*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 FĜL0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" ĜLDCreated PCaller Thread at 4033B4E0ƿĜLhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" ĜLDCreated 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 ƿĜLvSyncComponent "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 ƿĜLdComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler" ĜLDCreated PCaller Thread at 4039B4E0*n code=000A name="logger" ƿĜLZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler" ĜLDCreated PCaller Thread at 403CB4E0NĜL\Looking for Config files in directory: Config/NĜLTOpening 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 dĜLTethys*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 tĜLTethysEncryption*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 ĜL*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 ĜLff0055ff*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 ĜL?*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 ĜL /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 ĿĜL/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 ԿĜL?*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 ĜL@*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 ĜL@*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 ĜL /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 )ĜL/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 IĜL?*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 iĜL@*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 ĜL@*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 ĜL /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 ĜL /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 ĜL@*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 ĜL /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 )ĜL /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 IĜL @*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 iĜL /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 ĜL /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 ĜL@*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 ĜL /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 ĜL /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 ĜL @*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 )ĜL /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 IĜL /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 iĜL@*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 ĜL /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  ĜL /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  ĜL@*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  ĜL /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 ĜL /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 )ĜL@*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 IĜL /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 iĜL /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 ĜL@*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 ĜL /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 ĜL /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 ĜL@*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 ĜL /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 )ĜL /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 I ĜL @*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 i"ĜL /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 #ĜL /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 %ĜL@*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 'ĜL /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 )ĜL /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 +ĜL@*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 ),ĜL /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 I.ĜL /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 i0ĜL@*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 1ĜL /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 4ĜL /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 5ĜL @*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 7ĜL /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 9ĜL /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 );ĜL@*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=ĜL /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 i?ĜL /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 @ĜL@*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 BĜL /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 DĜL@*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 FĜL /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 HĜL@*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 ) JĜL/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 KĜL333333 @*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 MĜL?*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 OĜL/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 QĜL333333 @*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 SĜL?*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 TĜL/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 VĜL333333 @*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 ) XĜL?*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 ZĜL /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 \ĜL333333 @*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 ^ĜL?*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 `ĜL /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 bĜL333333 @*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 dĜL?*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 fĜL /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 ) hĜL333333 @*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 jĜL?*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 lĜL /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 nĜL333333 @*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 oĜL?*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 rĜL /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 sĜL333333 @*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 uĜL?*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 ) xĜL /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 zĜL333333 @*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 {ĜL?*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 ~ĜL /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 ĜL333333 @*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 ĜL?ƿĜLNLoaded Config Component "Config/vehicleNĜLROpening 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 ĜL?*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 ĜL*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 ) ĜL*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 ĜL*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 ĜL*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 ĜL?*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 ĜL?*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 ĜL*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 ĜL*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 ĜL*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 )ĜL*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 IĜL*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 iĜL*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 ĜL{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  ĜL?*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 "ĜL?*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 $ĜL*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 &ĜL*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 )(ĜL*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 I*ĜL?*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 i+ĜL*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 -ĜL*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 /ĜLPXE'>*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 2ĜL~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 4ĜLSA*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 6ĜLj*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 )8ĜL?*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:ĜL*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<ĜL?*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 >ĜL*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 ?ĜL*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 AĜL*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 CĜL*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 EĜL*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 )GĜLX9v@*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 IKĜL@*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 iOĜL*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 QĜL?*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 SĜL*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 UĜLffffff?*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 WĜL?*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 YĜL?*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 )[ĜL*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 I]ĜL.)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 i_ĜL*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 aĜL{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 cĜL?*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 eĜL*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 gĜL@*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 iĜL?ƿĜLLLoaded Config Component "Config/SensorNĜLROpening 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 )ĜL?ƿĜLLLoaded Config Component "Config/SampleNĜLROpening 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 IĜL*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 iĜL?*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 ĜL*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 ĜL?*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 ĜL?*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 ĜL?*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 ĜL?*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 )ĜL(@*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 I!ĜLdepth*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 i#ĜL?*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 %ĜLlatitude*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 'ĜLS!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 (ĜL 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 *ĜLS!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 ,ĜL 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 ).ĜL*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 I0ĜL 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 i2ĜL*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 4ĜLtime_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 6ĜL*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 8ĜLplatform_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 :ĜL @*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 <ĜLplatform_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 )>ĜL?*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 I@ĜLplatform_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 iBĜL?*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 EĜL.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 GĜLh㈵>*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 IĜLsea_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 KĜL?*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 PĜL*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 )RĜL{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 I]ĜL@*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 i^ĜLdepth*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 `ĜL?*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 bĜLlatitude*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 dĜLS!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 fĜL 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 hĜLS!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 )jĜLplatform_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 IlĜL @ƿĜLLLoaded Config Component "Config/loggerNĜLLOpening 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 iĜL?*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 ĜL*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 ĜLC*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 ĜLC*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 ĜL ?*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 ĜLE*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 )ĜLC*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 IĜL*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 iĜL@*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 ĜL *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 ĜL 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 ĜLC*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 ĜL'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 ĜL'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 )ĜL'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 IĜL'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 iĜL'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 ĜLF*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 ĜL?*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 ĜL?*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 ĜLF*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 ĜLXAƿ7ĜLFLoaded Config Component "Config/BITN8ĜLPOpening 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 )>ĜL?*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 I@ĜL*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 iBĜL?*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 EĜL?*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 GĜL?*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 IĜL *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 KĜL*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 MĜL*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 )OĜL*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 IQĜL *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 iSĜL 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 UĜL@*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 WĜL@*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 YĜL6*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 \ĜL'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 _ĜLaF*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 )aĜLx8*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 IcĜL?*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 ieĜL*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 gĜL?*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 iĜL=*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 kĜL?*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 mĜL*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 oĜL*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 )qĜLd*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 IrĜL*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 itĜL*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 vĜLF*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 xĜL*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 zĜLd:*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 |ĜL?*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 ~ĜL*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 )ĜL?*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 IĜL?*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 iĜL43*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 ĜL*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 ĜL?*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 ĜL@*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 ĜLL@*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 ĜL*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 ) ĜLJ*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 ĜLQ8*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 ĜL?*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 ĜL*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 ĜL?*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 ĜL=*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 ĜL?*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 !ĜL*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 )!ĜL*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!ĜLd*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!ĜL*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 !ĜL*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 !ĜLF*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 !ĜL*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 !ĜLd:*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 "ĜL?*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 )"ĜL*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"ĜL?*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"ĜL?*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 "ĜL@*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 "ĜLd*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 "ĜL`*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 "ĜL?*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 #ĜL?*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 )#ĜLB*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#ĜL@*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#ĜL*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 #ĜLƿĜLJLoaded Config Component "Config/ServoNĜLTOpening 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 #ĜL?*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 #ĜL*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 #!ĜLzG?*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 $#ĜL*e code=0178 elementURI="Config/Science.CTD_NeilBrown_enable" type=00 *a code=0121 owner=0012 element=0178 universal=3FFF unitName="bool" type=1F size=0008 fl=05 )$%ĜL?*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$'ĜL*e code=017A elementURI="Config/Science.CTD_NeilBrown_power" type=00 *a code=0123 owner=0012 element=017A universal=3FFF unitName="watt" type=1F size=0008 fl=05 i$)ĜL(\?*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 $+ĜL*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 $-ĜL*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 $0ĜL*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 $2ĜL*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 %4ĜL*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 )%6ĜL?*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%8ĜL*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%:ĜLMbp?*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 %<ĜLQ@*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 %>ĜL?*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 %?ĜL*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 %AĜLUWQ4562*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 &CĜL*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 )&EĜL,*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&GĜLC*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&IĜLk;*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 &JĜL*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 &LĜLf>*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 &NĜL >*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 &PĜL*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 'RĜL*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 )'TĜL@*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'VĜL?*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'XĜL*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 'ZĜL.@*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 '\ĜL?*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 '^ĜL?*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 '`ĜL*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 (bĜL*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 )(dĜL*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(fĜL*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(hĜL*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 (jĜL*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 (lĜL*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 (nĜLƿĜLNLoaded Config Component "Config/ScienceNĜLTOpening 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 (ĜL?*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 )ĜLL=*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 ))ĜL:*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)ĜL?*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)ĜLL=*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 )ĜL:*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 )ĜL >*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 )ĜL=*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 )ĜLwV>*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 *ĜLI?*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 )*ĜL5<*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*ĜL >*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* ĜL?*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 * ĜL>*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 * ĜL?*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 *ĜLa=*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 *ĜL?*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 +ĜLw:*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 )+ĜLXz:*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+ĜLŧ8*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+ĜL:*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 +ĜLB*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 +ĜL#<*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 + ĜLu<*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 +#ĜL2*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 ,%ĜLA*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 ),)ĜLC*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,,ĜL5<*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,.ĜL >*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 ,0ĜL@*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 ,3ĜL@*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 ,5ĜL*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 ,7ĜL*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 -9ĜL*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 )-;ĜLL=*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-=ĜL*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-?ĜL;*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 -AĜL?*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 -CĜL=*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 -EĜLpA*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 -GĜL<*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 .IĜL:*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 ).KĜL\=*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.MĜLB*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.OĜLD*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 .QĜL?