 99.900002 %aE A $M jDefineArg ballast_and_trim.WaitToFloat = 5.000000 min$M lInserting Stack from file: Missions/Insert/Science.xml,,q#A9. U@.]c@Y.oy._[=.HC?Sw?ؿ X"`-#?`?ᨪ?`? . U@.y;),N6>٫N݉E)VaV24fb IfI=j':QQj>YhyhajDl9n%ir>itttix ]zH7x azH7ٞx e~tIx)9) q-BYx zv;)z;Iz0H7915C?y1p:i)ɖI 1iI= ) $% ~DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool- i) $5 DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min= 9 $E DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool!M I $U DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool%] )Y $e DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool)m ii $m rDefineArg ballast_and_trim:Science.PatchTracking = 0 bool-} y $} pDefineArg ballast_and_trim:Science.DetectTrough = 0 bool1  $ DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count5 ) $ DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count9 i $ DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %=  $ ~DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 boolA  $ ~DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 boolE ) $ DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 boolI i $ DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 boolM  $ DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 boolQ   $ zDefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 boolU i $ xDefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 boolY- ) $5 tDefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool]= )9 $E ~DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 boolaM Q 4,,#A9.( U@.Zc@Y.oy.$`\=.H{:A?n?ؿ@"&??@\Ȫ?? .( U@.Ay;).C:>٫>E$%DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 boole51$=|DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 booliE)A)BNB4}f<I1=9QQ>YyaD9ͻi>ii ]I7 aI7ٞ etI鞱9 qBY :):IR#I79o?y$MDefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 countm]iY$eDefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 countqmi$uvDefineArg ballast_and_trim:Science.PeakShallowBound = nan mu}yi)ɖI $pDefineArg ballast_and_trim:Science.PeakDeepBound = nan my)$DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 mi1U>}Ii=>I9$]zDefineOutput ballast_and_trim:Science.PeakChl = 0.000000 ug/lmi$u~DefineOutput ballast_and_trim:Science.PeakChlDepth = 0.000000 m}y$DefineOutput ballast_and_trim:Science.PeakChlTemperature = 0.000000 degC $DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg%I!$-DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg51$=~DefineOutput ballast_and_trim:Science.PeakNO3 = 0.000000 umol/lMI$~DefineOutput ballast_and_trim:Science.PeakNO3Depth = 0.000000 m% !