*v 0007 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *e code=0000 elementURI="depth" type=04 *e code=0001 elementURI="depth_rate" type=04 *e code=0002 elementURI="direction_of_sea_water_velocity" type=04 *e code=0003 elementURI="distance_from_shore" type=04 *e code=0004 elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=0005 elementURI="downward_sea_water_velocity" type=04 *e code=0006 elementURI="eastward_sea_water_velocity" type=04 *e code=0007 elementURI="grid_latitude" type=04 *e code=0008 elementURI="grid_longitude" type=04 *e code=0009 elementURI="height_above_sea_floor" type=04 *e code=000A elementURI="homing_target_range" type=04 *e code=000B elementURI="homing_target_azimuth" type=04 *e code=000C elementURI="homing_target_elevation" type=04 *e code=000D elementURI="homing_target_heading" type=04 *e code=000E elementURI="northward_sea_water_velocity" type=04 *e code=000F elementURI="latitude" type=04 *e code=0010 elementURI="latitude_fix" type=04 *e code=0011 elementURI="longitude" type=04 *e code=0012 elementURI="longitude_fix" type=04 *e code=0013 elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=0014 elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=0015 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0016 elementURI="platform_average_current" type=04 *e code=0017 elementURI="platform_battery_charge" type=04 *e code=0018 elementURI="platform_battery_charge_usage" type=04 *e code=0019 elementURI="platform_battery_energy_usage" type=04 *e code=001A elementURI="platform_battery_voltage" type=04 *e code=001B elementURI="platform_battery_fully_charged" type=04 *e code=001C elementURI="platform_battery_discharging" type=04 *e code=001D elementURI="platform_buoyancy_position" type=04 *e code=001E elementURI="platform_communications" type=04 *e code=001F elementURI="platform_conversation" type=04 *e code=0020 elementURI="platform_course" type=04 *e code=0021 elementURI="platform_distance_wrt_ground" type=04 *e code=0022 elementURI="platform_distance_wrt_sea_water" type=04 *e code=0023 elementURI="platform_elevator_angle" type=04 *e code=0024 elementURI="platform_fault" type=04 *e code=0025 elementURI="platform_fault_leak" type=04 *e code=0026 elementURI="platform_magnetic_orientation" type=04 *e code=0027 elementURI="platform_mass_position" type=04 *e code=0028 elementURI="platform_orientation" type=04 *e code=0029 elementURI="platform_pitch_angle" type=04 *e code=002A elementURI="platform_pitch_rate" type=04 *e code=002B elementURI="platform_pressure" type=04 *e code=002C elementURI="platform_propeller_rotation_rate" type=04 *e code=002D elementURI="platform_relative_humidity" type=04 *e code=002E elementURI="platform_roll_angle" type=04 *e code=002F elementURI="platform_roll_rate" type=04 *e code=0030 elementURI="platform_rudder_angle" type=04 *e code=0031 elementURI="platform_speed_wrt_ground" type=04 *e code=0032 elementURI="platform_speed_wrt_sea_water" type=04 *e code=0033 elementURI="platform_temperature" type=04 *e code=0034 elementURI="platform_x_sea_water_velocity" type=04 *e code=0035 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0036 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0037 elementURI="platform_x_velocity_current" type=04 *e code=0038 elementURI="platform_y_sea_water_velocity" type=04 *e code=0039 elementURI="platform_y_velocity_wrt_ground" type=04 *e code=003A elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=003B elementURI="platform_y_velocity_current" type=04 *e code=003C elementURI="platform_yaw_angle" type=04 *e code=003D elementURI="platform_yaw_rate" type=04 *e code=003E elementURI="platform_z_sea_water_velocity" type=04 *e code=003F elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0040 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0041 elementURI="platform_z_velocity_current" type=04 *e code=0042 elementURI="projection_x_coordinate" type=04 *e code=0043 elementURI="projection_y_coordinate" type=04 *e code=0044 elementURI="projection_zone" type=04 *e code=0045 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0046 elementURI="sea_water_density" type=04 *e code=0047 elementURI="sea_water_electrical_conductivity" type=04 *e code=0048 elementURI="sea_water_potential_density" type=04 *e code=0049 elementURI="sea_water_potential_temperature" type=04 *e code=004A elementURI="sea_water_pressure" type=04 *e code=004B elementURI="sea_water_salinity" type=04 *e code=004C elementURI="sea_water_sigma_t" type=04 *e code=004D elementURI="sea_water_sigma_theta" type=04 *e code=004E elementURI="sea_water_speed" type=04 *e code=004F elementURI="sea_water_temperature" type=04 *e code=0050 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0051 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0052 elementURI="time" type=04 *e code=0053 elementURI="time_fix" type=04 *e code=0054 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0055 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 *e code=0056 elementURI="volume_scattering_650_nm" type=04 *e code=0057 elementURI="volume_scattering_470_nm" type=04 FۨL0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" ۨLDCreated PCaller Thread at 4033B4E0ƿۨLhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" ۨLDCreated PCaller Thread at 4036B4E0*n code=0007 name="CycleStarter" *e code=0058 elementURI="CycleStarter.time" type=00 *a code=0000 owner=0007 element=0058 universal=0052 unitName="second" type=1F size=0008 fl=01 *e code=0059 elementURI="CycleStarter.loadAvg1Min" type=02 *a code=0001 owner=0007 element=0059 universal=3FFF unitName="percent" type=0B size=0003 fl=05 ƿۨLvSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandLine" *e code=005A elementURI="IBIT.IBITRunning" type=00 *a code=0002 owner=0008 element=005A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=005B elementURI="CBIT.GFActive" type=00 *a code=0003 owner=0008 element=005B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0004 owner=0008 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=005C elementURI="CommandLine.platform_conversation" type=00 *a code=0005 owner=0008 element=005C universal=001F unitName="bool" type=02 size=0001 fl=05 ƿۨLdComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler" ۨLDCreated PCaller Thread at 4039B4E0*n code=000A name="logger" ƿۨLZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler" ۨLDCreated PCaller Thread at 403CB4E0NۨL\Looking for Config files in directory: Config/NۨLTOpening Config file at: Config/vehicle.cfg*n code=000C name="Config/vehicle" *e code=005D elementURI="Config/vehicle.name" type=00 *a code=0006 owner=000C element=005D universal=3FFF unitName="none" type=00 size=0006 fl=05 dۨLTethys*e code=005E elementURI="Config/vehicle.keyText" type=00 *a code=0007 owner=000C element=005E universal=3FFF unitName="none" type=00 size=0010 fl=05 tۨLTethysEncryption*e code=005F elementURI="Config/vehicle.id" type=00 *a code=0008 owner=000C element=005F universal=3FFF unitName="enum" type=1F size=0008 fl=05 ۨL*e code=0060 elementURI="Config/vehicle.kmlColor" type=00 *a code=0009 owner=000C element=0060 universal=3FFF unitName="none" type=00 size=0008 fl=05 ۨLff0055ff*e code=0061 elementURI="Config/vehicle.sendDataToShore" type=00 *a code=000A owner=000C element=0061 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ۨL?*e code=0062 elementURI="Config/vehicle.Depth_Keller_card" type=00 *a code=000B owner=000C element=0062 universal=3FFF unitName="none" type=00 size=000B fl=05 ۨL /dev/loadA0*e code=0063 elementURI="Config/vehicle.Depth_Keller_ad" type=00 *a code=000C owner=000C element=0063 universal=3FFF unitName="none" type=00 size=000E fl=05 ĿۨL/dev/mcp3553A0*e code=0064 elementURI="Config/vehicle.Depth_Keller_timeout" type=00 *a code=000D owner=000C element=0064 universal=3FFF unitName="millisecond" type=1F size=0008 fl=05 ԿۨL?*e code=0065 elementURI="Config/vehicle.Depth_Keller_vref" type=00 *a code=000E owner=000C element=0065 universal=3FFF unitName="volt" type=1F size=0008 fl=05 ܨL@*e code=0066 elementURI="Config/vehicle.Depth_Keller_res" type=00 *a code=000F owner=000C element=0066 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ܨL@*e code=0067 elementURI="Config/vehicle.PAR_Licor_card" type=00 *a code=0010 owner=000C element=0067 universal=3FFF unitName="none" type=00 size=000B fl=05 ܨL /dev/loadB0*e code=0068 elementURI="Config/vehicle.PAR_Licor_ad" type=00 *a code=0011 owner=000C element=0068 universal=3FFF unitName="none" type=00 size=000E fl=05 )ܨL/dev/mcp3553B0*e code=0069 elementURI="Config/vehicle.PAR_Licor_timeout" type=00 *a code=0012 owner=000C element=0069 universal=3FFF unitName="millisecond" type=1F size=0008 fl=05 IܨL?*e code=006A elementURI="Config/vehicle.PAR_Licor_vref" type=00 *a code=0013 owner=000C element=006A universal=3FFF unitName="volt" type=1F size=0008 fl=05 i ܨL@*e code=006B elementURI="Config/vehicle.PAR_Licor_res" type=00 *a code=0014 owner=000C element=006B universal=3FFF unitName="bit" type=1F size=0008 fl=05  ܨL@*e code=006C elementURI="Config/vehicle.AHRS_sp3003D_card" type=00 *a code=0015 owner=000C element=006C universal=3FFF unitName="none" type=00 size=000B fl=05  ܨL /dev/loadB7*e code=006D elementURI="Config/vehicle.AHRS_sp3003D_uart" type=00 *a code=0016 owner=000C element=006D universal=3FFF unitName="none" type=00 size=000A fl=05 ܨL /dev/ttyB7*e code=006E elementURI="Config/vehicle.AHRS_sp3003D_baud" type=00 *a code=0017 owner=000C element=006E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ܨL@*e code=006F elementURI="Config/vehicle.DVL_micro_card" type=00 *a code=0018 owner=000C element=006F universal=3FFF unitName="none" type=00 size=000B fl=05 ܨL /dev/loadB5*e code=0070 elementURI="Config/vehicle.DVL_micro_uart" type=00 *a code=0019 owner=000C element=0070 universal=3FFF unitName="none" type=00 size=000B fl=05 )ܨL /dev/ttyTX1*e code=0071 elementURI="Config/vehicle.DVL_micro_baud" type=00 *a code=001A owner=000C element=0071 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IܨL @*e code=0072 elementURI="Config/vehicle.NAL9602_card" type=00 *a code=001B owner=000C element=0072 universal=3FFF unitName="none" type=00 size=000B fl=05 iܨL /dev/loadA1*e code=0073 elementURI="Config/vehicle.NAL9602_uart" type=00 *a code=001C owner=000C element=0073 universal=3FFF unitName="none" type=00 size=000A fl=05 ܨL /dev/ttyS2*e code=0074 elementURI="Config/vehicle.NAL9602_baud" type=00 *a code=001D owner=000C element=0074 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ܨL@*e code=0075 elementURI="Config/vehicle.Radio_Freewave_card" type=00 *a code=001E owner=000C element=0075 universal=3FFF unitName="none" type=00 size=000B fl=05 ܨL /dev/loadA2*e code=0076 elementURI="Config/vehicle.Radio_Freewave_uart" type=00 *a code=001F owner=000C element=0076 universal=3FFF unitName="none" type=00 size=000A fl=05 ܨL /dev/ttyS0*e code=0077 elementURI="Config/vehicle.Radio_Freewave_baud" type=00 *a code=0020 owner=000C element=0077 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05  ܨL @*e code=0078 elementURI="Config/vehicle.ElevatorServo_card" type=00 *a code=0021 owner=000C element=0078 universal=3FFF unitName="none" type=00 size=000B fl=05 )"ܨL /dev/loadA6*e code=0079 elementURI="Config/vehicle.ElevatorServo_uart" type=00 *a code=0022 owner=000C element=0079 universal=3FFF unitName="none" type=00 size=000A fl=05 I$ܨL /dev/ttyA6*e code=007A elementURI="Config/vehicle.ElevatorServo_baud" type=00 *a code=0023 owner=000C element=007A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i&ܨL@*e code=007B elementURI="Config/vehicle.RudderServo_card" type=00 *a code=0024 owner=000C element=007B universal=3FFF unitName="none" type=00 size=000B fl=05 (ܨL /dev/loadA5*e code=007C elementURI="Config/vehicle.RudderServo_uart" type=00 *a code=0025 owner=000C element=007C universal=3FFF unitName="none" type=00 size=000A fl=05 )ܨL /dev/ttyA5*e code=007D elementURI="Config/vehicle.RudderServo_baud" type=00 *a code=0026 owner=000C element=007D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 +ܨL@*e code=007E elementURI="Config/vehicle.ThrusterServo_card" type=00 *a code=0027 owner=000C element=007E universal=3FFF unitName="none" type=00 size=000B fl=05 -ܨL /dev/loadA7*e code=007F elementURI="Config/vehicle.ThrusterServo_uart" type=00 *a code=0028 owner=000C element=007F universal=3FFF unitName="none" type=00 size=000A fl=05 /ܨL /dev/ttyA7*e code=0080 elementURI="Config/vehicle.ThrusterServo_baud" type=00 *a code=0029 owner=000C element=0080 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )1ܨL@*e code=0081 elementURI="Config/vehicle.MassServo_card" type=00 *a code=002A owner=000C element=0081 universal=3FFF unitName="none" type=00 size=000B fl=05 I3ܨL /dev/loadA3*e code=0082 elementURI="Config/vehicle.MassServo_uart" type=00 *a code=002B owner=000C element=0082 universal=3FFF unitName="none" type=00 size=000A fl=05 i4ܨL /dev/ttyA3*e code=0083 elementURI="Config/vehicle.MassServo_baud" type=00 *a code=002C owner=000C element=0083 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6ܨL@*e code=0084 elementURI="Config/vehicle.BuoyancyServo_card" type=00 *a code=002D owner=000C element=0084 universal=3FFF unitName="none" type=00 size=000B fl=05 8ܨL /dev/loadA4*e code=0085 elementURI="Config/vehicle.BuoyancyServo_uart" type=00 *a code=002E owner=000C element=0085 universal=3FFF unitName="none" type=00 size=000A fl=05 :ܨL /dev/ttyA4*e code=0086 elementURI="Config/vehicle.BuoyancyServo_baud" type=00 *a code=002F owner=000C element=0086 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 <ܨL@*e code=0087 elementURI="Config/vehicle.AHRS_3DMGX3_card" type=00 *a code=0030 owner=000C element=0087 universal=3FFF unitName="none" type=00 size=000B fl=05 >ܨL /dev/loadB6*e code=0088 elementURI="Config/vehicle.AHRS_3DMGX3_uart" type=00 *a code=0031 owner=000C element=0088 universal=3FFF unitName="none" type=00 size=000A fl=05 )?ܨL /dev/ttyB6*e code=0089 elementURI="Config/vehicle.AHRS_3DMGX3_baud" type=00 *a code=0032 owner=000C element=0089 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IAܨL @*e code=008A elementURI="Config/vehicle.CTD_NeilBrown_card" type=00 *a code=0033 owner=000C element=008A universal=3FFF unitName="none" type=00 size=000B fl=05 iCܨL /dev/loadB4*e code=008B elementURI="Config/vehicle.CTD_NeilBrown_uart" type=00 *a code=0034 owner=000C element=008B universal=3FFF unitName="none" type=00 size=000A fl=05 EܨL /dev/ttyB4*e code=008C elementURI="Config/vehicle.CTD_NeilBrown_baud" type=00 *a code=0035 owner=000C element=008C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 GܨL@*e code=008D elementURI="Config/vehicle.WetLabsBB2FL_card" type=00 *a code=0036 owner=000C element=008D universal=3FFF unitName="none" type=00 size=000B fl=05 IܨL /dev/loadB3*e code=008E elementURI="Config/vehicle.WetLabsBB2FL_uart" type=00 *a code=0037 owner=000C element=008E universal=3FFF unitName="none" type=00 size=000A fl=05 JܨL /dev/ttyB3*e code=008F elementURI="Config/vehicle.WetLabsBB2FL_baud" type=00 *a code=0038 owner=000C element=008F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 LܨL@*e code=0090 elementURI="Config/vehicle.Aanderaa_O2_card" type=00 *a code=0039 owner=000C element=0090 universal=3FFF unitName="none" type=00 size=000B fl=05 )NܨL /dev/loadB2*e code=0091 elementURI="Config/vehicle.Aanderaa_O2_uart" type=00 *a code=003A owner=000C element=0091 universal=3FFF unitName="none" type=00 size=000A fl=05 IPܨL /dev/ttyB2*e code=0092 elementURI="Config/vehicle.Aanderaa_O2_baud" type=00 *a code=003B owner=000C element=0092 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 iQܨL@*e code=0093 elementURI="Config/vehicle.Turbulence_NPS_card" type=00 *a code=003C owner=000C element=0093 universal=3FFF unitName="none" type=00 size=000B fl=05 SܨL /dev/loadB2*e code=0094 elementURI="Config/vehicle.Turbulence_NPS_uart" type=00 *a code=003D owner=000C element=0094 universal=3FFF unitName="none" type=00 size=000A fl=05 UܨL /dev/ttyS1*e code=0095 elementURI="Config/vehicle.Turbulence_NPS_baud" type=00 *a code=003E owner=000C element=0095 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 WܨL @*e code=0096 elementURI="Config/vehicle.ISUS_card" type=00 *a code=003F owner=000C element=0096 universal=3FFF unitName="none" type=00 size=000B fl=05 YܨL /dev/loadB1*e code=0097 elementURI="Config/vehicle.ISUS_uart" type=00 *a code=0040 owner=000C element=0097 universal=3FFF unitName="none" type=00 size=000A fl=05 [ܨL /dev/ttyB1*e code=0098 elementURI="Config/vehicle.ISUS_baud" type=00 *a code=0041 owner=000C element=0098 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )]ܨL@*e code=0099 elementURI="Config/vehicle.DAT_card" type=00 *a code=0042 owner=000C element=0099 universal=3FFF unitName="none" type=00 size=000B fl=05 I_ܨL /dev/loadB1*e code=009A elementURI="Config/vehicle.DAT_uart" type=00 *a code=0043 owner=000C element=009A universal=3FFF unitName="none" type=00 size=000A fl=05 iaܨL /dev/ttyS1*e code=009B elementURI="Config/vehicle.DAT_baud" type=00 *a code=0044 owner=000C element=009B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 bܨL@*e code=009C elementURI="Config/vehicle.Batt_Ocean_ServerA_uart" type=00 *a code=0045 owner=000C element=009C universal=3FFF unitName="none" type=00 size=000B fl=05 dܨL /dev/ttyTX0*e code=009D elementURI="Config/vehicle.Batt_Ocean_ServerA_baud" type=00 *a code=0046 owner=000C element=009D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 fܨL@*e code=009E elementURI="Config/vehicle.Batt_Ocean_ServerB_uart" type=00 *a code=0047 owner=000C element=009E universal=3FFF unitName="none" type=00 size=000B fl=05 hܨL /dev/ttyTX2*e code=009F elementURI="Config/vehicle.Batt_Ocean_ServerB_baud" type=00 *a code=0048 owner=000C element=009F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 jܨL@*e code=00A0 elementURI="Config/vehicle.OnboardHumidity_ad" type=00 *a code=0049 owner=000C element=00A0 universal=3FFF unitName="none" type=00 size=0010 fl=05 ) lܨL/dev/adlpc32xx_0*e code=00A1 elementURI="Config/vehicle.OnboardHumidity_vref" type=00 *a code=004A owner=000C element=00A1 universal=3FFF unitName="volt" type=1F size=0008 fl=05 I nܨL333333 @*e code=00A2 elementURI="Config/vehicle.OnboardHumidity_res" type=00 *a code=004B owner=000C element=00A2 universal=3FFF unitName="bit" type=1F size=0008 fl=05 i pܨL?*e code=00A3 elementURI="Config/vehicle.OnboardTemperature_ad" type=00 *a code=004C owner=000C element=00A3 universal=3FFF unitName="none" type=00 size=0010 fl=05 rܨL/dev/adlpc32xx_1*e code=00A4 elementURI="Config/vehicle.OnboardTemperature_vref" type=00 *a code=004D owner=000C element=00A4 universal=3FFF unitName="volt" type=1F size=0008 fl=05 sܨL333333 @*e code=00A5 elementURI="Config/vehicle.OnboardTemperature_res" type=00 *a code=004E owner=000C element=00A5 universal=3FFF unitName="bit" type=1F size=0008 fl=05 uܨL?*e code=00A6 elementURI="Config/vehicle.OnboardPressure_ad" type=00 *a code=004F owner=000C element=00A6 universal=3FFF unitName="none" type=00 size=0010 fl=05 wܨL/dev/adlpc32xx_2*e code=00A7 elementURI="Config/vehicle.OnboardPressure_vref" type=00 *a code=0050 owner=000C element=00A7 universal=3FFF unitName="volt" type=1F size=0008 fl=05 yܨL333333 @*e code=00A8 elementURI="Config/vehicle.OnboardPressure_res" type=00 *a code=0051 owner=000C element=00A8 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ) {ܨL?*e code=00A9 elementURI="Config/vehicle.MainGroundfault_ad" type=00 *a code=0052 owner=000C element=00A9 universal=3FFF unitName="none" type=00 size=000D fl=05 I }ܨL /dev/ad7888_0*e code=00AA elementURI="Config/vehicle.MainGroundfault_vref" type=00 *a code=0053 owner=000C element=00AA universal=3FFF unitName="volt" type=1F size=0008 fl=05 i ܨL333333 @*e code=00AB elementURI="Config/vehicle.MainGroundfault_res" type=00 *a code=0054 owner=000C element=00AB universal=3FFF unitName="bit" type=1F size=0008 fl=05 ܨL?*e code=00AC elementURI="Config/vehicle.secondaryBatteryCurrent_ad" type=00 *a code=0055 owner=000C element=00AC universal=3FFF unitName="none" type=00 size=000D fl=05 ܨL /dev/ad7888_1*e code=00AD elementURI="Config/vehicle.secondaryBatteryCurrent_vref" type=00 *a code=0056 owner=000C element=00AD universal=3FFF unitName="volt" type=1F size=0008 fl=05 ܨL333333 @*e code=00AE elementURI="Config/vehicle.secondaryBatteryCurrent_res" type=00 *a code=0057 owner=000C element=00AE universal=3FFF unitName="bit" type=1F size=0008 fl=05 ܨL?*e code=00AF elementURI="Config/vehicle.emergencyBatteryCurrent_ad" type=00 *a code=0058 owner=000C element=00AF universal=3FFF unitName="none" type=00 size=000D fl=05 ܨL /dev/ad7888_2*e code=00B0 elementURI="Config/vehicle.emergencyBatteryCurrent_vref" type=00 *a code=0059 owner=000C element=00B0 universal=3FFF unitName="volt" type=1F size=0008 fl=05 ) ܨL333333 @*e code=00B1 elementURI="Config/vehicle.emergencyBatteryCurrent_res" type=00 *a code=005A owner=000C element=00B1 universal=3FFF unitName="bit" type=1F size=0008 fl=05 I ܨL?*e code=00B2 elementURI="Config/vehicle.motherboard5VCurrent_ad" type=00 *a code=005B owner=000C element=00B2 universal=3FFF unitName="none" type=00 size=000D fl=05 i ܨL /dev/ad7888_3*e code=00B3 elementURI="Config/vehicle.motherboard5VCurrent_vref" type=00 *a code=005C owner=000C element=00B3 universal=3FFF unitName="volt" type=1F size=0008 fl=05 ܨL333333 @*e code=00B4 elementURI="Config/vehicle.motherboard5VCurrent_res" type=00 *a code=005D owner=000C element=00B4 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ܨL?*e code=00B5 elementURI="Config/vehicle.motherboard3_15VCurrent_ad" type=00 *a code=005E owner=000C element=00B5 universal=3FFF unitName="none" type=00 size=000D fl=05 ܨL /dev/ad7888_4*e code=00B6 elementURI="Config/vehicle.motherboard3_15VCurrent_vref" type=00 *a code=005F owner=000C element=00B6 universal=3FFF unitName="volt" type=1F size=0008 fl=05 ܨL333333 @*e code=00B7 elementURI="Config/vehicle.motherboard3_15VCurrent_res" type=00 *a code=0060 owner=000C element=00B7 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ܨL?*e code=00B8 elementURI="Config/vehicle.motherboard3_3VCurrent_ad" type=00 *a code=0061 owner=000C element=00B8 universal=3FFF unitName="none" type=00 size=000D fl=05 ) ܨL /dev/ad7888_5*e code=00B9 elementURI="Config/vehicle.motherboard3_3VCurrent_vref" type=00 *a code=0062 owner=000C element=00B9 universal=3FFF unitName="volt" type=1F size=0008 fl=05 I ܨL333333 @*e code=00BA elementURI="Config/vehicle.motherboard3_3VCurrent_res" type=00 *a code=0063 owner=000C element=00BA universal=3FFF unitName="bit" type=1F size=0008 fl=05 i ܨL?*e code=00BB elementURI="Config/vehicle.motherboard1_8VCurrent_ad" type=00 *a code=0064 owner=000C element=00BB universal=3FFF unitName="none" type=00 size=000D fl=05 ܨL /dev/ad7888_6*e code=00BC elementURI="Config/vehicle.motherboard1_8VCurrent_vref" type=00 *a code=0065 owner=000C element=00BC universal=3FFF unitName="volt" type=1F size=0008 fl=05 ܨL333333 @*e code=00BD elementURI="Config/vehicle.motherboard1_8VCurrent_res" type=00 *a code=0066 owner=000C element=00BD universal=3FFF unitName="bit" type=1F size=0008 fl=05 ܨL?ƿ=ݨLNLoaded Config Component "Config/vehicleN=ݨLROpening Config file at: Config/Sensor.cfg*n code=000D name="Config/Sensor" *e code=00BE elementURI="Config/Sensor.AHRS_3DMGX3_enable" type=00 *a code=0067 owner=000D element=00BE universal=3FFF unitName="bool" type=1F size=0008 fl=05 FݨL?*e code=00BF elementURI="Config/Sensor.AHRS_3DMGX3_useHardware" type=00 *a code=0068 owner=000D element=00BF universal=3FFF unitName="bool" type=1F size=0008 fl=05 HݨL*e code=00C0 elementURI="Config/Sensor.AHRS_3DMGX3_magDeviation" type=00 *a code=0069 owner=000D element=00C0 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ) JݨL*e code=00C1 elementURI="Config/Sensor.AHRS_3DMGX3_pitchOffset" type=00 *a code=006A owner=000D element=00C1 universal=3FFF unitName="degree" type=1F size=0008 fl=05 I LݨL*e code=00C2 elementURI="Config/Sensor.AHRS_3DMGX3_rollOffset" type=00 *a code=006B owner=000D element=00C2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 i NݨL*e code=00C3 elementURI="Config/Sensor.AHRS_3DMGX3_power" type=00 *a code=006C owner=000D element=00C3 universal=3FFF unitName="watt" type=1F size=0008 fl=05 PݨL?*e code=00C4 elementURI="Config/Sensor.AHRS_sp3003D_enable" type=00 *a code=006D owner=000D element=00C4 universal=3FFF unitName="bool" type=1F size=0008 fl=05 RݨL?*e code=00C5 elementURI="Config/Sensor.AHRS_sp3003D_useHardware" type=00 *a code=006E owner=000D element=00C5 universal=3FFF unitName="bool" type=1F size=0008 fl=05 TݨL*e code=00C6 elementURI="Config/Sensor.AHRS_sp3003D_magDeviation" type=00 *a code=006F owner=000D element=00C6 universal=3FFF unitName="degree" type=1F size=0008 fl=05 VݨL*e code=00C7 elementURI="Config/Sensor.AHRS_sp3003D_pitchOffset" type=00 *a code=0070 owner=000D element=00C7 universal=3FFF unitName="degree" type=1F size=0008 fl=05 XݨL*e code=00C8 elementURI="Config/Sensor.AHRS_sp3003D_rollOffset" type=00 *a code=0071 owner=000D element=00C8 universal=3FFF unitName="degree" type=1F size=0008 fl=05 )ZݨL*e code=00C9 elementURI="AHRS_sp3003D.readAccelerations" type=01 *a code=0072 owner=000D element=00C9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I[ݨL*e code=00CA elementURI="AHRS_sp3003D.readMagnetics" type=01 *a code=0073 owner=000D element=00CA universal=3FFF unitName="bool" type=02 size=0001 fl=05 i]ݨL*e code=00CB elementURI="Config/Sensor.AHRS_sp3003D_power" type=00 *a code=0074 owner=000D element=00CB universal=3FFF unitName="watt" type=1F size=0008 fl=05 _ݨL{Gz?*e code=00CC elementURI="Config/Sensor.Batt_Ocean_Server_enable" type=00 *a code=0075 owner=000D element=00CC universal=3FFF unitName="bool" type=1F size=0008 fl=05 aݨL?*e code=00CD elementURI="Config/Sensor.DAT_enable" type=00 *a code=0076 owner=000D element=00CD universal=3FFF unitName="bool" type=1F size=0008 fl=05 cݨL?*e code=00CE elementURI="Config/Sensor.DAT_useHardware" type=00 *a code=0077 owner=000D element=00CE universal=3FFF unitName="bool" type=1F size=0008 fl=05 eݨL*e code=00CF elementURI="Config/Sensor.DAT_remoteAddress" type=00 *a code=0078 owner=000D element=00CF universal=3FFF unitName="count" type=1F size=0008 fl=05 gݨL*e code=00D0 elementURI="Config/Sensor.DAT_rotationOffset" type=00 *a code=0079 owner=000D element=00D0 universal=3FFF unitName="degree" type=1F size=0008 fl=05 )iݨL*e code=00D1 elementURI="Config/Sensor.Depth_Keller_enable" type=00 *a code=007A owner=000D element=00D1 universal=3FFF unitName="bool" type=1F size=0008 fl=05 IkݨL?*e code=00D2 elementURI="Config/Sensor.Depth_Keller_useHardware" type=00 *a code=007B owner=000D element=00D2 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ilݨL*e code=00D3 elementURI="Config/Sensor.Depth_Keller_offset" type=00 *a code=007C owner=000D element=00D3 universal=3FFF unitName="decibar" type=1F size=0008 fl=05 nݨL*e code=00D4 elementURI="Config/Sensor.Depth_Keller_scale" type=00 *a code=007D owner=000D element=00D4 universal=3FFF unitName="microbar" type=1F size=0008 fl=05 pݨLPXE'>*e code=00D5 elementURI="Config/Sensor.Depth_Keller_power" type=00 *a code=007E owner=000D element=00D5 universal=3FFF unitName="watt" type=1F size=0008 fl=05 sݨL~jtx?*e code=00D6 elementURI="Config/Sensor.Depth_Keller_maxPressBound" type=00 *a code=007F owner=000D element=00D6 universal=3FFF unitName="decibar" type=1F size=0008 fl=05 uݨLSA*e code=00D7 elementURI="Config/Sensor.Depth_Keller_minPressBound" type=00 *a code=0080 owner=000D element=00D7 universal=3FFF unitName="decibar" type=1F size=0008 fl=05 wݨLj*e code=00D8 elementURI="Config/Sensor.DropWeight_enable" type=00 *a code=0081 owner=000D element=00D8 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )yݨL?*e code=00D9 elementURI="Config/Sensor.DropWeight_useHardware" type=00 *a code=0082 owner=000D element=00D9 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I{ݨL*e code=00DA elementURI="Config/Sensor.DVL_micro_enable" type=00 *a code=0083 owner=000D element=00DA universal=3FFF unitName="bool" type=1F size=0008 fl=05 i}ݨL?*e code=00DB elementURI="Config/Sensor.DVL_micro_useHardware" type=00 *a code=0084 owner=000D element=00DB universal=3FFF unitName="bool" type=1F size=0008 fl=05 ݨL*e code=00DC elementURI="Config/Sensor.DVL_micro_magDeviation" type=00 *a code=0085 owner=000D element=00DC universal=3FFF unitName="degree" type=1F size=0008 fl=05 ݨL*e code=00DD elementURI="Config/Sensor.DVL_micro_pitchOffset" type=00 *a code=0086 owner=000D element=00DD universal=3FFF unitName="degree" type=1F size=0008 fl=05 ݨL*e code=00DE elementURI="Config/Sensor.DVL_micro_rollOffset" type=00 *a code=0087 owner=000D element=00DE universal=3FFF unitName="degree" type=1F size=0008 fl=05 ݨL*e code=00DF elementURI="DVL_micro.simulateRssi" type=01 *a code=0088 owner=000D element=00DF universal=3FFF unitName="bool" type=02 size=0001 fl=05 ݨL*e code=00E0 elementURI="Config/Sensor.DVL_micro_power" type=00 *a code=0089 owner=000D element=00E0 universal=3FFF unitName="watt" type=1F size=0008 fl=05 )ݨLX9v@*e code=00E1 elementURI="Config/Sensor.GPSFailTimeout" type=00 *a code=008A owner=000D element=00E1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 IݨL@*e code=00E2 elementURI="Config/Sensor.RequestGGA" type=00 *a code=008B owner=000D element=00E2 universal=3FFF unitName="bool" type=1F size=0008 fl=05 iݨL*e code=00E3 elementURI="Config/Sensor.NAL9602_enable" type=00 *a code=008C owner=000D element=00E3 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ݨL?*e code=00E4 elementURI="Config/Sensor.NAL9602_useHardware" type=00 *a code=008D owner=000D element=00E4 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ݨL*e code=00E5 elementURI="Config/Sensor.NAL9602_power" type=00 *a code=008E owner=000D element=00E5 universal=3FFF unitName="watt" type=1F size=0008 fl=05 ݨLffffff?*e code=00E6 elementURI="Config/Sensor.NAL9602_power_platform_communications" type=00 *a code=008F owner=000D element=00E6 universal=3FFF unitName="watt" type=1F size=0008 fl=05 ݨL?*e code=00E7 elementURI="Config/Sensor.Onboard_enable" type=00 *a code=0090 owner=000D element=00E7 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ݨL?*e code=00E8 elementURI="Config/Sensor.Onboard_useHardware" type=00 *a code=0091 owner=000D element=00E8 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )ݨL*e code=00E9 elementURI="Config/Sensor.OnboardPressure_slope" type=00 *a code=0092 owner=000D element=00E9 universal=3FFF unitName="pound_per_square_inch_per_volt" type=1F size=0008 fl=05 IݨL.)2A*e code=00EA elementURI="Config/Sensor.OnboardPressure_intercept" type=00 *a code=0093 owner=000D element=00EA universal=3FFF unitName="pound_per_square_inch" type=1F size=0008 fl=05 iݨL*e code=00EB elementURI="Config/Sensor.Onboard_power" type=00 *a code=0094 owner=000D element=00EB universal=3FFF unitName="watt" type=1F size=0008 fl=05 ݨL{Gz?*e code=00EC elementURI="Config/Sensor.Radio_Freewave_enable" type=00 *a code=0095 owner=000D element=00EC universal=3FFF unitName="bool" type=1F size=0008 fl=05 ݨL?*e code=00ED elementURI="Config/Sensor.Radio_Freewave_useHardware" type=00 *a code=0096 owner=000D element=00ED universal=3FFF unitName="bool" type=1F size=0008 fl=05 ݨL*e code=00EE elementURI="Config/Sensor.Radio_Freewave_power" type=00 *a code=0097 owner=000D element=00EE universal=3FFF unitName="watt" type=1F size=0008 fl=05 ݨL@*e code=00EF elementURI="Radio_Freewave.maxDepth" type=01 *a code=0098 owner=000D element=00EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 ݨL?ƿݨLLLoaded Config Component "Config/SensorNݨLROpening Config file at: Config/Sample.cfg*n code=000E name="Config/Sample" *e code=00F0 elementURI="Config/Sample.AsyncPiEstimator_enable" type=00 *a code=0099 owner=000E element=00F0 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )ݨL?ƿJިLLLoaded Config Component "Config/SampleNJިLROpening Config file at: Config/logger.cfg*n code=000F name="Config/logger" *e code=00F1 elementURI="Config/logger.flush_freq_slate" type=00 *a code=009A owner=000F element=00F1 universal=3FFF unitName="enum" type=1F size=0008 fl=05 ISިL*e code=00F2 elementURI="Config/logger.flush_freq_slate_dir" type=00 *a code=009B owner=000F element=00F2 universal=3FFF unitName="enum" type=1F size=0008 fl=05 iVިL?*e code=00F3 elementURI="Config/logger.flush_freq_slate_gpx" type=00 *a code=009C owner=000F element=00F3 universal=3FFF unitName="enum" type=1F size=0008 fl=05 XިL*e code=00F4 elementURI="Config/logger.flush_freq_slate_kml" type=00 *a code=009D owner=000F element=00F4 universal=3FFF unitName="enum" type=1F size=0008 fl=05 [ިL?*e code=00F5 elementURI="Config/logger.flush_freq_shore" type=00 *a code=009E owner=000F element=00F5 universal=3FFF unitName="enum" type=1F size=0008 fl=05 ]ިL?*e code=00F6 elementURI="Config/logger.flush_freq_ship" type=00 *a code=009F owner=000F element=00F6 universal=3FFF unitName="enum" type=1F size=0008 fl=05 `ިL?*e code=00F7 elementURI="Config/logger.flush_freq_syslog" type=00 *a code=00A0 owner=000F element=00F7 universal=3FFF unitName="enum" type=1F size=0008 fl=05 bިL?*e code=00F8 elementURI="Config/logger.shore_log_count" type=00 *a code=00A1 owner=000F element=00F8 universal=3FFF unitName="count" type=1F size=0008 fl=05 )eިL(@*e code=00F9 elementURI="Config/logger.shore_log_name_0" type=00 *a code=00A2 owner=000F element=00F9 universal=3FFF unitName="none" type=00 size=0005 fl=05 IfިLdepth*e code=00FA elementURI="Config/logger.shore_log_approx_0" type=00 *a code=00A3 owner=000F element=00FA universal=3FFF unitName="meter" type=1F size=0008 fl=05 ihިL?*e code=00FB elementURI="Config/logger.shore_log_name_1" type=00 *a code=00A4 owner=000F element=00FB universal=3FFF unitName="none" type=00 size=0008 fl=05 jިLlatitude*e code=00FC elementURI="Config/logger.shore_log_approx_1" type=00 *a code=00A5 owner=000F element=00FC universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 lިLS!H>*e code=00FD elementURI="Config/logger.shore_log_name_2" type=00 *a code=00A6 owner=000F element=00FD universal=3FFF unitName="none" type=00 size=0009 fl=05 nިL longitude*e code=00FE elementURI="Config/logger.shore_log_approx_2" type=00 *a code=00A7 owner=000F element=00FE universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 pިLS!H>*e code=00FF elementURI="Config/logger.shore_log_name_3" type=00 *a code=00A8 owner=000F element=00FF universal=3FFF unitName="none" type=00 size=000C fl=05 rިL latitude_fix*e code=0100 elementURI="Config/logger.shore_log_approx_3" type=00 *a code=00A9 owner=000F element=0100 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )tިL*e code=0101 elementURI="Config/logger.shore_log_name_4" type=00 *a code=00AA owner=000F element=0101 universal=3FFF unitName="none" type=00 size=000D fl=05 IvިL longitude_fix*e code=0102 elementURI="Config/logger.shore_log_approx_4" type=00 *a code=00AB owner=000F element=0102 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ixިL*e code=0103 elementURI="Config/logger.shore_log_name_5" type=00 *a code=00AC owner=000F element=0103 universal=3FFF unitName="none" type=00 size=0008 fl=05 zިLtime_fix*e code=0104 elementURI="Config/logger.shore_log_approx_5" type=00 *a code=00AD owner=000F element=0104 universal=3FFF unitName="second" type=1F size=0008 fl=05 |ިL*e code=0105 elementURI="Config/logger.shore_log_name_6" type=00 *a code=00AE owner=000F element=0105 universal=3FFF unitName="none" type=00 size=0017 fl=05 ~ިLplatform_battery_charge*e code=0106 elementURI="Config/logger.shore_log_approx_6" type=00 *a code=00AF owner=000F element=0106 universal=3FFF unitName="watt_hour" type=1F size=0008 fl=05 ިL @*e code=0107 elementURI="Config/logger.shore_log_name_7" type=00 *a code=00B0 owner=000F element=0107 universal=3FFF unitName="none" type=00 size=0018 fl=05 ިLplatform_average_current*e code=0108 elementURI="Config/logger.shore_log_approx_7" type=00 *a code=00B1 owner=000F element=0108 universal=3FFF unitName="milliampere" type=1F size=0008 fl=05 )ިL?*e code=0109 elementURI="Config/logger.shore_log_name_8" type=00 *a code=00B2 owner=000F element=0109 universal=3FFF unitName="none" type=00 size=0018 fl=05 IިLplatform_battery_voltage*e code=010A elementURI="Config/logger.shore_log_approx_8" type=00 *a code=00B3 owner=000F element=010A universal=3FFF unitName="volt" type=1F size=0008 fl=05 iިL?*e code=010B elementURI="Config/logger.shore_log_name_9" type=00 *a code=00B4 owner=000F element=010B universal=3FFF unitName="none" type=00 size=002E fl=05 ިL.mass_concentration_of_chlorophyll_in_sea_water*e code=010C elementURI="Config/logger.shore_log_approx_9" type=00 *a code=00B5 owner=000F element=010C universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 ިLh㈵>*e code=010D elementURI="Config/logger.shore_log_name_10" type=00 *a code=00B6 owner=000F element=010D universal=3FFF unitName="none" type=00 size=0015 fl=05 ިLsea_water_temperature*e code=010E elementURI="Config/logger.shore_log_approx_10" type=00 *a code=00B7 owner=000F element=010E universal=3FFF unitName="kelvin" type=1F size=0008 fl=05 ިL?*e code=010F elementURI="Config/logger.shore_log_name_11" type=00 *a code=00B8 owner=000F element=010F universal=3FFF unitName="none" type=00 size=002A fl=05 ިL*mole_concentration_of_nitrate_in_sea_water*e code=0110 elementURI="Config/logger.shore_log_approx_11" type=00 *a code=00B9 owner=000F element=0110 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 )ިL{Gzt?*e code=0111 elementURI="Config/logger.ship_log_count" type=00 *a code=00BA owner=000F element=0111 universal=3FFF unitName="count" type=1F size=0008 fl=05 IިL@*e code=0112 elementURI="Config/logger.ship_log_name_0" type=00 *a code=00BB owner=000F element=0112 universal=3FFF unitName="none" type=00 size=0005 fl=05 iިLdepth*e code=0113 elementURI="Config/logger.ship_log_approx_0" type=00 *a code=00BC owner=000F element=0113 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ިL?*e code=0114 elementURI="Config/logger.ship_log_name_1" type=00 *a code=00BD owner=000F element=0114 universal=3FFF unitName="none" type=00 size=0008 fl=05 ިLlatitude*e code=0115 elementURI="Config/logger.ship_log_approx_1" type=00 *a code=00BE owner=000F element=0115 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ިLS!H>*e code=0116 elementURI="Config/logger.ship_log_name_2" type=00 *a code=00BF owner=000F element=0116 universal=3FFF unitName="none" type=00 size=0009 fl=05 ިL longitude*e code=0117 elementURI="Config/logger.ship_log_approx_2" type=00 *a code=00C0 owner=000F element=0117 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ިLS!H>*e code=0118 elementURI="Config/logger.ship_log_name_3" type=00 *a code=00C1 owner=000F element=0118 universal=3FFF unitName="none" type=00 size=0017 fl=05 )ިLplatform_battery_charge*e code=0119 elementURI="Config/logger.ship_log_approx_3" type=00 *a code=00C2 owner=000F element=0119 universal=3FFF unitName="watt_hour" type=1F size=0008 fl=05 IިL @ƿިLLLoaded Config Component "Config/loggerNިLLOpening Config file at: Config/BIT.cfg*n code=0010 name="Config/BIT" *e code=011A elementURI="Config/BIT.CBIT_enable" type=00 *a code=00C3 owner=0010 element=011A universal=3FFF unitName="bool" type=1F size=0008 fl=05 iߨL?*e code=011B elementURI="Config/BIT.CBIT_useHardware" type=00 *a code=00C4 owner=0010 element=011B universal=3FFF unitName="bool" type=1F size=0008 fl=05 ߨL*e code=011C elementURI="CBIT.abortDepth" type=01 *a code=00C5 owner=0010 element=011C universal=3FFF unitName="meter" type=0B size=0003 fl=05  ߨLC*e code=011D elementURI="CBIT.stopDepth" type=01 *a code=00C6 owner=0010 element=011D universal=3FFF unitName="meter" type=0B size=0003 fl=05  ߨLC*e code=011E elementURI="CBIT.humidityThreshold" type=01 *a code=00C7 owner=0010 element=011E universal=3FFF unitName="percent" type=0B size=0003 fl=05 ߨL ?*e code=011F elementURI="CBIT.pressureThreshold" type=01 *a code=00C8 owner=0010 element=011F universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 ߨLE*e code=0120 elementURI="CBIT.tempThreshold" type=01 *a code=00C9 owner=0010 element=0120 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=05 )ߨLC*e code=0121 elementURI="CBIT.vehicleOpen" type=01 *a code=00CA owner=0010 element=0121 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IߨL*e code=0122 elementURI="CBIT.abortDepthTimeout" type=01 *a code=00CB owner=0010 element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=05 iߨL@*e code=0123 elementURI="CBIT.battFailReport" type=01 *a code=00CC owner=0010 element=0123 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL *e code=0124 elementURI="CBIT.envTimeout" type=01 *a code=00CD owner=0010 element=0124 universal=3FFF unitName="second" type=0B size=0003 fl=05 ߨL A*e code=0125 elementURI="CBIT.battTempThreshold" type=01 *a code=00CE owner=0010 element=0125 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 ߨLC*e code=0126 elementURI="CBIT.gfChan0_Threshold" type=01 *a code=00CF owner=0010 element=0126 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 !ߨL'7*e code=0127 elementURI="CBIT.gfChan1_Threshold" type=01 *a code=00D0 owner=0010 element=0127 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 #ߨL'7*e code=0128 elementURI="CBIT.gfChan2_Threshold" type=01 *a code=00D1 owner=0010 element=0128 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 )%ߨL'7*e code=0129 elementURI="CBIT.gfChan4_Threshold" type=01 *a code=00D2 owner=0010 element=0129 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 I(ߨL'7*e code=012A elementURI="CBIT.gfChan5_Threshold" type=01 *a code=00D3 owner=0010 element=012A universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 i*ߨL'7*e code=012B elementURI="CBIT.gfScanTimeout" type=01 *a code=00D4 owner=0010 element=012B universal=3FFF unitName="hour" type=0B size=0003 fl=05 ,ߨLF*e code=012C elementURI="Config/BIT.SBIT_enable" type=00 *a code=00D5 owner=0010 element=012C universal=3FFF unitName="bool" type=1F size=0008 fl=05 .ߨL?*e code=012D elementURI="Config/BIT.IBIT_enable" type=00 *a code=00D6 owner=0010 element=012D universal=3FFF unitName="bool" type=1F size=0008 fl=05 0ߨL?*e code=012E elementURI="IBIT.batteryCapacityThreshold" type=01 *a code=00D7 owner=0010 element=012E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 2ߨLF*e code=012F elementURI="IBIT.batteryVoltageThreshold" type=01 *a code=00D8 owner=0010 element=012F universal=3FFF unitName="volt" type=0B size=0003 fl=05 4ߨLXAƿߨLFLoaded Config Component "Config/BITNߨLPOpening Config file at: Config/Servo.cfg*n code=0011 name="Config/Servo" *e code=0130 elementURI="Config/Servo.BuoyancyServo_enable" type=00 *a code=00D9 owner=0011 element=0130 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )ߨL?*e code=0131 elementURI="Config/Servo.BuoyancyServo_useHardware" type=00 *a code=00DA owner=0011 element=0131 universal=3FFF unitName="bool" type=1F size=0008 fl=05 IߨL*e code=0132 elementURI="BuoyancyServo.powerOnTimeout" type=01 *a code=00DB owner=0011 element=0132 universal=3FFF unitName="second" type=0B size=0003 fl=05 iߨL?*e code=0133 elementURI="BuoyancyServo.powerOffTimeout" type=01 *a code=00DC owner=0011 element=0133 universal=3FFF unitName="second" type=0B size=0003 fl=05 ߨL?*e code=0134 elementURI="BuoyancyServo.currLimit" type=01 *a code=00DD owner=0011 element=0134 universal=3FFF unitName="percent" type=0B size=0003 fl=05 ߨL?