*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 .SĜL{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 .UĜL*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 .WĜL:*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 /ZĜL*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 )/\ĜL¸=*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/^ĜLA*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/`ĜL`<*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 /bĜL`*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 /dĜLA*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 /fĜL9*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 /hĜLL=*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 0jĜLQ9*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 )0lĜL¸>*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 I0nĜL:*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 i0pĜL>*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 0rĜL >*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 0tĜL<*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 0vĜL=*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 0xĜL¸=*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{ĜL?*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~ĜL ?*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 I1ĜL 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 i1ĜLC*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 1ĜLRD*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 1ĜL?*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 1ĜLƿĜLNLoaded Config Component "Config/ControlNĜLVOpening 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 1ĜLG|; ?*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 2ĜLYZt*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 )2ĜLMissions/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 I2ĜLMissions/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 i2ĜL?{?*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 2ĜLub/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 2ĜL9@ƿ:ĜLPLoaded Config Component "Config/workSiteN:ĜLXOpening 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@ĜL*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 2BĜL?*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 3DĜL*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 )3GĜLH{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 I3JĜL!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 i3MĜLzG?*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 3OĜLB*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 3RĜLyX5;?*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 3TĜLmO.*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 3VĜL&|{?*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 4XĜLyX5;?*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 )4ZĜL*e code=01F9 elementURI="Config/Simulator.centerOfBuoyZ" type=00 *a code=01A2 owner=0015 element=01F9 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universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 ;ĜLډp!@*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 );ĜL{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;ĜL{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;ĜLީ{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 ;ĜL/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 ;ĜL*e code=0235 elementURI="Config/Simulator.Yvabv" type=00 *a code=01DE owner=0015 element=0235 universal=3FFF 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unitName="kilogram_meter_squared" type=1F size=0008 fl=05 <ĜL#fF@@*e code=023C elementURI="Config/Simulator.Npq" type=00 *a code=01E5 owner=0015 element=023C universal=3FFF unitName="kilogram_meter_squared" type=1F size=0008 fl=05 <ĜL#fF@*e code=023D elementURI="Config/Simulator.Zuq" type=00 *a code=01E6 owner=0015 element=023D universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 <ĜLډp!*e code=023E elementURI="Config/Simulator.Zuw" type=00 *a code=01E7 owner=0015 element=023E universal=3FFF unitName="kilogram_per_meter" type=1F size=0008 fl=05 <ĜLɏk7*e code=023F elementURI="Config/Simulator.Zvp" type=00 *a code=01E8 owner=0015 element=023F universal=3FFF unitName="kilogram" type=1F size=0008 fl=05 =ĜL/Ȕ_*e code=0240 elementURI="Config/Simulator.Kvt2" type=00 *a code=01E9 owner=0015 element=0240 universal=3FFF unitName="none" type=1F size=0008 fl=05 )=ĜL*e code=0241 elementURI="Config/Simulator.stallAngle" type=00 *a code=01EA owner=0015 element=0241 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 I=ĜLes-8R?*e code=0242 elementURI="Config/Simulator.wideHystRud" type=00 *a code=01EB owner=0015 element=0242 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 i=ĜL*e code=0243 elementURI="Config/Simulator.centerHystRud" type=00 *a code=01EC owner=0015 element=0243 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 =ĜL*e code=0244 elementURI="Config/Simulator.speedRud" type=00 *a code=01ED owner=0015 element=0244 universal=3FFF unitName="angular_degree_per_second" type=1F size=0008 fl=05 =ĜLes-8R?*e code=0245 elementURI="Config/Simulator.wideHystElev" type=00 *a code=01EE owner=0015 element=0245 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 =ĜL*e code=0246 elementURI="Config/Simulator.centerHystElev" type=00 *a code=01EF owner=0015 element=0246 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 =ĜL*e code=0247 elementURI="Config/Simulator.speedElev" type=00 *a code=01F0 owner=0015 element=0247 universal=3FFF unitName="angular_degree_per_second" type=1F size=0008 fl=05 >ĜLes-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 )> ĜL@*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> ĜL}?*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> ĜLQ?*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 >ĜLQ@*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 >ĜL*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 >ĜL*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 >ĜL*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 ?ĜL*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 )?ĜL*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?ĜL*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? ĜL*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 ?"ĜL*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 ?%ĜL*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 ?'ĜL*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 ?*ĜL*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 @,ĜLVCKO?*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 )@/ĜL*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@1ĜL*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@3ĜL*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 @6ĜL*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 @8ĜL*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 @;ĜL*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 @=ĜL*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@ĜL*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 )ACĜL*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 IAEĜL*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 iAHĜL*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 AJĜL*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 AMĜL*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 AOĜL!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 ARĜL@*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 BTĜL*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 )BWĜL*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 IBYĜL*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\ĜLY@*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_ĜL@*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 BaĜL*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 BcĜL*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 BeĜLǺF?*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 CgĜL*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 )CiĜL*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 ICkĜLTqs*>ƿĜLRLoaded Config Component "Config/SimulatorNĜLZOpening 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 iCĜL?*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 CĜL?*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 CĜL?*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 CĜLL=*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 CĜL?*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 DĜL?*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 )DĜL@*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 IDĜL?*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 iDĜL@*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 DĜL?*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 DĜL?*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 DĜL?*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 DĜL?ƿ&ĜLTLoaded Config Component "Config/DerivationN'ĜLVOpening Config file at: Config/Guidance.cfg*n code=0017 name="Config/Guidance" NyĜLvLooking for Config files in directory: Config/lrauv-daphne/NzĜLnOpening Config file at: Config/lrauv-daphne/vehicle.cfgdĜLdaphne*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 EĜLlrauv-daphne.shore.mbari.orgĜL@*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 )EĜL300234011783940ĜLffD8BC80*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 IEĜL9228*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 iEĜL102115ĜLN ĜLlOpening Config file at: Config/lrauv-daphne/Sensor.cfg ĜL ?ĜL) ?ĜLI ĜL9RFߑ?i ?ĜL ?ĜL ĜL? ?ĜL  ĜLFuIb)!ĜLwTru??"ĜL(ĜL?,ĜL ?.ĜL)?/ĜLI?0ĜLi1ĜL?2ĜL@3ĜLE^2>?4ĜL ?6ĜL)?7ĜLI:ĜL?i?<ĜLBĜL??CĜLHĜL'?JĜLwTru??MĜLOĜL??PĜL?TĜLi?XĜL ?^ĜL)_ĜL?I?`ĜLiaĜLBY,8@bĜL?cĜLNĜLlOpening Config file at: Config/lrauv-daphne/logger.cfgN ĜLfOpening Config file at: Config/lrauv-daphne/BIT.cfgi?ĜLĜL?ĜLBĜLBIĜLĜL7 ĜL7)ĜL7IĜL7iĜL7?ĜLi ĜL A?!ĜL?"ĜLNoĜLjOpening Config file at: Config/lrauv-daphne/Servo.cfg)?sĜLItĜL?I?vĜLiwĜL?*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 EyĜL?zĜL {ĜL?i ?|ĜL ~ĜL?*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 EĜL "?ĜL)"ĜL?NĜLnOpening Config file at: Config/lrauv-daphne/Science.cfg#?ĜL#ĜL? $ĜL4831F)$ĜLI$?ĜL$ĜLSA$ĜLj$ĜL@$ĜL~jt? %ĜLy&1?)%?ĜLI%ĜL?%?ĜL%ĜL?%ĜLUWQ8455 &ĜL)&?ĜLI&ĜLC&?ĜL '?ĜLI'?ĜLi'ĜL?'ĜL bb2flmba-935 (ĜL+b~>)(ĜLI@I(ĜL>i(ĜLH@(ĜLtF_?(ĜL:@(ĜLg+eSS>N?ĜLnOpening Config file at: Config/lrauv-daphne/Control.cfgi+EĜL9+FĜL\B /GĜLtĜLƿ>ĜLfSyncComponent "IBIT" handled in the control thread.*n code=001B name="CBIT" AĜL:Construct CBIT Built In Test.*e code=029E elementURI="CBIT.clearFaultCmd" type=00 *a code=0275 owner=001B element=029E universal=3FFF unitName="enum" type=0D size=0004 fl=04 *e code=029F elementURI="CBIT.clearLeakFaultCmd" type=00 *a code=0276 owner=001B element=029F universal=3FFF unitName="enum" type=0D size=0004 fl=04 *a code=0277 owner=001B element=029C universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0278 owner=001B element=029D universal=3FFF unitName="percent" type=0B size=0003 fl=04 *e code=02A0 elementURI="Onboard.Temperature" type=00 *a code=0279 owner=001B element=02A0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A1 elementURI="Batt_Ocean_Server.BattTemp_0" type=00 *a code=027A owner=001B element=02A1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A2 elementURI="Batt_Ocean_Server.BattTemp_1" type=00 *a code=027B owner=001B element=02A2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A3 elementURI="Batt_Ocean_Server.BattTemp_2" type=00 *a code=027C owner=001B element=02A3 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A4 elementURI="Batt_Ocean_Server.BattTemp_3" type=00 *a code=027D owner=001B element=02A4 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A5 elementURI="Batt_Ocean_Server.BattTemp_4" type=00 *a code=027E owner=001B element=02A5 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A6 elementURI="Batt_Ocean_Server.BattTemp_5" type=00 *a code=027F owner=001B element=02A6 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A7 elementURI="Batt_Ocean_Server.BattTemp_6" type=00 *a code=0280 owner=001B element=02A7 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A8 elementURI="Batt_Ocean_Server.BattTemp_7" type=00 *a code=0281 owner=001B element=02A8 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02A9 elementURI="Batt_Ocean_Server.BattTemp_8" type=00 *a code=0282 owner=001B element=02A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02AA elementURI="Batt_Ocean_Server.BattTemp_9" type=00 *a code=0283 owner=001B element=02AA universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02AB elementURI="Batt_Ocean_Server.BattTemp_10" type=00 *a code=0284 owner=001B element=02AB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *e code=02AC elementURI="Batt_Ocean_Server.BattTemp_11" type=00 *a code=0285 owner=001B element=02AC universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0286 owner=001B element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02AD elementURI="CBIT.shorePowerOn" type=00 *a code=0287 owner=001B element=02AD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=02AE elementURI="CBIT.platform_fault" type=00 *a code=0288 owner=001B element=02AE universal=0024 unitName="enum" type=0D size=0004 fl=05 *e code=02AF elementURI="CBIT.platform_fault_leak" type=00 *a code=0289 owner=001B element=02AF universal=0025 unitName="enum" type=0D size=0004 fl=05 *a code=028A owner=001B element=005B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=02B0 elementURI="CBIT.GFCHAN0Current" type=00 *a code=028B owner=001B element=02B0 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=02B1 elementURI="CBIT.GFCHAN1Current" type=00 *a code=028C owner=001B element=02B1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=02B2 elementURI="CBIT.GFCHAN2Current" type=00 *a code=028D owner=001B element=02B2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=02B3 elementURI="CBIT.GFCHAN4Current" type=00 *a code=028E owner=001B element=02B3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=02B4 elementURI="CBIT.GFCHAN5Current" type=00 *a code=028F owner=001B element=02B4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=02B5 elementURI="CBIT.GFCHANOpenCurrent" type=00 *a code=0290 owner=001B element=02B5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0291 owner=001B element=011C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0292 owner=001B element=011D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0293 owner=001B element=011E universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0294 owner=001B element=011F universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0295 owner=001B element=0120 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=0296 owner=001B element=0121 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0297 owner=001B element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0298 owner=001B element=0123 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0299 owner=001B element=0124 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=029A owner=001B element=0125 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=029B owner=001B element=0126 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=029C owner=001B element=0127 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=029D owner=001B element=0128 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=029E owner=001B element=0129 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=029F owner=001B element=012A universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=02A0 owner=001B element=012B universal=3FFF unitName="hour" type=0B size=0003 fl=04 ĜLƿĜLfSyncComponent "CBIT" handled in the control thread.ĜLLoaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)ĜLDLoading Module at Modules/Servo.so*n code=001C name="BuoyancyServo" *a code=02A1 owner=001C element=0132 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02A2 owner=001C element=0133 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02A3 owner=001C element=0134 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02A4 owner=001C element=0135 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A5 owner=001C element=0136 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A6 owner=001C element=0137 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A7 owner=001C element=0138 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A8 owner=001C element=0139 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02A9 owner=001C element=013A universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=02AA owner=001C element=013B universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02AB owner=001C element=013C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02AC owner=001C element=013D universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=02AD owner=001C element=013E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=02AE owner=001C element=013F universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=02AF owner=001C element=0140 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=02B0 owner=001C element=01AF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=02B1 owner=001C element=01B3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=02B2 owner=001C element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02B6 elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=02B3 owner=001C element=02B6 universal=001D unitName="cubic_centimeter" type=0B size=0003 fl=05  DĜL4*e code=02B7 elementURI="VerticalControl.buoyancyAction" type=02 *a code=02B4 owner=001C element=02B7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 1HĜLƿHĜLxSyncComponent "BuoyancyServo" handled in the control thread.*n code=001D name="ElevatorServo" *a code=02B5 owner=001D element=0143 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02B6 owner=001D element=0144 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02B7 owner=001D element=0145 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02B8 owner=001D element=0146 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02B9 owner=001D element=0147 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BA owner=001D element=0148 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BB owner=001D element=0149 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BC owner=001D element=014A universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=02BD owner=001D element=014B universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=02BE owner=001D element=014C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02BF owner=001D element=014D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=02C0 owner=001D element=01B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=02B8 elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=02C1 owner=001D element=02B8 universal=0023 unitName="radian" type=2F size=0004 fl=05 Q TĜL;*a code=02C2 owner=001D element=028D universal=3FFF unitName="radian" type=2F size=0004 fl=04 qTĜLƿUĜLxSyncComponent "ElevatorServo" handled in the control thread.*n code=001E name="MassServo" *a code=02C3 owner=001E element=0150 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02C4 owner=001E element=0151 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02C5 owner=001E element=0152 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02C6 owner=001E element=0153 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02C7 owner=001E element=0154 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=02C8 owner=001E element=0155 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02C9 owner=001E element=0156 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02CA owner=001E element=0157 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02CB owner=001E element=0158 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=02CC owner=001E element=0159 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=02CD owner=001E element=01CE universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *e code=02B9 elementURI="MassServo.platform_mass_position" type=00 *a code=02CE owner=001E element=02B9 universal=0027 unitName="meter" type=0B size=0003 fl=05 *a code=02CF owner=001E element=028F universal=3FFF unitName="meter" type=0B size=0003 fl=04 `ĜLƿaĜLpSyncComponent "MassServo" handled in the control thread.*n code=001F name="RudderServo" *a code=02D0 owner=001F element=015C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02D1 owner=001F element=015D universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02D2 owner=001F element=015E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02D3 owner=001F element=015F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02D4 owner=001F element=0160 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02D5 owner=001F element=0161 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02D6 owner=001F element=0162 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02D7 owner=001F element=0163 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=02D8 owner=001F element=0164 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=02D9 owner=001F element=0165 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02DA owner=001F element=0166 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=02DB owner=001F element=01A8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=02BA elementURI="RudderServo.platform_rudder_angle" type=00 *a code=02DC owner=001F element=02BA universal=0030 unitName="radian" type=2F size=0004 fl=05 *a code=02DD owner=001F element=028E universal=3FFF unitName="radian" type=2F size=0004 fl=04 lĜLƿlĜLtSyncComponent "RudderServo" handled in the control thread.*n code=0020 name="ThrusterServo" *e code=02BB elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=02DE owner=0020 element=02BB universal=002C unitName="radian_per_second" type=0B size=0003 fl=05 *a code=02DF owner=0020 element=028C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=02E0 owner=0020 element=0169 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=02E1 owner=0020 element=016A universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=02E2 owner=0020 element=016B universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02E3 owner=0020 element=016C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02E4 owner=0020 element=016D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02E5 owner=0020 element=016E universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=02E6 owner=0020 element=016F universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=02E7 owner=0020 element=0170 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04 *a code=02E8 owner=0020 element=0171 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04 *a code=02E9 owner=0020 element=0172 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=02EA owner=0020 element=0173 universal=3FFF unitName="count" type=0D size=0004 fl=04 1xĜLƿxĜLxSyncComponent "ThrusterServo" handled in the control thread.yĜLLoaded Module: Servo (This is the module containing motor controllers)yĜLNLoading Module at Modules/Derivation.so*n code=0021 name="DepthRateCalculator" *a code=02EB owner=0021 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02BC elementURI="DepthRateCalculator.depth_rate" type=00 *a code=02EC owner=0021 element=02BC universal=0001 unitName="meter_per_second" type=0B size=0003 fl=05 qĜLƿĜLSyncComponent "DepthRateCalculator" handled in the control thread.