$-DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg5I1$=DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdegEA$|DefineOutput ballast_and_trim:Science.PeakOil = 0.000000 kg/m3=9$M~DefineOutput ballast_and_trim:Science.PeakOilDepth = 0.000000 mU Q$]DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdegmIi uG $ DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg)= Qy9 = @  $ zDefineOutput ballast_and_trim:Science.PeakFDOM = 0.000000 ppb  $ DefineOutput ballast_and_trim:Science.PeakFDOMDepth = 0.000000 m  $ DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC I $ DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg  $ DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg  $ ~DefineOutput ballast_and_trim:Science.PatchFDOMDistance = nan m  $ zDefineOutput ballast_and_trim:Science.PeakSalt = 0.000000 psu I $ DefineOutput ballast_and_trim:Science.PeakSaltDepth = 0.000000 m  ,,_ծ#AiI9. U@.X]c@Y.2oy.]\=.HQFC?@h?Cؿ1" c%?`o?`SȪ?\? . U@.y;).C>>٫B܌E)F:F{3$nDefineOutput ballast_and_trim:Science.PeakSaltTemperature = 0.000000 degCvt$zDefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg o <I f=:QQ>YyaD99i>i)))i) ]5I7) a5I7ٞ) e=tI)999 q=BY) -z:)-:I-SI7 $DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdegI$|DefineOutput ballast_and_trim:Science.PatchChl = 0.000000 ug/l$DefineOutput ballast_and_trim:Science.PatchChlDepth = 0.000000 m9 ?yi)ɖIa iiy=$DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg $DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg I $|DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m$%|DefineOutput ballast_and_trim:Science.PatchSalt = 0.000000 psu$DefineOutput ballast_and_trim:Science.PatchSaltDepth = 0.000000 m@$DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg@$DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg"@$~DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m2@$zDefineOutput ballast_and_trim:Science.PatchOil = 0.000000 psu 5B@1$=DefineOutput ballast_and_trim:Science.PatchOilDepth = 0.000000 m uR@q$DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg5b@1$}DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdegr@$|DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m5=!=%=)E-E68Construct PeakDetectVsDepth. 8 >Construct PeakDetectHorizontal. 9 8Construct PeakDetectVsDepth.: 8Construct PeakDetectVsDepth. < >Construct PeakDetectHorizontal.B,,;#A9.4U@.ac@Y.moy.\=.H``4G?@{e?`ؿV!`#?`??? .4U@.z;).Cb>٫bE)jPj:4%sI%I=%$9QQ%>Y)y)a-D)9-6:i5>ii ]I7 aI7ٞ etI鞹9 qBY 0:)D:IGI79QU҄?yQaia)iɖiiIi =8Construct PeakDetectVsDepth. i%=>58Construct PeakDetectVsDepth. @U>Construct PeakDetectHorizontal.$zInserting Stack from file: Missions/Insert/BallastAndTrim.xml5*,, #A9.uU@.