*e code=0135 elementURI="BuoyancyServo.limitHi" type=01 *a code=00DE owner=0011 element=0135 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL *e code=0136 elementURI="BuoyancyServo.limitLo" type=01 *a code=00DF owner=0011 element=0136 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL*e code=0137 elementURI="BuoyancyServo.pidW" type=01 *a code=00E0 owner=0011 element=0137 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL*e code=0138 elementURI="BuoyancyServo.pidX" type=01 *a code=00E1 owner=0011 element=0138 universal=3FFF unitName="count" type=0D size=0004 fl=05 )ߨL*e code=0139 elementURI="BuoyancyServo.pidY" type=01 *a code=00E2 owner=0011 element=0139 universal=3FFF unitName="count" type=0D size=0004 fl=05 IߨL *e code=013A elementURI="BuoyancyServo.overloadTimeout" type=01 *a code=00E3 owner=0011 element=013A universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 iߨL A*e code=013B elementURI="BuoyancyServo.accel" type=01 *a code=00E4 owner=0011 element=013B universal=3FFF unitName="none" type=1F size=0008 fl=05 ߨL@*e code=013C elementURI="BuoyancyServo.velocity" type=01 *a code=00E5 owner=0011 element=013C universal=3FFF unitName="none" type=1F size=0008 fl=05 ߨL@*e code=013D elementURI="BuoyancyServo.countsPerCC" type=01 *a code=00E6 owner=0011 element=013D universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=05 ߨL6*e code=013E elementURI="BuoyancyServo.deviationVolume" type=01 *a code=00E7 owner=0011 element=013E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ߨL'7*e code=013F elementURI="BuoyancyServo.checkingTimeout" type=01 *a code=00E8 owner=0011 element=013F universal=3FFF unitName="minute" type=0B size=0003 fl=05 ߨLaF*e code=0140 elementURI="BuoyancyServo.offsetVolume" type=01 *a code=00E9 owner=0011 element=0140 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )ߨLx8*e code=0141 elementURI="Config/Servo.ElevatorServo_enable" type=00 *a code=00EA owner=0011 element=0141 universal=3FFF unitName="bool" type=1F size=0008 fl=05 IߨL?*e code=0142 elementURI="Config/Servo.ElevatorServo_useHardware" type=00 *a code=00EB owner=0011 element=0142 universal=3FFF unitName="bool" type=1F size=0008 fl=05 iߨL*e code=0143 elementURI="ElevatorServo.powerOnTimeout" type=01 *a code=00EC owner=0011 element=0143 universal=3FFF unitName="second" type=0B size=0003 fl=05 ߨL?*e code=0144 elementURI="ElevatorServo.currLimit" type=01 *a code=00ED owner=0011 element=0144 universal=3FFF unitName="percent" type=0B size=0003 fl=05 ߨL=*e code=0145 elementURI="ElevatorServo.limitHi" type=01 *a code=00EE owner=0011 element=0145 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL?*e code=0146 elementURI="ElevatorServo.limitLo" type=01 *a code=00EF owner=0011 element=0146 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL*e code=0147 elementURI="ElevatorServo.pidW" type=01 *a code=00F0 owner=0011 element=0147 universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL*e code=0148 elementURI="ElevatorServo.pidX" type=01 *a code=00F1 owner=0011 element=0148 universal=3FFF unitName="count" type=0D size=0004 fl=05 )ߨLd*e code=0149 elementURI="ElevatorServo.pidY" type=01 *a code=00F2 owner=0011 element=0149 universal=3FFF unitName="count" type=0D size=0004 fl=05 IߨL*e code=014A elementURI="ElevatorServo.offsetAngle" type=01 *a code=00F3 owner=0011 element=014A universal=3FFF unitName="degree" type=2F size=0004 fl=05 iߨL*e code=014B elementURI="ElevatorServo.countsPerDeg" type=01 *a code=00F4 owner=0011 element=014B universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=05 ߨLF*e code=014C elementURI="ElevatorServo.mtrCenter" type=01 *a code=00F5 owner=0011 element=014C universal=3FFF unitName="count" type=0D size=0004 fl=05 ߨL*e code=014D elementURI="ElevatorServo.deviationAngle" type=01 *a code=00F6 owner=0011 element=014D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 ߨLd:*e code=014E elementURI="Config/Servo.MassServo_enable" type=00 *a code=00F7 owner=0011 element=014E universal=3FFF unitName="bool" type=1F size=0008 fl=05 ߨL?*e code=014F elementURI="Config/Servo.MassServo_useHardware" type=00 *a code=00F8 owner=0011 element=014F universal=3FFF unitName="bool" type=1F size=0008 fl=05 ߨL*e code=0150 elementURI="MassServo.powerOnTimeout" type=01 *a code=00F9 owner=0011 element=0150 universal=3FFF unitName="second" type=0B size=0003 fl=05 )ߨL?*e code=0151 elementURI="MassServo.currLimit" type=01 *a code=00FA owner=0011 element=0151 universal=3FFF unitName="percent" type=0B size=0003 fl=05 IߨL?*e code=0152 elementURI="MassServo.limitHi" type=01 *a code=00FB owner=0011 element=0152 universal=3FFF unitName="count" type=0D size=0004 fl=05 iߨL43*e code=0153 elementURI="MassServo.limitLo" type=01 *a code=00FC owner=0011 element=0153 universal=3FFF unitName="count" type=0D size=0004 fl=05 ਜL*e code=0154 elementURI="MassServo.overloadTimeout" type=01 *a code=00FD owner=0011 element=0154 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 ਜL?*e code=0155 elementURI="MassServo.accel" type=01 *a code=00FE owner=0011 element=0155 universal=3FFF unitName="none" type=1F size=0008 fl=05 ਜL@*e code=0156 elementURI="MassServo.velocity" type=01 *a code=00FF owner=0011 element=0156 universal=3FFF unitName="none" type=1F size=0008 fl=05 ਜLL@*e code=0157 elementURI="MassServo.totalTks" type=01 *a code=0100 owner=0011 element=0157 universal=3FFF unitName="count" type=0D size=0004 fl=05 ਜL*e code=0158 elementURI="MassServo.tksPerMM" type=01 *a code=0101 owner=0011 element=0158 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=05 ) ਜLJ*e code=0159 elementURI="MassServo.deviationDistance" type=01 *a code=0102 owner=0011 element=0159 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 I ਜLQ8*e code=015A elementURI="Config/Servo.RudderServo_enable" type=00 *a code=0103 owner=0011 element=015A universal=3FFF unitName="bool" type=1F size=0008 fl=05 i ਜL?*e code=015B elementURI="Config/Servo.RudderServo_useHardware" type=00 *a code=0104 owner=0011 element=015B universal=3FFF unitName="bool" type=1F size=0008 fl=05 ਜL*e code=015C elementURI="RudderServo.powerOnTimeout" type=01 *a code=0105 owner=0011 element=015C universal=3FFF unitName="second" type=0B size=0003 fl=05 ਜL?*e code=015D elementURI="RudderServo.currLimit" type=01 *a code=0106 owner=0011 element=015D universal=3FFF unitName="percent" type=0B size=0003 fl=05 ਜL=*e code=015E elementURI="RudderServo.limitHi" type=01 *a code=0107 owner=0011 element=015E universal=3FFF unitName="count" type=0D size=0004 fl=05 ਜL?*e code=015F elementURI="RudderServo.limitLo" type=01 *a code=0108 owner=0011 element=015F universal=3FFF unitName="count" type=0D size=0004 fl=05 !ਜL*e code=0160 elementURI="RudderServo.pidW" type=01 *a code=0109 owner=0011 element=0160 universal=3FFF unitName="count" type=0D size=0004 fl=05 )!ਜL*e code=0161 elementURI="RudderServo.pidX" type=01 *a code=010A owner=0011 element=0161 universal=3FFF unitName="count" type=0D size=0004 fl=05 I!ਜLd*e code=0162 elementURI="RudderServo.pidY" type=01 *a code=010B owner=0011 element=0162 universal=3FFF unitName="count" type=0D size=0004 fl=05 i! ਜL*e code=0163 elementURI="RudderServo.offsetAngle" type=01 *a code=010C owner=0011 element=0163 universal=3FFF unitName="degree" type=2F size=0004 fl=05 !"ਜL*e code=0164 elementURI="RudderServo.countsPerDeg" type=01 *a code=010D owner=0011 element=0164 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=05 !$ਜLF*e code=0165 elementURI="RudderServo.mtrCenter" type=01 *a code=010E owner=0011 element=0165 universal=3FFF unitName="count" type=0D size=0004 fl=05 !&ਜL*e code=0166 elementURI="RudderServo.deviationAngle" type=01 *a code=010F owner=0011 element=0166 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 !)ਜLd:*e code=0167 elementURI="Config/Servo.ThrusterServo_enable" type=00 *a code=0110 owner=0011 element=0167 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ",ਜL?*e code=0168 elementURI="Config/Servo.ThrusterServo_useHardware" type=00 *a code=0111 owner=0011 element=0168 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )".ਜL*e code=0169 elementURI="ThrusterServo.powerOnTimeout" type=01 *a code=0112 owner=0011 element=0169 universal=3FFF unitName="second" type=0B size=0003 fl=05 I"0ਜL?*e code=016A elementURI="ThrusterServo.currLimit" type=01 *a code=0113 owner=0011 element=016A universal=3FFF unitName="percent" type=0B size=0003 fl=05 i"2ਜL?*e code=016B elementURI="ThrusterServo.pidW" type=01 *a code=0114 owner=0011 element=016B universal=3FFF unitName="count" type=0D size=0004 fl=05 "3ਜL@*e code=016C elementURI="ThrusterServo.pidX" type=01 *a code=0115 owner=0011 element=016C universal=3FFF unitName="count" type=0D size=0004 fl=05 "5ਜLd*e code=016D elementURI="ThrusterServo.pidY" type=01 *a code=0116 owner=0011 element=016D universal=3FFF unitName="count" type=0D size=0004 fl=05 "6ਜL`*e code=016E elementURI="ThrusterServo.overloadTimeout" type=01 *a code=0117 owner=0011 element=016E universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 "9ਜL?*e code=016F elementURI="ThrusterServo.accel" type=01 *a code=0118 owner=0011 element=016F universal=3FFF unitName="none" type=1F size=0008 fl=05 #;ਜL?*e code=0170 elementURI="ThrusterServo.encoderTks" type=01 *a code=0119 owner=0011 element=0170 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=05 )#=ਜLB*e code=0171 elementURI="ThrusterServo.tksPerRev" type=01 *a code=011A owner=0011 element=0171 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=05 I#?ਜL@*e code=0172 elementURI="ThrusterServo.deviation" type=01 *a code=011B owner=0011 element=0172 universal=3FFF unitName="count" type=0D size=0004 fl=05 i#BਜL*e code=0173 elementURI="ThrusterServo.allowableBadVelocity" type=01 *a code=011C owner=0011 element=0173 universal=3FFF unitName="count" type=0D size=0004 fl=05 #DਜLƿਜLJLoaded Config Component "Config/ServoNਜLTOpening Config file at: Config/Science.cfg*n code=0012 name="Config/Science" *e code=0174 elementURI="Config/Science.Aanderaa_O2_enable" type=00 *a code=011D owner=0012 element=0174 universal=3FFF unitName="bool" type=1F size=0008 fl=05 #ਜL?*e code=0175 elementURI="Config/Science.Aanderaa_O2_useHardware" type=00 *a code=011E owner=0012 element=0175 universal=3FFF unitName="bool" type=1F size=0008 fl=05 #ਜL*e code=0176 elementURI="Config/Science.Aanderaa_O2_power" type=00 *a code=011F owner=0012 element=0176 universal=3FFF unitName="watt" type=1F size=0008 fl=05 #ਜLzG?*e code=0177 elementURI="Config/Science.Aanderaa_O2_model" type=00 *a code=0120 owner=0012 element=0177 universal=3FFF unitName="none" type=00 size=0000 fl=05 $ਜL*e code=0178 elementURI="Config/Science.CTD_NeilBrown_enable" type=00 *a code=0121 owner=0012 element=0178 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )$ਜL?*e code=0179 elementURI="Config/Science.CTD_NeilBrown_useHardware" type=00 *a code=0122 owner=0012 element=0179 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I$ਜL*e code=017A elementURI="Config/Science.CTD_NeilBrown_power" type=00 *a code=0123 owner=0012 element=017A universal=3FFF unitName="watt" type=1F size=0008 fl=05 i$ਜL(\?*e code=017B elementURI="Config/Science.CTD_NeilBrown_maxPressBound" type=00 *a code=0124 owner=0012 element=017B universal=3FFF unitName="decibar" type=1F size=0008 fl=05 $ਜL*e code=017C elementURI="Config/Science.CTD_NeilBrown_minPressBound" type=00 *a code=0125 owner=0012 element=017C universal=3FFF unitName="decibar" type=1F size=0008 fl=05 $ਜL*e code=017D elementURI="Config/Science.CTD_NeilBrown_offset" type=00 *a code=0126 owner=0012 element=017D universal=3FFF unitName="decibar" type=1F size=0008 fl=05 $ਜL*e code=017E elementURI="Config/Science.CTD_NeilBrown_maxSalinityBound" type=00 *a code=0127 owner=0012 element=017E universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 $ਜL*e code=017F elementURI="Config/Science.CTD_NeilBrown_minSalinityBound" type=00 *a code=0128 owner=0012 element=017F universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 %ਜL*e code=0180 elementURI="Config/Science.ISUS_enable" type=00 *a code=0129 owner=0012 element=0180 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )%ਜL?*e code=0181 elementURI="Config/Science.ISUS_useHardware" type=00 *a code=012A owner=0012 element=0181 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I%ਜL*e code=0182 elementURI="Config/Science.ISUS_nitrateAccuracy" type=00 *a code=012B owner=0012 element=0182 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 i%ਜLMbp?*e code=0183 elementURI="Config/Science.ISUS_power" type=00 *a code=012C owner=0012 element=0183 universal=3FFF unitName="watt" type=1F size=0008 fl=05 %ਜLQ@*e code=0184 elementURI="Config/Science.PAR_Licor_enable" type=00 *a code=012D owner=0012 element=0184 universal=3FFF unitName="bool" type=1F size=0008 fl=05 %ਜL?*e code=0185 elementURI="Config/Science.PAR_Licor_useHardware" type=00 *a code=012E owner=0012 element=0185 universal=3FFF unitName="bool" type=1F size=0008 fl=05 %ਜL*e code=0186 elementURI="PAR_Licor.serial" type=01 *a code=012F owner=0012 element=0186 universal=3FFF unitName="none" type=00 size=0007 fl=05 %ਜLUWQ4562*e code=0187 elementURI="PAR_Licor.darkCount" type=01 *a code=0130 owner=0012 element=0187 universal=3FFF unitName="count" type=0D size=0004 fl=05 &ਜL*e code=0188 elementURI="PAR_Licor.adcCal" type=01 *a code=0131 owner=0012 element=0188 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=05 )&ਜL,*e code=0189 elementURI="PAR_Licor.multiplier" type=01 *a code=0132 owner=0012 element=0189 universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=05 I&ਜLC*e code=018A elementURI="PAR_Licor.maxBound" type=01 *a code=0133 owner=0012 element=018A universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 i&ਜLk;*e code=018B elementURI="PAR_Licor.minBound" type=01 *a code=0134 owner=0012 element=018B universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 &ਜL*e code=018C elementURI="PAR_Licor.maxValidPitch" type=01 *a code=0135 owner=0012 element=018C universal=3FFF unitName="degree" type=2F size=0004 fl=05 &ਜLf>*e code=018D elementURI="PAR_Licor.minValidPitch" type=01 *a code=0136 owner=0012 element=018D universal=3FFF unitName="degree" type=2F size=0004 fl=05 &ਜL >*e code=018E elementURI="Config/Science.Turbulence_NPS_enable" type=00 *a code=0137 owner=0012 element=018E universal=3FFF unitName="bool" type=1F size=0008 fl=05 &ਜL*e code=018F elementURI="Config/Science.Turbulence_NPS_useHardware" type=00 *a code=0138 owner=0012 element=018F universal=3FFF unitName="bool" type=1F size=0008 fl=05 'ਜL*e code=0190 elementURI="Config/Science.Turbulence_NPS_power" type=00 *a code=0139 owner=0012 element=0190 universal=3FFF unitName="watt" type=1F size=0008 fl=05 )'ਜL@*e code=0191 elementURI="Config/Science.WetLabsBB2FL_enable" type=00 *a code=013A owner=0012 element=0191 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I'ਜL?*e code=0192 elementURI="Config/Science.WetLabsBB2FL_useHardware" type=00 *a code=013B owner=0012 element=0192 universal=3FFF unitName="bool" type=1F size=0008 fl=05 i'ਜL*e code=0193 elementURI="Config/Science.WetLabsBB2FL_timeout" type=00 *a code=013C owner=0012 element=0193 universal=3FFF unitName="second" type=1F size=0008 fl=05 'ਜL.@*e code=0194 elementURI="Config/Science.WetLabsBB2FL_period" type=00 *a code=013D owner=0012 element=0194 universal=3FFF unitName="second" type=1F size=0008 fl=05 'ਜL?*e code=0195 elementURI="Config/Science.WetLabsBB2FL_power" type=00 *a code=013E owner=0012 element=0195 universal=3FFF unitName="watt" type=1F size=0008 fl=05 'ਜL?*e code=0196 elementURI="Config/Science.WetLabsBB2FL_serial" type=00 *a code=013F owner=0012 element=0196 universal=3FFF unitName="none" type=00 size=0000 fl=05 'ਜL*e code=0197 elementURI="Config/Science.WetLabsBB2FL_scaleFactor470" type=00 *a code=0140 owner=0012 element=0197 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=1F size=0008 fl=05 (ਜL*e code=0198 elementURI="Config/Science.WetLabsBB2FL_darkCounts470" type=00 *a code=0141 owner=0012 element=0198 universal=3FFF unitName="count" type=1F size=0008 fl=05 )(ਜL*e code=0199 elementURI="Config/Science.WetLabsBB2FL_scaleFactor650" type=00 *a code=0142 owner=0012 element=0199 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=1F size=0008 fl=05 I(ਜL*e code=019A elementURI="Config/Science.WetLabsBB2FL_darkCounts650" type=00 *a code=0143 owner=0012 element=019A universal=3FFF unitName="count" type=1F size=0008 fl=05 i(ਜL*e code=019B elementURI="Config/Science.WetLabsBB2FL_scaleFactorChl" type=00 *a code=0144 owner=0012 element=019B universal=3FFF unitName="microgram_per_liter_per_count" type=1F size=0008 fl=05 (ਜL*e code=019C elementURI="Config/Science.WetLabsBB2FL_darkCountsChl" type=00 *a code=0145 owner=0012 element=019C universal=3FFF unitName="count" type=1F size=0008 fl=05 (ਜL*e code=019D elementURI="Config/Science.WetLabsBB2FL_chlAccuracy" type=00 *a code=0146 owner=0012 element=019D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 (ਜLƿ6᨜LNLoaded Config Component "Config/ScienceN7᨜LTOpening Config file at: Config/Control.cfg*n code=0013 name="Config/Control" *e code=019E elementURI="Config/Control.HorizontalControl_enable" type=00 *a code=0147 owner=0013 element=019E universal=3FFF unitName="bool" type=1F size=0008 fl=05 (?᨜L?*e code=019F elementURI="HorizontalControl.kdHeading" type=01 *a code=0148 owner=0013 element=019F universal=3FFF unitName="second" type=0B size=0003 fl=05 )A᨜LL=*e code=01A0 elementURI="HorizontalControl.kiHeading" type=01 *a code=0149 owner=0013 element=01A0 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 ))D᨜L:*e code=01A1 elementURI="HorizontalControl.kpHeading" type=01 *a code=014A owner=0013 element=01A1 universal=3FFF unitName="none" type=1F size=0008 fl=05 I)F᨜L?*e code=01A2 elementURI="HorizontalControl.kwpHeading" type=01 *a code=014B owner=0013 element=01A2 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 i)H᨜LL=*e code=01A3 elementURI="HorizontalControl.kiwpHeading" type=01 *a code=014C owner=0013 element=01A3 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 )J᨜L:*e code=01A4 elementURI="HorizontalControl.maxHdgAccel" type=01 *a code=014D owner=0013 element=01A4 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=05 )L᨜L >*e code=01A5 elementURI="HorizontalControl.maxHdgInt" type=01 *a code=014E owner=0013 element=01A5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 )N᨜L=*e code=01A6 elementURI="HorizontalControl.maxHdgRate" type=01 *a code=014F owner=0013 element=01A6 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 )P᨜LwV>*e code=01A7 elementURI="HorizontalControl.maxKxte" type=01 *a code=0150 owner=0013 element=01A7 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *R᨜LI?*e code=01A8 elementURI="HorizontalControl.rudDeadband" type=01 *a code=0151 owner=0013 element=01A8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )*T᨜L5<*e code=01A9 elementURI="HorizontalControl.rudLimit" type=01 *a code=0152 owner=0013 element=01A9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 I*V᨜L >*e code=01AA elementURI="Config/Control.LoopControl_enable" type=00 *a code=0153 owner=0013 element=01AA universal=3FFF unitName="bool" type=1F size=0008 fl=05 i*X᨜L?*e code=01AB elementURI="LoopControl.nominalDt" type=01 *a code=0154 owner=0013 element=01AB universal=3FFF unitName="second" type=0B size=0003 fl=05 *[᨜L>*e code=01AC elementURI="Config/Control.SpeedControl_enable" type=00 *a code=0155 owner=0013 element=01AC universal=3FFF unitName="bool" type=1F size=0008 fl=05 *]᨜L?*e code=01AD elementURI="SpeedControl.propPitch" type=01 *a code=0156 owner=0013 element=01AD universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=05 *_᨜La=*e code=01AE elementURI="Config/Control.VerticalControl_enable" type=00 *a code=0157 owner=0013 element=01AE universal=3FFF unitName="bool" type=1F size=0008 fl=05 *a᨜L?*e code=01AF elementURI="VerticalControl.buoyancyDefault" type=01 *a code=0158 owner=0013 element=01AF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 +c᨜Lw:*e code=01B0 elementURI="VerticalControl.buoyancyLimitHiCC" type=01 *a code=0159 owner=0013 element=01B0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )+e᨜LXz:*e code=01B1 elementURI="VerticalControl.buoyancyLimitLoCC" type=01 *a code=015A owner=0013 element=01B1 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 I+h᨜Lŧ8*e code=01B2 elementURI="VerticalControl.buoyancyNeutral" type=01 *a code=015B owner=0013 element=01B2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 i+j᨜L:*e code=01B3 elementURI="VerticalControl.buoyancyPumpDepth" type=01 *a code=015C owner=0013 element=01B3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 +l᨜LB*e code=01B4 elementURI="VerticalControl.depthDeadband" type=01 *a code=015D owner=0013 element=01B4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 +n᨜L#<*e code=01B5 elementURI="VerticalControl.depthRateDeadband" type=01 *a code=015E owner=0013 element=01B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 +p᨜Lu<*e code=01B6 elementURI="VerticalControl.depthRateSamples" type=01 *a code=015F owner=0013 element=01B6 universal=3FFF unitName="count" type=0D size=0004 fl=05 +s᨜L2*e code=01B7 elementURI="VerticalControl.dropWtDepthExcursion" type=01 *a code=0160 owner=0013 element=01B7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ,u᨜LA*e code=01B8 elementURI="VerticalControl.dropWtOverrideDelay" type=01 *a code=0161 owner=0013 element=01B8 universal=3FFF unitName="minute" type=0B size=0003 fl=05 ),y᨜LC*e code=01B9 elementURI="VerticalControl.elevDeadband" type=01 *a code=0162 owner=0013 element=01B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 I,|᨜L5<*e code=01BA elementURI="VerticalControl.elevLimit" type=01 *a code=0163 owner=0013 element=01BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 i,~᨜L >*e code=01BB elementURI="VerticalControl.elevTurnTime" type=01 *a code=0164 owner=0013 element=01BB universal=3FFF unitName="second" type=0B size=0003 fl=05 ,᨜L@*e code=01BC elementURI="VerticalControl.excursionDepthTimeout" type=01 *a code=0165 owner=0013 element=01BC universal=3FFF unitName="second" type=0B size=0003 fl=05 ,᨜L@*e code=01BD elementURI="VerticalControl.kdDepth" type=01 *a code=0166 owner=0013 element=01BD universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=05 ,᨜L*e code=01BE elementURI="VerticalControl.kdDepthBuoy" type=01 *a code=0167 owner=0013 element=01BE universal=3FFF unitName="second" type=0B size=0003 fl=05 ,᨜L*e code=01BF elementURI="VerticalControl.kdDepthRateBuoy" type=01 *a code=0168 owner=0013 element=01BF universal=3FFF unitName="second" type=0B size=0003 fl=05 -᨜L*e code=01C0 elementURI="VerticalControl.kdPitchElevator" type=01 *a code=0169 owner=0013 element=01C0 universal=3FFF unitName="second" type=0B size=0003 fl=05 )-᨜LL=*e code=01C1 elementURI="VerticalControl.kdPitchMass" type=01 *a code=016A owner=0013 element=01C1 universal=3FFF unitName="second" type=0B size=0003 fl=05 I-᨜L*e code=01C2 elementURI="VerticalControl.kiDepth" type=01 *a code=016B owner=0013 element=01C2 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 i-᨜L;*e code=01C3 elementURI="VerticalControl.kiDepthBuoy" type=01 *a code=016C owner=0013 element=01C3 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 -᨜L?*e code=01C4 elementURI="VerticalControl.kiDepthOff" type=01 *a code=016D owner=0013 element=01C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 -᨜L=*e code=01C5 elementURI="VerticalControl.kiDepthRateBuoy" type=01 *a code=016E owner=0013 element=01C5 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 -᨜LpA*e code=01C6 elementURI="VerticalControl.kiPitchElevator" type=01 *a code=016F owner=0013 element=01C6 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 -᨜L<*e code=01C7 elementURI="VerticalControl.kiPitchMass" type=01 *a code=0170 owner=0013 element=01C7 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 .᨜L:*e code=01C8 elementURI="VerticalControl.kpDepth" type=01 *a code=0171 owner=0013 element=01C8 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 ).᨜L\=*e code=01C9 elementURI="VerticalControl.kpDepthBuoy" type=01 *a code=0172 owner=0013 element=01C9 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 I.᨜LB*e code=01CA elementURI="VerticalControl.kpDepthRateBuoy" type=01 *a code=0173 owner=0013 element=01CA universal=3FFF unitName="ratio" type=0B size=0003 fl=05 i.᨜LD*e code=01CB elementURI="VerticalControl.kpPitchElevator" type=01 *a code=0174 owner=0013 element=01CB universal=3FFF unitName="none" type=1F size=0008 fl=05 .᨜L?*e code=01CC elementURI="VerticalControl.kpPitchMass" type=01 *a code=0175 owner=0013 element=01CC universal=3FFF unitName="none" type=1F size=0008 fl=05 .᨜L{Gz?*e code=01CD elementURI="VerticalControl.limitDepthTrajectory" type=01 *a code=0176 owner=0013 element=01CD universal=3FFF unitName="bool" type=02 size=0001 fl=05 .᨜L*e code=01CE elementURI="VerticalControl.massDeadband" type=01 *a code=0177 owner=0013 element=01CE universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 .᨜L:*e code=01CF elementURI="VerticalControl.massDefault" type=01 *a code=0178 owner=0013 element=01CF universal=3FFF unitName="centimeter" type=0B size=0003 fl=05 /᨜L*e code=01D0 elementURI="VerticalControl.massFilterLimit" type=01 *a code=0179 owner=0013 element=01D0 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )/᨜L¸=*e code=01D1 elementURI="VerticalControl.massFilterWidth" type=01 *a code=017A owner=0013 element=01D1 universal=3FFF unitName="second" type=0B size=0003 fl=05 I/᨜LA*e code=01D2 elementURI="VerticalControl.massPositionLimitFwd" type=01 *a code=017B owner=0013 element=01D2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 i/᨜L`<*e code=01D3 elementURI="VerticalControl.massPositionLimitAft" type=01 *a code=017C owner=0013 element=01D3 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 /᨜L`*e code=01D4 elementURI="VerticalControl.massTurnTime" type=01 *a code=017D owner=0013 element=01D4 universal=3FFF unitName="second" type=0B size=0003 fl=05 /᨜LA*e code=01D5 elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *a code=017E owner=0013 element=01D5 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 /᨜L9*e code=01D6 elementURI="VerticalControl.maxBuoyDiveRate" type=01 *a code=017F owner=0013 element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 /᨜LL=*e code=01D7 elementURI="VerticalControl.maxBuoyInt" type=01 *a code=0180 owner=0013 element=01D7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 0᨜LQ9*e code=01D8 elementURI="VerticalControl.maxDepthInt" type=01 *a code=0181 owner=0013 element=01D8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )0᨜L¸>*e code=01D9 elementURI="VerticalControl.maxDiveAccel" type=01 *a code=0182 owner=0013 element=01D9 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 I0᨜L:*e code=01DA elementURI="VerticalControl.maxDiveRate" type=01 *a code=0183 owner=0013 element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 i0᨜L>*e code=01DB elementURI="VerticalControl.maxPitchElevatorInt" type=01 *a code=0184 owner=0013 element=01DB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 0᨜L >*e code=01DC elementURI="VerticalControl.maxPitchMassInt" type=01 *a code=0185 owner=0013 element=01DC universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 0᨜L<*e code=01DD elementURI="VerticalControl.maxPitchRate" type=01 *a code=0186 owner=0013 element=01DD universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 0᨜L=*e code=01DE elementURI="VerticalControl.minAscendPitch" type=01 *a code=0187 owner=0013 element=01DE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 0᨜L¸=*e code=01DF elementURI="VerticalControl.minDepthExcursion" type=01 *a code=0188 owner=0013 element=01DF universal=3FFF unitName="meter" type=0B size=0003 fl=05 1᨜L?*e code=01E0 elementURI="VerticalControl.pitchLimit" type=01 *a code=0189 owner=0013 element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )1᨜L ?*e code=01E1 elementURI="VerticalControl.stopDepthExcursion" type=01 *a code=018A owner=0013 element=01E1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I1᨜L A*e code=01E2 elementURI="VerticalControl.stopOverrideDelay" type=01 *a code=018B owner=0013 element=01E2 universal=3FFF unitName="minute" type=0B size=0003 fl=05 i1᨜LC*e code=01E3 elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *a code=018C owner=0013 element=01E3 universal=3FFF unitName="minute" type=0B size=0003 fl=05 1᨜LRD*e code=01E4 elementURI="VerticalControl.surfaceThreshold" type=01 *a code=018D owner=0013 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 1᨜L?*e code=01E5 elementURI="VerticalControl.useElevIntInDepthMode" type=01 *a code=018E owner=0013 element=01E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 1᨜Lƿ+⨜LNLoaded Config Component "Config/ControlN,⨜LVOpening Config file at: Config/workSite.cfg*n code=0014 name="Config/workSite" *e code=01E6 elementURI="Config/workSite.initLat" type=00 *a code=018F owner=0014 element=01E6 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 14⨜LG|; ?*e code=01E7 elementURI="Config/workSite.initLon" type=00 *a code=0190 owner=0014 element=01E7 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 26⨜LYZt*e code=01E8 elementURI="Config/workSite.startupScript" type=00 *a code=0191 owner=0014 element=01E8 universal=3FFF unitName="none" type=00 size=0014 fl=05 )28⨜LMissions/Startup.xml*e code=01E9 elementURI="Config/workSite.defaultScript" type=00 *a code=0192 owner=0014 element=01E9 universal=3FFF unitName="none" type=00 size=0014 fl=05 I2;⨜LMissions/Default.xml*e code=01EA elementURI="Config/workSite.beaconLat" type=00 *a code=0193 owner=0014 element=01EA universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 i2=⨜L?{?*e code=01EB elementURI="Config/workSite.beaconLon" type=00 *a code=0194 owner=0014 element=01EB universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 2?⨜Lub/v*e code=01EC elementURI="Config/workSite.beaconDepth" type=00 *a code=0195 owner=0014 element=01EC universal=3FFF unitName="meter" type=1F size=0008 fl=05 2A⨜L9@ƿ⨜LPLoaded Config Component "Config/workSiteN⨜LXOpening Config file at: Config/Simulator.cfg*n code=0015 name="Config/Simulator" *e code=01ED elementURI="Config/Simulator.ExternalSim_enable" type=00 *a code=0196 owner=0015 element=01ED universal=3FFF unitName="bool" type=1F size=0008 fl=05 2⨜L*e code=01EE elementURI="Config/Simulator.InternalSim_enable" type=00 *a code=0197 owner=0015 element=01EE universal=3FFF unitName="bool" type=1F size=0008 fl=05 2⨜L?*e code=01EF elementURI="Config/Simulator.NavigationSim_enable" type=00 *a code=0198 owner=0015 element=01EF universal=3FFF unitName="bool" type=1F size=0008 fl=05 3⨜L*e code=01F0 elementURI="Config/Simulator.mass" type=00 *a code=0199 owner=0015 element=01F0 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 )3⨜LH{b@*e code=01F1 elementURI="Config/Simulator.volume" type=00 *a code=019A owner=0015 element=01F1 universal=3FFF unitName="cubic_meter" type=1F size=0008 fl=05 I3⨜L!w?*e code=01F2 elementURI="Config/Simulator.effDragCoef" type=00 *a code=019B owner=0015 element=01F2 universal=3FFF unitName="none" type=1F size=0008 fl=05 i3⨜LzG?*e code=01F3 elementURI="Config/Simulator.Xuabu" type=00 *a code=019C owner=0015 element=01F3 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 3⨜LB*e code=01F4 elementURI="Config/Simulator.centerOfMassX" type=00 *a code=019D owner=0015 element=01F4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 3⨜LyX5;?*e code=01F5 elementURI="Config/Simulator.centerOfMassY" type=00 *a code=019E owner=0015 element=01F5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 3⨜LmO.*e code=01F6 elementURI="Config/Simulator.centerOfMassZ" type=00 *a code=019F owner=0015 element=01F6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 3⨜L&|{?*e code=01F7 elementURI="Config/Simulator.centerOfBuoyX" type=00 *a code=01A0 owner=0015 element=01F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 4⨜LyX5;?*e code=01F8 elementURI="Config/Simulator.centerOfBuoyY" type=00 *a code=01A1 owner=0015 element=01F8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 )4⨜L*e code=01F9 elementURI="Config/Simulator.centerOfBuoyZ" type=00 *a code=01A2 owner=0015 element=01F9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I4⨜L*e code=01FA elementURI="Config/Simulator.cylinderLength" type=00 *a code=01A3 owner=0015 element=01FA universal=3FFF unitName="meter" type=1F size=0008 fl=05 i4⨜L@*e code=01FB elementURI="Config/Simulator.cylinderRadius" type=00 *a code=01A4 owner=0015 element=01FB universal=3FFF unitName="inch" type=1F size=0008 fl=05 4⨜Lׁ?*e code=01FC elementURI="Config/Simulator.lowerRudX" type=00 *a code=01A5 owner=0015 element=01FC universal=3FFF unitName="meter" type=1F size=0008 fl=05 4⨜L rh*e code=01FD elementURI="Config/Simulator.lowerRudY" type=00 *a code=01A6 owner=0015 element=01FD universal=3FFF unitName="meter" type=1F size=0008 fl=05 4⨜L~jt?*e code=01FE elementURI="Config/Simulator.lowerRudZ" type=00 *a code=01A7 owner=0015 element=01FE universal=3FFF unitName="meter" type=1F size=0008 fl=05 4⨜L~jtÿ*e code=01FF elementURI="Config/Simulator.upperRudX" type=00 *a code=01A8 owner=0015 element=01FF universal=3FFF unitName="meter" type=1F size=0008 fl=05 5⨜L rh*e code=0200 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size=0008 fl=05 8㨜L#fF@*e code=021E elementURI="Config/Simulator.Kpdot" type=00 *a code=01C7 owner=0015 element=021E universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 8 㨜L*e code=021F elementURI="Config/Simulator.Kvdot" type=00 *a code=01C8 owner=0015 element=021F universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 9 㨜L*e code=0220 elementURI="Config/Simulator.Mwdot" type=00 *a code=01C9 owner=0015 element=0220 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 )9㨜Lax@*e code=0221 elementURI="Config/Simulator.Zqdot" type=00 *a code=01CA owner=0015 element=0221 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 I9㨜Lax@*e code=0222 elementURI="Config/Simulator.Nvdot" type=00 *a code=01CB owner=0015 element=0222 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 i9㨜Lax*e code=0223 elementURI="Config/Simulator.Yrdot" type=00 *a code=01CC owner=0015 element=0223 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 9㨜Lax*e code=0224 elementURI="Config/Simulator.Ypdot" type=00 *a code=01CD owner=0015 element=0224 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 9㨜L*e code=0225 elementURI="Config/Simulator.Kpabp" type=00 *a code=01CE owner=0015 element=0225 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 9㨜L3paȿ*e code=0226 elementURI="Config/Simulator.Nuv" type=00 *a code=01CF owner=0015 element=0226 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 9㨜L2AjZ*e code=0227 elementURI="Config/Simulator.Nur" type=00 *a code=01D0 owner=0015 element=0227 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 :㨜Lg#MN*e code=0228 elementURI="Config/Simulator.Xvv" type=00 *a code=01D1 owner=0015 element=0228 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 ): 㨜L;Fz/K*e code=0229 elementURI="Config/Simulator.Xww" type=00 *a code=01D2 owner=0015 element=0229 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 I:"㨜L;Fz/K*e code=022A elementURI="Config/Simulator.Xvr" type=00 *a code=01D3 owner=0015 element=022A universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 i:$㨜L/Ȕ_@*e code=022B elementURI="Config/Simulator.Xwq" type=00 *a code=01D4 owner=0015 element=022B universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 :&㨜L/Ȕ_*e code=022C elementURI="Config/Simulator.Xrr" type=00 *a code=01D5 owner=0015 element=022C universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 :)㨜Lax@*e code=022D elementURI="Config/Simulator.Xqq" type=00 *a code=01D6 owner=0015 element=022D universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 :+㨜Lax@*e code=022E elementURI="Config/Simulator.Yuv" type=00 *a code=01D7 owner=0015 element=022E universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 :-㨜Lɏk7*e code=022F elementURI="Config/Simulator.Yur" type=00 *a code=01D8 owner=0015 element=022F universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 ;0㨜Lډp!@*e code=0230 elementURI="Config/Simulator.Nrabr" type=00 *a code=01D9 owner=0015 element=0230 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 );2㨜L{vŃ*e code=0231 elementURI="Config/Simulator.Mqabq" type=00 *a code=01DA owner=0015 element=0231 universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 I;4㨜L{vŃ*e code=0232 elementURI="Config/Simulator.Nvabv" type=00 *a code=01DB owner=0015 element=0232 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 i;6㨜Lީ{M@*e code=0233 elementURI="Config/Simulator.Ywp" type=00 *a code=01DC owner=0015 element=0233 universal=3FFF unitName="kilogram_meter" type=1F size=0008 fl=05 ;9㨜L/Ȕ_@*e code=0234 elementURI="Config/Simulator.Yrabr" type=00 *a code=01DD owner=0015 element=0234 universal=3FFF unitName="none" type=1F size=0008 fl=05 ;;㨜L*e code=0235 elementURI="Config/Simulator.Yvabv" type=00 *a code=01DE owner=0015 element=0235 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 ;=㨜LE}2ʂ*e code=0236 elementURI="Config/Simulator.Zwabw" type=00 *a code=01DF owner=0015 element=0236 universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 ;?㨜LE}2ʂ*e code=0237 elementURI="Config/Simulator.Mwabw" type=00 *a code=01E0 owner=0015 element=0237 universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 e㨜Les-8R?*e code=0248 elementURI="Config/Simulator.aspectRatio" type=00 *a code=01F1 owner=0015 element=0248 universal=3FFF unitName="none" type=1F size=0008 fl=05 )>g㨜L@*e code=0249 elementURI="Config/Simulator.finArea" type=00 *a code=01F2 owner=0015 element=0249 universal=3FFF unitName="square_meter" type=1F size=0008 fl=05 I>i㨜L}?*e code=024A elementURI="Config/Simulator.CDc" type=00 *a code=01F3 owner=0015 element=024A universal=3FFF unitName="none" type=1F size=0008 fl=05 i>k㨜LQ?*e code=024B elementURI="Config/Simulator.dCL" type=00 *a code=01F4 owner=0015 element=024B universal=3FFF unitName="none" type=1F size=0008 fl=05 >n㨜LQ@*e code=024C elementURI="Config/Simulator.initZ" type=00 *a code=01F5 owner=0015 element=024C universal=3FFF unitName="meter" type=1F size=0008 fl=05 >q㨜L*e code=024D elementURI="Config/Simulator.initPitch" type=00 *a code=01F6 owner=0015 element=024D universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 >s㨜L*e code=024E elementURI="Config/Simulator.initRoll" type=00 *a code=01F7 owner=0015 element=024E universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 >u㨜L*e code=024F elementURI="Config/Simulator.initYaw" type=00 *a code=01F8 owner=0015 element=024F universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ?w㨜L*e code=0250 elementURI="Config/Simulator.initU" type=00 *a code=01F9 owner=0015 element=0250 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 )?z㨜L*e code=0251 elementURI="Config/Simulator.initV" type=00 *a code=01FA owner=0015 element=0251 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 I?|㨜L*e code=0252 elementURI="Config/Simulator.initW" type=00 *a code=01FB owner=0015 element=0252 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 i?~㨜L*e code=0253 elementURI="Config/Simulator.initP" type=00 *a code=01FC owner=0015 element=0253 universal=3FFF unitName="radian_per_second" type=1F size=0008 fl=05 ?㨜L*e code=0254 elementURI="Config/Simulator.initQ" type=00 *a code=01FD owner=0015 element=0254 universal=3FFF unitName="radian_per_second" type=1F size=0008 fl=05 ?㨜L*e code=0255 elementURI="Config/Simulator.initR" type=00 *a code=01FE owner=0015 element=0255 universal=3FFF unitName="radian_per_second" type=1F size=0008 fl=05 ?㨜L*e code=0256 elementURI="Config/Simulator.initMassPosition" type=00 *a code=01FF owner=0015 element=0256 universal=3FFF unitName="centimeter" type=1F size=0008 fl=05 ?㨜L*e code=0257 elementURI="Config/Simulator.initBuoyancyPosition" type=00 *a code=0200 owner=0015 element=0257 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 @㨜LVCKO?*e code=0258 elementURI="Config/Simulator.northCurrent" type=00 *a code=0201 owner=0015 element=0258 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 )@㨜L*e code=0259 elementURI="Config/Simulator.eastCurrent" type=00 *a code=0202 owner=0015 element=0259 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 I@㨜L*e code=025A elementURI="Config/Simulator.vertCurrent" type=00 *a code=0203 owner=0015 element=025A universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 i@㨜L*e code=025B elementURI="Config/Simulator.magneticVariation" type=00 *a code=0204 owner=0015 element=025B universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 @㨜L*e code=025C elementURI="Config/Simulator.soundSpeed" type=00 *a code=0205 owner=0015 element=025C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 @㨜L*e code=025D elementURI="Config/Simulator.density" type=00 *a code=0206 owner=0015 element=025D universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 @㨜L*e code=025E elementURI="Config/Simulator.sst" type=00 *a code=0207 owner=0015 element=025E universal=3FFF unitName="celsius" type=1F size=0008 fl=05 @㨜L*e code=025F elementURI="Config/Simulator.tMixed" type=00 *a code=0208 owner=0015 element=025F universal=3FFF unitName="celsius" type=1F size=0008 fl=05 A㨜L*e code=0260 elementURI="Config/Simulator.t300" type=00 *a code=0209 owner=0015 element=0260 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 )A㨜L*e code=0261 elementURI="Config/Simulator.sss" type=00 *a code=020A owner=0015 element=0261 universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 IA㨜L*e code=0262 elementURI="Config/Simulator.sMixed" type=00 *a code=020B owner=0015 element=0262 universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 iA㨜L*e code=0263 elementURI="Config/Simulator.s300" type=00 *a code=020C owner=0015 element=0263 universal=3FFF unitName="part_per_thousand" type=1F size=0008 fl=05 A㨜L*e code=0264 elementURI="Config/Simulator.mixedLayerDepth" type=00 *a code=020D owner=0015 element=0264 universal=3FFF unitName="meter" type=1F size=0008 fl=05 A㨜L*e code=0265 elementURI="Config/Simulator.oceanModelData" type=00 *a code=020E owner=0015 element=0265 universal=3FFF unitName="none" type=00 size=0021 fl=05 A㨜L!Resources/2003080103_mb_l3_las.nc*e code=0266 elementURI="Config/Simulator.defaultDensity" type=00 *a code=020F owner=0015 element=0266 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 A㨜L@*e code=0267 elementURI="Config/Simulator.buoyancyNeutralOffset" type=00 *a code=0210 owner=0015 element=0267 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 B㨜L*e code=0268 elementURI="Config/Simulator.massPositionOffset" type=00 *a code=0211 owner=0015 element=0268 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 )B㨜L*e code=0269 elementURI="Config/Simulator.entrainedAir" type=00 *a code=0212 owner=0015 element=0269 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 IB㨜L*e code=026A elementURI="Config/Simulator.bottomLockGone" type=00 *a code=0213 owner=0015 element=026A universal=3FFF unitName="meter" type=1F size=0008 fl=05 iB㨜LY@*e code=026B elementURI="Config/Simulator.homingSensorTat" type=00 *a code=0214 owner=0015 element=026B universal=3FFF unitName="second" type=1F size=0008 fl=05 B㨜L@*e code=026C elementURI="Config/Simulator.wideHystMovableMass" type=00 *a code=0215 owner=0015 element=026C universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 B㨜L*e code=026D elementURI="Config/Simulator.centerHystMovableMass" type=00 *a code=0216 owner=0015 element=026D universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 B㨜L*e code=026E elementURI="Config/Simulator.speedMovableMass" type=00 *a code=0217 owner=0015 element=026E universal=3FFF unitName="millimeter_per_second" type=1F size=0008 fl=05 B㨜LǺF?*e code=026F elementURI="Config/Simulator.wideHystBuoyancy" type=00 *a code=0218 owner=0015 element=026F universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 C㨜L*e code=0270 elementURI="Config/Simulator.centerHystBuoyancy" type=00 *a code=0219 owner=0015 element=0270 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 )C㨜L*e code=0271 elementURI="Config/Simulator.speedBuoyancy" type=00 *a code=021A owner=0015 element=0271 universal=3FFF unitName="cubic_centimeter_per_second" type=1F size=0008 fl=05 IC㨜LTqs*>ƿG䨜LRLoaded Config Component "Config/SimulatorNG䨜LZOpening Config file at: Config/Derivation.cfg*n code=0016 name="Config/Derivation" *e code=0272 elementURI="Config/Derivation.DepthRateCalculator_enable" type=00 *a code=021B owner=0016 element=0272 universal=3FFF unitName="bool" type=1F size=0008 fl=05 iCO䨜L?*e code=0273 elementURI="Config/Derivation.HFRadarModelCalc_enable" type=00 *a code=021C owner=0016 element=0273 universal=3FFF unitName="bool" type=1F size=0008 fl=05 CR䨜L?*e code=0274 elementURI="Config/Derivation.NavChart_enable" type=00 *a code=021D owner=0016 element=0274 universal=3FFF unitName="bool" type=1F size=0008 fl=05 CT䨜L?*e code=0275 elementURI="NavChartDb.cycleTimeout" type=01 *a code=021E owner=0016 element=0275 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 CV䨜LL=*e code=0276 elementURI="Config/Derivation.TempGradientCalculator_enable" type=00 *a code=021F owner=0016 element=0276 universal=3FFF unitName="bool" type=1F size=0008 fl=05 CX䨜L?