*n code=0022 name="HFRadarModelCalc" *a code=02ED owner=0022 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02EE owner=0022 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=02EF owner=0022 element=001E universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=02BD elementURI="HFRadarModelCalc.eastward_sea_water_velocity" type=00 *a code=02F0 owner=0022 element=02BD universal=0006 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=02BE elementURI="HFRadarModelCalc.northward_sea_water_velocity" type=00 *a code=02F1 owner=0022 element=02BE universal=000E unitName="meter_per_second" type=0B size=0003 fl=05  PĜLL> QĜLL>QĜLƿQĜL~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  `ĜLD`ĜLƿaĜLnSyncComponent "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 fĜLƿgĜLSyncComponent "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 mĜLƿmĜL|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 }ĜLƿ}ĜLSyncComponent "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 ĜLƿĜLSyncComponent "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  ! ĜL]*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  % ĜL]*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  ) ĜL`*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 ĜLƿĜLrSyncComponent "Navigation" handled in the control thread.ĜLLoaded Module: Derivation (Contains the base derivation components)ĜLJLoading Module at Modules/Guidance.soĜLrLoaded Module: Guidance (Contains behaviors and commands)ĜLHLoading Module at Modules/Trigger.soĜL|Loaded Module: Trigger (Contains triggers for use in missions)ĜLHLoading Module at Modules/Control.so*n code=0029 name="VerticalControl" ĜL4Construct 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 ĜLƿĜL|SyncComponent "VerticalControl" handled in the control thread.*n code=002A name="HorizontalControl" ĜL8Construct 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 UĜLƿUĜLSyncComponent "HorizontalControl" handled in the control thread.*n code=002B name="SpeedControl" VĜL.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 XĜLƿXĜLvSyncComponent "SpeedControl" handled in the control thread.*n code=002C name="LoopControl" YĜL,Construct LoopControl.*a code=0399 owner=002C element=02D4 universal=3FFF unitName="second" type=0B size=0003 fl=04 1 ZĜLƿZĜLtSyncComponent "LoopControl" handled in the control thread.ZĜLLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)[ĜLFLoading Module at Modules/Sample.so*n code=002D name="AsyncPiEstimator" `ĜL6Construct 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 eĜLƿeĜLnComponent "AsyncPiEstimator" handled in its own thread.*n code=002E name="AsyncPiEstimator ThreadHandler" fĜLDCreated PCaller Thread at 406A44E0gĜLLoaded Module: Sample (This is a Sample Module of Sample Components)hĜLFLoading 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 ĜL9*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 ĜL9*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 ĜL8*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 ĜL8*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 ĜLƿĜLvSyncComponent "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  ĜLaD*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 ĜLƿ ĜLSyncComponent "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 ĜLHCq ĜLƿĜLvSyncComponent "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 ĜLƿĜLrSyncComponent "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 *ĜL=*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 .ĜL=*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 3ĜL=*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 7ĜL=*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" type=00 *a code=040C owner=0033 element=0349 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=034A elementURI="DVL_micro.BottomVelocityFlag" type=00 *a code=040D owner=0033 element=034A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034B elementURI="DVL_micro.WaterVelocityFlag" type=00 *a code=040E owner=0033 element=034B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=034C elementURI="DVL_micro.Beam1RSSI" type=12 blobType=0F fixedSize=12BC *a code=040F owner=0033 element=034C universal=3FFF unitName="decibel" type=00 size=0000 fl=05 *e code=034D elementURI="DVL_micro.Beam2RSSI" type=12 blobType=0F fixedSize=12BC *a code=0410 owner=0033 element=034D universal=3FFF unitName="decibel" type=00 size=0000 fl=05 *e code=034E elementURI="DVL_micro.Beam3RSSI" type=12 blobType=0F fixedSize=12BC *a code=0411 owner=0033 element=034E universal=3FFF unitName="decibel" type=00 size=0000 fl=05 *e code=034F elementURI="DVL_micro.Beam4RSSI" type=12 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 ĜLƿĜL`Component "DVL_micro" handled in its own thread.*n code=0034 name="DVL_micro ThreadHandler" ĜLDCreated 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 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0362 elementURI="NAL9602.SNRSatellite_8" type=00 *a code=042F owner=0035 element=0362 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0363 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=0430 owner=0035 element=0363 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0364 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=0431 owner=0035 element=0364 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0365 elementURI="NAL9602.SNRSatellite_11" type=00 *a code=0432 owner=0035 element=0365 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0433 owner=0035 element=029B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0366 elementURI="NAL9602.numSatellites" type=00 *a code=0434 owner=0035 element=0366 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0435 owner=0035 element=029A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e 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 ĜL;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 ĜL;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 !ĜLƿ!ĜLlSyncComponent "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 OĜL9*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 TĜLaD TĜLƿTĜLlSyncComponent "Onboard" handled in the control thread.WĜLlLoaded Module: Sensor (Contains the sensor components)WĜLHLoading 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 ĜL9 ĜLƿĜLtSyncComponent "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  ĜL;1ĜLƿĜLfSyncComponent "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 ĜLQ8*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 qĜLƿĜLpSyncComponent "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 ĜL2ĜLƿĜLfComponent "WetLabsBB2FL" handled in its own thread.*n code=003B name="WetLabsBB2FL ThreadHandler" ĜLDCreated PCaller Thread at 4077A4E0ĜLpLoaded 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 ƿĜLzSyncComponent "MissionManager" handled in the control thread.*n code=003D name="Reporter" ƿĜLnSyncComponent "Reporter" handled in the control thread.*n code=003E name="NavChartDb" *e code=0382 elementURI="NavChartDb.closestDistance" type=00 *a code=0462 owner=003E element=0382 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0383 elementURI="NavChartDb.nextDistance" type=00 *a code=0463 owner=003E element=0383 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0384 elementURI="NavChartDb.closestDepth" type=00 *a code=0464 owner=003E element=0384 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0385 elementURI="NavChartDb.nextDepth" type=00 *a code=0465 owner=003E element=0385 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0466 owner=003E element=0275 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿĜLbComponent "NavChartDb" handled in its own thread.*n code=003F name="NavChartDb ThreadHandler" ĜLDCreated PCaller Thread at 407AA4E0F%ĜL&Running supervisor.&ĜL"Thread ID is 5044!&ĜL \&ĜL)ĜL"Thread ID is 5043 )ĜL4Initializing ControlThread)ĜL"Thread ID is 5042 *ĜL8 InternalSim initializing...*a code=0467 owner=0018 element=01B2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 <ĜL"Thread ID is 5045WĜL"Thread ID is 5106WĜL8Initialize AsyncPiEstimator.IsYĜL|[ @*e code=0386 elementURI="AsyncPiEstimator.durationOfLastRun" type=00 *a code=0468 owner=002D element=0386 universal=3FFF unitName="second" type=07 size=0002 fl=05 _ĜL;nĜL"Thread ID is 5107xĜLInitializingxĜL"start:Powering upyĜLHOpening uart, block timeout 10ths=20zĜLDCycling power to configure device.*e code=0387 elementURI="DVL_micro.component_voltage" type=00 !A ĜL YHĜL!E ĜL yHĜL!I ĜL HĜL!M ĜL HĜL! ĜL yFĜL! ĜL FĜL!! ĜL FĜL!% ĜL FĜL*a code=0469 owner=0033 element=0387 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )ĜL*e code=0388 elementURI="DVL_micro.component_avgVoltage" type=00 *e code=0389 elementURI="logger.durationOfLastRun" type=00 ĜL4Initialize SBIT Component. ĜL6Tethys CM Info: $Rev: 10234HĜL ĜL4Initialize IBIT Component.JĜL ĜL4Initialize CBIT Component. ĜLTLast reboot was NOT due to watchdog timer.ĜL"Thread ID is 5108ĜLPowering down*e code=038A elementURI="WetLabsBB2FL.component_voltage" type=00 *a code=046A owner=0033 element=0388 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=046B owner=000A element=0389 universal=3FFF unitName="second" type=07 size=0002 fl=05 *a code=046C owner=003A element=038A universal=3FFF unitName="volt" type=07 size=0002 fl=05 ĜL*e code=038B elementURI="WetLabsBB2FL.component_avgVoltage" type=00 *a code=046D owner=003A element=038B universal=3FFF unitName="volt" type=07 size=0002 fl=05 ĜL*e code=038C elementURI="WetLabsBB2FL.component_current" type=00 iĜL=*a code=046E owner=003A element=038C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ɍĜL*e code=038D elementURI="WetLabsBB2FL.component_avgCurrent" type=00 ĜLBInitializing DepthRateCalculator.ĜL>Initialize NavChart Derivation. ĜLBInitializing PitchRateCalculator.ĜL:Initializing SpeedCalculator. ĜLHInitializing TempGradientCalculator.*a code=046F owner=003A element=038D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 IĜL*e code=038E elementURI="DVL_micro.component_current" type=00 鍿ĜLIĜLiĜLĜLĜLɋĜL鋿ĜL*a code=0470 owner=0033 element=038E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ĜL*e code=038F elementURI="DVL_micro.component_avgCurrent" type=00 *a code=0471 owner=0033 element=038F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )ĜLĜL>Initializing YawRateCalculator. ĜL0Initializing Navigation.ĜLHInitialize VerticalControlComponent.ĜL"Thread ID is 5109ĜL|Looking for Electronic Nav Chart files in directory: ResourcesĜLtAlready Loaded Electronic Nav Chart data from US5CA50M.000ĜLtAlready Loaded Electronic Nav Chart data from US2WC11M.000ĜLtAlready Loaded Electronic Nav Chart data from US1WC07M.000ĜLtAlready Loaded Electronic Nav Chart data from US3CA52M.000ĜLtAlready Loaded Electronic Nav Chart data from US5CA61M.000ĜLtAlready Loaded Electronic Nav Chart data from US5CA83M.000ĜLtAlready Loaded Electronic Nav Chart data from US5CA62M.000ĜLtAlready Loaded Electronic Nav Chart data from US4CA60M.000 ĜLLInitialize HorizontalControlComponent.ĜLBInitialize SpeedControlComponent. ĜL@Initialize LoopControlComponent.iĜL=i4ĜLP=iĜLX=IsĜL^  @ ĜL;iĜLw=*e code=0390 elementURI="WetLabsBB2FL.durationOfLastRun" type=00 *a code=0472 owner=003A element=0390 universal=3FFF unitName="second" type=07 size=0002 fl=05 IFĜL>IGĜL8iZĜLV=iĜLN=IsĜL@' @ ?ĜLiKĜLO=iĜLP=IĜL>iĜLQ=Is\ĜLyx @ ?\ĜLipĜLN=iĜLO=i6ĜLZ=I?ĜLiĜLP=IsĜL( @ ?ĜLiĜLi=iZĜLW=iĜLP=IsĜLT5 @ ĜL ;I?EĜLiLĜLR=iĜLP=ĜLDOcean Server Batteries initializedi~ĜLĜLJLoading Mission: Missions/Startup.xml*n code=0040 name="Startup" *n code=0041 name="Startup:A.GoToSurface" ĜL,Construct GoToSurface.*a code=0473 owner=0041 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0474 owner=0041 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0475 owner=0041 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0476 owner=0041 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0477 owner=0041 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0478 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" *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"  ĜL  ĜLJLoading Mission: Missions/Default.xmli?ĜL*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 XĜLYĜLDDefineArg Default.NeedGPS = 1 bool*n code=0048 name="Default:GPS" Is\ĜLX @ \ĜL;*n code=0049 name="Default:GPS:A.SetSpeed" $cĜLConstruct.*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" %fĜL,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 i?pĜL*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" 'yĜLConstruct.*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" '|ĜL,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" )ĜL$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" +ĜLConstruct.*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" ,ĜL,Construct GoToSurface.*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" ,ĜLConstruct Wait.ĜLHOpening uart, block timeout 10ths=20ĜL*Querying output modesĜLĜL4cmdResponse: AUTO_VEL_ON *e code=0392 elementURI="DVL_micro.durationOfLastRun" type=00 *a code=04A2 owner=0033 element=0392 universal=3FFF unitName="second" type=07 size=0002 fl=05 IĜL@ĜL&pause:Powering down)?ĜLI?ĜL ?ĜL)?ĜLĜLɁĜLIĜL: ĜL+ 400 400 Burn 300 Dropped drop weight due to communications timeout 5.0 1.0 5 iĜL= ĜL-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,́] E16NAeG!?*e code=0393 elementURI="CycleStarter.durationOfLastRun" type=00 *a code=04A3 owner=0007 element=0393 universal=3FFF unitName="second" type=07 size=0002 fl=05 iݔe ig=IsP+k @ )e=ig=Iݡ>)ݝa =@ݝ&2*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 )e=eQ9)m8*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 IQ9*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 U8*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 u8iy=Q =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 ɖQ:*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 8*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 MIs@ɴ @ ; ) ť-p! 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type=07 size=0002 fl=05 ɗEQ9 M4Initializing EZServoServo. u6Initializing BuoyancyServo.*e code=03AF elementURI="BuoyancyServo.durationOfLastRun" type=00 *a code=04BF owner=001C element=03AF universal=3FFF unitName="second" type=07 size=0002 fl=05 闥;4Initializing EZServoServo.ը6Initializing ElevatorServo.*e code=03B0 elementURI="ElevatorServo.durationOfLastRun" type=00 *a code=04C0 owner=001D element=03B0 universal=3FFF unitName="second" type=07 size=0002 fl=05 =; =4Initializing EZServoServo. u.Initializing MassServo.*e code=03B1 elementURI="MassServo.durationOfLastRun" type=00 *a code=04C1 owner=001E element=03B1 universal=3FFF unitName="second" type=07 size=0002 fl=05 )5;=4Initializing EZServoServo.m2Initializing RudderServo.*e code=03B2 elementURI="RudderServo.durationOfLastRun" type=00 *a code=04C2 owner=001F element=03B2 universal=3FFF unitName="second" type=07 size=0002 fl=05 I; 4Initializing EZServoServo.ii= 6Initializing ThrusterServo.*e code=03B3 elementURI="ThrusterServo.durationOfLastRun" type=00 *a code=04C3 owner=0020 element=03B3 universal=3FFF unitName="second" type=07 size=0002 fl=05 i5;*e code=03B4 elementURI="SBIT.durationOfLastRun" type=00 *a code=04C4 owner=0019 element=03B4 universal=3FFF unitName="second" type=07 size=0002 fl=05 ]8*e code=03B5 elementURI="IBIT.durationOfLastRun" type=00 *a code=04C5 owner=001A element=03B5 universal=3FFF unitName="second" type=07 size=0002 fl=05 8P*e code=03B6 elementURI="CBIT.durationOfLastRun" type=00 *a code=04C6 owner=001B element=03B6 universal=3FFF unitName="second" type=07 size=0002 fl=05 ɘͬ:*e code=03B7 elementURI="Reporter.durationOfLastRun" type=00 *a code=04C7 owner=003D element=03B7 universal=3FFF unitName="second" type=07 size=0002 fl=05 ݬ*e code=03B8 elementURI="controlThread.durationOfLastRun" type=00 *a code=04C8 owner=0004 element=03B8 universal=3FFF unitName="second" type=07 size=0002 fl=05 %C?́ 6NAi;ieY=IyYHyHHHe yF8F:I>FpXFe:>)iժ=́ 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element=03EA universal=3FFF unitName="degree" type=1F size=0008 fl=05 QЉ|lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg*e code=03EB elementURI="EcoHAB_box.WpCorner4Lat" type=00 *a code=050E owner=005A element=03EB universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=050F owner=005A element=03EB universal=3FFF unitName="degree" type=1F size=0008 fl=05 =[?EhDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg*e code=03EC elementURI="EcoHAB_box.WpCorner4Lon" type=00 *a code=0510 owner=005A element=03EC universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0511 owner=005A element=03EC universal=3FFF unitName="degree" type=1F size=0008 fl=05 )Xy{lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg*e code=03ED elementURI="EcoHAB_box.ApproachDepth" type=00 *a code=0512 owner=005A element=03ED universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0513 owner=005A element=03ED universal=3FFF unitName="meter" type=1F size=0008 fl=05 i$@`DefineArg 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elementURI="EcoHAB_box.CircleModulus" type=00 *a code=0520 owner=005A element=03F4 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0521 owner=005A element=03F4 universal=3FFF unitName="hour" type=1F size=0008 fl=05 )  TDefineArg EcoHAB_box.CircleModulus = nan h*e code=03F5 elementURI="EcoHAB_box.CircleTimeout" type=00 *a code=0522 owner=005A element=03F5 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0523 owner=005A element=03F5 universal=3FFF unitName="hour" type=1F size=0008 fl=05 i} @ ^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h*e code=03F6 elementURI="EcoHAB_box.LapTimeout" type=00 *a code=0524 owner=005A element=03F6 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0525 owner=005A element=03F6 universal=3FFF unitName="hour" type=1F size=0008 fl=05 @ XDefineArg EcoHAB_box.LapTimeout = 8.000000 h*e code=03F7 elementURI="EcoHAB_box.YoYoMinDepth" type=00 *a code=0526 owner=005A element=03F7 universal=3FFF unitName="meter" type=1F 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owner=005D element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0543 owner=005D element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0544 owner=005D element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0545 owner=005D element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04 Y:)Ii8 I)IiIIIPɘ:阡 ?h|΁ ͑;NAAiE:i=I*a code=0546 owner=005D element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0547 owner=005D element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0548 owner=005D element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0549 owner=005D element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=054A owner=005D element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=005E name="EcoHAB_box:C.OffshoreEnvelope" /6Construct OffshoreEnvelope.*a code=054B owner=005E element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=054C owner=005E element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=054D owner=005E element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=054E owner=005E element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=054F owner=005E element=02E1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0550 owner=005E element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0551 owner=005E element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0552 owner=005E element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0553 owner=005E element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0554 owner=005E element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 IHiHHH%g:iF%yF% [F%s-F%;:%< -ɔ]89~u&Y~uu7;i~ Q9)GɇȓC釥`=*n code=0067 name="EcoHAB_box:SurfaceComms:C:C" lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml*n code=0068 name="EcoHAB_box:SurfaceCommsSplit" *e code=0401 elementURI="EcoHAB_box:SurfaceCommsSplit.SurfacePitch" type=00 *a code=056A owner=0068 element=0401 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=056B owner=0068 element=0401 universal=3FFF unitName="degree" type=1F size=0008 fl=05 iDJW? `%?SA);I @=i H> @===IJ=i )Ism%Nn! @ u;uDefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg3)T<锅8)Q9]~ּQ W=I9iY_ <*e code=0402 elementURI="EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed" type=00 *a code=056C owner=0068 element=0402 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=056D owner=0068 element=0402 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ?DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xmliQ=_ɖ%8`%"=  %!= ! b-&9b)Yb1)1I1In n mlimImi*i=]=*a code=0574 owner=0069 element=0406 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0575 owner=0069 element=0406 universal=3FFF unitName="minute" type=1F size=0008 fl=05 M @UDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min*e code=0407 elementURI="EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface" type=00 *a code=0576 owner=0069 element=0407 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0577 owner=0069 element=0407 universal=3FFF unitName="bool" type=02 size=0001 fl=05 L΁ ue;NAQiYIHiHHH:iFFgF-FJo9<-IDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool*n code=006A name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface" 5,Construct GoToSurface.*a code=0578 owner=006A element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0579 owner=006A element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=057A owner=006A element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=057B owner=006A element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=057C owner=006A element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=057D owner=006A element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=057E owner=006A element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=057F owner=006A element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=006B name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:B" *n code=006C name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:B:A" II*n code=006D name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C" *n code=006E name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:A" *n code=006F name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:B" *n code=0070 name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:B:A_Timeout" *n code=0071 name="EcoHAB_box:SurfaceCommsSplit:SurfaceComms:C:C" )DJW?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdegi?eRedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/smuRedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 boolulInserting Stack: Missions/Insert/SurfaceCommsShort.xmliW=*n code=0072 name="EcoHAB_box:SurfaceCommsShort" *e code=0408 elementURI="EcoHAB_box:SurfaceCommsShort.FloatTime" type=00 *a code=0580 owner=0072 element=0408 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0581 owner=0072 element=0408 universal=3FFF unitName="second" type=1F size=0008 fl=05 )f@~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s*e code=0409 elementURI="EcoHAB_box:SurfaceCommsShort.Timeout" type=00 *a code=0582 owner=0072 element=0409 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0583 owner=0072 element=0409 universal=3FFF unitName="hour" type=1F size=0008 fl=05 i @vDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h*e code=040A elementURI="EcoHAB_box:SurfaceCommsShort.Pitch" type=00 *a code=0584 owner=0072 element=040A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0585 owner=0072 element=040A universal=3FFF unitName="degree" type=1F size=0008 fl=05 MDJW?M~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg*e code=040B elementURI="EcoHAB_box:SurfaceCommsShort.Speed" type=00 *a code=0586 owner=0072 element=040B universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0587 owner=0072 element=040B universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ? vDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s*n code=0073 name="EcoHAB_box:SurfaceCommsShort:A_Timeout" *n code=0074 name="EcoHAB_box:SurfaceCommsShort:A.GoToSurface" :=,Construct GoToSurface.