>٫BE)FcF264<IJ=%h.9QQ%>Y!y)a-D)9-(:i->i999iy ]}I7y aI7ٞy etIy9 qBYy }:)}v:I}-I79?yi)ɖIq yi= 1A9@$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m 5A$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s 9B$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s =B$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg A"B$ DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min E2B$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min I%BB)$-DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min M=RB9$=DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min QMbBI$MDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min U]rBY$mDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm YB$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc ]B$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 % aB?$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m eB$DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm)A E@A FConstruct.!#=!# E!#E!#MFU&Construct Buoyancy.a#] GmConstruct.#u#HConstruct Wait. J- Construct.!%5 J= Construct. L $Construct Execute. M Construct.M5 Construct.N] Construct Wait.'i O 2Construct BallastAndTrim.'m 'q 'u 'y $ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband$ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.MaxWaitOnSurface$ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime$ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout$ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime$ RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound$% RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound$- RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidenceS,,"#A4<4<9.U@.kc@Y.()oy.Z=.H@+@N?'`?`ؿ??f? >? .U@.Ӎz;).CB6>٫B݉E)FDFJ3VIVR=V:QQZ>YXyXaZDX9^_:i^>W]&Construct Buoyancy. XmConstruct Wait.ii ]I7 aI7ٞ etI鞡9 qBY :)<;II79y}C?yi)ɖI Y{:i%Pplatform_buoyancy_position 960.217773 cc>>$]W Maximum duration of mission 120 Skip communications at start of mission. 7 NaN How much vertical drift from the specified depth is allowed durnig the mission. 0.1 Surface threshold depth. 2.5 Maximum wait time for the vehicle to go under the surface (i.e., reach the surface threshold depth). 20 How long to wait after reaching target depth before starting ballast and trim. 10 Timeout for ballast and trim estimation. 45 Minimum time to run ballast and trim estimation before determining convergence (must be shorter than timeout). 10 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 0.25 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 15 Confidence level that the estimator has reached the desired error range (larger values take longer to converge). 99.9 5 Float to surface instead of driving. =nLoaded ./Missions/Maintenance/tank_ballast_and_trim.xml~,,<#A9.6U@.nc@Y. oy.Z=.HQ?\?ؿ@#??঒?]? .6U@.!z;).CN>٫R;E)V\VP)4v,NIvF=v/9QQv>YxyxazDx9z:i~>i!!!i) ]5J7) a5J7ٞ) e5tI)191 q5BY) -f;)-H;I-0J79ae?ya i)iIiiiXz:ii)ɖI Yi=e,,V#A9*\ U@*#qc@Y*`ny*[=*HwS?`V?ؿZ?@?