*e code=0277 elementURI="Config/Derivation.TempGradientCalculator_binsizeDep" type=00 *a code=0220 owner=0016 element=0277 universal=3FFF unitName="meter" type=1F size=0008 fl=05 D[䨜L?*e code=0278 elementURI="Config/Derivation.TempGradientCalculator_numConsecutiveDepths" type=00 *a code=0221 owner=0016 element=0278 universal=3FFF unitName="count" type=1F size=0008 fl=05 )D]䨜L@*e code=0279 elementURI="Config/Derivation.TempGradientCalculator_threshDepChangeAbs" type=00 *a code=0222 owner=0016 element=0279 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ID_䨜L?*e code=027A elementURI="Config/Derivation.TempGradientCalculator_extensionDep" type=00 *a code=0223 owner=0016 element=027A universal=3FFF unitName="meter" type=1F size=0008 fl=05 iDb䨜L@*e code=027B elementURI="Config/Derivation.PitchRateCalculator_enable" type=00 *a code=0224 owner=0016 element=027B universal=3FFF unitName="bool" type=1F size=0008 fl=05 Dd䨜L?*e code=027C elementURI="Config/Derivation.SpeedCalculator_enable" type=00 *a code=0225 owner=0016 element=027C universal=3FFF unitName="bool" type=1F size=0008 fl=05 Df䨜L?*e code=027D elementURI="Config/Derivation.YawRateCalculator_enable" type=00 *a code=0226 owner=0016 element=027D universal=3FFF unitName="bool" type=1F size=0008 fl=05 Di䨜L?*e code=027E elementURI="Config/Derivation.Navigation_enable" type=00 *a code=0227 owner=0016 element=027E universal=3FFF unitName="bool" type=1F size=0008 fl=05 Dk䨜L?ƿ䨜LTLoaded Config Component "Config/DerivationN䨜LVOpening Config file at: Config/Guidance.cfg*n code=0017 name="Config/Guidance" N 娜LvLooking for Config files in directory: Config/lrauv-daphne/N 娜LnOpening Config file at: Config/lrauv-daphne/vehicle.cfgd娜Ldaphne*e code=027F elementURI="Config/vehicle.hostname" type=00 *a code=0228 owner=000C element=027F universal=3FFF unitName="none" type=00 size=001C fl=05 E娜Llrauv-daphne.shore.mbari.org娜L@*e code=0280 elementURI="Config/vehicle.imei" type=00 *a code=0229 owner=000C element=0280 universal=3FFF unitName="none" type=00 size=000F fl=05 )E娜L300234011783940娜LffD8BC80*e code=0281 elementURI="Config/vehicle.argoProgram" type=00 *a code=022A owner=000C element=0281 universal=3FFF unitName="none" type=00 size=0004 fl=05 IE娜L9228*e code=0282 elementURI="Config/vehicle.argoPlatform" type=00 *a code=022B owner=000C element=0282 universal=3FFF unitName="none" type=00 size=0006 fl=05 iE娜L102115!娜LNo娜LlOpening Config file at: Config/lrauv-daphne/Sensor.cfg u娜L ?v娜L) ?w娜LI x娜L9RFߑ?i ?y娜L ?z娜L {娜L? ?|娜L ~娜LFuIb)娜LwTru??娜L娜L?娜L ?娜L)?娜LI?娜Li娜L?娜L@娜LE^2>?娜L ?娜L)?娜LI娜L?i?娜L娜L??娜L娜L'?娜LwTru??娜L娜L??娜L?娜Li?娜L ?娜L)娜L?I?娜Li娜LBY,8@娜L?娜LN娜LlOpening Config file at: Config/lrauv-daphne/logger.cfgN?樜LfOpening Config file at: Config/lrauv-daphne/BIT.cfgi?E樜LF樜L?G樜LBI樜LBIJ樜LK樜L7 L樜L7)N樜L7IO樜L7iP樜L7?Q樜LiS樜L A?T樜L?T樜LN樜LjOpening Config file at: Config/lrauv-daphne/Servo.cfg)?樜LI樜L?I?樜Li樜L?*e code=0283 elementURI="Config/Servo.ElevatorServo_offset" type=00 *a code=022C owner=0011 element=0283 universal=3FFF unitName="degree" type=1F size=0008 fl=05 E樜L?樜L 樜L?i ?樜L 樜L?*e code=0284 elementURI="Config/Servo.RudderServo_offset" type=00 *a code=022D owner=0011 element=0284 universal=3FFF unitName="degree" type=1F size=0008 fl=05 E樜L "?樜L)"樜L?N稜LnOpening Config file at: Config/lrauv-daphne/Science.cfg#? 稜L# 稜L? $ 稜L4831F)$ 稜LI$? 稜L$稜LSA$稜Lj$稜L@$稜L~jt? %稜Ly&1?)%?稜LI%稜L?%?稜L%稜L?%稜LUWQ8455 &稜L)&?稜LI&稜LC&?稜L '?稜LI'?稜Li' 稜L?'!稜L bb2flmba-935 ("稜L+b~>)(#稜LI@I($稜L>i(%稜LH@(&稜LtF_?('稜L:@((稜Lg+eSS>Nu稜LnOpening Config file at: Config/lrauv-daphne/Control.cfgi+|稜L9+}稜L\B /稜Lt LL>LƿL~SyncComponent "HFRadarModelCalc" handled in the control thread.*n code=0023 name="NavChart" *a code=02F2 owner=0023 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F3 owner=0023 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F4 owner=0023 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02F5 owner=0023 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02BF elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=02F6 owner=0023 element=02BF universal=0045 unitName="meter" type=0B size=0003 fl=05 *e code=02C0 elementURI="NavChart.height_above_sea_floor" type=00 *a code=02F7 owner=0023 element=02C0 universal=0009 unitName="meter" type=0B size=0003 fl=05 *e code=02C1 elementURI="NavChart.distance_from_shore" type=00 *a code=02F8 owner=0023 element=02C1 universal=0003 unitName="kilometer" type=0B size=0003 fl=05  LDLƿLnSyncComponent "NavChart" handled in the control thread.*n code=0024 name="PitchRateCalculator" *a code=02F9 owner=0024 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02C2 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=02FA owner=0024 element=02C2 universal=002A unitName="radian_per_second" type=0B size=0003 fl=05 1 LƿLSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0025 name="SpeedCalculator" *a code=02FB owner=0025 element=002C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02C3 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=02FC owner=0025 element=02C3 universal=0032 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=02FD owner=0025 element=01AD universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 q LƿL|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0026 name="TempGradientCalculator" *a code=02FE owner=0026 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02FF owner=0026 element=004F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02C4 elementURI="TempGradientCalculator.upward_derivative_of_sea_water_temperature" type=00 *a code=0300 owner=0026 element=02C4 universal=0054 unitName="celsius_per_meter" type=0B size=0003 fl=05 *e code=02C5 elementURI="TempGradientCalculator.thermoclineDepth" type=00 *a code=0301 owner=0026 element=02C5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02C6 elementURI="TempGradientCalculator.targetDepth" type=00 *a code=0302 owner=0026 element=02C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 LƿLSyncComponent "TempGradientCalculator" handled in the control thread.*n code=0027 name="YawRateCalculator" *a code=0303 owner=0027 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02C7 elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=0304 owner=0027 element=02C7 universal=003D unitName="radian_per_second" type=0B size=0003 fl=05 LƿLSyncComponent "YawRateCalculator" handled in the control thread.*n code=0028 name="Navigation" *a code=0305 owner=0028 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0306 owner=0028 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0307 owner=0028 element=0012 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0308 owner=0028 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0309 owner=0028 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=030A owner=0028 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=030B owner=0028 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=030C owner=0028 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=030D owner=0028 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02C8 elementURI="Navigation.latitude" type=00 *a code=030E owner=0028 element=02C8 universal=000F unitName="degree" type=37 size=0006 fl=05  ! L]*e code=02C9 elementURI="Navigation.longitude" type=00 *a code=030F owner=0028 element=02C9 universal=0011 unitName="degree" type=37 size=0006 fl=05  % L]*e code=02CA elementURI="Navigation.depth" type=00 *a code=0310 owner=0028 element=02CA universal=0000 unitName="meter" type=0B size=0003 fl=05  ) L`*e code=02CB elementURI="Navigation.platform_distance_wrt_ground" type=00 *a code=0311 owner=0028 element=02CB universal=0021 unitName="meter" type=0B size=0003 fl=05 *e code=02CC elementURI="Navigation.platform_distance_wrt_sea_water" type=00 *a code=0312 owner=0028 element=02CC universal=0022 unitName="meter" type=0B size=0003 fl=05 *e code=02CD elementURI="Navigation.eastward_sea_water_velocity" type=00 *a code=0313 owner=0028 element=02CD universal=0006 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=02CE elementURI="Navigation.northward_sea_water_velocity" type=00 *a code=0314 owner=0028 element=02CE universal=000E unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0315 owner=0028 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0316 owner=0028 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0317 owner=0028 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0318 owner=0028 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0319 owner=0028 element=003A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=031A owner=0028 element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=031B owner=0028 element=0031 universal=FFFF unitName="none" type=FF size=0000 fl=04 1 LƿLrSyncComponent "Navigation" handled in the control thread.LLoaded Module: Derivation (Contains the base derivation components)LJLoading Module at Modules/Guidance.so LrLoaded Module: Guidance (Contains behaviors and commands) LHLoading Module at Modules/Trigger.so"L|Loaded Module: Trigger (Contains triggers for use in missions)#LHLoading Module at Modules/Control.so*n code=0029 name="VerticalControl" IL4Construct VerticalControl.*a code=031C owner=0029 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=02CF elementURI="VerticalControl.depthCmd" type=02 *a code=031D owner=0029 element=02CF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=02D0 elementURI="VerticalControl.depthRateCmd" type=02 *a code=031E owner=0029 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=02D1 elementURI="VerticalControl.pitchCmd" type=02 *a code=031F owner=0029 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02D2 elementURI="VerticalControl.pitchRateCmd" type=02 *a code=0320 owner=0029 element=02D2 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=02D3 elementURI="VerticalControl.buoyancyCmd" type=02 *a code=0321 owner=0029 element=02D3 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0322 owner=0029 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0323 owner=0029 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02D4 elementURI="LoopControl.periodCmd" type=02 *a code=0324 owner=0029 element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=02D5 elementURI="SpeedControl.speedCmd" type=02 *a code=0325 owner=0029 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0326 owner=0029 element=01AF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0327 owner=0029 element=01B0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0328 owner=0029 element=01B1 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0329 owner=0029 element=01B2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=032A owner=0029 element=01B3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=032B owner=0029 element=01B4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=032C owner=0029 element=01B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=032D owner=0029 element=01B6 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=032E owner=0029 element=01B7 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=032F owner=0029 element=01B8 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0330 owner=0029 element=01B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0331 owner=0029 element=01BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0332 owner=0029 element=01BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0333 owner=0029 element=01BC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0334 owner=0029 element=01BE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0335 owner=0029 element=01BD universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04 *a code=0336 owner=0029 element=01BF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0337 owner=0029 element=01C0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0338 owner=0029 element=01C1 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0339 owner=0029 element=01C3 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=033A owner=0029 element=01C2 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=033B owner=0029 element=01C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=033C owner=0029 element=01C5 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=033D owner=0029 element=01C6 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=033E owner=0029 element=01C7 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=033F owner=0029 element=01C9 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0340 owner=0029 element=01C8 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0341 owner=0029 element=01CA universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0342 owner=0029 element=01CB universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0343 owner=0029 element=01CC universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0344 owner=0029 element=01CD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0345 owner=0029 element=01CE universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0346 owner=0029 element=01CF universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0347 owner=0029 element=01D0 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0348 owner=0029 element=01D1 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0349 owner=0029 element=01D2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=034A owner=0029 element=01D3 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=034B owner=0029 element=01D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=034C owner=0029 element=01D5 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=034D owner=0029 element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=034E owner=0029 element=01D7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=034F owner=0029 element=01D8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0350 owner=0029 element=01D9 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0351 owner=0029 element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0352 owner=0029 element=01DB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0353 owner=0029 element=01DC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0354 owner=0029 element=01DD universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0355 owner=0029 element=01DE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0356 owner=0029 element=01DF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0357 owner=0029 element=01AB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0358 owner=0029 element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0359 owner=0029 element=01E1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=035A owner=0029 element=01E2 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=035B owner=0029 element=01E3 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=035C owner=0029 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=035D owner=0029 element=01E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=035E owner=0029 element=014D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=035F owner=0029 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0360 owner=0029 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0361 owner=0029 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0362 owner=0029 element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0363 owner=0029 element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0364 owner=0029 element=0027 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0365 owner=0029 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02D6 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=0366 owner=0029 element=02D6 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=02D7 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=0367 owner=0029 element=02D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02D8 elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=0368 owner=0029 element=02D8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02D9 elementURI="VerticalControl.dtInternal" type=02 *a code=0369 owner=0029 element=02D9 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=02DA elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=036A owner=0029 element=02DA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02DB elementURI="VerticalControl.massIntegralInternal" type=02 *a code=036B owner=0029 element=02DB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02DC elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=036C owner=0029 element=02DC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02DD elementURI="VerticalControl.pitchInternal" type=02 *a code=036D owner=0029 element=02DD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02DE elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=036E owner=0029 element=02DE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=036F owner=0029 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0370 owner=0029 element=028D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0371 owner=0029 element=028F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0372 owner=0029 element=02B7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0373 owner=0029 element=028D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0374 owner=0029 element=028F universal=3FFF unitName="meter" type=0B size=0003 fl=04 q LƿL|SyncComponent "VerticalControl" handled in the control thread.*n code=002A name="HorizontalControl" L8Construct HorizontalControl.*a code=0375 owner=002A element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=02DF elementURI="HorizontalControl.latitudeCmd" type=02 *a code=0376 owner=002A element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=02E0 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=0377 owner=002A element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=02E1 elementURI="HorizontalControl.headingCmd" type=02 *a code=0378 owner=002A element=02E1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02E2 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0379 owner=002A element=02E2 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=037A owner=002A element=0299 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=02E3 elementURI="HorizontalControl.bearingCmd" type=02 *a code=037B owner=002A element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=037C owner=002A element=019F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=037D owner=002A element=01A0 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=037E owner=002A element=01A1 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=037F owner=002A element=01A2 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0380 owner=002A element=01A3 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0381 owner=002A element=01A4 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=0382 owner=002A element=01A5 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0383 owner=002A element=01A6 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0384 owner=002A element=01A7 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0385 owner=002A element=01A8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0386 owner=002A element=01A9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0387 owner=002A element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0388 owner=002A element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0389 owner=002A element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=038A owner=002A element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=038B owner=002A element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02E4 elementURI="HorizontalControl.headingInternal" type=02 *a code=038C owner=002A element=02E4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02E5 elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=038D owner=002A element=02E5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02E6 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=038E owner=002A element=02E6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02E7 elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=038F owner=002A element=02E7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02E8 elementURI="HorizontalControl.xteInternal" type=02 *a code=0390 owner=002A element=02E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=02E9 elementURI="HorizontalControl.kxteInternal" type=02 *a code=0391 owner=002A element=02E9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=02EA elementURI="HorizontalControl.bearingInternal" type=02 *a code=0392 owner=002A element=02EA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0393 owner=002A element=028E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0394 owner=002A element=028E universal=3FFF unitName="radian" type=2F size=0004 fl=04 LƿLSyncComponent "HorizontalControl" handled in the control thread.*n code=002B name="SpeedControl" L.Construct SpeedControl.*a code=0395 owner=002B element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0396 owner=002B element=01AD universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0397 owner=002B element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0398 owner=002B element=028C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 LƿLvSyncComponent "SpeedControl" handled in the control thread.*n code=002C name="LoopControl" L,Construct LoopControl.*a code=0399 owner=002C element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 1 LƿLtSyncComponent "LoopControl" handled in the control thread.LLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)LFLoading Module at Modules/Sample.so*n code=002D name="AsyncPiEstimator" L6Construct AsyncPiEstimator.*e code=02EB elementURI="AsyncPiEstimator.piEstimate" type=00 *a code=039A owner=002D element=02EB universal=3FFF unitName="none" type=1F size=0008 fl=05 q LƿLnComponent "AsyncPiEstimator" handled in its own thread.*n code=002E name="AsyncPiEstimator ThreadHandler" LDCreated PCaller Thread at 406A44E0LLoaded Module: Sample (This is a Sample Module of Sample Components)LFLoading Module at Modules/Sensor.so*n code=002F name="AHRS_sp3003D" *a code=039B owner=002F element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=039C owner=002F element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=039D owner=002F element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02EC elementURI="AHRS_sp3003D.CompassOrientation" type=02 *a code=039E owner=002F element=02EC universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=02ED elementURI="AHRS_sp3003D.CompassTemperature" type=02 *a code=039F owner=002F element=02ED universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=02EE elementURI="AHRS_sp3003D.Mx" type=02 *a code=03A0 owner=002F element=02EE universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02EF elementURI="AHRS_sp3003D.My" type=02 *a code=03A1 owner=002F element=02EF universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02F0 elementURI="AHRS_sp3003D.Mz" type=02 *a code=03A2 owner=002F element=02F0 universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02F1 elementURI="AHRS_sp3003D.Mt" type=02 *a code=03A3 owner=002F element=02F1 universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=02F2 elementURI="AHRS_sp3003D.Ax" type=02 *a code=03A4 owner=002F element=02F2 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02F3 elementURI="AHRS_sp3003D.Ay" type=02 *a code=03A5 owner=002F element=02F3 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02F4 elementURI="AHRS_sp3003D.Az" type=02 *a code=03A6 owner=002F element=02F4 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02F5 elementURI="AHRS_sp3003D.At" type=02 *a code=03A7 owner=002F element=02F5 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=02F6 elementURI="AHRS_sp3003D.platform_magnetic_orientation" type=00 *a code=03A8 owner=002F element=02F6 universal=0026 unitName="degree" type=2F size=0004 fl=05 bL9*e code=02F7 elementURI="AHRS_sp3003D.platform_orientation" type=00 *a code=03A9 owner=002F element=02F7 universal=0028 unitName="degree" type=2F size=0004 fl=05 fL9*e code=02F8 elementURI="AHRS_sp3003D.platform_pitch_angle" type=00 *a code=03AA owner=002F element=02F8 universal=0029 unitName="degree" type=2F size=0004 fl=05 kL8*e code=02F9 elementURI="AHRS_sp3003D.platform_roll_angle" type=00 *a code=03AB owner=002F element=02F9 universal=002E unitName="degree" type=2F size=0004 fl=05 oL8*a code=03AC owner=002F element=00C9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03AD owner=002F element=00CA universal=3FFF unitName="bool" type=02 size=0001 fl=04 pLƿqLvSyncComponent "AHRS_sp3003D" handled in the control thread.*n code=0030 name="Batt_Ocean_Server" *e code=02FA elementURI="Batt_Ocean_Server.BattStatus_0" type=00 *a code=03AE owner=0030 element=02FA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=02FB elementURI="Batt_Ocean_Server.BattVoltage_0" type=00 *a code=03AF owner=0030 element=02FB universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=02FC elementURI="Batt_Ocean_Server.BattCurrent_0" type=00 *a code=03B0 owner=0030 element=02FC universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03B1 owner=0030 element=02A1 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=02FD elementURI="Batt_Ocean_Server.BattCapacity_0" type=00 *a code=03B2 owner=0030 element=02FD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=02FE elementURI="Batt_Ocean_Server.BattStatus_1" type=00 *a code=03B3 owner=0030 element=02FE universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=02FF elementURI="Batt_Ocean_Server.BattVoltage_1" type=00 *a code=03B4 owner=0030 element=02FF universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0300 elementURI="Batt_Ocean_Server.BattCurrent_1" type=00 *a code=03B5 owner=0030 element=0300 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03B6 owner=0030 element=02A2 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0301 elementURI="Batt_Ocean_Server.BattCapacity_1" type=00 *a code=03B7 owner=0030 element=0301 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0302 elementURI="Batt_Ocean_Server.BattStatus_2" type=00 *a code=03B8 owner=0030 element=0302 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0303 elementURI="Batt_Ocean_Server.BattVoltage_2" type=00 *a code=03B9 owner=0030 element=0303 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0304 elementURI="Batt_Ocean_Server.BattCurrent_2" type=00 *a code=03BA owner=0030 element=0304 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03BB owner=0030 element=02A3 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0305 elementURI="Batt_Ocean_Server.BattCapacity_2" type=00 *a code=03BC owner=0030 element=0305 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0306 elementURI="Batt_Ocean_Server.BattStatus_3" type=00 *a code=03BD owner=0030 element=0306 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0307 elementURI="Batt_Ocean_Server.BattVoltage_3" type=00 *a code=03BE owner=0030 element=0307 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0308 elementURI="Batt_Ocean_Server.BattCurrent_3" type=00 *a code=03BF owner=0030 element=0308 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03C0 owner=0030 element=02A4 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0309 elementURI="Batt_Ocean_Server.BattCapacity_3" type=00 *a code=03C1 owner=0030 element=0309 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=030A elementURI="Batt_Ocean_Server.BattStatus_4" type=00 *a code=03C2 owner=0030 element=030A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=030B elementURI="Batt_Ocean_Server.BattVoltage_4" type=00 *a code=03C3 owner=0030 element=030B universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=030C elementURI="Batt_Ocean_Server.BattCurrent_4" type=00 *a code=03C4 owner=0030 element=030C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03C5 owner=0030 element=02A5 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=030D elementURI="Batt_Ocean_Server.BattCapacity_4" type=00 *a code=03C6 owner=0030 element=030D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=030E elementURI="Batt_Ocean_Server.BattStatus_5" type=00 *a code=03C7 owner=0030 element=030E universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=030F elementURI="Batt_Ocean_Server.BattVoltage_5" type=00 *a code=03C8 owner=0030 element=030F universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0310 elementURI="Batt_Ocean_Server.BattCurrent_5" type=00 *a code=03C9 owner=0030 element=0310 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03CA owner=0030 element=02A6 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0311 elementURI="Batt_Ocean_Server.BattCapacity_5" type=00 *a code=03CB owner=0030 element=0311 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0312 elementURI="Batt_Ocean_Server.BattStatus_6" type=00 *a code=03CC owner=0030 element=0312 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0313 elementURI="Batt_Ocean_Server.BattVoltage_6" type=00 *a code=03CD owner=0030 element=0313 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0314 elementURI="Batt_Ocean_Server.BattCurrent_6" type=00 *a code=03CE owner=0030 element=0314 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03CF owner=0030 element=02A7 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0315 elementURI="Batt_Ocean_Server.BattCapacity_6" type=00 *a code=03D0 owner=0030 element=0315 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0316 elementURI="Batt_Ocean_Server.BattStatus_7" type=00 *a code=03D1 owner=0030 element=0316 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0317 elementURI="Batt_Ocean_Server.BattVoltage_7" type=00 *a code=03D2 owner=0030 element=0317 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0318 elementURI="Batt_Ocean_Server.BattCurrent_7" type=00 *a code=03D3 owner=0030 element=0318 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03D4 owner=0030 element=02A8 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0319 elementURI="Batt_Ocean_Server.BattCapacity_7" type=00 *a code=03D5 owner=0030 element=0319 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=031A elementURI="Batt_Ocean_Server.BattStatus_8" type=00 *a code=03D6 owner=0030 element=031A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=031B elementURI="Batt_Ocean_Server.BattVoltage_8" type=00 *a code=03D7 owner=0030 element=031B universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=031C elementURI="Batt_Ocean_Server.BattCurrent_8" type=00 *a code=03D8 owner=0030 element=031C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03D9 owner=0030 element=02A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=031D elementURI="Batt_Ocean_Server.BattCapacity_8" type=00 *a code=03DA owner=0030 element=031D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=031E elementURI="Batt_Ocean_Server.BattStatus_9" type=00 *a code=03DB owner=0030 element=031E universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=031F elementURI="Batt_Ocean_Server.BattVoltage_9" type=00 *a code=03DC owner=0030 element=031F universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0320 elementURI="Batt_Ocean_Server.BattCurrent_9" type=00 *a code=03DD owner=0030 element=0320 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03DE owner=0030 element=02AA universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0321 elementURI="Batt_Ocean_Server.BattCapacity_9" type=00 *a code=03DF owner=0030 element=0321 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0322 elementURI="Batt_Ocean_Server.BattStatus_10" type=00 *a code=03E0 owner=0030 element=0322 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0323 elementURI="Batt_Ocean_Server.BattVoltage_10" type=00 *a code=03E1 owner=0030 element=0323 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0324 elementURI="Batt_Ocean_Server.BattCurrent_10" type=00 *a code=03E2 owner=0030 element=0324 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03E3 owner=0030 element=02AB universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0325 elementURI="Batt_Ocean_Server.BattCapacity_10" type=00 *a code=03E4 owner=0030 element=0325 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0326 elementURI="Batt_Ocean_Server.BattStatus_11" type=00 *a code=03E5 owner=0030 element=0326 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0327 elementURI="Batt_Ocean_Server.BattVoltage_11" type=00 *a code=03E6 owner=0030 element=0327 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0328 elementURI="Batt_Ocean_Server.BattCurrent_11" type=00 *a code=03E7 owner=0030 element=0328 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=03E8 owner=0030 element=02AC universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0329 elementURI="Batt_Ocean_Server.BattCapacity_11" type=00 *a code=03E9 owner=0030 element=0329 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=032A elementURI="Batt_Ocean_Server.platform_battery_charge" type=00 *a code=03EA owner=0030 element=032A universal=0017 unitName="ampere_hour" type=0B size=0003 fl=05  bLaD*e code=032B elementURI="Batt_Ocean_Server.platform_battery_voltage" type=00 *a code=03EB owner=0030 element=032B universal=001A unitName="volt" type=0B size=0003 fl=05 *e code=032C elementURI="Batt_Ocean_Server.platform_battery_discharging" type=00 *a code=03EC owner=0030 element=032C universal=001C unitName="bool" type=02 size=0001 fl=05 *e code=032D elementURI="Batt_Ocean_Server.platform_battery_fully_charged" type=00 *a code=03ED owner=0030 element=032D universal=001B unitName="bool" type=02 size=0001 fl=05 *a code=03EE owner=0030 element=012E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=03EF owner=0030 element=012F universal=3FFF unitName="volt" type=0B size=0003 fl=04 1 qLƿrLSyncComponent "Batt_Ocean_Server" handled in the control thread.*n code=0031 name="Depth_Keller" *a code=03F0 owner=0031 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=032E elementURI="Depth_Keller.depth" type=00 *a code=03F1 owner=0031 element=032E universal=0000 unitName="meter" type=0B size=0003 fl=05 *e code=032F elementURI="Depth_Keller.sea_water_pressure" type=00 *a code=03F2 owner=0031 element=032F universal=004A unitName="decibar" type=0B size=0003 fl=05 Q LHCq LƿLvSyncComponent "Depth_Keller" handled in the control thread.*n code=0032 name="DropWeight" *e code=0330 elementURI="DropWeight.dropWeightState" type=00 *a code=03F3 owner=0032 element=0330 universal=3FFF unitName="bool" type=0D size=0004 fl=05 LƿLrSyncComponent "DropWeight" handled in the control thread.*n code=0033 name="DVL_micro" *e code=0331 elementURI="DVL_micro.height_above_sea_floor" type=00 *a code=03F4 owner=0033 element=0331 universal=0009 unitName="meter" type=0B size=0003 fl=05 *e code=0332 elementURI="DVL_micro.platform_orientation" type=00 *a code=03F5 owner=0033 element=0332 universal=0028 unitName="degree" type=2F size=0004 fl=05 L=*e code=0333 elementURI="DVL_micro.platform_magnetic_orientation" type=00 *a code=03F6 owner=0033 element=0333 universal=0026 unitName="degree" type=2F size=0004 fl=05 L=*e code=0334 elementURI="DVL_micro.platform_pitch_angle" type=00 *a code=03F7 owner=0033 element=0334 universal=0029 unitName="degree" type=2F size=0004 fl=05 L=*e code=0335 elementURI="DVL_micro.platform_roll_angle" type=00 *a code=03F8 owner=0033 element=0335 universal=002E unitName="degree" type=2F size=0004 fl=05 L=*e code=0336 elementURI="DVL_micro.platform_speed_wrt_ground" type=00 *a code=03F9 owner=0033 element=0336 universal=0031 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0337 elementURI="DVL_micro.platform_speed_wrt_sea_water" type=00 *a code=03FA owner=0033 element=0337 universal=0032 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0338 elementURI="DVL_micro.platform_x_velocity_wrt_ground" type=00 *a code=03FB owner=0033 element=0338 universal=0035 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0339 elementURI="DVL_micro.platform_y_velocity_wrt_ground" type=00 *a code=03FC owner=0033 element=0339 universal=0039 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=033A elementURI="DVL_micro.platform_z_velocity_wrt_ground" type=00 *a code=03FD owner=0033 element=033A universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 *e code=033B elementURI="DVL_micro.platform_x_velocity_wrt_sea_water" type=00 *a code=03FE owner=0033 element=033B universal=0036 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=033C elementURI="DVL_micro.platform_y_velocity_wrt_sea_water" type=00 *a code=03FF owner=0033 element=033C universal=003A unitName="meter_per_second" type=0B size=0003 fl=05 *e code=033D elementURI="DVL_micro.platform_z_velocity_wrt_sea_water" type=00 *a code=0400 owner=0033 element=033D universal=0040 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=033E elementURI="DVL_micro.platform_x_velocity_current" type=00 *a code=0401 owner=0033 element=033E universal=0037 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=033F elementURI="DVL_micro.platform_y_velocity_current" type=00 *a code=0402 owner=0033 element=033F universal=003B unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0340 elementURI="DVL_micro.platform_z_velocity_current" type=00 *a code=0403 owner=0033 element=0340 universal=0041 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0341 elementURI="DVL_micro.Status" type=00 *a code=0404 owner=0033 element=0341 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0342 elementURI="DVL_micro.Beam1Good" type=00 *a code=0405 owner=0033 element=0342 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0343 elementURI="DVL_micro.Beam2Good" type=00 *a code=0406 owner=0033 element=0343 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0344 elementURI="DVL_micro.Beam3Good" type=00 *a code=0407 owner=0033 element=0344 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0345 elementURI="DVL_micro.Beam4Good" type=00 *a code=0408 owner=0033 element=0345 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0346 elementURI="DVL_micro.Altitude1" type=00 *a code=0409 owner=0033 element=0346 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0347 elementURI="DVL_micro.Altitude2" type=00 *a code=040A owner=0033 element=0347 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0348 elementURI="DVL_micro.Altitude3" type=00 *a code=040B owner=0033 element=0348 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0349 elementURI="DVL_micro.Altitude4" 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blobType=0F fixedSize=12BC *a code=0412 owner=0033 element=034F universal=3FFF unitName="decibel" type=00 size=0000 fl=05 *e code=0350 elementURI="DVL_micro.RSSIFilterLength" type=02 *a code=0413 owner=0033 element=0350 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0351 elementURI="DVL_micro.RSSIPoints" type=02 *a code=0414 owner=0033 element=0351 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0352 elementURI="DVL_micro.RSSIMax" type=02 *a code=0415 owner=0033 element=0352 universal=3FFF unitName="decibel" type=0B size=0003 fl=05 *e code=0353 elementURI="DVL_micro.RSSIMaxChannel" type=02 *a code=0416 owner=0033 element=0353 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0354 elementURI="DVL_micro.RSSIMaxDepth" type=02 *a code=0417 owner=0033 element=0354 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0355 elementURI="DVL_micro.AdcpNumBins" type=02 *a code=0418 owner=0033 element=0355 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0356 elementURI="DVL_micro.AdcpStartDepth" type=02 *a code=0419 owner=0033 element=0356 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0357 elementURI="DVL_micro.AdcpXWaterVelocity" type=12 blobType=0F fixedSize=0020 *a code=041A owner=0033 element=0357 universal=3FFF unitName="meter_per_second" type=00 size=0000 fl=05 *e code=0358 elementURI="DVL_micro.AdcpYWaterVelocity" type=12 blobType=0F fixedSize=0020 *a code=041B owner=0033 element=0358 universal=3FFF unitName="meter_per_second" type=00 size=0000 fl=05 *e code=0359 elementURI="DVL_micro.AdcpZWaterVelocity" type=12 blobType=0F fixedSize=0020 *a code=041C owner=0033 element=0359 universal=3FFF unitName="meter_per_second" type=00 size=0000 fl=05 *a code=041D owner=0033 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=041E owner=0033 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=041F owner=0033 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0420 owner=0033 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0421 owner=0033 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0422 owner=0033 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0423 owner=0033 element=00DF universal=3FFF unitName="bool" type=02 size=0001 fl=04 1Lƿ1L`Component "DVL_micro" handled in its own thread.*n code=0034 name="DVL_micro ThreadHandler" 3LDCreated PCaller Thread at 407284E0*n code=0035 name="NAL9602" *a code=0424 owner=0035 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0425 owner=0035 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0426 owner=0035 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=035A elementURI="NAL9602.SNRSatellite_0" type=00 *a code=0427 owner=0035 element=035A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=035B elementURI="NAL9602.SNRSatellite_1" type=00 *a code=0428 owner=0035 element=035B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=035C elementURI="NAL9602.SNRSatellite_2" type=00 *a code=0429 owner=0035 element=035C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=035D elementURI="NAL9602.SNRSatellite_3" type=00 *a code=042A owner=0035 element=035D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=035E elementURI="NAL9602.SNRSatellite_4" type=00 *a code=042B owner=0035 element=035E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=035F elementURI="NAL9602.SNRSatellite_5" type=00 *a code=042C owner=0035 element=035F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0360 elementURI="NAL9602.SNRSatellite_6" type=00 *a code=042D owner=0035 element=0360 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0361 elementURI="NAL9602.SNRSatellite_7" type=00 *a code=042E owner=0035 element=0361 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code=0367 elementURI="NAL9602.SOG" type=00 *a code=0436 owner=0035 element=0367 universal=3FFF unitName="knot" type=0D size=0004 fl=05 *e code=0368 elementURI="NAL9602.COG" type=00 *a code=0437 owner=0035 element=0368 universal=3FFF unitName="degree" type=0D size=0004 fl=05 *e code=0369 elementURI="NAL9602.time_fix" type=00 *a code=0438 owner=0035 element=0369 universal=0053 unitName="second" type=0D size=0004 fl=05 *e code=036A elementURI="NAL9602.latitude_fix" type=00 *a code=0439 owner=0035 element=036A universal=0010 unitName="degree" type=37 size=0006 fl=05 Q |L;4*e code=036B elementURI="NAL9602.longitude_fix" type=00 *a code=043A owner=0035 element=036B universal=0012 unitName="degree" type=37 size=0006 fl=05 Q L;4*e code=036C elementURI="NAL9602.platform_communications" type=00 *a code=043B owner=0035 element=036C universal=001E unitName="bool" type=02 size=0001 fl=05 *a code=043C owner=0035 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 q LƿLlSyncComponent "NAL9602" handled in the control thread.