*a code=0588 owner=0074 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0589 owner=0074 element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=058A owner=0074 element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=058B owner=0074 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 se1sue19us"Yuyu*>ɔ9~%Y~Hk;i~ 9)85GɇC=*a code=058C owner=0074 element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=058D owner=0074 element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=058E owner=0074 element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=058F owner=0074 element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0075 name="EcoHAB_box:SurfaceCommsShort:CheckIn" *n code=0076 name="EcoHAB_box:SurfaceCommsShort:CheckIn:A" Is] n\|! @ ] ; ]?eZWA)e|Iu*n code=007C name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate" *e code=040F elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate" type=00 *a code=0596 owner=007C element=040F universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0597 owner=007C element=040F universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 }DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s*e code=0410 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch" type=00 *a code=0598 owner=007C element=0410 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0599 owner=007C element=0410 universal=3FFF unitName="degree" type=1F size=0008 fl=05 )DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg*e code=0411 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed" type=00 *a code=059A owner=007C element=0411 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=059B owner=007C element=0411 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 i5?=DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s*e code=0412 elementURI="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface" type=00 iUl=*a code=059C owner=007C element=0412 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=059D owner=007C element=0412 universal=3FFF unitName="bool" type=02 size=0001 fl=05 muDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool*n code=007D name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface" >},Construct GoToSurface.(oρ K;;NAYi]:IHiHHHs:iFK`*FrF-Fy8 <*a code=059E owner=007D element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=059F owner=007D element=02D0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05A0 owner=007D element=02D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05A1 owner=007D element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=05A2 owner=007D element=0295 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05A3 owner=007D element=0296 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05A4 owner=007D element=0297 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05A5 owner=007D element=01E4 universal=3FFF unitName="meter" type=0B size=0003 fl=04 I*n code=007E name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:B" *n code=007F name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:B:A" *n code=0080 name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:C" *n code=0081 name="EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:C:A" )1=RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/ai9ERedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/aI>dInserting Stack: Missions/Insert/SurfaceSafety.xml*n code=0082 name="EcoHAB_box:SurfaceSafety" i-k=*e code=0413 elementURI="EcoHAB_box:SurfaceSafety.MaxTime" type=00 *a code=05A6 owner=0082 element=0413 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=05A7 owner=0082 element=0413 universal=3FFF unitName="hour" type=1F size=0008 fl=05 =@enDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h*e code=0414 elementURI="EcoHAB_box:SurfaceSafety.SurfacePitch" type=00 *a code=05A8 owner=0082 element=0414 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05A9 owner=0082 element=0414 universal=3FFF unitName="degree" type=1F size=0008 fl=05 )uDJW?DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg*e code=0415 elementURI="EcoHAB_box:SurfaceSafety.SurfaceSpeed" type=00 *a code=05AA owner=0082 element=0415 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=05AB owner=0082 element=0415 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 i?|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s*a code=05AC owner=0082 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 XInserting Stack: Missions/Insert/Surface.xmlIsMPꂲ! @ M;s/2su/29u3"Yuyu%>ɔQ99~Y~u锽^;i~ =>. )0;GɇؓCB= @-?[A)? =I;i8 )  u2)mQIsUF! @ Q*n code=008E name="EcoHAB_box:CircleWaypointRepeatedly" *e code=041B elementURI="EcoHAB_box:CircleWaypointRepeatedly.Timeout" type=00 *a code=05CA owner=008E element=041B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=05CB owner=008E element=041B universal=3FFF unitName="minute" type=1F size=0008 fl=05 i @DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min*e code=041C elementURI="EcoHAB_box:CircleWaypointRepeatedly.LapTimeout" type=00 *a code=05CC owner=008E element=041C universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=05CD owner=008E element=041C universal=3FFF unitName="minute" type=1F size=0008 fl=05 % @-DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min*e code=041D elementURI="EcoHAB_box:CircleWaypointRepeatedly.MaxLaps" type=00 *a code=05CE owner=008E element=041D universal=3FFF unitName="count" type=1F size=0008 fl=04 iEy=*a code=05CF owner=008E element=041D universal=3FFF unitName="count" type=1F size=0008 fl=05 鹥@@DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count*e code=041E elementURI="EcoHAB_box:CircleWaypointRepeatedly.CenterLat" type=00 *a code=05D0 owner=008E element=041E universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05D1 owner=008E element=041E universal=3FFF unitName="degree" type=1F size=0008 fl=05 )DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg*e code=041F elementURI="EcoHAB_box:CircleWaypointRepeatedly.CenterLon" type=00 *a code=05D2 owner=008E element=041F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05D3 owner=008E element=041F universal=3FFF unitName="degree" type=1F size=0008 fl=05 iDefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg*e code=0420 elementURI="EcoHAB_box:CircleWaypointRepeatedly.Radius" type=00 *a code=05D4 owner=008E element=0420 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=05D5 owner=008E element=0420 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @o@DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m*e code=0421 elementURI="EcoHAB_box:CircleWaypointRepeatedly.MaxError" type=00 *a code=05D6 owner=008E element=0421 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=05D7 owner=008E element=0421 universal=3FFF unitName="meter" type=1F size=0008 fl=05 m@o@uDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m*e code=0422 elementURI="EcoHAB_box:CircleWaypointRepeatedly.TurnToPort" type=00 *a code=05D8 owner=008E element=0422 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05D9 owner=008E element=0422 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )eeDefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 boolsu41squu419uu!Yuuyuqu!>z z A { iW=*e code=0423 elementURI="EcoHAB_box:CircleWaypointRepeatedly.KwpHeading" type=00 *a code=05DA owner=008E element=0423 universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=04 *a code=05DB owner=008E element=0423 universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=05 i%{Gz?-DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m*e code=0424 elementURI="EcoHAB_box:CircleWaypointRepeatedly.FloatTime" type=00 *a code=05DC owner=008E element=0424 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=05DD owner=008E element=0424 universal=3FFF unitName="second" type=1F size=0008 fl=05 =N@EDefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s){ I{i{{{{{ |)|I|i||||| }C)}*e code=0425 elementURI="EcoHAB_box:CircleWaypointRepeatedly.Pitch" type=00 *a code=05DE owner=008E element=0425 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=05DF owner=008E element=0425 universal=3FFF unitName="degree" type=1F size=0008 fl=05 黭DJW?DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg*e code=0426 elementURI="EcoHAB_box:CircleWaypointRepeatedly.Speed" type=00 *a code=05E0 owner=008E element=0426 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=05E1 owner=008E element=0426 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 )?DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s*n code=008F name="EcoHAB_box:CircleWaypointRepeatedly:A_Timeout" *n code=0090 name="EcoHAB_box:CircleWaypointRepeatedly:A" ɔP=9~-Y~-^-;i~) 5Q9)59=[GɇEC*n code=0091 name="EcoHAB_box:CircleWaypointRepeatedly:B" *a code=05E2 owner=0091 element=01A2 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *n code=0092 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater" *n code=0093 name="EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap" F= ?_A)I@=i===I*n code=00A8 name="EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B" *n code=00A9 name="EcoHAB_box:CircleInshoreESPBuoy:C" *a code=05F4 owner=00A9 element=041B universal=3FFF unitName="minute" type=1F size=0008 fl=05 *n code=00AA name="EcoHAB_box:CircleInshoreESPBuoy:D" *a code=05F5 owner=00AA element=0420 universal=3FFF unitName="meter" type=1F size=0008 fl=05 i5Y=*n code=00AB name="EcoHAB_box:CircleInshoreESPBuoy:E" *a code=05F6 owner=00AB element=041E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *n code=00AC name="EcoHAB_box:CircleInshoreESPBuoy:F" *a code=05F7 owner=00AC element=041F universal=3FFF unitName="degree" type=1F size=0008 fl=05 Isu?Oz! @ yaρ K2,<NA]?iYIHiHHHj;iF@FF-F<8 <*n code=00AD name="EcoHAB_box:CircleInshoreESPBuoy:G" *n code=00AE name="EcoHAB_box:CircleInshoreESPBuoy:H" *n code=00AF name="EcoHAB_box:CircleInshoreESPBuoy:I" *n code=00B0 name="EcoHAB_box:Lap" *n code=00B1 name="EcoHAB_box:Lap:A_Timeout" I *n code=00B2 name="EcoHAB_box:Lap:WpESPInshore.Waypoint" Y&Construct Waypoint.*a code=05F8 owner=00B2 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05F9 owner=00B2 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05FA owner=00B2 element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05FB owner=00B2 element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=05FC owner=00B2 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05FD owner=00B2 element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=05FE owner=00B2 element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00B3 name="EcoHAB_box:Lap:B" I*n code=00B4 name="EcoHAB_box:Lap:WpCorner1.Waypoint" Z&Construct Waypoint.*a code=05FF owner=00B4 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0600 owner=00B4 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0601 owner=00B4 element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0602 owner=00B4 element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0603 owner=00B4 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0604 owner=00B4 element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0605 owner=00B4 element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00B5 name="EcoHAB_box:Lap:D" *n code=00B6 name="EcoHAB_box:Lap:WpCorner2.Waypoint" [&Construct Waypoint.*a code=0606 owner=00B6 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0607 owner=00B6 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0608 owner=00B6 element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0609 owner=00B6 element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=060A owner=00B6 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=060B owner=00B6 element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 iO=*a code=060C owner=00B6 element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00B7 name="EcoHAB_box:Lap:F" *n code=00B8 name="EcoHAB_box:Lap:WpESPOffshore.Waypoint" \5&Construct Waypoint.*a code=060D owner=00B8 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=060E owner=00B8 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=060F owner=00B8 element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0610 owner=00B8 element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0611 owner=00B8 element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0612 owner=00B8 element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0613 owner=00B8 element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00B9 name="EcoHAB_box:Lap:H" *n code=00BA name="EcoHAB_box:Lap:WpCorner3.Waypoint" ]&Construct Waypoint.*a code=0614 owner=00BA element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0615 owner=00BA element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0616 owner=00BA element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0617 owner=00BA element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0618 owner=00BA element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0619 owner=00BA element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=061A owner=00BA element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00BB name="EcoHAB_box:Lap:J" *n code=00BC name="EcoHAB_box:Lap:WpCorner4.Waypoint" ^%&Construct Waypoint.*a code=061B owner=00BC element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=061C owner=00BC element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=061D owner=00BC element=0022 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=061E owner=00BC element=02E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=061F owner=00BC element=0298 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0620 owner=00BC element=02DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0621 owner=00BC element=02E0 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00BD name="EcoHAB_box:Lap:L" Yu&Construct Waypoint.*n code=00BE name="EcoHAB_box:Lap:N" *n code=00BF name="EcoHAB_box:ScienceOps" }XInserting Stack: Missions/Insert/Science.xmlsf1suf19u#"YuɻyuS)>ɔ89~Q!Y~bk;i~ 9iX=)MYi|>?L=I=i )&2)7:Q9i!)=<]=!Q E@=IAiAEY_M M;I_IɖUQ9Q`U  ]= bQ!9bYb):IIn n mlimImi(|ρ |E<NAQi]:IHiHHH;iFKFF1-F8 *e code=042F elementURI="EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=0632 owner=00C0 element=042F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0633 owner=00C0 element=042F universal=3FFF unitName="bool" type=02 size=0001 fl=05 iƽDefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool 5?gA)=I=iH>?@=IiU,>Is}9 X! @ }D;*a code=063B owner=00C0 element=0433 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=063C owner=00C0 element=0433 universal=3FFF unitName="none" type=1F size=0008 fl=05 ? DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a*a code=063D owner=00C0 element=0178 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0434 elementURI="EcoHAB_box:ScienceOps:Science.EnabledNeilBrown" type=00 yV&:< %I->i-)>*a code=063E owner=00C0 element=0434 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=063F owner=00C0 element=0434 universal=3FFF unitName="none" type=1F size=0008 fl=05 emDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a*a code=0640 owner=00C0 element=018E universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0435 elementURI="EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS" type=00 *a code=0641 owner=00C0 element=0435 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0642 owner=00C0 element=0435 universal=3FFF unitName="none" type=1F size=0008 fl=05 I}DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a*a code=0643 owner=00C0 element=0191 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0436 elementURI="EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL" type=00 i=*a code=0644 owner=00C0 element=0436 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0645 owner=00C0 element=0436 universal=3FFF unitName="none" type=1F size=0008 fl=05 ?DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a*a code=0646 owner=00C0 element=00DA universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0437 elementURI="EcoHAB_box:ScienceOps:Science.EnabledDVL" type=00 *a code=0647 owner=00C0 element=0437 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0648 owner=00C0 element=0437 universal=3FFF unitName="none" type=1F size=0008 fl=05 %?-DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a*a code=0649 owner=00C0 element=0180 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *e code=0438 elementURI="EcoHAB_box:ScienceOps:Science.EnabledISUS" type=00 *a code=064A owner=00C0 element=0438 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=064B owner=00C0 element=0438 universal=3FFF unitName="none" type=1F size=0008 fl=05 iE?MDefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/aYUSL;)] =IYi] Ia)IaiIaIaIae:iPiɘu:q }>*e code=0439 elementURI="EcoHAB_box:ScienceOps:Science.PeakChl" type=00 *a code=064C owner=00C0 element=0439 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 u*a code=064D owner=00C0 element=0439 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l*e code=043A elementURI="EcoHAB_box:ScienceOps:Science.PeakChlDepth" type=00 *a code=064E owner=00C0 element=043A universal=3FFF unitName="meter" type=1F size=0008 fl=05 ɕ*a code=064F owner=00C0 element=043A universal=3FFF unitName="meter" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m*e code=043B elementURI="EcoHAB_box:ScienceOps:Science.PeakChlLatitude" type=00 *a code=0650 owner=00C0 element=043B universal=3FFF unitName="degree" type=1F size=0008 fl=05 -*a code=0651 owner=00C0 element=043B universal=3FFF unitName="degree" type=1F size=0008 fl=04 5DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg*e code=043C elementURI="EcoHAB_box:ScienceOps:Science.PeakChlLongitude" type=00 *a code=0652 owner=00C0 element=043C universal=3FFF unitName="degree" type=1F size=0008 fl=05 IE*a code=0653 owner=00C0 element=043C universal=3FFF unitName="degree" type=1F size=0008 fl=04 UDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg*e code=043D elementURI="EcoHAB_box:ScienceOps:Science.PeakNO3" type=00 *a code=0654 owner=00C0 element=043D universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 eiuz=ρ uZd_<NAQiYIHiHHH(;iFUF:F-FQ9< <)<*a code=0655 owner=00C0 element=043D universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l*e code=043E elementURI="EcoHAB_box:ScienceOps:Science.PeakNO3Depth" type=00 *a code=0656 owner=00C0 element=043E universal=3FFF unitName="meter" type=1F size=0008 fl=05 ʽ*a code=0657 owner=00C0 element=043E universal=3FFF unitName="meter" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m*e code=043F elementURI="EcoHAB_box:ScienceOps:Science.PeakNO3Latitude" type=00 *a code=0658 owner=00C0 element=043F universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0659 owner=00C0 element=043F universal=3FFF unitName="degree" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdegII*e code=0440 elementURI="EcoHAB_box:ScienceOps:Science.PeakNO3Longitude" type=00 *a code=065A owner=00C0 element=0440 universal=3FFF unitName="degree" type=1F size=0008 fl=05 IU*a code=065B owner=00C0 element=0440 universal=3FFF unitName="degree" type=1F size=0008 fl=04 eDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdegI*e code=0441 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSI" type=00 *a code=065C owner=00C0 element=0441 universal=3FFF unitName="decibel" type=1F size=0008 fl=05 *a code=065D owner=00C0 element=0441 universal=3FFF unitName="decibel" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB*e code=0442 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSIDepth" type=00 *a code=065E owner=00C0 element=0442 universal=3FFF unitName="meter" type=1F size=0008 fl=05 m*a code=065F owner=00C0 element=0442 universal=3FFF unitName="meter" type=1F size=0008 fl=04 }DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m*e code=0443 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSILatitude" type=00 *a code=0660 owner=00C0 element=0443 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0661 owner=00C0 element=0443 universal=3FFF unitName="degree" type=1F size=0008 fl=04 DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg*e code=0444 elementURI="EcoHAB_box:ScienceOps:Science.PeakRSSILongitude" type=00 iO=*a code=0662 owner=00C0 element=0444 universal=3FFF unitName="degree" type=1F size=0008 fl=05 I*a code=0663 owner=00C0 element=0444 universal=3FFF unitName="degree" type=1F size=0008 fl=04  DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg*n code=00C1 name="EcoHAB_box:ScienceOps:Science:A" *n code=00C2 name="EcoHAB_box:ScienceOps:Science:B" *a code=0664 owner=00C2 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00C3 name="EcoHAB_box:ScienceOps:Science:C" *a code=0665 owner=00C3 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00C4 name="EcoHAB_box:ScienceOps:Science:D" *n code=00C5 name="EcoHAB_box:ScienceOps:Science:E" *n code=00C6 name="EcoHAB_box:ScienceOps:Science:F" *n code=00C7 name="EcoHAB_box:ScienceOps:Science:G" *n code=00C8 name="EcoHAB_box:ScienceOps:Science:H" *n code=00C9 name="EcoHAB_box:ScienceOps:Science:I" *n code=00CA name="EcoHAB_box:ScienceOps:Science:PeakDetectChl" *n code=00CB name="EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth" eu8Construct PeakDetectVsDepth.*a code=0666 owner=00CB element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0667 owner=00CB element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0668 owner=00CB element=0013 universal=FFFF unitName="none" type=FF size=0000 fl=04 su!1squu!19uugA"Yuu1yuqu">ɔy9~ԼY~锝X;i~ 9*n code=00CC name="EcoHAB_box:ScienceOps:Science:PeakDetectChl:B" *n code=00CD name="EcoHAB_box:ScienceOps:Science:PeakDetectNO3" iP=) ]<GɇC%=Is]d=! @ ]; e?erkA)eI!iEu= }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= got command set ]@Incomplete syntax. 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A) =@=I?aa)c1Ё A@NAi:IH$iH$H$H&iF*(F*F*-OF*=G* ?G*j<* 9~ Y~ ;i~ Q9) [Gɇ C =iM <  ? 7A) =I =i = `d> `%>I v=i 8) 銭 03) :5 Q9)5 Q9]= k=Q = =I= 9iE 8A Y_E  E ;M 9_I ɖM Q9M 8`u )  u < u 9 b} 9by Yby a a ) :I 8In n m l im Im i ;iE;irIM9 sQU8ɗQɚY]AyVE6:M< IɛQQY}Œ) =Ii I)IiIII:Pɘ:阥8  ?V9Ё +@NAiIH$iH$H$H&iF&"(F*BF*iR;F*ō=GZ ?GZ;<Zi:zz {){I{i{{{{{ |)|GAI|i||||| })}ɔ%=9~-j(Y~--:i~) 1)19ɇ=#CE= ?HA)x@Ё ANAi:IH$iH$H$H&WiF&9(F& F*OF*H=G*" ?G*S<* ɔE89~»Y~f锵ei===?=`%>IE== dgot command load ./Missions/Science/EcoHAB_box.xmlFЁ SANA?i:IH$iH$H$H&iF&Xp)F*F*%GQF*1=G* ?G*V<* ɔQ99~>Y~pi<9bYbaa)i )>yV 7:闅 < I =i i ;Y k) 7=I 8i I )I iI I I 8P ɘ k: >LЁ 5ANAi:IH$iH$H$H&iF&(F&"ݼF&UF* 5=G*?G*V<* < <)ɔ9~Y~JK;i~  )[Gɇ#C%= }>} A)}iT>x?\=I|i Q;DSЁ OANAi:IH$iH$H$H&ĻiF&-)F*i>F*ZF*W =G*?G*Q<* <i]iYeZDefineArg EcoHAB_box.MinAltitude = 4.000000 mmuquVDefineArg EcoHAB_box.MaxDepth = 85.000000 mq`DefineArg EcoHAB_box.MinOffshore = 2000.000000 mu)RDefineArg EcoHAB_box.Speed = 1.000000 m/sy%i!-bDefineArg EcoHAB_box.MissionTimeout = 36.000000 h}}ɞy`DefineArg EcoHAB_box.MassDefault = -0.004180 n/a)i-<UfDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a]iYenDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdegIs}P! @ yIrDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdegI pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg)!etDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeguiq}hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg lDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdegse5saue59ueӔ&Yueyuam)>ɔm89~ͼY~|锍K;i~ )5GɇC1==hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdegE)IMlDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg ]h#?]A)e=- )) - TDefineArg EcoHAB_box.CircleModulus = nan h= i9  ^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h   XDefineArg EcoHAB_box.LapTimeout = 8.000000 h(YЁ \ iANAi:IH$iH(H(H(iF*'F*CF*J[F*)=G*?G*T<.