̡?? *\ U@*w{;)*CBk>٫BsE)FKF 4zL=I~I=]Ҵ9QQ]>YYyaaeDa9e9ie>iqqqiq ]}J7q a}J7ٞq e}tIq9 qBYq u]:)u:IuhJ796?y )Iiii)ɖI i9=iE>IE>,,}p#AiI9.-#U@.sc@Y.ny.K[=.H'@V?`P?`ؿ??`?? .-#U@.0{;).CB;>٫BjE)FSF4I>=m9QQ>YyaD9.9i>ii1 ]=J71 a=J7ٞ1 e=tI1A9A qEBY1 5:)5:I5J79IMB?yI Q)QIQiYaiaia)iɖiiIi qi=;x,,[#A9.'U@.wc@Y.Bny.k[=.H `Y?J?@7ؿ* ]?Y?d? ? .'U@.<{;).CB6>٫B݉E)FCF3J<IN_=N99QQN>YPyPaRDP9R):iV>iXXXi\ ]bJ7\ abJ7ٞ\ ebtI\`9` qbBY\ ^;)^;I^J79hjC?yh l)lIliltitit)tɖtxIx |i -=,, 4#A92#U@2tc@Y2~ny2f\=2HoX?E?@Yؿl&? ?ܪ?@? 2#U@2{;)2CB>٫BE)FZF%4*=I;=9QQ>YyaD9i>ii) ]-K7) a-K7ٞ) e5tI)191 q5BY) -:)-K:I- K79?y )Iiii)ɖI iU=)A A,,(#A9.1U@.{c@Y.qny.2U[=.Hsc?B?ٿ@@g?u?`?{? .1U@.M{;).CB>٫BE)F>F43}IJ=|9QQ>YyaD9 ;i>ii ]K7 aK7ٞ etI!9! q%BY :):IGK79)-&?y) )Iiii)ɖI iIif>,,Sׯ#A9.h9U@./c@Y.gny.Z=.H~j?@?ٿ? 5?b?? .h9U@.j_{;).CB>٫B E)FbF[44N><IN\=b8QQb>Y`y`afDd9fR:if>ihhhil ]rK7l arK7ٞl ertIlt9t qvBYl ng:)n:InyK79xz?yx )Iiii)ɖI iM=,,~#A9.=U@.c@Y.)ony.[=.H n?m>? ٿz$?"?*?@|? .=U@.~{;),B>٫BӇE)FEF3LI8=QQ>YyaD9!:i>ii ]K7 aK7ٞ etI9 qBY :):IȵK79?y )Ii)i)i)))ɖ))I1 i=iE>IEl>c,, #AiI92-JU@2c@Y2hny23{Z=2H`5y?@=? ٿ 9!?@D??? 2-JU@2<{;)2C>O>٫BŋE)FDFJ3J =IJa=Nʝ8QQN>YLyPaRDP9R;iR>iXXXiX ]^K7X a^K7ٞX e^tIX`9` qbBYX Zv:)Z2:IZIK79df}?yd h)hIhilIt)t i!i))1 MGɖ1鲩 I )"WyJAi=Y,,~%#A9.SU@.Pc@Y.Iny.vY=.H}?:?[ ٿ@?@?p?`? .SU@.{;),^>٫^~E)fQf4n<InF=~D9QQ~>YyaD9 :i >ii9 ]EL79 aEL7ٞ9 eEtI9A9A qEBY9 =:)=:I= L79IUb?yQ y)yIyiyii)ɖI i =,,Z?#A9.ZU@.wc@Y.&ny.Y=.He|͆?`6?&ٿ < ? V?fe?@? .ZU@.z;),B>٫BE)FTF4NDINN=N9QQR>YPyPaRDP9V:iV>iXXXi\ ]bL7\ abL7ٞ\ ebtI\`9` qfBY\ ^R:)^#:I^UL79hjх?yh q)qIqiqyii)ɖI ii=)A A,, 2Y#A;9.\U@.c@Y.jny.TZ=.H|É? /?`(ٿf$?v~?|?6? .\U@.z;),B>٫BE)FHF4}<I}==}n9QQ>YyaD9כ9i>ii ]L7 aL7ٞ etI9 qBY +:)?:IUL79  (?y  )Ii!i!i)))ɖ))I1 1iI=g-,,Us#A9.bU@.mc@Y._ny.[=.H z)?(?.ٿ:1?`u~?@Ǿ?? .bU@."{;).C>>٫BE)F@F3NżINZ=^4QQb>Y`y`abD`9fv:if>ihhhil ]rL7l arL7ٞl ertIlp9p qrBYl ns:)n:InL79xzQ?yx )Ii)i)i)))ɖ))I1 Qii%=#,,S茰#A9*hU@*c@Y*ny* ]=*H@y??3ٿ7??|? ?? *hU@*O{;)*CR>٫RъE)VRV4^ <I^H=^@9QQb>Y`y`abD`9fr:if>ihhhil ]rL7l arL7ٞl ertIlp9p qrBYl n:)n:InL799E?yA I)IIIiIQiYiY)YɖYYIa aiyS=iEt>IA=),,æ#AiI9.IqU@.c@Y.lny.0^=.Hx??@';ٿ `F?@}? i?? .IqU@.+{;).CBq>٫BLjE)F:F{3~I~F= QQ>Yy a D 9 :i >iiy ]M7y aM7ٞy etIy9 qBYy }:)}':I}5M79?y )Iiii)ɖI i=&0,,#A9.U@.c@Y.Iny.e\=.H0t?`?Lٿ A?S~?˪?? .U@. {;).CBm>٫B:E)F\FP)4r<IrL=rNQQr>YtytavDt9zC;iz>iqqqiy ]}M7y a}M7ٞy etIy9 qBYy }=:)}:I}lM79?y )Iiii)ɖI i E=P6,,|ڰ#A9.U@.wc@Y.my.8Z=.Hqo?@?[ٿ9?t{?@?a? .U@.z;).C>>٫B!E)FCF3Je{<IJO=Nso9QQN>YLyPaRDP9Rv*;iR>iXXXiX ]^M7X a^M7ٞX e^tIX`9` qbBYX Z:)Zu:IZM79df?yd h)hIhilpipit)tɖttIt xi %==rgot command set ballast_and_trim.MissionTimeout 90 minute@=vgot command set ballast_and_trim.MaxWaitOnSurface 10 minute)@=got command set ballast_and_trim.MassEstimationErrorBound 1 millimeter)MbP?)A Az<,,!X#A4<96U@6Kc@Y6cny6oZ=6Hn??@ fٿ>U:?