*n code=0036 name="Onboard" *a code=043D owner=0036 element=029C universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 *a code=043E owner=0036 element=02A0 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=043F owner=0036 element=029D universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=036D elementURI="Onboard.SecBattCurrent" type=00 *a code=0440 owner=0036 element=036D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=036E elementURI="Onboard.EmergBattCurrent" type=00 *a code=0441 owner=0036 element=036E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=036F elementURI="Onboard.MB5VCurrent" type=00 *a code=0442 owner=0036 element=036F universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0370 elementURI="Onboard.MB3p15VCurrent" type=00 *a code=0443 owner=0036 element=0370 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0371 elementURI="Onboard.MB3p3VCurrent" type=00 *a code=0444 owner=0036 element=0371 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0372 elementURI="Onboard.MB1p8VCurrent" type=00 *a code=0445 owner=0036 element=0372 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0373 elementURI="Onboard.platform_average_current" type=00 *a code=0446 owner=0036 element=0373 universal=0016 unitName="milliampere" type=0B size=0003 fl=05 L9*e code=0374 elementURI="Onboard.platform_battery_charge_usage" type=00 *a code=0447 owner=0036 element=0374 universal=0018 unitName="ampere_hour" type=0B size=0003 fl=05 LaD LƿLlSyncComponent "Onboard" handled in the control thread.LlLoaded Module: Sensor (Contains the sensor components)LHLoading Module at Modules/Science.so*n code=0037 name="Aanderaa_O2" *e code=0375 elementURI="Aanderaa_O2.temperature" type=00 *a code=0448 owner=0037 element=0375 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0376 elementURI="Aanderaa_O2.airSaturation" type=00 *a code=0449 owner=0037 element=0376 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=0377 elementURI="Aanderaa_O2.mass_concentration_of_oxygen_in_sea_water" type=00 *a code=044A owner=0037 element=0377 universal=0014 unitName="microgram_per_liter" type=0B size=0003 fl=05 *L9 *Lƿ*LtSyncComponent "Aanderaa_O2" handled in the control thread.*n code=0038 name="ISUS" *a code=044B owner=0038 element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=044C owner=0038 element=004F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=044D owner=0038 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0378 elementURI="ISUS.dateString" type=00 *a code=044E owner=0038 element=0378 universal=3FFF unitName="second" type=0D size=0004 fl=05 *e code=0379 elementURI="ISUS.mole_concentration_of_nitrate_in_sea_water" type=00 *a code=044F owner=0038 element=0379 universal=0015 unitName="micromole_per_liter" type=0B size=0003 fl=05  8L;18Lƿ9LfSyncComponent "ISUS" handled in the control thread.*n code=0039 name="PAR_Licor" *a code=0450 owner=0039 element=0188 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=04 *a code=0451 owner=0039 element=0187 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0452 owner=0039 element=0189 universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=04 *a code=0453 owner=0039 element=018A universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=0454 owner=0039 element=018B universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=0455 owner=0039 element=018C universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0456 owner=0039 element=018D universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=037A elementURI="PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water" type=00 *a code=0457 owner=0039 element=037A universal=0004 unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 Q DLQ8*a code=0458 owner=0039 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=037B elementURI="PAR_Licor.adcCount" type=02 *a code=0459 owner=0039 element=037B universal=3FFF unitName="count" type=0D size=0004 fl=05 qHLƿHLpSyncComponent "PAR_Licor" handled in the control thread.*n code=003A name="WetLabsBB2FL" *e code=037C elementURI="WetLabsBB2FL.Output470" type=00 *a code=045A owner=003A element=037C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=037D elementURI="WetLabsBB2FL.Output650" type=00 *a code=045B owner=003A element=037D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=037E elementURI="WetLabsBB2FL.OutputChl" type=00 *a code=045C owner=003A element=037E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=037F elementURI="WetLabsBB2FL.volume_scattering_470_nm" type=00 *a code=045D owner=003A element=037F universal=0057 unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=0380 elementURI="WetLabsBB2FL.volume_scattering_650_nm" type=00 *a code=045E owner=003A element=0380 universal=0056 unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=0381 elementURI="WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water" type=00 *a code=045F owner=003A element=0381 universal=0013 unitName="microgram_per_liter" type=0B size=0003 fl=05 hL2iLƿiLfComponent "WetLabsBB2FL" handled in its own thread.*n code=003B name="WetLabsBB2FL ThreadHandler" jLDCreated PCaller Thread at 4077A4E0kLpLoaded Module: Science (Contains the science components)*n code=003C name="MissionManager" *a code=0460 owner=003C element=0294 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0461 owner=003C element=005A universal=3FFF unitName="bool" type=02 size=0001 fl=04 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Electronic Nav Chart files in directory: ResourcesLtAlready Loaded Electronic Nav Chart data from US5CA50M.000LtAlready Loaded Electronic Nav Chart data from US2WC11M.000LtAlready Loaded Electronic Nav Chart data from US1WC07M.000LtAlready Loaded Electronic Nav Chart data from US3CA52M.000LtAlready Loaded Electronic Nav Chart data from US5CA61M.000LtAlready Loaded Electronic Nav Chart data from US5CA83M.000LtAlready Loaded Electronic Nav Chart data from US5CA62M.000LtAlready Loaded Electronic Nav Chart data from US4CA60M.000ɍ L*a code=046F owner=003A element=038C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 鍿(L*e code=038E elementURI="DVL_micro.component_avgCurrent" type=00 *a code=0470 owner=0033 element=038E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 /L*e code=038F elementURI="WetLabsBB2FL.component_avgCurrent" type=00 *a code=0471 owner=003A element=038F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 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owner=0041 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0479 owner=0041 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=047A owner=0041 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0042 name="Startup:StartupSatComms" I?L*n code=0043 name="Startup:StartupSatComms:A" *n code=0044 name="Startup:StartupSatComms:A:A_Timeout" *n code=0045 name="Startup:StartupSatComms:B" *n code=0046 name="Startup:StartupSatComms:B:A_Timeout" L LJLoading Mission: Missions/Default.xml)LS=*n code=0047 name="Default" *e code=0391 elementURI="Default.NeedGPS" type=00 *a code=047B owner=0047 element=0391 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=047C owner=0047 element=0391 universal=3FFF unitName="bool" type=02 size=0001 fl=05 L"LDDefineArg Default.NeedGPS = 1 bool*n code=0048 name="Default:GPS" *n code=0049 name="Default:GPS:A.SetSpeed" $$LConstruct.*a code=047D owner=0049 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=047E owner=0049 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=047F owner=0049 element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=004A name="Default:GPS:B.GoToSurface" %'L,Construct GoToSurface.*a code=0480 owner=004A element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0481 owner=004A element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0482 owner=004A element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0483 owner=004A element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0484 owner=004A element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0485 owner=004A element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0486 owner=004A element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0487 owner=004A element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=004B name="Default:GPS:Read_GPS" *n code=004C name="Default:GPS:D" *a code=0488 owner=004C element=0391 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=004D name="Default:Iridium" *n code=004E name="Default:Iridium:A.SetSpeed" ':LConstruct.*a code=0489 owner=004E element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=048A owner=004E element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=048B owner=004E element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=004F name="Default:Iridium:B.GoToSurface" '=L,Construct GoToSurface.*a code=048C owner=004F element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=048D owner=004F element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=048E owner=004F element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=048F owner=004F element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0490 owner=004F element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0491 owner=004F element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0492 owner=004F element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0493 owner=004F element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0050 name="Default:Iridium:Read_Iridium" *n code=0051 name="Default:Iridium:Read_Iridium:A_Timeout" *n code=0052 name="Default:Iridium:Read_Iridium:A_Timeout:A.Execute" )\L$Construct Execute.*n code=0053 name="Default:Iridium:Read_Iridium:A_Timeout:B" *n code=0054 name="Default:CallIridium" *a code=0494 owner=0054 element=001E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0495 owner=0054 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0055 name="Default:CallIridium:A" *a code=0496 owner=0055 element=0391 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0056 name="Default:CallIridium:B" *n code=0057 name="Default:D.SetSpeed" +|LConstruct.*a code=0497 owner=0057 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0498 owner=0057 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0499 owner=0057 element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0058 name="Default:E.GoToSurface" ,L,Construct GoToSurface.)L=*a code=049A owner=0058 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=049B owner=0058 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=049C owner=0058 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=049D owner=0058 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=049E owner=0058 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=049F owner=0058 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04A0 owner=0058 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04A1 owner=0058 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0059 name="Default:F.Wait" ,LConstruct Wait. L+ 400 400 Burn 300 Dropped drop weight due to communications timeout 5.0 1.0 5 L-Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter, ^M GT.wNAM>*e code=0392 elementURI="CycleStarter.durationOfLastRun" type=00 *a code=04A2 owner=0007 element=0392 universal=3FFF unitName="second" type=07 size=0002 fl=05 Ie:YHiyHiHiHiyFm&|:7FmFmFu-9*e code=0393 elementURI="InternalSim.durationOfLastRun" type=00 Is͆X @ Ɇ*a code=04A3 owner=0018 element=0393 universal=3FFF unitName="second" type=07 size=0002 fl=05 i =4Initializing AHRS_sp3003D.)%[=*e code=0394 elementURI="AHRS_sp3003D.durationOfLastRun" type=00 *a code=04A4 owner=002F element=0394 universal=3FFF unitName="second" type=07 size=0002 fl=05 e;*e code=0395 elementURI="Batt_Ocean_Server.durationOfLastRun" type=00 *a code=04A5 owner=0030 element=0395 universal=3FFF unitName="second" type=07 size=0002 fl=05 9 HOpening uart, block timeout 10ths=20 *Querying output modes &pause:Powering downI銩ɍ 񊩁Ɂ :*a code=04A9 owner=0035 element=0398 universal=3FFF unitName="second" type=07 size=0002 fl=05 )}GɇC重> 5P)> = =)==iE@>E=M>*e code=039A elementURI="Onboard.durationOfLastRun" type=00 *a code=04AA owner=0036 element=039A universal=3FFF unitName="second" type=07 size=0002 fl=05 Im=*e code=039B elementURI="Aanderaa_O2.durationOfLastRun" type=00 *a code=04AB owner=0037 element=039B universal=3FFF unitName="second" type=07 size=0002 fl=05 i<*e code=039C elementURI="ISUS.component_voltage" type=00 *a code=04AC owner=0038 element=039C universal=3FFF unitName="volt" type=07 size=0002 fl=05 %*e code=039D elementURI="ISUS.component_avgVoltage" type=00 )9*a code=04AD owner=0038 element=039D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=039E elementURI="ISUS.component_current" type=00 *a code=04AE owner=0038 element=039E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ɕō*e code=039F elementURI="ISUS.component_avgCurrent" type=00 *a code=04AF owner=0038 element=039F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=03A0 elementURI="ISUS.durationOfLastRun" type=00 *a code=04B0 owner=0038 element=03A0 universal=3FFF unitName="second" type=07 size=0002 fl=05 M =)y=IsP+k @ ;)Ua =@U13*e code=03A1 elementURI="PAR_Licor.durationOfLastRun" type=00 *a code=04B1 owner=0039 element=03A1 universal=3FFF unitName="second" type=07 size=0002 fl=05 )]=ɔ5<)5Q9*e code=03A2 elementURI="DepthRateCalculator.durationOfLastRun" type=00 *a code=04B2 owner=0021 element=03A2 universal=3FFF unitName="second" type=07 size=0002 fl=05 I]Q9*e code=03A3 elementURI="HFRadarModelCalc.durationOfLastRun" type=00 *a code=04B3 owner=0022 element=03A3 universal=3FFF unitName="second" type=07 size=0002 fl=05 i*e code=03A4 elementURI="NavChart.durationOfLastRun" type=00 *a code=04B4 owner=0023 element=03A4 universal=3FFF unitName="second" type=07 size=0002 fl=05 )EO=*e code=03A5 elementURI="PitchRateCalculator.durationOfLastRun" type=00 *a code=04B5 owner=0024 element=03A5 universal=3FFF unitName="second" type=07 size=0002 fl=05 8Q =a _*e code=03A6 elementURI="SpeedCalculator.durationOfLastRun" type=00 *a code=04B6 owner=0025 element=03A6 universal=3FFF unitName="second" type=07 size=0002 fl=05 ɖœQ:*e code=03A7 elementURI="TempGradientCalculator.durationOfLastRun" type=00 *a code=04B7 owner=0026 element=03A7 universal=3FFF unitName="second" type=07 size=0002 fl=05 M*e code=03A8 elementURI="YawRateCalculator.durationOfLastRun" type=00 *a code=04B8 owner=0027 element=03A8 universal=3FFF unitName="second" type=07 size=0002 fl=05 m ) e? 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I! ! % P) ɘ- k:1 5 >I5 >R_ '~NAI:IH$iH(H(H*;iF*Ӳ#F*F*0F*=G* ?G*u i.< \);)9s]͝0sYu]͝09ueA!YueyueSe(>a9~}goY~5ɔK;i~锍9)5Gɇ^C釥Z> h>EyA)e;IsT! @ ;)- > =I >i 8) } &?) :ɔ 8) 8ٛy y ) ] eQ %=I i Y_ "K; ; 9_ ɖ Q9閙 ` by=  = b go9b Yb a a ) I In n m l im Im i ir 9 s 8ɗ 8 4> !>)% yV] z:] M= Y Ia ia Y ;) =I i I )I iI I I NMass: EXPECTED:0.006000 ACTUAL:0.005269iI Ļ : 8P ɘ 阱 >T_ ;C~NAI): 89~VY~ɔK;i~)ɇ mC=)e^; ?}A);I_ ]~NAI:)";IH8iH8H8H>ʙ;iF> g#F>üF>icF>z'=G>ؼ?G>u i>g9~mY~ɔQ;i~9)8ɇC>)UQ; 5>5A)m<)U Q:I i @l=I  p!?)e :Is z/! @ :U >IU w>iQ Q )] p] )] :ɔe Q9)e Q9ٛi m 8i ) <] TQ =I i 8 Y_ - ; _ ɖ Q9 8`  < b m9bYbaa)IIn! n- mlimImih,>Yȶ;)=IQ9i8 I)IiIII P ɘ: ?ؠ_ P~NAI:IH$iH&<>H&<>H&0;iF*-$F*.aF*oF*=G*?G*Vu i*<)B; %<)!)m:Is! @ ;I9s41su419uZ!Yuyu: )> 99~ \HY~ fɔ:i~Q9 >)%[Gɇ-C-)>); ?A)I =>) k:i 0p> ? =I =i 8) a銝 n) :ɔ= <)= Q9ٛA E Q9A )E 8]M ͚P˧_ ~NAIIH$iH*["=H*["=H*;iF*"F*F*o F*B=G*?G*Hu i.)7:sX4suX49u$Yuyu=>z1z1 {1){1I{9i{9{9{9{9{9 |9)|9I|9i|=C|A|A|A|A }A)}A`=);9~⍽Y~}.ɔD m ?mA)u;Iu=iu@=}>}I}K_ W~NAI:IH$iH&=H&=H&q;iF*5%F*ڢF*uF*!=G* ?G* u i*<);I ):s7su79u(Yuyu0>89~Iu=Q Q=IiY_ ;9_ɖQ9閥8`  #= 9 bU >yV  <)= <9XM <-> U =IQ iQ Ym ;)m =) :[=4(>I=r=iE IA)IAiIAIAIAM:MPQɘU:Y ]?T_ ~NA?I:IH$iH&,;H&,;H&Z;iF&)F&#F&ׇF&=G*?G*t i*Is$! @ )Q:)K@s8su89upN)Yuؠջyu:>9~=Y~NɔQ;i~ 9) Gɇ%)> 5D,?5IA)k;)I`=i`=<>Iq=i )u0)7:ɔ=Q9)=8ٛA E8A)A]M<)=Q %=I" <) I _ J~NAI :)Vk;Isb@! @ ` f>IH1iH5vSH5vSH5E;iF5)F5F=U&YF=S=G==?G=t i=<)#;ssu9uYuyuS6>Q9):9~-qY~Lɔ;i~Q9)8[Gɇ^C> \&? A) I=i>Ph>@=I;i !)%%u3)m<ɔm8)u8ٛq qq)q]}Q }I=I}9iY_ ;9_ɖ9`  = 9 b-q9bYbaa)% - I i I )I iI I I  :! P! I) ɘ5 :1 5 >_ &NAI:IH$iH&ҽH&ҽH&3;iF:C)F:F:Щ=F:>=G:?G:t i:Q<)b; v>):s \7su\79uS(Yuؠջyu: <>):uu v)vIvivvvv`Cv w)wIwiwwwIsn! @ ;wAw x )x Ix ix Ax! x! x! x! y! )y! Iy% Ciy! y! y! y! y) z) )z) Iz) iz) z) z) }) }) ) ; >9~ }Y~ ɔ :i~! ! )! ) ɇ5 Cu e= u E?} ЎA)} | I Gi= = 9X> %<%>%>Y=m;)==IE=iER=)K;[>Ii I)IiIII:P ɘ: ?_ n1NAI:IH$iH&T 0H&T 0H&;iF&1(F&-F&S^F*=G*X?G*u i*< B<)@);Is^! @ s]'F8sYu]'F89u](Yu]ɻyuY](>e89~}rY~}cɔ}D;i~锅9)ɇC針w=)e; 56?5A)9I=@=i= =ED>E= _ ULNAI:Is&X~! @ $IH0iH2hH2hH2(;iF2)F6ݼF672F62=G6߼?G6t i6?<)=;)%9=dgot command load ./Missions/Science/EcoHAB_box.xmldLoading Mission: ./Missions/Science/EcoHAB_box.xmls}7su}79u (YuyuN>Q99~FY~7ɔQ;i~:)8Gɇ^CZ>I 40? A)}(<)?) p!? >I =i ) ~銵 #) :ɔ 8) Q9ٛ 8 ) ] ]_ ykNAIIH$iH& H& H&C:iF* (F*y"⼩F*?F*w=G*?G*u i*<);I>):Isb! @ sn6sun69u/'YuؠջyuA> zz {){I{i{{{{{ |)|GAI|i|!|!|!|%zA|! }!)}!); =9~ CY~ ɔ A? A)  t ? `=I %=i  ) ` u) <ɔ Q9) 8ٛ ) Q9] :Q =I 9i ) ;Q Y_U 3 U ;Q _Y ɖ] Q9Y `e d<  e < a be C9bi Ybi a a ) *n code=005C name="EcoHAB_box" *e code=03DC elementURI="EcoHAB_box.MinAltitude" type=00 *a code=04EE owner=005C element=03DC universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=04EF owner=005C element=03DC universal=3FFF unitName="meter" type=1F size=0008 fl=05 yV:闥/= A)A)-<靝@eZDefineArg EcoHAB_box.MinAltitude = 4.000000 m*e code=03DD elementURI="EcoHAB_box.MaxDepth" type=00 *a code=04F0 owner=005C element=03DD universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=04F1 owner=005C element=03DD universal=3FFF unitName="meter" type=1F size=0008 fl=05 )}@U@VDefineArg EcoHAB_box.MaxDepth = 85.000000 m*e code=03DE elementURI="EcoHAB_box.MinOffshore" type=00 *a code=04F2 owner=005C element=03DE universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=04F3 owner=005C element=03DE universal=3FFF unitName="meter" type=1F size=0008 fl=05 i@@`DefineArg EcoHAB_box.MinOffshore = 2000.000000 m9X]< =IiIs-IHtiHtHtHv:iFvV'FvH漩Fv#LFv=GvT?GzOu izm89~Y~ҏɔ;i~错)8ɇ^C釵> Dk?A)>I=i@=|=O_ O@NAIIH$iH$H$H&ӈ:iF& )F*7F*pF* <=G*O?G*u i*<zXDefineArg EcoHAB_box.LapTimeout = 8.000000 h*e code=03F9 elementURI="EcoHAB_box.YoYoMinDepth" type=00 *a code=052A owner=005C element=03F9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=052B owner=005C element=03F9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 i @ u\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m*e code=03FA elementURI="EcoHAB_box.YoYoMaxDepth" type=00 *a code=052C owner=005C element=03FA universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=052D owner=005C element=03FA universal=3FFF unitName="meter" type=1F size=0008 fl=05 S@^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m)w=*e code=03FB elementURI="EcoHAB_box.YoYoMinAltitude" type=00 *a code=052E owner=005C element=03FB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=052F owner=005C element=03FB universal=3FFF unitName="meter" type=1F size=0008 fl=05 @bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m*e code=03FC elementURI="EcoHAB_box.YoYoUpPitch" type=00 *a code=0530 owner=005C element=03FC universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0531 owner=005C element=03FC universal=3FFF unitName="degree" type=1F size=0008 fl=05 )=DJW?EfDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg*e code=03FD elementURI="EcoHAB_box.YoYoDownPitch" type=00 *a code=0532 owner=005C element=03FD universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0533 owner=005C element=03FD universal=3FFF unitName="degree" type=1F size=0008 fl=05 iDJWֿlDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg*n code=005D name="EcoHAB_box:A_Timeout" *n code=005E name="EcoHAB_box:A.AltitudeEnvelope" /-6Construct AltitudeEnvelope.*a code=0534 owner=005E element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0535 owner=005E element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0536 owner=005E element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0537 owner=005E element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0538 owner=005E element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0539 owner=005E element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053A owner=005E element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053B owner=005E element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=053C owner=005E element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=053D owner=005E element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=053E owner=005E element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=053F owner=005E element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=005F name="EcoHAB_box:B.DepthEnvelope" /-0Construct DepthEnvelope.*a code=0540 owner=005F element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0541 owner=005F element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0542 owner=005F element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0543 owner=005F element=01BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0544 owner=005F element=01D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0545 owner=005F element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0546 owner=005F element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0547 owner=005F element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0548 owner=005F element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0549 owner=005F element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=054A owner=005F element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=054B owner=005F element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 )v=*a code=054C owner=005F element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=054D owner=005F element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=054E owner=005F element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0060 name="EcoHAB_box:C.OffshoreEnvelope" 06Construct OffshoreEnvelope.*a code=054F owner=0060 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0550 owner=0060 element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0551 owner=0060 element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0552 owner=0060 element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0553 owner=0060 element=02E1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0554 owner=0060 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0555 owner=0060 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0556 owner=0060 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0557 owner=0060 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 sO6suO69uA&Yu1yuS0>9~ZY~ɔQ;i~:)Is%e! @ ɇC~=*a code=0558 owner=0060 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0559 owner=0060 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=055A owner=0060 element=02E1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=055B owner=0060 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 eXInserting Stack: Missions/Insert/Surface.xml ??ۜA)01>_ uNAI: IHAiHAHIHMA:iFM&FM}FMe'FM%=GM ?GM(u iU%<)*n code=0067 name="EcoHAB_box:SurfaceComms:C:B" *n code=0068 name="EcoHAB_box:SurfaceComms:C:B:A_Timeout" *n code=0069 name="EcoHAB_box:SurfaceComms:C:C"  lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml*n code=006A name="EcoHAB_box:SurfaceCommsSplit" *e code=0403 elementURI="EcoHAB_box:SurfaceCommsSplit.SurfacePitch" type=00 *a code=056E owner=006A element=0403 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=056F owner=006A element=0403 universal=3FFF unitName="degree" type=1F size=0008 fl=05 魵DJW?Ison7! @ ;DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg*e code=0404 elementURI="EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed" type=00 *a code=0570 owner=006A element=0404 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0571 owner=006A element=0404 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 )5?)]i=}DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s}XInserting Stack: Missions/Insert/Surface.xml*n code=006B name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms" s7su79u(Yu: yu/>9~XY~ɔ*;i~锭Q9)ɇC^= 9?^A)=i>*n code=006E name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:B:A" *n code=006F name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C" *n code=0070 name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:A" *n code=0071 name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:B" *n code=0072 name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:B:A_Timeout" *n code=0073 name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:C" eDJW?9Xm˹G m<-RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg-?5RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/si=ERedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boolIAY:)I=i=lInserting Stack: Missions/Insert/SurfaceCommsShort.xml Y[eRCIm#_ ƑMNAAIE:IHiHHH'9iFRF(FF,(F==G򡽤?G u i9~):Y~ɔK;i~9)ɇOC= MA?M١A)U;IQi]>]P>]II*n code=007E name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate" *e code=0411 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate" type=00 a*a code=059A owner=007E element=0411 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=059B owner=007E element=0411 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 iu}DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s,` ujMNAQI]:IHiHHH09iF~)FF:(F$=Gཤ?Gt i<)=*e code=0412 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch" type=00 *a code=059C owner=007E element=0412 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=059D owner=007E element=0412 universal=3FFF unitName="degree" type=1F size=0008 fl=05 DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg*e code=0413 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed" type=00 *a code=059E owner=007E element=0413 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=059F owner=007E element=0413 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 u?}DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s*e code=0414 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface" type=00 *a code=05A0 owner=007E element=0414 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05A1 owner=007E element=0414 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool*n code=007F name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface" ?,Construct GoToSurface.*a code=05A2 owner=007F element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A3 owner=007F element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05A4 owner=007F element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05A5 owner=007F element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05A6 owner=007F element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05A7 owner=007F element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05A8 owner=007F element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05A9 owner=007F element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 )EX=*n code=0080 name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:B" *n code=0081 name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:B:A" *n code=0082 name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:C" *n code=0083 name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:C:A" RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a鳑RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/adInserting Stack: Missions/Insert/SurfaceSafety.xml)@*n code=0084 name="EcoHAB_box:SurfaceSafety" s\7su\79uS(YuyuS%>Q99~bY~ ɔ*;i~锵Q9)8[GɇCe=*e code=0415 elementURI="EcoHAB_box:SurfaceSafety.MaxTime" type=00 *a code=05AA owner=0084 element=0415 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=05AB owner=0084 element=0415 universal=3FFF unitName="hour" type=1F size=0008 fl=05 i@nDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h*e code=0416 elementURI="EcoHAB_box:SurfaceSafety.SurfacePitch" type=00 *a code=05AC owner=0084 element=0416 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05AD owner=0084 element=0416 universal=3FFF unitName="degree" type=1F size=0008 fl=05 }DJW?DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg ,2? A)*n code=0085 name="EcoHAB_box:SurfaceSafety:SurfaceComms" *e code=0418 elementURI="EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate" type=00 *a code=05B1 owner=0085 element=0418 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=05B2 owner=0085 element=0418 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 I%, ` NAQ?I >IHiHHHUiF'FüF{%FI=G?Gu i<%DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s*e code=0419 elementURI="EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch" type=00 *a code=05B3 owner=0085 element=0419 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05B4 owner=0085 element=0419 universal=3FFF unitName="degree" type=1F size=0008 fl=05 u}DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg)=*e code=041A elementURI="EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed" type=00 *a code=05B5 owner=0085 element=041A universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=05B6 owner=0085 element=041A universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ɶ?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s*e code=041B elementURI="EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout" type=00 *a code=05B7 owner=0085 element=041B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=05B8 owner=0085 element=041B universal=3FFF unitName="minute" type=1F size=0008 fl=05 m @uDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min*e code=041C elementURI="EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface" type=00 *a code=05B9 owner=0085 element=041C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05BA owner=0085 element=041C universal=3FFF unitName="bool" type=02 size=0001 fl=05 IEMDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool*n code=0086 name="EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface" CU,Construct GoToSurface.*a code=05BB owner=0086 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 )W=*a code=05BC owner=0086 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05BD owner=0086 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05BE owner=0086 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05BF owner=0086 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05C0 owner=0086 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05C1 owner=0086 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05C2 owner=0086 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0087 name="EcoHAB_box:SurfaceSafety:SurfaceComms:B" *n code=0088 name="EcoHAB_box:SurfaceSafety:SurfaceComms:B:A" *n code=0089 name="EcoHAB_box:SurfaceSafety:SurfaceComms:C" *n code=008A name="EcoHAB_box:SurfaceSafety:SurfaceComms:C:A" *n code=008B name="EcoHAB_box:SurfaceSafety:SurfaceComms:C:B" *n code=008C name="EcoHAB_box:SurfaceSafety:SurfaceComms:C:B:A_Timeout" *n code=008D name="EcoHAB_box:SurfaceSafety:SurfaceComms:C:C" mDJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegɶ?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s*n code=008E name="EcoHAB_box:I.Pitch" GConstruct.*a code=05C3 owner=008E element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C4 owner=008E element=02CF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05C5 owner=008E element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05C6 owner=008E element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05C7 owner=008E element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05C8 owner=008E element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05C9 owner=008E element=02D2 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=05CA owner=008E element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 s L6suL69u 'Yuɻyu->9~MrY~MɔM;i~QQ)Q]5Gɇe^Ce= mL*?m=A)mu =}==I};i}8 *n code=008F name="EcoHAB_box:J.Buoyancy" G&Construct Buoyancy.*a code=05CB owner=008F element=013E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05CC owner=008F element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 )w銅)<)i=ɔQ9)Q9ٛ 8)]=Q U=IIsn! @ *a code=05CD owner=008F element=02D3 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 5zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmliAIY_M: M;I_QɖQU`U<  ]= Y b]r9bYbaa)`)>yV闝< )Ii)y=I*n code=0090 name="EcoHAB_box:CircleWaypointRepeatedly" > E=)M=*e code=041D elementURI="EcoHAB_box:CircleWaypointRepeatedly.Timeout" type=00 *a code=05CE owner=0090 element=041D universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=05CF owner=0090 element=041D universal=3FFF unitName="minute" type=1F size=0008 fl=05 e@mDefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min*e code=041E elementURI="EcoHAB_box:CircleWaypointRepeatedly.LapTimeout" type=00 Y]%:)]= e)eIeie*a code=05D0 owner=0090 element=041E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=05D1 owner=0090 element=041E universal=3FFF unitName="minute" type=1F size=0008 fl=05 )m @uDefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min*e code=041F elementURI="EcoHAB_box:CircleWaypointRepeatedly.MaxLaps" type=00 *a code=05D2 owner=0090 element=041F universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=05D3 owner=0090 element=041F universal=3FFF unitName="count" type=1F size=0008 fl=05 i@@DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count*e code=0420 elementURI="EcoHAB_box:CircleWaypointRepeatedly.CenterLat" type=00 *a code=05D4 owner=0090 element=0420 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05D5 owner=0090 element=0420 universal=3FFF unitName="degree" type=1F size=0008 fl=05 EEDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg)P=*e code=0421 elementURI="EcoHAB_box:CircleWaypointRepeatedly.CenterLon" type=00 *a code=05D6 owner=0090 element=0421 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05D7 owner=0090 element=0421 universal=3FFF unitName="degree" type=1F size=0008 fl=05 5=DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg*e code=0422 elementURI="EcoHAB_box:CircleWaypointRepeatedly.Radius" type=00 *a code=05D8 owner=0090 element=0422 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=05D9 owner=0090 element=0422 universal=3FFF unitName="meter" type=1F size=0008 fl=05 )@o@DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m*e code=0423 elementURI="EcoHAB_box:CircleWaypointRepeatedly.MaxError" type=00 Is5A! @ = ;*a code=05DA owner=0090 element=0423 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=05DB owner=0090 element=0423 universal=3FFF unitName="meter" type=1F size=0008 fl=05 i@o@DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m*e code=0424 elementURI="EcoHAB_box:CircleWaypointRepeatedly.TurnToPort" type=00 *a code=05DC owner=0090 element=0424 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05DD owner=0090 element=0424 universal=3FFF unitName="bool" type=02 size=0001 fl=05 5=DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 boolIE>iA II)IIiIIIIIIM:UPYɘ};阁 ?*` :NAI)m=*e code=0425 elementURI="EcoHAB_box:CircleWaypointRepeatedly.KwpHeading" type=00 *a code=05DE owner=0090 element=0425 universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=04 *a code=05DF owner=0090 element=0425 universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=05 E{Gz?MDefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/mIHiHHHV iFT'FMkFHTF$=Gݹ?G]u i=*e code=0426 elementURI="EcoHAB_box:CircleWaypointRepeatedly.FloatTime" type=00 *a code=05E0 owner=0090 element=0426 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=05E1 owner=0090 element=0426 universal=3FFF unitName="second" type=1F size=0008 fl=05 )N@DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s*e code=0427 elementURI="EcoHAB_box:CircleWaypointRepeatedly.Pitch" type=00 *a code=05E2 owner=0090 element=0427 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05E3 owner=0090 element=0427 universal=3FFF unitName="degree" type=1F size=0008 fl=05 iDJW?DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg*e code=0428 elementURI="EcoHAB_box:CircleWaypointRepeatedly.Speed" type=00 IM@i*a code=05E4 owner=0090 element=0428 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=05E5 owner=0090 element=0428 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ?DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s*n code=0091 name="EcoHAB_box:CircleWaypointRepeatedly:A_Timeout" *n code=0092 name="EcoHAB_box:CircleWaypointRepeatedly:A" *n code=0093 name="EcoHAB_box:CircleWaypointRepeatedly:B" *a code=05E6 owner=0093 element=01A2 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *n code=0094 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater" *n code=0095 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap" )g=*n code=0096 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A_Timeout" *n code=0097 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A" *n code=0098 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle" LuConstruct.*a code=05E7 owner=0098 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05E8 owner=0098 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05E9 owner=0098 element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05EA owner=0098 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05EB owner=0098 element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=05EC owner=0098 element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0099 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:C" *n code=009A name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS" *n code=009B name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface" M,Construct GoToSurface.*a code=05ED owner=009B element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05EE owner=009B element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05EF owner=009B element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05F0 owner=009B element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05F1 owner=009B element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05F2 owner=009B element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05F3 owner=009B element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05F4 owner=009B element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 I1*n code=009C name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:CheckIn" *n code=009D name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:CheckIn:A" *n code=009E name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:CheckIn:B" *n code=009F name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:CheckIn:B:A_Timeout" *n code=00A0 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:CheckIn:C" *n code=00A1 name="EcoHAB_box:UpdateCircleTimeout" *n code=00A2 name="EcoHAB_box:UpdateCircleTimeout:A" *a code=05F5 owner=00A2 element=03F6 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=05F6 owner=00A2 element=0052 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00A3 name="EcoHAB_box:UpdateCircleTimeout:B" *n code=00A4 name="EcoHAB_box:UpdateCircleTimeout:C" *a code=05F7 owner=00A4 element=03F7 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *n code=00A5 name="EcoHAB_box:UpdateCircleTimeout:D" *n code=00A6 name="EcoHAB_box:CircleInshoreESPBuoy" *n code=00A7 name="EcoHAB_box:CircleInshoreESPBuoy:A" i)}=s-8su-89u(Yuyu: N>*n code=00A8 name="EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong" *n code=00A9 name="EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A" *n code=00AA name="EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B" *n code=00AB name="EcoHAB_box:CircleInshoreESPBuoy:C" *a code=05F8 owner=00AB element=041D universal=3FFF unitName="minute" type=1F size=0008 fl=05 *n code=00AC name="EcoHAB_box:CircleInshoreESPBuoy:D" *a code=05F9 owner=00AC element=0422 universal=3FFF unitName="meter" type=1F size=0008 fl=05 zAzA {A){AI{Ai{A{I{I{I{I |I)|II|Ii|MyC|I|Q|Q|Q }Q)}QIs,f! @ ;=9~fY~ ɔ:i~8)GɇC*n code=00AD name="EcoHAB_box:CircleInshoreESPBuoy:E" *a code=05FA owner=00AD element=0420 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *n code=00AE name="EcoHAB_box:CircleInshoreESPBuoy:F" *a code=05FB owner=00AE element=0421 universal=3FFF unitName="degree" type=1F size=0008 fl=05 > x?%A)%i-P>-@-=-`=I-I ` jYNAAIAIHiHH)O=*a code=061B owner=00BC element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 HciF ](F #bƼF m1F -K=G *?G #u i <*a code=061C owner=00BC element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=061D owner=00BC element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=061E owner=00BC element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00BD name="EcoHAB_box:Lap:J" *n code=00BE name="EcoHAB_box:Lap:WpCorner4.Waypoint" _&Construct Waypoint.*a code=061F owner=00BE element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0620 owner=00BE element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0621 owner=00BE element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0622 owner=00BE element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0623 owner=00BE element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0624 owner=00BE element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0625 owner=00BE element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00BF name="EcoHAB_box:Lap:L" Z5&Construct Waypoint.*n code=00C0 name="EcoHAB_box:Lap:N" *n code=00C1 name="EcoHAB_box:ScienceOps"  XInserting Stack: Missions/Insert/Science.xmlI9)V=Ise^! @ e ; qs6su69uۧ&Yu˖yu H>)=)U=u1u9 v9)v9Iv9iv9v9v9v=SCv9 wA)wAIwAiwAwAwAwAwA xA)xAIxixxx x x y A)y Iy yCiy y y y y z)zIzizzz}})N=G>9~]Y~]ɔeD>*e code=0429 elementURI="EcoHAB_box:ScienceOps:Science.SampleISUS" type=00 *a code=0626 owner=00C2 element=0429 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0627 owner=00C2 element=0429 universal=3FFF unitName="bool" type=02 size=0001 fl=05 vDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool*e code=042A elementURI="EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch" type=00 *a code=0628 owner=00C2 element=042A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0629 owner=00C2 element=042A universal=3FFF unitName="degree" type=1F size=0008 fl=05 )Ues-8R?]DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdegY]])e0=Ieim8 Ii)IiiIiIiIiiuPqɘ}:阁 ? ` B>NAI:IHDiHDHDHFiFF&FFũFFqaGFFv=GF?GJru *e code=042B elementURI="EcoHAB_box:ScienceOps:Science.SampleISUSminPitch" type=00 *a code=062A owner=00C2 element=042B universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=062B owner=00C2 element=042B universal=3FFF unitName="degree" type=1F size=0008 fl=05 iRes-8RVDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 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0 bool*e code=042F elementURI="EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active" type=00 *a code=0632 owner=00C2 element=042F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0633 owner=00C2 element=042F universal=3FFF unitName="bool" type=02 size=0001 fl=05 iDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool*e code=0430 elementURI="EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive" type=00 *a code=0634 owner=00C2 element=0430 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0635 owner=00C2 element=0430 universal=3FFF unitName="bool" type=02 size=0001 fl=05 }DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool*e code=0431 elementURI="EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=0636 owner=00C2 element=0431 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0637 owner=00C2 element=0431 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƕDefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool)@)%=*e code=0432 elementURI="EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent" type=00 *a code=0638 owner=00C2 element=0432 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0639 owner=00C2 element=0432 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )5=DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool*e code=0433 elementURI="EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth" type=00 *a code=063A owner=00C2 element=0433 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=063B owner=00C2 element=0433 universal=3FFF unitName="meter" type=1F size=0008 fl=05 iM@UDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m*e code=0434 elementURI="EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth" type=00 *a code=063C owner=00C2 element=0434 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=063D owner=00C2 element=0434 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m*a code=063E owner=00C2 element=0174 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0435 elementURI="EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2" type=00 *a code=063F owner=00C2 element=0435 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0640 owner=00C2 element=0435 universal=3FFF unitName="none" type=1F size=0008 fl=05 ? DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a*a code=0641 owner=00C2 element=0178 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0436 elementURI="EcoHAB_box:ScienceOps:Science.EnabledNeilBrown" type=00 *a code=0642 owner=00C2 element=0436 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0643 owner=00C2 element=0436 universal=3FFF unitName="none" type=1F size=0008 fl=05 i DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a*a code=0644 owner=00C2 element=018E universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0437 elementURI="EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS" type=00 *a code=0645 owner=00C2 element=0437 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0646 owner=00C2 element=0437 universal=3FFF unitName="none" type=1F size=0008 fl=05 %DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a*a code=0647 owner=00C2 element=0191 universal=3FFF unitName="bool" type=1F size=0008 fl=04 IsE](! @ E;sUkx8sQuUkx89uU,)YuU1yuU]0>]89~u4Y~udɔu#;i~quQ9)}8ɇC重m= ? A);I >i 5>@-=>I*a code=065B owner=00C2 element=0440 universal=3FFF unitName="meter" type=1F size=0008 fl=04  DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 mdN,` |NAQI]:IHiHHHwͺiF(FZFF =GR?Gu i<*e code=0441 elementURI="EcoHAB_box:ScienceOps:Science.PeakNO3Latitude" type=00 *a code=065C owner=00C2 element=0441 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=065D owner=00C2 element=0441 universal=3FFF unitName="degree" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg)x=*e code=0442 elementURI="EcoHAB_box:ScienceOps:Science.PeakNO3Longitude" type=00 *a code=065E owner=00C2 element=0442 universal=3FFF unitName="degree" type=1F size=0008 fl=05 E*a code=065F owner=00C2 element=0442 universal=3FFF unitName="degree" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg*e code=0443 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSI" type=00 *a code=0660 owner=00C2 element=0443 universal=3FFF unitName="decibel" type=1F size=0008 fl=05 *a code=0661 owner=00C2 element=0443 universal=3FFF unitName="decibel" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB*e code=0444 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSIDepth" type=00 *a code=0662 owner=00C2 element=0444 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I%*a code=0663 owner=00C2 element=0444 universal=3FFF unitName="meter" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m*e code=0445 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSILatitude" type=00 *a code=0664 owner=00C2 element=0445 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ̽*a code=0665 owner=00C2 element=0445 universal=3FFF unitName="degree" type=1F size=0008 fl=04 UDefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg*e code=0446 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSILongitude" type=00 ) o=Ism4!! @ i*a code=0666 owner=00C2 element=0446 universal=3FFF unitName="degree" type=1F size=0008 fl=05 u*a code=0667 owner=00C2 element=0446 universal=3FFF unitName="degree" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg*n code=00C3 name="EcoHAB_box:ScienceOps:Science:A" *n code=00C4 name="EcoHAB_box:ScienceOps:Science:B" *a code=0668 owner=00C4 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00C5 name="EcoHAB_box:ScienceOps:Science:C" *a code=0669 owner=00C5 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00C6 name="EcoHAB_box:ScienceOps:Science:D" sM17sIuU179uUs'YuQyuU: U>>Y9~m$Y~mɔu*;i~qq)y}[Gɇ重e=*n code=00C7 name="EcoHAB_box:ScienceOps:Science:E" *n code=00C8 name="EcoHAB_box:ScienceOps:Science:F" *n code=00C9 name="EcoHAB_box:ScienceOps:Science:G" ? A) i=|> =IzRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)es-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegiDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegIUzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)U]RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booli]@y3` KUNAIIHiHHH+iFt'FKFF =G{?Gu i)=_=ERedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 my}RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mƁRedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 boolŭzRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool*n code=00D5 name="EcoHAB_box:ScienceOps:B.SetSpeed" jConstruct.