<206\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m>)<~^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m i  bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 mIsmJZ! @ ii}=}yfDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg饑lDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg .6Construct AltitudeEnvelope..m0Construct DepthEnvelope.i-W= /e6Construct OffshoreEnvelope.II! U]XInserting Stack: Missions/Insert/Surface.xmlsNm5suNm59u%)&Yu%ؠջyu%: %A>ɔ%Q99~=2Y~EE7;i~A I)M8Qɇ]ȓCe> \&?3A)iU ^= lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml)5 ?Is XV! @ ;`Ё RANAi:IH$iH$H$H$iF&8&F&i3F&YF*!=G*R?G*S<* IIDefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 5,Construct GoToSurface.)DJW?RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdegi?sE*6sAuE*69uEw'YuE~yuESE%>ɔI9~e Y~e`eQ;i~i m:uPowering down u)}}}i}}}Ɇ}}} })IiɅ酅 )I)#;[GɇC針=%RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s%-RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool5lInserting Stack: Missions/Insert/SurfaceCommsShort.xmliuv= }?}A!)~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s%ivDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h)I>ix>>==I=i8 )3):)UQ]~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg-eamvDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s :},Construct GoToSurface.- =)- Q9]5 5Q 5 0=I1 i5 89 Y_= : = ;= 9_A ɖA E `M =  M = M 9 bU 9bQ YbQ aY aY )] :I] 8Ini ni mi lq imq Imq iu ;Is -P! @ ; ^Inserting Stack: Missions/Insert/SurfaceGPS.xmlir s ɗ im k=yV 8: <  ɛ I i 1% )! - lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min55 i1 ] ~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg9m i u vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s jInserting Stack: Missions/Insert/SurfaceNavUpdate.xmli &=!=E A M DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s!A} )y } DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg!E i  DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s!I   DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool> ,Construct GoToSurface.)AmRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/aiiuRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a}dInserting Stack: Missions/Insert/SurfaceSafety.xml)=Ii Iq)IqiIqIyIy}:yPɘ:阉 ?lmhЁ XANAi:I I>IHIiHIHIHIiFM?(FUFU|FUf=GU?GU)<U)=i|= M鴹nDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h Q)DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg Ui-|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s=XInserting Stack: Missions/Insert/Surface.xmliU = YɵDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/sIs-'I! @ ) ]5 5]DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg aeIe?mDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s euqDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min iɶDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool B,Construct GoToSurface.i< DJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegI?%RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s F-Construct.!#= U!#I ]sm}7sium}79uu&(Yuuؠջyuqu+>ɔy9~? Y~锕D;i~ 9)85GɇؓC釵.=F&Construct Buoyancy.a#M zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml -h>-A))I5=i5=5==\=I=#mE iA M DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 mini ;#q   DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min#u   DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count#y )  DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg#} i )= p?E DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdegnЁ ANAi:IH$iH(H(H(iF*p(F*F*NF*s!=G*?G*K<.I%>#DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m#麱DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m#)DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool#iIs=MG%! @  ;i<DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m#DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s#uq}DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg#)DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s KConstruct.% %} % L,Construct GoToSurface.iTz)z) {)){)I{)i{1{1{1{1{1 |1)|1I|1i|5yC|1|9|9|9 }=C)}9iu;ɔp=9~m +Y~m zm E A)M iM p`>U ?U =IU ^ &Construct Waypoint.Im >Iq yV 9:闕 < ) I i I )I iI I I 7: P ɘ :阽 >L+vЁ  ANAiIH$iH$H$H$iF&6a%F&F&,^ Y.&Construct Waypoint.BXInserting Stack: Missions/Insert/Science.xmli-ɔQ9i:9~7Y~;i~ 8) ɇC= Eh>MA)I`=i%>%?-|;I-=i) 1)55&?2)=:=Q9)eQ9]eߧ=Q eZ=Iaiim8Y_u: uI I O|Ё ANAiIH0iH4H4H4iF6'F6뼩F6{SF6N=G6?G6S<:#ɔA9~]*Y~]2]*;i~a eQ9)e8mGɇqu =IsA)>IU=i]>]01>e=Ie=ia a)mm03)m:u8)}8]}ڎQ }[=I}9iY_ކ: <9_ɖQ9閑`=  '= 9 b*9bYbaa)IDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a!0IDefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/aInQ nY mYlYimYImYi]ie=i^; g8Construct PeakDetectVsDepth.h}8Construct PeakDetectVsDepth.uQuY vY)vYIvYivYvYvYvYvY wY)waIwaiwawawawawa xa)xaIxaixeAxixixixiŅRedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 booličzRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 boolĝes-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegĥDJW? yi)y) Iy) iy) y) y) y) y) z) )z) Iz1 iz1 z1 z1 }1 }1 E RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegiI U zRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 boolU ] RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 boole @ɔ >9~e _Y~e e Ie =ie `d>e \>m |=Im =ii u )u |u uZ)} :i =I1 I9 jU 6Construct AltitudeEnvelope.锵 <) Q9] ƼQ =I i 8 Y_  ; _ ɖ 8`5 =<  5 < 5 9 b5 _9b9 Yb9 aA aA )E :IE 8 k Construct YoYo.In n m l im Im i j 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 degreei?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degreez=%xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree%$?=%|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree)%!s .3s u .39u  $Yu 1yu SU>ɔ99~Y~%l%%:i~! 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JInitialize AltitudeEnvelopeComponent.q . DInitialize DepthEnvelopeComponent.*a code=06AA owner=005D element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04   / JInitialize OffshoreEnvelopeComponent.1#  F Initialize.q# F ɔ}g<9~»Y~f锽B)iH>L=Ii 8)uZ2)Q:Q9)8])m8Im;In}Xz: ny mylyim}Imi;ir sɗ8闕8 )I8i88PɘQ:阱 >i %=IY ׁ t_NAiIH&iH$H$H$iF&*"F&pF&FɔU99~]Y~]O]:i~Y Y)e8mGɇmCu= }H>}B)}=I}=ip!>؇>@>I;i )R銕):锝Q9)Q9]eY=Q t=Ii8^^?_Y_9: <9_ɖ閽`E=  :=  b9bYbaa):ɓ )@Is!! @ :i>)I;In n mlimIm i ;ir   sɗ }G<)yIiiM:Is-C! @ 5;iYie9]JgetVelocity uart error serial timeout]FThruster uart error: serial timeout1-(Communications Fault!A % i%?%8%P) 5`Communications Fault in component: ThrusterServoɘ5:1 =:?vׁ |_NAi :YH0iH0H0H0iF2I!F2$gF2ꁼF6 F=G6?G6g<67< L)LIu>i<)U;I]>Ish! @ iMk:sS{2suS{29u.%#Yuؠջyu/>z1z1 {1){=CI{9i{9{9{9{9{9 |9)|=CAI|9i|EyC|A|A|A|A }EC)}Aɔ =9~Y~ҏ:i~ Powering up)9[GɇC= T>B)|)IIM:InY nY mYlYimYImYiYirae9 siiɗm8q u8)qIy }8Uninitialize Thruster Servo.Powering downIii:8Pɘ阙 >i IM>i-7:s$/su$/9uYu~yu>>ɔ Q99~%4Y~%d%Q;i~) -Q9)-55Gɇ=CE> E=>E5B)M=IMp!>iMT>U=U@=IU;iY ])]n]0)e:mQ9)m8]ma&Q uU=Iqiq^^?_;Y_; <_ɖ閩` >   =  b49bYbaa)`))I)In9 n9 m9l9imAImAiAirAM9 sIIɗIQ U)YIYie8e8ePiɘmk:q uy>iu<)C>iE :Is% q)ɔ99~Y~+^锽:i~ 8)ɇC= YB)=i =`=@-=I;i )NS):8)8]j=Q T=Ii^^ ?_  Q:Y_  <_ɖ`=  #=  b%9b!Yb!a)a))-:1ɓ11 159)5@1=i=>)9I9InI nI mIlIimIImIiU ;irQQ sYYɗ]a e8)aIii]i} ;Hׁ _NAiYH$iH(H(H(iF*"F*2mF*#F*!=G*o?G*<.ɔq9~}"Y~}}:i~y y)[GɇȓC釕9= ~B)|=@=Ii )W銭):锵Q9)Q9]w)I:In  n  m l im Imiir9 s9ɗ8! 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@ i->;)U ɔQ99~hƼY~s锝:i~ )Gɇ釵= >^B);I`=i=?|)I:In) n) m)l)im)Im1i1ir11 s99ɗ9A A)AIM8i<8P!ɘ-Q:) -p>ipɔ9~Y~'.锽:i~ )5GɇȓCn= >B)I=i= = =Ii )X0):8)8])9I9InI nI mIlIimIImIiIirQQ sYYɗYa e8)aImIiiiiiih<[ i =Is B&! @   % P! ɘ- k:- 8 5 >iM :;؁ `NAi:IH$iH$H$H$iF&"F&PF&89F& =G&?G*<*ɔ99~%Y~H;i~ )  ɇ#C= |>ȄB)%|;I%`%>i%=-=-@>I-;i1 58)5A5)=:EQ9)EQ9]EcQ MH=IM9iI^Q^U?_QQY_]u ];]:_Yɖe9e`ep;  e= m9 bm%9bqYbqaqaq)qyɓ铁 Ӂ)@Ӂԁi>)ԁIIn n mlimImi;ir9 s8ɗ闩 )8I8i88Pɘ c>Is%+! @ irɔ89~CAY~K;i~ Q9)ɇC= B)d$?=I;i8 Is ;-0! @ )]f]L)<^;)8]Q A=I9i^ ^ ?_  Y_Sm; ;9_ɖq`}  }= y b}CA9bYbaa)ɓ铑 ӕ:)@ӑԙi>)ԙIIn n mlimImi ;ir9 sQ9ɗ )IiPɘQ: >iyɔQ99~Y~l%锥K;i~ )8Gɇ#C= ؇>/B);I|=iT>==I;i )gE);Q9) Q9] Ԫ=Q ^=I i^^?_k:Y_A <_!ɖ%Q9!`- <  -.= -9 b59b1Yb1a9a9)9aɓaa qu:)u@q}8i}>)}Q9I}r;In n mlimImi;ir sɗ闱 8)8IiPɘ5S<=8 =r>ise2saue29ue"Yueɻyue: m*>z9z9 {9){9I{Yi{Y{]A{Y{Y{a |a)|eEAI|ai|a|a|a|a|a }eC)}aɔ?=9~UxY~]ԧ]u]B)}I}=i}=d$?|) 8I :In) n) m) l) im) Im1 i1 ir1 5 9 s9 9 ɗ= 8A E )M I i 8P ɘ :阥 >i se41saue419uet!YuiyumiɔuQ99~uY~}0}:i~y y)yGɇ#C釕= p`>B)i ==I;i )銭uڰ):锵8)8]:N=  Q= 9 b9bYbaa)ɓ )@i>)I:In  n  m l im Im i ;ir sɗ! %8)%8I-8i)11P9ɘ=k:E8 EQ>ip<=got command maintain sensor NAL9602.latitude_fix 36.842499 degree*n code=00D9 name="Maintain_NAL9602.latitude_fix" *a code=06B1 owner=00D9 element=036A universal=3FFF unitName="degree" type=37 size=0006 fl=05 SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.=got command maintain sensor NAL9602.longitude_fix -121.866798 degree*n code=00DA name="Maintain_NAL9602.longitude_fix" *a code=06B2 owner=00DA element=036B universal=3FFF unitName="degree" type=37 size=0006 fl=05 SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.Is <D! @  i ><[؁ paNAi:IH$iH$H(H(iF* "F*3F*NF*=G*?G*r<*< F<)Di-D;)-k;Ii-:Ie>segR0siumgR09umB Yum1yum: iɔ}89~}sY~}锅Q:i~ )8[Gɇ針= x>…B))I In n mlimImi;ir!! s!!ɗ)) 1)1I1i=9=PAɘII u!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, uW>Isף I! 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@ :iM{B)M;IU>iU=]|=YIYiY e)aa)m:mQ9)u89qiuQ9Yq}Q9]}NQ }7=I}9i8^^rVB_Q:Y_t ;_ɖ9閕8`ha   =  b9bYbaa):ɓ铱 ӵ:)@ӵ8Եi>)ԹI:In n mlimImi ;ir9 sɗQ9 )IiPɘQ: >i;)AIsG4! @ ;i-7:s1b2su1b29u#Yuؠջyuɔ9~Y~w锝:i~ Q9 @)@)95GɇC釵== B)=)-Q9I)In9 n9 m9l9im9Im9iAirAE9 sIIɗIU8 Q)UI]8iYeaPiɘmk:i uW>Ii;)E;i-:sk0suk09uJ!Yuɻyu: ɔI9~%qY~%x%e͇B)eim@=m?uIu )=8I=;InA nI mIlIimIImIiIirQQ squ9ɗyy )Ii88Pɘ阹 >izz {){I{i{{A{{{ |)|I|i|C|!|!|!|! }!)}!I9ɔ=I9~xY~ԧeB)- )ԉ I :In n m l im Im i ;ir s Q9ɗ 闱 ) 8I 8i  % 8P! ɘ- :) 5 >i Q<؁ bNA(>iIH$iH$H$H$iF&Y"F&h~F&UF*+=G*?G*]u * ;)Ai-:s0su09us!Yu1yuSɔQ99~\Y~C锥K;i~ Q9!>G>):[GɇCr> D>B)|i@=?@-=I;i )uZ1): Q9) Q99iQ9Y]O=IYQ =I])ԝQ9I ;In n mlimImi ;ir9 sɗQ9 8)Ii P ɘk:8 m>I1Isw! @ iɔ99~Y~ҏ;i~ 8)Q95GɇȓC`= DB)i=@l= =I;i 8)^Is 0X! @ )X;8)89i%8Y!!]%Q %K=I-9i)^1^5jVB_11Y_5?; =;9_9ɖ=9A`E߼  E= A bM9bIYbQaQaQ)QYɓYY Ya)e@aaie>)e8Ie;Inq nq mqlqIyimyImyi>;ir sɗ闑 )IiPɘQ:阵 `>IQi]tB)]ie>e=iIm;ii mIq)u9u)}:}Q9)Q99ցiօQ9Y։։]nQ 7=I9i:^^qVB_k:Y_ ;9_ɖQ9閩`R=   =  b9bYbaa)ɓ )@1i>)&2Completed Default:Iridiumq&NAggregate::uninitialize Default:Iridium 'Uninitialize.q,4Initialize Wait Component.I0;In n mlimImi ;ir9 sɗ8 )I i  Pɘ: %>i= =i= 9؁ mV=cNAi:IH$iH$H$H$iF& F&3¢F&O~JF&=G&þ?G*ou ( B<)@Is%|! @ i5Q;)Ai%:s41su419uZ!YuɻyuɔQ99~Y~'.锝:i~  ))95Gɇ3C釵= p`>B)?|IIi}I .iU.:i]19im4Q9IsM6 ! @ I6)7Z=i}7Q:I9IY:i::i=7:IsAS! @ AiB:)Dp=i%E9IQGI)Hi=H:iEK9Is%L! @ )LiUN:)MO7:i]Q9ISiiTITIsMV%u_! @ IVi}W7:iZ9)[;i]:IyaIsa%! @ aibQ:IQbi%e9i5hQ9)Miy;iEk9Is%lV.! @ )lImiUn7:Ini]q9imtQ9IsMvJ! @ Iv)w[=i}wQ:I!ziz9Izi}Ish! @ i;:)+9iK 9IicIiIsK EG! @ Si:) ;i":I(i(I3*Is,0! @ ,i.7:i 59)7i+;9$ف X}dNA>iIsPA! @ i%:I%>IHiHHHiF-#FepF @F(>G1e?G =Ii5;sgR0sugR09u( Yuؠջyu: %>i=:uu v)vIvivvvvv w)wIwiwwwwAw x)xIxixAxxxx y)yIyiyyyyyC z)zIzizzz}}iu ;) =z z { ){ I{ i{ { { { { | )| I| i| | | | | } C)} Is% ;! @ ) Y}q y}q ɔu ">9~} #Y~} } 7:i~ 8 Im>i};IAi]:imQ9)e:IsMNk! @ Ii}7:iQ9I>I)?ɇȓC9= D>ΊB)I=i%=>%$4?%i-EQ:i5H9)I,Construct GoToSurface.)#;RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/aiC[RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a[dInserting Stack: Missions/Insert/SurfaceSafety.xml M+#;nDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h QK)C[DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg Ukic{|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xml YɵDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s ] DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg aI? DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s e#+DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min i;ɶ3KDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool B[,Construct GoToSurface. DJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegI ?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s F+Construct.!#= ;!#I KFk&Construct Buoyancy.a#M {zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmlICI #m{!is!!DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min#q!!!DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min#u!!!DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count#y!)!!DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg#} "i""DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg#+"3";"DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m#["S"k"DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m#{")s""DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool#"i""DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m#"""DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s#"""DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg# #)##DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s K#Construct.% #%} #% #L#,Construct GoToSurface. Y%&Construct Waypoint. Z%&Construct Waypoint. [;&&Construct Waypoint. \{&&Construct Waypoint. ]&&Construct Waypoint. ^'&Construct Waypoint. Yk'&Construct Waypoint.i'>(XInserting Stack: Missions/Insert/Science.xml){+7i:Is)-! @  ;)U< mA 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=uvgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degreeiu?=}zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degree}z=}xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree韅$?=|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree)!IHiHHHiF!F*!I%O@i!im>iR=sf1suf19u "YuyuS(>I I i uI uI vI )vI IvI ivQ vQ vQ vQ vQ wQ )wQ IwQ iwQ wQ wQ wY wY xY )xY IxY ixY xY xa xa xa ya )ya Iya iya ya ya ya ym C zi )zi Izm ĀAizi zi zi }i }i Is% Hv1! @ ! zq zq {q ){q I{q i{q {y {y {y {y |y )|y I|y i|} yC|y | | xA| } C)} Y} y} )Aɔ >9~ ͼY~ | 7:i~   >% Y>% \Inadequate Iridium signal strength reported: 0)% :- Gɇ- #C5 = = >= -B)= |;I= >iE `=E p!?M =IM ;iI I )U U 13)U :] 8)] 89a ie 8Ya e Q9]m U;Q m ;Ii im ^u PB^u PB_y y Y_}  } 0:} 9_ ɖ 9閁 ` u  ]; 9 b ͼ9b Yb a a ) :)՝ 8 ɓ 铡 ӡ ) ӡ I :In n m l im Im i ;ir s ɗ Q9 ) I 8i 8 P ɘ >)v=IIsM, 6! @ M;Ii%>iV=):Is!:! @ !I#I$i&>iU(Q=)]);i*=Is%,">! @ !,i,7:i09I90I1i3:i69IsM6)B! @ I6i-9:)9>i=<:Iii :Is.i! @ IHiHHHiF16"F{uuA v)vIvivvvvv w)wIwiwCwwww x)xIxixAxxxx y)yIyiyyyyyC z)zIzizzz}}i% <)M =z z { ){ I{ i{ { { { { | )| GAI| i| C| | | | } C)} Is% m! @ ! Y}1 y}5 *Aɔ= >9~= iY~= E :i~A A )M 9M [GɇU C] = ] P>] 4B)e m =m =i7:IqIQi:)e9i:IsMcq! @ Ii-7:i59II! i 7:Is!=u! @ ! ;)E#;i#Q:i&9i)I+Is%,0y! @ %,;Iq,i,:i09i39i6IsM6x|! @ I6)6>I7I8i-9:i=<9)E<iIN>ii :u u v )v CIv iv v Av v v w )w Iw iw Cw w w w x )x Ix ix x x x x y A)y Iy iy y y y y C z )z Iz €Aiz z z } } z z { ){ ӒCI{ i{ { A{ { { | )| I| i| yC| | | | } )} Y}y y}y ɔ} =9~ ):Y~ 锅 :i~ @) ) 9 ɇ ؓC針 .= H> (B) =I >i Ph> = ==I ;i 8) 銽 3) : Q9) Q99 i 8Y ] oͻI i ^ ^ XB_ Y_ !9 9_ ɖ 9 ` ʺ b ):9b Yb a a )  # >Aggregate::uninitialize Default + Uninitialize.1  , DUninitialize GoToSurfaceComponent.q , 8Uninitialize Wait Component.= 4Started mission EcoHAB_box - @Aggregate::initialize EcoHAB_box1  . JInitialize AltitudeEnvelopeComponent.q . 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NAiIH$iH$H$H$iF&"3&F&9pF& F*=G*򼤓?G*u *ɔ8I9~rY~e;i~ )GɇC= >C)ip>|>Ii Y)]a]n)<X;)8])ԙI;In n mlimImi ;iULim!>yV- ;:- < 5 8)1 I= 8i= 8= 8A PA ɘI M 8 U >i X;`4 4ԈNAiIH iH H$H$iF&n$F&kF& F&g=G&?G&u &ɔi9~Y~0锍K;i~ 9)85GɇC釥= P> C)=iЉ>F?I;i )p):Q9)Q9]Q b=I9iI^^B[B_;Y_N <_ ɖ Q9 8`q  0= 9 b9b9Yb9aAaA)E;IɓII IM:)M@IQiU>)QIU:In n mlimImijimwɔ9~NY~Ck锥K;i~ )ɇC=I }h>}H C)}i>X>@=I)QIU:Ina na malaimiImiim;ir9 sɗIs x! @  :yV ;:闭 < ) I i 8P ɘ : >i= ;A NAi:IH$iH$H$H$iF&l$F&ڍiF&=%F*=G*齤?G*u ( B<)@iD;I)5:i:s]!5sYue!59ue%Yueؠջyue: e)>ɔi9~xY~ԧ锅K;i~ Q9)[GɇؓC釥8=I >n CIs%d ! @ % ;)1I5 >i=>=x?==IEa=iA A)MMu1)M:锵F<)8]ɼQ J=I9i^^F[B_k:Y_x; ;9_ɖ9i5<5`=  == 9 b=x9bAYbAaAaI)M:ɓ铩 ӱ)@ӱԵi>)ԵQ9I:In n mlimImiir sɗɚAAyV 5<:闥 < ) I i P ɘ k: i= <G o!NAiIH iH$H$H$iF&%F&8_F&vF&@=G&?G&u *ɔQ99~qY~x锥Q;i~ )ɇO= @> C) =I=i@=?I;i )3)7:Q9)8];Q o=Ii8^^J[B_I9Y_E E)m8Iu:Iny ny mlimImiir9 sɗyV><:闵< )IiPɘ >im})5:i:s]6saue69ueۧ&Yuayuae)>ɔi9~rY~锅K;i~ 9)5Gɇ釡 (> C)@-=I=i>8/?Ii8 )3):Q9)Q9]W)IIM:InQIY nY mlimImi'i?G*u *)=7;i7:se?4saue?49uew$YueSyuaaɔi9~Y~锅D;i~ Q9)9[Gɇ釥 > @> C)i`d>|>Ii )3):Q9)8I8i^^_Q:Y_~< ;_ɖQ9 ` V=  = 9 b9bYbaa)AɓAA AA)E@EQ9E8iM>)IIIInQ nY mYlYimYImYi];Iyir9 sɗ8I,>i%>yVU<:]< Y)YIaiaiiPqɘu:y }z>iew)5:i7:se.3saue.39ue~$Yue~yuaaiiZDefineArg EcoHAB_box.MinAltitude = 4.000000 mmIVDefineArg EcoHAB_box.MaxDepth = 85.000000 mq`DefineArg EcoHAB_box.MinOffshore = 2000.000000 mu)RDefineArg EcoHAB_box.Speed = 1.000000 m/syibDefineArg EcoHAB_box.MissionTimeout = 36.000000 h}ɞ`DefineArg EcoHAB_box.MassDefault = -0.004180 n/a ) fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a]i]^Xz?enDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeguu-z}rDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg韅P޼?pDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg)Tx{tDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdegiΠ1`?hDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdegO,1ylDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg?uu v)vIvivvvvv w)wVAIwiwCwwww x)xIxixxxxx y)yIyyCiyyyyy z)zIzizzz}}Is ! @   hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg- )- 0X;y5 lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg= i9 E hDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdegi ^=   lDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg 项  hDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg )  lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg i  `DefineArg EcoHAB_box.ApproachDepth = 10.000000 mz) z) {) ){) I{1 i{1 {1 {1 {1 {1 |1 )|1 I|1 i|1 |9 |9 |= xA|9 }= C)}9 M I U bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h] Y e tDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 minm )i u ZDefineArg EcoHAB_box.Repeat = 13.000000 count i  `DefineArg EcoHAB_box.CircleRadius = 500.000000 m   fDefineArg EcoHAB_box.CircleRepeat = 13.000000 count 飡  ^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h )  TDefineArg EcoHAB_box.CircleModulus = nan h i @ ^DefineArg EcoHAB_box.CircleTimeout = 8.000000 h   XDefineArg EcoHAB_box.LapTimeout = 8.000000 h   \DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 mY}y y}y ɔ} K>9~ _Y~  ?i= >= H>E =ɔ89~NY~CkD;i~ 9)%9-[Gɇ5ؓC5.=MDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool>U,Construct GoToSurface. ?!C);Ii>p`> =I} RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegI ? RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s F Construct.!#= !#I F &Construct Buoyancy.a#M  zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml)a IsE 2o! @ A #m} i} @ DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min#q   DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min#u 鹙  DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count#y )  DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg#} i  DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg#  @o@ DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m#   DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m# )  DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool# i  DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m#   DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s#- ) 5 DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg#= )9 E DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/sr ;NA} ?i:IHiHHHiFM&F}[LF`F'=G󾤓?Gmu  iO=s]3su]39uE$YuSyu%>ɔQ99~0*Y~LK;i~ Q9iQ=Is:! @ ;!0iI]>):vDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool!0es-8R?DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg!0es-8RDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg))>5GɇC = ? !C)!0)DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool!0iDefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool!0DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool!0@ DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m=`=I=i )أ2)%:%Q9)-Q9!05)1=DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m!0MI]MQ U=IQiU^Y^]N[B_Y]Q:Y_e2 e;e9_aɖm9m8uDefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a!0}yDefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a!0IȑDefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a!0ȡDefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a!0 ɱDefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a!0i`{=  < 9 b0*9bYbaa):IIn mlimImiir9 sɗɚ AIyVv>:< )Ii88Pɘk: DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a!0DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l!0%!-DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m!05 1EDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg阁 >r ˉNAi!0"I &DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg!0*(.DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l!024:DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 mi>v=IHHiHHHHHHiFN $FNXFNMFNO=GNּ?GNv Nɔ89~颼Y~XHD;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 degreei?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degreez=xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree$?= |got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree) !I->)u:IQ Ism@k! @ ii>i=W=ieU=Iy))=?EGɇE#CM= M ?MC"C)Ui]`d>]P)>]@=I];ie8 a)mmS3)m7:uQ9)u8]})ԹI ;InXz: n mlimImi;ir!%%< sqqɗyiɔ99~ͼY~|锵;i~ 8\Inadequate Iridium signal strength reported: 0)95GɇC== ?"C)i?Tg?p!>I;i )&?2)Q:Q9)Q9]Q =I9i8^ ^ =[B_ Q:Y_ڿ: ><_ɖQ9`%?=  %n= %9 b%ͼ9b)Yb)a1a1)5:9ɓ99 99)=@AAiE>)AIE:InQ nQ mQlYimYImYi];irYe9 saaɗayV)-< 1)5I9i9AAPIɘIQ Uu>i%<)i Im >i 7:`h }NAi:I IH(iH(H(H(iF*ֹ$F*,F.XF.yɔ9~NY~Ck锥;i~ )8[Gɇ3C釽= 40?"C)|ih>>\=I)IIIInY nY mYlYimYImaiairae9 siiɗiIu)>iu>yV5?:=< 9)AIE8iAMIPQɘU:Y ]v>iw<)Q Im >Is5 `#! @ 5 ;i k: H0NAi :IH$iH$H$H$iF&Y&F&7F&|F*;im9sEX4sAuEX49uM$YuMyuMSM&>ɔQ9~ ѼY~锅;i~  ?Y>)95GɇؓC針!= t_?,#C)i?p`>=I;i 8)銽13)7:Q9)Q9] Q P=Ii^^>[B_k:Y_2 ;:_ɖ`D0=  = 9 b Ѽ9bYbaa):ɓ 9)@  i >) I In n ml!im!Im!i!ir!%9 s))ɗ)yV?:< )8Ii   Pɘk: n>i}i :[ TINAi:IH$iH$H$H$iF&%F&1NF* F*Tzz {){CI{i{{{{{ |)|I|i||||| })}Is-?&! @ -:ɔ} =9~MY~锽]`#C)]=I]=ieH>e`=eIm") I In n mlimImi!ir!%9 s))ɗ)yV &@: <  ) I i  ! 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2 ˌNAi:IH0iH0H0H4iF6&F6eɼF6O`F6ӧ=G6'?G6mv 6?Is40L! @ ;zAzA {A){EӒCI{Ai{A{A{A{EC{A |I)|II|Ii|I|I|I|I|I }UC)}Qɔ57(C)=iE=E=MIM;iI M8)UU3)U:]Q9)]8]e!M=Q e=Ie9ii^i^m?[B_qqY_u u.)ԡI:In n mlimImi;ir sɗyVH:闥< 8)IiP) <ɘ ><  >i ɔm89~qY~x锅K;i~ 9)8[GɇC釥 = >\(C)=)9I=:In n mlimImi ;ir sɗQ9ɚ隹yVu*I:u< q)}Iyiy8Pɘk:阑 >):i% <@> \NAi:I >IH(iH(H(H(iF*%F* zF*ZF*|=G*ä?G.t , D)FɔMQ99~eY~e0eK;i~i i u@)u@)u9}Gɇ#C釅= >(C)=)iIiInq ny mylyimyImyi};ir9 sɗ8iUw);i ;Is O! @ HE rNAi:I>IH(iH(H(H(iF* V&F*̴F*SF*=G*ä?G.qt .ɔi9~2Y~锅Q;i~ Q9)b<[Gɇ ؓC B= X>(C)%i%8>-<.?-|;I-;i1 1)553)];eQ9)eQ9]eQ mC=Iiii^q^uC[B_quQ:Y_yo: ;9_ɖQ9閡`  =  b29bYbai%)QIU;Ina na miliimiImiim ;irqu9 sqqɗyyVUI:U< Q)YIYiYaaPiɘm:q u>):Is 1Q! @ i ;dK h1NAiI">IH$iH(H(H(iF*kV&F*ٙF*NhF*=G*ä?G*lt .uiumA vi)viIviivivivivqvq wq)wuZAIwqiwuCwqwqwuAwq xy)xyIxyixyxyxyxyxy yy)yyIyiyyyyy z)zIzizzz}}i<ɔp=9~% ѼY~%%:i~! -8)IsVR! @ );i ;I i 9IiIs:S! @ i:):i9)?GɇC)= ?<)C)|;Ii>@l>[B_))Y_5չ 5S;5:_1ɖ9=8`=<  =< A bE Ѽ9bIYbIaIaI)M:QɓQQ YY)]@YYi]>)YIe:Ini ni mqlqimqImqiu;iry}9 syyɗI=i%>yVMwJ:U< Q)UIYiY]aPaɘm:q !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, N?0X F%eNAi:I(IHs3su39uL$Yu~yu:>ɔ99~M_Y~MM;i~Q QU!>UJ>]\Inadequate Iridium signal strength reported: 0)]:e[GɇeCm= m >m])C)u|i}>}R?}@=I};i 8)銅h3)7:锕Q9)89֑i֙Y֥֡Q9i4<]Q =I I)E9IE;InQ nQ mQlYimYImYi] ;irYa sae9ɗiyVEJ:E< A)M8IIiQQQPYɘek:a e>)7;i "<H^ ~NA.?i:IH$iH$H$H$iF&^$F*O `F*F*se5saue59ue%Yueؠջyum: m*>zz {){I{i{{{{{ |)|I|i||||| } )} ɔ} =i;9~xY~ԧi=@= =I ;i  )  3)k:Q9)89!i!Y!%8]-Q -C=I-9i-8^5$[B^5F[B_5E=:Y_= =;=9_AɖAE8`M.X  M= M9 bMx9bQYbQaQaY)YYɓaa aa)e@aaim>)m8Im:Inq ny mylyimyImyi};ir9 sQ9ɗyVMJ:U< Q)YIYiYaaPi);ɘ <阭8 >i oi:I>se&4saue&49ueU$YueɻyuiiɔuQ99~}Y~}^}:i~y y)5GɇC釕:= \&?)C)I>i>|]?L>I;i )銭*3):锽8)89ֹiֹY]> )Q9IIn n mlimImi ;ir s!!