}??P? 6U@60z;)4>k>٫BsE)FWF 4JDIJJ=N.9QQN>YLyLaRDP9R8:iR>iXXXiX ]^M7X a^M7ٞX e^tIX`9` qbBYX Z:)XIZM79df6?yd h)hIhilpipit)tɖttIt xi U0=aC,,0#A9.>U@.c@Y.Hny.U[=.H`Am[??iٿ``J?`? ?? .>U@.&{;),B>٫BъE)FOFc4NRINJ=r@QQr>YpytavDt9v7:iv>i|||i ]%N7 a%N7ٞ e%tI)9) q-BY :):IN7915?y1 9)AIAiAIiIiQ)QɖQQIY i= I,, (#A9.U@.d@Y.krny.B\=.Hj?`v?+sٿN@U?`?ƪ?b? .U@.U{;),B>٫BE)F[Fy'4e;Ie>=eoɹQQm>YiyiamDi9uR:iu>iyyyi ]N7 aN7ٞ etI鞁9 qBY :):IIN79?y )Iiii)ɖI i}=iE>IE>sP,,:A#AiI9.oU@.6 d@Y."ny.f\=.H@`h??$|ٿ`??Qڪ?? .oU@.X{;).CB>٫BFE)F_F.4IC= QQ>YyaD9$:i>ii ]N7 aN7ٞ etI 9  qBY JO;)qe;IĂN79q}?yy )Iiii)ɖI i= ͌G) A)eyimĥ@V,,f[#A9.U@.d@Y.Jny.\=.H@e ??`oٿSb??@Ъ?`? .U@.&H{;).CB>٫BE)FJF04 I Y= 9QQ >YyaD9;i>i!!!i) ]5N7) a5N7ٞ) e5tI)191 q5BY) -:)-:I-EN79ae_?ya i)iIiiiii)ɖI i}=(\,,ku#A9.U@.&d@Y.ny.[=.Hb@?@?`ٿ@c?`??? .U@.B{;).CBT>٫BRE)FPF:4I?=QQ>YyaD97;i>iaaaii ]mN7i auN7ٞi eutIiq9q quBYi mm:)m:ImN79y|?y )Iiii)ɖI i %=)A Ac,,w#A;9.U@.5d@Y.ny.Z=.H _? ?ٿb? /?8?? .U@. {;).CBO>٫BŋE)FbF[44<IF=@#QQ>YyaD9;i >ii ]O7 a%O7ٞ e%tI!9! q%BY :)f:I(O79)5}?y1 9)9I9i9AiIiI)IɖIIIQ Qii=(i,,R#A9.U@.Bd@Y.ny.nZ=.H]@? |?*ٿj??ܜ?? .U@.< {;).CB>٫BE)FQF4NINc=bܹQQb>Y`y`afDd9f;if>illlil ]rO7l arO7ٞl ertIlt9t qvBYl n=:)nQ:InaZO79xz?yx )I!i!)i)i1)1ɖ11I1 i e=p,, .ñ#A92U@2UKd@Y2)ny2\=2Hi[?`?@ѳٿ@x?@? 4Ϫ?? 2U@2œ{;)2CB>٫BE)F8F3E4IE@=E8QQE>YIyIaMDI9U:iU>iYYYi ]O7 aO7ٞ etI鞹9 qBY (:):I]O79?y )Iiii)ɖI i =iEx>IEl>1v,, ݱ#AiI9.V@.Xd@Y.ny.n]=.H@X@'?x ?`ٿ҄?3? ?}? .V@.h{;),B>٫BE)FEF3P<IC=z8QQ>YyaD9y:i>iii ]mO7i amO7ٞi eutIiq9q quBYi me:)m:ImO79y?y )Iiii)ɖI i=J},,!#A9.V@.Pdd@Y.hny.^=.HIV2?l?ٿ`Ґ?ۘ? ? =? .V@.{;),B>٫BE)FTF4NGIN_=bjQQb>Y`y`afDd9f:if>illli ]P7 aP7ٞ etI鞙9 qBY M:)?:IP79(?y )Iiii)ɖI i)e=,,,M#A9*j%V@*1vd@Y*oy*[]=*HyRYB??~ٿ E??`?!? *j%V@*x{;)(B>٫BiE)F5F3|I6=QQ>YyaD9 ;i >ii ]P7 a%P7ٞ e%tI!9! q%BY 9:):I=got command set ballast_and_trim.EstimationConfidence 99 percentGz?=got command run=Running (,,ܜ*#A929V@2wd@Y2l4oy2~[=2H`"N ^S? ?6ٿ`v?` ?ӭ? ? 29V@2(W{;)2CB6>٫B݉E)FAF?3NINc=Ne˹QQR>YPyPaRDP9Va;iV>iXXXi\ ]bP7\ abP7ٞ\ ebtI\`9` qbBY\ ^:)^#:I^mP79hjC?yhn )n>Aggregate::uninitialize Default1n *nDUninitialize GoToSurfaceComponent.qn*nNAggregate::uninitialize Default:CheckInn-n8Uninitialize Wait Component.$r@Started mission ballast_and_trimpqr0rLAggregate::initialize ballast_and_trimr 1r\Aggregate::initialize ballast_and_trim:Sciencer1rqrrr1rqv1v 6vxAggregate::initialize ballast_and_trim:Science:PeakDetectChlqv6vInitialize.z7zAggregate::initialize ballast_and_trim:Science:HighestChlPeakReport1z8zInitialize.q~8~xAggregate::initialize ballast_and_trim:Science:PeakDetectNO3~ 9~Initialize.1 :xAggregate::initialize ballast_and_trim:Science:PeakDetectOilq: Initialize.%;%Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport1-<-Initialize.q5<5zAggregate::initialize ballast_and_trim:Science:PeakDetectFDOM= ==Initialize.1E >MAggregate::initialize ballast_and_trim:Science:PeakDetectSalinityqM>MInitialize.U?UAggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport1 U@UInitialize.] 