*a code=0672 owner=00D5 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0673 owner=00D5 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0674 owner=00D5 element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00D6 name="EcoHAB_box:ScienceOps:C.DepthEnvelope" k0Construct DepthEnvelope.*a code=0675 owner=00D6 element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0676 owner=00D6 element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0677 owner=00D6 element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0678 owner=00D6 element=01BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0679 owner=00D6 element=01D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=067A owner=00D6 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=067B owner=00D6 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=067C owner=00D6 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=067D owner=00D6 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=067E owner=00D6 element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=067F owner=00D6 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0680 owner=00D6 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0681 owner=00D6 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0682 owner=00D6 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0683 owner=00D6 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 Isg! @ *n code=00D7 name="EcoHAB_box:ScienceOps:D.AltitudeEnvelope" kE6Construct AltitudeEnvelope.*a code=0684 owner=00D7 element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0685 owner=00D7 element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0686 owner=00D7 element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0687 owner=00D7 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0688 owner=00D7 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0689 owner=00D7 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=068A owner=00D7 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=068B owner=00D7 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=068C owner=00D7 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=068D owner=00D7 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=068E owner=00D7 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=068F owner=00D7 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00D8 name="EcoHAB_box:ScienceOps:E.YoYo" lConstruct YoYo.*a code=0690 owner=00D8 element=01E0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0691 owner=00D8 element=01DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0692 owner=00D8 element=01D6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0693 owner=00D8 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0694 owner=00D8 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0695 owner=00D8 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0696 owner=00D8 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0697 owner=00D8 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0698 owner=00D8 element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0699 owner=00D8 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=069A owner=00D8 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=069B owner=00D8 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )UW=*a code=069C owner=00D8 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00D9 name="EcoHAB_box:ScienceOps:F" *n code=00DA name="EcoHAB_box:ScienceOps:G" s-ā6s)u-ā69u-%'Yu-ɻyu15->5Q99~MY~MɔUD;i~QU9)YeGɇmmCmP> ?A) =) ==I=i`==\=Ih=i =A This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =EPLoaded ./Missions/Science/EcoHAB_box.xml=E got command set ]E@Incomplete syntax. Try: help set)y銥0)}=,> iyV- :-= -8I1i1IsI! @ ;Ye()e =Ie8ii Ii)IiiIiIiIqu:qPyɘy阁 >y3` ΀NAIIH(iH(H(H*g iF.j&F.вF.H*F.>=G.?G.u i. <)N=IR@i)P=s5}7s1u5}79u5 (Yu=ؠջyu9=D>99~EY~E0ɔE:i~IMQ9)IU[Gɇ]Cee= e?eiA)eim=u=u=Iu;iy y)}U}n):ɔQ9)8ٛ )Q9]ܕ 9 ) M=9` d]NAI:IH$iH$H$H&iF&`'F&F&(F*6=G*?G* u i* <)n?)<)U9se8saue89uepN)Yue1yuae*>i9~VY~ɔD;i~锍9)5Gɇ^C釥= >޴A)%i%>->-L=I- A ) ;w@` NAI:IH$iH$H$H*=1iF*Y(F*}F**F* =G*?G*t i*<)U0;)M9se6saue69ueW'Yue~yueSe)>iIsa! @ ;9~慽Y~$ɔ;i~锝Q9)8[GɇC釭> 8>\A)I=ip`>=>==I;i8 )\):ɔ<);)<ٛ )]Q ==I9iY_,; ;9_ɖ`=  =  b 慽9bAYbAaIaI)M a ) F` NAIIH$iH$H$H&CiF&&F*}ۼF*\*F*=G*?G*u i* < B<)@)e;Is].Z! @ Y)M:sJ7suJ79u'Yuɻyu1>z1z1 {1){9I{9i{{{{{ |)|I|i|C|||| }C)}5P=)};9~ zY~ɔ - P>- AI )u ;)} < I p!>i @= `d> I =i 8) o ]) :ɔ 8) <ٛ Q9 ) 8] E8IQ9~]A) =I=i=\==I?=i )IsA ! @  ;uڱ)MQ<ɔM8)UQ9ٛQ U8Y)Y]]IU` .VNAI:IH$iH$H$H&miF&S)F*<ڼF*(F*/4=G*Q?G*t i* <)v;)9sO6suO69uA&Yu~yu1⻉6>IsOb! @ ;9~MY~ɔ;i~9)8 5Gɇ |C>IY >+A)  =+= 9 bEM9bAYbAaAaI)M:IIInY nY mYlYimYImYiair: sɗa>yV< IiY% &E)% 0=I) i) I1 )I1 iI1 I1 I1 1 1 P9 )U o<ɘ] ;Y e >d[` oNAIIH$iH$H$H&iF&B&F&CڼF&&F&5=G*o?G*u i*mQ99~-Y~ɔ>;i~锍9)Gɇ^C釥=Iy P>A)i ==>=I!=i )n); Q0)]<ɔ]Q9)e8ٛa ai)mQ9]mӛD!9~E=Y~ENɔEK;i~II)M8U[GɇYeY>I)^; 8>%A)|H> =I Is ^! @ Vh` NAIIH$iH$H$H&SiF&l'F&pMּF*Fr-F*}7=G*c?G*t i* <):<)9s}79su799u)Yuؠջyu->I): uu vI)vMCIvQivUvQvU#E A)M iM \>U 0>U ==IU >Y)Ii I)IiIIIPɘ:  >Lp` +NAI:IH$iH$H$H&iF&CR)F&㼩F&:GF*0=G*K?G*u i* < b<)`)%;I) : Is-a! @ )s6su69u>'Yu1yu1>Q99~MY~ɔD;i~)Gɇ>)-r; ->5UA)-v` Q܁NAI:IH$iH$H$H&ᦻiF*&F*s˼F*,)F*#=G*\?G*u i*<) ;)%v@Is^cN! @  ;)Q:I  s8su89ug)Yuؠջyuzz {){I{i{{{{{ |)|I|i||||| })});U`=9~FY~7ɔDUA)U|]>]|` NAIIH$iH$H$H& iF&x)F*x̼F*1*F*;,=G*`?G*t i* >89~%J1Y~%ɔ%K;i~!-9))55Gɇ=CE>)k; x>EA) <) Q:I >Is- R4! @ - ;i5 =5 \=5 @=I5 (>i9 ) o銽 ])] <ɔ <)% ;) <ٛ ) ] q]%>yV%n:-< )I1i1Y]u)e =Ie8im Ii)IiiIiIiIiu:qPyIyɘ:阁  ?܅` uNAI:)*E?G> u i>Y);9~]Y~Kɔ;i~9)[GɇCS= 5P>52A)1I5`=i===(>E=  %-= ) b-]9b1Yb1a1a1)1I9InA nA mIlIimIImIiIir9 sɗ)% B) K;D` V2NAI:I">IH(iH(H(H*ĻiF*>&F*ɼF*O%F*=G*r?G. u i.< lIs_6~! @ )X;se8saue89ueN5)Yue~yue: e)>i9~NhY~ɔQ;i~锉)85G)7;ɇCw= >A)|=I>) 7?) K;ؒ` AKNAIIH$iH$H$H$iF&(F&мF&<&F&g=G*j?G*t i*IsVP! @ T |);sE8sAuE89uEpN)YuEɻyuESE%>I9~ejY~eɔeK;i~im9)u}[Gɇ}C釅=)Q; `>"A)<)Q:I- =ie =Is JZ! @ @= 9>I :>i )  أ) :ɔ 8) 8ٛ  Q9Y )Y ]] EQ e =Ie 9ie 8a Y_m 1 m ;m 9_q ɖu Q9u 8`u 1  } < } 9) ; b j9b Yb a a ) :I 8In9 nA mA lA imA ImA iE ;irI I sQ U Q9ɗU I I yVm :u < u } 0>y Yû) =Ii I)IiIIIP);ɘ< >,[` okNAIIH$iH$H$H$iF&(F&F&?F*kv=G*U?G*u i( b<)`)^;)u&?s}O6syuO69uA&Yuyu: ->9~Y~+^ɔK;i~锩)85GɇȓC>IsXV! @ ) r; =>=A)AIE=iE`=M>M=IM` ]܆NA=?I:IH$iH$H$H$iF&&F*F*.F*a=G*߽?G*u i* <);Is-P! @ )7:s}7su}79u (Yu1yu9>9~Y~ɔK;i~) Q9ɇmC= 8>A)i >==IIA )5 X;)- 6?$ʧ` NAIIH$iH$H$H$iF&'F&ȍF*)F*-=G*t?G*t i(Isv'I! @ t)K;)9sE,T5sAuE,T59uE%YuE~yuEM%>MQ99~eɼY~e\xɔeD;i~ii)qyɇy釅= >A) k;)>i) ) )- - u0)5 :ɔ5 8)= 8ٛ ) ] |=  < b ɼ9b Yb a a ) :I In n m l im Im i! irY Y sY ] 8ɗa e i>i yV5 :5 < 9 )9 I9 iA IA )IA iIA IA II I I PQ ɘQ Y ] >w` NAI :IH$iH$H(H()G)=g} A) $Y` nւNAI:IH$iH$H$H$iF*D$F*F**F*k=G*?G*!u i*<)z/<)9IsEi! @ s>4su>49uG%Yuؠջyu:>Q99~$Y~ɔK;i~  )[Gɇ^C%>!q靉ZDefineArg EcoHAB_box.MinAltitude = 4.000000 m `>A)|i =<>I% hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg!u )q } lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg! i  hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!   lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!m i m hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!} )y  lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg! i  hDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!   lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!   `DefineArg EcoHAB_box.ApproachDepth = 10.000000 m)e V=!m )i u bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!} iy  tDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!   ZDefineArg EcoHAB_box.Repeat = 13.000000 count!   `DefineArg EcoHAB_box.CircleRadius = 500.000000 m! )  fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!% i! - ^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!5 s` 1NAI:IH$iH$H$H$iF&$F&F&.F&O(=G*Ǿ?G*u i*<9ETDefineArg EcoHAB_box.CircleModulus = nan h!MIU^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!])YeXDefineArg EcoHAB_box.LapTimeout = 8.000000 h!uiq\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m! ^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!%))-fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg)=Z=!ilDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /6Construct AltitudeEnvelope./0Construct DepthEnvelope. 0}6Construct OffshoreEnvelope.! XInserting Stack: Missions/Insert/Surface.xmlIs)=a%!-xDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/sa51vDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdega) zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/saiDefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina %!-~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 boolIiuyuy v)vCIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}})= 1,Construct GoToSurface. m lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml >9~e [Y~e 4ɔe A) |` bNAIIH$)*=!.),2DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min%6i6:DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6>,Construct GoToSurface.iH$HDHDiFFb%FJ ἩFJ{@FJX=GJ?GJ-u iJ< b<)dDJW?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/siRedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boollInserting Stack: Missions/Insert/SurfaceCommsShort.xml)_=!)~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-鰙vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1 ) ~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5i%vDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;5,Construct GoToSurface.-^Inserting Stack: Missions/Insert/SurfaceGPS.xml)<=s4su49u.%Yuyu: />89~;Y~ɔD;i~9)Q9ɇ ȓC>I)!9lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min !=  ~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A%)!-vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s5jInserting Stack: Missions/Insert/SurfaceNavUpdate.xml E>EA)j<EiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s)@-=I= 9 E DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegMM I U DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ] )Y e DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?m ,Construct GoToSurface.Is pEk! @ ;  RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a  RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/aI5 >U dInserting Stack: Missions/Insert/SurfaceSafety.xml) i )r銥):ɔ8)8ٛ 8)]]5Q99~MxY~MԧɔMK;i~QQ)U8]5GɇemCm> 0>#A)|) g=` JNAI:IHDiHDHDHDiFF(%FJFJaFJ=GJL?GJu iJ<)j< Z~&Construct Waypoint.Is-9~ Y~1ɔK;i~)Q9ɇC3>)M; U(>UxA)<)5 Q:I >0  % vDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool0 )ō es-8R? DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg0 iŝ es-8R DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg0 ŭ  vDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool0 Ź i  vDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool0- )- - DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool05 i1 IsM !x]$! @ M ;} |=} =I >>i ) l銍 #) 7:ɔ Q9) 8ٛ  DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool0 Ʃ  DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool0 Ʊ  DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool0 )  DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool0 i @ ) Q9] ݺQ =I 9i Y_ ED ; _ ɖ Q9 ` E<  < b  9b Yb! a! a! )% :I! In1 = DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m0E I M DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m0]  Y e DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a0m ii n1 m l im Im i N=ir s ɗ > !> DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a) v=051=DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/aIiyV:闍< )8I8i I)IiIIIPɘk:阱 > ` HiNAI (0.),2DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a064IH$iHhHhHhiFj$FjFj&=Fj`=Gj7?Gn7u in<DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a0%DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a0- )=DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l0=IAIiDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m0ʱDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg0DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg0 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l)%Q=0-I)5DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m0=9MDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg0 UQ]DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg0 e a}DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB0ȊDefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m0̱DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg0DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdegfU8Construct PeakDetectVsDepth. h8Construct PeakDetectVsDepth.i8Construct PeakDetectVsDepth.)%-RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool-5zRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)5es-8R?=RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegiEDJW?MRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegIUzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)r?)-R=)u}RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booliDž@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 mǑRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mƙRedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 boolŭzRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 booljConstruct. k0Construct DepthEnvelope.ke6Construct AltitudeEnvelope.s4su49uCz%Yu~yuS?>Is4j`! @ 9~0*Y~Lɔ;i~Q9)8ɇ^C^> lConstruct YoYo.)MQ= >;A)iP>==L=I=i )5)7:ɔ] z<)] Q9ٛa a a )e 8]m fQ m L=Ii im 8q Y_u z; u ;q _y ɖ} 9} 8` ;  = b 0*9b Yb a a ) :I In n! m! l! im! Im! i% )e ^=I H` ~NAI:IH$iH$H(H(iF*a)%F*djF*$F*=G*澤?G*u i*< , 5A This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =5PLoaded ./Missions/Science/EcoHAB_box.xml=}vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree}?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)z=xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei$?=|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree!)W=IsЬ! @  ;)-X=sP3suP39u$Yuؠջyu: =>) j M?UA)U]>]=) ?I d` NAI:IH$iH$H$H$iF&G$F&OF&*F*&=G*?G*u i*< <)Z;Is?'! @ ;)>)Q:s5su59uSC&Yu~yu2>Q99~gƼY~sɔK;i~9)Q9GɇC>)Q; @>IA)m) >< ` }NAI:I">IH(iH(H(H(iF*w%F*썼F*0F.===G.?G.u i.89~tY~{ɔK;i~锩)[GɇmC=)Q; >A)=>I=i 8)j1):ɔQ9)8ٛ )] ƽQ ^=Ii8Y_  <9_QɖU9Y`]<  ])= a bet9biYbiaiai)m:Iu8Iny n mlimImi ;ir sɗyV:闵< 8)Ii I)IiIII:8Pɘk: >) <)JK; \):s}X4suX49u$YuؠջyuQ99~YY~ɔX;i~锭Q9)85Gɇ> `>A)I=i@l>\= =I;i )|uZ)7:ɔ Q9) Q9ٛ  Q9)8]z=Q [=I9i=AY_E; EIs8! @ ) ;@` NAI:IH$iH$H$H$iF&<$F&F&0F*K=G* ?G*u i* m89~Y~ɔK;i~锍9)ɇ^C釥Y>Isؐ! @ )k; >A)?)>yVu1:q u)yIyiy I)IiIII:Pɘ阑 >) ?<a |NAI:IH$iH$H$H$iF&%F&F*1F*I3=G*?G*u i()J0;ILIPiRO@ |)k:Is]! @ se.3saue.39ue~$YueyueamQ99~6Y~ɔD;i~锉)Q9ɇC釥3> @>A)) e;a +NAIIH$iH$H(H(iF*4$F*x¼F*t4F*B&=G*?G*u i*<)J0;I\ Is^1y%! @ )k:seP3saueP39ue$Yueؠջyue: ai9~? 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Y~ɔ;i~锡)5Gɇ釹 0> A)) D;) Fa NAI:IH$iH&zVH&zVH&oiF&#F&ܼF*4F*I=G*?G*u i* <)J7;I QIs}! @ )k:se ;5saue ;59ue%Yumyuim*>zz {){I{i{{{{{ |)|I|i||||| })}} =9~/Y~ɔ7:i~锁)ɇ); >A)=ip!>|=I4U,>yV":< k:)-k:I5k:i1 I9)I9iI9I9I9=:9PAɘM:I M>) ><) Ma !6NAIIH$iH&| H&| H&BiF&Ǿ%F&XF&x3F*i1=G*侤?G*t i*4saue>49umG%Yum1yuiu+>u89~}{Y~}ɔ}:i~锁)Gɇ^C釕Z> H>A)=I>i>>I;i )r銵):ɔ8)Q9ٛ )]SQ c=IiY_:  <9_ɖ8`5<  -= 9 b{9bYbaa)IIn n mlimIm i  ;ir  9 sɗ8yV:< 8)Ii I)IiIII:8PɘQ: k>)M<) 9Is m! @ ) $Sa IPNAI:IH$iH&,~ֽH&,~ֽH&iF&A%F& F*=9F*=G*;?G* u i* <)NQ;I1 )7:se4saue49umCz%Yumyuim*>uQ99~bY~ ɔ;i~锥8)5Gɇ釽= ?A)|;I=i9>=lYa iNAI:IH$iH&iVH&iVH&矻iF&i%F&F&=pAF*-=G*?G* u i* <)R;IQ ):sP3suP39u$Yu1yu/>Is2! @ ;):uu v)vIvivvvvv w)wIwiwCwwwAw x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}Uj=9~5aY~z ɔ ?A)h#?I;i )|3):ɔQ9)Q9ٛ )]t:Q 0=IiY_X ;_ɖ9`<  = 9 b5a9bYbaa) :I In n mlimImiir!%9 s)-Q9ɗ)ɚ5A1yV C: <9X Bv =)M <) ;) :I ):Is^! @ ))9);):IIs PB! @ : YY)?):[9IGB!?GFv iFy< ^<)\)];)E9s5su59uu&Yuyu: .>89~):Y~ɔQ;i~9)[Gɇ|C= L?A)i@>=@l=Ip=i )):ɔQ9)8ٛ )]}%iM =I} > 9X "]  |ypa NAI:IH$iH$H$H&ViF&&F&cF&bF&,=G&ݽ?G*3u i*<)e;)E9Ism&! @ isȏ3suȏ39u3$Yuؠջyu9>9~¼Y~oɔQ;i~ :) 85GɇC%F= @?MA);I`=i>==L=I9X h <  )} e;Y ) =I =i =[ rI va }ۅNAI:IH$iH$H$H&)niF&z$F&yּF&nF*9=G*?G*Iu i* <)M;Is= ! @ = ;)-:sr 4sur 49u3$Yu~yu:>zz {){I{i{{{{{ |)|!I|!i|!|!|!|!|! }!)}!)];`=9~TY~ɔD?AI  ) <)] 7;I= @=iu \>} l"?} `=I} >iy ) q銅 ) :ɔ 8) 8ٛ ) ] BQ =I 9i Y_ (: ; _ ɖ 9 `5 P  5 < 5 9 b5 T9b9 Yb9 a9 a9 )E :IE Is] ҹ3! @ ] ;) ;In n m l im Im i )>yV:= A)A9X~E_ <==);YU)[I89~J1Y~ɔ%Q;i~!-9)-5Gɇ9=S= E?EA)EiM>M?U >IU;iQ )uڰ)u<);ɔ-<)<ٛ Q9)]Y9~ZY~ɔQ;i~ :) 8ɇmC%> T(?,A)Ii@=>==I9~[Y~4ɔX;i~锵9)][Gɇ]Ce> >B)- =II )7 =I f>i 8 ) _銝 |) :ɔ 8) 8ٛ 8 ) Q9] Q 9~=Y~NɔQ;i~9)ɇ2> uh>uB)}i}\>==I) K;9a 5NAIIH(iH(H(H*iF*;&"F*|ἩF*7&F*.=G.y?G.yu i.<)0;)9I AsebD3sauebD39ue##YueSyue: e)>mQ99~Y~ɔD;i~锍Q9)5GɇC釥>IsgJ! @  >GB)I=i@=L=|=I1=i )gE):);ɔ<)<ٛ )8]$Sa +NAIIH$iH$H$H&ʺiF&4$F&J꼩F& 2-F*5=G*a?G*cu i* 9~%Y~Hɔ>;i~9)GɇCp= }?}B)} =I=i>D>I%>)E]) =I i 8 I )I iI I I : P ɘ : >) Q;na h"NAI:IH$iH$H$H&0iF&#F*ݼF*b-F*6=G*R?G*mu i* y):u!u! v!)v%CIv!iv!v)v)v)v) w))w)Iw)iwmCwiwqwqwq xq)xqIxqixqxqxqxqxy yy)yyIyyiyyyyyyyyyy zy)zyIzyizz Cz}}z z { ){ I{ i{ { { { { | )| I| i| | | | | } C)} )E ]>Y}y y} *>9~ rY~ ɔ 7:i~ 锍 8) 5Gɇ ^C釥 Y> H> B) > |a #цNAI:)2FRcQ=GR?GRu iR<)5 ;I )%=sM1suM19u|!Yuyu1⻉*>89~Y~ɔ:i~)[Gɇ> >B)x>Ii )u3) 7:ɔ Q9)8ٛ 8)]ʼQ =I%9i!!Y_- -0<-9_)ɖ))u)} ;== pgot command set EcoHAB_box.WpCorner1Lat 36.842499 degree= ?== tgot command set EcoHAB_box.WpCorner1Lon -121.866798 degree)E =E pgot command set EcoHAB_box.WpCorner2Lat 36.819000 degreeiE H?=M tgot command set EcoHAB_box.WpCorner2Lon -121.885002 degreeM :a NAIIHdiHdHdHf[/iFf:"FfڼFfx'Ff}=Gf)U;Y9~]/Y~eɔe7:i~aeQ9)m8iɇuC}> }>}B)i>D>;Ii )銕2)Q:ɔ8)8ٛ )]|Q B=Ii8Y_ ;9_ɖ`[  = 9 b/9bYbaa):I8In n mlimImiir sɗɚAyVT":< 8Y)Ii I)IiIII P ɘ Q: >) [<a oNAI:)k:IH(iH(H(H*p˹iF*"F.༩F.}7F.o=G..?G.u i. <)E<)%;IIs=K)! @ 9 =>s30su309u!Yuɻyu: 99~UXY~ɔ;i~8)  5GɇȓCA=)=; Ep>E9B)AIM>iM >U|?U|;IU>Ys޺)=Ii I)IiIII:Pɘk: >) A<-a  NAI:)k:IH(iH(H,H.BiF.!F.伩F.m8F.=G.+?G.u i,Is%M! @ !)A)%*;I E>s2su29u"Yu1yu1>Q99~FY~7ɔ;i~)ɇCf= >B)=)u FF2*=G2󽤓?G2u i2su2squu29uuzj#Yuuɻyuqu*>}99~j(Y~ɔ;i~锵Q9)ɇ> 8>B)@-=I>i >؇>=I;i )3):ɔ8)8ٛ )]yVel#:m< mY)=Ii I)IiIII8Pɘ阹 >)U ;Is= (Ml! @ A @ a 9~3Y~5ɔ;i~)ɇ^C= >cB) =I@=i=@-=)m <:a jNAI:)k:IH(iH(H(H(iF. #F.F.Q99~4Y~dɔ;i~8)GɇC=  >& B);=Ii8 )3):ɔQ9)Q9ٛ  ) 8]  IiY_s{:Is-ۗ! @ -:)m;u9<_qɖu9}`}/;<  = 9 b49bYbaa):IIn n mlimImi;ir sQ9ɗyVq}< }Y9)=Ii I)IiIIIPɘ阱 >)e ;a oNA?I)k:IH(iH(H,H,iF.¿"F.ǝＩF.DF..=G.?G.u i2"< J<)H)-;)%#;Is=(! @ =;Ia sP3suP39u$Yuyu)- ;zizi {i){iI{qi{q{q{q{q{q |q)|qI|qi|q|||| }C)};=9~rY~ɔ:i~) [GɇmCO> @> B) =I%>i%`d>%>--a eNAI:)^;IH0iH4H4H4iF6$F6⼩F699~'ؼY~ɔ;i~Q9) 8Gɇ)=e; =X>E B)EiM=M>M|>Y) =Ii8 I)IiIII:Pɘk: >) D! @ I `Qa ۷NA):IK;IH,iH,H,H,iF.S#F.o׼F..5F28=G2?G2u i2<););I suC1squuC19uuV"YuuyuuS}*>9~&Y~ɔ:i~锉)[Gɇ|C釥= >G B)|p>I;i 8)銽3):ɔ8)8ٛ Q9)8]&Q V=I9iY_i; <9_ɖQ9`<  #=  b&9bYbaa):I)]#a LчNAI:)e;IH4iH4H4H4iF6q"F6ռF:R:0F:=G:?G:u i: > B)|;I>i=|<Ii Q9)3)Q:ɔ8)8ٛ  8 ) ]:Q J=I9i8)U;Y_] x ];]<_aɖae8`e҈  m= i bm$9bqYbqaqaq)qIyIn n mlimImi ;ir sɗ0>%>yVu%:}< y)Ii I)IiIII:Pɘ阙 >IsEb:! @ A)m <:a NAI:)k:IH(iH(H(H,iF.De$F.v伩F..F.'!=G.|?G.u i. <)-;)%;I AsO6suO69uA&Yuɻyu: ->99~tY~{ɔ;i~Q9)8[GɇmCO> `>3 B)i@=H>I;i )3)Q:ɔ8)8ٛ   ) ]GQ L=IiIs-F! @ ))m;Y_u{: u;u9_yɖ}:}`  =  bt9bYbaa)IIn n mlimImi;ir sɗ8yV%:闕< )Ii I)IiIII8Pɘ阹 >)e ;b oNAI:)k:IH(iH(H(H(iF.@'F.Z켩F.8F. =G.5?G.du i.<)-;)%;Is=`! @ 9I asNm5suNm59u&YuyuS)- ;uu v)vIvivvvvv w)wIwiwCwwww x)xIxixAxxӓCxx y)yIyiyyyxAyy z)zIzizz,Cz}}5]=9~=&Y~=ɔ=:i~AE8)EM5GɇUCU3> ]>] B)]e) <-b eNAI:)k:IH(iH(H(H(iF*^&F*b[F*#1F.<;=G.'?G.ru i.< F<)DIs%r! @ !)E<)-7;I! s5su59u&Yuؠջyu1>99~Y~'.ɔ:i~锽Q9)8GɇmC> P>5 B)I=i>|?;I;i 8)3):ɔ8)8ٛ Q9)]=Q i=I 9i Y_i <_ɖQ9)e<`m  m-= i bm9bqYbqaqaq)}:I}In n mlimImiir sɗɚA隡yVus&:y y)yIi I)IiIII:Pɘk:阙 >)e ;IsE IoQ! @ I Q b 7NAI):IH(iH(H(H(iF.&F.0мF."T1F. 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) Dc IpNAI:IH$iH$H$H$iF&|#F&OμF*5F*v!=G*[?G*u i* <)NQ;IVL@iTIsż! @ ):sP3suP39u$YuyuS.>):uuA v)vIvivvvvv w)wIwiwwwww x)xIxixxxCxx y)yIyCiyyyyy C z)zIzizz,Cz}}5]=9~=⍽Y~=}.ɔ=:i~AEQ9)EQ9M5GɇUCUe= ]>],6B)]ie =ed$?mIm;ii u)uuuZ2)}Q:ɔ}Q9)Q9ٛ 8)]1Q 6=I9iY_' ;_ɖQ9閡`   = 9 b⍽9bYbaa):)ԹɎ鎹 )ӽ9IIn n mlimImi;ir sɗyV><:闵< )Ii8Pɘ: >IA )M < ) [c T㉎NAIIH$iH$H$H(iF*$F*켩F*L?=F*? =G*7?G*u i*<)J>;IsQ%! @ ):se5saue59ueu&Yuiyum: m)>u99~/Y~ɔ;i~锥8)8[GɇC釽> >6B) =I=i=;I;i )}&?)7:ɔQ9)8ٛ Q9)]ϛ=Q k=I9iY_ <:_ɖ` ҫ  3=  b /9bYbaa):)Ɏ!! !)!%:I!In1 n1 m1l1im1Im1i5 ;ir9=9 sAAɗAM]>M,>) j) ;Ia Is ;J! @ ) <uc J{NAIIH$iH$H$H$iF&&F&SＩF&i6F&L=G*?G*u i*<)N^;)9se`4saue`49ue!a%Yumɻyuim*>uQ99~Y~uɔ;i~锥Q9ɜ@霩)9Gɇ釽> X>e7B)| >8B)I=i`=?Ii )p)Q:ɔ8)8ٛ 8)]IQ9iY_C{_ɖ9` [=  b_9bYbaa))8Ɏ!! !)!%:I%:In1 n1 m1l1im1Im1i9ir99 sAAɗE)`$F&2F*0F*8=G*#?G*u i* <)NK;=zgot command set NAL9602.platform_communications 1.000000 boola  y);se`4saue`49um!a%Yuiyum: iIs! @ ;zz {){I{i{{A{{ӒC{(F |)|I|i|yC|||!|! }!)}!} =9~"Y~ɔ7:i~锅Q9)8ɇC);k= >8B)i >=@l=I9Aggregate::uninitialize StartupqM MDUninitialize GoToSurfaceComponent.a%M!MaMIU>;InY nY malaimaImaiairim9 siiɗu8ɚqyyVU=:U< Q)]8IYiYee8Piɘu:q u>)} Q99~):Y~ɔ;i~>>)9Gɇ^C> >`9B)= =I;i 8)uZ3)7:ɔQ9)8ٛ  Q9 ) ]YŽQ ^=I9iY_ƈ <_!ɖ%Q9%8`-=  -)= ) b-):9b1Yb1a1a1)5:==4Started mission EcoHAB_box1=.=@Aggregate::initialize EcoHAB_boxE /EJInitialize AltitudeEnvelopeComponent.E/EDInitialize DepthEnvelopeComponent.*a code=06A2 owner=005F element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 1M 0MJInitialize OffshoreEnvelopeComponent.#M GMInitialize.#UGU: = ) I i P ɘ k: >[c T NA̬?I:IH$iH$H$H(iF*$F*=F*t(F*Z=G*'?G*u i*99~&Y~ɔ;i~!%8)%9-Gɇ1== =>=:B)EM >MIIiQ U)UU)]Q:ɔe8)e8ٛa ai)i]m=*e code=0453 elementURI="Default:Iridium:A.SetSpeed.durationOfLastRun" type=00 *a code=06AC owner=004E element=0453 universal=3FFF unitName="second" type=07 size=0002 fl=05 ե81$BAggregate::initialize Default:GPSq$Initialize. %@Initialize GoToSurfaceComponent.iɐ*e code=0454 elementURI="Default:GPS:B.GoToSurface.durationOfLastRun" type=00 *a code=06AD owner=004A element=0454 universal=3FFF unitName="second" type=07 size=0002 fl=05 : %DUninitialize GoToSurfaceComponent.q*e code=0455 elementURI="Default:GPS:A.SetSpeed.durationOfLastRun" type=00 *a code=06AE owner=0049 element=0455 universal=3FFF unitName="second" type=07 size=0002 fl=05 8I=In n mlimImi;ir s!!ɗ!yV>:< )Ii  P ɘ   >I )5 R= y Is @! @ ) <vc |#NAIIH$iH$H$H$iF&%F*,jF*FU*F*u=G*%?G*u i()~<)9se]3saue]39ueE$Yumؠջyumm*>uQ99~wY~Tɔ;i~锡)8[GɇC釽[= >:B)|i=|=A*a code=06B1 owner=004B element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 %MdInitialize ReadDataComponent to sense latitude_fix*e code=0457 elementURI="Default:GPS:Read_GPS.durationOfLastRun" type=00 *a code=06B2 owner=004B element=0457 universal=3FFF unitName="second" type=07 size=0002 fl=05 IUk:]1]Y]Q9I])eIs ?'O! @ ) #;I ) ; c =NAIIH$iH$H$H$iF&16$F&sF&3`,F&==G&A?G*u i*<)NQ;)9seP3saueP39ue$Yum~yum: iq9~XY~ɔ;i~锥Q9ɜ@霭@)9ɇC釽m= S;B)I=i=`=|;I;i )n0)7:ɔQ9)8ٛ )8]PQ L=IiY_: ;:_ɖQ98`   =  bX9bYbaa):ɓ!! !)!)%@I! %i%>) -*e code=0458 elementURI="Default:GPS:D.durationOfLastRun" type=00 *a code=06B3 owner=004C element=0458 universal=3FFF unitName="second" type=07 size=0002 fl=05 i=Q91=99$=*Completed Default:GPS1=$=FAggregate::uninitialize Default:GPSqE$EUninitialize.IE;InI nI mQlQimQImQiU;irY]9 sYYɗe8yVQ]= ])aIaiaim8Pqɘqy }z>)=Is_! @ ) 7:I9 ) ;hc !VNAI:IH$iH$H$H$iF*$F*lF*w )F*=G*;?G*u i* <)NQ; V<)T):se>4saue>49ueG%Yueyuim)>u9Is'to! @ 9~$Y~ɔI;i )w)Q:ɔ8) 8ٛ  Q9 )]AQ J=I9iY_%hx %;%9_!ɖ!-`-wټ  -= ) b5$9b1Yb1a9a9)=:AɓAA A)A)E@II IiM>IIM:InY nY mYlaimaImaie;iraa siiɗiyV=?:=< =8)AIAiIIMPQɘ]:Y ]v>)<) 9IY ) ; c HpNAI:IH$iH$H$H$iF&z%F*YF*2(F*=G*3?G*u i()R;Is ! @ ):sr 4sur 49u3$Yu1yuS.>9~Y~ɔ;i~Q9)85GɇC<> >=I;i8 )13)Q:ɔ8)8ٛ   ) Ii8Y_{: ;:_!ɖ%9!`%Ӽ<  -= -9 b)9b1Yb1a1a1)5:9ɓAA A)A)E@IA AiE>AIM:InQ nQ mYlYimYImYi] ;iraa saaɗiɚmAq) j) ;Iy ) [c ቏NAIIH$iH$H$H$iF&8$F*@sF*&F*9=G*8?G*u i* <)NQ;IsPH! @ )7:se!5saue!59ue%Yuiyum: m*>u99~-Y~ɔ;i~锥8>>)9Gɇ^C釽> >K=B) =I =i===I;i )X0)Q:ɔQ9)8ٛ 8)Q9]b2Q -Q9I-:In9 n9 mAlAimAImAiE;irAI sIIɗIyV/@:< )Q9I i Pɘ)E) :I Is N4! @ ) <  vc |NAI:IH$iH$H$H$iF*%F*E?żF*F)F*=G*!?G*u i* <)Ne;IVL@iT)7:se4saue49ueCz%Yuayuae)>zz {){I{i{{A{{C{F |)|I|i||||| }C)}} =);9~Y~Jɔ uh>u>B)};Iyi}`d>?I8IIn n mlimImi;ir sɗyV< 8)8Ii88Pɘ: >Is ߠ&! @ )- mIH(iH(H(H(iF*%F*¼F*)F*,=G.$?G.u i.<)NK;)9s>4su>49uG%YuyuS->):uu v)vCIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}5]=9~=DY~=ɔ=:i~AE8)E8MGɇUCU> ]>]>B)YIe@=ie`=e=m@=Im;im u8)uu2)}Q:ɔ}8)8ٛ Q9)]Q N=IiY_}; ;_ɖ閙`;  =  bD9bYbaaIsOP! @ :)ɓ ))@I i>IIn n mlimImi ;ir9 sɗ8C>)>yV@:< )IiPɘ8 )M <) ;I `hc }֏NAI ">IH$iH$H(H(iF*D|%F*żF*m&F*=G*?G*u i*<)NK;)9se4saue49ue.%Yumؠջyum: m)>uQ99~}Y~}ɔ}:i~yyɜ@霁)9Gɇ^C釕> 8>?Q9IIn! n! m!l!im!Im!i)ir)) s11ɗ1)u) ;) ;I c HNAIIH$iH$H$H$iF&c%F&&+ļF&V)F&6=G&?G*u i*< 6>)NX; `)`Is_W! @ ):s>4su>49uG%Yu1yuS.>9~&Y~ɔ;i~Q9)9[GɇC> >?B)=IIIInQ nY mYlYimYImaie#;iraa siiɗi) p) 7;) I [d  NAIIH$iH$H$H$iF&|%F&'ʼF&&F& (=G*?G*u i( >>)NK;Is4! @ )7:sasaua9uiYumɻyumm*>q9~DY~ɔ;i~锡)85Gɇ釹 >@B)|-8I)In9 n9 m9l9im9Im9iE ;irAE9 sIIɗIɚUAQ) p) ;Is ~! @ ) <IH$iH$H$H$iF&|%F&ϼF*,+F*=G*?G*u i*<)N^; N>):se4saue49ume%Yum1yumSiq9~}SY~}ɔ}:i~y}8>>)9GɇC釕K= >AB)?I;i 8)銵2):ɔQ9)Q9ٛ Q9)8]Q O=IiY_9_ɖ`?  =  bS9bYbaa)ɓ )9)@I 8i>I:In  n mlimImiir s!ɗ!) kIs fi! @ ) *;) ;d =NAI:IH$iH$H$H$iF&q%F&7=׼F&40F*L=G*?G*u i* )JK;IRO@iVO@ \)Q:se`4saue`49ue!a%Yuayum: iu99~}xY~}ԧɔ}:i~yy)Q9[GɇC釕<> >AB);I>i>?=I;i8 )銵2)7:ɔQ9)9ٛ )]X:=Q L=I9iY_ ;9_ɖ`3;  =  bx9bYbaa)ɓ ):)@IQ9 i>I;In  n mlimImi;ir: s!!ɗ!) hIs5! @ ) #;) ;`hd }VNA?I:IH$iH$H$H$iF&×%F&+1˼F&j-F*A=G*?G*u i*)ND; l):ser 4sauer 49um3$YuiyuiiqIs`#! @ 9~&Y~ɔFBB)i@==I;i )):ɔ8)8ٛ 8)]퓼Q H=I i Y_ ;9_ɖ`%<  %= ! b%&9b)Yb)a)a)))1ɓ19 9)9)=@I=9 =8iE>AIAInI nQ mQlQimQImQiU ;irYY saaɗam8>m!>)) ;) ;d HpNAIIH iH$H$H$iF&$F&gͼF&ٞ+F&+=G&?G&u i*<)N7;IL |Is2! @ ):s!5su!59u%YuSyu/>zz {){I{i{{{{{ |!)|!I|!i|!|!|!|!|! }%C)}!); =9~):Y~ɔ;i~8ɜ@@) :) ) :I I Is &uZ@! @ ;)k:)9)9)?[Gɇ^C釭> >CBIscAN! @ ;)):I-@=i-0p>-=5|=I5=i1 9)=|=uZ)E:ɔEQ9IA)MQ9ٛI QQ)UQ9]U6Q ]I:In n mlimImiir!%9 s))ɗ)yVC:< ) I i 8Pɘ:! %c?<)d 5NAI:)5QIs\! @ )Q:sm4sium49ume%Yumyum: m>>u89~9DB) I @=i 5>?|;Iw= 9 bIIn n my ly imy Im i )5 $=0d NAI:IH$iH$H$H$iF*%F*5¼F*:F*=G*𻤓?G*u i*<)j0;)9Isj! @ ser 4sauer 49ue3$YueɻyueSe)>mQ99~ɼY~\xɔK;i~锍Q9)Q9Gɇ^C釥^> >DB)qIu:In n mlimImi;ir9 sɗ)Ec<ɚMAIyV5!D:5G= 1)=8I9i9AEPIɘMk:Q U>);) 0;I 6d ёܐNAI:IH$iH$H$H$iF&$F&ZF& F*34=G*?G*u i* <)jK;Ispx! @ )7:=zgot command set NAL9602.platform_communications 1.000000 boolysEq4sAuEq49uM%YuMyuM: M&>U99~Y~ɔ;i~锍8>a>)9[GɇC針w= 0>HEB)=Ii 8)銽uZ2)7:ɔQ9)8ٛ Q9)]׼Q O=Ii:Y_@ ;9_ɖ9`\  = 9 b9bYbaa): ɓ   ) ) @I  81i>&2Completed Default:Iridiumq&NAggregate::uninitialize Default:Iridium 'Uninitialize.q,4Initialize Wait Component.I0;In! n) m)l)im)Im)i- ;ir159 s19ɗ=Q9yVD:== =)EIAiIM8IPQɘ]:]8 ew>))=) ;) :I uyuy v)vCIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}});^=9~j(Y~ɔ%7:i~!%Q9)g<5GɇmC釥= >EB))e )):Is +޼! @ +;),:)/<)09I11 1)3:Is-5D! @ 15)6)-99)9<)E<=I= =Is@eB! @ @)@:)C9)F)mI<)I:Is K d! @ KIYK K)L:)P9) SIsmUGZ! @ iU)%V:)Vq=IW X)-Y7:)5\9=\,got command show stack\ Behavior Stack: #\GE?G҆ i=):);I y):sX4suX49u$Yuɻyu)>uu v)vIvivvvvv w)wIwiwwwww x)xIxixAxxxx y)yIyiyyyyy z)zIzizzz}})%  NB)>I>ih>D,?=I;i )أ):ɔ8)8ٛ Q9)]9Q i;I9i8  ^ PB  ^ PB  _E:Y_  :9_Yɖ]9Y`e ;  e1; a bmQ!9biYbiaiaq)u:yyɓyy y)}:)yIyI:In n mlimImi ;ir9 sɗ>,>)e)9<)@9Is@3! @ @:)C7:IF)F9)F> G>)I:Is K~š! @ K;)L)O<)P9I S)S iSIs-U6Xĭ! @ 1U)%V7:)-Y9)=[r;)=\:Is``갹! @ `)`7:I` 9a)c:)f9)hK;)i9Is k^! @ k)l:I1m m)p) s9)MuM NTB)U ;IU `=iU =] @=] ) *;I )):) 9Is! @ )%:)`=)-9I! y)=:Is .!! @ ;) )#9)&I' I()):Is +'$-! @ +),>),Q:).:)09) 39IA4 4Is-5Q8! @ 15)%6k:)-99)U;;)=<:Is@u_oC! @ @)@:IB qB)C)F9)I9Is Ks|N! @ K)L7:IiN N)P:)EPz>)S:IsMU]yY! @ QU)U<)%VQ:)-Y9IZ [)=\:Is`b@fd! @ `)`)br;)c9)fIh h)i:Is k>Co! @ k)l)nD;)p9)s9ItIs-u{z! @ 1u 9u)%vk:)-y9)e{<)=|:Is(΄! @ ):Ic )) Q9):)9Is8|! @ ):I ) )&9)*Is[*y! @ c*)K,7:)[29I6 c7){8:,e -NA\?I:Isf݄! @ h)n:IHiHHHiF$F#G:^?G< i=) 4<);=-dgot command load ./Missions/Science/EcoHAB_box.xml-dLoading Mission: ./Missions/Science/EcoHAB_box.xml) ;s5P3s1u5P39u5$Yu5ؠջyu5S59>I) ) :!q 靡  ZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!u )  VDefineArg EcoHAB_box.MaxDepth = 85.000000 mIs *! @ !y i } `DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}   RDefineArg EcoHAB_box.Speed = 1.000000 m/s! 鞙  bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h! I  `DefineArg EcoHAB_box.MassDefault = -0.004180 n/au u v )v Iv iv v v v v w )w Iw iw w w w w x )x Ix ix x x x x y A)y Iy iy y y zAy y z )z Iz iz z z } } !% ! % fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!5 5 ^Xz?= nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg!E )E -zM rDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg!] i] P޼?] pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!m m Tx{u tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg! 頝 Π1`? hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg! ) O,1y lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg! i ? hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!  0X;y lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!   hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!-))5lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!EiAMhDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!UQ]lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!ea`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!)bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!itDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!)-<)5=eZDefineArg EcoHAB_box.Repeat = 13.000000 count!}y}`DefineArg EcoHAB_box.CircleRadius = 500.000000 m!)fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!i^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!TDefineArg EcoHAB_box.CircleModulus = nan h!餹zz {){I{i{{{{{ |)|I|i|C| | | |  } C)} =^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!M)IUXDefineArg EcoHAB_box.LapTimeout = 8.000000 hY}qy}y}>!i\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m!^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!饹bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!)9~;Y~ɔ9!>)9ɇCX=)=fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!%i!-lDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /=6Construct AltitudeEnvelope./e0Construct DepthEnvelope. u>uw^B 06Construct OffshoreEnvelope.! XInserting Stack: Missions/Insert/Surface.xml)I>i>l"?`=I=i 8)2)7:ɔQ9)Q9ٛ Q9)8]:Q u;Ii^VB^VB_Q:Y_EK9 M:I_IɖM9Q`Uo  U:; Q b];9bYYbYaaaa)e:I8Inw: mlimImi:ir s9)o=ɗɚAaxDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/savDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdegIs-mf! @ 1a=)9=zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/saMiIUDefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina eam~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool 1u,Construct GoToSurface.IylInserting Stack: Missions/Insert/SurfaceCommsSplit.xml yV6R:= )I!i%!-8P)ɘ5:= =B?G9e yNAI:IH0iH0H0H0iF6<$F6zWF6F6#=G6˷?G6[w i6?< FDIbM@i`)f=jDefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdegn)lrDefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/svXInserting Stack: Missions/Insert/Surface.xml}iyDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/sDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg鮥?DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s!)DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min%iDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6,Construct GoToSurface.DJW? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg ?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/siRedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boolmlInserting Stack: Missions/Insert/SurfaceCommsShort.xml!)~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s)E<=!-UQ]vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1e)im~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5}iyvDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;,Construct GoToSurface.s?4su?49uw$Yuɻyu: ,>^Inserting Stack: Missions/Insert/SurfaceGPS.xml5p<9~UrY~UcɔU;i~QUQ9)YeGɇmCm> `>&_B)|i@->==I DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg!!]   |DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s XInserting Stack: Missions/Insert/Surface.xmla!a} Iy  DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!e  I  DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!i ɶ ? DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!m   DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!q I  DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C ,Construct GoToSurface. - DJW?- RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegɶ5 ?= RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s GE Construct.#= M #I ] Ge &Construct Buoyancy.#M m } zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmlh)@e NAIIH$iH$H$H$iF*-$F*F*aF*!$}iDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg!$)%DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m!$-i)]DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m!$eamDefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool!$黙DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$)DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s!$iDefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg)`=!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s LEConstruct.!& U!&} U!& UM},Construct GoToSurface.); Z5&Construct Waypoint.se5saue59ueu\&Yue1yue1⻉e)>m89~mY~ɔK;i~锍9)8[Gɇ^C釥= [&Construct Waypoint.Is R! @  ;) \%&Construct Waypoint. ]U&Construct Waypoint. ] >]_B)];Ie=ie\>e=m>Im) Y=I CFe EGNAI :IH$iH$H$H(iF*,a&F*bF*wF* =G*򾤓?G*u i* <)J=0%vDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool05)5es-8R?5DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg0EiEes-8RMDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg0UUvDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool0 vDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool0)DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool0%i!-DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool0515DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool0=AEDefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool0M)MDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool0i@DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m0DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m0 DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a0iDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a0 )k= %DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a05)1=DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a0EAMDefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a0UQ]DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a0e auDefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l0}IyDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m0ʉDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg0ʙDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg0 ˩DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l0I)Is"! @ DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m0%!-DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg0 51EDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg0 M IUDefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB0]IYse4saue49ueCz%YueɻyueSamQ99~uvY~uɔu7:i~q}8)yɇ金 ?`B)|==I;i )銽Ia3)7:DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m0DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg0DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdegɔQ9)8ٛ 8 ) 8] Q W=I9i^^VB_Q:)5p=Y_=; =<=9_Yɖ]9a`e=  e#= e9 bmv9biYbiaqaq)u:IqIn mlimImi:ir9 s8ɗ8;>%>f 8Construct PeakDetectVsDepth. hM8Construct PeakDetectVsDepth.yV;S:= 8)IiPɘ; >iM8Construct PeakDetectVsDepth.)}RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolązRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)es-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegiDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booli@ RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m  RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m  RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool % zRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool)= m=jE Construct. kU 0Construct DepthEnvelope.k 6Construct AltitudeEnvelope. l Construct YoYo.I   A This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 = PLoaded ./Missions/Science/EcoHAB_box.xml= vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree韽 ?= zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree) z= xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei $?= |got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree !h^Le 3NAI:IH$iH$H$H$iF&b%F&T\F& .F*=G*𾤓?G*u i* < @)@Is! @ ;);sE4sAuE49uEe%YuEؠջyuM: M&>U99~-Y~ɔ;i~锅Q9)5GɇmC針O> ?aB))>) O=I 9 Ise Q! @ e ;) Z=)<)5;)5:)E9IsMB{! @ M;I1 )Uk:)]9)i)m:Is!! @ !)":I% Y%)&) )9),9Is-, ! @ ),)%. >)-/Q:IQ1 1)52:)E59IsM6D ! @ I6)6<)U8Q:)];9I= >)m>:IsA! @ A)B)Cr;)F9) I9IyK KIs%LQ(! @ )L)5Lk:)%O9)PK;)5R:)EU9IsMV 2! @ IVIW )X)UXk:)][9)}\<)m^:IsaKCGc?G i=) >;)9IY s 3su 39ue$YuyuS)>uu v)vCIvivvvvv w)wIwiwwwww x)xIxixAxxxx y)yIyiyyyxAyy z)zIzizzz}})M <) =) :Is- ~! @ ) z z A { ){ I{ i{ { A{ { { | )| EAI| i| | | | | } C)} Y} y} )A F>9~ Y~ wɔ y;i~ 锱  Powering downɜ 霽 i Ɇ ) I i Ʌ ) I ) ; [Gɇ |CE> >iB) Im=imȋ>u>qIu9IsAR! @ A ;)B7:) Ev>)F9IF 1G) I:)J<)L:Is-Lp! @ -L:)-O:)5R9IIS S)EU:IsMV! @ IV)5Vk;)UX7:)][Q9)m^9Ia YaIsaף! @ a;)b:)cD;)f:=}gpgot command set EcoHAB_box.WpCorner1Lat 36.842499 degree}g?=}gtgot command set EcoHAB_box.WpCorner1Lon -121.866798 degree)g =gpgot command set EcoHAB_box.WpCorner2Lat 36.819000 degreeigH?=gtgot command set EcoHAB_box.WpCorner2Lon -121.885002 degreeg)iw<)l9Is-l ! @ )lIim m)-ok:)Mp<)5r:)Eu9IsMvi! @ Iv)Ux:Iy z)Y{)=|:)m~:Is|>! @ ):) 9I# ):):);:Is[H}! @ S)[:)k$9I' C()*:Is,=X! @ ,) -]<)0Q:)69)<^e ;߳NA?IIIsM! @  IHiHHHiF$Fuu v)vCIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}})M ;zq zu A {q ){q I{q i{y {} A{y {y {y |y )|y I|y i|y |y | | | } )} Y} y} *A =9~ FY~ 7ɔ :i~ 8) 8 5Gɇ C <> % `>% oB)% |i- @=5 Ph>5 @l=I5 ;i1 = )= = 2)E 7:ɔE Q9)M 8ٛI M Q9I )U 8]U XQ U ;IQ i] ^] WB^] WB_a e k:Y_e  e $:e 9_i ɖi i `u Ż  u M; u 9 bu F9by Yby ay ay ) :ց ɓ 铉 )Ս :) IՉ I :In n m l im Im i ;ir 9 s 8ɗ ) \:闥 =Is <! @ ; ) I i 8 P ɘ >I  I)=7;)M+=)5:)E9IsMaY! @ M;)U:IY )Y)m;)m:Is!! @ !)":)&Q9I)( i() ):Is-,/w! @ ),)1,)%.>)-/9)52Q9I4 4)E5:IsM6*'! @ I6)6<)U8Q:)];Q9)m>9IsAi0! @ AIQB B)Bk:)Cr;)F:) IQ9Is%L8! @ )L)-L:IN N))O)PK;)5R:)EUQ9IsMVp0A! @ IV)UX:IZ 9[)a[)}\<)m^:IsaQI! @ a)b7:)f9Ih i)i:)i:)l:Is-l5Q! @ )l)-o:)5r9Iu)Eu9 Yu)!vIsMvV Z! @ Iv)Uxk:)]{Q9)m~9Is?b! @ I)7: S);0<) :)Q9IsK3ij! @ S)k:)K9I ) <){$Q:)*Q9Is,ur! @ ,)0:)69I37 7);W=)<Q:^Gmp?Gm^ im=) ;sX4suX49u$YuؠջyuS(>) :Ii ) 9u u v )v Iv iv v v v v w )w VAIw iw w w w w x )x Ix ix Ax x x x y )y Iy yCiy y y tAy y z )z Iz iz z z } } z z { ){ I{ i{ { { { { | )| I| i| yC| | | | } )} )m * vB) = =I )j)U8Q:)];9I1< q<)=<)m>7:IsAJ! @ A)B)F9) IQ9IJ)Jk; AJIs%LZ! @ )L)5L:=]Lpgot command set EcoHAB_box.WpCorner3Lat 36.859001 degree]L?=eLtgot command set EcoHAB_box.WpCorner3Lon -121.964996 degree)eL=eLpgot command set EcoHAB_box.WpCorner4Lat 36.882500 degreeimL\?=mLtgot command set EcoHAB_box.WpCorner4Lon -121.946800 degreemL)Oh<)5R9)EU9)5VK;IsMVF! @ IVIYV V)UX:)][Q9)m^9Isa! @ a)b:)duuA v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx yA)y#% {B)% - p>5 Aggregate::uninitialize Default + Uninitialize.1  , DUninitialize GoToSurfaceComponent.q , 8Uninitialize Wait Component.= 4Started mission EcoHAB_box1 . @Aggregate::initialize EcoHAB_box  / JInitialize AltitudeEnvelopeComponent. / DInitialize DepthEnvelopeComponent.1  0 JInitialize OffshoreEnvelopeComponent.#  G Initialize.# G 䩓f ]ONA^?I:IH4iH4H4H4iF6x%F6 =F:\FJ4su>49uG%Yuyu,>89~MY~ɔ;i~)[GɇmC > ?~|B)==%I%;i! !)--3)5k:ɔ58)=8ٛ9 99)A]EW;Q E=IE9iA^I^MWB_QUk:Y_U> U=<  el= e9 bmM9biYbiaqaq)u:yiy}ԁ1bAggregate::uninitialize EcoHAB_box:SurfaceComms:B1q2^Aggregate::initialize EcoHAB_box:SurfaceComms:C)Iiԍ7:ԕQ9ԕ9 ՝Q9I;In n mlimImi#;ir sɗyVd:闍< 8)IiPɘ:阭 >)uQ99~=Y~Nɔ;i~锡)GɇC釽S= 0>}B)=I >iH>>`=I;i )iS8):ɔ8)8ٛ )Q9]0#)<) 9f NAIIH iH$H$H$iF&]$F&[]F&-F&=G& ?G&u i*;);I)Isjv ! @ ;)k:sE?4sAuE?49uMw$YuIyuIM&>Q9~]/Y~]ɔ]:i~Y]Q9)e8m[GɇmCu> u>}}B)}>Ii 8)銕]3)Q:ɔ8)8ٛ )8]5)<)% 9f QNAIIH iH$H$H$iF&y$F&jF&y&F&.=G&?G&su i() 0;IsV! @ )u99~mY~ɔ;i~锡Powering up)95GɇC釽X= >V~B)I=i@><Ii )أ1)Q:ɔQ9)8ٛ )]Q H=I9i^^WB_:Y_ ;9_ ɖ Q9 ``<  = 9 bm9bYbaa!)%: %))I)i)))-91 1I5;InA nA mAlIimIImIiM;irQU9 sQQɗYyV5e:=< 9)EIAiAIMPQɘU:Y ]v>)<) 9۬f 뵚NAI:IH$iH$H$H$iF&-($F&6F*R3F*=G*?G*bu i* >~B)I=i==I;i 8)uڰ):ɔQ9)Q9ٛ )]MU0>yV}f:< )!I%i%-8)P1ɘ5:9 =r>)}<)% 9Is5 ;~"! @ 1 ಳf {ϚNAIIH$iH$H$H$iF&b$F*F*AF*7=G*?G*Lu i* < F<)D)X;);mHOpening uart, block timeout 10ths=20m*Querying output modesm-B)5=|;IIs x**! @  )- :͹f NAI:IH$iH$H$H$iF*ml$F*eF*߳IF*dK=G*?G*;u i*<) 0;);I) :sEv3sAuEv39uMg$YuMyuIM%>zz {){I{i{{{{{ |)|I|i||||| })}] =9~DY~ɔ >.B)I@=i>@>I;i )#%):ɔQ9)8ٛ )]sQ H=I:iIs _1! @ ^ ^ WB_  e;Y_t ;9_ɖ`%;  %= ! b%D9b)Yb)a)a))-: 1)9I9i999=9E9 AIE*;InQ nQ mYlYimYImYi];iraa saaɗiyV g:闕=)< )IiPɘ: >)- :f NAI:IH$iH$H$H$iF&D$F&MмF&SF&;=G*?G*,u i*<) 0;);IIs08! @ ):sEP3sAuEP39uE$YuESyuE: IUQ99~TY~ɔ;i~锍Q9)ɇC針= p>B) =I >iP>$4?I;i8 )銽3)7:ɔ8)Q9ٛ 8)]/Q a=I9i^^WB_Q:Y_Z  <_ɖQ9`>  -= 9 bT9bYbaa) )Ii9 Q9 9 8I;In n! m!l!im!Im!i%;ir)-9 s)1ɗ58ɚ99yVg:< )Ii   Pɘk: n>)<)% 9f QNAIIH$iH$H$H$iF&f$F&漩F&XF&5=G&?G*u i*99~):Y~ɔ;i~8)5GɇC> ?B)iЉ> 01> I ;i )S3)7:ɔQ9)%Q9ٛ! !)))]