ɗ!ɚ-A-Aiy);Is] nX! @ Y i *;@k NAiIH$iH$H$H$iF&$F&OF&s;F&+=G*?G*v *iQ:Ise3saue39ueL$Yumgyuiiɔu99~}3Y~}5}:i~y y ))B<[GɇȓCT= >*C)i>@>Ii )  d3):8)89iY!!]% Q %F=I!i)^)^-Q[B_11Y_5 5;1_9ɖ99`E<  E= A bM39bIYbIaIaQ)U:QɓYY Y]:)]@Y]8ie>)e8Ie:Ini nq mqlqimqImqiqiryy syɗi%)i 0;r ˍNAiIH$iH$H$H$iF&`$F&2F&WTF*=G*?G*v *>L=I;i )xأ)Q:Q9)Q99i8Y][;Q P=I9i^^O[B_:Y_H; ;_ ɖ  `co  =  b0*9bYbaa!)%:!ɓ)) )))-@))i5>)1I5:InA nA mAlAimAImAiE;irII sIQɗQi})i ;dx GNAiIH$iH$H$H$iF&y%F*꡼F*F*!=G*z?G*v * ɔQ99~Y~;i~ 8)8[GɇC= >d*C)=i>@=I;i )أ3)7:8)89 i Y  Ii^^_k:Y_% %;!_!ɖ!)`-%;  -= ) b19b1Yb1a9a9)=:AɓAA AA)E@EQ9IiM>)IIM:InY nY mYlYimYImYie ;iraa siiɗiIu=iu>i p)i ;~ NAi:IH$iH$H$H$iF&%F&W F&F*=G*?G*v *i:IIseX4saueX49ue$Yueؠջyue: e)>ɔu89~Y~6锥;i~ >>)9ɇC釽= "? +C)i@>@>@->Ii )S3)7:8)89iYQ9]))I1In9 n9 mAlAimAImAiE;irIM9 sIIɗQyVL:< )I i 8Pɘ:! %o>iU<)i := got command run= Running Ism w^! @ i Յ >yNAi:IH$iH$H$H$iF&a%F&F&F&]7=G*?G*v (ij*i9Ias ;5su ;59u%Yu1yu2>ɔQ99~FY~7;i~ )Q9ɇؓC]= ?A+C)Aggregate::uninitialize Defaultqe&eNAggregate::uninitialize Default:Iridiumm 'mUninitialize.1mm+mUninitialize.1m ,mDUninitialize GoToSurfaceComponent.=m4Started mission EcoHAB_boxm-m@Aggregate::initialize EcoHAB_box1m .uJInitialize AltitudeEnvelopeComponent.qu.uDInitialize DepthEnvelopeComponent.u /uJInitialize OffshoreEnvelopeComponent.1#} F}Initialize.q#}F}Is] "_! @ Y i = {2NAiIH$iH$H$H$iF&%F&F*F*] ADCP unrequestedeHOpening uart, block timeout 10ths=20e$resume:Powering upeDCycling power to configure device.)iIi i)ii5ɔ9~j(Y~;i~ )85Gɇ#C= >k+C)|;Ip!>i==i!=);i :Ȓ qKNAi:IH$iH$H$H$iF&EH%F&j=F* F*&=G*?G*zv * zz {){I{i{{{{{ |)|I|i|||||  } )} ɔ} =i;9~/Y~#+C)=I>i(>>=IiM;Ii=9sU4sQuU49uU.%YuUɻyu]: ],>u1u5A v1)v1Iv1iv1v1v9v9v9 w9)w9Iw9iw=Cw9w9w9w9 x9)xAIxAim;)}A=ixAxxxx y)yIyiyyyyy z)zIz€Aizzz}}ɔ=9~E Y~E E e ,C)e |im p>m ȋ>m Iu ;iq q )} } L3)} Q:锅 Q9) 89։ i։ Y։ ։ ] =Q [=I 9i ^ ^ D[B_ :Y_ : < 9_ ɖ Q9閩 ` =  '= 9 b 9b Yb a a ) :2 zInitialize ReadDataComponent to sense platform_communicationsam  7: ɬ 9 9 Q9I y;In n m l im Im i ;Is e! @ ir K; s  ɗ 8yV N: < ) I i  P ɘ : 8  >i < PNAiIH$iH$H$H$iF&YG%F&8DžF&6F&\=G*ֹ?G*yv *ɔUQ99~xY~ԧ锅;i~ 8)85Gɇ#C針_> `>#,C);I=i=h#?;Ii 8)銵2):Q9)89i8YQ9]cQ =I9i^^F[B_k:Y_ 2<_ɖ8`  _= 9 bx9bYbaa): ɬ 9 Q9 9 I;In n! m!l!im!Im!i%;ir)-9 s))ɗ5I5>i=!>)-;yV5N:5= 58)9I9iE8AE8PIɘMQ:U Uu>IsfMf! @ iɔu99~}):Y~}}:i~y Q9>>)9GɇؓC釕l= >N,C)I`%>iȋ>B?@=I;i )~銵#):锽Q9Isڅh! @ )Q99iY8]8Q K=Ii8^^S[B_Q:Y_L; ;_ɖ9` =  = : b):9b Yb a a )  ɬ :99 !I%;In) n1 m1l1im1Im1i5;ir9=9 s9E9ɗA)-;yV5\O:=< 9)EIEiMM8MPQɘ]:Y ]v>ii-Q:se4saue49ume%Yumyuim*>ɔq9~ ѼY~锥;i~ 8),<5Gɇ #C = =(>=,C)EL=IE>iE >Mt ?MIM"[B_y}:Y_ ;_ɖQ9閍8`  = 9 b Ѽ9bYbaa): ץ8ɬ鬩 թթձ ֱI;In n mlimImi ;ir9 s8ɗ8)-;yVeO:闵< )I8i8Pɘk: >i< &cmdResponse: 01 03  $NQ1 output enabled &ADCP output enabled i%:sE ;5sAuE ;59uE%YuMɻyuM: M%>ɔUQ99~iY~锅;i~ Q9))iED;iE Q9Is Njk! @ ;iM:I=>i]9im9)?%[Gɇ-C5= ]8>],C)eimX>m`=mL=Im 1 -:a)a1)5< 5YɬYY YYaa aIm;Inq nq mylyimyImyi};ir9 sQ9ɗɚ隩yVP:闵= )8IiPɘ: H?U NAiii#;Ii9s5su59u%YuSyu!%)>zzA {){I{i{{A{{{ |)|I|i|C|||| }C)}ɔ- =)5<9~=ZY~=p= =i~9 9 E@)AE\Inadequate Iridium signal strength reported: 0)E:Is]m! @ Y]5GɇeCm= m>m,C)u}\=} =I};iy )銅/4)7:锍8)89֑i֑Y֙֝8]oi <D} Nb4NAi:IH$iH$H$H$iF&%F&zGF*gF*X=G*D?G*dv * ɔUQ9i:9~ۼY~锕-C)==I;i8 )4)7:Q9)Q99i9Y]gQ =I9i^^@[B_Q:Y_|; '<_ɖ:8`  P=  b ڼ9b A - :Yb? 1 :aa):Is-}o! @ -: 11ɬ11 15:=9=: AIE;InI nQ mQlQimQImQiU ;irY]: sYaɗayV5Q:=< 9)E8IE8iAMIPQ);ɘ <阕8 ~>i ti >L*?==I;i )3):Q9)Q99iQ9YQ9]ջQ L=I9i^^B[B_Y_c{: ;9_ɖ:`<  =  b 9b . 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@-=I )ԥ8IInmF;)mG>mLwX nmy@l= ml 4imBImY>iQ;ir9 s9ɗɚAAI)yV+:闕< )I==[i ii i q Pq ɘy } 8 } >i= 2</4 ŏѬNAi:IH iH$H$H$iF&e?&F&LF&O F&}@G&c?G&ew *ɔmQ99~#Y~锅D;i~ )5Gɇ3C釥V> H>}C)ip>@-?I;i )tuڲ):8)89iYY@iQ9Ii8^^_ Y_  < _ɖ`<  *= 9 b= @9bEEA - E)yI};InmY;)me>mne nmy@l-= mlB4imJImY>iir sQ9ɗii *;(K: ,NAi:IH$iH$H$H$iF&%F&vF&F*}@G*|?G*kw *zYzy {y){}CI{yi{y{y{y{}C{ |)|I|i|yC|||| }C)}i;ɔD=9~53Y~55=;i~9 =8)AEGɇMCU= ?}C);I>i>Љ>=I) I ;InI mM ;)mM >mU i/\ nQ mU +y@lU = mQ lU k4im] ITIm] {Y>i] ;irY e 9 sa a ɗm Q9yVa e = m 8)m Iu Is ]! @ ;i <[! i% <% 8- 8P) ɘ5 :1 = >#A NAi:IH$iH$H$H$iF&*%F*gF*mF*}@G*?G*tw * <)z;i;Ii9s`4su`49u!a%Yu~yu: :>ɔQ99~颼Y~XHD;i~ 9)[GɇC%= %?%}C)-5`=5I5;i9 Y)]W])e:e8)m89iiiYquQ9Yu@iqIyi8^^_k:Y_~; <9_ɖ閱`i  == i%< b%@9b-A - - )ԁIInm <)m>m}[v nmx@l= mlڹ4im\ImpY>iX;ir9 sɗ8I>i>Is#! @ ;I>yVx,:闵< )8I8Ii[ i < P ɘ k:阙 >i5 '<= dgot command load ./Missions/Science/EcoHAB_box.xml dLoading Mission: ./Missions/Science/EcoHAB_box.xml=G _NAiIH$iH$H$H$iF&\%F&yF& F&}@G&?G*pw *< B<)@)z;i=E`DefineArg EcoHAB_box.ApproachDepth = 10.000000 mMIUbDefineArg EcoHAB_box.ApproachTimeout = 4.000000 h]YetDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 minm)iuZDefineArg EcoHAB_box.Repeat = 13.000000 countIsH! @ ;i`DefineArg EcoHAB_box.CircleRadius = 500.000000 mfDefineArg EcoHAB_box.CircleRepeat = 13.000000 count飱^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h)TDefineArg EcoHAB_box.CircleModulus = nan huu v)vCIvivvvvv w!)w!Iw!iw!w!w!w!w! x!)x!Ix)ix)x)x-ӓCx)x) y)5i5 @=^DefineArg EcoHAB_box.CircleTimeout = 8.000000 hEAMXDefineArg EcoHAB_box.LapTimeout = 8.000000 hUQ]\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 me)ai}Y=)yyIy}Ciyyyyyyyy z)zIzizzz}}^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 mibDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 mI>fDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeglDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg .6Construct AltitudeEnvelope.ɔ=.% 0Construct DepthEnvelope. /U 6Construct OffshoreEnvelope.9~e YY~m m -,Construct GoToSurface.)q}RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/aiyRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/adInserting Stack: Missions/Insert/SurfaceSafety.xml MnDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h Q)DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg Ui%|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s5XInserting Stack: Missions/Insert/Surface.xml YɵDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s ] DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg aI?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s e  DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min iɶ%DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool B-,Construct GoToSurface. }DJW?}RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegI?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s FConstruct.I>!#= !#I F&Construct Buoyancy.a#M zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmli->sE5sAuE59uE%YuESyuE: E2>ɔM89~Y~锥%ie=e@l=m Y&Construct Waypoint. Z]&Construct Waypoint. [&Construct Waypoint. \&Construct Waypoint.iW= ]&Construct Waypoint. ^E&Construct Waypoint. Ym&Construct Waypoint.[miu=qu8Pyɘ}k:阅8 > ] KP ]NAQi]:IHiHHHiFɦ%Ff͒Fa"F}@GG?Gw I<XInserting Stack: Missions/Insert/Science.xmli=I!0iĥvDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool!0ĵes-8R?DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg!0es-8RDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg!0)vDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool!0ivDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool!0DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool!0 DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool!0)DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool!0%i!-DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool!055=DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool!0EE@MDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 msM4sIuM49uUe%YuU~yuQU:>ɔQ9~u8Y~uuD;i~q }9)yGɇC重>!0)DZDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m!0DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a!0DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a!0IDefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a!0DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a!05 1=DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a!0EiAMDefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a!0UQ]DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l!0eIsuN! @ q }?}~CaDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m!0 ʙDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg!0IʩDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg!0ʹ)) >I 5> DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l!0DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m!0% !-DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg!05I1EDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg!0MIUDefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB!0 ]Yi}@->D,?@-=I=i )銍أ)7:锝Q9)8DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m!0  ̩DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg!0IDefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg9i8YY@i8I i ^^_k:Y_x; ;9_ɖ!!`%eJ;  %< ) b-@9b1 - 5Yb1 1 5a1a1)9IIn mlimImi:ir9 sɗɚAAe8Construct PeakDetectVsDepth. g8Construct PeakDetectVsDepth.h]8Construct PeakDetectVsDepth.Iu>yV} .:}< )IiPɘ阙 >ŽRedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolizRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 booles-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegizRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 boolRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m) RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mi RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool)%zRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 booli-Construct. j=0Construct DepthEnvelope.jm6Construct AltitudeEnvelope. kConstruct YoYo.@i a!vNA!i-:IHaiHaHaHaiFe}%Fm{nFmBFm}@GmL?GmPw m 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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@ 9sE/sAuE/9uE YuEؠջyuAAɔM99~eY~e!eD;i~i mQ9)qyɇ}C釅= C)i=P>I;ii; )L3)])I;InmIj>)m >m  n m 1=l 8}@ m l c8im Im6iK;ir sɗ!!Ii N<9XM E~r M =)I IQ U >] >[! i% <- ) P1 ɘ1 1 = >I ) i 7;oI ޓ'NAiIH iH$H$H$iF&~ F&mi:uu v)vCIv iv v v v v  w )w VAIw iw Cw www x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}I1i;z9 z9 {9 ){= ӒCI{9 i{9 {9 {9 {9 {9 |A )|A I|A i|A |A |A |A |A }A )}A Y} y} ɔ >9~% j(Y~% % E C)I IM >iM 0p>U `d>U ] G<)} r;9y iօ 8Yց օ Q9Yڅ @iڍ 8I i 8^ ^ _ Y_ u: ; i /<_ ɖ  8` ,   <  9 b% @9b% /B - % n)ԙ I k)m ?m p n tm !=l }@ m l 78im Im 7i ir 9 s ɗ =% dgot command load ./Missions/Science/EcoHAB_box.xml% dLoading Mission: ./Missions/Science/EcoHAB_box.xml9X .% <) I [iim$qQ J FNAiIH`iHftHdHdiFf FfW^ɔ%Q99~EZY~EpEK;i~I M9)IQɇC= >ĢC)i=\=I)nInw: mlimImiDW m_NAiIH2iH0H0H6iF6!F6Oxɔ9~Y~0锥K;i~ 9)Is]! @ ɇC==I }?}C)ir sɗ闹ɜAAa E A 9X i P=)u DJW?} RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdegi ? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s鮍  RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool lInserting Stack: Missions/Insert/SurfaceCommsShort.xml) =!= )9 E ~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s%M iI [U iU =U 8] PY ɘa a m >O^ |NAu?i :IH$iH(H(H*iF*_4!F* s,Construct GoToSurface.)RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/ai!-RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a5dInserting Stack: Missions/Insert/SurfaceSafety.xml M鴙nDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h Q)DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg Ui|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xmlIssu9uYuؠջyuS9>ɔ89~0*Y~LD;i~  9)85Gɇ!!iO= YɵDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s ] DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg aI?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s  >C e%!-DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min i5ɶ15DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool B=,Construct GoToSurface.I DJW?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegI?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s FConstruct.!#= !#I F&Construct Buoyancy.a#M )=?>I=i )uڱ):Q9zInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml) N<9։ i֕ 8Y֑ ֑ Yڕ @iڕ 8I i ^ ^ _ Y_ I ; _ ɖ 閵 8`  < b @9b  - Yb  1 a a ) ;) :I In m l im Im i irI I sI I ɗU 8Q #m i  DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min#q   DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min#u- ) 5 DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count#yE )A M DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg#}U iQ ] DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg#e i m DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m#} y  DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m# )  DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool# i  DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m#   DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s#   DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg# )  DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s9X= t E = K Construct.Is f^! @ ;% %} % L ,Construct GoToSurface.) A=I i 8 P ɘ >e NAi:IH$iH$H$H&iF&5!F*_ds}U1suU19u!Yuyu->ɔQ99~2Y~'C) ? ;I ;i I)2)]<}DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool!0ƅDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool!0ƕ@DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m!0)ǩDefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m 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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I :In n mlimImi;ir!%9 s!!ɗ-8) 5ɛ11YU毼)]=IYiaeaPiɘuQ:q qimw)7;IiQ:sE5p/sAuE5p/9uE YuE1yuESIɔI9~aY~imQ;i~i mQ9)qyɇ3C釅V> >ĥC)|;I=iX>|==I;i 8)}&?):Q9)Q9I8i^^9_9=)qIu:In n mlimImi(Is x0$o! @ ;i ;,; NAi:IH$iH$H$H&=iF&#, F*t~F*B!F*=G*p?G*| * uYuY vY)vYIvYivYvYvYvYvY wa)waIwaiwawawawawa xa)xaIxiixixixixixi yi)yiIyiiyiyiyqIsLo! @ yqy z)zIzizzz}}i5<ɔ5=9~=J1Y~==7:i~9 E8)AIɇM#CU= >ܥC)i=? =I)ԁ I In n m l im Im i ;ir s ɗ 闩 I >i >i] PB d; NAiIH$iH$H$H&iF&!F&nF&$F&ɔe8Is|o! @ 9~):Y~锕;i~ 9)[GɇBC釭= >C)5)1I5:InA nA mAlAimAImAiIirIM9 sɗ闵Q9 8i<=got command maintain sensor NAL9602.latitude_fix 36.842499 degreeSyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.=got command maintain sensor NAL9602.longitude_fix -121.866798 degreeSyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.YE)=IiPɘk: - !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, - >i] P<`H %NAi:IH(iH(H(H*iF*. F*n^F.1O$F. =G.h?G.| .sB.suB.9u^Yuɻyu->zz {){CI{!i{!{!{!{!{! |!)|!I|!i|%yC|)|)|)|) }))})ɔ =9~pbY~< C))yI};In n mlimImi;ir sɗ闝8 i]i :N >NAc?iIH$iH$H$H&ViF&F&IF&o'$F&;=G& ?G*v *sk0suk09uJ!Yu1yu.>ɔ99~Q!Y~b锥;i~ Q9&NAL9602 initialized)=ɇؓCO= >C)=\= |;I )iIm:Iny ny mylyimyImyi;ir sɗ闑 ɛ雙i}i :Is q.q! @ U X9XNAiIH$iH$H$H& iF&*!F&cF&m#F*F=G*ֺ?G*v *< @)BsE-sAuE-9uEցYuMؠջyuMSM&>ɔUQ99~]pY~]]:i~Y Y)e8iɇm3Cu= u >}$C)})Q9I:In n mlimImi;ir sɗ Q9 Y5Q)==I9iE8E8IPIɘQQ Uv>iU6C)!I%=i!-==-I- )ԍ8IIn n mlimImiir sɗ闵8 Iseq! @ aiEri :b jNAiIH$iH$H$H&tiF&F&fF*A'F*=G*A?G*v * HC)|) I :In n mlimImi;ir!%9 s!)ɗ)) 1I=%>i=%>YUq)]=IYiaeaPiɘqu9 }z>iU9~e0*Y~eLm;i~i mQ9)u8qɇy釅B= >[C)i`>=) I :In n m!l!im!Im!i%;ir!) s))ɗ11 1YU)]=I]iaae8Piɘqu8 qiU;);=got command run=Running I is7-su7-9uYu1yu6>ɔ99~Q!Y~b:i~ >?>)95Gɇ#C= @>%mC)% =I%>i-=-?-@-=I)i1 5)5e5S)=Q:E8)E89AiM8YII]M;Q UD=IU9iU8^Y^]M[B_Y]:Y_e| e;a_aɖmQ9i`mmq  m= u9 buQ!9byYbyayay)}:#>Aggregate::uninitialize Defaultq&NAggregate::uninitialize Default:Iridium 'Uninitialize.1+Uninitialize.1 ,DUninitialize GoToSurfaceComponent.=4Started mission EcoHAB_box-@Aggregate::initialize EcoHAB_box1 .JInitialize AltitudeEnvelopeComponent.q.DInitialize DepthEnvelopeComponent. /JInitialize OffshoreEnvelopeComponent.1# FInitialize.q#Fim S=Is Xs! @ i <u X9NAiIH$iH$H$H&iF&F&RF&#F&=G*G?G*v *ɔu99~}3Y~}5}7:i~y y)Q9ɇȓC釕n= >C)ip>L>I;i )F銵ӳ):8)89iY]8Q U=Ii^^Q[B_:Y_: <9_ɖ`+  "=  b39bYbaa):) i i  q0bAggregate::uninitialize EcoHAB_box:SurfaceComms:B1^Aggregate::initialize EcoHAB_box:SurfaceComms:C1ɬ 9! %Q9I%;In1 n1 m1l9im9Im9i=;irAA sAAɗMI M8ɛQQYu)u=Iyi88Pɘk:阑 ~>iIzz {){I{i{{{{{ |)|I|i|C|||| }C)}ɔ] =9~Y~锝C)0p>I >iPh>= =I;i )[):Q9)Q99iY]V;ɗiq qii :D l NAi:IH$iH$H$H&iF&F&ͦF*$F*4=G*)?G*v * C)I=i>?;I[B_Q:Y_  < _ ɖQ9`=  (=  bͼ9b!Yb!a!a!)%:2-zInitialize ReadDataComponent to sense platform_communicationsam5 5:1ɬ99 9=7:EQ9E9 AIEy;InQ nQ mQlYimYImYi];irae9 saeQ9ɗii iY))=IiPɘk:阱 >ie̦C)=I;i )銽&?2)k:Q9)Q99iQ9Y]׼Q O=I9i^^I[B_:Y_~ ;_ɖ9`  =  bXI9bYbaa)  ; 8 ɬ :9 I%#;In) n) m)l1im1Im1i5 ;ir19 s99ɗAEQ9 AIM8>iM!>YuǍ)u=I}8i8Pɘ阕8 ~>iUNAi:IH$iH$H$H&fiF&F*F*1$F*I=G*X?G*v * Iuu v)vIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}ɔU]=9~]Y~]^]7:i~a eQ9)e8mGɇuCu= }>}C)}i ;Is 9v! @ :ƕ X9XNAiIH$iH$H$H&iF&!F&TF*"F*%=G*?G*iv * ;);uHOpening uart, block timeout 10ths=20u*Querying output modesuɔuQ99~Q!Y~b锅;i~ >N>)95GɇؓC釥O= (>C)InI nI mQlQimQImQiUe;irYY sYYɗe8a iY܈)=IiPɘk:阵8 >iUɔU99~}`ݺY~锅;i~ 8)9GɇC針= h>C)I@=i01>@->;I;i )|銽uZ)Q:8)89i8Y]=Q N=I9i8^^&[B_:Y_} ;9_ɖ8`}  =  b~Ϻ9b4B - T:Yb'A 1 9aa);  ɬ   9Q9 8I#;In! 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@ IH,iH0H0H2=iF2F2?瘼F2s%F2=G2?G2uv 64< L)LiX;)se /saue /9umnYum~yuim'>ɔuQ99~}uY~}L}:i~y }8)85Gɇ#C釕= 6?SC)i>|>I; ;9_ɖQ9`   =  b9b7B - ,;YbA 1 aa): %!ɬ!! !))) 1I1InA nA mAlAimAImAiE;irII sIQɗQQ ]YuI)}=Iyi8Pɘ阕8 ~>i Kɔu9i:9~/Y~锵jC)=I>i>@?I;i 8)):Q9)99iY]dQ K=I i ^^P[B_Y_%y ;9_!ɖ!!`%x;  -= ) b-*.9b5U7B - 5/;Yb5BA 1 5a1a9)=: =8AɬAA AAAI IIIInY nY mYlaimaImaiairai siiɗiq u8Y,D)=IiPɘ阵 >Is=}! @ 9i% tɔ89~)Y~:i~ )Q9[GɇC:= 8>C)i>X?!I% i!>Y5>)5=I9i9AAPIɘIU8 U>i5 ɔuQ99~Y~!锅:i~ 8bSBD MO Status=0, MOMSN=6581, MT Status=0, MTMSN=0i;y)u=yɇ}ؓC釅'= p>C)I=i@l>|=i A< <NAiIH$iH$H$H&^+iF*"F*HiF* (F*=G*%?G*cv *ɔ89~2Y~;Y,>,t`彝i~ >8>)%9%5Gɇ)5]= = >EC)EiM=M=M =IM;iU8 Q)]k]*)]Q:e8)e89iiiYim8]u:Q uv=Iu9iu^y^}D[B_y:Y_; <_ɖ閍`+  A= 9 b9b8B - -;YbA 1 aa) ;3dInitialize ReadDataComponent to sense latitude_fixqI׵7:1FCompleted EcoHAB_box:SurfaceComms:C1bAggregate::uninitialize EcoHAB_box:SurfaceComms:Cɬ鬹 :/BCompleted EcoHAB_box:SurfaceComms/^Aggregate::uninitialize EcoHAB_box:SurfaceComms1 0DUninitialize GoToSurfaceComponent./_VAggregate::initialize EcoHAB_box:ScienceOps10`fAggregate::initialize EcoHAB_box:ScienceOps:Scienceq0011q11112q24iInitialize.15 jDInitialize DepthEnvelopeComponent.q5jJInitialize AltitudeEnvelopeComponent.5 k2Initialize YoYoComponent.5kZAggregate::initialize EcoHAB_box:ScienceOps:FQ9 IIm==5 zgot command set NAL9602.platform_communications 1.000000 booly1 I i= R=$Y nVNAiIsSn! @  ;IHDiHHHHHJ&iFJ FJ\xFJ&FJzYzY {Y){YI{Yi{Y{]A{Y{]C{a |a)|aI|ai|a|a|a|exA|a }a)}aɔ =9~=Y~N=ʩC)=E`%>M;IM;iM I)UUuڱ)U7:]Q9)]Q99aiaYaa]mQ m==Im9iuk:^y^}T[B_y}Q:Y_q ;9_ɖ9閉`<=  = 9 b;9bP8B - n;YbNA 1 aa):55u׵9q5a5y׽915iL=!5}7:4?4Q9102eAggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl2eInitialize.2)q2dInitialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_watera2i7:1cInitialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity1:q0` Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_watera0:1)RjAggregate::initialize EcoHAB_box:CircleInshoreESPBuoyq)RnAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:Aq#)i1#i!%9 !I-<)m5>m=.2= n=>3;irAE9 sMSAIɗUQ ]Q9ɛYYY /) Q=I I i- ;) - 8P1 ɘ5 :9 = >IsU ˍ! @ U ;e FOpening uart, block timeout 10ths=4e Powering upIm K3ɔu8i:9~gƼY~s锵;i~ Q9)8ɇ= 01?C)IP>i>B?I;i 8) gf4):8)89iY]=Q g=Ii8^ ^ =[B_  Y_U;  <9_ɖ`%i<  %0= ! b%ü9b-8B - -B;Yb-գA 1 -a)a1)5:9=>=:AiEAIIM8)UiUU]']O]hAggregate::initialize EcoHAB_box:UpdateCircleTimeout1(])]x p@!(e a1(eq(e)aiiiiiiq qIuY+)=IiPɘQ: >Is=T! @ 9iu ɔ}Q9i:9~c8Y~锵;i~ 8)5Gɇ3C= ?&C)|iD>x?I;i: )}&?):Q9) Q99 i Y]SQ K=I9i^!^%R[B_!%:Y_-y -;)_)ɖ-Q91`5;  5= 1IsMy! @ M: bUz69bU8B - U];YbUKA 1 ]ܺaYaY)];i iim:mQ9iqqqqq)؅8i؅8؉؉PPCircleModulus calculated as: 5.031597 h a()ٕ:q(()iՙiՙե9ե9 ֡IY&)=Iie P ɘ : 8 >@( NAi :IH0iH2_=H0H2iF2F64żF6$#=F6=G6򵤓?G6=x 62ɔ9~Y~w锽;i~ 9)9[GɇC== 7?MC) ? |;I;iQ9 )%g%E)%:-Q9)=89AiEQ9YAM9]MT9b9B - m;YbA 1 aa)Q;ҩ ӱұ׵Q:ױiϹϹ׹͹׽Q9)ii@(I9(()ii Ii5 %>YU )] =IY I i + ;ً cF: 7Y4I =[- IAi- <1 5 8P9 ɘ= k:A E >p0 NbNAi:IH$iH$H$H&iF*_F*ntǼF*u)=F*5=G*?G*x * uu v)vIvivvvvv w)wIwiwCwwww xC)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}I=@)9I=AEADCP requestedEDCycling power to configure device.)EIE E)Ei<ɔ=9~=Y~==;i~A E9)M8U5GɇYe= eJ?eC)mu=u=Iu;i}8 y)}}S83)7:锍Q9)Q99։Ii%:ً7: 4I=i֝8Y֥֡8]^;Q  =I9i^^D[B_:Y_rv; ;9_?ɖQ9`,=  < 9 b9bt9B - ;Yb A 1  aa): :9i:8)i  8 Q JCircleTimeout updated to: 2.968403 h ( i :( O PCompleted EcoHAB_box:UpdateCircleTimeout' O lAggregate::uninitialize EcoHAB_box:UpdateCircleTimeout) i i    ! I% ;9X- jb< - 6 ёNAi #;)Z'ɔUQ99~#Y~锍;i~ 9)GɇؓC釵!= P?C)|;I=iL>=I;i: 8) # %)%X;-8)-891i5Q9I=i==%=:ً=0@:= 4I==Y1E:]EjQ MO=IIiI^Q^UM[BIsm|G! @ m;_iu;Y_u; u;u:_yɖyy`  = 9 bu"9b9B - [;YbA 1 ۺaa);ҡ ӡҡסץQ9iϩϩ׭:ͩש)ؽQ9iعؽ8RVCompleted EcoHAB_box:CircleInshoreESPBuoy:Aq)RrAggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A)SAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong))iiQ9: I< \NA0?i :)V?ɔA9~|?Y~|锕 I?ҪC)i=`%>I;i: )}&?):Q9Ii":ًcF:p3I=);9iY8]nQ P=I9i8^^ T[B_  Q:Y_  ; 9_ɖ9`]   = 9 b%[>9b%9B - -V;Yb-A 1 -ֺa)a))-:9 999E:iAAE7:IMQ9)U8iQU8US]CircleInshoreESPBuoy should complete in 178.104155 min , due to timeout in CircleWaypointRepeatedly aggregate.)eeQ:)e1*eTmAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B)iiiiiiqu9 u8Iui ;xC bNAi :)Bɔ19~eԼY~ee;i~a m8)iuGɇ}C釅= D?C)I=iL>=I;i8 )銥03)Q:锭8)8Ii#:ً;;:3I=9i8Y]qW=Q O=Ii^^?[B_:Y_@~ ;_ɖ`=  = 9 byѼ9b@:B - Y;YbsA 1 غaa):     9i:8)!i!%)))i)i))-95dAggregate::initialize EcoHAB_box:SurfaceCommsShort15 :5@Initialize GoToSurfaceComponent.i559ɱ=!EAqE:EtAggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckInEE9M9 MQ9IM#i}=I i ( *:ً H: 24I =yV {x: =ɜ ) i5 N=i :) ;I i & 9:ً 0@: T4I =Is] p! @ ] ; m =Y~ )=I8IAiAi;[aiez)z1 {1){5ӒCI{1i{1{5A{1{1{1 |9)|9I|9i|=C|9|9|9|9IEiEE%E:ًEcF:M 4IM= }9)}Iɔ%=9~ Y~`-@=-L=I-;i5Q9 58)5502)=Q:EQ9)EQ99IiMQ9YII]MrQ U=IQiQ^Y^]H[B_YaY_e] e;e9_iɖmQ9i`un2  u< q bum 9b}:B - };Yb}A 1 aa):׍9בiϕϝL=םk:͝?םQ9)ءiءح8ة)iթiձ ;dInitialize ReadDataComponent to sense latitude_fixٽ:iɱ I:4IIs6! @  ;i#;  cmdResponse: 00  (Enabling ADCP output FcommandDVL: #&!LQNQ.COMD0505 03 3 Imiqu(u9:ًqu24Iq)s2su29uzj#Yuyu: 2>ɔ89~*Y~2;i~ )[GɇؓC.= ?SC)I@=iL>\=@-=I;=A=Ai9 )2) 7: Q9)Q99i8Y]1 =Q "=Ii!^!^%6[B_)-Q:Y_- -;)_5ɖ11`=  =< 9 bE9bE:B - E;YbMA 1 M aIaI)M:QYieae:e?e8)qiq}y)iՅ:iՅ9;zInitialize ReadDataComponent to sense platform_communications)ڕQ:iɱٝ:ախ: ֭9IIi])>I}i}}&:ً8:T4I=i='=Yu)}H=Iyi88PɘQ:阑 > cmdResponse: 03  &Enabling NQ1 output FcommandDVL: #&!LQNQ.COMD0505 01 1 iU iF>ph#F>2F>SҼFBg=GFg?GFx Fuɔ Q99~%Y~%%#;i~! !)-Q95Gɇ=#C== U|?UtCI]*@);B - v;YbyA 1 aa);i7:?)Q9i!)!i%Q9i%%Q9)-8i--)ɱ--:U;U9 ]Q9I]IM iM M M :ًM G:M 3IM =i =) z>a ІNAi:IH8iHuiF>̊!F>F>dgFB:%24I%=i;I-i---:ً-&E:-I1)}ɔ9~Y~锽:i~ Q9 @))9ɇȓC`= ?C)I01>i> :?I;i8 )&?2)k:Q9)Q99 i Y  ]f;Q d=I9i^!^%F[B_!%:Y_-#R; - <-:_1ɖ59E`E?=  M/= M: bUB9b]{;B - ]C;Yb]A 1 e:aaaa)e0;u:u:i}ρׅ:ͅ?ׁ)ؑiؑؑإ8)iե:iխ9)ڭQ9iɱٵ7:յ9ս: IBg  qNAi :IH8iH8H8H:D׻iF>F>WՄF>9FB=GB?GBy B]< f<)jɔ9~Y~;i~ 8i;Ii%%&%:ً%&E:%T4I%=) = 5Gɇ #C% = m D,?m C)u i} > :)4I=i>;s~,su~,9u?TYuyu6>ɔ89~xY~ԧ;i~ )8 ɇC= t ?׫C);I%>i%D>%P)>-I-; 1)57m?Y5i ɔ9~8Y~;i~ >l>)9Gɇ3C= ?C)|  :?|=I;i8 )uZ)%7:%Q9)-Q99)i-Q9Y158]51Q 5M=I59i=^A^EK[B_AEk:Y_M: M;M9_IɖIQ`U<  U= U9 b]89beR=IU 8iU Q Y PY ɘa a m >Is5 v! 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@ 5 #;I i . :ً L: 4I =i ?=d NAi:IH$iH$H$H$iF&!3 F*fF*F*ɔ99~Y~^;i~ Q9) Q95Gɇ'= %p>%%C)%I%`%>i->->?-@=I-;ə5<5= 9)=!m?Y=zm2= n7Ii*!:ًpL4I=iG=Is |z! @  ;i :I i :ً 9: T3I = NAiIH&SAiH&7ɔ89~E:m24Im=ɇ]#Cu= }>}>C)}iP>01>=I;iQ9 8)銕"5):锥9)Q99֡i֩Y֭֩8]%>Q Y=Ii^^[B_Q:Y_O <_ɖ`  %=  b=9b=B - :YbͣA 1 :aa) ;>Q9i) i    @a* q**)ii:%Q9! )I- Is*ۋ! @ Iuiuu*u:ًu=:}pL4I}=i=i :I} i} , *:ً M: e4I $ '1 NAi:IH(iH*+=H(H(iF*R$F*tmF*d;F*ė=G*Q?G._x .ɍ<鍅%=ɔ9~qY~x;i~ =J>)9[GɇȓC9= ?XC)=I; )m?YB - M:YbMA 1 M$:aIaQ)U:Y Yae7:e9iiiiii)qi}8yy}@@*)ہ**)iՉiՍQ9ՉՑ ֕8IInm n mlimImd;i;ir9 sɗ8 8)Ii} =Ii$:ًJ:3I=i = P ɘ k:阹 >i ;I} i} } ' :ً YK: &4I =D J &NAiIH$iH&o=H$H(iF*zP$F*F*b;I%i%-(-*:ً-L:-24I-=s1b2su1b29u#Yu1yuS.>ɔQ99~ Y~1;i~ )Q9GɇؓCB= ?vC)=I@=i>=I;i9 )u1)7: Q9) Q99 i8Y];Q K=I9i^!^%G[B_!-Q:Y_-5y -;)_1ɖ591`=J=  == =9 bEV 9bE>B - E:YbE3A 1 M :aIaI)IY YY]k:]Q9iaae:aa)uQ9iuqqɾ}?