5]vAggregate::initialize ballast_and_trim:Science:OceanCurrent]5]uAggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinityqu>uUninitialize.qu٫BE)F9F3 x;I D=TQQ>Yy!a%D!9%;i%>i111i1 ]=P71 a=P7ٞ1 eEtI1A9A qEBY1 5:)5:I5ڦP79IM?yQ U A]Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim ]1!]q!]!]!]1"]D]?De@DaDaDaDeMbP?Dm,C6>DmGz?DubGoing to target depth. Speed set to 0.000000 m/s 1"uq"uDuAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth"u"uEuAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold1#u F}Initialize.q#}F}٫B܌E)FDFJ3f<IfN=jQQj>YlypavDt9~;i>i   i ]P7 aP7ٞ etI9 qBY z<){BBBBBi)ɖI i=iE>IE>d,,-x#AiI9.bV@.³d@Y.4oy.fU\=.HDy?1?ڿD??ƪ?`? .bV@.{;).CB>٫BE)FNF4NryINN= |͹QQ >Y y aD9:i>i!!!i! ]-Q7! a-Q7ٞ! e-tI!)91 q5BY! %:)%:I%Q799=҄?y9HMDone Waiting.q$MHM8Uninitialize Wait Component.GMCompleted ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive#MGMAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive$U IUAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth1%U JUInitialize.$UBQBQBYBYBYBYqiq)qɖqqIy yi_=Iq )u HC G  )- sy) - @ >ٲ 8@L,,#A9.HpV@.d@Y.Woy.]=.H@A?@G ?Aڿ ?`P?`? b? .HpV@.Gq|;).C6>٫:uE)>P>:4FAIFK=J QQJ>YHyHaJDH9N;iN>idddih ]jQ7h anQ7ٞh entIhl9l qrBYh j':)jG:IjJQ79tvn?yt1%~C|IE*Moving to 7.000000 m $Eq%EJEInitialize.BABIBIBIBIBIi)ɖI YMz:ia%Pplatform_buoyancy_position 953.905640 cc=v,,⫲#A9.~V@.d@Y.py.^=.H>??'ڿ ??l?`:? .~V@.j|;).CP٫T)^W^ 4f_QQj>YhyhajDh9n ;in>itttix ]zQ7x azQ7ٞx e~tIx|9| qBYx z";)zC ;Iz9Q79  y CCCC!B!B!B!B!B)B)=pEiA)E>IE#EQ8iE)EɖMIII QYi=)A Aw^,,Ų#A4<92V@2d@Y2u,py2n]=2H9̧?0?H:ڿ"? 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F_@F|z;)FCb@٫b.G)ffU5nInH=rï;QQr>YpypavEt9voiv>i|||i| ]8| a8ٞ| etI| 9  q GCY| ~:)~r:I~h89=yC!C!C!C)B)B)B)B)B1B1M iI)IIM\Mg9iI)U 1ɖUQIQ YiqO=9 Y i "G "@ s =  ;) EU Yxyxa~E|9~(di~>i   i  ]8  a=8ٞ  e=tI 999 q=HCY  ;) ;I J89IM >yICyCyCyCBBBBBB閽i)I@9i)71ɖI i%=,,LG$A96.@6N+@Y6;y6?=6H$@ܿ m??5?@D?`? 6.@6 {;)6CB%@٫B.G)FFra5NINK=N;QQR>YPyPaREP9VfiV>iXXXi\ ]b8\ ab8ٞ\ ebtI\`9` qfHCY\ ^E:)^:I^89hj=yhCpCpCpCpBtBtBtBtBtBtLi ) I N  9i ) _1ɖ I )KIiB9Yi=,,G$A9.@.Ge+@Y.M!Y\y\a^E`9bib>idddih ]n8h an8ٞh entIhl9p qrHCYh j:)j:Ij89tv>ytC|C|C|C|BBBBBB {i!)!I%%99i!)%1ɖ%‹)I) 1Y)iA]= aa9iYiim!Gm@mr =iim/;)mE?A,,KG$A9.e@.+L+@Y.^?YdydajEh9jwij>ipppip ]v8p av8ٞp evtIpx9x qzHCYp r^:)r:Irs89|~=y|C C C C BBBBBB-vi))1I559i1)51ɖ5ˋ1I9 9iqN=)5 LI1 i1 5 :91 1 ',,*G$A9.@.S6+@Y.ZZY`y`abE`9fXif>ihhhil ]=8l a=8ٞl eEtIlA9A qEHCYl nj:)n:In089IM=yQCYCaCaCaBaBaBaBiBiBi閅oi)I 9i)1ɖՋI ik=9i Yi im T!Gm /@i i i m #;)m EIi45 %=5 4=,,`H$A9.@.+@Y.