-1)}<)% 9f 5NAI:IH$iH$H$H$iF&I>%F&ݼF& !\F*LC=G*^?G* u i* ;);I) :sev3sauev39ueg$YueɻyumSm*>uuA v)vIvivvvvv w)wXAIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}]=9~5\HY~=fɔ=;i~99)E8EGɇIUK= uJ @uB)}I}==i}9> 5>I )- ;IsE RM! @ A f {ONAIIH$iH$H$H$iF&^g$F&߼F&?Q\F&9=G*??G*u i*<)D;)) :I%>sE5sAuE59uM&YuMyuM: M&>UQ99~]=Y~]Nɔ]:i~Y]Q9)eiɇm|Cu= u?}UB)}|;I} >i؇>`=`=I;i8 )銕#2)7:ɔ8)8ٛ )];Q t=Ii^^WB_Y_9; <9HOpening uart, block timeout 10ths=20FcommandDVL: #&!LQNQ.COMD1616 00 0 _ɖ:`  9=  b=9bYbaa) )Ii9 IIn n mlimImi;ir  9 sɗ>!>yV.h:< )Ii88Pɘk: j>)=G* ?G*t i*< B<)@)K;)) :sEȏ3sAuMȏ39uM3$YuM1yuMIQ9~] CY~]ɔ]7:i~YaIe>)am[Gɇu^C}= }(>}B) =I=i=T(?@-=Ii 8)銕E3):ɔ8)8ٛ )]TQ L=Ii^^WB_Y_z ;_ɖQ98`=  = 9 b C9bYbaa): 8)Ii: I;In n mlimImi;ir   s  ɗ8yVh:< )8I8i8PIs C[! @ :ɘ k; l>)<)% 9f RNAL?I:IH iH$H$H$iF&8$F&F&W[F&:=G&?G&t i() 0;u cmdResponse: 00 u&Enabling NQ1 outputuFcommandDVL: #&!LQNQ.COMD0505 01 1 )Is5{5b! @ 5;)M8I>9~Y~uɔ;i~)5GɇC>  ?)B)!I%=i%=-@=-I-B)<e cmdResponse: 01 e *Querying output modese 4su>49uG%Yuɻyu: 99~qY~xɔ:i~锡)8[GɇؓC釽>I> H>B);I=i@l>p!?=I S@)<)% 9f 뵛NAI:IH$iH$H$H$iF&K%F&UӼF&wWF&4=G*?G*t i*zz {){II{i{{{{{ |)|I|i|C| | | |  } )} } =9~\HY~fɔ:i~锁)ɇC針= >B)|;I>iP)>>=I;i )銵3)7:ɔ8)8ٛ 8)]Q A=I9i8^^WB_Y_ ;_ɖ`  =  b\H9bYbaa) )Ii9 Q9  Q9I ;In n m!l!im!Im!i%;ir)) s))ɗ)yVi:< )Ii P ɘuY)<)% 9Is5 w! @ 5 :Df ϛNAIIH$iH$H$H$iF&!%F*>ټF*vUF*!=G*?G*t i* <) D;);):sasaua9uiYuiyum: iuQ99~8Y~ɔ;i~锡)85GɇmC釽= (>=B)i>@->I;i )u2)Q:ɔ8)8ٛ )Q9]$)zQ9~]CAY~]ɔ]:i~YY)am[GɇmCuX= u>}B)};I}`%>i>@l>I;i 8)銍u1):ɔQ9)8ٛ )8]ǼQ Q=I9i^^WB_Q:Y_A ;9_ɖ8`A=  =  bCA9bYbaa): )Ii: 8IIn n mlimImi;ir s Q9ɗ x>4>I9yVfj:< )Ii8PIs1X! @ :ɘ e; 8 l>)<) 9g RNAIIH$iH$H$H$iF&ۉ$F&༩F&J9LF&*=G&?G*t i*< @)@) >;)Isb9#! @ )Q:sEP3sAuMP39uM$YuMؠջyuIIU99~]6Y~]ɔ]:i~Ya)amGɇmCuS= u?}B)}|;I} >i8> 5>=)<)% Q9g QNAIIH$iH$H$H$iF& %F&yڼF&lJF&3=G&z?G*t i() 0;Isyt! @ ;)<) Q:se>4saue>49umG%Yum~yuim*>q9~&Y~ɔ;i~锡)Gɇ釽> X>_B)i>>I;i8 )]3)Q:ɔQ9)Q9ٛ )])}< @)% 9h g )5NAIIH(iH(H(H(iF*w%F*ҼF*a.GF*:=G*d?G.t i.;);) :seP3saueP39ue$YueSyuim)>uQ99~ >B)I=i`===I;i )أ1)7:ɔ8)8ٛ )Q9]VռQ M=I9i^^WB_:Y_o ;9_ɖ ` Z<  = 9 b)< NQ1 @ Y ,=  ,=    = IsU U! @ ] ;)} I<g {ONAI:IH$iH$H$H$iF& %F&9꼩F*HF*'=G*[?G*t i* < By=ɍB< B >B)i>\&?)uyu}A vy)vIvivvvvv w)wVAIwiwwwww x)xIxixAxxxx yA)yIyiyyyyy z)zIzizzz}}IIsEo! @ :]=9~KY~ɔ7:i~!%Q9)!-[Gɇ5C5= =x>=sB)==iE>E40?MIM;iM I)UUIa3)U7:ɔ]8)e8ٛa aa)e8]mkQ m6=Iiim8^q^uWB_y}Q:Y_} `: };y_ɖ閁`<   = 9 bK9b= - w:Yb= 1 9aa): ס)Iiԡԩԩ ձI#;In n mlimImiir sɗyVl:闵< )Ii8Pɘ: >)<) 9 g RNAI:IH$iH$H$H$iF& %F&ۼF&GF*30=G*5?G*t i* <) 7;);):IssC! @ ;sev3sauev39ueg$Yum~yum1⻉izz {){I{i{{{{{ |)|I|i||||| } )} } =9~):Y~ɔ:i~锁)ɇmC針> >B)i>K?I;i8 )|銵uZ)7:ɔ8)8ٛ )]:E0>yVl: )IiPɘ:)< )% :&g QNAIIH$iH$H$H$iF&T$F&d޼F&v@F&4:=G*%?G*u i*< @)@=},got command show stack} Behavior Stack: .RPriority 0: EcoHAB_box:A.AltitudeEnvelope.LPriority 1: EcoHAB_box:B.DepthEnvelope.RPriority 2: EcoHAB_box:C.OffshoreEnvelope0bPriority 3: EcoHAB_box:SurfaceComms:A.GoToSurface2NPriority 4: EcoHAB_box:SurfaceComms:C:B)99~Y~ɔ7:i~锹)85GɇȓC> ?(B)i>@>Ii 8)&?3):ɔQ9)9ٛ Q9)]{)<)% 9,g 鵜NAI:IH$iH$H$H$iF&&F&4mܼF&DF&C=G* ?G*t i*uQ99~J1Y~ɔ;i~锡)[Gɇ釽> >xB)i>A? 8>؉B)=?|)u); =IAA)=;sE3sAuM39uML$YuMɻyuIM&>Q9~eY~eɔe:i~ai)iqɇ}OC}= P>3B)Iq)<) 9h@g NAI:IH$iH$H$H$iF&$F&VѼF&HF&K=G*񾤓?G*u i*<) *;)):IsU! @ seP3saueP39ue$Yuiyuim*>q9~Y~^ɔ;i~锍Q9)8ɇC針p= >B)IP>i> > >I I)<) 9Fg QNAI:IH$iH$H$H$iF&j%F&żF&oKF&==G*群?G*u i*<) *;IsM! @ )<) Q:sEv3sAuEv39uMg$YuM1yuIM&>UQ99~]2Y~]ɔ]7:i~Ya)em[GɇmCu^= uH>}B)};I}>iP>6?I;i8 )銕#2)7:ɔQ9)9ٛ )]YQ Q=Ii^^WB_Q:Y_ ;_ɖ`ܠ<  =  b9b= - 8Ybi= 1 N8aa): 8)IiQ9 IIn n mlimImi;ir  9 s  ɗ>>yV`n:< )Ii8Pɘ:8 j>I)<)% 9Lg 5NAI:IH$iH$H$H$iF&!$F&ļF&MLF&2=G*徤?G*u i*< H)HIsv!! @ t)%^;);):s 3su 39u%e$Yu!yu!%B>)9~=Y~=uɔ=:i~AA)EQ9IɇU^CUZ> ]>]?B)]ie>eB?iIm;im q)uu)}k:ɔ}Q9)Q9ٛ 8)]Q=I9i^^WB_:Y_ ;9_ɖ閭`/  = 9 b9b`= - 9Yb= 1 c8aa): )Ii99 IIn n mlimImi ;ir9 sɗ1IyVun:u#= u)}8Iyiy8Pɘk:)<阹 >)% :Is5 W}! @ 1 pSg  ONAI:IH$iH$H$H$iF&$F&ŹF*MF*1=G*߾?G*u i* <)>;)):sEȏ3sAuEȏ39uE3$YuEؠջyuAM%>z9z9 {A){AI{Ai{A{EA{A{EC{A |A)|AI|Ii|I|I|I|I|I }MC)}I?=9~4Y~dɔB >B)IX>i>X>hYg niNAIIHdiHdHdHdiFf2$FfFfPmOFj=Gj?Gj$u ij<);); e@)7:s= 3s9u= 39uEe$YuEyuEE5>M89~]TY~]ɔ];i~aa)eQ9mGɇu^C}>Is=! @  5`>=B)9I==iE=E =M|=IM bUT9b]= - ]8Yb]= 1 ]98aYaY)]: e)aIaiiiiԭ <Ա ձI/)5 ;0`g <NAI:IH$iH$H(H(iF*$F*C̼F*HGF*,=G*?G*u i*;);):Is>2e! @ NQ1s2su29u#YuɻyuS=>Q99~KY~%ɔ%>;i~!!qYu<}<},>}H>})e<ɇmC釭= >2B))< =ɍ< = b- K9b- = - - 9Yb5 = 1 5 9a1 a1 )5 ]= = 8)9 I9 i9 9 A E Q9 < I Lfg 2UNAI:IH$iH$H$H$iF*#F*;μF*2CF*&=G*̾?G*(u i* <);Isɒ! @ )-2<) Q:s4su49uCz%Yuyu>> 9~%"JY~%ɔ%>;i~!-9-i>-N>)591ɇ=CE> 8>B)I`%>i>>Y_ ;_ɖQ9閙`W  = 9 bI9b> - 9Yb= 1 (9aa); )Ii9 I;In1 n1 m1 l9 im9 Im9 i= ;ir9 A sA A ɗE M >M ?>yV% p:% < ) )) I1 i5 8= 89 PA ɘE :I M >)e <lg 뵝NAI :IH$iH(H(H(iF*%F*U%ԼF*,BF*-=G*?G*u i.uuA v)vIvivvvvv w)wIwiww w w w  x )x Ix ix )=;x xUӓCxQxQ yQ)yQIyQiyQyYy]xAyYyY zY)zYIzYizYzYzY}Y}YI=9~) Y~) ɔ- B m >m B)m |;Iu >iu >} `%>} I}  - 9Yb > 1 49a a ) %< ) I i ) ]'tg ]mѝNAI:IHdiHdHdHdiFfl%)=;FEh伩FE LFEJ=GE?GE"u iM"= ));)-:s 3su 39ue$Yu1yu1>Q99~YY~M ɔK;i~锹)Q9GɇCw= ܆?ȍB)i>>I;i 8)  2):ɔQ9)Q9ٛ 8!)!]%iQ %<)];I - 9Yb > 1 9aa): 8)IiI9 8I>;In n mlimImi;Is5w9! @ 5;ir9=9 s99ɗAyV (q: < ! )% I- i- ) 1 P1 ɘ= k:= 8 E >) 0<`Jzg _)NAI ;IHtiHtHtHtiFvE$FvaFv\\CFv"=Gv?Gv"u iz<)*;) ) :=tgot command set EcoHAB_box.WpCorner3Lon -121.964996 degree)Is ] ! @ s]3su%]39u%E$Yu%~yu!%.>-89~EFY~E7ɔEX;i~IIɜU@U@)U9][Gɇe^Ce= mH>m#B)miup>u =qI};i )銥3):ɔQ9)8ٛ )]=Q R=I9i^^WB_Y_wJ; <_ɖQ9`<  '= ; bqF9b> - 9Ybb> 1 9a a )  )Ii)<Ե<Ե9Խ9 սQ9I)M ;"g NAzT?I:):IH)iH1H1H1iF5m$F5⼩F5?F5#@=G5?G5(u i5=) ;);Is5D'{&! @ 5 ;s}!5syu}!59u%YuyuS1>Q99~-Y~ɔ0;i~锥9)9ɇ|C釽>)5y; >~B @I)% |<)- :IE >i} `d> 8/?)= Q:u =Iu c>iy y )} } u3) 7:ɔ 8) 8ٛ < ) ]  - :Yb> 1 u9aa ) :)E;IsU,! @ U; ׉)Iiԕ:ԙԝ9 ՙI;In n mlimImi*M^:>U㥽U>U) E|=IIIzaza {a){aI{ai{a{a{i{mC{i |i)|iI|ii|i|i|i|i|q }uC)}qIs 2! @  ;M=9~;Y~%ɔ%- >))5Gɇ5C=>);) ; > B) I >i p!> = =I d=i 8)  ) :ɔ <) Q9ٛ 8 ) ] Q ,=I i 8^ ^ WB_ Y_ `S ; _ ) ;ɖ! ) `- [=  - < - 9 b5 J99b= |> - = ;Yb= Nt> 1 = ;a9 a9 )= : A )A IA iA I M 9M Q9Q Q IQ In n m l im Im i ;ir s ɗ =E pgot command set EcoHAB_box.WpCorner4Lat 36.882500 degreeiA yV Qr: < ) 8I 8i 8 8P ɘ : >(g /DNAI:IH4iH4H4H4iF6$F6!伩F:GF:H=G:N?G:Lu i:P<)eo89~8Y~ɔD;i~9))%K;ɇMCM> U"?U B)UIeG - - S;Yb- > 1 - :a) a) )5 : 5 )9 I9 i9 9 = :ԝ 9ԥ 9 ա I o ,>yV r:闵 < 8) I i 8 P ɘ : >Mg ^NAI)~;IHiHHHiF$FʼF?F^2=GS?G9u i6=Isl>! @ I1)#;)9sr 4sur 49u3$Yu~yuH>9~=Y~Nɔ7:i~锝Q9)8Gɇ釵> U?B)I=iH>x>p`>ID - ;Yb > 1 ;a a ) :  )! 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E  1 ]aYaa)e;*a code=06B9 owner=0069 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 4mdInitialize ReadDataComponent to sense latitude_fix*e code=045C elementURI="EcoHAB_box:SurfaceComms:C:C.durationOfLastRun" type=00 *a code=06BA owner=0069 element=045C universal=3FFF unitName="second" type=07 size=0002 fl=05 I}:q}2}FCompleted EcoHAB_box:SurfaceComms:Cq}2bAggregate::uninitialize EcoHAB_box:SurfaceComms:C)Iiԁ0BCompleted EcoHAB_box:SurfaceCommsq0^Aggregate::uninitialize EcoHAB_box:SurfaceComms 1DUninitialize GoToSurfaceComponent.q0`VAggregate::initialize EcoHAB_box:ScienceOps0afAggregate::initialize EcoHAB_box:ScienceOps:Science011q11112q222q5jInitialize.5 kDInitialize DepthEnvelopeComponent.*a code=06BB owner=00D6 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 5kJInitialize AltitudeEnvelopeComponent.16 l2Initialize YoYoComponent.q6lZAggregate::initialize EcoHAB_box:ScienceOps:Fԩԭ9 խQ9I)- V=)- <h 7HNAIIH$iH$H$H$iF&@$F*F*=EF*"=G*?G*Ku i* < @)D)m;)K;IsC! @ ;II)Q:sI2suI29u"YucyuuuA v)vIvivvvvv w)wIwiwwwww x)xIxixAxxxx y)yIyiyyyvAyy C z)zIz€Aizzz}}U^=9~]ͼY~]|ɔ]:i~Yaɜe@a)e9m[GɇuCu)> }>}B)}|Ii8 8)銕u1):ɔQ9)Q9ٛ 8)]/=Q 6=I9i^^WB_Q:Y_'; ;_ɖQ9`5=   = 9 b@ȼ9bώ? - [;Yb> 1 ܺaa):16*e code=045D elementURI="EcoHAB_box:ScienceOps:E.YoYo.durationOfLastRun" type=00 *a code=06BC owner=00D8 element=045D universal=3FFF unitName="second" type=07 size=0002 fl=05 95 *e code=045E elementURI="EcoHAB_box:ScienceOps:D.AltitudeEnvelope.durationOfLastRun" type=00 *a code=06BD owner=00D7 element=045E universal=3FFF unitName="second" type=07 size=0002 fl=05 5Q955=I=L=*e code=045F elementURI="EcoHAB_box:ScienceOps:C.DepthEnvelope.durationOfLastRun" type=00 *a code=06BE owner=00D6 element=045F universal=3FFF unitName="second" type=07 size=0002 fl=05 eQ:q5eie?*e code=0460 elementURI="EcoHAB_box:ScienceOps:B.SetSpeed.durationOfLastRun" type=00 *a code=06BF owner=00D5 element=0460 universal=3FFF unitName="second" type=07 size=0002 fl=05 ׍Q90) <13 f Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChlq3 f Initialize.*a code=06C0 owner=00CD element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0461 elementURI="EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth.durationOfLastRun" type=00 *a code=06C1 owner=00CD element=0461 universal=3FFF unitName="second" type=07 size=0002 fl=05 ) Q92 *a code=06C2 owner=00CB element=0013 universal=FFFF unitName="none" type=FF size=0000 fl=04 e Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water*e code=0462 elementURI="EcoHAB_box:ScienceOps:Science:I.durationOfLastRun" type=00 *a code=06C3 owner=00CB element=0462 universal=3FFF unitName="second" type=07 size=0002 fl=05 i Q:q2 *a code=06C4 owner=00C9 element=0357 universal=3FFF unitName="meter_per_second" type=00 size=0000 fl=04 d Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity*e code=0463 elementURI="EcoHAB_box:ScienceOps:Science:G.durationOfLastRun" type=00 *a code=06C5 owner=00C9 element=0463 universal=3FFF unitName="second" type=07 size=0002 fl=05 k:q1 *a code=06C6 owner=00C5 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 b Initialize ReadDataComponent to sense platform_x_velocity_current*e code=0464 elementURI="EcoHAB_box:ScienceOps:Science:C.durationOfLastRun" type=00 *a code=06C7 owner=00C5 element=0464 universal=3FFF unitName="second" type=07 size=0002 fl=05  7:0 *a code=06C8 owner=00C3 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 a Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water*e code=0465 elementURI="EcoHAB_box:ScienceOps:Science:A.durationOfLastRun" type=00 *a code=06C9 owner=00C3 element=0465 universal=3FFF unitName="second" type=07 size=0002 fl=05 ) Q:) S jAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy) S nAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A#  i # % ! ! ) - 8I- =)m= ?mE %= nE \q*@h aNAI:Is:Y! @ 8IH>SAiHV\q*mH+?m= 1 aa)Ii>7:i¸:i8)i8)8q(PhAggregate::initialize EcoHAB_box:UpdateCircleTimeout(a@*e code=0466 elementURI="EcoHAB_box:UpdateCircleTimeout:A.durationOfLastRun" type=00 *a code=06CA owner=00A2 element=0466 universal=3FFF unitName="second" type=07 size=0002 fl=05 I 9( (  i  99 9I7)m IH(iH*|=H(H(iF*ů!F*=弩F. =F.R!=G.?G.v i.<)m;)D;s2su29u"Yu1yu.>):9~]\HY~]fɔ]i> >=I 1 Ժaa):Iik:9i7:i)i)QPCircleModulus calculated as: 4.409313 h *e code=0467 elementURI="EcoHAB_box:UpdateCircleTimeout:B.durationOfLastRun" type=00 *a code=06CB owner=00A3 element=0467 universal=3FFF unitName="second" type=07 size=0002 fl=05 i:(1)i   : Q9I [1 i5 >= = PA ɘE k:I M >؆%h I.NAp?I).;IHDiHJD=HHHHiFJN"FJJFJ?M=FN1B=GN?GN~w iNzz  { ){ I{ i{ { A{ { {  | )| I|i||||| })});I=9~Y~ɔ;i~8)[GɇC> ?B)i=|?| 1 U޺aYaY)]:Iaaiam7:iqiquk:iqq)yiy؁؁)م8龅) =) ;9X Β{ =) 8I 8) ;i < P ɘ : Q9 >,h TtNAI ;IH8iH8I>i>>$>:ً>H:>3IB=H8H@iFBi"FBKFF.X=FF?=GFA?GFYx iFc9);9~5TY~=ɔ=) ;) =Pf3h [BΠNAI :Isq:5?4I5=i==A==A)0;s2su29uXQ#Yu˖yu1⻉5>Q99~FY~7ɔ;i~  9)Gɇ%C-> 5G?5B)5|;I==i= 5>E=E;Ii:9!i!%k:i!%8)58i=9=8)9SEVCompleted EcoHAB_box:CircleInshoreESPBuoy:A)ESErAggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A1*ETEAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLongq*MIiMQ9IIUk:]9 YIeA) ;) <Ѐ9h NAI:I"i""1":ً"J:"4I"=IH,iH,H,H,iF.$O#F2`갼F2^=F2 =G2W?G2x i2,< J<)L);I-i-5+5:ً5E6:57Y4I5=s3su 39u L$Yu /yu>99~EY~E!ɔE;i~IQ)Q][Gɇii u|]?uHB)}|iP)>d$?I;i-< ) `<)3);ɔQ9)Q9ٛ !)%8]%ܮ=Q %W=I%9i)^)^-WB_15Q:Y_5X 5:U p3IU =[ i < P ɘ 阙 >) 4=) ;) 7:I= i= = ,= !:ً= C:= e4I= =]@h 7NAI:IH$iH$H$H$iF&H$F&.F&~=F&C=G* ?G*x i* <:p=):=);I%i!%%9:ً)-pL3I-=s]5sYu]59ueu&Yue\yuam*>mQ9Is)Q}! @ 0;);9~bY~ ɔm =?B) `%? 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Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =1PLoaded ./Missions/Science/EcoHAB_box.xml=1vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree韛1?=1zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)1z=1xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei1$?=1|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree1!Isk4m! @ c4)9:)<>hjv kNA(?I:I9 9)d=IHiHHHiF%Fn|u u v )v Iv iv v v v SCv w )w Iw iw w w w w x )x Ix ix x x! x! x! y! )y! 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n! m)l)im)Im)i)ir11 s11ɗ9yVD:< 8)%I%i!-8)P1ɘ19 =r>)<)= 9$)y 33wNAI:Is*r! @ *;IH0iH0H0H0iF2%F2Q~F2>F2'=G6i?G6 i67zz {){I{i{{{{{ |)|I|i|yC|||| })}UC=9~? Y~ɔIe>)e;)e ?vC)I;i )銥أ2)7:ɔQ9)8]2ܼQ #=Ii^/[B^Q[B_5EQ:Y_; ;- 9_) ɖ) 5 `5   5 < 5 9 b= 9bE gA - E 6;YbE @ 1 E :aE ?aM )M ;M )Q IQ iQ Q U :] 9Y Y I] ;In n m l im Im i ;ir s ɗ = >Is Br! @ ;yV AE:闥 = ) I 8i P ɘ : >) ]<dy ̐NAI:IH$iH$H$H$iF&/&F&̙F&3hKF&=G&e?G*c i*]9):9~*Y~2ɔ;i~锑Y=ƽi9E?Y<2GPS fix at: 1362673983.00a  ?8QɆ9%>)<%Gɇ-|C-E> 5>5vC)5I) W=) 5<y QkNAI:IH$iH$H$H$iF&$F&{2F&)BF* =G*u=?G*<i* q9~}Y~Jɔ:i~锅Q9);)/<GɇCw= =?=vC)9IE=iEЉ>ET>M)- =)= 9y GNAIIH$iH$H$H$iF&$F&p㚼F&GF*q=G*@?G*5<i(I)->;IsuW}t! @ q)%:se5saue59ue%Yue1yum: i)P=uaua va)vaIviivivivivivi wi)wmXAIwiiwiwqwqww x)xIxixxxxx y)yIyyCiyyyyy z)zIzizzz}}=%got command maintain sensor NAL9602.latitude_fix 36.842499 degree-SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.m=)e<=got command maintain sensor NAL9602.longitude_fix -121.866798 degreeƵSyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.9~ZY~pɔQ;i~ɜ)9[GɇmC>  >2wC)==I>iH>40?=I;i )أ):ɔ8) 8] k=Q  *=I 9i 8^ ^ A_  Y_ gҺ  ; 9_ ɖ % 8`% $8  % = ! 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i*<)j>;Is% F! @ !!q=9EZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!uM)IUVDefineArg EcoHAB_box.MaxDepth = 85.000000 m!yeiam`DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}uq}RDefineArg EcoHAB_box.Speed = 1.000000 m/s!鞉bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h!I`DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!^Xz?)e<mnDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg!u)u-z}rDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg!iP޼?pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!Tx{tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!頭Π1`?hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg!)O,1ylDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg!i?hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!0X;ylDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!?F?hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg! ) QЉ|lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!%i%[?-hDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!55Xy{=lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!EAM`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!])Y]bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!miiutDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!}yZDefineArg EcoHAB_box.Repeat = 13.000000 count!飑`DefineArg EcoHAB_box.CircleRadius = 500.000000 m!)fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!i^DefineArg EcoHAB_box.CircleDivisor = 8.000000 hs`4su`49u!a%Yuyu5>Q99~颼Y~XHɔQ;i~Q9)Q95GɇC> > kC) @=I;i )%%u3)%:ɔ-8)-851I1i1!EEMTDefineArg EcoHAB_box.CircleModulus = nan h!]] @^Y^Y_ae;Y_e e limQImQi]阭 >a   xDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/sa  e vDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdegam )q u zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/sa i  DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina    ~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool 1 ,Construct GoToSurface.U lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml)u P=) < - ) 5 DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg璁 ioKNAI:IH$iH$H$H$iF&q`%F&F*F*G*m?G* i* <J)HNDefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/sRXInserting Stack: Missions/Insert/Surface.xmlIs UF! @ =i9EDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/sMMUDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg]]?eDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s)ug=!})yDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min%iDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6,Construct GoToSurface.DJW?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/si RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boollInserting Stack: Missions/Insert/SurfaceCommsShort.xml!)~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-鰹vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1m)iu~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5}iyvDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;,Construct GoToSurface. ^Inserting Stack: Missions/Insert/SurfaceGPS.xml)UN=s}]3syu]39uE$Yuyu->9~ͼY~|ɔK;i~锩!9lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!=~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A)vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/sjInserting Stack: Missions/Insert/SurfaceNavUpdate.xml)c<%Gɇ-ȓC-9= >C)|;I 5>i`=?IyV 9 t= ) 8I i P ɘ  >a!aU IQ U DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!ee e m DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!iu ɶu ?} DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!m   DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!q I  DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C ,Construct GoToSurface. DJW? RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegɶ ? RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s G Construct.#=  Is- pF! @ ) #I 5 GE &Construct Buoyancy.#M M U zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml =KNA I:IHQiHQHQHQiFU~$FU&qFUtF]27G]3n?G]% i] )m>zz {){ӒCI{i{{{{{ |)|I|i||||| })} Z &Construct Waypoint.5XInserting Stack: Missions/Insert/Science.xml)Es= Ye=9~'ؼY~ɔz)Ur89~Y~3ɔD;i~9 ) h]8Construct PeakDetectVsDepth.)c<[GɇC針> >C)x?I;i i8Construct PeakDetectVsDepth.)3);ɔQ9)8Ii^^_%;Y_-lg -<)_1ɖ5Q91`5@=  =?= =9 b99bA)ƥRedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolĵzRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)Žes-8R?YbAaa))>% RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegi- DJW?5 RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg1 = zRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)}  RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booliǍ @ RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 myV 闥 < ) I i I P ɘ : >Ǚ  RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m  RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool  zRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 boolj Construct. k 0Construct DepthEnvelope.) v=k] 6Construct AltitudeEnvelope. l Construct YoYo.) "< KNA]p}?Ie:IHiHHHiFy$F0F( F'Gqn?G i <)5y= eA This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =mPLoaded ./Missions/Science/EcoHAB_box.xml=mvgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degreeu?=uzgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)}z=}xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei}$?=|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree!Isg(G! @ s5su59u%Yu~yu2>Q99~ FY~ ɔ :i~ 8)Q9ɇؓC% > % ?%C))I-=i5|>5=1I5;i= 9)==3)E7:ɔM8)MQ9UQIU8iQ^Y^Y_Y]Q:Y_ea; eՑI֕鏑ՑI ;InXz: n mlimImi;ir sQ9ɗ8 yV9闍< )I8iPɘ:阩 v>I)T< ޓLNAIIH$iH$H$H$iF&%F&ͅF&F* 9G*{n?G* i*< B<)@)%>Is(\G! @ )[=sEȏ3sAuEȏ39uE3$YuEؠջyuAM&>Q9~eYY~eɔe;i~imQ9ɜm@m@}. },)};GɇC釵> ?C)=MQ9IM8IIIM;InY nY malaimaImaiairam9 siiɗqyV=9=< 9)E8IAiM8M8IPQ qɘ< >)=I )e :) :< w-!LNAI:IH iH H$H$iF&2$F&"F&dF&7G&n?G& i&q9~Y~fɔ;i~锥8)/<5Gɇ ؓC> =>=C)Eխ8I֩鏩թI:In n mlimImi;ir9 sɗɚ yV9闽< )Ii8Pɘk: ) U99~]Y~]ɔ]:i~YY)e8mGɇmCu)> u?uC)}=I;i )銍n3)7:ɔQ9)8۝ۡIi^^_Y_J: <9_ɖQ9閹`T  &= 9 b9bYbaa):ɓ ))@I i>Q9II;In n mlimImi ;ir9 sɗyV9< )IiPɘ j> )m89~Y~@ɔ;i~锡=>)9[GɇؓC釽!= h>-C) =I@>i@>|=I;i 8)u2)7:ɔ8)8I8i8^^_Y_o: ;_ɖ8` pu;  = 9 b9bYbaa)ɓ!! !)!)%@I! %8i%>-8I))-Q9I)In9 n9 m9l9im9ImAiE;irAA sIIɗIIs?.H! @ ;yV59=< 9)E8IAiAIIPQ ɘ< >)U99~rY~ɔ;i~锉)8GɇC針w= >BC)@= I  8I:In n! m!l!im!Im!i%;ir)) s)58ɗ1=)>=>yV< )Ii   Pɘ: n>)< )e :Im >) <! 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NONAI:)"9IH$iH(H(H(iF*#F*ZcF*N*F*Y 9G*s?G*! i.< |)D;IisE 3sAuE 39uEe$YuEؠջyuM1⻉M%>MQ99~egƼY~esɔmK;i~im9)0;)c<[GɇC> >C) = |I:In n mlimImi;ir9 s  ɗ ɚIsޤP! @ yV : = )I8i8P!ɘ-k:-8 ->)^<) 9Z jONAI:)F89~ԼY~ɔ:i~锵Q9IsUP! @ )Q<%Gɇ-C-2> ]>]C)YIe=ie=e?mImAIAIn n mlimImi ;ir sɗyVub:u< y)yI}i8) }) :3 PNAI)RNQ99~rY~ɔK;i~9>]>):5GɇC= >C) AIAInQ nQ mQlQimYImYi];irY]9 saaɗayVM:U< U)YI]8iYee8Piɘmk:q u>) <) 9$M PNAI:)N99~@߼Y~FɔQ;i~Q9)Q9[GɇȓCA= >C)I=i`d>==I;i8 )%%)%7:ɔ-Q9)-Q951I58i58^Y^Y_ae;Y_eK; eձIIn n mlimImi ;ir9 sɗ;l>,>yV:< 8)Ii8Pɘ: >)- <) 9Is .-nQ! @ lh  <8PNAI)&:IH,iH,H,H,iF.$F.CI_F.)F29G2s?G2 i2*< q);Is] 3saue 39uee$Yueyue: e'>i):9~rY~ɔ;i~锝:)85GɇC釵> > C)|;I Q9I#)e m >m (C)m |;Im >iu Ph>u =} L=I} ;i} 8 y ) 銅 2) Q<ɔ% ;)% 8- - Q9I) i5 ^1 ^1 _9 = k:Y_= $A: = ;= 9_A ɖE Q9E `M Ԑ<  M < I bQ 9bQ YbQ aY aY )] :֥ ɓ 铡 )ե :) @Iա I֩ 鏭 >թ I In n m l im Im i ir s ɗ ɚ A ) ]pX ZdkPNAI)*:IH0iH4H4H4iF6#F6oF6L/F68G6t?G6 i6F< );I))9sbD3subD39u##Yuɻyu/>9Is%R! @ ;9~Y~^ɔ4C)Յ8I ;In n mlimImiir9 sɗyVy}< }8)IiPɘQ:阝8 ~>) }<) 9@2! PNAI)F4su>49uG%Yuؠջyu(>z9z9 {9){9I{9i{9{9{A{A{A |A)|AI|Ai|A|A|A|A|A }I)}I =9~ۼY~ɔmEC)m;Iup!>iqu=}I};i}8 )銅2)7:ɔQ9)Q9ەە9Ii8^^_Q:Y_xb ;_ɖ9閵`@F   = 9 b9bYbaa)ɓ ):)@IQ9I>I;In n mlimImiir sɗyV := )8I i 8 8 P ɘ :M M >)} <) 9L' PNAI:)&:IH,iH,H,H,iF.D%F.(F..F.9G2t?G2 i2(99~ZY~pɔ7:i~锽Q94>8>i9 ?YR<2GPS fix at: 1362674404.008QɆ)r;Gɇ >UC)@-==Ii 8) { u):ɔ8)88I!i%^!^)_))Y_-: 5 <1_1ɖ5Q99`= =  =1= =9 bA9bAYbA ! M;4aM ? % M;4aMR<)M:U8QɓQQ Q)Y)]@I]8IY]1]]>eQ9Ie;Ini ni mqlqimqImqiqiryy syyɗ=%>yVQ]< Y)aIe8iamm8Pqɘuk:y }z>)] <) 9Is МR! @ ;@g- 7PNAI):;IH@iH@H@H@iFBb$FBqFF$,FFͲGF?GF<iF< )y;I):sr 4sur 49uM$Yuyu'>Q99~ЛY~?ɔ;i~8)/<%[Gɇ-ؓC-!= ]>]eC)e =Ie@=ie=m=mIm8$*Completed Default:GPS1$FAggregate::uninitialize Default:GPSq$Uninitialize.I*;In n mlimImi;ir sɗyV3 :< )IiPɘ >)] %$F>pŝF>/F>9GB?GB<iBj< 1)K;I):s@+3su@+39u#Yuyu: )>99~hƼY~sɔ;i~Q9)Q9ɇC> >xC)|IsaS! @ ) }<) 9 ):)>I):Is%*3S! @ !))9)-<): >IseeS! @ aII):)u"9)%)}&;Is(S! @ ()(Q: (>I+)+:=,*got command maintain m,RDepth_Keller.depth maintaining 0.000000 m).;)19Is%2S! @ !2)2;)4Q: 5Iq7)7:):9Ise<"S! @ a<)=:)@<)uB: BIAE)E:IsH ,.T! @ H)H)K9)L;)N: !OIQ)Q:Is%Rt+`T! @ !R)T7:)W9)X)Z: y[Ise\!T! @ a\I])]k:)ub9)eQ9)f)n:)q9Is%r5T! @ !r)%s<)tQ: u)w9I x>)z:Ise|'U! @ e| ;)}7:)R=)9 ) :I Is ^YU! @ ;)+Q:);9)Q:)[: )s#IsK$f[U! @ C$Ic$))7:)/9)2<)5: #8Is8U! @ 8:);Q:? RNAE?IIn>)}:IHiHHHiFj#F~IscU! @ ;);u9 u= A v9 )v9 Iv9 iv9 v9 v9 v9 vA wA )wA IwA iwA wA wA wA wA xA )xI IxI ixI xI xI xI xI yI )yI IyM yCiyQ yQ yQ yQ yQ zQ )zQ IzQ izQ zQ zQ }Y }Y z z { ){ I{ i{ { { { { | )| I| i| | | | | } )} Y}Y y}Y ] =9~e %Y~e Hɔe :i~i m 8ɜm @i 鄁 2) 5) y; ɇ C) `< > > C) =i > @= I yVu :u < q )y Iy iy 8P ɘ :阑 >) I<)9Is%Yp V! @ %;)7: 9):I)IseRV! @ a):)u"9)">)" < $)%Q:IQ'Is(VV! @ ()(7:)+9).).; Y0)1:Is%2`.V! @ !2I3)4Q:)79):Q9)U;;Ise<ʯV! @ a< <)=k:IqA)uB9)E9IsH'W! @ H)H:)H ; J)KIM)N9)Q9Is%RĕIW! @ !R)T:)%U; V)WI!Z)Z9=5\4got command maintain clearIse\[zW! @ a\) ^;)ub9)b; d)e:Ish[UW! @ hIh>)hQ:)k9)n)n; p)q:Is%rɦW! @ !rIEt>)tQ:)w9)z)-{;={got command run={Running Ise|X! @ a| I})-~;I+>):) 9Is ,@X! @ )+:); 3)3I)[9)k#9IsK$aqX! @ C$)):)+* ; .)/Is5)59Is8 X! @ 8);:?Ԕ QSNA=J?I:IHAiHAHAHAiFEa%FEYu.FM^,9GM?GM)<iM=)*;); A):sUX4sYu]X49u]%Yu]~yu]: ])>IsˮX! @ I):uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizz,Cz}}z z { ){ I{ i{ { A{ { { | )| I| i| yC| | | | } )} Y}! y}! % =9~- W[Y~- ɔ- :i~) 5 Q9)5 Q99 ɇE CM X= M `>M NC)M @-=IU =iU Ph>U 01?] @l=I] ;iY e )e e 2)m :ɔm Q9)u 8u u 8Iy i} 8^ M?^ M?_ :Y_ t9 !: 9_ ɖ Q9閕 8` :  I; b 9b Yb a a ) : # >Aggregate::uninitialize Default + Uninitialize.1  , DUninitialize GoToSurfaceComponent.q , 8Uninitialize Wait Component.= 4Started mission EcoHAB_box1 . @Aggregate::initialize EcoHAB_box  / JInitialize AltitudeEnvelopeComponent. / DInitialize DepthEnvelopeComponent.1  0 JInitialize OffshoreEnvelopeComponent.#  G Initialize.# G )- !55 5 <5 9= = 9E iE =M  M 9IM ;qm m Q: su SAq ɗq )5 W=yVU 6:U z= ] )Y Ie Q9i} ;y } P ɘ 阑  -Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter, >!۔ !nSNAL?I:IH&SAiH$H*qH(iF*$F*5_F*0 =F*k9G*+?G* <i*<)5;) =  ADCP unrequestedHOpening uart, block timeout 10ths=20$resume:Powering upDCycling power to configure device.Iɍ )M999~iY~ɔ;i~)5GɇC= P>`C)`=mZXϻ n mlimw?Im]iqT=irq sɗI)) ;`ᔁ yXSNAIIH$iH$H&h佩H$iF&#F&黩F&"6=F&N uQ99~Y~ҏɔ;i~锡)8GɇؓC釽> @>wC) =I@=iX>`=I;i )`u)7:ɔ8)8]Q O=Ii^^?_Y_~: ;9_ɖ`P~  =  b 9b Ybaa)## 3%dInitialize ReadDataComponent to sense latitude_fixi%%7:)%I-i)))i-?Ierh)am;m9im qIu:mpѻ n mlimNOIm#i0;q=irqrh7: sɗ8=>I1yVu:}< y)I)=) 9Is fY! @ ) :)e ;)%:)-9I)=:Is֗Y! @ :-FThruster uart error: serial timeout1-(Communications Fault!A  i?P `Communications Fault in component: ThrusterServoɘ :8 A?픁 ǺSNAI:YH0iH0H2։WH0iF6"I#F6*F6=F6=G6?G6<i6><);)<)E9s2su29uע#Yu~yu: +>zz {){%CI{!i{!{%A{!{!{! |!)|!I|!i|!|)|)|)|) }))}) =9~Y~G>ɔ;i~)Q95Gɇ|C=  ?C)I >i`d>L*? I A 1 M< ! U<4aU? % U<4aU<)U ;]8)]I]iYYYie?I)ԝ;ԥ9i աI"qU=irqk: sɗyV:闵< )8I)5 ) ;n SNAIYH$iH$H& H$iF&u"F*F*  =F*U89~e?98Y~e>ɔe:i~am8m>m>)m9uGɇ}C}> ?C)me ne malaime鳹Imeiaqm=iriqqu7: sqqɗyyVU:U< ]Q9)eIsY! @ [5lXI5I>)<)= 9D '1SNAIYH$iH&PwVH$H$iF&6#F&teQ9Iso*Z! @ 9~"Y~ɔ;i~错&cmdResponse: 01 03 $NQ1 output enabled&ADCP output enabledE4cmdResponse: AUTO_VEL_ON E@ M:M ADCP unrequestedMDCycling power to configure device.IIQɍQ Q U?UC)]|e`=e=IeTm~ n%VkT m!l!im%յIm%Fi%7;q-K=ir)q)-Q: s11ɗ5ɚ=A=AyVH:< Q:)%8I>[rI 4Initializing EZServoServo.) B=)= 9  6Initializing ThrusterServo.i = 8 P bClearing failed state for component ThrusterServo1 ɘ :阹 >| TNAI:YH$iH&XkTH$H$iF&;"F&SF* 9~hƼY~sɔ;i~i9?Y_<2GPS fix at: 1362674417.008QɆ)k;ɇC 3> \&? C)i>>%==I%;i%8 ))--u2)5k:ɔ5Q9)=8]=UQ =H=I=9iA^A^E?_IIY_M U;U:_QɖU9Y`]V׼  ]= ]9 beļ9bezFB - e:Ybm9A 1 mv: ! m;4am? % m;4am_<)u;uu})}I}iyy}:i?I)Խ<:i I0m n mlimImiq`F) :$  TNAIYH$iH$H(H(iF*"F*=BֻF*uaueA vi)viIviivivivivivi wi)wiIwqiwqwqwqwqwq xq)xqIxqixqxyxyxyxy yy)yyIy}Ciyyyyyyyy z)zIzizzz}}Z=9~Y~ɔ:i~ɜ@)ug<}Gɇ釅= H+?1C);I>)0`%?ImN n mlimImXi*;qkirq sɗyV :闍 Q99~2Y~ɔ;i~Q9)Q9ɇk= 9?]C)|;I=i t>==I;i )2)k:ɔ Q9) Q9]s;Q /=Ii^^J?_Y_%W %;%:_)ɖ-Q9)`-!=  5= 1 b59b=FB - = ;Yb= A 1 =:aE?aE<)E; M8)MIMiIIM:iU?I)ԍ<ԑi ՑI(<)Lm\» n mlim滹Imi5>yVy:<) ;9X yb] =)m [% eI-  Q\TNAI:YH$iH(H(H(iF*!F*G0F*)Q:Is]3su]39u_$Yuؠջyu.>9~? Y~ɔ;i~9 .)/I)y;[GɇȓCI= E?C)IH>i > = m%uƻ n) m)l)im-㽹Im-i-*;q5iir1q11 s99ɗ=yV:< )Ii) ;)u < =) 8 A) A[u M7I}  !vTNAI:)Q;YH8iH8H8H8iF:H("F:ǖ>F:We<i>Y)UK;)=Gɇ%> U?UC)Um YXϻ n m l im ?Im i 7;q ir q  Q: s! ! ɗ% 8) ;yV : < 8) ) )e ;# 9TNAIYH$iH(H(H(iF*"F*0(F*M9;IqsUr 4sQuUr 49uUM$YuUؠջyuQ]'>zz {){ӒCI{i{{{{{ |)|I|i||||| })})-;e =9~Y~0ɔ |?C)i=|==m">л n mlim¹ImiK;q@irq: sɗɚA隭AyV}:}`* cTNAp=?I:YH$iH$H$H$iF&"F& \3F*g&4sIuM>49uMN%YuQyuQQ]9Isu[! @ y9~}Y~}ɔ};i~锁)8[GɇȓC針I= 6?C)I =i@l>>Imyл n mlim ĹIm:Fi7;qQq=irqk: sɗyV}:}< )I8i8Pɘk:阝8 >);) <m cmdResponse: 01 m $NQ1 output enabledm q9~Y~ɔ;i~锡ɜ霩)9ɇC釽> ?C)=i|>=I;i )u0)7:ɔ8)8]IQ9i^^?_Y_:_ɖ9`<  = 9 b #9bGB - :Yb#A 1 p:aK?aB<): !)%I%i!!%9i-?Ia)aam9im iIm')<) 97 TNAIIH$iH$H$H$iF&"F&JF*u;F*q9~ӻY~ɔ;i~锡)ɇC釽)> >C)|i0>@=I;i )u1)k:ɔ8)8]ٖ=I9i^^ ?_Q:Y_C{::_ɖQ98` Z<  = 9 b̻9bGB - :Yb2$A 1 q:a?aǙ<) %)%I%i!)-:i-?Ii)imm л n mlim ȹImi7;qrhirq7: sɗ;>?>yVqu< y)I)Y[uIAiu)<)% 9Is -r\! @ $= }?TNAI:IH$iH$H$H$iF&"F* F*;F**=G*S?G*6<i()D;I) :sE@+3sAuE@+39uE#YuE1yuAM%>MQ99~eY~e!ɔmQ;i~iu9)u8yɇC釅> O?HC)i@l> 5>`=I;i )tuڲ):ɔQ9)Q9]ļQ N=I9i^?^?_oB;Y_ ;9_ ?ɖ 9 `f,=  bြ9b=GBYb=$AaE?aEO<)E; M8)MIMiIIQiU?I)<i 9Im|3һ n  m l im &ʹIm oi 0;qqirq: sQ]9ɗ]8)<))5 K;~D UNAIIH$iH$H$H(iF* !F*DF*Py;F*Ym!>)m9uGɇ}C}> A?nC)I>i 5><.?==IB=i )2)7:ɔ5mu odл ny my ly im} ̹Im} ]iy q q ir q k: s Q9ɗ yVe :e < i )i Ii )M ;[I iU HJ Tt,UNAI:IH$iH(H(H(iF*"F*$*F*oI;F*9~ۼY~ɔ;i~8)Q9[GɇC[= ?C)| >@=I;i )uڰ);ɔ%Q9)%Q9]-$meѻ na malaimm9ιImm im*;qqqqirq; sɗɚ隡yVM E:M a= Q )Q IY ) M=[ i <  P ɘ k: % >) =)= ;= got command maintain sensor NAL9602.latitude_fix 36.842499 degree SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.= got command maintain sensor NAL9602.longitude_fix -121.866798 degree SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.qQ  FUNAI:IH$iH$H$H(iF*Ȥ#F*ߏ9F*<;F*5=G*?G*<i*<)]L< @Is}3]! @ yIA) :s]`4saue`49ue;g%Yuayuee)>m99~ͼY~|ɔ;i~锥Q9)85GɇC釽&= t ?C)m}һ n mlimйImp iK;qqirq: sɗ8yV:闕< )I==)U9[qiu) <) 9W _UNAI:IH$iH(H(H(iF*1q#F*p7F*I:F*=G*?G*A<i.s 3su 39uk$YuyuS2>uuA v)vIvivvvvv w)wIwiwwwww x)xIxixAxxxx y)yIyyCiyyyyy z)zIzizzz}} }=ɍ<  5 ?5 C)= =i= >E |?A IE - J>yV 7: <  ) 8I Is g]! @ ;) <[ i < 8 8P ɘ : 8  >$] }?yUNAIIH$iH$H$H(iF*u"F*+F*S:F*U=G*?G*y i*uQ99~Y~ɔ;i~锥8)9[GɇC釽> l"?C)@==I;i )u2)Q:ɔ8)8ٛ 8)8]4Q =Ii^4B^9B_F:Y_ .<9_ ɖ Q9 `V  Z= 9 bY/9b%qHB - %:Yb%'A 1 %9a!a!)% ; -)-I-i)115Q99 9I=#;InMXz: nM mIlIimMImUiU ;irUU9 s]]9ɗY)P)- :d~d ْUNAIIH&iH&H&zVH(iF**#F*F*|DF*u99~Y~ɔ;i~锩)ɇؓC釽'= <.?C);I@>ix>@=I;i )~#)Q:ɔ8)8ٛ Q9)Q9]uxQ L=Ii8^B^B_:Y_ ; 9_ ɖ 9 `,=  = 9 b9bHB - %W:Yb%S'A 1 %9a!a!)%: -8))I)i))5:11 =Q9I9InI nI mIlIimIImIiQirQQ sY]:ɗaIs;W]! @ ;);yV%:闕= ;))j uUNAIIH$iH$H&H$iF&"F&BF&xF&uuQ99~}Y~}6ɔ}:i~锅Q9=C>)95GɇC針> v?]C)>>I;i8 )銱):ɔQ9)8ٛ 8)]R(=Q G=Ii^JXB^]XB_Q:Y_t: ;_ɖQ9`s7  =  b“9bHB - \:Yb'A 1 9aa): )Ii     8I;In! n! m!l!im!Im!i-;ir)-9 s15Q9ɗ1ɚ99yV:< 8)Ii   Pɘ: n>) ;)]<) 9q TRUNAI:IH$iH$H&!ѽH$iF&~$F&!/'F*ݺF*Q9~0Y~\ɔ;i~锍8)Q9GɇC針> >vC)|w UNAI:IH$iH(H*KH(iF*#F*F*ϼF* @=I;i )銽3)Q:ɔ8)8ٛ )]Q L=Ii^^pXB_:Y_S: ;9_ɖ`T{  =  bA9bHB - V:Yb(A 1 9aa) ) I i 9 IIn) n) m)l)im)Im)i5 ;ir11 s99ɗA @yV:<))=<9X-  ) )5 8[ S%}I ) ;Is F^! @ @} CUNA.?I:IH$iH(H*H(iF*nc$F*n2F* ؼF*o h#?C) =I=i=`= =I;i )銽2)Q:ɔQ9)Q9ٛ 8)]=Q N=I9i^^UXB_:Y_f> ;9_ɖ`};  =  b'9bHB - T:Yb^(A 1 9aa)  ; 8) Ii 9IIn) n) m)l)im1Im1i1ir159 s9=9ɗAE=E >yV:< !)!I!i!) ;NQ1)}<Y;=;߽=j=Is% ^! @ % K;) ; = z=) [ II  VNAIIH$iH$H$H$iF*z$F* F*]F*=G*r?G*x i* ?C) >I;i 8)銽2)Q:ɔQ9)Q9ٛ )]tQ L=I9i^^mXB_:Y_C: ;9_ɖ`C  =  b 9bHB - ;Yb'A 1 aa) : ) Ii9 I*;In) n) m)l1im1Im1i1ir1=9 s9=:ɗE8Is r_! @ ;yV%:< 8)% %A)-A) ;[(IU=iU]]8Paɘai m>)<) 9d׊ x-VNAI:IH$iH$H$H$iF&p$F*3F*~F*se 3saue 39ume$Yum~yumSm*>zzA {){CI{i{{{{{ |)|I| i| | | | |  } )} } =9~ԼY~ɔiT>`d>;I;i8 )h3)Q:ɔ8)8ٛ ) ] E) :@ GVNAI:IH$iH$H$H$iF&p$F*?%F*ŴF*0sM>4sIuM>49uMG%YuIyuMU&>]89~8Y~ɔ;i~锉>t>)95Gɇ釥= >C);I =iH> >`=Ii )銽S83)Q:ɔQ9)8ٛ Q9)]Q c=I9i^^qXB_Y_  <_ɖ9`   -= 9 bK9bKIB - ;YbC&A 1 aa )  ; )Ii9 9I;In) n) m)l)im1Im1i1ir11 s9=Q9ɗ=ɚAAyV:< )%8) ;[U@IU=i]Y]8Paɘmk:i m>)<) 9ɗ e`VNAI:IH$iH$H$H$iF*S%F*>F*F*se1saue19umH"Yumyum: m*>u99~}xY~}ԧɔ}7:i~锅9)>;) ;) 9Is _! @  ) :)9Iq)9)? 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>I;i 8)銽E3)Q:ɔ8)8]=Q I=Ii8^^3[B_Y_: ;9_ɖ9`w<  = 9 b*9bYbaa):ɓ  ) ) @I  i >IIn n! m!l!im!Im!i%;ir)) s)-Q9ɗ1yV9< )8I8i 8  8P)t<ɘ<阑 ~>Is /! @ :)- :I >) ;) xNAIIH$iH$H$H$iF&$F&6F&C F&hD)I=i`%>|=|I In n mlimImiir!! s!!ɗ)yV< )Ii   PIs-wS! @ ;)<ɘ<阩 >)- Q:I >g0 -xNAIIH$iH$H$H$iF&k$F&NF&AF*) : asE.3sAuE.39uM~$YuIyuMIQIs^w! @ 9~Y~ɔqD)I>i`== =I;i )03)7:ɔQ9)8I8i^^_Y_ ;_ɖ8`y  =  b9bYbaa): ɓ  ))@I 8i>IIn! n) m)l)im)Im)i- ;ir159 s11ɗ=Q9ɚAEAyV9< u)}8I}i}8Pɘk:阑)< >)% :I )5 <6 #JxNAIIH$iH$H$H$iF&$F*=F*u#F*E|D) >|;I;i )~#):ɔ8)8]:Q ՉI})U ;) ;I < `xNA?I:IH$iH$H(H(iF*y$F*AF*VF*UQ99~'ؼY~ɔ;i~锁)5GɇC針> >D)IiT>D,?I;i )銵uڱ):ɔQ9)8]'Q a=I9i^^<[B_Y_+:  <9_ɖ9`e=  +=  b'ؼ9bYbaa)ɓ ))@IQ9 8i>I ;In n mlimImiir!%9 s!!ɗ)yV9<)]< 8)IQ9iPɘk:阭 >)5 :)} X;I Is ! @ tC ~yNAI:IH(iH(H(H(iF*^#F*s,F*F*uuA v)vIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}})U<]m=9~]Y~e+^ɔe7:i~aeQ9)mm[GɇuC}w= }0>}D)I>i==I;i )銕03):ɔ8)8]I:In n mlimImi*;ir9 s ɗ 4>0>yV 9< )I8i 8P ɘ :  >Is ! @ ) <) U99~Y~ҏɔ;i~锉)85GɇC針1= >D);I`=i=x?=I;i )銽u2):ɔQ9)8]Q q=Ii^^>[B_Q:Y_F <:_ɖQ9`=  7= 9 b9bYbaa):ɓ ))@I i > I :In n mlim!Im!i%;ir!! s))ɗ-8yV9< )Ii  8 PIs*! @ )<ɘ<阭8 >)- Q:)u :I9 gP AyNAIIH$iH$H$H$iF&X$F&9?F&YF&D)=i`==Ii )uZ1):ɔ8)8]C#=Q K=Ii^^.[B_Y_y ;9_ɖ`+  =  b$M9bYba a ) ɓ ))@I i>I:In! n) m)l)im)Im)i- ;ir11 s19ɗ=Q9yV9<)b< )IiPɘQ:阭 )5 :)m :IY V #J[yNAI:IH$iH$H$H$iF&%F&J'F*F*=G*邏?G*7j i* ux>}D)}|iD>|?=Ii8 )銕h3)7:ɔ8)8]Q P=Ii^^_k:Y_ ;_ɖ閹`(P=  =  bW[9bYbaa):ɓ )9)@I i>I:In n mlimImiir9 sɗɚyV99< )Ii8Pɘk: j>)z<)% 9) 4;Ismŕ! @ i)7: Ase4saue49ueDz%Yueɻyue: m*>m89~NY~CkɔK;i~锉)Q9[GɇC釥F= >D)|;I=i`=`=Ii )2):ɔ8)8]ȼQ I=Ii8^^9[B_;Y_t; ; _ ɖ `  =  bN9b9Yb9aAaA)E;IɓII I)M:)M@IQ QiU>QIU:In n mlimImi;ir9 sɗ)j)5 ;) MQ9 Y9~m5Y~mbɔmk;i~iq&NAL9602 initialized)=5GɇC釭w= >D) =I|=ip`>X'?I:In n mlimImi;ir!%9 s))ɗ-8yV- l9- < 5 8)1 I1 i9 = 8E PA ɘM :I U >Is $ݣ! @ ;)U =I Di yNAIIH$iH$H$H$iF&4%F&9F&+F*)M; Mh>MD)UI II InY nY mY lY imY ImY i] ;ira a si m 9ɗi u 0>u 8>)e 9) VI gp -yNAI:IH$iH$H$H$iF& $F&3[F&F&(MQ99~e Y~e1ɔmK;i~im9ɜu@u@Isk$! @  ; )5^;)m=u[Gɇ}C釅> >D)I=i = ==Ibձ I :In n m l im Im i ir  s  Q9) <) <ɗ I v KyNAIIH$iH$H$H$iF&%F&s"rF* F* 89~Y~wɔK;i~锩 )->;)- 9) X =0>ED)?I  =i  )s):)uD;ɔuA<)<<)U<]U;Q UՕQ9I:Is*! @  ;In n mlimImi;ir9 sɗ8ɚ A IiyV9< )8I8iPɘk: Q?, zNAI:)jA99~UNY~]Ckɔ]K;i~YYe>ei>e\Inadequate Iridium signal strength reported: 0)m7:u[GɇuC}>)< >D)|i=L= =I.=i )]3)7:ɔ%F<)<]8I:Is ! @  ;InI nI mI lI imI ImQ iU (I ݉ a)zNAIIH$iH$H$H$iF*%F*,=F*ɔF*Q9 >9~Y~uɔ7;i~锭8)8ɇC= >D)I >i= =`%>I;i 8)#3);ɔ%Q9)%Q9]-]Q -=I)i-^1^5=[B_11Y_=X =<=9_AɖAA`MX=  MB= M9 bM9bQYbQaQ)I;In  n  m l im Im i  ;ir15; s99ɗ9=dgot command load ./Missions/Science/EcoHAB_box.xmldLoading Mission: ./Missions/Science/EcoHAB_box.xmlyV9< 8)Ii%!!P)ɘ5:5 5>) "<)e ;!q靡ZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!u)VDefineArg EcoHAB_box.MaxDepth = 85.000000 m!yi`DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}RDefineArg EcoHAB_box.Speed = 1.000000 m/s!bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h!I `DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!%fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!--^Xz?=nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg!E)E-zMrDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg!UiUP޼?]pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!mmTx{utDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!項Π1`?hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg!)O,1ylDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg!i?hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!0X;ylDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!?F?hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!)QЉ|lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!i[?hDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!  Xy{lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!%!-`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!5)1=bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!EiAUtDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!]YeZDefineArg EcoHAB_box.Repeat = 13.000000 count!  `DefineArg EcoHAB_box.CircleRadius = 500.000000 m!)%fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!-i15^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!EETDefineArg EcoHAB_box.CircleModulus = nan h!餕 @^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!)XDefineArg EcoHAB_box.LapTimeout = 8.000000 h!iIsӴ! @ \DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m! ^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m)-h=!5)1=fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!MiIUlDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /]6Construct AltitudeEnvelope.s ;5su ;59u%YuSyu: .>99~Y~l%ɔ7;i~锭9)G >ɇC> ?D)=I>i= > =I;/0Construct DepthEnvelope.i )*3) 7:ɔ 8)8])!>)Uv=amquxDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/sa髁vDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdega)zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/saiDefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina ~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool 1,Construct GoToSurface.% lInserting Stack: Missions/Insert/SurfaceCommsSplit.xmlyV 9闍 = ) 8I i P ɘ k:) : >  魩  DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg )  DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s XInserting Stack: Missions/Insert/Surface.xml)E V= i  DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s   DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg 鮭 ? DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s! )  DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min% i  DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6 ,Construct GoToSurface.I - DJW?Ж \zNAI:IH$iH$H$H$iF&%F*~EF*F*=G*?G*i i* < b<)d~RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/si RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boollInserting Stack: Missions/Insert/SurfaceCommsShort.xml)Q=!)~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!- vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1%)!-~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!55i1=vDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;M,Construct GoToSurface.^Inserting Stack: Missions/Insert/SurfaceGPS.xmlIs},! @  ;!9   lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!=%~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A-))5vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/sEjInserting Stack: Missions/Insert/SurfaceNavUpdate.xmlEiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/sIDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegM)`=%DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ5)15DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?=,Construct GoToSurface.q}RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/as}P3suP39u$Yu1yu-> RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/adInserting Stack: Missions/Insert/SurfaceSafety.xml!!Uuiq}nDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h!!YDefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg!!]鵑|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xmluuA v)vIvivvvvv w)wVAIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzĀAizzz}}=a!aIDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!eDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!iɶ?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!m DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!qIDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C,Construct GoToSurface.9~ Y~ uɔ i > = _ KӑёxzNAAIIIHiHHHiF$DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$)DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 sF:VF;wFr =G?G+j iX )X=s,T5su,T59u%Yuɻyu+>zz {){I{i{{{{{ |)|I|i|yC|||| })}eP=9~'Y~ɔ e?e$D)e=m =u=4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 = PLoaded ./Missions/Science/EcoHAB_box.xml= vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree韭 ?= zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree) z= xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei $?= |got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree !I Q |zNAQI]:IHiHHHiFc%F`&.FmF9~Y~)ɔ7:i~锭Q9>>)95Gɇ> ?<D)iX>=AIE:InUXz: nQ mYlYimYImYi];iraa saeQ9ɗm8yVAM< I)QIQiQ]8YPaɘam mn>):)U>)R=IQ 7zNAI:IH$iH$H$H$iF&%F*(F*=F* (>HD)I=i===I;i )銽أ)Q:ɔQ9)8]ӻQ K=Ii^^5[B_Q:Y_/;; ;9_ɖ8`<  =  b\9bYb)EYI];Ini ni miliimqImqiu ;irqy syyɗyVU=9]< Y)aIaiamiPqɘqy }z>);)E ;IY ) :dl "zNAIIH$iH$H$H$iF&K$F&AF&F*)59)>;)?Gɇ C2>)M: M>U]D)U =IUp!>i]>]?]|;I]B[B_Y_&\ Z;9_ɖ閕`9=  < 9 bY9bYbaa):ɓ铩 )յ9)@Iձ ֵi>յQ9I:In n mlimImiir9 sɗ8>>Is 8! @ yVo9闽< )Ii8Pɘk: ??$Þ ({NAI:IH,iH0H0H0iF2K"F2JiF2XF2K=G2夓?G2l i65< N<)LIx)|<)Q9s]3su]39uF$Yu~yuS/>99~Y~eJɔ:i~锱ɜ霽@\Inadequate Iridium signal strength reported: 0):[GɇȓC> >cD)=I >iP>==8I9InI nI mIlIimIImIiM;irQU9 sYYɗY >yV15< 58)=8I=8iE8EAPIɘQQ Uu>)-9~wY~Tɔ;i~)8GɇC= 0>lD)=IIIInY nY malaimaImaie;irai siiɗqIs-~! @ -; ->yV=}9=< 9)AIAiIIIPQɘQY ]v>)<) :) 9dО vB{NAI:IH$iH$H$H$iF*%F*F*Z F*zzA {){CI{i{{{{{ |)|?AI|i||||| })}] =9~eۼY~eɔe:i~aa)iu[Gɇq}{> }>}sD)I=iH>>I;i 8)z銕):ɔQ9)Q9];Q C=I9i^^<[B_k:Y_ ;_ɖ`<  =  bۼ9bYbaa):ɓ ))@I 8i>IIn n mlimImi;ir sɗ ɚ A  5>)) ) ;֞ \{NAI:IH$iH$H$H(iF*%F*@B"F*F*ee>)B<GɇؓC > >|D)=Q9I9InI nI mIlIimIImIiU ;irQU9 sYYɗYyV1=< 9)AIAiAIM8PQ U>ɘ]:Y ew>)<) ) 9dܞ u{NA ?I:IH$iH$H$H$iF&$F& JF&L"F*v)m9sEX4sAuEX49uM$YuIyuM: M&>Q9~qY~xɔ;i~锍8)8ɇC針<> X>D)I@->i@=`=I;i )b銽h)Q:ɔ8)8]Q P=Ii^^G[B_Y_} };}9_ɖQ9閁`r  = 9 bq9bYbaa):ɓ铡 )ա)@Iա ֭8i>խ8I:In n mlimImi;ir9 s9ɗ)t< >yV9 = )Ii 8 Pɘ: >) ) *;IsM ^V ! @ I 㞁 9E{NAIIH$iH$H$H$iF*%F*ˀKF*4YF*)m:sE>4sAuE>49uEH%YuEؠջyuESE%>MQ99~eY~eʊɔeD;i~im9)uQ9}[Gɇ}C釅> =>=D)==M=IMI;In  n mlimImi;)K!> >yV9< )IiPɘk:8 >Is= *w.! @ 9 ) ) ;鞁 ۨ{NAI:IH iH$H$H$iF&WP%F&'F&F&=G&?G&xi i*< @)@)uD;I)m:sEr 4sAuEr 49uE4$YuAyuE: M&>uu v)vIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyyCiyyyyIs%0Q! @ !yQ zQ)zQIzU€AizYzYzY}Y}Y):<=9~$MY~Gɔ 0>D)m?m>Iuy=iq u)}h}&?)}:ɔQ9)K;)EG<]E@Q E;]9_Yɖ]Q9Iae7:`e{<  mo< m9 bm$M9bqYbqaqaq)yyɓ铁 )Յ:)@IՅ8 օi>ՉI:In n mlimImi ;ir sɗQ9Is! @ ;yV:闽< )IiPɘ: i?xk P{NAI:IH\iH\H\H\iF^$F^f1FbvFbU=Gbओ?Gbl ib<)]T<)9 su5squu59uuTC&Yuuyuuu>>}Q9)9~5Y~bɔ;i~锭:\Inadequate Iridium signal strength reported: 0)9GɇC> >D);I=i==I IIn! nA mAlAimIImIiM;irIQ sQQɗ]8yVE :E < E 8)I II iM 8U 8Q PY ɘ] :a e >Is ! @ ;)u 4i9~Y~uɔK;i~锍9)Q95GɇC釥> >D)I =i==I;i 8):)Jų)<)%;ɔ%<)u<]unSQ uK=I}9iy^^=[B_Y_ ;9_ɖ閑`=  =  b9bYbaa)ɓ铩 Isݧ! @ )թ)@IQ9 i>I;In n mlimImi ;ir sIQɗQɚYYyV- :- < ) )5 8I5 8i5 = 9 PA ɘE Q:E 8 M >)U ,4su>49uH%Yuؠջyu;>zqzuA {y):){}ӒCI{i{{{{{ |)|CAI|i|||||A| }C)})%;%#=9~-Y~-fɔ-7:i~15Q95!>5,>)59=[GɇEؓCM> M>MD)M]p!>]=I];iY a)ee02)m:ɔmQ9)uQ9]uvCյQ9I:In n mlimImiir sɗyV:闵< )Ii88Pɘ: >)u g]Q99~Y~ɔ;i~锅8)/<GɇCK= >D)!I%=i%`=-?-=I- ՝9I;In n mlimImiir9 sɗ)mw) ;I [ TI|NAI:IH$iH$H$H$iF&e%F&3aF&!F*;IsF! @ ): ]>sisiui9uiYum1yuim*>u99~(:Y~XAɔ;i~锡)8[GɇC釽y> P>D)I>i==I;i )z):ɔQ9)8]۴=Q S=I9i8^^[B_Y_ <9_ɖ`   =  b (:9b Ybaa):ɓ )!)%@I%Q9 %8i%>%8I%:In1 n1 m1l1im9Im9i9ir9E9 sAAɗEM;>M%>))mk) ;I9 Is ei! @ u J{c|NAIIH$iH$H$H$iF&%F&3-F&gF&z+=G*?G*Ni i( @)@)~^;)9se&4saue&49ueV$Yumؠջyuiiq9~} FY~}ɔ}:i~yy >ɜ霁)95GɇC針= >D)`=Ii )w銵):ɔQ9)8] Q N=I9i^^-[B_Y_}: ;9_ɖ9`><  =  b F9bYbaa)ɓ ))@I8 i>I:In n mlimImiir s!!ɗ!)yVU9:]= Y)e8Ie8iimm8Pqɘq)<阙 ~>Is ! @ ) :IY  }|NAIIH$iH$H$H$iF&/$F&5!F&]F&j4saue>49ueH%YumɻyuiiuQ99~*Y~2ɔ ;i~锉)8ɇ 針3> >D)=i==IIIIM:InY nY mYlYimaImaie;iraa siiɗm8)7;)mhIse! @ ) #;Iy h% !|NAIIH$iH$H$H$iF&P%F&"F&^F&Hi i*<)z>;)9sebD3sauebD39ue$#YueyumSiu9Is BҨ! @ 9~Y~Qɔ >D)9IE:InI nI mQlQimQImQiQirY]: sYYɗaɚmAi);)moQ99~Y~ɔ:i~锝8>%>)95GɇC釵= >D)I@=i= =I;i8 )&?2)7:ɔ8 )Q9]Q N=Ii8^^E[B_Y_>; ;9_ɖ`  =  b 9bYbaa)ɓ!! !)%9)%@I! !i%>-Q9I-:In1 n1 m9l9im9Im9i= ;irAE9 sAAɗM)mh) ;)} '>I [2 |NAI:IH$iH$H$H$iF&M&F&YF& F*ku:9~XY~ɔ;i~锡)Q9[GɇC釽> >D)|==|58I5:InA nA mAlAimAImAiM;irII sQQɗU8)eb)A=) ;Is :! @ I v8 ||NAI:IH$iH$H$H(iF*$F*NF*#F* uaueA va)vaIvaivavivivivi wi)wiIwiiwiwiwiwqwq xq)xqIxqixqxqxqxqxq yq);)yyIyiyyyyy z)zIzizz Cz}})uUD)] =I]@=iYet ?e|=Iaii m8)mmu1)u7:ɔu8)}8]}:=Q })=I9i^^.[B_Y_~O ;9_ɖQ9閝8`ϻ  =  bW[9bYbaa):ɓ铱 )ձ)@Iչ ֽi>չI:In n mlimImi ;ir9 sɗ?>>Is z]! @ yV q:闽 < ) I 8i 8 P ɘ : >)  |NAIIH$iH$H$H$iF&$F&`F&23#F&#=G*c?G*)i i*< @)@)zK;)9se,T5saue,T59ue%Yumɻyum: m*>uQ99~}sY~}+ɔ}:i~yyɜ霁)9[GɇC釕> >D)|@-=I;i )|銵uZ):ɔ8)8]MI:In  n  mlimImiir9 sɗ! 9)e;yV5z:== 9)AIAiIM8IPQɘU:Y ]v>) X>D)|;I=i =>=I;i )):ɔ8)8]:;Q H=Ii^ ^ )[B_  Y_uv ;_ɖ`3H=  = ! b%9b)Yb)a)a)))1ɓ11 9)9)=@I9 9i=>AIE:InI nI mQlQimQImQiQirY Ye: saaɗi)*)<) 9K H0}NAII>IH$iH(H(H(iF*$F*u"F*1$F*=G*?G*i i.<)z7;Isũ! @ ):s2su29u{j#Yuyu: ->99~ Y~1ɔ;i~8)8GɇC= >(D)i`>=I;i 8)2):ɔQ9)Q9]Q L=I i ^^D[B_k:Y_<; ;_ɖ9!`%K=  %= %9 b- 9b)Yb1a1a1)19ɓ99 9)A)E@IEQ9 E8iE>AIE:InQ nQ mQlQimYImYiYirYe9 saaɗeɚii)#; >)mo) ; [R I}NAII">IH$iH$H(H(iF*Tw#F*dAF*!F*LuQ99~}Y~}uɔ}:i~yy,>G>)9GɇC釕> >2D)IIn  n mlimImiir9 s!ɗ%8): >)ecu99~ͼY~|ɔ;i~锥Q9)Q95GɇC釽[= >;D)<=Ii )#2)Q:ɔ8)8].;Q J=I9i^^:[B_Y_x: ;:_ɖQ9` <  =  bͼ9bYbaa)!ɓ!! !)!)%@I! )i->-Q9I)In9 n9 m9l9imAImAiE;irAE9 sIIɗI )VQ9~\Y~Cɔ;i~锅8)8[Gɇ釙 >FD)I@=i==I;i 8)銵#3):ɔQ9)8]Vi8IIn n mlimImi ;ir!! s!!ɗ)->-)>)% u)u8I}8i}8Pɘ阑 IsCBP! @ ) >;`he }}NAIIH$iH$H$H$iF&T$F&[UF*M?F*Y=G*?G*i i* < B<)@IL)zK;)9se5saue59ueTC&Yumgyum\#m*>u9Isr! @ 9~>Y~ɔOD)ix>h#?I;i8 )#2)7:ɔQ9)Q9]9b)Yb)a)a))-:1ɓ19 9)9)=@I=9 =8iE>AIE:InI nQ mQlQimQImQiQirYY sYaɗa)mm阝8 ~>)}=) #;k ^K}NAI:IH$iH$H$H$iF&R&F&7XF*(F*:=G*?G*h i* )}9zz {){CI{i{{{{{ |)|I|i|C|||| })});T=9~5~Y~5ɔ=7;i~9=Q9)EQ9M[GɇMCU&= u>uZD)};I}=i}P> >=AIE:Inq nq mqlqimqImyi};iry}9 sɗyVm :m < q )u Iu iy } 8 P ɘ :阍 >)u g<[r }NAI:IH$iH$H$H(iF* %F* 9F*P#F*"Is! @ :)Q:s]4saue49ue.%Yuayuee)>m89~)Y~ɔK;i~锍9)5GɇC釥 =)"< >bD);)I@=i@== =I=i )銭&?3)7: ɔ;)Q9]FSyI}:In n mlimImi;ir sɗɚ隡yV K:闍 < ) 8I 8i P ɘ 阭 8 >)e F):se3saue39ueL$YueSyue: e*>i9~~Y~ɔK;i~锉V>x>)T<)Q; Is ! @ = got command maintain sensor NAL9602.latitude_fix 36.842499 degree SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.= got command maintain sensor NAL9602.longitude_fix -121.866798 degree SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.)U '<) 9IM >)%:) <<)5:Is@! @  A)?ɇC> %>%xD)%ՉI:In n mlimImiir sɗyV:闙 )IiPɘ:)< !Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter, @? ~NAz?I:IH0iH4H4H4iF6hf$F6bDF6jF6J=G6 뤓?G6j i6B<)u;I)]:s}P3syu}P39u}$Yu}yuy)>99~Y~ʊɔ:i~锝8\Inadequate Iridium signal strength reported: 0)9ɇC釵^= p>}D)>QIU;Ina na maliimiImiim ;iriu: sqqɗyIsA! @ %;yVMk:M< Q)QIYiYae8Piɘmk:q uy>):) < )u :d׊ x-~NAIIH$iH$H$H(iF*$F*F*/ F*)G]D)]Aggregate::uninitialize Defaultq&NAggregate::uninitialize Default:Iridium 'Uninitialize.1+Uninitialize.1 ,DUninitialize GoToSurfaceComponent.