*Iۅ:*1+)iՁiՁՉՉ ֕Q9IInm n mlimIm~-^;i7;ir sɗ8Ii'Q:ً&E:&4I=i)=yVw:=im :9X q9 =) 9I R= 4=I= i= E $E :ًE OP:E 3IE =[ IAi < P ɘ 8 > b?NAi:IH$iH$H$H(iF*}#F*F*yɔ9~Y~^;i~ Q9) 85Gɇ#C= %@-?%C)%I%`=i-X>-\=)I5;i5Q9 =8)==u0)EQ:EQ9)MQ99IiMQ9YII]U/BYbeA 1 :aa):ґ ӑґו:בiϙϙםQ:͡ס)ح8iةةة龵z!+i۵81+q+VnAggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G)ii 8Ii K;I i  - :ً H: r4I =Is- > ^! @ - ; PXNAi :IH4iH4H4H4iF:[$F:F:jADCP )I} #)\hBi} oX94hB} ʡ==hBIr;iz4su>49uG%Yuɺyu1⻩2>u u  v )v Iv ivvvvv w)wIwiwwwww xC)x!Ix!ix!x!x!x!x) y-A)y)Iy)iy)y)y)y)y) z))z)Iz5ĀAiz1z1z1}9}Aɔ=9~'ؼY~:i~ 8 ))9Ii':ًE6:&4I=GɇC=iM< U\&?UC)U]?aIeu< i)mm?YmB - x:YbA 1 9aa): :i:Q9)iQ9#GrAggregate::initialize EcoHAB_box:CircleWaypointRepeatedlyq$1$q$I#i S= rNAi:IH$iH$H$H$iF& G%F&ZF*1MɔUQ99~qY~x锅;i~ Is H! @ 0;i;Ii&ً9:T4Ii ;I i ) !:ً 0@: ?4I =i 0;I i  :ً Q: 3I =);i;Ii+:ًYK:7Y4I=IsM~! @ M;Ii-:ًC:r4I=iK;)?[Gɇ3C= %i5>5@-?=B - :YbФA 1 Y:aa)#; :i;9)i   JCircling...a%%!q%%%% K%6Initialize CircleComponent.I)1)1i59i159E:M: MQ9IUssu9uYuɻyuS8>zYza {a){eCI{ai{a{eA{i{mC{i |i)|iI|ii|q|q|q|q|y }y)}yɔ=9~=Y~=+^EMe>i;Ii9:ًp2I=)<5GɇC:= B?;C)I=i> > I ; ) m?Y B - ] q:Yb] A 1 ] 9aY aa )e :i i i u Q:u Q9iy y } 7:y } Q9)؁ i؁ ؉ ؉ ɼ 鼙 % ۝ :I ۡ ) iե Q9i ա խ :յ 9 ֱ I *! @ = 0;i5 Y #NAi :IH$iH$H&KH$iF&J%F*nF*ܔ:F*0=G*T?G*z *ɔm8i7;9~Y~04i=>@->=B - UR:Yb]A 1 ]9aYaY)]:i iim7:m9iqqqqu8)؁i؁؁؍8ɼ鼑 ۑIۑ)iՙi՝9եQ9ա ֭8Ii=yVZw:闥< Q9)I:IUiU]$]!:ً]nA:]3I]=i% <[) i5 @=5 8= P9 ɘE k:A E >) ;I i " Q:ً x<: p3I =i >;u J{NAi :I"@)$I$IH8iH:e=H:ڊH8iF:5X%F>αF>|#F>vk?G>py B];Ii  & B:ً nA: T4I =i:s ;5su ;59u%YuɻyuS,>ɔ9~Y~J;i~ 8)8[GɇؓC.= |]?C)i @= ? 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Im! i) ir) ) s1 1 ɗ1 I yV w9 <  ) 8I 8i   P i ]<ɘ |<阑 >p1 SNAi #;IH iH H H ";IQi;Isv*! @ #;):i Q:s]!5sYue!59ue%Yuayue: e+>ɔm89~Y~锅K;i~ 9)[GɇؓC釥'= ] >]C)]e?m=Im)eQ9IePI iE ;Z  j+NAi:IHiHHH;Is*+! @ *;I>M@iɔI9~epbY~e< eK;i~i i)u8}Gɇ}C釅{> }>}C)I%a=i! ))-:-)57:5Q9i;)<]%X7=Q %@=I!i)^)^-3[B_11Y_5 : 5;59_9ɖ=9=`Er  E= A bEpb9bIYbIaQaQ)U:ɓ铱 ӱ)@ӽ8Թi>)Խ8I:In n mlimImiir sɗI?>i)>yV 9闭 < 8) I i P ɘ >Isu OK?+! @ q I iU -<" DNAi:IHiHHHIi:)i :sEā6sAuEā69uE%'YuAyuAIɔMQ99~eͼY~e|mK;i~i i)u}Gɇ釁 >C)=iH>=I;i 8)]3)7:8)8]Q =Ii^^?[B_;Y_ < _ ɖ Q9`{  @= 9 bͼ9b9Yb9aAaA)E;IɓII II)U@QU8iU>)QIU:Ina na malaimaImiim;ir sɗyVu9}< y)IiPɘ:阙 ~>iuɔM89~e3Y~e5eK;i~i i)u8}Gɇy釅:= >C)iX>=`=I;i )Cݳ);%Q9)%Q9]-9Q -G=I-9i-8^1^5R[B_15Q:Isܳ+! @  ;Y_p: ;9_ɖ閑`<  =  b39bYbaa):ɓ铱 ӱ)@i>)I;In n mlimImi ;ir sQU9ɗYi}[i- ;I5 >W +wNAi:IHiHHH; 0)4Ii ;):Isu]+! @ u;i Q:sE5sAuE59uE&YuE\yuAM*>ɔI9~e\Y~eCeK;i~i i)q}Gɇ}#C釅= >C))I:In n mlimImiir sQ9ɗɚAyV9< )IiPɘk: >iy/$ ŏNAn?i:IHiHHH;i:I >Is=(,! @ ):i :sE4sAuE49uE.%YuEyuMIɔI9~e_Y~emK;i~i mQ9)u}[GɇC釅= >C);IP)>i==I;i )c銥Ia)7:锭Q9)Q9]+Q T=I9i^^E[B_!%T)QIQIna na malaimaImiim;irii sqqɗqyV]9]< ])aIaiim8iPqɘu:} }{>i<= dgot command load ./Missions/Science/EcoHAB_box.xml dLoading Mission: ./Missions/Science/EcoHAB_box.xmliU ;I] >K* I.NAi:IHiHHH;Is6g[b,! @ 4i ;I>iiZDefineArg EcoHAB_box.MinAltitude = 4.000000 mmVDefineArg EcoHAB_box.MaxDepth = 85.000000 mq`DefineArg EcoHAB_box.MinOffshore = 2000.000000 mu)RDefineArg EcoHAB_box.Speed = 1.000000 m/syibDefineArg EcoHAB_box.MissionTimeout = 36.000000 h}ɞ`DefineArg EcoHAB_box.MassDefault = -0.004180 n/a%)!-fDefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a5i5^Xz?=nDefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdegMM-zUrDefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg]]P޼?epDefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdegm)mTx{utDefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg}iyhDefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeglDefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg頡hDefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg)lDefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdegihDefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeglDefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeghDefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg)):lDefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg%i!-`DefineArg EcoHAB_box.ApproachDepth = 10.000000 m51=bDefineArg EcoHAB_box.ApproachTimeout = 4.000000 hMIMtDefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min])YeZDefineArg EcoHAB_box.Repeat = 13.000000 countmiiu`DefineArg EcoHAB_box.CircleRadius = 500.000000 m}yfDefineArg EcoHAB_box.CircleRepeat = 13.000000 count飉^DefineArg EcoHAB_box.CircleDivisor = 8.000000 h)TDefineArg EcoHAB_box.CircleModulus = nan hi @^DefineArg EcoHAB_box.CircleTimeout = 8.000000 hXDefineArg EcoHAB_box.LapTimeout = 8.000000 h\DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m)^DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 mis5su59u&Yuؠջyu!%F>i\=zz {){I{i{{{{{ |)|I|i|yC||||A| })}bDefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 mfDefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeglDefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg .6Construct AltitudeEnvelope..50Construct DepthEnvelope.ɔU= /6Construct OffshoreEnvelope. XInserting Stack: Missions/Insert/Surface.xml9~Y~ C) |;I >i @= = =I e=i 8 ) 銽 &?2) : 0 ,Construct GoToSurface. lInserting Stack: Missions/Insert/SurfaceCommsSplit.xml% FiE 4>Iy a    DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/sa )  DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdega i ? DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/sa  % DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 mina- - 5 DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool 5= ,Construct GoToSurface.) DJW? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdegi ? RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s鮵  RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool lInserting Stack: Missions/Insert/SurfaceCommsShort.xmlyV 9 t=  8) 8I i 8% ! P) ɘ- :1 5 >7 ]NA9iAIHaiHaHiHiiIi!)~DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s%ivDefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h) ~DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg-vDefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s :-,Construct GoToSurface.e^Inserting Stack: Missions/Insert/SurfaceGPS.xmlIm>1)lDefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min5i~DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg9vDefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/sjInserting Stack: Missions/Insert/SurfaceNavUpdate.xml!=鲉DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s!A)DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg!EiDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s!IDefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool>,Construct GoToSurface.)  RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/aiRedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a%dInserting Stack: Missions/Insert/SurfaceSafety.xml)I M鴑nDefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h Q)DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg Ui|DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/sXInserting Stack: Missions/Insert/Surface.xml YmɵiuDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s ]} }DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg aI?DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s eDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min iɶDefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool B,Construct GoToSurface. DJW? RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdegI?RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s F%Construct.!#= -!#I =FE&Construct Buoyancy.a#M MUzInserting Stack: Missions/Insert/CircleWaypointRepeatedly.xmls5su59u%Yu1yu: ->ɔ89~rY~锵D;i~ 9)8ɇC> ?C) Isr,! @ ;i==I=i )銭2):锵Q9)Q9#mi@DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min#qDefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min#uDefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count]!HD aNA!i)IHIiHIHIHI扔U; Y&Construct Waypoint. Z=&Construct Waypoint.IQ [&Construct Waypoint. \&Construct Waypoint. ]%&Construct Waypoint. ^&Construct Waypoint.ii= Y&Construct Waypoint.XInserting Stack: Missions/Insert/Science.xml)E;Isk-! @ ;s4su49u.%Yu~yu메2>ɔ9~5Y~bK;i~ )멇GɇȓC>i%= 58>='C)=iE@l>E@-=E=IMiV=!0EiEMvDefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool!0UUes-8R?]DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg!0eees-8RmDefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg!0u)u}vDefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool!0iŁvDefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool!0ŕDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool!0šDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool!0)ƱDefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool!0iDefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool!0DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool!0@DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m!0)DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mI!0DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a!0DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a!0IDefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a!0  DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a!0 %DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a!05i15DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a!0=9MDefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l!0UQ]DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m!0e amDefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg!0uIq}DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg!0ʉDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l!0ʙDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m!0 ˩DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg!0IDefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg!0DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB!0 DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m!0  DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg!0 I DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdegHD uENAQiYIHiHHH򉔅;nConstruct Wait.e 8Construct PeakDetectVsDepth. gM8Construct PeakDetectVsDepth.h8Construct PeakDetectVsDepth.IŵRedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 boolizRedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 booles-8R?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdegDJW?RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdegizRedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 boolRedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool@RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m) RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 mi RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool)zRedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 booli%Construct. j=0Construct DepthEnvelope.jm6Construct AltitudeEnvelope. kConstruct YoYo.IsXJ-! @ ; 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.xmlsMX4sIuMX49uM$YuUɻyuQUB>ɔQ9~m/Y~uuK;i~q q)}9ɇؓC重>=vgot command set EcoHAB_box.WpESPInshoreLat 36.862499 degreei?=zgot command set EcoHAB_box.WpESPInshoreLon -121.906799 degreez=xgot command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree韽$?=|got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree)! ?DC)=)ԕQ9I:InXz: n mlimImi;ir sɗɚAyV=i> )!I!i!-8)P1ɘ5k:9 =>)u>i_=I J |NAYiYIHiHHH򉔅; <)ieR=Is9-! @ ;Iiq)>=s5su59uu\&Yuyu:>ɔ%99~MͼY~M|U;i~Q UQ9m&NAL9602 initialized)m=qɇu#C})= h>]C)|=I9i^^?[B_Q:Y_4 ;_ɖ`R  = 9 bͼ9b Yb a a ) :ɓ 9)@i>)!I%;In) n1 m1l1im1Im1i5 ;ir9=9 sAE9ɗAyV99%< !)!I-i)11P9ɘ9} }>I)Isk-! @ J xz-NAi:IHiHHH;I) r;sE&4sAuE&49uEU$YuM1yuM: M*>ɔQ9~ɼY~\x锅;i~ 8)85GɇC針=  ?uC)@-=I`=i >>I;i 8)z銽)Q:8)8]ݥ:Q o=I9i^^>[B_k:Y_͒: <_ɖ`=  6= 9 bɼ9bYbaa):ɓ   :) @  i >) 8I:In n! m!l!im!Im!i%;ir)-9 s)5Q9ɗ1yVK9< )I8i   8Pɘ8 n>i>Is} -! @ y i Z=I lQ GNAi:IHiHHH;i:N=Ii<)K;i :sE,T5sAuE,T59uE%YuEؠջyuIM)>uYuY va)vaIvaivavavavava wa)waIwaiwawiwiwm Awi xi)xiIxiixmAxixixixq yq)yqIyuCiyqyqyqyqyq zq)zyIzyizyzyzy}y}yɔ]=9~@߼Y~F:i~ Q9Is1.! @ )<ɇ3C釕= ?C)|=I=i`==L=I;i )銵Ia3):锽Q9)Q9]PQ 0=Ii^^A[B_Y_mX: ;_ɖQ9`m"  =  b@߼9bYbaa)ɓ )@i>)Q9Iii>yV Z9闍 < 8) I i P ɘ :阭 >i= ;IE >W e`NAi:IHiHHH;I2L@i0Ii ;)=IsCk.! @ #;ɔQ99~ Y~`;i~ 8>V>)9[GɇؓC!=  ?C))M8IM:InQ nY mYlYimYImYi];iraa saiɗiyV5l9=< 9)AIAiIIIPQɘUk:Y ]v>i] EzNAi:IHiHHH;i:I>):Is].! @ ];i :sE5sAuE59uM&YuMؠջyuMSM*>zz {){I{i{{{{{ |)|I|i||||| })}ɔ] =9~pbY~< 锝C)|;I =i=? >I;i8 )]3)k:Q9)8]F=Q ?=Ii^^3[B_k:Y_j ;9_ɖ8`<ͼ  = 9 b pb9b Ybaa):ɓ !%9)%@!%8i%>)!I-:In1 n1 m9l9im9Im9i9irAE9 sAAɗIyV9闕*= )Ii8Pɘ:i< >i% :Iy d ;ߓNAi:IHiHHHIsmN.! @ ii ;I>):i :sE6sAuE69uEW'YuMɻyuM: IɔUQ99~]Y~]]:i~Y Y)e8m5GɇmCu= u>}C)}i`==@=I;i )銕u3)7:锝Q9)8]AQ d=I9i^^D[B_Q:Y_]:  <_ɖ閽`h  .= 9 b9bYbaa):ɓ :)@i>)IIn n mlimImi;ir s9ɗɚyV9< )8I8i88Pɘk: j>iw)E5ɔ9~2Y~;i~  @)@)9ɇC= >C) =I=i=X'?=I;i )S3)7:8)8] ^Q F=I i 8^^E[B_Y_ ;_!ɖ!%8`%=  %= -9 b-29b1Yb1a1a1)5:9ɓ9A AA)E@AE8iE>)AIIInQ nQ mYlYimYImYiYirae9 saeQ9ɗiyV59=< =)EIEiEM8MPQɘU:]8 ]v>izɔu99~j(Y~锥;i~ )Q9[GɇC釽1= P>C)|=|;I;i )ƒ3)k:Q9)8]'μQ N=I9i^^O[B_Y_ ;:_ɖ9` }  = 9 b j(9bYbaa):!ɓ!! !!)%@!)i->))I-:In9 n9 m9l9imAImAiE;irAE9 sIIɗIyV9< )%8I%8i)))P1ɘ19 =r>Is/! @ :i|<=E (got command maintaini= ;I $w NAiIHiHHHi:Iq)5(=i :Ismh/! @ u;s=^66sAuE^669uE&YuEؠջyuEEK>ɔMQ99~U_Y~UU:i~Q ]Q9)]8eGɇm3Cm= u>uC)qIu=i}`d>}\&?=I;i )銍A3):锕Q9)8]Ҹ)I:In n mlimImi ;ir9 sɗI>i%>yV'9< 8)Ii8 8ii% k:I @} CNAiIHiHHH;I2O@i4i;I)=ɔ9~=Y~N锝:i~ 8>)>)9GɇC釵o= >C)=Ii )I3):8)Q9]Y Q Y=Ii^^T[B_Y_ <_ɖ`PH=  %= 9 b=9b Yb a a )ɓ :)@Q9i%>)!I%:In) n) m1l1im1Im1i1ir9=9 s99ɗE8yV9< )!I%8i)-8-P1ɘ=:9 =r>iz*C)>|;I;i )3)Q:Q9)Q9] 5u)MQ9IM:InY nY mYlYimaImaie;irae9 siiɗiyV=9=< 9)AIAiIIIPQɘ]:]8 ]v>itIHiHHH;i ;I)M:ɔ9~Y~ҏ;i~ 8)85GɇC= >=C)=)AIM:InQ nQ mYlYimYImYi] ;irae9 saaɗmɚmAqyV=9=< 9)AIEiIIIPQɘQ] Yiz :=):i :seh6saueh69umc 'YuiyumSm.>zz {){I{i{{{{{ |)|I|i|C|||| })}ɔ} =9~Y~锽RC)|)E8IE:InI nQ mQlQimQImQiU;irY]9 saaɗe8Isļ0! @ >;yVu9u ==}got command run=}Running y)8I8i8Pɘ阙 >i =i% 9$ʗ `NAi:IHiHHHI.>i:I >)E%ɔ99~&Y~;i~ 8)Q9GɇC= >fC)I@>i =x?=I;i )&2)Q:Q9)Q9] Q ^=I 9i ^^O[B_k:Y_ <:_!ɖ!%`-=  -)= ) b-&9b1Yb1a9a9)=:=#E>Aggregate::uninitialize DefaultqE&ENAggregate::uninitialize Default:IridiumE 'EUninitialize.1EE+EUninitialize.1E ,EDUninitialize GoToSurfaceComponent.=E4Started mission EcoHAB_boxM-M@Aggregate::initialize EcoHAB_box1M .MJInitialize AltitudeEnvelopeComponent.qM.MDInitialize DepthEnvelopeComponent.U /UJInitialize OffshoreEnvelopeComponent.1#U FUInitialize.q#UFUi R=i < EGzNAiIHiHHHI<B ADCP unrequestedBHOpening uart, block timeout 10ths=20F$resume:Powering upFDCycling power to configure device.)DID D)Dimu<):I->Is]8T1! @ Yi :sE^66sAuE^669uM&YuIyuMSM*>uYua va)vaIvaivavavavava wa)waIwiiwiwiwiwiwi xi)xiIxiixmAxqxqxqxq yq)yqIyqiyqyqyqyyyy zy)zyIzyizyzyzy}y}yɔ\=9~ ѼY~:i~ )8 ɇC{> ?C)i%\>%>-I-;i) ))11)57:=Q9)=Q9]E# =Q E:=IE9iA^I^M?[B_IUQ:Y_Q U;U9_Yɖ]9Y`ef  e = a be Ѽ9biYbiaiaq)q)yiyi}}9q0bAggregate::uninitialize EcoHAB_box:SurfaceComms:B1^Aggregate::initialize EcoHAB_box:SurfaceComms:C1ɬ鬁 Ս9ՍQ9Ց ֑I;In n mlimImi;ir9 s9ɗ8I=i>yVO9闕< 8)Ii8Pɘ;8 >iE "=i% 9 ݓNAi:IHiHHH;I2M@i4Ism1! @ ii ;)=ɔ99~Y~锝:i~ Q9 ?a>)95GɇC釵1= x>C)?==I;i )L3)7:8)Q9]Q f=I9i^^J[B_Y_rT;  <_ɖQ9`sT=  /= 9 b9b Yb aa):q#1# 2dInitialize ReadDataComponent to sense latitude_fix!i%!!ɬ!! !!)) 1I5r;In9 nA mAlAimAImAiE ;irIM9 sIMQ9ɗQyVo9< )%8I%8i)--8P1ɘ5k:= =r>iɔQ9~%Y~H锅;i~ )Q9[Gɇ#C針=  >C);I`=i=`=@=I;i8 )銽S83)k:Q9)Q9]2ipɔuQ99~Y~w锥;i~ )8ɇ釽= >C)|=Isf82! @ i|ɔQIsuNq2! @ q9~u%Y~}H};i~y }8 y))95GɇC釕= >C)I=i`=t ?@=I;i )銵أ1):锽8)8]Ώ:Q O=I9i^^_Q:Y_ ;9_ɖ`0=  = 9 b%9bYbaa)ɬ 9 I;In n mlimImi ;ir9 s!!ɗ%8yV9< )Ii   8Pɘ n>i|\&?Ii8 )|銽uZ)Q:Q9)8]} C)=? =I;i )b銕h)7:锝Q9)8]%:YbӤA 1 9a(?at{ ):ɬ 9 I;In n mlimImi ;ir9 s  ɗ 8IN>i0>yV9< )IiPɘ: >iei>ai-D;Is} T3! @ y i% :i-Q9)5:IYi=:Is/3! @ iI)?5GɇC= p>>C) =I9>i>؇>ɔ9~Y~;i~ 8\Inadequate Iridium signal strength reported: 0)9 Gɇ 3C= p!@C)i%p>%>% =I%;i) -8I1)--3)=:=Q9)EQ9]E@Q E=IAiI^I^UJ[B_QU:Y_]: ]GiɔU99~Y~锅;i~ )[GɇC針(= >C)=I=i ==Ii8 )銽#3)7:8)8]nQ S=Ii^^L[B_Q:Y_ <_ɖ`Lc  != 9 be9boB - ,:Ybi ;  NAi:IHiHHH; 0)4if;Is=64! @ =;i:):sEP3sAuMP39uM$YuMSyuIIɔQ9~颼Y~XH锅;i~  @))0<5GɇBC= >%C)%-`=-\=I-#i ;= cmdResponse: 00 = &Enabling NQ1 output= FcommandDVL: #&!LQNQ.COMD0505 01 1  -NAiIHiHHH;iv;Is%1o4! @ !i7:):s]`4sYu]`49ue!a%Yueؠջyuae->ɔm99~NY~Ck锝;i~ )k<[Gɇ%C%[= U?UC)]eL=eIei% uu v)vIvivvvvv w)wIwiwwwww x)xIIxixAxxxx y)yIyiyyyyy z)zIzizzz}}i<ɔ%d=9~-~Y~--7:i~) 1)K<GɇC釥:= h>C)i>@=I;i8 )Ia3)7:8)8]yV : <  ) I i  ! P! ɘ- :- 8 5 >Is] [4! @ ] :i] u< NAi:IHiHHH;I6M@i4if:i9)sE5sAuE59uMu&YuM~yuMSM*>ɔU99~|?Y~|锅;i~ >4>)95Gɇ#C針= 0>C)i@->=iC)i><.?>I;i8 I>i<)S3)-/<-Q9)5Q9]5f=Q 57=I5:i9^9^E;[B_AAY_Eg M;I_IɖIM8`U  U = U: b]L9b]oB - ]F:YbeʥA 1 e9aex?ae} )e:m8iɬiq qq}7:}9 yI7;In n mlimImi;ir sɗyVu9:u< u)}I}i8Pɘ:阑 >i= /< 1NAiIHiHHH;if:Is=5! @ 9i:)sE!5sAuM!59uM%YuMyuMSIɔUQ99~ӻY~锅;i~ )85GɇC針,= >1C);IT>i0>ȋ>I;i )t銽uڲ)7:8)Q9]/=Q g=I9i^^,[B_Y_'  <_ɖ`=  0= 9 bл9boB - :YbA 1 9a?aI} ):ɬ  Q9 9 I;In n! m!l!im!Im!i% ;ir)) s))ɗ1ɚ=A9I5>iMri ;  ˡ)NAiIHiHHH 6<)4if:Is-5! @ )i:)sE5sAuE59uE%YuEؠջyuE: M)>ɔM89~eɼY~e\xeD;i~i m9 q)q鄅/ /)7;[Gɇ3C針= @C)I%@=i%>% >-=I-[B_iqY_u: u;u9_yɖ}9閽8`Ek;  = 9 b-ɼ9bpB - >:YbA 1 9a?a|} )i-/<-1ɬ11 1199 =8I=bi ;IsM 45! @ M ; =CNAi:IHiHHH;if;i9)sE,T5sAuE,T59uE%YuAyuAIɔMQ9Ie@9~eۼY~mmK;i~i m8)u8yɇ}C釅= `>C)i>X'?=Is] 16! @ ] ;i 0; E\NAi:IHiHHH;if:i9)sEX4sAuEX49uE$YuESyuAAɔM89~eY~ee;i~a i)-<Gɇ1= >C)i > = @>I In n mlimImi=ir9 s ɗ IJ>i,>yV:< )Ii P ɘ k: >I% = % e>)% a>iE N<== got command maintain sensor NAL9602.latitude_fix 36.842499 degreeE SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.=M got command maintain sensor NAL9602.longitude_fix -121.866798 degreeU SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.D nvNAi:IHiHHH;I2O@i4i-ɔUQ99~]Y~]]:i~Y Ye>e>)A<5GɇC= ?C)=Ii4sAuE>49uMG%YuMؠջyuIIɔU89~6Y~锅;i~ )/<[Gɇ3C= =x>=C)E|iEp!>MB?MH>IM`i ;) 'NAiIHiHHH;if:Is-7! @ -:i7:):sE4sAuM49uMCz%YuIyuIIɔ]99~mNY~mCkm:i~i mQ9)uQ9}5Gɇ}C釅= 8>C)i>|>I;i8 )銥uZ3)7:锭8)89ֱiֱYֱֵQ9]g=Q Z=I9i^$[B^<[B_EQ:Y_ <_ɖ`  &= 9 b9bDpB - :YbA 1 9aa):2zInitialize ReadDataComponent to sense platform_communicationsam 7:ɬ 7:9  Q9I y;In n mlimImi% ;ir!%9 s))ɗ-8ɚ5A5AyV]:]= Y)aIaiiiiPqɘq} }z>izz {){ӒCI{i{{A{{{ |)|I|i|||| |  } )} ɔ} =9~gƼY~s锅:i~ 8 ))9ɇؓC針> p>5C)i>>?I;i )銽n3)7:Q9)Q99iQ9Y8]YQ <=I9ii-5<^9^==[B_9=k:Y_=: E;A_AɖE9I`M  M = M9 bUż9b]RpB - ]/:Yb]A 1 ]9aYaY)]: e8aɬaa im9mQ9q qIu;In n mlimImi;ir sɗIyVu:u< q)yIyiyPɘ:阑 >Is] ?|7! @ Y i5 <6 NAi:IHiHHH;if:i9);se ;5saue ;59um%Yuiyum: iɔu99~2Y~锥;i~ 鄹 )#;GɇC> >HC)I01>i|>;I;i )13)7:Q9)Q99i8Y]×Q Z=I i ^^D[B_Q:Y_  <9_!ɖ%Q9!`%  -,= -9 b-9b5]pB - 5:Yb5A 1 59a1a9)=: EAɬAA AE:M9I M8IU;InY na malaimaImaie;irim9 siiɗqIsE=7! @ AyVU:]< Y)aIaiiimPqɘu:y }z>i=`C)AIE=iE@=M?MIM"i]!>yV5:5< 9)9I9iAAE8PIIIɘU:Y ]>i K; NQ1y Y} #<} #} } ٽ} C NAi:IHiHHHI6M@i4i i:uu v)vIvivvvvv w)wIwiwwwww xC)xIxixAxxxx y)yIyiy y y zAy y  z )z Iz iz z z } }ɔu\=9~}3Y~}5}:i~y >>)95Gɇ釙 >yC)i >D> =I;i )銵3)7:锽8)89iY]?Q 8=Ii8^^Q[B_k:Y_ ;9_ɖ8`   = 9 b29bnpB - h9YbƦA 1 ظaa): ɬ    9 Q9I;In n! m!l!im!Im!i!ir)) s159ɗ1IiyV !: <  ) I i ! ! 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YC)I@>i>Hj?>I ɔ99~Y~:i~! %8 !)!-\Inadequate Iridium signal strength reported: 0)-:1ɇ5C=,= e?eC)eIeim =m=?m>Iui =) X>i :Is @ɔ589~EY~EYE;i~I MQ9)MQ9Qɇ]3Ce=i^; h>C)]ie>e=eiT4s!u%>49u%G%Yu%S{yu!)ɔ)9~E=TY~EED;i~I M9)Q]Gɇ]ؓCe]=iQ; U>UC)=i}@l>} 5>} =I}=i 8)銍):锕8Is/Ii II yV T : < ) I i P ɘ : >i ; NAi:IHiHHHI6M@i4i;);=zgot command set NAL9602.platform_communications 1.000000 boolys% ;5s!u- ;59u-%Yu-yu-S-&>ɔ5Q99~=ԼY~==:i~9 EQ9E>Et>i;)|<[GɇC= `>C)=I>Is = =I;i )أ) : 8)89iYQ9] Q %w=I%9i-7:^1^5?[B_11Y_=`* =<=9_9ɖE9A`E  E;= I bM'Ӽ9bUqB - U:YbUģA 1 UaQaY)]: eqeeaɬaa aaim9 qIu7;In n mlimImi;ir sɗyVqu< })}8I8i8Pɘk:阙 ~> NQ1i%  Y >  G O  i ;$ }?NAiIHiHHH;I.= 2=)2x>i ;);Is=! @ s5su59uSC&Yuyu: 2>i;ɔ89~Y~0;i~ 8)8Gɇ3C= >C)=i \> = I ;i )iS8)Q:%Q9)%Q99)i)Y)-8]53 Q 5K=I1i5^9^=B[B_AE:Y_E E;A_IɖMQ9I`Uz  U= U9 bU9b])rB - ]*;Yb]ZA 1 eaaaa)a3mdInitialize ReadDataComponent to sense latitude_fixquIqu1uFCompleted EcoHAB_box:SurfaceComms:Cu1ubAggregate::uninitialize EcoHAB_box:SurfaceComms:Cyɬyy y}7:/}BCompleted EcoHAB_box:SurfaceComms/^Aggregate::uninitialize EcoHAB_box:SurfaceComms1 0DUninitialize GoToSurfaceComponent./_VAggregate::initialize EcoHAB_box:ScienceOps10`fAggregate::initialize EcoHAB_box:ScienceOps:Scienceq0011q11112q24iInitialize.15 jDInitialize DepthEnvelopeComponent.q5jJInitialize AltitudeEnvelopeComponent.5 k2Initialize YoYoComponent.5kZAggregate::initialize EcoHAB_box:ScienceOps:F՝9ե9 ֡II >i R=i `<d~ NAiIHiHHH;Is=:R=! @  ;i;);s%4s!u%49u%e%Yu!yu%S-%>ɔ5Q99~eYY~ee;i~a a)iuGɇuBC}=iX;  ?C)|;I>i`d>H>=I m1= nA1i ; 8 P ɘ >i P=% FOpening uart, block timeout 10ths=4% Powering upI% i:zz {){I{i{{{{{ |)|CAI|i||||| })}ɔ==9~EY~EfE:i~A I M@)I)M9U5Gɇ]ؓC]'= e?e C)em 5?u@l=Iu;iu8 })}}u2):锅Q9)Q99։i֍8Y։֑]H bu9brB - 4;YbA 1 aa);>:i:)i'OhAggregate::initialize EcoHAB_box:UpdateCircleTimeout1() q,@!( :1(q()iQ9i  9 8I  i %=Is M=! @ i :$q J FNAi:IHiHj=HHi:)s%4s)u-49u-e%Yu-1yu)1ɔ=89~eY~eҏe;i~a i)mQ9u[Gɇ}BC}=iX;  ?9C)@=yVQ]< ]8)YIe8Is =! @ i5 Y a Pa ɘm k:i m > !`NAi:IHiH"雱=H H &;iU7;)e;sMp5sIuMp59uU1*&YuUyuQ])>im:ɔqIs5,>! @ 7;9~Y~9= I ;i8 )3)-;5Q9)5999i=Q9YAEQ9]E|Q MB=IM9iI^Q^]H[B_Y]:Y_en e;e9_iɖm:q`u?  }= }: b 9bsB - 4;YbA 1 aa)k;ҩ өҩ׵k:ױiϱϹ׽:͹׹)iiq@(I(()iiI> I0yV :i} r; 3yNAi ;IH(iH(H(H,.@BADCP requestedBDCycling power to configure device.)BIF F)FIRiRR"R:ًRx<:Rp3IR=IZJ@iXi*<)! @ ;Ii+9:ً8:7Y4I=iU ;s*6su*69up'Yu1yu6>ɔ99~xY~ԧ%;i~! -9->->1Ii!:ًG:3I=iu;I i $ :ً 0@: 3I =im :I i - :ً ;;: r4I =Is >! @ i};Ii(:ً0@:24I=)%<ɍ=鍽=i;Ii":ًB:p3I=i;)?Ii!:ًO:3I=GɇC= >?C)=i|>=I;i )E3):Q9) Q99 i Y  8]e:Q ! @ 7;yVY :4=Ii#:ًG:3I=9XH= <)I8IAiAi5Y=[iPɘ X?r NAi:IH$iH(H(H((iMi;Ii9:ًOP:I=)O>IsE~?! @ E;uaua vi)viIviivivivivivi wi)wiIwqiwqwqwqwqwq xq)xyIxyixyxyx}ӓCxyxy yy)yyIyyiyyyyyy z)zIzizz Cz}}ɔ=9~- %Y~- H5 i] 5>] >e  NAi:IHiHHH;)B]=i;Ii(:ًYK:24I=Is]h;?! @ ai*;Ii!!:ً&E:3I=sE5sAuE59uM%YuMؠջyuIU*>ɔ]Q99~eY~e^e:i~i mQ9)m8u[Gɇ}C釅K= W?C)P)?>IIh nNAi:IHiHHH; :<)zz {){I{i{{{{{ |)|I|i|C| | | |  } )} ɔ} =9~Y~ҏ锍:i~ 9 ))7:ɇC釭= d$?#C)=`=I;iEbe =I i :ً H: I =[ i% <% ) P1 ɘ5 := 8IsM ?! @ M ; U >)U wNǍ?iIHiH =HH;I]i]]"]:ً]J:ep3Ie=i<  cmdResponse: 00 (Enabling ADCP outputFcommandDVL: #&!LQNQ.COMD0505 03 3 i;Ieimm)m:ًmx<:m?4Im=se^66saue^669ue&YueSyumSiɔuQ99~Q!Y~b锥;i~ Q9)8Gɇ3C釽= Љ?VC)i 5> >I;i8 )q)Q:8)89iY]Q i=I9i^^M[B_:Y_! <_ ɖ  `  2= 9 b9b%QtB - %;Yb%A 1 %a!a!)%;591i==L=E:E?EQ9)QiUaa)aiaimi ;udInitialize ReadDataComponent to sense latitude_fixفiɱٍ:Ս:Օ: ֝Q:Ip(v KNAi:IHiHHH;i;I=i==&Er:ًEB:ET4IE=sun6squun69uu/'Yuyyu}}0>ɔ8i;9~6Y~5rC);Isp"@! @ ;I=i>%@=%@>I%;I-i--+-:ً5H:57Y4I5=ə=<=< = C)=n?YEi >yV< 8)8Ii8P ɘ: >I i  $ :ً G: 3I% =i <) i 7:  P8NAi:IHiHHH;I"i"" ":ً"cF:"T3I&=I:Q@i8i;Ii!:ًL:3I=Is?"J@! @ sE!5sAuM!59uM%YuMyuIU+>ɔ]99~? 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Y~锽;i~ 9)8ɇؓC]=  ?D);I>i(>H>I; ) m?Y bI i , i:ً nA: e4I =i e;I} @)y I ) :Ise ^m! @ a ж NAi :IH$iH$H$H$&; D)DINiRR#R9:ًRH:R3IR=i~;Ii&:ًT4I=i:se]3saue]39ueE$YueSyum: m*>ɔu99~0*Y~L锥;i~ 8 )):GɇȓC3= X>'D)> >I;i9 )s):Q9) 8] uQ O=I9i^!^%Q[B_!%:Y_-ݞ -;)_1ɖ15`=[<  E= E9 bE)9bMB - U:YbUUA 1 U a]]?ae )er;u:qi}y}7:ͅ?ׁ)؉i؍8؉؍8)iՕQ9iՑ)ڝ8iɱٙե9ե9 ֡I Is} u%n! @ #;I i # :ً O: 3I =ɍ C=i% ; NQ1) Q YU <U <U ] ] m ADCP q )q Im o;+hBim t<j<=hBm ==hBI ;D NAf&?i :IH iH H H ";I>i>B'B9:ًB0@:B&4IB=I5w=iI]i]]!]:ً]H:]3I]=i ^;uAuA vA)vIIvIivIvIvIIse,Rn! @ e;vIva wi)wiIwiiwiwiwiwqwq xq)xqIxqixqxqxqxyxy yy)yyIyyiyyyyyyyyy z)zIzizzz}}zz {){I{i{{{{{ |)|I|i||||| }C)}Y}! y}! ɔ% =Ie ie e *m :ًm O:m pL4Ii 9~u 5Y~u bu  7D) i > ? ;I ;ə <陥 %= ) m?Y I(  ;6NAi :IHiHHH;I.i..).:ً2B:2?4I2=i~;IMiMM'M:ًM&E:M&4IM=i:IsMUn! @ U#;s]X4sYu]X49u]$YuYyue: e,>ɔmQ99~ Y~`锥;i~ )5GɇC= >@D)i@>=?I;i9 )iS8):8)8] 2Q =I 9i8^^J[B_!%:Y_% %2<%9_)ɖ-Q9)`5=  5`= 5: b= 9b=B - Ei9YbEqA 1 E8aE\?aE )IIUi]]*]Q:ً]J:]pL4I]=e;aimiim?i)yiyyy)iՅ8iՁ)څiɱىՉՑ ֕Q9IIE iE E &E i:ًE nA:M T4IM =i ^;) IU iU U U :ًU ;;:U pL3I] = h"PNAi:IHiHHH;I6J@i4ifX;I%i%%'%:ً%>:-&4I-=Is=,n! @ =;i:s]4sYu]49u]e%Yu]ɻyuYaɔm89~Y~锝;i~ 8>l>Ii-:ً0@:r4I=i;Ii+:ًYK:7Y4I=i :) :I- i- ) - :ً5 =:1 I5 =i :IsU }n! @ Q Ii :ًB:T3I=ɍ%=i #;Ii!:ًC:3I=i :)?Ii:ًH:I= Gɇ C)= 5?5_D)=i=>E@l>E>IE:YbA 1 9ar[?a$ );׭9שiϵϱ׵:͵?