(mYPyPaREP9VuiV>iXXXi\ ]b8\ ab8ٞ\ ebtI\`9d qfHCY\ ^:)^':I^ 89hj8=yhCtCtCtCtBtBtBxBxBxBx fi ) I  *$9i)2ɖ݋I i1n=P8 ,,*H$AiI9.m@.3+@Y./=y*z;).CB)@٫B.G)FFN]5N)<INJ=R8:QQR>YPyPaRET9V|iV>iXXXi\ ]b8\ ab8ٞ\ ebtI\`9` qfHCY\ ^:)^/:I^89hj=yhCpCpCpCpBpBtBtBtBtBt^i)I G 69i ) .2ɖ 拼 I i)E)=$ ,,DH$A9.R@.*@Y.@YPyPaVET9ViV>iXXXi ]%8 a%8ٞ e%tI!9! q-HCY  :):Il&8915=y1CaCaCaCaBaBiBiBiBiBi閥Ti)I 9i)Y2ɖI iI  @A9Yi G@;)Ei %@A%AA)σIϋ7[2iϋ U-))I-)i))-8)-jd!E5-8!I=ER>%J,,-^H$A9.az@.'*@Y.:YDyDaJEH9JdiJ>iPPPiP ]V8P aV8ٞP eVtIPX9X qZHCYP R:)Rf:IR489\^Y`y`abE`9fcif>ihhhil ]r8l ar8ٞl ertIlp9t qvHCYl nk:)n:In"B89xz=9 Y i ( G ;@  ;) ވE= == <)A IE (iA A E Z8A E kdE Q8\$,,YLH$A9.6N@.*@Y.j=.H=qSݿnLm?L?Ug@թ? ļ?@? .6N@.)y;).C^T@٫^-G)ff>X5jؼInH=n2;QQn>YpyparEp9vhKiv>ixxxi| ]8| a8ٞ| etI|9 qHCY| ~:)~:I~P89=.Hk;hݿYe?r`?b ? @?_? .7@.sy;).CB@٫BD.G)FF]b5zk<I~H=~2;QQ~>YyaE9QZi >ii ]%8 a%8ٞ e%tI!9) q-HCY X ;)G;I]8915)vC ˎG! 9iA)5 y15A>ٲ@=n1,,H$AiI9:v"@:=:Hf{ݿ_?ds?\ p@?`x?5? :v"@:x;)8^#@٫b-G)jjIc5r4IrL=v;QQv>YtyxazEx9zUi~>i   i  ]8  a8ٞ  etI !9! q%ICY  5;) =7;I k89)-;y)L,Executing command stop1&KCompleted ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeoutq%CICompleted ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth$ IAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth1% JUninitialize.BDCompleted ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepthq"DAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth"q&LAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth& MInitialize.&MInitialize.1'BBBBBi ) ɖ  I  = got command stopN^Stop Mission called by CommandExec::commandStop í<­<9űYűiŵGŵ@ŵs =űűƵ;)Ƶ݈EY19i%Pplatform_buoyancy_position 169.593628 cc%>@A) I &i   8  nd 87,,H$A92\@2"_*@Y2=2H&b`0ݿV??`1Xsr?3@Ƨ?? 2\@2x;)2C:@٫:-G)BB_5FWIJP=J:QQJ>YHyLaNEL9R[LiR>iTTTiX ]^8X a^8ٞX e^tIX`9` qbICYX Zo:)Zn:IZy89df;ydNnlWaiting for the vehicle to settle. Depth = 4.409247 m 1'nq'rNr4Initialize Wait Component.&rJDpDp&rDpBpBtBtBtBt$z8MissionManager is completed.$zNUninitializing Mission ballast_and_trimq~0~PAggregate::uninitialize ballast_and_trim~ 1~`Aggregate::uninitialize ballast_and_trim:Science1~q~~~ 5~zAggregate::uninitialize ballast_and_trim:Science:OceanCurrent~q @tAggregate::uninitialize ballast_and_trim:RunBallastAndTrim  AAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim 1!q!!!q&LAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth& MUninitialize.&q'N 8Uninitialize Wait Component.1*  T Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1*  U Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1:B'y%'u%'q%'m%'i%!%=#E#Ea#E!#M!#M!# M!#M e] a] ]] Y] U] Q] M] I] Ee Ae =e 9e 5e 1e-)%!  }yuqmiea]YUQMIEA=951 - ) % !    a5a 5a 5a5a5a5a5a5a5a5a5a=a=a=E iI)M@IMP8MXz:im)uɖu[qIq yY19i%5Pplatform_buoyancy_position 169.459320 cc=.>" Powering down =,,9H$A9.C@. 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