=4Started mission EcoHAB_box1.@Aggregate::initialize EcoHAB_box /JInitialize AltitudeEnvelopeComponent./DInitialize DepthEnvelopeComponent.1); 0 JInitialize OffshoreEnvelopeComponent.#  G Initialize.# G u !>  ADCP unrequested HOpening uart, block timeout 10ths=20 $resume:Powering up DCycling power to configure device.I ɍ ) P=yVE :E < I )I IQ iQ Q Y PY ɘe :i m > oG~NAIIH$iH$H$H$iF*`&$F*F*OcF*u99~}YY~}ɔ}7:i~yyɜ@霁)9[GɇC釕w= `>D)I>i@->))% <)] 9$ʗ `~NAIIH$iH$H$H(iF*!%F*M/F*;F*]Q99~Y~6ɔ;i~锉)Q9GɇC針&= >D) =I@=i`= =|=I;i8 )銽2)Q:ɔQ9)Q9ٛ )]{)]:a9~9;Y~Bɔ;i~锥8)8ɇ釽> `>D));)4sAuM>49uMG%YuM1yuM: I)e:zz {){I{i{{A{{C{ |)|I|i|yC|||| })}]=9~eY~efɔe7:i~aa)mQ9u5GɇuC}= }>D)I>ip>?=)<)] 9dת x~NAIIH$iH$H$H$iF*eT%F*9F*'%F*mu99~pY~ɔ;i~锥Q9>8>)9[GɇC釽)> (>D)I=i=?I;i 8)uZ3)Q:ɔ8)8ٛ )Q9]g);)< HOpening uart, block timeout 10ths=20 *Querying output modes q9~@ Y~ɔ;i~锥8)=5Gɇ); 5P>5D)5|i=>= =9IEyV : < ) I i P ɘ >) 5<ɷ e~NAI:IH$iH$H$H$iF&%F&X F*5T'F*QuQ99~pY~ɔ;i~锡)8ɇȓC釽9= >D)D>I;i )n3):ɔ8)8ٛ )]Q =I9i8^^3[B_Y_: <9_ɖQ9 ` <  G=  b;o9btB - ,:Yb,A 1 9aa): %8)!I!i!!-9-Q9-9 1I5;In9 nA mAlAimAImAiE;irII sIUQ9ɗQyV* :< )!I!i)))P1ɘ99 =r>))M7;IsE2sAuM29uMzj#YuM~yuMSM&>)e:e89~ ѼY~ɔ;i~锡ɜ@霩)]:)UD)U;I]9>i]>] t>e=[B_Y_\: [;_ɖ閝`<  < 9 b@ϼ9b+tB - :Yb-A 1 z:aa): ׽)IiԽ: I;In n mlimImiir sɗ8ɚAyV :闽< )Ii8Pɘ:8 ??,ʟ ?5*NAIIH0iH0H0H0iF2#F2(P`F2mF2 f=G67?G6'x i6:Q99~_Y~ɔ:i~锵Q9\Inadequate Iridium signal strength reported: 0):[GɇȓC> ?D)Ip!>i>>Ii )u2):ɔ8)8ٛ 8)]\μQ =Ii8^ ^ E[B_  Y_ O<7:_ɖ!`%_C  %= %9 b- 9b-5tB - -:Yb--A 1 -9a1a1)5: 9)9I9i99=9AA M8IM;InQ nY mYlYimYImYi];iraa saaɗmIs! @ yV15< 9)=I9iEAIPIɘUk:U ]u>)<) 9П DNA= ?I:HOpening uart, block timeout 10ths=20FcommandDVL: #&!LQNQ.COMD1616 00 0 IH(iH,H,H,iF.vj&F.iF. F.a):Isu-"! @ qs]!5saue!59ue%Yuayue: e'>m9Iy9~Y~Yɔ*;i~锍8)8ɇC針> 0>D)||=ID) ;)- <ן ]NAIIH$iH$H$H$iF& %F&kF&]F&=G*f?G*Bv i*<)Z7;IsmPD! @ m*;)7:sE]3sAuE]39uEE$YuMSyuIM&>IzzA {){I{i{{{{{ |)|I|i|C|||| })}] =9~Y~l%ɔ;>)9ɇؓC);> x>D)l"? =IA!>yVU :U< Q)]I]iYe8aPiɘqq u> cmdResponse: 00 &Enabling NQ1 outputFcommandDVL: #&!LQNQ.COMD0505 01 1 ) ;)U <(ݟ 1wNAIIs*nf! @ * ;IH,iH,H0H0iF2($F2 \F2WF2W=G2?G2Xv i20< N<)L)^X;)9m cmdResponse: 01 m*Querying output modesmIuu v)vIvivvvvv w)wIwiwwwww x)xIxixxxӓCxx y)yIyiyyyyy z)zIzizzz}})%X<%d=9~-"Y~-ɔ-7:i~)1)I<5GɇC釥= >D) =I=i@->p!?I"% cmdResponse: 01 - $NQ1 output enabled- uQ99~xY~ԧɔ;i~锡)8[GɇȓC釽> >(D)i|>=@=I;i )I&3):ɔQ9)Q9ٛ )8]'Q v=I9i^^F[B_k:Y_  ; < _ɖ9`)=  ;= 9 b9b%ztB - %7:Yb%.A 1 %9a!a))-: ))1I1i1111=: 9IE#;InI nI mQlQimQImQiU;irY]9 sYaɗayVt :< !)!I!i)))P1ɘ=:)eIs}! @ y)} ;) :Hꟁ  hNAI:IH$iH$H$H$iF&?*$F&]F&>C$F*Q9~] Y~]`ɔ]:i~YYɜe@a)e9iɇuCu> }?}6D)yI>i>>I;i 8)銕uZ3):ɔQ9)8ٛ )]$ZQ Q=I9i8^^H[B_Q:Y_`A ;_ɖQ98`※  = 9 bN 9btB - V:Yb/A 1 9aa) )Ii:99 IIIn n mlimImi >;ir   sɗɚIsm̭! 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@ ) ;sbD3subD39u##YuɻyuS.>Q99~Y~uɔ:i~锝Q9)Q9ɇC釵= >D)i\>9>|;I;i )S3):ɔQ9)Q9ٛ Q9)8]ٻQ z=Ii:^^A[B_Y_W; < 9_ ɖ  `3=  >= 9 b=߼9b%vB - %h;Yb%X5A 1 %:a!a!)%: -8-q-))I1i1111=9 E:IED;InI nQ mQlQimQImQiU;irY]: saaɗe8ɚiiIyVUE:]< Y)aIaiimiPqɘuk:y }z>)<) ;) :  }vNA>IIH$iH$H(H(iF*#F*տsF*F*=G*?G*/v i*u99~*Y~2ɔ;i~锭8)85GɇC釽= r?D)=I|>i>X>Ii )]3):ɔQ9)Q9ٛ 8)])Q=) ) ?>)9[GɇC釽f= ?D)i|>`=Ii8 )3)k:ɔ8)8ٛ )]X(IQ9i^^G[B_:Y_z ; 9_ ɖ `=  =  bo 9b%vBYb%8A 1 % ;a!a!)!165!6u5=95=5yEE95EMIML=5}MIq5UiU?a5UUQ90U13efeAggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChlq3efeInitialize.a3u)u2ue}Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water2i؅k:q2dInitialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocitya2؍:0aInitialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water0)ٕ:)SjAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy)SnAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A#iԙ#鸥ԡԥ9ԭ9 թI<)m>mD2= nI0;ir9 sSAɗ8IQ}FOpening uart, block timeout 10ths=4}Powering upI;)W=Is*A! @ ;yV:= Q9)Ii : P ɘ k:  >) ;)u r<@) ᩀNAIIH*SAiH*I0sE]3sAuE]39uME$YuMyuIM%>UQ99~$MY~Gɔ;i~锉)9GɇؓC釥> ?D)@-=I`%>i>9?=I;i )銽&3)k:ɔQ9)Q9ٛ Q9)]"`=Q N=I9i^^1[B_:Y_; ;_ɖ`Z>=  = 9 bE9b%wB - ;Ybw9A 1  ;aa ) :Ii>:9%i!%k:i!%8))i585)5q(5P5hAggregate::initialize EcoHAB_box:UpdateCircleTimeout(5=`@(EIA(E(EAiAAIMQ9I QIU}0>Is+c! @ ; 5@=ADCP requested=DCycling power to configure device.I}}ɍy y)M/=yV:闕= Q:)I8i888Pɘ:阹 >) ;) ;0 |ÀNAI:IH$iH&.T=H$H$iF&$F&aF&x7Ise! @ sEf1sAuEf19uM "YuMؠջyuMU&>uaui vi)viIviivivivivivi wi)wqIwqiwqwqwqwqwq xq)xqIxqixyxyx}Cxyxy yy)yyIyyiyyyyyyy z)zIzizzz}})= <==9~EY~E^ɔE7:i~IM8)M8U5Gɇ]C]= e?eD)e;Im`=imT>m?u =Iu;i}: }8)銅13)>;ɔ8)8ٛ 8)Q9]AQ 2=I9i^^C[B_k:Y_# ;9_ɖ`=  = 9 b=9bwB - ;Yb ;A 1 ";aa):Ii7:ii)i)Q PCircleModulus calculated as: 4.658515 h (i:(1)i9! !I%d6 ݀NAIIH$iH&E=H$H(iF*"F*ŗF*=F*sEȏ3sAuMȏ39uM3$YuMyuIQ]Q99~Y~0ɔ;i~锉)Gɇ針k= ?D) =Ii\>== >I;i8 )銽2):ɔQ9)Q9ٛ )8]:Q q=I9i8^^B[B_Y_]; <_ɖ`G˽  7=  b9bwB - p;Yb9 = !NAIIHp8$F>HIsJȯ! @ N0;FN[#=FN=GRҴ?GRw iV);I%i%%%:ً%J:%pL3I%=z1z5A {1){1I{1i{9{9{9{9{9 |9)|9I|9i|9|9|A|A|A }A)}AG=9~uY~Lɔi@->`d>%PC NNAI ;IHQ99~iY~%ɔ%;i~!-Q9)-855GɇECE> M>?MD)U) L=J )NAI :IH8iH8H8H8iF:$F:>F:^ =F>\=G>?G>x i>T<)v0;Ii'i:ً&4I=):Ii*:ً=:pL4I =s2su29u"Yuyu,>89~Y~ɔ;i~8)9[GɇC== 9? )D) |;I>i@>?%`=I%;i-: 1)==2)Ek:ɔMQ9)M9ٛQ U9Y)Y]eoQ e]=Ie9ie^i^uI[B_q}:Y_}:K }<}9_ɖQ9閍Q9Isz-! @ 0;`vl=  '= ; b9bxB - ;Ybr@A 1 ;aa);Ii:iiQ9)]^) =P 4CNAI ;IH4iH4H4H8iF:"F:MF:\y i>N<)z*;I~i~~+~:ً~M:~7Y4I~=- cmdResponse: 00 5(Enabling ADCP output5FcommandDVL: #&!LQNQ.COMD0505 03 3 Ii":ًC:p3I=)%;IsO! @ ;sP3suP39u$Yu1yu: 9~Y~ fɔ iE >E`=M=IM;iU9 U)]]&3)e:ɔm9)uQ9ٛy }:)]=Q J=I:i^^<[B_Y_x: ;:_ɖ閭8`  = 9Ii)*:ًcF:?4I= b㶼9b=yB - ;YbAA 1  ;aa);Iiii)eg<)mQ9iqq)qqiyy}Q91}:}dAggregate::initialize EcoHAB_box:SurfaceCommsShort} ;}@Initialize GoToSurfaceComponent.鱅 )Iى;tAggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn1ԕ7:ԙ ՙI=) X aNAI:IH*iH* =[K; j<)lIaiee#aًenA:e3Ie=ma=)i);Iii:ًI=):s ;5su ;59u%Yuyu9~颼Y~XHɔ;i~Q9)ɇCw= ?TD)i =L*?=:3I=)^ }NAI:IH$iH*H(H(iF*%F*,3F*,F*. =G*ӯ?G*x i.<)Z;Ii:ًnA:I=):ssu9uYuؠջyu/>99~Y~ʊɔ:i~锽9)GɇOC= 8>aD)I@=i==\=IIU iQ U &U !:ًQ U T4I] =i] =A] =A)5 <@e sNAI:I"i""-":ً"G:"r4I&=IH,iH,H,H,iF.%%F.;F2Z¼F2=G2+?G2x i2-<)R;Ii+:ً0@:7Y4I=5&cmdResponse: 01 03 5*Querying output modes5Q99~ɼY~\xɔ;i~Q9)Q9ɇCIi0:ًx<:4I== ?oD)) =% 4cmdResponse: AUTO_VEL_ON I i  . :ً >: 4I% =k NA?I:IH$iH(H(H(iF*$F*1F*oF*Ii#i:ًH:3I=Is=! @ =;)#;sv3suv39ug$YuSyu2>Ii&:ً0@:T4I==)C=)K;)=I; ϓC)m?Y$r ʁNAI:IH$iH$H$H$iF&$F*')5F*F*Q99~Y~uɔ;i~8)-;);)=[GɇC&= x?D);I=>i%9>%@?%>I-kIsM :! @ M *;I] i] ] )] :ً] nA:] ?4Ie =$x NAI:)2;IH8iH$F>&:F>#FF>9)<9~-@߼Y~-Fɔ-k`%>:T4I=yV:闕) );)u7;uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)z Iz ĀAiz z z } } Is-}! @ -7;=9~>Y~ɔ:i~锭94>J>)7:ɇC= p!?D)|i@-> >=I;Ii%;ً&E: 4I= ГC)am?Y]I% i% % +% i:ً% G:% 7Y4I% =- %=)- =H rNAI)2;IH8iH8HL$F>I1F>F>/ =G>?GBNx iBhQ9)9~Y~YɔI=;I5<99 A)ETm?YEUe89~uӻY~uɔu:i~qqɜ}@}@}\Inadequate Iridium signal strength reported: 0)}:ɇIi-!:ًL:r4I=針>Is"! @ ; ?D) k) K;i- D>I i % x:ً &E: 4I 鍵 4=) R=e40?)e>);>I>i9 )銽3)Q:ɔQ9)9ٛ Q9)Q9]ڷ::4I:=IH\iH`H`H`iFb/%FbFb(-FrR3=Gv⤤?Gvz iv<);Ii:ًcF:pL3I=)^<)#;s%`4s!u-`49u-!a%Yu)yu-\#-0>IsuE! @ };Ii:ً=:3I=z1z1 {1){1I{1i{1{1{9{=C{9 |9)|9I|9i|9|Y|Y|a|a }a)}aM=9~XY~ɔ =?=D)9IAiEX>MO?MIM < Q)UQm?YUR@ cNAI :I"i""$&:ً&G:&3I&=i$()2Q99~@ Y~ɔ;i~ ) 8GɇȓC%A= -X>-D)- =I5`%>i5>=>==IE;əE)} )=Xim >mT>mIm;iuQ9 q)}}j4):ɔ8)8ٛ 8)]DQ I=Ii:^^A[B_k:Y_5 ;_ɖ閱`k  = : b9b}B - :YbPA 1 !:aa) ;9:Ik:i?)Q9i8) 8 i  9iq )I:%9%9 )I-(;irII sQU7:ɗYyV5:5< 9)E8IIiIU]8Paɘe:i m>Im im m 0u :ًu B:u 4Iu =} R=)} 4=) =) 9 ݵ̂NAI:Is&! @ *;I2i22 2:ً2x<:2T3I6=IH4iH4H4H4iF:/%F:4F: F: );9~ЛY~?ɔIEiEE)EB:ًEH:M?4IM=)IM iM M ,M :ًM >:M e4IM =Isu 6ʲ! @ q ) *;I= i= = &= :ً= 0@:= T4I= =);I%i%-.-:ً-;;:-4I));NQ1I5i555:ً=nA:=3I==i=;A9)u<Y`e<`eף;P=ADCP ) I o:-3I-= -==GɇAE=)< X>0D)|i@l>= >Iz< )Dm?YJI :IRiRR*R:ًR&E:RpL4IR=IH!iH!H!H!iF%g$F%.F%QF%k=G-v?G-z i-=Ii)O=Ii3Q:ً7:4I=);):Ii,i:ًG:e4I=ssu9uYuyuS=>99~'ؼY~ɔD;i~9ɜ@@ \Inadequate Iridium signal strength reported: 0) Q:5GɇC= %?%;D)%i-p`>5=>IsEg ! @ E;u|m% g2= n% @-Ơ 0NAIIH*SAiH*@-);Ii'i:ًO:&4I= <) %=IsP.! @ ;s]3su]39uE$Yu1yu0>Q9)e;Ii$:ًx<:3I=9~%ͼY~%|ɔ%im@>u@->qIu [B_k:Y_>: <_ɖ`M%=  $= 9)W= b4ͼ9b}B - 9YbPA 1 aa)X;Ii>: 9 i  :i)9i!!)! %<~@*-)*-1+-)i)15Q95Q9=9 =:I=I=) ;I i # :ً >: 3I =̠ 2NAI:IH$iH&#=H$H$iF*$F*!gF*s7)K;9~2Y~ɔ;i~8)8[GɇC[= ?YD) `= =I;ə%==i9 8)73)%7:ɔ%Q9)-Q9ٛ) )1)1]5VI59i=^A^ED[B_AEQ:Y_E; E;ir sɗ=%>yV闵< 8)8IIi:ً&E:3I=)} ;-5FThruster uart error: serial timeout15-=(Communications Fault!A = i=?EAPI U`Communications Fault in component: ThrusterServoɘU:e mD?ؠ cNAI :I&i&&)&i:ً&9:&?4I&=YH U ?U zD)U i] >e =e @-=Ie ;Is} &! 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FX bNAI:IH$iH$H$H$iF&k&F*4F*~F*N=G*?G*e i* <)5X;)%9sE6sAuE69uEܧ&YuE~yuM: IM89~eW[Y~eɔmQ;i~imQ9)u}5GɇȓC釅9= >):D);I=i=?=ՑI:In n mlimImiir9 sɗɚ隹)yVu9}< }8)IiPɘk:阙 ~>)| H>1:D)I=i==I;i8 )銝#3)7:ɔ}<)r;]aQ @=Ii^^F[B_Q:Y_ou: ;9_ɖ閵8):`=  = 9 b9bYbaa)YɓYY Y)Y)]@IY e8ie>aIe:Inq nq mqlqimqImqiu;iry}9 sɗIsA! @ ;)m)U ; H:e )핹NAIIH$iH$H$H$iF*$F*2F*]F*ع)-X;=dgot command load ./Missions/Science/EcoHAB_box.xmldLoading Mission: ./Missions/Science/EcoHAB_box.xml)U;sU4sQu]49u].%Yu]ɻyuY](>a9~NY~CkɔX;i~锁)Q9[GɇC針 = ><:D)=|!qM I U ZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!u] )Y e VDefineArg EcoHAB_box.MaxDepth = 85.000000 m!ym ii u `DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}} y  RDefineArg EcoHAB_box.Speed = 1.000000 m/s! 鞑  bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h! I  `DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!   fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!  ^Xz? nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg! ) -z rDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg! i P޼? pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!  Tx{ tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!  Π1`? hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg!% )% O,1y- lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg!5 i5 ?  dTk NAI:IH$iH$H(H(iF*5%F*7F*ǫF*=G*?G*e i.<FhDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!NN0X;yIN>)VZ=ZlDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!^\bhDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!j)hjlDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!ripvhDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!z|lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!  `DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!)%bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!5i15tDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!EAMZDefineArg EcoHAB_box.Repeat = 13.000000 count!UQe`DefineArg EcoHAB_box.CircleRadius = 500.000000 m!m)iufDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!}iy^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!TDefineArg EcoHAB_box.CircleModulus = nan h!餥 @^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!)XDefineArg EcoHAB_box.LapTimeout = 8.000000 h!i\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m!^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!) fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!ilDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /6Construct AltitudeEnvelope./0Construct DepthEnvelope. 0e6Construct OffshoreEnvelope.! )X=XInserting Stack: Missions/Insert/Surface.xmlIs! @ amiuxDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/sa}yvDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdega)zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/saiDefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina ~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool 1,Construct GoToSurface. lInserting Stack: Missions/Insert/SurfaceCommsSplit.xmlse&4saue&49ueV$Yue~yuae)>mQ99~wY~Tɔ;i~锉 51=DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdege)amDefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/suXInserting Stack: Missions/Insert/Surface.xml&NAL9602 initialized)=GɇC釵F=): 8>I:D)=)IL=i\>L= =I=i )銭#3)7:ɔQ9)8] - C>E DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min%U iU ] DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6e ,Construct GoToSurface.) P= DJW? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg ? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/si  RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool lInserting Stack: Missions/Insert/SurfaceCommsShort.xml!)   ~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-   vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1 ) yV K9 v=  ) I i  P ɘ   >% ~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!55 i1 = vDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/sGx oɹNAQI]: >IHiHHHiF%$FFOEF=G?Ge i< ;,Construct GoToSurface.I >)-u=5^Inserting Stack: Missions/Insert/SurfaceGPS.xml!9lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!=鲩~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A)vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/sjInserting Stack: Missions/Insert/SurfaceNavUpdate.xmlIs5[! @ 1EiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/sIDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegM  DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ%)!-DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?5,Construct GoToSurface.amRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/aq}RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a}dInserting Stack: Missions/Insert/SurfaceSafety.xml!!UinDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h!!YDefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg!!]|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s%XInserting Stack: Missions/Insert/Surface.xmla!a-I)-DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!eMMUDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!i]ɶ]?eDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!mu quDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!q}IDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C,Construct GoToSurface.DJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegɶ?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/ssr 4sur 49u4$YuɻyuS1>89~Y~0ɔD;i~9)Q9%Gɇ-C5= GMConstruct.#= ]#I eGu&Construct Buoyancy.#M }zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml ?U:D)I>i=@-=;I}[B_Q:Y_  < _ ɖ 8`;  *= 9 b9b!Yb!)1aAaA)E;IIInQ mYlYimYImYiYiraa sɗyVae< a)iImiqqu8Pyɘk:阅8 >!$u@DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min!$y)DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min!$}iDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count!$  DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg!$%DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg!$-)-@o@5DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m!$EiAMDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m!$UQ]DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool!$eamDefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$})y}DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s!$iDefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s LConstruct.!& !&} !& M,Construct GoToSurface. Z&Construct Waypoint. [&Construct Waypoint. \=&Construct Waypoint. ]e&Construct Waypoint. ^&Construct Waypoint. _&Construct Waypoint. Z&Construct Waypoint.XInserting Stack: Missions/Insert/Science.xmlIsu! @ u ;@a~ ˎNAYIe:IHiHHHiFF$F^:FYF)>I) Y)Y)]T=)i=0ĽvDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool0)es-8R?DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg0ies-8RDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg0vDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool0vDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool0 ) DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool0i%DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool0-)5DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool0=9EDefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool0MsM`4sIuU`49uU"a%YuQyuUU=>Y9~ugƼY~usɔuD;i~qy)MDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool0iǕ@DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m0ǡDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m0 ȱDefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a0iDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a0DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a)1)=4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =PLoaded ./Missions/Science/EcoHAB_box.xml=vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree韥?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)z=xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei$?=|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree!sȏ3suȏ39u3$Yuyu2>Q99~-5Y~5bɔ5;i~158ɜ=@=@)=9EGɇECM= U?Up:D)UIU=i]=]`=]Ie;ie8 a)mmأ2)uQ:ɔuQ9)}Q9]};Q }m=I}9i^^7[B_Q:Y_ <9_ɖQ9閙`^=  8= 9 b59bYbaa):ɓ铱 )չ)@Iչ ֹi>չI:InXz: n mlimImi;ir sɗɚ)e;yVl9< )8I8i88Pɘ:8 ~>IsU! @ QT uNAQI]:IHiHHHiF;$F:F$F=G?Ge i < ->Ii)>)W=s@+3su@+39u#Yuyu: *>Is] z*! @ ] ;zz {){I{i{{{{{ |)|I|i||||| }C)})5===9~'Y~ɔD >:D)=I=i >h#?@=Ii )uڱ);ɔQ9)8]  I :InQ nY mYlYimYImYi],T †/NAI:IH$iH$H$H$iF&#F&-F*[F*=G*?G*e i* < |I M@i )-O=I9)e>)=IsrQA! @ ;):s ;5su ;59u%Yuɻyu>>uu v)vIvivvvvv w)wIwiwwwww x)xIxix)=xxxx y)y Iy Ciy y y y y  z )z Izizzz}}9~\Y~Cɔ;i~锱)8ɇC) %<> M @>M :D)M յ Q9I In n m l im Im i ;ir 9 s ɗ yV 9闥 < 8) I i 8P ɘ : >@, INAI:)wu99~5Y~bɔ;i~锭8=C>)9ɇȓC)e;> ?:D)I=iT>=I IIIInY nY malaimaImaie;irii siiɗuu!>}>);yV59=< 9)AIAiAIIPQɘUk:Y ]v>)5 S<) Q9Is% 1n! @ ) F bNAIIH$iH$H$H$iF*#F*2F*cF*=UQ99~¼Y~oɔ;i~锅Q9)9GɇC針= >:D);I=iX> =9I=;InI nI mIlIimIImIiU ;irQQ sYYɗY)e;yVU9]= Y)eIeiam8mPqɘqy }z>)% 9q9~Y~Jɔ;i~锥8)85GɇC釽=)Q; >:D)||E8IE:InQ nQ mQlQimQImYiYirYY saaɗe8)%%Is琜! @ ;)- L<) 99 镺NAIIH$iH$H$H$iF& $F&e_F*F*U99~Y~@ɔ;i~锍Q9ɜ@霍@)9Gɇ釥> 8>:D)=I@=i=`=I;i 8);)~銽#);ɔ8)8]1=Is ?Y! @ Q M=ID;i^^([B_k:Y_%;!_!ɖ-Q9)`-z 5Q9 b59b9Yb9a9a9)9AɓAA A)M:)M@IMQ9 M8iM>IIM:InY nY malaimaImaie;irim9 siiɗqɚuAuA):yV59=< =8)AIAiAIIPQɘUk:]8 ]v>)% 2<) 9T {NAI:IH$iH$H$H$iF&n$F&qDF&F&$=G&?G*e i*< I)D;Is! @ sE?4sAuE?49uMx$YuMɻyuMIUQ99~]CY~]ɔ]:i~Y]8)e9iɇqq }>}:D)})I-:In1 n9 m9l9im9Im9i9irAE9 sAIɗI)yVG9< )!I!i)))P1ɘ9= =r>) <) 9, ɺNAIIH$iH$H$H$iF&$F&sF&ɌF&l=G*?G*e i* >:D)|=I;i8 );)銽uڰ);ɔQ9)8]8rQ G=I9i8^^<[B_Y_ ; 9_ ɖ `<  =  b@߼9bYb!a!a!)%:)ɓ)) ))))5@I58 5i5>1I5:InA nA mAlAimAImIiM;irIM9 sQQɗQ)5?)% -<) 9Is% H! @ ! $G RNAIIH$iH$H$H$iF&%U$F&i>PF&aF&)9[GɇؓC釽B= P>:D)u9Iu;In n mlimImiir9 s9ɗC>)>yVm9u< q)yIyiy8Pɘ:阑 >)U >:D) =I>iX>=>I;i8 );)\銽);ɔQ9)8]i;Q c=I9i^^.[B_  k:Y_   < _ɖ`Ѽ  -= 9 b%W[9b!Yb!a)a))-:1ɓ11 1)1)5@I1 =i=>9I9InI nI mIlIimIImQiU ;irQQ sY]9ɗeyV.9闝"= )IiPɘ:阹 >Is%! @ )eN=)- ><) 99Ů NAIIH0iH0H0H0iF2%F6F6F6< P)P IQ)Q;seP3saueP39ue$Yuayuim'>u99~ɼY~\xɔ;i~锡)8ɇC釽w=)K; >:D)=|;I]8I]:Ina ni miliimiImiiiirqu9 squQ9ɗ}8)--)- L<) 9Tˮ {/NAIIH$iH$H$H$iF&v$F&5F&?F*=Q9~&Y~ɔ;i~锍Q9ɜ@霍@)9GɇC釥K= 0>:D)@-=I`=iP>=@=I;i8 );)U銽n);ɔQ9)8]%Q N=I9i^ ^ J[B_  k:Y_{: ;9_ɖQ98`>  %= ! b%&9b)Yb)a)a))-:1ɓ11 9)9)=@I9 =i=>9IE:InI nI mQlQimQImQiQirYY sYYɗaɚeAeA)E])% 2<) 9@,Ү INAG?IIH$iH$H$H$iF&%F&uF_F*+F*O:D);I >iPh>;I;i 8);)h銽&?);ɔQ9)8];Q M=Ii^^G[B_ Y_ : ; _ɖ`<  =  b%89b!Yb!a)a)))1ɓ11 1)1)5@I58 =8i=>9I=:InI nI mIlIimIImIiQirQQ sYYɗY)=G)% /<) 9Is% ! @ ) $Gخ RbNAI:IH$iH$H$H$iF& %F&/ViF*#F*wseȏ3saueȏ39ue3$Yueɻyumm*>u99~\Y~Cɔ;i~锭Q9)8GɇC)X;釽> (>:D)|MQ9IM:InQ nY mYlYimYImYiYiraa saaɗi):yV59=< =)AIAiAIIPQɘQY ]v>)- K$F&VVF&F&=G*?G*\e i*< )0;I>seP3saueP39um$Yumؠջyuii):uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyyCiyyyyy z)zIzizzz}})%<%e=9~-CY~-@;ɔ-7:i~1585>=x>)=9E[GɇECM[= Mh>M;D)UIU=i]@=]=YI];ia a)eeuZ1)m:ɔu8)uQ9]uD:Q }7=I}9iy^^3[B_Y_ a ;_ɖQ9閑` a   =  bC9bYbaa)ɓ铩 )ձ)@Iձ ֱi>յ8IIn n mlimImiir sɗ >%>Is i/! @ ;yV9闵< )IiP)u <ɘ} <} } >) k:9宁 镻NAI:IH$iH$H$H$iF&a$F*MF*F*z=G*?G*Me i* <)0; >I seȏ3saueȏ39ue3$Yumɻyum: iu99~)Y~ɔ;i~锭Q9)9ɇC)X;{> >;D)|@=|;I eQ9Ie;Inq nq mqlqimqImqiyiry}9 sɗ):yVQ]< ]8)e8Ie8ie8im8Pqɘuk:}8 }z>)= c<) 9dT뮁 NAI:IH$iH$H$H(iF*>$F*\P*F*jHF*=G* ?G*Ne i* < D)D)D; >I)Isbu! @ s4su49u.%Yu1yu.>) ;z)z-A {)){-ӒCI{)i{1{1{1{1{1 |1)|1I|1i|5C|1|9|=zA|9 }9)}9 =9~D`Y~ ɔ:i~锥8)8ɇC釽= 8>;D)I`=i==u8Iu:In n mlimImiir9 sɗyVm9u< q)yIyiyPɘ:阑 >)U <) 9@, ɻNAI:IH$iH$H$H$iF&9%F&F&iDF*=G*?G*5e i* IIse?4saue?49uex$Yum~yuim*>u99~ Y~1ɔ;i~锡ɜ霩)X;):)9) 9Is% n! @ ) ): AI))E;)9)%?-Gɇ-C5> e >e.;D)e`d>IeP)>im>m=u>Iu IIn n mlimImi;ir sɗ8ɚIsMH! @ IyV9闽< )IiPɘk: ??  NAI:IH0iH0H0H0iF6$F6qpF6܉^F6n=G6 ?G6lg i6?Q99~NY~Ckɔ:i~)5B<=[GɇAE= u>u4;D)}Q9IIn n mlimImi0;ir sɗ ))u:Is 4! @ )m 0;d~ NAI:IHDiHDHDHDiFF %FJ(=FJFJ89~'ؼY~ɔQ;i~  Q9)8GɇC%= %>%>;D)-|5?5I5;i= Y)]]2)e:ɔeQ9)m8]mVQ uN=Iu9iq^^;[B_;Y_z ;_ɖ閩`  =  b'ؼ9bYbaa);ɓ ))@I i>I:In n m!l!im!Im!i%;ir)-9 s))ɗ1IsJpK! @ )<)};yV:闕< )8Ii8Pɘ:阱 >)U ;   q,NAIIH iH H$H$iF&g&F&@TF&mF&sQIsua! @ qIu>9~}uY~}Lɔ};i~yy>R>)95Gɇ釕= >E;D)I9>i@=`=|=IաI:In n mlimImi ;ir9 sɗ%C>!)]:yV:< )IiP ɘ Q: >) ;$q J FNAI:IH$iH$H$H$iF&&F&A9F*nF*=G*?G*d i* < B<)D)5D;Is]x! @ Y)-: sEv3sAuEv39uEh$YuEyuE: M%>I9~e"Y~eɔeD;i~im9)qyI>ɇC重> >P;D)?I  0= 9 b"9b!Yb!a!a))))ɓ11 1)1)5@I1 1i=>=8I9Ina ni miliimiImiiiirqu9 sqqɗy)r)e0;)U ; _NAIIH$iH$H$H$iF&(%$F*F*y]F*> =G*?G*&e i* <)50;Ism! @ i)-: !sE4sAuE49uE.%YuEؠջyuESAMQ99~epY~eɔeQ;i~imQ9)uQ9}GɇȓC釅9=  >Y;D)@=I>i\>L=I;iI> )銥02):ɔQ9)8]=EQ N=Ii^^/[B_Y_r> ;9_ɖ`.  = 9 bp9b!Yb!a!a!)%;)ɓ)) 1)1)5@I1 1i5>1I=:Ina ni miliimiImiim;irqu9 sqqɗyVu:u< )IiPɘk: )}<)]:)U ;Is T! @ ;  AyNAI:IH$iH$H$H$iF&x9%F*['F*F*E9~eCY~eɔe0;i~im8ɜiq)u9}Gɇ}C釅w= >d;D) =I>i>|==I;i8 )I銽);ɔQ9)Q9]ՁI:In n mlimImi;ir9 sɗɚ隩)r)YIsu /!! @ } ;)U 0;~$ sגNA?I:IH$iH$H$H$iF&'F&F&5{F&;)-9sE5sAuE59uETC&YuAyuE: M&> >IzAzEA {A){ECI{Ai{A{A{I{I{I |I)|II|Ii|I|I|I|I|Q }UC)}Q?=9~Y~ֿɔ;i~Q9)Q95GɇC= >o;D)? I ;i  Is! @ )9<)2)<ɔQ9)8]sQ 3=Ii^^G[B_;Y_ ;9_ɖ`<   = 9 b9bYbaa);ɓ ))%@I! %8i%>!I!)YIna na malaimaImiim) 2<* uNAIIH$iH$H$H(iF* N&F*sKPF*1 F*]Ism ! @ q I)E ;uu v)vIvivvvvv w)wXAIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}})Y]=9~J1Y~ɔ;i~锕8)8[Gɇ釥= >z;D)e ;Im =im =m =u \=Iu I f1 żNAIIH4iH4H4H4iF6$F:8鉼F:MQ!F:28 >9~ۼY~ɔ7;i~>i>)9 ɇ Co>I1 >;D)<)E)iIu=iu@l>}@l=}=I}=i )أ)e <ɔ} Q;) Q9] -=Q S=I i 8^ ^ <[B_ Q:Y_  < _ ɖ 9閥 8` P  $= 9 b ۼ9b Yb a a ) :I 8In% w: m! l! im! Im! i- :ir) - 9 s1 5 8ɗ5 = >= !>) 7 ߼NAIIH$iH$H$H$iF&$F& F&cF&=G*J ?G*d i* < B<)@!q)E;MZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!uU)QIsm5! @ iuVDefineArg EcoHAB_box.MaxDepth = 85.000000 m!y}iy`DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}RDefineArg EcoHAB_box.Speed = 1.000000 m/s!鞡bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h!I`DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!^Xz?nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg!)-zrDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg!iP޼? pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!Tx{tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!%!-hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg!=)9=lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg!MiIUhDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!eamlDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!}yhDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!)lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!ihDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!)bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!itDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!ZDefineArg EcoHAB_box.Repeat = 13.000000 count!  `DefineArg EcoHAB_box.CircleRadius = 500.000000 m!)%fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!-i)5^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!EAETDefineArg EcoHAB_box.CircleModulus = nan h!UQ]^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!e)amXDefineArg EcoHAB_box.LapTimeout = 8.000000 h!uiq}\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m!^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!饙bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!)fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!ilDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /6Construct AltitudeEnvelope./0Construct DepthEnvelope. 0%6Construct OffshoreEnvelope.sEP3sAuEP39uE$YuE1yuE: M%>I9~eӻY~eɔeD;i~im9)q}5GɇC釅m=! XInserting Stack: Missions/Insert/Surface.xml >I9)e= m >u;D)| i  DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s   DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg  ? DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s! )  DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min% i % DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6- ,Construct GoToSurface.u DJW?Is W,! @ } RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg鮕 ? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/si  RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool lInserting Stack: Missions/Insert/SurfaceCommsShort.xml!)5 1 ~D KBNAYIYIHiHHHiF"$F]EUFSS!F2=Gy ?Gd i<~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1)~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5ivDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;%,Construct GoToSurface.e^Inserting Stack: Missions/Insert/SurfaceGPS.xml!9lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!=~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A)vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/sjInserting Stack: Missions/Insert/SurfaceNavUpdate.xmlEiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/sIDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegM鳩DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ)DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?,Construct GoToSurface. RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a%RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a-dInserting Stack: Missions/Insert/SurfaceSafety.xml!!UinDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h!!YDefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg!!]|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xmla!amIiuDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!e}}DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!iɶ?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!m DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!qIDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C,Construct GoToSurface. DJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegɶ?%RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s G-Construct.#= 5#I =GM&Construct Buoyancy.#M U]zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmls]3su]39uF$Yuؠջyu)>Q99~Y~QɔD;i~)8Gɇ> ?;D)I;i )Jų):ɔ8)Q9]%% Q %`=I%9i!^I^M5[B_QU;Y_Uڇ: U!$uDefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min!$y) DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min!$}i%DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count!$-)5DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg!$=9EDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg!$U)QUDefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m!$eiamDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m!$uq}DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool!$黉DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$))>):}DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s!$iDefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg!$IsB! @ DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s LMConstruct.)e`=!& u!&} }!& }M,Construct GoToSurface. Ze&Construct Waypoint. [&Construct Waypoint. \&Construct Waypoint.J NAYIaIHiHHHiF$F TF3!F@=G ?Gd i ]=&Construct Waypoint. ^e&Construct Waypoint. _&Construct Waypoint.)= Z&Construct Waypoint.XInserting Stack: Missions/Insert/Science.xml)5Q=s3su39u#Yuɻyu1>89~MY~M@ɔU' u>u;D)qIu`=i}=}>};Ii )a銍n)<ɔQ9)Q9]~0] YeDefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a0miiuDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a0}ȁDefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a0)ɑDefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a0ɡDefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a0ɹDefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a0 DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l0IDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m0DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg0 DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg0 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l0%I!-DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m051EDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg0 MIUDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg0 ] YeDefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB0mIi}DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m0́DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg0̑DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdegnConstruct Wait.f58Construct PeakDetectVsDepth. hm8Construct PeakDetectVsDepth.i8Construct PeakDetectVsDepth.)RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolzRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)es-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegiDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool) RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booli@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m!%RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m)5RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool5=zRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 booljEConstruct. kU0Construct DepthEnvelope.@W a q,NA!I)IHaiHaHiHiiFm#Fm撾,Fm#FmV=Gm ?Gmd im This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =5PLoaded ./Missions/Science/EcoHAB_box.xml=5vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree=?==zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)=z=Exgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreeiE$?=M|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degreeM!s].3saue.39ue~$Yue1yueSm&>m99~u띍Y~u'.ɔu:Is'o! @ i~y锕0;)Q9[Gɇ뛓C釥2> ?;D)|I:In%Xz: n! m)l)im)Im)i-;ir1쉗1 s1쩗=9ɗ9 qI)>yV:< )I!i!퉘)-P)ɘ5:9 =n>)y)^=)P=@W FNAYIaIHiHHHiF$FM99~ ѼY~ɔ;i~Q9)8GɇC 1=  >;D)yIyIn n mlimImi;ir sQ9ɗ I!yVmq:m< i)qIqiyy}8Pɘk:阉 r>):@W @_NAI)>IHtiHtHtHxiFz$FzPFz:"Fz# Izz {){I{i{{{{{ |)|I|i|yC|||| }C)})O=m=9~Y~wɔ7:i~8%>%p>)%9-[Gɇ)5= 5?=;D)==յQ9I:In n mlimImi;ir sɗ>yV : < % 8)) I) i) 1 5 P9 ɘE :A E >) F=Is ! @ ] =yNAI:)&:IH,iH,H,H,iF.t$F.D\F.8$F.uQ99~}Y~}^ɔ}:i~yy)5GɇC釕> ?;D)8I;In n mlimImi;ir: s!!ɗ! ))]:Is} /j! @ y ) 7;d~d ْNAI)&:IH,iH,H,H,iF.ȓ#F.}F2hF2 =G2$ ?G2d i2,<)] ;seX4saueX49ue$Yumɻyum: iq9~Y~+^ɔ;i~锥Q9)8Gɇ釽f= >;D)I@=i=>=I;i )2)Q:ɔQ9)Q9])I-:In9 n9 m9l9im9ImAiE;irAE9 sIIɗI )ɘYY ]v>Is! @ )]:)} 7;j  qNAI:)&:IH,iH,H,H,iF.x %F.MfF."F.=G2 ?G2d i2'<)e ;Isu"! @ qs} ;5syu} ;59u}%Yuyyuy}+>9~Y~)ɔ;i~ɜ@@)9[GɇC> >;D)i@l>==Ii 8)#2)7:ɔQ9)Q9] RIIIInQ nY)B< mlimImiuyV:闕< )Ii8Pɘk:阱 >)Y) ;pq  ƽNA?I)&:IH,iH,H,H,iF.%F.SNF.1#F2 =G2 ?G2d i2(u99~*Y~2ɔ;i~锥8)95GɇC釽> x>;D)>=I;i8 )2)k:ɔ8)8]_Q N=I9i^^2[B_Y_} ;:_ɖ` <  =  b*9bYbaa):!ɓ!! !)!)%@I) )i->)I-:In9 n9 m9l9imAImAiE;irAA sIIɗI)< yV5!:=< 9)EIEiMIMPQɘU:Y ]v>I)Y)} 0;w ߽NAI)&k:IH,iH,H,H,iF.&%F.^F.t#F.=G2= ?G2d i0Ismy"! @ i)e;seX4saueX49ue$Yum1yuiiu99~2Y~ɔ;i~锡)ɇC釽= >;D)=Ii )&?2)k:ɔ8)8] Q L=Ii^^@[B_Y_S: ;:_ɖ` C{;  =  b29bYbaa)!ɓ!! !)!)%@I) )i->)I-:In9 n9 m9lAimAImAiE;irAE9 sIM9ɗI)ɘ]:Y ew>I);)} 0;Is !9! @ $} }?NAI)&:IH,iH,H,H,iF.6%F.7pF2B#F27%>)-9)ɇ5C=m= =>= _q}:Y_}'; };}9_ɖ9閁`<   =  b9bYbaa):ɓ铡 )ե:)@Iա ֩i>թI:In n mlimImi;ir sQ9ɗIN>4>yVM :M H= Q )U 8IU 8iY Y Y Pa Is} pO! @ y ɘ% <- 8 - >)= <d~ NAI)&k:IH,iH,H,H,iF.w$F.=TF.!F2H=G2t ?G2d i2*< J<)H)@>)e*;se>4saue>49ueH%Yueyum: iu99~Y~Yɔ;i~锥Q9)Q9ɇȓC釽> >?=)I-:In9 n9 m9lAimAImAiE;irAM9 sIIɗI)}Isּe! @  I) <) D;䘊 r,NAI:)&k:IH,iH,H,H,iF.tZ%F.^mF.$F. =G.r ?G2d i2'<)e ;Isu |! @ qs}?4syu}?49u}x$Yu}1yuy}+>z z A {){I{i{{{{{ |)|I|i||||| })});=9~ͼY~|ɔ;i~8)8ɇC> >`=Ii ))7:ɔQ9)8]PQ ;=Ii ^ ^ :[B_ Q:Y_f: ;_ɖQ98`%f<  %= ! b-ͼ9b)Yb)a1a1)5:9ɓ99 9)9)=@IA E8iE>AIE:InQ nQ mQlQimYImYi];irYY saaɗa IyV5K:5< 9)=I=iAE8EPI)mr;ɘu;y }>) m<p  FNAI:)&k:IH(iH,H,H,iF.o$F.oF.g$F.=G. ?G.d i2#uQ99~*Y~2ɔ;i~锡ɜ@霭@)9ɇC釽&= >% =Ii )&?2):ɔQ9)Q9]ť)I)In1 n9 m9l9im9Im9i=;irAA sAAɗIɚQQ)u )mK;I >)} 0;@ @_NAI:)&k:IH,iH,H,H,iF.A%F.zz^F.a&F.=G. ?G2d i2'و?/Q9I;In n mlimImi ;ir9 s9ɗ yV:< )8I8i   Pɘ >)) ;Is о! @   AyNAI)&:IH,iH,H,H,iF."`$F.F^F2"F2=G2 ?G2d i2-<)] ;se4saue49ue.%Yue~yue: e'>i9~gƼY~sɔQ;i~锍9)8GɇC釥)> >9iT>@=8I;In n mlimImiir; sQ9ɗ!yVk:< )Ii P  ɘ: )]:IA Isu H! @ y ) ;~ sגNAI)&k:IH(iH,H,H,iF.B%F.`YF.y%F.9=G. ?G.d i2%<)e ;se ;5saue ;59ue%Yumyumm(>uQ99~}rY~}ɔ}7:i~y}Q9>%>bSBD MO Status=0, MOMSN=6574, MT Status=0, MTMSN=0);y)u=IsI! @ [GɇC針= >D[B_k:Y_\ ;_ɖ9`  =  br9bYbaa):ɓ ) ) @I  1 i > &2Completed Default:Iridiumq&NAggregate::uninitialize Default:Iridium 'Uninitialize.q,4Initialize Wait Component.I7;In! n! m!l)im)Im)i-; 1ir15: s99ɗ9E;>E%>)m;yV- :- < 5 )5 8I1 i9 = 8A PA ɘM k:M 8 M >I% >)M <= got command maintain sensor NAL9602.latitude_fix 36.842499 degree SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.= got command maintain sensor NAL9602.longitude_fix -121.866798 degree SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.䘪 rNAI:IHDiHDHDHDiFF6%FFw?FF'FJ5=GJ ?GJd iJ< `)`)v<)U9Isu! @ qsq4suq49u%YuSyu: &>9~gƼY~sɔ:i~锝8)95GɇC釵r> ?O)2< >) ;IE >)} :Is! @ ):)9)< >):I)9Is"-! @ ):=mgot command run=mRunning )} ; ")U#:)#4=Ia$Ism%\D! @ q%)e&k:)m)9)y,).< !/)/:Is/CZ! @ /I0)27:)5Q9)8Is9/mp! @ 9);Q< y;);:I =)E@9)UC9IsuEē! @ qE)eF:)H9< AI)mIQ:IJ)}L9)O9IsOx! @ O:)R:)T:)U: U>I1W)X:IsYOز! @ Y;)[)E`Q9)b<)Uc: mc>IeIsmeE! @ ue:)efk:)miQ9)}l9)un:IsoY! @ o;)o7: oIQq)r:)u9)xQ9Isy)! @ y)z<){Q: |I}):)9Is > ! @ ) :):)9 I):) 9Is+`Q!! @ ;:)+%:){);)K+: s,I/)[1:Is3`7! @ 3;)s7 rNAf?I:)bk:)M#;IHiHHHiF\%F׻F7Fu>G#?Gz i=)e; IsumM! @ qI)ek:sP3suP39u$Yuؠջyu'>uu v)vCIvivvvvv w)wIwiwwwww x)xIxixxxӓCxx yA)yIyiyyyyy z)zIzizzz}})  e >e im `=q u =Iq i} 8 } 8)} } #3) 7:ɔ Q9) Q9ٛ 8 ) Q9] );Q |;I 9i 8^ ^ +[B_ Q:Y_ h9 : _ ɖ 9閹 ` :  @; b 09b Yb  ! ;4a ?Ǥ? % ;4a xt ) : # >Aggregate::uninitialize Default + Uninitialize.1  , DUninitialize GoToSurfaceComponent.q , 8Uninitialize Wait Component.= 4Started mission EcoHAB_box1 . @Aggregate::initialize EcoHAB_box  / JInitialize AltitudeEnvelopeComponent. / DInitialize DepthEnvelopeComponent.1  0 JInitialize OffshoreEnvelopeComponent.#  G Initialize.# G \ MNAIIH$iH$H$H$iF&$F&F& BF&;G*V?G*v i*<)nR=)e;Isewc! @ a )5 ADCP unrequested=HOpening uart, block timeout 10ths=20=$resume:Powering up=DCycling power to configure device.I9AɍA A)T=I)Q99~ZY~pɔ;i~Powering downɜiɆ )IiɅ )I);Gɇ C w= ?ih>%01>%I%;i% -)--#2)5:ɔ5Q9)=8ٛ9 9A)A]Eg;Q E=IAiM^M$[B^U-[B_UEUk:Y_U ĺ ]B<]9_Yɖ]Q9a`e<  es= e9 bmZ9biYbiaqaq)u:yiy鸅ԁ1bAggregate::uninitialize EcoHAB_box:SurfaceComms:B1q2^Aggregate::initialize EcoHAB_box:SurfaceComms:C)Iiԍ:ԉԕ9 ՑI;In n mlimImi;ir9 sɗ8yV :闝< )Ii8Pɘk:阹 >)m =)} 9D !NAIIs&~y! @ (IH,iH0H0H0iF2O$F2»F2F24$u99~"Y~ɔ;i~锡)8GɇC釽= >i=>I;i )3):ɔQ9)Q9ٛ Q9)8]Q P=Ii^^.[B_Y_: ;9_ɖ `   =  b"9bYbaa):#%#% 3%dInitialize ReadDataComponent to sense latitude_fixi-)--))I)i11159=9 9I=;InI nI mIlIimIImIiU ;irQU9 sY]9ɗYyV19 9)9IAiAIIPQɘQQ ]v>);I)E:se 3saue 39ume$Yum~yuim*>q9~pbY~< ɔ;i~锥Q9)[GɇC釽> > ?m0>yV5:=< 9)AIAiAIMPQɘQY YIs]7! @ Y)<)] 9  F%UNAu?IIH$iH$H$H$iF&g$F&9uλF&pF*)<)] 9% nNAIIH$iH$H$H$iF*%|%F*NػF*X F*9~pbY~< ɔ;i~Q9)5GɇC> >)<)] 9! 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NAI:IHiHHHi; j<)h)zO=Isv7D! @ ;)M<NQ1Y=̽`e< :&pause:Powering downIɍ Ɂ :s5su59u{&Yuyu>>89~Y~Yɔ:i~8) [GɇȓCT= E[?EMD)E|I;InXz: n mlimImiir9 sɗ8N>J>)I5 yV5 0:= = 9 )9 I9 i9 ) .=) 9Is `W! @ ; =) I Q9[ i < P ɘ >0 jNAI:IHiH =H҅OHi;)y; >):s-q4s)u-q49u-%Yu-1yu)5&>=Q99~e颼Y~eXHɔm;i~ii)uqɇ}C釅,= ?+MD)i@->@l>`=I; )I)5<)%;I> Powering down  ə  i =Is- 2j! @ - : - 8)5 5 3)m <ɔu 8)} 8]} JN;Q } =I} 9i ^ ?^ @_ B Q:Y_  ; _ ɖ 閕 ` =  < 9 b Ѓ9b B - I :In n m l im Im i ir s ɗ )} rL NA?I:IHiH$)K;Is}! @  ;):)7=sMp5sIuMp59uMK0&YuIyuIU*>IzzA {){CI{i{{{{{ |)|I|i|yC|||| })}] =9~eY~e'.ɔe7:i~imQ9mPowering up)u9u5Gɇ}C釅o>  >;MD)iD,?Q9IIn n mlimImi ;ir  9 s  ɗyVs0:<)}< k:)I8i8Pɘ:阡 >) :$ uNAIIHiHH+Hi;I6L@i4 ) ;Isϐ! @ ;)<)Q:s%,T5s!u-,T59u-%Yu-yu-S-&>589~=ͼY~=|ɔ=:i~AE8)E8MGɇUCU> ]?]GMD)];Ie >ie>et ?m=Im;im q)uvu&)}:ɔ}Q9)}Q9]qQ b=Ii8^^@_Q:Y_ъ  <_ɖ閙` <  ,= 9 bͼ9bYbaa):ɓ铹 )ս9I)@Ik: i>I*;In n mlimImi;ir9 sɗɚAyVj0:闽< 8))Em<[ ?΅I =i  8 P ɘ% k:! % >) :@  k+6NAI:IHiHHHi;Isf! @ h); >)/<)7:s%<6s)u-<69u-&Yu)yu-)5Q99~eY~e0ɔe;i~ii)iu5Gɇyy 9?YMD)IP)>i>P)?Ii )銝uZ3):ɔQ9)Q9]9I;In n mlimImi ;ir   sɗyV0:<)u<9X2> =)[ ?:vI Is ! @ ) *; ONAIIHiHHHi): >):sEq4sAuEq49uE%YuE1yuE: M)>M89~eY~eɔmQ;i~iu:)qyɇC釅= \&?jMD)=8I:IIn  n  mlimImi;ir9 sɗ!yV0:<9X= <)Mg<)IIs)! @  ;[- jII- ) ;d B`iNAIIHiHHHi 6<)4): >);):s%4s!u-49u-4%Yu)yu)-&>5Q99~e@߼Y~eFɔe;i~ae8)iqɇuC}^= }=?}}MD);I >i==IIn n mlimImiir sɗ  >=IIsB! @ ;yV0:<9Xv= <)Mk<)M8IU=iUR=[- KI- Q9~ ѼY~ɔ;i~锉)Gɇ針> >?MD)i\>L*? 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P) ɘ5 :1 = >9 ,eNAI:IHiHHHi)K; ):):s%5s!u%59u%%Yu%yu-S-%>599~YY~aɔe;i~aa)m8m5GɇuC}= }?}ND);I >i>==I;i )銕ƒ3):ɔQ9)Q9I8i^^_k:Y_ "<9_ɖQ98`!L  J=  b9bYbaa)ɓ ))@I i>I:In n mlimImi;ir sɗ IIsO! @ ;yV< 8) )Ii)Ek) :@ 9NAI:IHiHHHi 0)4); )Isҳb! @ )k:s%&4s!u-&49u-o$Yu-1yu)-&>19~e0Y~e\ɔe;i~amQ9)iu[GɇuC}m= }8>"ND)===IIn n mlimImi ;ir9 sɗ V>>IyV23:< )I8iPɘ8 j>)-|<) 9`F [NAI:IHiHHHi;):IsǺu! @  >))k:s%*6s!u-*69u-w'Yu)yu-)19~eZY~epɔe;i~im8)iuGɇ}C}S= `>-ND)I =i>40?I;i )銝3):ɔQ9)Q9]ލ;Q L=Ii^^`?_k:Y_ ;:_ɖ`ӽ  =  bZ9bYbaa)ɓ ))@I i>Q9IIn n mlimImiir9 s  ɗ IyV3:< )IiPɘ k>)-y<) 9L l6NAIIHiHHHiIsVj! @ T): >)):s%5s!u-59u-{&Yu-ؠջyu))19~evY~eLɔe;i~ai)mu5GɇuC}w= }>:ND);I>ix>(3?I;i 8)銝n3):ɔQ9)8]I9i^^h@_Q:Y_{:Q9_ɖ9`F=  =  bv9bYbaa)ɓ ))@I i>8IIn n mlimImiir sɗ yV3:< 8)IiPIɘ:8 j>)-})):s%X4s!u-X49u-%Yu-~yu-: )5Q99~=xY~=ԧɔ=:i~9A)AIɇMȓCU`= U>]DND)]ie>e>aIaii m)uuu2)u7:ɔ}8)}8]Q O=I9i^^=@_Y_: ;9_ɖQ9閙`n=  = : bx9bYbaa)ɓ铹 )չ)@Iչ ֹi>IIn n mlimImiir9 sɗɚyVR4:闽< )IiPɘk: e>I)-yi>0p>IIn n mlimImi;ir  9 s  ɗIs! @ ;yV[4:< )IiPɘ j>I1)-}<) 9D` d;NAI:IHiHHHi;): )):Is6! @ ;)k:s%p5s!u%p59u%K0&Yu%1yu%: -%>19~eɼY~e\xɔe;i~aa)iu[GɇuC},= }H>]ND)i|>F? =I;i )銝n3):ɔQ9)8]U;Q L=Ii8^^@_Y_c: ;_ɖ9`  = 9 bɼ9bYbaa)ɓ ))@I i>IIn n mlimImiir s  ɗ yV4:< )Ii8Pɘ IQ)-y<) 9`f [ӜNAIIHiHHHi 2<)6<) ;Ist! @  I):)k:se3saue39ueR$Yuayuae->zz {){I{i{{{{{ |)|EAI|i||||| })}}=9~Y~ʊɔi==Ս Q9I In n m l im Im i ;ir s ɗ 8> yV r5:闅 < ) I i 8 P ɘ :阡 >) -<l lNAI:IHiHHHi;IsVe! @ T); i)):s%4s!u%49u%4%Yu!yu--&>-89~EY~M!ɔMQ;i~IQ)U]5GɇeؓCe!= m(>mwND)m|iu>u>}I};iy )銥u0):ɔQ9)Q9]qQ =I9i^^!@_!%SU8IQInY na malaimaImaie;irim9 siqɗu8yV]{5:]< Y)aIaiimm8Pqɘuk:y }z>I)-|):s%4s!u%49u%]%Yu%ؠջyu%: %%>)9~E%Y~EHɔEK;i~IM9)U8]Gɇ]Cem= ]Z?]ND)=P)>X>Ia=i 8)  2):ɔuF<)uQ9]}GQ }2=Iyi}8^^(@_Q:Y_Na: ;_ɖ9);I>`h$  = 9 b%9bYba a ) :ɓ ):)@I i>I:Inq ny mylyimyImyi} ;ir sɗQ9Ism ! @ yVM 6:M < Q )U IU i] ] 8] Pa ɘi m 8 m >) <y 'NAI:IHiHHHiI2L@i6M@);) >)7:s%!5s!u%!59u%%Yu!yu-S)-Q99~EY~E0ɔMD;i~II)Q]Gɇ]Ce&= m8>mND)iIu >iu>uL*?}>I};iy })z)=<ɔ};)Q9][;Q ^=I9i^^@_Y_ <_ɖQ9Is3! @  ;8`HP  ,=  b9bYbaa):9ɓ99 9)=:)E@IA EiE>AIE:InQ nQ mQlQimYImYiYirY]9 saaɗeɚimAI>)=) ;Ā 9NAIIHiHHHi):) >Is[pF! @ ;):s%q4s!u%q49u%%Yu%yu-1⻉-&>)9~M\Y~MCɔMK;i~IUQ9)U]5Gɇae1= m>mND)m=Iu@->iux>uP>}|1I1In n mlimImi()-yuu v)vIvivvvvv w)wIwiww w w w  x )x Ix ix x x Cx x y)yIyCiyyyyy z)zIzizz,Cz}}=)<9~2Y~ɔPND) i > E? =I =i 8 )  u1) 7:ɔ 8) ;) <] 짼Q =I 9i ^ ^ @_ Q:Y_  ; 9_ ɖ  ` R   < 9 b 29b Yb a a ) : ɓ  ! )! )% @I! % i% >! I! In n m l im Im i ;ir 9 s ɗ > )>yVU #7:] < Y )a Ia ia m 8i Pq ɘ} :} } > 7NAI:IHiHHHi;Is2>El! @ 0 <)><)K<)M: )e7:s5!5s9u=!59u=%Yu9yu==(>E89~]W[Y~]ɔ]K;i~ae9)amGɇuȓC}> 5 >5ND)5)I-;In9 n9 m9l9imAImAiE ;irAI sIIɗQyV% 57:% < ! )) I) i1 5 1 P9 ɘE :E 8 E >Is D,! @ ) < pPNAI:IHiHHHi&;)M:)9 )M:=dgot command load ./Missions/Science/EcoHAB_box.xmldLoading Mission: ./Missions/Science/EcoHAB_box.xmlsEr 4sAuEr 49uEM$YuE1yuE: E'>MQ99~e$MY~eGɔeK;i~imQ9)q}[GɇC釥= p>ND)@-=I=iX>?I )u 0;!q5 1 = ZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!uM )I U VDefineArg EcoHAB_box.MaxDepth = 85.000000 m!y] iY e `DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}m i u RDefineArg EcoHAB_box.Speed = 1.000000 m/s!} y  bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h! I  `DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!   fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a! 韵 ^Xz? nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg! ) -z rDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg! i P޼? pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!  Tx{ tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!   hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg! )  lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg!% i! - hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg djNAI:IHiHHHi;!64:lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!><BhDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!F)DJlDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!RiPVhDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!ZX^lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!b`f`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!j)hnbDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!vitvtDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!~|ZDefineArg EcoHAB_box.Repeat = 13.000000 count!  `DefineArg EcoHAB_box.CircleRadius = 500.000000 m!%)!%fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!5i1=^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!EMUTDefineArg EcoHAB_box.CircleModulus = nan h!]] @e^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!m)iuXDefineArg EcoHAB_box.LapTimeout = 8.000000 h!}iy\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m!)W=^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!) fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!ilDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /-6Construct AltitudeEnvelope.)=:/e0Construct DepthEnvelope. 06Construct OffshoreEnvelope.! XInserting Stack: Missions/Insert/Surface.xml sE5sAuE59uE%YuAyuMM*>zaxDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/savDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdega ) zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/sz {!){!I{!i{){){){){) |))|)I|)i|)|1|1|1|1 }5C)}1a=i9EDefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina MIU~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 boolIsm! @ m;)u= 1},Construct GoToSurface..=lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml9~ Y~1ɔiE@->E@-?E|% lInserting Stack: Missions/Insert/SurfaceCommsShort.xml GNA(?I:IHiHHHiI6M@i4!)nlr~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-vtzvDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1) ~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5ivDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;-,Construct GoToSurface.e^Inserting Stack: Missions/Insert/SurfaceGPS.xml!9lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!=~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A)vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/sjInserting Stack: Missions/Insert/SurfaceNavUpdate.xmlEiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/sIDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegM鳩DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ)DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?,Construct GoToSurface.RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/adInserting Stack: Missions/Insert/SurfaceSafety.xml)9!!UinDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h!!YDefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg!!]鵹|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xml IsUӷ! @ Qa!a}IyDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!eDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!iɶ?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!m DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!qIDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C,Construct GoToSurface.DJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegs%X4s!u%X49u%%Yu%ؠջyu%S%%>-89~EY~EҏɔED;i~IM9)U8Yɇ]Ce=ɶ}?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s GConstruct.#= #I G&Construct Buoyancy.#M zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml ?ND)%i%`>-\>-|;I-DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$)DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s!$ i  DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg!$  % DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s L] Construct.!& m !&} u !& u M ,Construct GoToSurface.) >)u X= Z &Construct Waypoint. [ &Construct Waypoint. \ &Construct Waypoint. ] &Construct Waypoint. ^ &Construct Waypoint.l NAI:IHiHHHi; _B&Construct Waypoint. ZV&Construct Waypoint.UXInserting Stack: Missions/Insert/Science.xmlIsm! @ m*;)}=)9 )sE5sAuE59uEӔ&YuAyuE: E)>MQ99~eY~eɔeK;i~ii)uQ9yɇ}C釅h>)x= ?ND)i>>@-=I|vDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool0)ƥDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool0iƱDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool0DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool0DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool0))=DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool0i@ DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m0   DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m0%  ! - DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a05 i1 = DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a0E A M DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a0] )Y e DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a0m i u DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a0} y  DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a0  ʉ  DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l0 Iʙ  DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m0 ʱ  DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg0   DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg0   DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l0 I  DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m0  % DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg0 - ) 5 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg0 =  9 E DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB0M II )m N=] DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m0} y  DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg0 ̉  DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdegf% 8Construct PeakDetectVsDepth.d u1NAQIYIHiHHHi;Is[! @ ; h8Construct PeakDetectVsDepth.i 8Construct PeakDetectVsDepth.)=ERedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolEMzRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)Ues-8R?URedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegi]DJW?eRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegiuzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)u}RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booli}@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 mljRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mƑRedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 boolŝzRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 booljConstruct. k0Construct DepthEnvelope.k6Construct AltitudeEnvelope. l-Construct YoYo.): A This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. 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QD)@-=I`=i 01> H> =I m5lʻ n1 m1l1im=CIm=Ci=>;qAqAirAqAA sAIɗMyV8:< )II[i<P ɘ  8 >= got command maintain sensor NAL9602.latitude_fix 36.842499 degreeƕ SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.= got command maintain sensor NAL9602.longitude_fix -121.866798 degreeƥ SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.)= p<)- :> )\sNAIIHiHHHi; 4)4)V ;Is%%! @ !)7:s!s!u)9u)Yu-1yu-)zz {){CI{i{{{{{ |)|I|i||||| })}= =9~EsY~EɔE:i~AAM>Ma>i]9]M?Y]_<e2GPS fix at: 1362674972.00e8QɆaa)er;m[GɇuC})> }p!?}QD)ix>h#?m˻ n mlimyImshi*;q8KirqOd7: sɗ8 >C>yV8:闵< )8I%==I [ i 8 P ɘ :阙  !Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,  >)M <)) IsE )7! @ A d  NAI:IHiHHHi;)R0;)9s5`4s1u5`49u5;g%Yu5ؠջyu5S='>E99~m~Y~uɔu;i~qq)-<GɇC)= T(? 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P! Ie >ɘ <阩 >) <ޱ NAI:IHiHHHi;)6:):Is9! @  ;)k: )s}5su59uSC&YuɻyuS2>)-:uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxCxx y)yIyiyyyyy z)zIzizz Cz}}-=9~mYY~mɔu5kD) ;I =i > X'? I  )% :)} /ɔ P<) Q9] gI 9i ^ ^ F[B_ Y_ X; ; 9_ ɖ ` ]:=  = b Y9b Yb a a ) ! ɓ! ! ! )! )- @I- Q9 - 8i- >) I- :In9 n9 m9 l9 im9 ImA iA irA A sI I ɗI yV9 E < A )E II iM 8U 8Q PY ɘ] :a e > oNAI)2,89~Y~ɔK;i~9)5GɇȓC3=)5X; >=kD)I`=iPh>`= =Ia=i 8)[銭):ɔQ9)-}<]5Q 5f=I1i9^9^=O[B_AEk:Y_E  E Q9IIn n mlimImi ;ir sɗ >)>) 7Is S9! @  = NAI:IHiHHHi; 0)0)F;)):=dgot command load ./Missions/Science/EcoHAB_box.xmldLoading Mission: ./Missions/Science/EcoHAB_box.xml ase^66saue^669ue&Yueɻyuae.>mQ99~$Y~ɔQ;i~锉)ɇ釥>)m< x>EkD)u|}=>I=i )V銍):ɔQ9)}<]V!Q N=I9i^^S[B_!%Q:Y_%: %;%9_)ɖ)-8Is9! @ `p-  =  b$9bYbaa)I8Inw: mlimImi:ir sɗ)} ' `DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!  % fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!- - ^Xz?5 nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg!= )= -zE rDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg!U iU P޼?] pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!e e Tx{m tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!u q } hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg! )  lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg! i  hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!   lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!   hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg! )  lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg! i  hDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!   lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!   `DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!% )! - bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!5 i1 ( zNAIIHiHHHi;tDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min!=ZDefineArg EcoHAB_box.Repeat = 13.000000 count!UQ}`DefineArg EcoHAB_box.CircleRadius = 500.000000 m!)fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count)!i^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!TDefineArg EcoHAB_box.CircleModulus = nan h)W=! @^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!)XDefineArg EcoHAB_box.LapTimeout = 8.000000 h! i \DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m!%!-^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!51=bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!E)AMfDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!]iYelDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /m6Construct AltitudeEnvelope./0Construct DepthEnvelope. 06Construct OffshoreEnvelope.! XInserting Stack: Missions/Insert/Surface.xmlamiuxDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/sa}yvDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg a)zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/sai)i=DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina ~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool 1,Construct GoToSurface.=lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml 魡DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg)DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xmls5su59uu\&Yu1yu>>9~gƼY~sɔK;i~  ) 8ɇ}C釅m= >OkD)@=I!)   ~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-   vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1 )  ~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5 i  vDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ; ,Construct GoToSurface.M ^Inserting Stack: Missions/Insert/SurfaceGPS.xml!9   lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!= 鲹  ~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A )  vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s jInserting Stack: Missions/Insert/SurfaceNavUpdate.xml o;.NAQIYIHyiHHHiEiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/sIDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegM DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ)DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?%,Construct GoToSurface.YeRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/aamRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/audInserting Stack: Missions/Insert/SurfaceSafety.xml!!UinDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h):!!YDefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg!!]|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s%XInserting Stack: Missions/Insert/Surface.xmla!aIDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sa!eDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdega!iɶ?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/sa!m DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 mina!qI DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool C,Construct GoToSurface.UDJW?]RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegɶe?mRedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s GuConstruct.#= }#I G&Construct Buoyancy.#M zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmlIs!9! @ !$u@DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min!$y%))-DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min!$}=i9EDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count!$MMUDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg!$]]eDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg!$m)m@o@su?4squu?49uuw$Yuqyuqu%>}89~Y~ʊɔD;i~错)GɇC釵:=DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m!$iDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool!$ DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$)DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s!$%i!MDefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg!$]Y]DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s LConstruct.!&  >ZkD!&} !& M,Construct GoToSurface.)AIM>iM@=M =U;IUa=iU8 ])]\])e:ɔF< Z&Construct Waypoint. [=&Construct Waypoint.)=<]E#=Q E<=IE9iM8^I^M1[B_QQY_U U;Q_YɖYY`evY=  e= e9 bm9biYbiaqaq)u:IqIn mlimImi:ir9 sɗɚ隙)>yV]9]< a)aIe8iiiqPqɘ}: \&Construct Waypoint. ]&Construct Waypoint.阹 > ^=&Construct Waypoint.IQ)eP= _u&Construct Waypoint. Z&Construct Waypoint.XInserting Stack: Missions/Insert/Science.xml uGNAQIYIHiHHHiIO@i)uk=):Is#:! @ 0vDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool0)es-8R?DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg0ies-8R)eP=mDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg0uu}vDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool0ŁvDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool0)ƕDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool0iơDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool0ƱDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool0DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool0)DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool0i@DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m0DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m0   DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a 0%i!-DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a051=DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a0M)IUDefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a0]YeDefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a0miuDefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a0} yDefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/ls`4su`49u!a%Yu~yu)>9~ɼY~\xɔD;i~锹)Q9GɇMCU=0mIi}DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m0ʁDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg0ʑDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg0 ˡDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l0I%DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m0-)5DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg0 =9)mW= m?mikD)u=}=I}g=iDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg0  ̑DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB0I̡DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m0̱DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg0DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg )p)y;ɔ 8) 8] 8Q P=Ii^^C[B_Y_}9; ;9_ɖ9閉`  = bɼ9bYbaa):IIn mlimImi:ir simQ9ɗqf}8Construct PeakDetectVsDepth. h8Construct PeakDetectVsDepth.i8Construct PeakDetectVsDepth.)MURedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolyVU+9U< Y)YIeieaiIqPiɘ}:y >ązRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)ŕes-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegiťDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegũzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)ǵRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booli@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 mRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mRedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 boolzRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 booljConstruct. k0Construct DepthEnvelope.k=6Construct AltitudeEnvelope. leConstruct YoYo.` asaNA!I)IHIiHQHQHQiU;IsS:! @ A This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =PLoaded ./Missions/Science/EcoHAB_box.xml=vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)z=xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degreei$?=|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree!) sAsAuA9uAYuEؠջyuESE%>M99~}Y~}wɔ};i~锅8&NAL9602 initialized)=[GɇC釭= >vkD)쀝i==\=IY_ <_ɖQ9`  "= 9 b9bYba a );ɓ ))@I8 i%>%8I%:InUXz: nQ mQlQimQImQiU;irY]9 saaɗe8)P=yVe99e= i)m8Iu8iu8}8yPɘ:阉 >IYIsс-:! @ )Q=` {NAYIaIHiHHHi;))O= Qs5su59u&Yuyu: )>z)z-A {)){)I{)i{){){1{1{1 |1)|1I|1i|5yC|1|1|1|9 }9)}9 =9~3Y~5ɔ7:i~锱)85GɇC= ?kD)I >i@=|=1I9InA nA mIlIimIImIiM;irQU9 sQQɗYe>e,>yV%K9%< ))-I5i559P9ɘAA M>Isq<:! @ I` 4NAIIHiHHHi; 4)4))}>)%[= !s->4s)u->49u-G%Yu-1yu)5&>=Q99~=ͼY~E|ɔE:i~AEQ9M>Mp>IsmK:! @  ;)5Q=)=[GɇC> ? kD) I =i=X'?;I;i )%%uZ2)%7:ɔ-Q9)-8]5n)=Q 55=I59i=8^9^=C[B_9EQ:Y_E4_ E;A_IɖIM8`UZ5=  U = U9 b]ͼ9bYYbYaYaa)aiɓii i)i)m@Ii uiu>uQ9Iu:Iny n mlimImi ;ir: sɗyV l9闍 < ) I i P ɘ 阩 >)= N=I ) ;D q=NAI:IHiHHHi;);):Is[:! @ ; E>se5saue59ueSC&Yumɻyuim.>u9) ;9~%Y~Hɔ )9)%>):)?%5Gɇ-C5= 5?5kD)=;I=>i= =E=E=IAiI M)MPM)U:ɔUQ9)]8]]Q ]՝8I:In n mlimImiir9 sɗɚAAyV9闝< )8I8i88Pɘk:阹 >?d! >NA?IIIH iH H H i";I:R@i:O@)zQ99~Y~!ɔ:i~ɜ@@\Inadequate Iridium signal strength reported: 0):ɇ = @>kD)i=>?I;i )  3) :ɔQ9)8]=Q =I9i!^!^%:[B_!)Y_-jͺ -K<)_1ɖ15`=  =~= 9 b=9bAYbAaAaI)IQɓQQ Q)Q)U@IQ Qi]>]Q9IYIna ni miliimiImiim;irqu9 sqyɗy )yVU9U< )IiPɘ阥8 >)<)] 9Is] u:! @ a (R ;NAI:IIHiHHHi;) ;)=y;)9s54s1u549u5Cz%Yu5ɻyu1=&>E99~mY~muɔu;i~qq)}Q9}[GɇC重> >kD)=8IIn  n  m l im Im i;ir9 sɗyV9< )8Ii8Pɘ  k>)y< >Is :! @ ! )5 Q:  ONAI:IHiHHHi;I,)-:)EK;)-:s%p5s!u%p59u-1*&Yu-~yu-)uAuEA vA)vAIvAivAvAvAvAvA wA)wIIwIiwIwIwIwIwI xI)xIIxIixQxQxQxQxQ yQ)yQIyQiyQyQyYyYyY zY)zYIzYizYz],CzY}Y}a]=9~iY~ɔ:i~)8ɇCS= >kD) i>I;In n mlimImi ;ir9 sɗC>Is=.:! @ 9yV9< )IiPɘ: >) <:  *NAIIHiHHHi; 2<)0I<)-;)u<)-:sE5sAuE59uESC&YuEؠջyuE: M)>U89~Y~ɔ;i~锍Q9>)/<GɇF= >kD)|ip`>>|=Ii )  ):ɔQ9)8Is-ص:! @ )]5hQ 5_=I5D;i58^9^=M[B_9=k:Y_E  E iIu:Iny n mlimImi;ir9 sɗ)g )U ;d DNAIIHiHHHi;IL)-:)=:Is:! @ )-Q:sE ;5sAuE ;59uE%YuMɻyuMSM*>zz {){I{i{{{{{ |)|I|i||||| })}] =9~e2Y~eɔe7:i~aa)mQ9u[GɇuC}= }>kD)=I@=i@l=?I:In n mlimImiir s  ɗ ) )U ;-  ^NAI :IHiHHHiI\)-:Is%:! @ !)9)5Q:s%!5s!u-!59u-%Yu-ؠջyu-: -&>5Q99~eNY~eCkɔe;i~im8)m8qɇ}ؓC}'= 0>kD)Q9I:In n mlimImi ;ir9 sɗ ɚAAyV9< )Ii8Pɘk: j>)y< ))M :IsE -:! @ I Q wNAI:IHiHHHiI2O@i2M@Id)#;)u0<):sU5sQuU59uU%YuU1yuU],>Y9~egƼY~esɔe:i~imQ9ɜm@q)u9}Gɇ}C釅= >kD)I=i=>=I;i )_銥|):ɔQ9)8] Q K=I9i^^B[B_Y_%y ;_ɖ8`y;  = 9 bgƼ9bYbaa)ɓ )7:)@IQ9 8i>8I ;In n mlimImiir   s ɗyV9< )IiPɘ: 8 k>)< 9Is% F:! @ % :)5 Q: $ ONAI:IHiHHHiI|)-:)u<)-:sAsAuA9uIYuIyuMSM*>Q9~XY~ɔ;i~锅8)Q9ɇ針= >lD)I>i`==>I;i8 )p銽)Q:ɔQ9)8]1Q L=Ii^^N[B_Q:Y_ ;:_ɖ`  = 9 bX9bYbaa)ɓ ):)@I 8 i > I :In n ml!im!Im!i%;ir!-9 s))ɗ-8yV9< )Ii 8  8Pɘk: n>)u)-:)}-=s5su59uu&Yuyu6>9~ۼY~ɔ:i~锽Q9)85GɇؓC > > lD)UQ9IQInY na malaimaImaie;irii siiɗqu)>}!>yV=9=<)e< )Ii8Pɘ > )U ;1 oNAIIHiHHHi; 6<)4)-:I=>)}u99~ Y~`ɔ;i~锥8>>)UK; )M :)U 9I >Is]0.;! @ Y)N<)e:)m9 )E?M[GɇMCU = U@>]lD)YIYieH>e=e|=Im;ii i)uuuZ2)u:ɔ}Q9)}Q9] Q 8IIn n mlimImi ;ir sɗyVo9= 8)8I8i8Pɘ: @?\< ǺNAI:)&9~gƼY~sɔ;i~)M/$lD) =I >iH>L=|;I I:In  n  m l im Im i;ir9 sɗyV< )IiPɘ 8 >) z< Q Is L;! @ ) Q:tC ~NAk?IIHiHHHi;):I):s%r 4s!u%r 49u-3$Yu-1yu-S-%>19~eɼY~e\xɔe;i~ai)m8u[Gɇqy)k; 8>,lD)|;I@=iT>?=AIE:InI nQ mQlQimQImQiU;irY]9 saaɗe8ɚiiyV5}9=< 9)AIEiAIIPQɘUk:Y ]v>)K):zzA {){I{i{{{{{ |)|I|i||||| }C)}= =9~EY~E'.ɔE7:i~AIɜM@M@)M9Qɇ]Cem= e>e5lD)eQ9IIn n mlimImi ;ir9 sɗIsj;! @  ;yV9闵< )Ii8Pɘ: >)% < ) 9gP -ANAIIHiHHHi;):I)):s%q4s!u-q49u-%Yu-yu-: )59Isu+y;! @ u;9~upbY~u< ɔ}=lD)=L=|;I;i )Yƒ):ɔQ9)9])%8I%;In1 n1 m1l1im1Im1i5;ir9=: sAAɗAyV9< )%8I%8i-8--8P1ɘ5k:9 =r>)[< ) 9V K[NAI:IHiHHHi):IIIs}$;! @ y)) ;uquuA vq)vyIvyivyvyvyvyvy wy)wyIwyiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}]=9~Y~ֿɔ:i~)8 [GɇC= p>FlD)%P)?-|ՁI:In n mlimImi ;ir9 sɗ?>%>yVm9u< q)}IyiyP) $=ɘ% Y=- 8 - > ) : \ tNAI:IHiHHHi; 0)4Ism|;! @ i);Ii):s%`4s!u%`49u%!a%Yu%ؠջyu%: -%>-Q99~EgƼY~EsɔMK;i~IM9U>U;>)U:]GɇeȓCm>); }>}OlD);I@->ih>%?% =I%p=i! ))--uZ2)5:ɔU;)]Q9]] =Q ]K=I]9ia^i^mB[B_iiY_mEy: u;u9_qɖq`g=  =  bgƼ9bYbaa)ɓ ):)@IQ9 8i>IIn n m l im Im i ir sɗ)9 Is 7;! @ ) 0;(uc NAI:IHiHHHi):I);s%5s!u%59u%u&Yu!yu!!)9~E Y~E`ɔMX;i~IMQ9)U9]5GɇeCe= m >mXlD)m=QIQIn n mlimImi;ir sɗyVu9u< y)yIi8Pɘ:阕 ~>)2599~=Y~=ɔ=:i~9=8)E8M[GɇIU= U>]`lD)];I]@->ie=e=eIIn n mlimImi;ir  9 sɗɚyV:< )IiPɘk: i>Is;! @ :)(<  ) 9= got command maintain sensor NAL9602.latitude_fix 36.842499 degree% SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.=- got command maintain sensor NAL9602.longitude_fix -121.866798 degree5 SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.gp -NAI:IHiHHHiI0i6O@):);89~>Y~ɔ;i~ɜ@)9ɇ = >jlD)i=\===Ii ))k:ɔ8)8] ==Q G=I 9i ^^6[B_Y_ ;9_!ɖ%9!`%)  -= ) b->9b1Yb1a1a1)=:9ɓAA A)A)E@IA AiE>IIIInQ nQ mYlYimYImYiYiraa saaɗmyV1=< =8)E8IAiAIM8PQɘQY !Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter, {>) < 9 ) :v KNAI:IHiHHHi;):Is};! @ yI):s%P3s!u-P39u-$Yu-ؠջyu-: -&>599~eY~e)ɔe;i~ai)mQ9qɇy}=)y; 8>slD)=I!I%;In1 n1 m1l1im1Im9i= ;ir9A sAAɗE8yV:< )!I!i))-P1ɘ19 =r>)X< Y ) :| `NAI:IHiHHHiIsm;! @ i)#;I )0;s%5s!u%59u-u&Yu-ɻyu))):zz {){I{i{{{{{ |)|EAI|i||||| })}= =9~E)Y~EɔE7:i~AEQ9)M8U5GɇUC]> e>e}lD)em=uI:In n mlimImi;ir9 sɗ%>)>yV=:闵< )IiPɘ: >) <=E got command run=E Running Is ) ;`t V}NAIIHiHHHi; 0)0);I));s%L6s)u-L69u- 'Yu-ؠջyu))5Q99~egƼY~esɔe;i~am8im>)m9uGɇ}C}=)y; x>lD);I=i\>=Aggregate::uninitialize Defaultq & NAggregate::uninitialize Default:Iridium  ' Uninitialize.1  + Uninitialize.1  , DUninitialize GoToSurfaceComponent.= 4Started mission EcoHAB_box1 .@Aggregate::initialize EcoHAB_box /JInitialize AltitudeEnvelopeComponent./DInitialize DepthEnvelopeComponent.1 0JInitialize OffshoreEnvelopeComponent.# GInitialize.#GIs f ADCP unrequested HOpening uart, block timeout 10ths=20 $resume:Powering up DCycling power to configure device.I ɍ  (NAIIHiHHHi;)j7=)u9IA);s% ;5s!u% ;59u%%Yu-1yu-)599~e|Y~e\ɔe;i~ai)mQ9uGɇ}C)^;針= >lD)IsN >lD)=I@=i=>==I;i 8)cIa):ɔ8)8ٛ 8)]Ii^^C[B_Q:Y_ ;_ɖ` = Q9 b9b Yb a a ) :## 3dInitialize ReadDataComponent to sense latitude_fixi7:%%)!I!i!!!)) )I5;In9 n9 mAlAimAImAiE;irII sIIɗQɚUAQyV9:< )%I%i!-8-P1ɘ19 9)% <) 9 #J[NAY?I:IHiHHHi;I0i2M@);Is}T<s%4s)u-49u-Cz%Yu)yu-: )19~==TY~=ɔ=:i~AEQ9ɜE@A)E9MGɇUȓC]`= ]@>]lD)eie>mX'?mIm;iq u)uu3)}7:);ɔ;)Q9ٛ Q9)Q9].=Q N=Ii^^1[B_Y_ ;_ɖ98`  = 9 b=T9bYbaa):3zInitialize ReadDataComponent to sense platform_communicationsm :)Ii9   Ik;In n m!l!im!Im!i% ;ir)) s))ɗ1yV:< )8I8i   Pɘ n>)F<) 9 `tNAIIHiHHHi;IsmnKs%4s!u-49u-e%Yu-ؠջyu))19~e*Y~e2ɔe;i~am8)m8u[Gɇ}C}=)k; >lD)=I@=iP)>|==I)Ss%q4s!u-q49u-%Yu-1yu))599~eۼY~eɔe;i~ai)iqɇuC}=)e; h>lD)Ip!>i>D,?=I yVY:< )!I!i!))P1ɘ5:=8 9)Suu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyyCiyyyyy z)zIzizzz}}Is%x}p>)9G)`<ɇC =  ? lD) i > = >I ) T<g -NAI:IHiHHHi;):);I!s-ā6s)u-ā69u-%'Yu-ؠջyu-5&>=8IsmߋlD)@-=I>i`d>40?I;i )أ1):ɔ9)Q9ٛ )]8»Q =I9i^^C[B_Y_+ *<_ ɖ  `   U= 9 b9bB - 9YbA 1 V9aa!)%: %)!I)i))-9-Q959 1I1InA nA mAlAimIImIiM;irIU9 sQQɗUyV< )!I!i))-8P1ɘ5k:9 =r>)]<) 9 KNAIIHiHHHi;):Is}x9~E0*Y~ELɔM ;i~IMQ9)U8U5GɇYa); \&?lD)؇>@=IL9~eY~eɔm;i~iiɜiq)u9}[Gɇ}C)k;釥= (>lD);I=>i@?`=I )]i>>=)K4su>49uG%Yu1yu: 2>8I9~Y~'.ɔ:i~锭Q9bSBD MO Status=2, MOMSN=6578, MT Status=2, MTMSN=0ZFailed to initiate SBD session. Error code: 2):GɇC= >mD)|;I=ip`>=I;i )أ1)7:ɔQ9)Q9ٛ )]9u;>yV5:=< =)EIEiEM8MPQɘU:]8 ]v>Is5Q9Isu;}>Y>);GɇC釭=  >mD)I=)h< cmdResponse: 00  &Enabling NQ1 output FcommandDVL: #&!LQNQ.COMD0505 01 1 ) ; K[NAI:IHiHHHi;):Is}smDI) =I>i=I)X< cmdResponse: 01  $NQ1 output enabled 0>'mD)i>L*?\=I;i8 )&?3)7:ɔQ9I)8ٛ Q9)] K;Q M=I 9i 8^^D[B_Q:Y_= ;9_!ɖ!%8`-|=  -= ) b-9b5B - 5:Yb5A 1 59a1a1)=: A)AIAiAAE9IM9 IIM;InY nY malaimaImaie;irim9 siiɗqɚuAqyV5:=< 9)AIAiAIM8PQɘU:Y ]v>)b e`>e3mD)aIm==im>m7?u=Iu;iq y)}}h3):ɔQ9)Q9ٛ 8)]"̼Q D=Ii^^O[B_k:Y_p ;9_ɖ閩`r  =  b)9bB - :Yb׏A 1 9aa): )Ii: I;In n mlimImi ;ir sɗ8yV:< )IiPɘ:8 >)% ??I IsZ+=! @ ;)b<) 9g гNAIIHiHHHi)}:);s%.3s!u%.39u%~$Yu%ؠջyu!-%>Isu4:=! @ qq) ;9~'ؼY~ɔ;i~错)85Gɇ> ?XmD)P>Ip!>i>>>yV:= )Ii!!%P)ɘ5:1 =>) w<) 9 KNAI:IHiHHHi; 6<)4);Is} I=! @ y);s%&4s!u%&49u%U$Yu!yu-: )):Iyu1u9 v9)v9Iv9iv9v9v9v9v9 w9)wAIwAiwECwAwAwAwA xA)xAIxAixIxIxIxIxI yI)yIIyIiyIyIyIyIyQ zQ)zQIzQizQzQzQ}Q}Q=9~5Y~5wɔ5D=e>)=9AɇMCMf= U(>UgmD)Ui]>]`d>e\=Ie;ie a)m~m#)m7:)4<ɔm ;)m Q9ٛi u Q9q )u 8]u DQ } "=I} 9iy ^ ^ E[B_ Q:Y_  ; 9_ ɖ 閱 `   < 9 b 9b !B - 7:Yb !A 1 9a a ) : 8) I i    I ;In! n! m) l) im) Im) i- ;ir1 1 s1 1 ɗ= yV : <  8) I i   8P ɘ% :% 8 - >) :<L NAIIHiHHHi;IsmPW=! @ i); M@)s}4su49uCz%Yu1yuS2>Q9)9~? Y~ɔ;i~锹)Q9ɇ> =>=omD)EiE=M@l=M) psE6sAuM69uMۧ&YuIyuM: M*>U99~]Y~]fɔ]7:i~ae9)e8m[GɇuCu> }0>}{mD)}|i=>?L=IS)y;Is u=! @ ) :  (NAIIHiHHHi;I2L@i4):)s%5s)u-59u-%Yu-ɻyu--&>5Q99~E*Y~E2ɔE:i~IMQ9ɜM@IU)Q;=zgot command set NAL9602.platform_communications 1.000000 boolyIIslb=! @ );) 9))Is3=! @ )7:I))?5GɇC釵=): >mD);I=>ip> t>I?Is}F=! @ };zzA {){I{ i{ { { { C{  | )| I| i| |||| })}-a=9~M Y~M1ɔM;i~QU8U\Inadequate Iridium signal strength reported: 0)U9]GɇeC),<)> @mD)I>i>>=I) R=P @qNAI:IHiHHHi;)>)N=Is=XѰ=! @ =;)]0;s,T5su,T59u%Yu1yuS2>Q99~gƼY~sɔ;i~Q9)85GɇȓC9= `>mD)I;i )uڰ)Q:ɔQ9)Q9ٛ  ) ] fm)2= n/ >I % FOpening uart, block timeout 10ths=4- Powering upI- ;yV  : o= Q9) I i ;  P ɘ k:  >)} =Ȋ" NAIIHSAiH/Q9~]ͼY~]|ɔ]7:i~ae8e>e]>)m9iɇuؓC}B= }?}mD)I|>i>Ph>`=I;i )z銕):I>ɔ:)Q9ٛ Q9)]^Q S=I9i^^>[B_:Y_ <9_ɖ`<   =  b̼9bLB - ':YbΐA 1 9aa):Ii>:ii) i 8 ) q( P hAggregate::initialize EcoHAB_box:UpdateCircleTimeout(@(I((i!%9%9 )I- e @m ADCP requestedm DCycling power to configure device.Im u ɍq q ) q9~NY~Ckɔ;i~锡)8ɇ釽O=I> >mD)i9>= =I;i: 8)}&?):ɔQ9)Q9ٛ 8)];Q G=I9i^ ^ <[B_  Q:Y_o ;_ɖQ9`%2u=  %= %9 b%t9b-SB - -1:Yb-A 1 -9a)a1)1I99iAAEQ9IiIM:iII)QiU);ؑ)ّQPCircleModulus calculated as: 4.809491 h (i٥:(1)iԥ9鸩ԩԩԵ9 ձIIs] 2=! @ Y )m :d. #۽NAIIHiH9=HHi;)I)M9s-!5s)u-!59u5%Yu5ɻyu5: ='>=89~Y~3ɔ  ?mD) >|;I;i9 )أ):ɔQ9)8ٛ )Q9]Q M=I9i8^^ L[B_  Y_ {; ;_ɖ`{  =  b%69b%ZB - %,:Yb%A 1 -9a)a)))I19i9I=>E:E9IiIM7:iII);)Yiؑؑ)ّ龝ڬn@!)٥Q91)q)iԥQ9鸡ԩԩԩ ձII i # :ً E6: 3I =5 tNAQ8?I:IHiHHHiI6M@i4)];Ii/:ًnA:)4I=)U:s%L6s)u-L69u- 'Yu-~yu-5&>=9Is] =! @ ]*;9~rY~ɔ i@->D?=I;i8 8)u2):Ii1:ً=:4Iɔ ;)Q9ٛ Q9)8]>) ;I i  ! :ً 0@: 3I =; NAI:IHiHHHi;)M>;Ii&:ً=:T4I=i! @ =;)U;s4su49uCz%YuɻyuS3>9Ii":ًG:p3I=9~Y~ɔ ?? nD) T(?I;i%9 ))Ey);E0)><ɔQ9)Q9ٛ 8)]2IQ A=I9i^^C[B_k:Y_~m ;9_ɖ`ћ=  = 9 be9bhB - 7:YbI i $ :ً >: 3I =dB  NAI:IHiHHHi;Is-G>! @ -;)e;Ii(:ًx<:24I=)U:sM ;5sIuM ;59uM%YuUyuQU+>]8Ii&Q:ًB:T4I=9~Y~'.ɔ%ip!>9> =I;i: )73):ɔQ9)Q9ٛ :)] =Q X=I9i ^ ^6[B_Y_G <_?ɖ9!`%  %%= ! b-ތ9b5nB - 5#:Yb5UA 1 59a1a1)5:IAAiAAMQ9IiIM:iQQ)i)Q9T CircleInshoreESPBuoy should complete in 191.430557 min , due to timeout in CircleWaypointRepeatedly aggregate.a*55:q*5*=U=Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B9iE9AE9MQ9ԍ< Օ9I=Inm n mlimIm8;i;Ii.i:ً5:4I=ir9 sQ9ɗ)[=== HOpening uart, block timeout 10ths=20 FcommandDVL: #&!LQNQ.COMD1616 00 0 yV = A) A9X = <) Q9I Isu > '>! @ } D;I i ! :ً G: 3I =鍍 %=) %=[ i < 8 P ɘ Q:阱 >) O=H D$ NAI:IHiHHHi 6<)4))e>;% cmdResponse: 00 %(Enabling ADCP output-FcommandDVL: #&!LQNQ.COMD0505 03 3 sE<6sAuM<69uM&YuM1yuM: M*>Ieiee&e:ًe7:eT4Im=zz {){I{i{{{{C{ |)|I|i||||| })}]=9~2Y~ɔ I@}nD)ID>i%>%L>%`=I% ! @ ] ;yV! % < - )- I) i) Ie ie e &e 9:ًe 7:e T4Ie =) =)u : =) I I Ai AImimm"m:ًuYK:up3Iq[i<Pɘ:阹 >P 9C NAI:IHiH7! @ 7;)Q;sp5sup59u1*&YuؠջyuS7>Ii*:ًJ:pL4I=i=;AE} >I<ə<降W ^K` NA)*;I;IH4iH6H4H4i:;Ivivv&zi:ًz>:zT4Iz=IsZDS>! @ ;)];)M;Ii+:ًB:7Y4I=s5su59u%Yuyu: 5>Q99~ Y~ ɔ;i~Q9)!ɇ%C)];e,= m>mnD)uPh>Iu>i}`=}=I i % Q:ً YK: 4I =)E =Is= a>! @ 9 ] _z NAI :)&:IH0iH0H0H0i2,99~ۼY~ɔi|>P)?I"! @ % ;i m &cmdResponse: 01 03 m $NQ1 output enabledm &ADCP output enabledm I i ) ً =: ?4I =)5 =] 4cmdResponse: AUTO_VEL_ON d  NAI)D;IH4iH4H4H4i::}H+?yI}T<=A=A C)m?Y::3I=Q:Y_s; <9_ɖQ9`  $= : b޼9bB - #:YbA 1 9aa):Q99I7:i?Q9) 8i 8 ) iQ9Is-qq>! @ -;i)- -)1I55:59=9 9I=-(j 8 NAI :IH(iH(H(H(i*;IBiBB)B9:ًBC:B?4IB=)V<)U;):Ii$:ً;;:3I=Is(>! @ s`4su`49u!a%Yuɻyu9~gƼY~sɔix> >e4>yV5:5<9X (= <) I i ! I i  :ً pL3I = P ɘ Q:阡 >) <q B NAI :)k:Ii B:ًE6:T3I=IH(iH(H,H,i. < J<)H)e! @ 7;)5;I=i==%E*:ًE>:E 4IE=s5su59u%Yu1yuS;>9)U>;I]i]]0]9:ً]E6:e4Ie=9~eЛY~m?ɔmSIm ii m &m :ًi u T4Iu =) < w h NAI:IHiHHHi;)&:IRiRR)R:ًRC:R?4IR=Is v>! @  ;)m,-Q9)U>;9~]"Y~]ɔ];i~aa)eQ9m5GɇuCu= }?}nD)iȋ>L>I;ə4=陕=i9 )Ia3):ɔQ9)8ٛ )8]) 5=Is5 ZB>! @ 5 7;h}  NAI:IHiHHHiI"i""'"i:ً"B:"&4I"=)>Q;)]>)%:I-i--'59:ً5nA:5&4I5=zz {){I{i{{{{{ |)|I|i|C||||  } )} uM=9~rY~ɔip!> 0p>5>I5w! @  ;9b B -  C:Yb XA 1 % 9a! a! )% ' N NAQ?I:);IH,iH,H,H,i."! @ 1=zgot command set NAL9602.platform_communications 1.000000 boolys}Nm5syuNm59u&Yuyu,>Q99~Y~^ɔ:i~锥8!>V>Ii":ًH:p3I=)}: pL3I =)] :e NQ1 Y =   # 5 ADCP 9 )9 I5 ף=hBi5 o<)\=hB5 ף;u! @ ]*;Ii,*:ًB:e4I= =IAA)Xie >e=m=! @ ;)s} ;5syu ;59u%Yuyu7>9~CY~ɔ:i~锝9\Inadequate Iridium signal strength reported: 0):GɇCIi&9:ًH:T4I=i @>+oD)I@->i8>p!> 5>I;iQ9 Q9)3):ɔ8)8ٛ 9 ) 8]=Q =I9i^^%'[B_!%:Y_% -.<)_)ɖ59)<閹`$<  L= 9 bV>9bB - :YbA 1 aa);9:Ik:i?9) i  8)i=dInitialize ReadDataComponent to sense latitude_fix%%Q:-;-\Completed EcoHAB_box:SurfaceCommsShort:CheckIn-;-xAggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn5 5)1I557::=LCompleted EcoHAB_box:SurfaceCommsShort1=:=hAggregate::uninitialize EcoHAB_box:SurfaceCommsShort= ;=DUninitialize GoToSurfaceComponent.9A EQ9IMX;irim9 squ9ɗyyVM :M < Q )U I] i] 8e 8m 8Pq ɘu :y } >I i :ً T3I =)- =Ii:ً=:p2I=):sp5sup59u1*&Yuyu: 4>Ii-:ً3:r4I=9~Y~ɔ;i~Q9)8GɇC= 0p?CoD)IT>iH> `>  =I ; )Qm?Ym52= n501IsM?! @ *;Ii'*:ً;;:&4I)U <) ;H ~ NAI:IHSAiH01Ii(:ً7:24I=Is" ?! @ ;uu v)vIvivvvvv w)wVAIw);iwCwwww  x )x Ix ix Ax x x x  y )y Iyiyyyyy z)zIzizzz}}=9~ۼY~ɔ>I;ə%a=%%=i%: ))55S83)=Q:ɔ=Q9)EQ9ٛA IQ)U:]]׽Q:9ii)i) ڬn@**1+i99 I )- ;I5 i5 5 /5 :ً5 G:= )4I= =8ۥ . NAIIHiH"=HHi;)n;Ii$:ًx<:3I=) ;Is/?! @ >;s]?4sYue?49uew$Yueyumm.>uQ9Ii+:ًE6:7Y4I=9~$MY~Gɔ;i~锵9)ɇȓC> T(?boD)i>`%?I; )m?Y)I i ( :ً cF: 24I =)!  J NAIIHiHK=HHi;)r;Ii+ً7:7Y4I=Is=>?! @ ;): m@s-p5s)u-p59u51*&Yu5ɻyu=: ='>=99~m ѼY~mɔu;i~quQ9)}8}[GɇC重{> ?poD)@-=I >i=@=>IiQ9 )銭I3):ɔQ9)Q9ٛ )8Ii)B:ً-:?4I]Q R=I ;i^^>[B_Y_:A; ;Q:_ɖQ9`Q  = 9 bNм9bB - B:YbA 1 ¹aa):I i:Q9ii))i--8)-I5?a+5 1q+=+=9i99E:AA M8IM;[m IAim I i % ً >: 4I =)1 Ʋ  NAIIHiHHHi;I4i4IsZL?! @ X)v;Ii&:ًT4I=鍡)):-NQ1I]i]]]:ً]cF:]pL2I]=se ;5saue ;59ue%Yueؠջyuee->Yף;ף;uף%ADCP )))I T< ף;hBi ף;hB #;ir  s ɗ yV- q:- =Is [?! @ 7;9X õ< <) I 8 = C=)m I=I i ) *:ً O: ?4I =[ i < P ɘ : >)= < mV NAI :IH(iH(H(H(i.;)r;IiQ:ًB:pL3I=):Ii%$%:ً%&E:%3I%=s} 3syu 39ue$Yu1yu: ,>Q99~gƼY~sɔ;i~Q9)[GɇC> 8/?oD)|p!>I; )am?Y) =I= i= = '= :ً= x<:= &4I= =iE =AE =A)% ;  " NAI :IHiHHHi;)^^;Ii!:ًB:3I):Ii,i:ً9:e4I=s%,T5s!u-,T59u-%Yu-Syu-S-&>99~eY~e'.ɔe;i~im8)iuGɇ}C釅= F?oD);I >iP>>e;>IsŽx?! @ ;yV]:]=Ii0Q:ً0@:4I=9X5ݯ= 5<)=8I9)e]=[) i- <1 1 P9 ɘ= k:A E >) ;I% i% % &% :ً% 3:% T4I% =)  j NAI:IHiHHHi; 6<)6<)j;Ii*:ً0@:pL4I=)*;IsY?! @ ;Ii+:ً=:7Y4I=sE`4sAuE`49uM!a%YuM~yuMU*>]89~eqY~exɔe:i~ii)mu5Gɇ}C}r= <.?oD)@-=I@=i0p>=01>I:T4I=)+=9Xm = m =)u Q9Iu Q9I} Ai A) e;[I iM I i  ) :ً &E: ?4I =) D V2 NAIIHiHHPwVHi;)j;Ii9:ًx<:I=Is?! @ ;)D;Ii%`:ً;;: 4I=sAsAuA9uIYuMɻyuM: QY9~eY~euɔe:i~ii)iu[Gɇ}C}> Y?oD), K NAI:IHiHHUֽHi;IsNō?! @ N>;)v]Q99~m_Y~mɔm:i~ii)q}5Gɇ}C釅[= F?oD)I >i@= ==) *;= ,got command show stack Behavior Stack: . RPriority 0: EcoHAB_box:A.AltitudeEnvelope. LPriority 1: EcoHAB_box:B.DepthEnvelope. RPriority 2: EcoHAB_box:C.OffshoreEnvelope. : e4I =) ; 7e NA@?I:IHiHH Hi;IJO@iHI]i]e$e:ًecF:e3Ie=)=S=)Q:T4I=sr 4sur 49u3$Yu~yu5>9~&Y~ɔ;i~Q9)8ɇؓCB= hb? oD)I >i=?%|;ωiБבiΙם:)حQ9iح8ة)٩I)i;ɼI9iQ9:: I% ADCP I )I I% DhBi% o-hB% t- >)U N=) ;[ i = ! 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=I;i8 )n銕0):ɔQ9)Q9]]Q M=Ii8^^_Y_: ;9_ɖ閹`  =  bN9bYbaa)ɓ ):)@I 8i>Q9IIn n mlimImiir sɗ?>)> yyV9< )IiPɘ j>)<)|)E:A9~eCY~e@;ɔek;i~im8)mu[Gɇy}A= >D)|;I=i=|=|;I iIi In n mlimImi;ir sɗ)E:yVuh9}< y)IiPɘ阙 ~>Is%'R! @ !)m))M:9~UY~UeJɔU;i~Y]Q9)]8aɇeCm> >DIs-t4R! @ ) )=I>i==I>=i )u2)7:)E:ɔU:)]Q9]]C=Q ]5=IYie8^a^e([B_iiY_m& m;m9_qɖu9`<  = 9 b9bYbaa):ɓ ):)@I i>8IIn n mlim Im i  ;ir 9 sɗ)YI )M ;`Dʁ Ao(NAIIHiHHHi;I2L@i0)%:Is(AR! @  ;)-7:sE5sAuE59uESC&YuEؠջyuE1⻉M*>M89~UY~UɔU:i~YY)]eGɇiq >D) =;I;i )銝Ia3)7:ɔ]< )<]Q U=Ii^^H[B_Y_: <_ɖ`5l  '= 9 b9b Yb a a ) ɓ ):)@I 8i>I!In) n) m1l1im1Im1i5;)2I )U ;h"ʁ ވ(NAIIHiHHHi;IsMR! @ ;)%;s%6s!u%69u%ۧ&Yu!yu%: -%>5Q9)U:9~U0*Y~ULɔU;i~YY)]8e[GɇmؓCm> >D)|;I>i`=`==IՁIIn n  mlimImit)eD) =I >i@l>>@-=I=i )أ3)7:)U <ɔQ9)Q9]ȳ=Q )=Ii^^%[B_Y_O ;9_ɖ8`7<  <  bn:9bYba a ) ɓ ) ) @I i > I InQ nQ mQ lQ imQ ImQ iU ;irY ] 9 sa a ɗa ) =Is 9gR! @  ;yV 9闅 < ) I i 8 P ɘ :阥 >)m *@a.ʁ HP(NAI:IHiHHHi; 2<)0) ;)9s%<6s!u%<69u%&Yu!yu-S-&>-89~EY~EuɔMK;i~IM9)U8Yɇ]Cm> m>mD)uIu=iu=}?}=I};i )銅#2)Q:ɔ8)Q9] ½Q =I9i^^C[B_k:Y_  < _ ɖ 9`8  K= 9 b9b!Yb!a!a!)%:)ɓ)) 1)1)5@I1 58i5>1I9InA nA mIlIimIImIiM;iry}9 sɗ>)9 >yVU9]< Y)e8Ie8iamiPqɘuk:y }z>IssR! @ ;)<)% 9I} >)5ʁ X(NAI:IHiHHHi;)%:s%5s!u%59u%%Yu-~yu))5Q9)U:9~UgƼY~UsɔU;i~Y]Q9)Ye[GɇmCu=Is-R! @ ) 5>5ƀD)=iEp`>E\=M)(<)<];Q 2=I9i^^?[B_Y_C(; ;_ɖQ9閩`==   = 9 bgƼ9bYbaa):ɓ ))@IQ9 i>IIn n mlimImi)>)U D;I >(E;ʁ 9E(NAI:IHiHHHi)%:Is@R! @  ;)%7:sEq4sAuEq49uE%YuEؠջyuE: E)>I9~e*Y~e2ɔeK;i~im9)q}Gɇ}C釅= >ˀD)=|;I;i )銽uڱ)7:ɔ8)8]-IIIInQ nY mYlYimYImYiYiryy sɗ qyVy}< y)Ii8Pɘ)<8 >)z<= dgot command load ./Missions/Science/EcoHAB_box.xml dLoading Mission: ./Missions/Science/EcoHAB_box.xml)m ;I Bʁ )NAI:IHiHHHi;I6M@i4IsR! @ :)-*;!q51=ZDefineArg EcoHAB_box.MinAltitude = 4.000000 m!uE)AUVDefineArg EcoHAB_box.MaxDepth = 85.000000 m!y]iYe`DefineArg EcoHAB_box.MinOffshore = 2000.000000 m!}miuRDefineArg EcoHAB_box.Speed = 1.000000 m/s!}ybDefineArg EcoHAB_box.MissionTimeout = 36.000000 h!I`DefineArg EcoHAB_box.MassDefault = -0.004180 n/a!fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a!韽^Xz?nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg!)-zrDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg!iP޼?pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg!Tx{tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg!hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg!=)9UlDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg!eiamhDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg!lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg!顙hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg!)lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg!ihDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg!lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg!`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m!)bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h!itDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 mins%4s!u%49u%e%Yu-1yu)-%>19~? Y~ɔ >%ҀD)%;I%>i-=-=-=I-;i58 1!}yZDefineArg EcoHAB_box.Repeat = 13.000000 count!飉`DefineArg EcoHAB_box.CircleRadius = 500.000000 m!)fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count!i)==uZ)<)V=^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h!ɔ;)8]Q :=I9i8^ ^ I[B_  Q:Y_f ;9_ɖ`W  %= ! b%? 9b)Yb)a)a))5:I58 )K<TDefineArg EcoHAB_box.CircleModulus = nan h!餭 @^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h!)XDefineArg EcoHAB_box.LapTimeout = 8.000000 h!iInw: mlimImi:ir s8ɗɚA\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m!%^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m!饱bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m!)fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg!ilDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg /- 6Construct AltitudeEnvelope./U 0Construct DepthEnvelope.) N=yV 9 v= ) I i P ɘ > 0 6Construct OffshoreEnvelope.! % - XInserting Stack: Missions/Insert/Surface.xmla   xDefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/sa   vDefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdega )  zDefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/sa i  DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 mina    ~DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool 1 ,Construct GoToSurface.I  lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml7Hʁ v")NAI:IHiHHHi;Is6R! @ :;)JP= vtzDefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg~)|DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s XInserting Stack: Missions/Insert/Surface.xmliDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/sDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg?DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s!)DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min%iDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 6,Construct GoToSurface.DJW?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/si%%RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boolMlInserting Stack: Missions/Insert/SurfaceCommsShort.xml)Z=!) ~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s!-%vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h!1-))5~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg!5EiAMvDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s ;U,Construct GoToSurface.^Inserting Stack: Missions/Insert/SurfaceGPS.xml!9lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min!=  ~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg!A)se5saue59ue&Yuayuam->%vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s-jInserting Stack: Missions/Insert/SurfaceNavUpdate.xml)k=E-i))E:DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/sIDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdegM 鳱DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/sQ)DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool?,Construct GoToSurface. u!u! v!)v)Iv)iv)v)v)v)v) w))wIwiwCwwww x)xIxixAxxxx yA)yIyiyyyvAyy z)zIzizz Cz}} RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a) 5 RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a= dInserting Stack: Missions/Insert/SurfaceSafety.xmlm >!!U i 9~ D-;Y~ Aɔ ـD) I =i = x? >I rVʁ Kӑ FA)NAAIIIHiiHiHiHiiu;!$u@DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min!$y-))5DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min!$}=i9EDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count!$UUUDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg!$eemDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg!$u)u@o@}DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m!$iDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool!$黩DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m!$)DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s!$iDefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg!$DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s L%Construct.!& 5!&} =!& =M],Construct GoToSurface. ZE&Construct Waypoint. [m&Construct Waypoint. \&Construct Waypoint. ]&Construct Waypoint. ^&Construct Waypoint. _ &Construct Waypoint. Z5&Construct Waypoint.eXInserting Stack: Missions/Insert/Science.xml)E#9~YY~ɔ ;i~锹)8[GɇCIsR! @ ;= -(>-ހD)5=?=|;I=閁`d<  /= 9 bY9bYbaa):IIn mlimImi:ir sɗ8)]k=yV+9'=I> 8)I i 8Pɘk:8 %>0%--vDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool0=)=es-8R?EDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg0MiMes-8RUDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg0]]evDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool0miuvDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool0})}DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool0iƉDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool0ƙDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool0Ʃ-DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool0=)=EDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool0MiM@UDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m0]YeDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m0u quDefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a0iȁDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a0DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a)=N=0E)AMDefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a0UQ]DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a0miuDefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a0} yrVʁ  [)NAG>I:IHiHHHi; 4)4:DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l0>I<BDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m0FDJDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg0RPVDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg0Z XbDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l0fIdjDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m0nlrDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg0 vt~DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg0   DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB0I%DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m0-)5DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg0DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg)V=f8Construct PeakDetectVsDepth. h8Construct PeakDetectVsDepth.iU8Construct PeakDetectVsDepth.)ƅIsR! @ RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolĥzRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool)ŭes-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegiŽDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegzRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool)RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 booli@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 mRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mRedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 boolzRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 boolj Construct. k0Construct DepthEnvelope.):k6Construct AltitudeEnvelope. lConstruct YoYo.sEq4sAuEq49uE%YuEؠջyuE: E)> }>)N=z9z9 {A){AI{Ai{A{EA{A{A{A |A)|EGAI|Ai|MyC|I|I|I|I }I)}I?=9~Y~ɔ;i~)GɇȓC9= M?MD)Ui]`d>] =]\=I]F=ia a)mnm0)m7: A This mission runs yoyos counterclockwise around a box. Two sides of the box pass through the planned locations for both Environmental Sample Processor (ESP) buoys during the Spring 2013 EcoHAB deployment. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 36 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Latitude of waypoint for first corner of box. 33.5864 Longitude of waypoint for first corner of box. -117.9770 Latitude of waypoint for second corner of box. 33.5653 Longitude of waypoint for second corner of box. -117.9928 Latitude of waypoint for third corner of box. 33.6035 Longitude of waypoint for third corner of box. -118.0757 Latitude of waypoint for fourth corner of box. 33.6248 Longitude of waypoint for fourth corner of box. -118.0590 Depth for initial approach to WpCorner1. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 13 Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the wayopint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Maximum duration of lap around box. 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Inshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleInshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Run around the box. Circle then lap many times, collecting science data. Get science data, including PeakDetectChl 30.0 10.0 3.0 5.0 =PLoaded ./Missions/Science/EcoHAB_box.xml=vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degree?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree)z=xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree) i=i $?= |got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree !ɔ% ;)% Q9]- 4=Q - -=I) i1 ^1 ^5 .[B_9 = k:Y_= U: = ;9 _A ɖA A `M =  M = M 9 bU 9bQ YbQ aY aY )Y a ɓa a a )a )e @Ia i im >i Im :In} Xz: ny my ly imy Imy i ;ir s ɗ = 0>I >yV 99闥 = ) I i P ɘ : >$ecʁ |ףt)NAQI]:IHiHHHiIs=,R! @ )E9 9~Q!Y~bɔ;i~)Q9ɇ `= ?D)@-=I01>i%L=% =I%;i! ))-s-)5:ɔ58)=8]=l߽Q ==IE9iE^I^MO[B_IM:Y_U骺 U)yIyIn n mlimImi;ir9 sɗyVam< i)qIqiq}8yPɘ:阉 r>)>I1)P=Is,R! @ $ecʁ q=)NAIIHiHHHi)))%:<):sE4sAuE49uEe%YuMyuM: M*>UQ99~]¼Y~]oɔ]:i~Y]8 }&NAL9602 initialized)}=ɇC釕>); ?D)|;I`=i====IaIe:Inq nq mqlqimyImyi};iry sɗyVU9U< Y)]8I]8ie8ee8Piɘqq }>Is pR! @ I )M Y<~iʁ ӧ)NAI:IHiHHHi;I2L@i4)Z;)9);sE4sAuM49uMCz%YuMgyuMSIQ9~Y~6ɔ;i~锉)8[GɇȓC針> ?D)I\=i== Q9I :In n mlimIm!i%;ir!! s))ɗ)ɚ5A1)-jIsMR! @ ) #;I! Wpʁ o)NAI:IHiHHHi;)V:)9):s%5s!u-59u-&Yu-1yu)-&>599~eY~eɔe;i~iim=ma>Is} S! @ )/<GɇC =  `>D)@-=I >i p`>=@l=I(m8IiIny n mlimImi#;ir sɗ)=) 7;IA drvʁ = )NAIIHiHHHi)Z ;IstNS! @ ):);s%h6s!u%h69u-c 'Yu)yu-: )5Q99~=2Y~=ɔ=:i~99A )D;) 9Ia ) 9Is ,$S! @ ):): i))?5GɇC> > D) `%?==I"iIm:Iny ny mlimImi;ir9 sɗ4>)>)]L<)A9~MY~MpUɔM:i~IIɜU@U@U\Inadequate Iridium signal strength reported: 0)U:][GɇeCe= m>mD)iIu>iqu|;})I- ;In9 n9 m9lAimAImAiE ;irAM9 sIIɗQ)7;yV!-< -)1I1i19=PAɘE:I Mt> 9)(<= got command run= Running Is >S! @ ) <Dʁ $*NAIIHiHHHi;I ):sE!5sAuE!59uM%YuMyuM: M*>U9):9~Y~6ɔD)I=iD>=I;i )|3):ɔQ9)8];Q L=Ii^^9[B_k:Y_z: ;_ɖQ9`z  =  b9b Yb a a):#>Aggregate::uninitialize Defaultq&NAggregate::uninitialize Default:Iridium 'Uninitialize.1+Uninitialize.1 ,DUninitialize GoToSurfaceComponent.=4Started mission EcoHAB_box1%.%@Aggregate::initialize EcoHAB_box% /%JInitialize AltitudeEnvelopeComponent.%/%DInitialize DepthEnvelopeComponent.1- 0-JInitialize OffshoreEnvelopeComponent.#- G-Initialize.#-G- IU ADCP unrequestedUHOpening uart, block timeout 10ths=20]$resume:Powering up]DCycling power to configure device.IYYɍY YIs} JS! 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L=I mrл n mlimtImWi*;qD1irqk: sɗ)-|) D;Is &W! @ ;]́ x1NAI:IHiHHHi);)k;)9sE5sAuM59uMҔ&YuMyuM: M*>Q9~$Y~ɔ;i~锅8)85GɇC針{> D)=>|m}pѻ ny mlim+ImCiqrOirqQ: sɗɚA隝AyV:闕= )IIi[aie)] =9~esY~e+ɔe:i~aam>m]>)g<ɇC= ?D)I >i>@->I;i8 )A3) 7:ɔ Q9)8]=Q 9=Ii^!^%?_!!Y_-p+; -;)_)ɖ-Q958`5B=  5 = 1 b=9bEB - E;YbEA 1 EaE8*?aM <)M; M)UIUiQQU9iU?IIs W! @ )ԭ-<ԩi յ9IQ<)5mE>ѻ nA mIlIimM_ImMiM0;qULihirQqQQ sYYɗ]8yV- ?:- < 5 )5 8I9 [ i < P ɘ : E Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter, E >) ;j́ /1NAIIHiHHHi):);):s%?4s!u-?49u-$Yu-yu)-&>599~eY~e!ɔe;i~ii)m8qɇ}ؓCIsW! @ :}.= ?$D)p!>=?^J?_Y_^ ;  <9_ɖ`<  .= 9 bL9bB - :YbHA 1 w ! ;4a?Ǥ?): 8)I i   :i ?I>II)QUmmFѻ ni mqlqimu7ImuFiu*;qyqyiryqy: sɗyVU:]< ]8)aIa[i<8P!ɘ-k:) -> m@)}<) 9aq́ 1NAIIHiHHHi;);):Is}8FW! @ };)Q:s%4s!u-49u-}%Yu-yu-S)19~e¼Y~eoɔe;i~iiiI9)>; NQ1 Y ף= ף= L= t ) ; {=Is pW! @ ) Q:);)9I):)?[GɇC> %L*?%7D)%@-=I-P)>i->-=5I5#yV3:闝< )IQ9>0>)g<[i<Pɘ阡 F?2}́ )\1NAI:IsW! @ IH*iH,H.D$H,i.< D)F<)}k;)u9s5su59uF&Yuؠջyu.>Q99~%Y~Hɔ>;i~锽Q9ɜ@霽@\Inadequate Iridium signal strength reported: 0):GɇC= X'?=D);I>i>@=I;i  8)):ɔQ9)Q9ٛ! %8]%2Q %=I!iI^I^U#B_QUk:Y_U2; U1Is] W! @ e ;) k:[ i = 8 P ɘ >́  2NAI= >got command restart applicationIHiHHܽHi;);)<)e:sX4suX49u"%Yu1yu: 5>uu v)vCIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}IQ]^=9~eNY~eCkɔe:i~aa)mQ9u[Gɇu#C}> }@>CD)\&?=) ;+́ *2NA >I:IHSAiHH#Hi;)e:)};se!5saue!59ue2%Yueɻyuee->)*;Q99~Y~3ɔ;i~8)85GɇؓC'= ?JD)t ?Ii )#2):ɔ8)8ٛ 8] U8Q l=I 9i^bA^cA_k:Y_; <%9_!ɖ!%8`-  -3= ) b59b5/B - 5:Yb5A 1 =6:a9IsM2W! @ I)M; U8)UIQiQYYi]?I?)ԙԝ9 եQ9I') :`́ ?D2NAIIHiHHYYHi;I4i4)e;)u;Is=2W! @ =;sev3sauev39ue$Yue1yueSa)>;9~\Y~Cɔ;i~Q9=>)/<%[Gɇ-C->*e code=047B elementURI="CommandLine.durationOfLastRun" type=00 *a code=06E5 owner=0008 element=047B universal=3FFF unitName="second" type=07 size=0002 fl=05 UD }?}RD)=@-=Ib=Q B=I9i^^OcA_Q:Y_> ;_ɖ9`B~=  = 9 bv9b@B - :YbӛA 1 \:a): )Iii?I!)!%<-9 )1-.-DAggregate::uninitialize EcoHAB_box- /-NUninitialize AltitudeEnvelopeComponent.-/-Uninitialize.15 05NUninitialize OffshoreEnvelopeComponent.q505^Aggregate::uninitialize EcoHAB_box:SurfaceComms5 15DUninitialize GoToSurfaceComponent.q525bAggregate::uninitialize EcoHAB_box:SurfaceComms:C5#=#=G=@Uninitialize Buoyancy Component.0u0u0u0 u0 u0u0u0u0u0u0u0}0}0}0}0}0}0}0}0}0}0}0}0}0}00000I!& !&} !& !$!$!$!$!$!$!$!$!$!$}!$y!$u#)#M #-#I #= FjUninitializing supervisor and starting cleanup. Bye!LShutting down NavChartDb ThreadHandlera!qa!ma!ia!ea!a!!]!!Y!!UQMIE!A!=!9!5!1!-!)%!   m i 1a aaaa!5! 9%=%!5!5!5!5!5!5!5!5!5!5!5!=!=!=!=!=!=!=!=!=!=!=!=!=!=!=!E!E!E!E!}E!yE!uE!qEIE<=InQ nQ mYlYimYImYi];e9 saaɗayV w:闭 )= ) ) I i ) T=) T< @ : &pause:Powering downI ɍ Ɂ :I5 =i <Pɘ! %>$́ a2NAIIHiHH Hi;Is*UX! @ ,)N;}PShutting down WetLabsBB2FL ThreadHandler):s6su69ud&Yuyu: 3>IPowering downi)JShutting down DVL_micro ThreadHandlerz1z1 {1){1I{1i{1{1{9{9{9 |9)|=CAI|9i|9|9|9|9|A }EC)}A)<=9~pY~ɔ;i~8) Q9ɇȓC3= 8>%YD)%աI;In n mlimImi;ir9 sɗyV:闕< )IQ9[m IAiu Is} xX! @ y ) =  > 4uninitialize:Powering downI ɍ Υ XShutting down AsyncPiEstimator ThreadHandler(3́ {2NAI:IHiHHnXVHi)J;)9sEX4sAuEX49uE"%YuM1yuMSM*>U99~Y~^ɔ;i~锉)8ɇC針&= >^D) I :In n! m!l!im!Im!i%;ir)-9 s))ɗ15?>=0>)  8Uninitializing ControlThread Powering down Powering downɜ 霽  Powering down ə ɕ  BInitializing DepthRateCalculator. BUninitialize NavChart Derivation. # >Aggregate::uninitialize Defaultq & NAggregate::uninitialize Default:Iridium  ' Uninitialize.1  + Uninitialize.1  , DUninitialize GoToSurfaceComponent.ae !A E a !Y I M !a ] Q E A aUaQ ELUninitialize VerticalControlComponent.  PUninitialize HorizontalControlComponent. FUninitialize SpeedControlComponent. DUninitialize LoopControlComponent. 8Uninitialize Buoyancy Servo.Powering downɚ%--8Uninitialize Elevator Servo.Powering down )Ii 0Uninitialize Mass Servo.Powering downIi4Uninitialize Rudder Servo.Powering down )Ii 8Uninitialize Thruster Servo.Powering downIi 8Uninitialize SBIT Component. 8Uninitialize IBIT Component. 8Uninitialize CBIT Component.!M!M !I !E !A !- !) !% !! ! !      % %% % % %--a-ae -aa 5a] 5aY 5aU 5aQ 5!M!M! M! M!U! U!U -)%!  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