ױ)i88)iQ9i)iɱ9Q9 I;In n mlimImi;ir9 sɗɚAAiL: I=im;IUiUU"U:ًUH:Up3IU=iU:s.3su.39u~$Yu1yu2>ɔQ99~/Y~  ;i~  9\Inadequate Iridium signal strength reported: 0):%[Gɇ-#C5= 50>5gD)=iM>US?Ui ɔ9~¼Y~o;i~  Q9)8Gɇ%ؓC-!= -?-uD)5i=`d>=@l=EIE;iE8 I)MM3)Uk:eQ9)e8]mC=Q mM=Im:iu^y^}?[B_y:Y_{ ;:_ɖQ9閑`  = : by¼9ḃB - 9YbA 1 09aZ?aL )7;i?Q9)i)iQ9iQ9)9iɱ99 IIsK,`o! @ i , )\NAi ;):IH,iH0H0H00 V<)VADCP )I ף;)\=hBi oEhB =m=hBIX;i2ɔ89~%Y~%H%:i~! -9 ))))5:E[GɇMCMF= }?}D)=i!>yVgB:/= )Q9I9iPɘ : >iU =I i 9:ً =: T3I =ɍ p= =im :3 NAi :):IH,iH0H0H02'ɔQ99~%Y~%f%D)i>h#?=I>[B_!%k:Y_%w; -;)_)ɖ)-8`53=  5= =7: b=Ѻ9bEB - E:YbEVA 1 EaM]?aMÉ )M ;]9Yieae:e?e8)iiqqq)qiuQ9i}y)}i}}yɱم9ՁՁ ։I;In n mlimImiir9 sɗyVB:闵= )8I8i  P ɘ : 8  >iU =I i , :ً J: e4I =im :19 \NAi ;)IH0iH0H0H00IRiRR*R:ًRcF:RpL4IR=iMD;Is;o! @ *;Ii;ًG:I=iU:sasiui9uiYum1yuiu(>z1z1 {1){1I{1i{1{9{9{9{9 |9)|AI|Ai|A|A|A|A|A }I)}II}i}}/i:ًC:)4Iɔ'=9~Y~;i~ )8Gɇ= ?D) =I>i%T>%=?%i} =I i  :ً pL3I =im : @ =,NAi :):IiIH,iH0H0H02%ɔQ99~@߼Y~%F%-p>)-:5[GIEiEE&E!:ًEcF:ET4IE=ɇMCU== Uh#?UD)YI]H>iex>e>eIe;ii i)um?Yu` );Q9Q9i:?)i)iQ9i)iɱ7:9 I;In  n  mlimImi;ir9 s!!ɗ!ɚ-A)yVC:< 8)Ii8P ɘ k: >i5 ɔq9~ͼY~|锭;i~ )Q95GɇC= ?D)|Isĩlp! @ ;i5 :M T4IU =im :`>L Z3NAi:)I"i "0"i:ً$&4I&=IH(iH(H(H(* 4s u >49u G%Yu ˖yu : >ɔie;9~mY~mҏmi>Ph>=I4I i  $ 9:ً x<: 3I =i= <)>ɔim;9~u=Y~uNugD)`%>;I;ə陽=  C)m?YsiyVUD:U< ])aIaiemiPqɘu:y }z>NQ1I i , :ً 7: e4I =iu = Y =  j   ADCP ) I o<9H=hBi t;seNm5siumNm59um&Yuiyum1⻩m,>Ii&Q:ًT:T4Iuu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}ɔ5l=9~u_Y~u}:?4I =)?5GɇC =Is Kq! @ ; 5>=D)=iE>M@>M=IMj< Y)]m?Y]Esp5sup59u1*&Yuؠջyu: 6>ɔ9i-e;I5i555:ً5H:53I==9~E%Y~EHE/IM\Inadequate Iridium signal strength reported: 0)MQ:UGɇ]C]== e>eD)eiȋ> t>>I;i8 )銕S3):锝Q9)8]5Q ~=I9i^^_Q:Y_:  <_ɖ8`  H= : b9b'B - :YbAA 1 ~a6g?a ):i:?)i)i :i  ) i ɱ II i & :ً cF: T4I =i <) <l 1NAi ;IH iH H H ";IninrrQ:ًrx<:rpL3Ir=iX;Ii%*:ًcF: 4I=i:IsMoq! @ Qs!5su!59u%Yu~yu/>z1z9 {A){AI{Ai{A{A{A{A{A |I)|II|Ii|I|I|I|Q|Q }Q)}Qɔ=9~Y~Q:i~ )Q9[GɇؓC'= > D)I=i>D?i5;I=i==!=:ً==:=3IE=E=I i - :ً G: r4I =i <) k;hs gNAi :IH iH H$H$&;ir;Ivivzz:ًzcF:zpL3Iz=ɍ||Is]0q! @ ];iIi(:ً24I=s}4syu}49u.%Yuyu1⻩ɔQ99~j(Y~锽;i~ 9)8Gɇ3CV> `> D)i>X> =I; C) l?Y i ;I i  " ً J: p3I =I @ =) =) K;y aNAi ;IH$iH$H$H$&; F<)FI(I i % :ً O: 4I = iM < NQ1)E  ADCP ) I X9hBi o; ף;hB = =z>hBI ;ĸ NAi :IHiH H H ";I.i..'.!:ً2nA:2&4I2=i=Vɔ9~Y~0;i~ 9Ii+:ًB:7Y4I=i;Isu Ur! @ u #;I i $ :ً >: 3I i ;) :I i / :ً M: )4I =i :Ii&:ًQ:T4I=i%:IiًM:I=i5:Is,r! @ :)]?e5GɇmCm=Ii":ً&E:p3I H?l D)i>>I?<ə<陹 )Mm?Yi>)=:yVyG:闵< )IiPɘ H?$ &5NAiIH,iH,H,H,2ɔ9~%ԼY~%%;i~) -Q95i>5,>5\Inadequate Iridium signal strength reported: 0)5Q:=GɇE3CM= M>Mu D)QIUT>i]>eȋ>aIe;imQ9 u)u`uu):锍8)Q9]tIiu=I i  i:ً 0@: T3I =i :) p<d NNAi :IH$iH$H$H$*;IRiRR#R:ًRB:R3IR=iuK;Ii*r:ً9:pL4I=Isnr! @ ;iu:sE?4sAuM?49uMw$YuM1yuMM&>ɔQ9~ CY~锅;i~ 9)9Gɇ釭= @> D)|i>|>=I;i 8)3):Q9)Q9]iQ W=I:i^^V[B_ E :Y_  <:_ɖ8`%  %#= %: b-A9b5B - 5:Yb5©A 1 5pa=t?aEE )EK;QU:Ieiem-m:ًmYK:mr4Im=iuqu;}?}9)؍8i؍8؍8؉)iՑiՕ9)ڝiɱ٥7:ախ9 ֩ISI i $ :ً cF: 3I =i ;) :< yXhNAi :IH$iH$H$H$&;IBiBB!B9:ًBQ:B3IF=iuD;Iss! @ Iuiuu$u:ًuM:u3Iu=iu:sE.3sIuM.39uM~$YuMؠջyuM: M'>ɔ]99~mY~mm;i~q uQ9)u8}Gɇ重=  ? D)=?=I< ) n?YIM iM M M :ًU cF:U T3IU =i :Is 2s! @ ;x DNAi :IHiHHH;I"i""'"9:ً"O:"&4I"= ^=)^<)M=iuy;I@)IIMiMMU:ًUx<:UIU=iu;s>4su>49uG%Yu1yu4>I]i]]]:ً]H:ep2Iazizi {i){iI{ii{i{i{i{i{q |q)|qI|qi|q|q|q|y|y }y)}yɔ=9~Y~ҏi==@=I i <)} 9 NAE?i:IHiHHH;I"i""%":ً"YK:" 4I&=iuK;Iii:ًB:I=MNQ1YY=Y=ףٽ %ADCP )))I% o;GhBi% Dɔ}Q99~ Y~1锭;i~ )95Gɇ3C= @> D)i=I i 0 Q:ً G: 4I i :) V< F%NAiIHiHHHI2i22'2!:ً2>:2&4I6=iuK;Ii$:ً&E:3I=iu:sMNm5sIuMNm59uM&YuU1yuU: U+>IsEs! @ ;Ii(9:ًcF:24I=uu v)vIvivvvvv w)wIwiwwww Aw x)xIxixAxxxx y)yIyiyyyyy z)zIzizzz}}ɔ5y=i<9~Y~wyV 3I: < 8) 8I i 8 P ɘ  >i= <) z:?4I=IseMs! @ ;iu:sE?4sIuM?49uMw$YuMɻyuIU*>ɔ]Q99~Y~^锍;i~ Q9>{>):ɇC釭=  > D)I>iH>C?I;iQ9 )):8)8]1iUɔ]89~&Y~锅;i~ 8)Q95Gɇ#C針)=Ii*:ً=:pL4I= |? D)iX>>i]: I =Is D;t! @ ;$w NAi:IHiHHH;i;IUi]]']*:ً]L:]&4I]=i};Ieimim:ًm&E:qIu=su!5squ}!59u}%Yu}ؠջyu}: }0>ɔQ99~Y~锥;i~ i;IUiUU)U:ً]0@:]?4I]=Is Z4gt! @ i 0;Ie ie e $e Q:ًe YK:e 3Ie =) E D)E=iMH>UP)>Uɔa9~j(Y~锕;i~ 9 )\Inadequate Iridium signal strength reported: 0)7:Gɇ釽O= ? D)@-=I`=i@=h#?NQ1Ii+Q:ًC: 7Y4I =! Y% T=% T% B% +% ] ADCP a )a I] < ף=hBi] Ļ=hB] 9==hBIu Q;i N=Im =i ]zIzQ {Q){QI{Qi{Q{Q{Q{Q{Q |Y)|YI|Yi|]C|Y|Y|ezA|a }a)}aɔ=9~_Y~= D)=IE=iE>E@=M=IM;iM8 I)UUu2)]Q:]Q9)eQ9]eiU 0;I i ( Q:ً OP: 24I =@ BfNAi:IHiHHH;)":i5;Isu! @ ;Ii$:ًYK:3I=i=#;sENm5sIuMNm59uM&YuIyuU: U(>ɔ]Q99~ Y~`锅;i~ )85GɇBC針=Ii:ًC:pL3I ? D)iH> 5>>Io<əp<=i9 )  أ3)Q:8)%8]%t Q %d=I!i)^1^5I[B_15:Y_= = <=7:_AɖEQ9A`M =  M-= I bUD 9b]B - ]u:Yb]A 1 eae s?ae )au9}Q9iυρׅk:ͅ?ׅ8)ؑiؕ8ؙؑ)i՝Q9iեQ9)ڡiɱ٭:խ9ձ ֵ8Ii%>yV|K:闽< )Ii8Q9Pɘ: >Iii:ًYK:I=i ɔ9~ۼY~;i~ )=/i>C?`=I< )wm?Y,i ɔa9~Y~锥;i~ iU;I]i]]!]:ً]B:]3I]=aaIsu! @ ;iM ;I] i] e %e :ًe ;;:e 4Ie =)e ;i]:I]ieeeQ:ًeO:epL2Ie=ie:Iuiuu#u:ًu;;:u3Iu=Isu! @ iu:I}i}}}!:ً}0@:}pL3I=)E?IɇMCU = ?G D);IP>i>>=I< )m?YO;IEiEE'Ei:ًEO:E&4IE=Is8u! @ ;s5su59uu&YuSyuɔ iMQ;IUiUQU:ًUC:QIU=ɍ]a=]4=9~]Y~efe4\=@=I;i9 )銝]3):锥Q9)Q9]=Q =I9i8^^=[B_k:Y_W! 7<9_ɖQ9`]O  d= : bݺ9bIi:ًnA:I=i Q8 0ADCP )I <~>hBi Dɔi%D;9~-2Y~--7iU>]9>]=I];ie8 e)eeuڰ)mQ:mQ9)uQ9]u\Q }M=Iyi}^^F[B_Q:Y_ ;Q:_ɖ9閑`|=  = 9 b9baB - j;YbA 1 a~?ak );׽9׹i?)i8)iQ9i)iɱ9Q97: IIn n mlimImi ;ir  9 s  ɗyV~M:< 8)Ii8Pɘ: >Ii'Z:ًH:&4I=i Ii%:ً&E: 4I=i1uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyzAyyC z)zIzizzz}}ɔUy=9~\Y~C锝j D)i\>=>I;ə4= )n?Yxi= =Is sv! @ ;I i , Q:ً &E: e4I =iE :D ! NAi:IHiHHH;I6O@i4)z:Ii!:ًcF:3I=i^;sU?4sQuU?49uUw$YuU1yuU: ]+>Ii:ً&E:IzzA {){CI{i{{{{{ |)|I|i|yC||||i5; }C)}9ɔ*=9~qY~xN>)E2iu>u>yI};i9 8)銍2):锕Q9)8]2;Q R=I7:i^^L[B_Y_: <_ɖ`zb=   = : bw9bB - e;Yb}A 1  ! <4aو? % <4aS )K;7:Q9i    ? 8)-8i)-8))1i1i559)9i==AɱEE:E9I IIM9i i>`>I;i8 )2)7:8)8];Q n=I9i^^J[B_k:Y_ <9_ɖQ9`F<  6=iU< 9 b] 9beωB - eO;YbeA 1 eκamU?amn )m;u9}9i}ρׅ7:ͅ?ׁ)؉iؕ8ؕؑ)iՑi՝Q9)ڝiɱٝ9եQ9խ7: ֩I;In n mlimImi ;ir9 sɗ8Isuv! @ u#;yVDN:闥< )Ii8Pɘ: >I=i=E+E:ًE0@:E7Y4IE=iu :Is~v! @ ;ɔ89~TY~;i~ )5Gɇ= H+? D)@-=I>i>J? I ; ;A  )m?YJI5i555:ً5&E:5pL3I5=i p:3I=i%0;Is}!w! @ };I@ )=Ii  / i:ً YK: )4I se4saum49um.%YumyumSu+>ɔuQ99~0*Y~L锥;i~  ))9GɇC釽== (> D);I=i==|;I;iQ9 )]3):8)8]Ii%:ًJ: 4I=i} 0ɔe8NQ1Y>><7  ADCPie2<9~mY~mm= q)qI T ףhBi ף;1hB `='1>hBII;i: )u2):9)Q9]2;ir: s9ɗIi+:ًJ:7Y4I=I]w=yV< 8)IiPɘ: >i  D)| 5?i >Ii*:ًH:pL4I=yVO:< )I8i88Pɘk:8 >im 5L@i<)~:Imimimi:ًm5:iIm=i^;IUiU]%]:ً]C:] 4I]=sm&4sium&49uuU$Yuuyuqu.>ɔ}89~&Y~锭;i~ 4>>i-;Isu_w! @ u:Ii+:ًO:7Y4I=i% :I i  ;ً cF: pL3I =i- :)- :Ie ie e *e :ًe &E:e pL4Ie =i=:Imimm(uZ:ًuH:u24Iu=Is-w! @ ;iU;I}i}}}9:ً}nA:}pL2I=iU:)]?e5GɇmCu== > D)ID>i>Q?I< C)m?YXz1z1 {1){5ӒCI{9i{9{9{9{9{9 |9)|9I|9i|9|A|A|A|A }A)}Aɔ)=iT<9~+Y~z;i~! %Q9-\Inadequate Iridium signal strength reported: 0)-:5[Gɇ9EK= EX>E D)i  X NAiIHiHHH;iR;):Ii.ًC:4I=Is!Qx! @ ;i7;Ii+:ًH:7Y4I=sE5sAuE59uM%YuIyuMSM*>ɔU99~'ؼY~锅;i~ 8)8Gɇ針1= ? D)i> :?I;=Ai9 8)u2)7:8)8]==Q r=Ii8^^A[B_:Y_ <9_ɖ`  8= 9 bռ9bB - ;YbRA 1 :ab?aƂ ) ;Q9ik:?!))i))))1i5Q9i51)58i5=9ɱ==Q:AE9 E8IAInQ nQ mYlYimYImYi];iraa sam9ɗm8yV9=< EQ9)AIIiUUYPaɘe:i mx>I}i}}'}!:ً}&E:}&4I}=?Ai=I @) I i :I i # :ً J: 3I =Is- R|x! @ ) xE M!NAf&?i:IHiHHHiR; X)XI]iY]*e:ًaepL4Ie=):i>;Imimm%m:ًmOP:m 4Im=s ;5su ;59u%Yuyu: 6>ɔQ99~Y~J:i~  @))95Gɇ#C= 8> D)!I%=i%>-?-I-F< 1)5tm?Y5%Is {x! @  *;i=  h>  z  ADCP  ) I X94s!u%>49u%G%Yu-ɻyu)-D>iy;I=i==*=:ً=B:=pL4I9uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy C z)zIzizzz}}IsGx! @ ;ɔM=9~$Y~锕-  D)5 |= `%?A IE 0<əM p=U =iU : U 8)] ] uڱ)e k:m Q9)m 8]u Q u #=Iu :iy ^ ^ O[B_ k:Y_ ~; ; :_ ɖ 9閑 ` <  < b #iE DnR 1J!NAi :IH iH H H$&;i Is%̶x! @ %>;ɔ-99~]Y~]];i~a aii;I5i55&5i:ً5cF:5T4I1i :I% i% % %% Q:ً% C:% 4I- =i ;I- i- - "- :ً- nA:5 p3I5 =5 =A1 ) :i*;Ii%:ًM:% 4I%=Is5(y! @ 5;i#;IEiMMMQ:ًMnA:M3IM=i ;)?5GɇؓC.= 5 ?5 D)=;I=@>i=>E|>AIE#< I)Mm?YMcɔEQ99~m ѼY~mm;i~i u8u%>u0>}\Inadequate Iridium signal strength reported: 0)}k:[Gɇ釕O= ?* D)i>Ph>I5 i5 5 %5 :ً5 cF:5 4I5 =ɍ= p=9 iM D<$Ye n!NAi :Is~y! @ ;IH,iH0H4H46-ɔ9~Y~:i~ ) Q9Gɇ%#C%= -?-8 D)5I5 >i]Љ>e t>e`=Ie2}AyVM MS:M < Q )Y I] ie a u 8Py ɘ} :阁 >I i 1 i:ً ;;: 4I =IsU Ωy! @ U ;ie <@sk !NAi :IH$iH$H$H$&;if:Inirr&r:ًrH:rT4Ir=I@ )=)I i # :ً O: 3I =i <tMr X!NAi :IH$iH$H$H$&; D)DINiLN$R:ًPR3IR=ijQ;)k;5NQ1Yף<ףԼ5ADCP 9)9I5 ohBIU;Ii(B:ً&E:24Ii7ɔ99~Y~u;i~  @))=ei@>>@=I>I i  :ً C: T3I =iU g<gx A!NAi :I"i""#"Q:ً"YK:"3I&=IH(iH(H(H(*ɔ]Q99~|?Y~|锥_ D)>|;I;ə<%=i7: 8)3): 9)8]OI:i!^)^-V[B_)-:Y_5 5<59_9ɖ=:E`E#<  M(= I bMJ?9bUBI]i]ee:ًe=:e3Ie= - m9YbmkA 1 m9aue?au. )u;ׁׁiύω׉͕?וQ9)ءiءإ8حQ9)iթiթ)ڵ8iɱٽk:չ: I yVMnT:U< Q)YIe8ie8m8qPyɘ:阁 >I i # Q:ً &E: 3I =i ;t~ !NAiIHiHHH;I"i" ":ً"G: I"=ij7;)ɔU89~XY~锅;i~ 8)8GɇؓC釥'=  ?m D)ih>8?I; )rm?Y' ;:_ɖk:!`%<  %= %9 b-9b-B - -9Yb-\A 1 5Ea5Ef?a5 I=i==,=Q:ًEL:Ee4IE=)E;QQi]Y]Q:]?]8)iiimm)iiu8iuq)uiu}yɱ}}7:yՅ9 ցI;In n mlimImi#;ir sɗyVUwT:]< Y)aIeimmiPqɘ}k:} }{>iz! @ ;Ii&9:ً0@:T4I=IH(iH,H,H,.ɔ9~Y~'.;i~ >>):5GɇC= ?| D)=Iip>ȋ>I;i8 )  Ia3):8)8]%E8=Q %J=I%k:i!^)^-8[B_))Y_5:; 5;59_1ɖ=9I=iEAEQ:ًEYK:AIE=9`M  M= M9 bU.9b]B - ]9Yb]LA 1 ]Kaef?ae )e;m9qiuqu:}?}Q9)؁i؅8؉؉)iՍQ9iՑ)ڕ8iɱٕ:՝:ե9 ֡IIM iM M -M :ًM 0@:U r4IU =i ^;IsU z! @ Q @s 0"NAiI i * 9:ً M:pL4I=IHiHH H ";inX;):Iir:ًB:I=i:sm.3sium.39um~$Yumɻyuqu->ɔ}99~ Y~`i>>I; C)m?Y6i;)5z)yIyɔQ9Ii:ً=:T3I=9~XY~=Ii1:ًH:4Ii e;I i Q:ً B: T3I =f 9c"NAiIHiHHH; 4)4inQ;):+{! @ =;se4saue49um.%YumؠջyumSu.>ɔyIi(:ًO:24I=9~_Y~锕D;i~ 8 )@%NQ1i-;IYM,>M,>M,>UUeADCP i)qIe oٽq=ʾie t&񾉃e == =R>Ik;Ii:ًJ:I=Im }=iU bE D)EiMp>M>UIU<əU4=Q ]C)]xm?Y])iIi":ًG:p3I=uu v)vIvivvvvv w)wIwiwwwww xC)xIxixxxxx y)yIyiyyyyy z)z Iz iz z z } } zz {){CI{i{{A{{C{ |)|?AI|i|||||! }!)}!iT D)i`d>H>`=I ;i Q9 )  n3) Q: 9)% 8]- cQ - i=I- :i5 ^9 ^= [[B_9 E :Y_E  E 4au X? % u >4au )u D;׉ ׍ 9iϕ ϑ ו Q:͝ ?ם 9)ة iح 8ة ة ) iթ i ձ )ڵ i  ɱ ٽ 7:չ 9 I Is .{! @ *;Tɪ ="NAi:IH iH$H$H$&;i6;=INiNN-N:ًRYK:Rr4IPi:Imiqu/u:ًqu)4Iu=)}eɔQ99~Y~ҏ;i~ 9)85GɇؓC> ?  D) =i> t>L=I;i%8 ))--uڰ)5Q:=:)E8]EЕ=Q E=IM9iI^Q^]D[B_Y]:Y_a e!i ɔ89~3Y~5;i~ 8%>>):GɇȓC 3= >  D)i >D>%I%;->A) 1)5m?Y56ɔ9~ۼY~ @> D)i>Ph>I"I- i- - #- :ً5 x<:5 3I5 =iU =I @  =) =iE :I= i= = ,= :ً= 0@:= e4I= =ڽ "NAi:IHiHHH;i5;Ii*:ًOP:pL4I=) :IsuWU|! @ u;i-0;s]h6sYu]h69uec 'Yue1yue: e,>ɔi9~Y~锽 ADCP ) I DļhBi th`===I <ə=降4= C)m?Y+yV hX: < 9)8Ii!-8)P1ɘ=:9 EB?: *#NAi :IsJ>|! @ J#;Ibibb(b!:ًf&E:f24If=IHxiHxH|H|~< m<)ii}4=i59Ii#9:ًB:3I=)5:i]D;s]!5sYue!59ue%Yueؠջyuae1>ɔmQ99~Y~锥;i~ 8 )@\Inadequate Iridium signal strength reported: 0):Gɇ3C= ?: D)L=I;iQ9 )L3):Q9)8I8Ii%:ًH: 4I=i8^ ^ _  Y_O: 1<_ɖQ9`%Ɛ=  %]= %9 b%a9b-uB - -9Yb-A 1 -=9a5I?a5Ǎ )5;EQ9EQ9iMIM:M?I)Yi]Y])aiaieeQ9)e8immiɱmm:iq u9IqIn n mlimImi ;ir9 s9ɗyVuX:u< }8)yIyiPɘ:阕8 >I i $ i:ً B: 3I =iE :3I=)5iu;i>p>Iw< )m?Y[B_:Y_: <9_ɖ`A=   =  bDIi*Q:ًpL4I=9bzB - 9YbA 1 9ahH?a );9i7: ? )iQ9)ii)!i%%!ɱ%!)) -Q9I-;In9 nA mAlAimAImAiE#;irIM9 sIUQ9ɗUyV5X:5< 1)=I=iE8E8APIɘU:Q ]>Is|! @ #;i i];zizi {i){uӒCI{qi{q{q{q{q{qI}iy})}i:ًy?4I |q)|I|i||||| }C)}Is_)}! @ ;ɔ8=9~c8Y~:i~ ) 5Gɇ Cl= ?_ D)i%>%H?)I-;-=A)i-9 1)5i5S8)=7:=Q9)EQ9]EWQ MC=IIiI^Q^UU[B_QU:Y_]y: ];Y_Yɖe9a`e  e= m9 bm(89buB - u :YbuʮA 1 u9a}G?a} )};׍Q9׉iύϑוk:͕?ב)ءiإءء)iաiթ)ڭiɱٵ:յ9չ ֽ8I;In n mlimImi;ir sɗɚAyVY:闵< 9)8I8iPɘ: >I i & :ً >: T4I ;A i <H w#NAi :i&k:I(i**.(ً*YK:*4I*=IH,iH0H0H02ɔ99~%Y~H ie;)e|i>>I i 0 Q:ً M: 4I =i <l! &S#NAG!?i :i:I"i""'":ً&L:&&4I&=IH0iH0H0H46-:Ur4IU=I @) I A)5:s4su49ue%Yuؠջyu,>ɔ9~"JY~ I) i- - $) ً- >:- 3I5 =i <: #NAi:ik:IHiHI"i""!":ً&9:&3I&=HH(*ɔQ99~Y~ҏ;i~ Q9)8GIi:ً J: I =ɇ3C=Y+=+X9>ʡADCP )I ti=@-?i%>yVuZ:q q)}8IQ9i8Pɘ:阡 >I i + Q:ً  7Y4I =I =i 4saum>49umG%Yumؠջyuiu+>IiB:ًnA:pL3I=iU7;uu v)vIvivvvvv w)wIwiwCwwww xC)xIxixAxxxx y)yIyiyyyyy z)zIzizzz}}ɔUz=9~ۼY~锝iL>p!>I;i9 )3)Q:9)Q9]n;Q ==I:i^^B[B_ :Y_ h: ;:_ɖ9%Q9`%=  -= ) b-ڼ9b5B - =<:Yb=A 1 =aE3H?aE )ED;UQ:]Q9ieaeQ:e?a)}Q9i}yy)iՁiՅ9)ڍiɱٕ:՝Q9՝9 ֡I<:?4I=In n mlimImii} =I i  & ً OP: T4I =ie :E #NAiIHiHHH;Ii!:ً0@:3I=i>;) 0;s]!5sYue!59ue%YueɻyueSe->ɔmQ9Ii'Z:ًnA:&4I=9~ɼY~\x锽 D)ip`> 5?I; )m?YJIi.i:ًT:4Ii e;):IsmP~! @ m*;sU4sQu]49u].%YuYyuY],>ɔe9Ii):ً?4I9~_Y~锥;i~ )ɇ釽= ? D)IP)>i>@l>IiQ9 )Z]):Q9)Q9]Q T=I9i^^G[B_Y_ <_ɖ9` f<  "=i]'< 9 be 9bmB - m*:YbmA 1 mauI?au )u;ׅ9ׅ9iυω׍k:͍?׉)ؑi؝ؙ؝)iՙiեQ9)ڡiɱ٭9թյ9 ֱIIn n mlimImiir9 sɗɚyV9[:闭< )IiPɘ: >Ii*ًpL4I=iu 9ɔuQ9Ii(Z:ً>:24I==A>iu;Ii*!:ًG:pL4I=iU :I i :ً 0@: T3I =ie :Is (~! @ :Ii"i:ًOP:p3I=iu:)m ;Ii&:ًT4I=i}:Ii*:ًB:pL4I)=?M5GɇMCU=i; 0> D)|;I@ %=)=I9>i>\>Ii2:ًB:T4IzYzY {Y){]CI{ai{a{a{a{a{a |a)|aI|ai|a|a|i|i|i }mC)}iɔ=9~YY~;i~ 8\Inadequate Iridium signal strength reported: 0)9 ɇ#Ciu:ih>> =I NQ1 Y /= /ݽ  9i- = M ADCP Y )Y IM thBIm ;I= i= = )= :ً= >:= ?4I= =$  u\$NAiIHiHHH;I=i5?ɔ=89~e+Y~mzm;i~i uQ9)u8yɇC重 = > D)@-=I=iX>X'?I;əC=陭%=i: )銵u3)Q:Ii :ًM:T3I=Q9)9]e&Q p=Ii^^R[B_:Y_; <9_ɖQ9`ܼ  6=  b *9b̌B - :YbA 1 pajO?a )%>;-91i511=?=8)IiIMI)IiU8iUUQ9)UiUUQɱ]]:]Q9a eQ9Ie i =Ii(!:ًC:24I=i :I i Q:ً x<: I =  -v$NAi:IHiHHH 6<)4izQ;IiZ:ًB:I=i:):IsU|/M! @ U;s ;5su ;59u%Yuɻyu2>ɔIi':ً=:&4I9~Y~;i~  @)@)9GɇȓC= > D)i>|> =I; )5m?Yi =Iuiuuu:ًuB:u3I}=i :I i ' Q:ً C: &4I =#  Ə$NAiIHiHHH;iz>;Ii:ًx<:IIsemw! @ e;i:) ;s-&4s)u-&49u5U$Yu5\yu5: ='>ɔ=9Ii:ًB:pL3I=9~XY~锕 E D)AIE =iM>MN?MIU'i% ;IY ie e a ًe &E:e 3Ie =)  a$NAiIHiHHH;i~e;IsU! @ UD;I5i==(=Q:ً=W:=24I9i:):IEiEE#E:ًEB:E3IM=sr 4sur 49u3$Yu1yu2>ɔQ99~Y~;i~ i;IUiUU(U:ًU;;:U24IU=i :I= iE E "E :ًE >:E p3IE =Ism ! @ m ;i% :IMiMM$Mi:ًUJ:U3IU=i-;)-;IYiY]-YًY]r4IYeim>mPh>iIm;99i7:?9)i  ) i i  )8iɱ:9 %8I!In) n1 m1iQ@i;s=4sAuE49uECz%YuESyuM: M(>ɔI)e:9~eY~em>;i~i mQ9u0>u?>u\Inadequate Iridium signal strength reported: 0)u7:yɇ3C釅= ?( D)t ?Is=! @ #;Ieiem mB:ًm>:mT3Im=i=i} :IU iU U &U :ً] cF:] T4I] =(<  j$NAi :IHiHHH";i]y;I5i5=%=:ً=OP:= 4I===NQ1ɍM=MR=YT<T<TADCP !)!I B`ehBI5;izYzY {a){aI{ai{a{a{a{a{a |a)|aI|ai|i|i|i|i|i }i)}iɔ=9~YY~iP|?;I< )sm?Yi 4sAuM>49uMG%YuMyuM: M*>)e:uyu v)vIvivvvvv w)wIwiwCwwww xC)xIxixxxxx y)yIyiyyyyy z)zIzizz Cz}}ɔc=ih<9~~Y~ip`>L>==I;əa=4=i9 Ii!;ًB:3I=)  3)%*;%Q9)-8]-yV 闍 < ) I i 8P ɘ :阱 >i ɔ5Q9)M:9~UY~UֿUe;i~Y ]Q9)P<ɇC= >T D) 8/? I i}=ie :I i  ( :ً :Z: 24I =Is ŀ! @ ;`P  3B%NAi:IHiHHHi];Ii):ًH:?4I=i] ;Ii'*:ًJ:&4Is%5s!u-59u-u\&Yu-~yu-)ɔ1)I9~UY~U@Ue;i~Y ]8)]Q9eGɇim1= ?b D);IP)>i>L?I,< )l?Yi=ɔ89~'ؼY~;i~ )8GɇBC=  5@ D)|;I>i6?(r?H>I;=AI=i!=im 9I i - !:ً nA: r4I =(\  ju%NAiIHiHHH;iU>;I}iyy}:ًyyI}=iU:Imimm'mQ:ًmB:m&4Iu=qqI}@) IsuB! @ ; =)ɔ9~ۼY~iu ;I i $ :ً M: 3I =c   %NAiIH$iH$H$H$&;iU>;I]i]]-]!:ًenA:er4Ie=Is l! @ ;IMiMM#M*:ًM0@:M3IM=imQ;sO6suO69uA&Yu1yu3>ɔQ99~'ؼY~:i~ 8)8[GɇC9= ? D)i  >  I < )m?Y)-ADCPi Q9iUU9)QiUUQɱ]]9]Q9]9 eQ9Ie= q)qI- t<̼>i- ף<>>- =F=T=I}:I- i- - - 9:ً- &E:- T3I- =I =i <i  %NAi ;IH iH H$H$&;Ii**:ًYK:pL4I=ɍ%%=!iMX;Is! @ ;)>iMQ:IMiMM$U:ًUcF:U3IU=s},T5su,T59u%Yuyu/>ɔ9~\HY~f锝:i~ )U=Ii":ً>:p3I=i};I i  ! Q:ً nA: 3I =im :Is ! @ ;IM iM M (M :ًM C:U 24IU =i} ;Ii,!:ًcF:e4I=i:)k;I i  & i:ً  T4I =i)=?AɇMCM= ? D)I>iP>7?=i!>iE)Q;z9zA {A){EӒCI{Ai{I{I{I{MC{I |I)|UEAI|Qi|Q|Q|Q|Q|Q }Q)}Qɔ)=9~Y~+^k;i~ Q9 )\Inadequate Iridium signal strength reported: 0):5Gɇ3C =I%i%%%:ً-H:-3I-= ->5 D)5=I5H>i=>=??=IEI i  & :ً C: T4I =i ; |  %NAi :IH$iH$H$H$&;Irirr'r9:ًr0@:r&4Ir=i>;Ii.:ً8:4I=i:se>4saue>49umG%Yum1yum: m+>ɔuQ9)'i-p>5X>5=I i  i:ً M: p2I =i #;(u  &NA?i :IH$iH$H$H$&;Ininn$r:ًr=:r3Ir=i>;Ii(r:ًcF:24I=Isd! @ ;i:se&4saue&49ueU$Yum~yumSiɔq):9~Y~'.锕e;i~ 9)8Gɇ#C釽= ? D)iȋ>@l>I"<>A=A ) um?Y 4auY? % }>4a}z )}X;׍9׍9iϕϑם:͝?י)ءiةةح8)iթiթ)ڵiɱ @IiZ:ًC:I9Q9 I,I i  :ً G: I =i X;I= @)A IA  7(&NAi ;IH$iH$H(H(*;IFO@iD RIPiPR#PًPR3IPi;IsR! @ :Ii ;ًT3I=i;seP3saueP39um$Yumؠջyum: u*>ɔu9);9~ Y~1锝;i~ 8C=)p<%4 Hɇ-3C5= e ?eD)eu=u| ADCP ) I X9ɔ Q99~E'ؼY~EE;i~A II Ii&:ًJ:T4I=i;IM iM M %M :ًU T:U 4IU =Is ! @  ;i :I] i] ] ] :ً] J:] T3I] =ɍe a=e R=i Ieiee%e*:ًmOP:m 4Im=i:) 5 `= I  <ə%= ) m?YIs\3! @ *;Ii x:ً&E:T3I=i>;)=uIuI vI)vIIvQivQvQvQvQvQ wQ)wYIwYiw]CwYwYwYwY x]C)xaIxiixixixixixi yi)yiIyiiyqyqyqyqyq zq)zqIzyizyzyzy}y}yɔ=9~Y~!k:i~  )\Inadequate Iridium signal strength reported: 0): Gɇ ȓC > X> OD) =i >I i% % % :ً% nA:% p2I% = >- I i % *:ً OP: 4I =i G=Ȅ  'Ž&NAi:IHiHHH;ie:Ii:ًL:p2I=Is\! @ ;i};sE4sAuM49uMe%YuMgyuMSU*>)e9Ii'i:ً&E:&4I=zz! {!){!I{!i{!{!{!{%C{! |!)|!I|)i|)|)|)|)|) }))})ɔ)=9~Y~w锽;i~ )Q9[Gɇ3C=  ?ZD)i>V? @=I < )hm?Y;iry}: sy}Q9ɗ8Ii*:ً0@:3I=yVm i , fD) ;I@->i>7?I;i%8 %8)%%&?3)-:-8)58I5i9^A^A_AEQ:Y_EL; M_?amv )m;qqi}yׅ:ͅ?ׅ8)؉i؍؉ؑ)iՕ8iՑ)ڙiɱ٥:ե9ե9 ֩IIi:ًB:3I=i=i ;I i ) i:ً 2: ?4I =Is 1! @ :$w  &NAiIHiHHH;I6M@i4i;I@ =)=I]i]Ye:ًeO:aIm=i}>;s p5s up59u1*&Yuyu#>ɔQ9)QN>)=9]=e;Ie;ie9 i)mtmuڲ)u:u8)}Q9]}$dQ Iuiuu/u:ًuB:u)4I}=i-=Is !Y؃! @ ;i :I} i} }  :ً G: T3I = uuO=uƽuADCP )I 1<= =>i o:+=NbP =/=/ݼI^;i<)9ɔ)9~]CY~]@;e;i~a eQ9)eQ9mGɇuBC}= }P)?}D);irIM: sIU9ɗU9Isy! @ 7;yVTe:%< !)-Q9I59i1==8PAɘEk:I M>Iuiuu(uZ:ًu0@:u24Iu=i"=i :I] i] e !e :ًe O:e 3Ie =$  &&NAi:IHiHHH;ir;I=i==(=!:ًE9:E24IE=iu;s ;5su ;59u%Yu1yu>ɔ8IEiEE&Ei:ًMG:MT4IM=9~UY~UU#D)I>i>p!>I;əR=陕4=i9 )銝I3):锥Q9)8]B^Q _=I9i^^N[B_Q:Isʑ*! @ ;Y_*L; <_ɖ`   (=  bk9bB - ;Yb9A 1 ag?aۇ );Q9 Q9i   : ?)i%)!i!i%!)%8i--)ɱ-))1 1I1InA nA mIlIimIImIiM;irQU9 sQUQ9ɗ]yV5e:=< A)AIMQ9iIQ]PYɘe:i mx>I5i55(5!:ً5R:524I==iUɔQ)<9~¼Y~o锵? 01> |=I  i}=i 9I i   ً &E: 3I =H  [('NAi:IHiHHHi;IsM|! @ ;Ii&:ًG:T4I=i};Ii"B:ًcF:p3IsEq4sAuEq49uE%YuMyuIIɔUQ9)m:9~uY~uue;i~q y)}85GɇC重(= ?D)iX>J?I; )_m?YIi,:ً;;:e4I=iED)I>ip`>X>|iIH iH H H ";I:L@i);IsZ ! @ ;zaza {a){aI{ai{a{i{i{mC{i |i)|iI|ii|i|i|i|i|q }q)}qNQ1ɔ1=9~/Y~;i~ 90>x>\Inadequate Iridium signal strength reported: 0): 5GɇC= E(>ED)M =IM=iU@l>]=]I]5 bJ.9bFB - ;YbA 1 aZz?a1 )=+>=ADCP9Q9i7:?)8i)i Q9i  ) i  ɱ  :  9  I  ) I o;thBIn) n) m1 l1 im1 Im1 i5 ;ir9 = 9 s9 9 ɗE 8i Ļ9HhB =X9=hBIm I i % :ً 9: 4I =IU |=i] <t  ~'NAi:IHiHHH;i:Ii!:ًH:3I=IsAsI! @ ;iIi%:ًW: 4I=sep5sauep59um1*&Yum1yumSm.>):uuA v)vIvivvvvv w)wIwiwCwwww x)xIxixxxxx y)yIyiyyy|Ayy z)zIzizz,Cz}}IUi]]]:ً]T:]3I]=ɔu=i/<9~Y~J=P)>AIE=I]9ia^a^mK[B_iiY_uii: u;u9_qɖqy`}\  }= }9 b9bdB - :;YbA 1 :a:v?a );יץ9iϥϡסͥ?ש)رiععع)iչiQ9)8iɱ99 I;In n mlimImi ;ir: sɗyV g: < 8) I i P ɘ  8  >I i $ :ً B: 3I =i- <D  'NAi :IH$iH$H$H$*;I]i]].]:ًeYK:e4Ie=i>;IsQr! @ ;IMiMM$MQ:ًU0@:U3IU=ɍ]a=]%=ie;se7saue79umQ'Yumɻyum: m+>ɔuQ9);9~颼Y~XH锽 8/?D)| > |=I <ə<= )~m?Y%im=D)==iE>M@?MIU%imiMЉ>M>?U=IU#<]:aIe=i};Imimm"m:ًmH:mp3Im=IsW?>! @ ;im:s6su69uۧ&YuSyu/>ɔ9~ Y~1;i~ 8>8>\Inadequate Iridium signal strength reported: 0):Gɇ3C= ?%D);I@=i\>\=I;iQ9 )):Q9) 8] '!=Q =I i^^I[B_:Y_%: %=<%9_!ɖ-9)`-L  -m= 59 b5 9b=B - =:Yb=A 1 =d:aEd?aEi )E;U9U9)m;iuqu;}?ׅ9)ؑiؕ8ؙؑ)iՙiա)ڡiɱ٭7:խ9յ: ֽ9Ipi- ADCP )I o:M3IM=iM:s%X4s!u%X49u%$Yu%ؠջyu--;>)Izz {){CI{i{{ { { C{  | )| I| i| |||| })}I5i5=&=:ً=cF:=T4I==AAɔu'=9~uOY~!锕;i~ Q9)Q9[GɇC釵(= >4D)`d>I`=i><.?`=I i} ;   6@(NAi :IH iH$H$H$&;IsFC! @ J0;Ii%Z:ًM: 4I=iEQ;I%i%%.%:ً->:-4I-=iE:s>4su>49uG%Yuyu6>ɔQ99~Y~;i~ )8 Gɇ3C%= ->-=D)-\=I-01>)E:i5`d>M :?U|;IU<ə]=Y a)em?Ye iU>yV-fj:-< 1)1I9i99APAɘ< >i < = @I= i= E E i:ًE nA:A IA Is wD! @ ;ie :&  dY(NAiIH iH H H &; H)H ^I^i^^&^:ًbG:bT4Ib=iMX;Ii:ً&E:I=iM:s]X4saueX49ue$Yuayue: m+>ɔu89~rY~锝;i~ 8 ))2<Gɇ ؓC '= ?JD)i%>-Ph>-=<  =  b9bB - :Yb٪A 1 Faj?a )X;i:Ii'B:ًcF:&4I?;)i)iQ9i)8iɱ:Q99 I Is}! @ i% p`> 5>I;i ))Q:Q9)Q9] ;}:}:iυρ׍k:͍?׍8Iscy ! @ ;)صQ9iرعؽ8)iչi)iɱ:Ii)9:ًOP:?4I=>; 9I;ir  : s9ɗyVj:< Q9)I9iPɘ i i :IH iH H H$&;IBiBB B:ًBYK:BT3IB=iE>;Ii#Q:ًG:3I=Is% 2! @ ;iM:s]`4saue`49ue!a%Yuayue: iɔq9~Y~ҏ锥;i~ 8)8[Gɇ=  ?dD)i>`d>L=I;=A )~m?Yi% i>>->:ً>>:>r4IB=I@i@iU;IsÑZ! @ *;Ieimm'm:ًmJ:m&4Im=I@)Ii]k;se ;5saue ;59um%YumSyuiu,>ɔ}Q99~Y~^>):5Gɇ#C=  ?sD)i=L==I;iQ9 )  ):%Q9)%Q9]-RQ -J=I-9)E:i58^I^ME[B_IUQ:Y_U U;]9_Yɖ]9a`e  e= a bm9bmCBYbmA 1 uHIui}}(}9:ً}B:}24I}=a:q?aօ );וQ9בiϝϙם7:͝?םQ9)ةiةةة)iթiյ9)ڱiɱٽ:ս9 I;In n mlimImi*;ir sQ9ɗyVk:闵< )IiPɘ: i %-`e--EADCP I)QIE B`eɔ9~ɼY~\x m~D)uiu=}=}=I}[< C)@m?Yt: ;:_ɖ閹`  =  bƼ9b^B - /;YbA 1 au?a );9Q9i?8)i)iiQ9)i  ɱ  9 Q9: I;In! n! m!l)im)Im)i-;ir15Q: s11ɗ=8yV l: < 8)IiQ9%8%8P1ɘ5:9 =>i Ii':ًH:&4I=)=:uu v)vIvivvvvv w)wIwiwCwwwAw x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}ɔM}=9~Y~锍 i}>}J?i;I<ə=陱i9 )銽2):Q9)9]CQ z)z) {)){-ӒCI{1i{1{1{1{1{1 |1)|1I|1i|1|9|9|9|9 }9)}9ɔ =9~'ؼY~D)i>=I< )m?Y&i ɔ]89~3Y~5锅;i~ 8)Q9ɇC針= s0@D)==I=i`d>@>I;i8 )銽uZ)k:Q9)Q9]UQ u=Ii^^R[B_Y_7b <_ɖQ9`k  ;=  b19bʏB -  ;YbA 1 a󃤓?a6 ); i?)-Q9i-8--8))i)i51)5i551ɱ==9=9A AIE;InQ nY malaimaImaiey;irim: sqqɗ:yVu@m:}< y)}Ii8Pɘk:Ii-:ًM:r4I= >iAIs u! @ P  RB)NAi:IH$iH$H$H$&ɔQ99~+Y~z;i~ )[GɇC)= 8>D)i > T(? ;I: U;]:_aɖe9i`m|  m= i bu*9b}B - 1;YbA 1  ! <4aև? % <4a| )K;ץ:סiϭϩ׭:ͭ?׭9)8i8)i9i9)iɱ:: Q9I<Is ֝! @ *;i= D;IE iM M 1M :ًM x<:M 4IM =V  Q\)NAi :IH$iH$H(H(*;INQ@iLiQ;I=i==)=:ً=L:E?4IE=i:I-i)-$-:ً)-3I-=) s3su39uL$Yu1yuSɔ89~|?Y~|;i~ >Y>)=0}NQ1I =i\>?=ADCP )I othB`=   = 9 bl?9bB - 8YbA 1 8a?a  ) ;i 1,hB ==hBI;%9!i-)-:5?58)AiE8EA)AiEQ9iMMQ9)M8iUUQɱUUQ:UQ9]9 ]8I]*Ie =I i ' :ً YK: &4I =i <\  u)NAi :IH$iH$H$H$*;Irirr*r:ًrH:rpL4Ir=i7;Ii":ًG:p3I=i:)=;Isufa! @ qs ;5su ;59u%YuSyuɔQ99~=Y~N;i~ Q9i-K;I5i51=:ً=C:9I==i- :I5 i5 1 = i:ً= cF:9 I= =I i / :ً G: )4I =iE 0;Is! @ *;Ii#:ًx<:3I=D)i`>H>I <ə C)ym?YyVun:u< }8)}IQ9i8Pɘk:阥 N?0i  )NAi :IH,iH,H,H02! @ -:iMɔ9~%Y~%w%;i~) ) 5@)15\Inadequate Iridium signal strength reported: 0)5k:E5GɇMCM=I}i}}.}:ً}L:}4I= ?$D)I01>i(>??I9Im im m &m i:ًm C:m T4Im =i= 9=ɍ><>=i^e;Ii%:ً;;: 4I=i:)k;sE]3sAuM]39uME$YuIyuMM)>z z  { ){ I{ i{ { {{{ |)|I|i||||| })}I=i==.EQ:ًER:E4IE=ɔ}=9~}? Y~锅:i~ )Q9[GɇBC針= ?2D)|T>I;i8 i<)  S3) 7:8)Q9]#LQ D=I9i!^!^%H[B_))Y_- -;)_1ɖ15`=<  == =9 bE2 9bEB - E8YbMA 1 Mi8aM?aM )M;]9Yieae:e?i)u9iqq}8)yiyi}y)ځiɱم9ՉՉ ։Ii:IHiHHHI"i "%":ً " 4I"=iZ>;Ii!i:ًG:3I=i:)K;sMNm5sIuMNm59uM&YuUؠջyuUSU+>ɔ]Q99~8Y~锭i>@>I;=A )-m?YI- i- - )- Q:ً- >:5 ?4I1 5 =A5 =Ai ;I @) AI I i ' :ً H: &4I = }  !)NAiIHiHHHI6M@i4i^k;Ii#:ً&E:3I=i:IsW߉! @ #;)-ɔ9~_Y~锭#;i~ Q9>>Ii(ً24I=)^<%Gɇ-3C-= ] ?eOD)e;Ie`=im=m=mIi$:ًB:3I=i (< NQ1Q YU <U <] l=] $] } ADCP ) I} o;hTi} ף ף} == =Nb>I ;I i ' i:ً Q: &4I =$  I*NAiIHiHHHiQ[D)=I @=i 01>=\=I;i8 )%%3)%:-8)-8]5$Q 5R=I59i5^9^EG[B_AE:Y_E EIi'*:ًYK:&4I=i ^;I i :ً B: T3I =  )*NAi:IHiH H H ";i^e;Is q/! @ #;Ii):ًH:?4I=i:):sMr 4sIuMr 49uM3$YuQyuQU)>Ii2!:ًL:T4I=uu v)vIvivvvvv w)wIwiwwwww x)xIxixxxxx y)yIyiyyyyy z)zIzizzz}}i<ɔh=9~J1Y~:i~! %8)%8)ɇ5#C5= =?=kD)=|ET>MIM;əMi] ɔQ99~rY~;i~ Q9 @))9ɇ= ?wD)i > `d>I;iQ9 )03)%:%8)-8]-$=Q -e=I59i1^9^=C[B_9=:Y_E': E Is= o! @ = ;i ;I} i} } "} :ً 0@: p3I =  ]*NAi:IHiHHH;iZ>;IUiU]0]:ً]B:]4I]=i:):ɔu89~+Y~z锥;i~ 8)Q9ɇC釽= ?D)Ip!>i؇>>I;i8 8)3)Q:8)8]Q Q=Ii8^^Q[B_Q:Y_S ;_ ɖ Q9 ` ^<  = 9 b+9bB - :YbA 1 %9a%?a%J )%;5959i=9=k:=?=Q9)IiIII)IiQiUQ)QiUUYɱ]]:eQ9a aIei=I5i55,5!:ً=nA:=e4I==i :I] i] e +e i:ًe H:e 7Y4Ia ɍm =i H  ıv*NAi:IHiHHH;iZQ;I5i55'=:ً=G:=&4I==i:IsRϊ! @ ;Ii.:ً%cF:%4I%=s3su39uL$Yuyu: 2>ɔQ99~Y~J锥:i~ )8ɇ3C釽= ?D)I 5>i>Ph>I; )Dm?Yi- Q:4I= )=Is%8! @ !i7;):Ii)ًx<:?4I=sEq4sAuEq49uE%YuMSyuIM*>zz {){I{i{{{{{ |)|I|i||||| })}ɔ]=9~e0*Y~eLe:i~a am>m>ii:ADCP )I t;Ii!i:ً>:3I=)?GɇBC=iK; >%D)%@-=I-=i->5 >5=I=z< A)Evm?YEɔQ99~5Y~55;i~9 =Q9=\Inadequate Iridium signal strength reported: 0)E9E5GɇMؓCU]= U>]D)]eH+?eIe;im8 m8)uyu0)u:}8)}8]Ism n! @ q iM "ɔ89~gƼY~s锥:i~ 8)8[Gɇ#C釽)= >D)|i`d>@>[B_:Y_% %i4>IsM! @ M0;I}i}}&}i:ً}=:}T4I}=i=yVis:+= )Ii%8!%8P)ɘ15 =>i 7;I i :ً 0@: I =p  s*NAi:IHiHHH; B<)@in;I=i==0=:ً=>:E4IE=AAi;IMiMM#Mi:ًMnA:M3IM=):Is5gQ! @ 5;se`4saue`49ue!a%Yueɻyue: m->ɔuQ99~$Y~锥;i~ Q9 ))9ɇC釽&= ?D)ix>>I; )sm?Y i=i 9I i ) :ً 7: ?4I =   +NA>i :IH$iH$H$H$*;in;I]i]](]:ً]M:]24I]=IsEa! @ E0;i*; M@IMiMMM9:ًMEU:IIM=) ɔ89~j(Y~锽;i~ 8)7<-5Gɇ-C5= 5 @=D)EU>QI];i]8 a)ee2)mQ:u9)}9]}Q }D=I}9i8^^P[B_:Y_p ;:_ɖ閥8`Е  = 9 b_(9b B - 8YbA 1  ai?aX )Q; Ii(*:ً%YK:!I%=U9]Q9i]Y]7:e?e8)m8im8iu)qiqiu}Q9)}i}}yɱ}}:ՅQ9Յ9 ։Ii K;I% i% % '% :ً- J:- &4I- =ɍ) - 4=\  )+NAi ;IH iH H H$&;ir;Is%j ! @ -;I5i==#=:ً=B:=3I==i;IEiEAM:ًMYK:IIM=):s]5sYu]59u]SC&Yue~yue: e)>ɔmQ9I@)AI9~Y~ҏ锥;i~ Q9i;I i  . :ً 8: 4I =i ;I i   :ً cF: T3I =IsM s5! @ M #;i ;I- i) - &5 :ً1 5 T4I5 =i:Ii-:ً%C:%r4I%=)EADCP )I o:j=hBi ou=Is]! @ ;|;Ik< )m?Y.Ii-:ًG:r4I=i>;uu v)vIvivvvvv w)wIwiwCwwww x)xIxixxx x x  y )y Iy iy y y y y  z)zIzizzz}}IsE ! @ Azz {){CI{i{{{{{ |)|!I|!i|!|!|!|!|! }!)})Y}y}*Aɔ=9~rY~锕7:i~ 8!>8>\Inadequate Iridium signal strength reported: 0)Q:5GɇC釵= >4D)|iЉ>@-?I;iQ9 8)an):8)Q9] Q  V=I i ^ ^ _  :Y_ E  < :_! ɖ! - `- =  5 #= 5 : b5 u9b= *B - = e:YbE A 1 E aM ?aU )U r;e 9e :im i m :m ?u 9)؁ i؁ ؅ ؅ ) iՍ 9i Օ 9)ڕ 8i  ɱ ٝ Q:՝ 9I i ) :ً &E: ?4I =յ >; ֹ I S  ;pv+NAi :IH$iH$H$H$&;IBiBB0B:ًBM:B4IF=ir;Ii2r:ًO:T4IɍC=鍝%=i:);Is5W! @ 1se`4saue`49um!a%Yumؠջyumm*>ɔu99~Y~u锥;i~ 9)Q9Gɇ#C= `d?ED) =I|>i>`d>\=I;i9 )_|):9)9] ;Q =I :i ^^B[B_%;Y_-: -$<-9_1ɖ11`=;  =N= =Q: bE9bM1B - M6:YbMA 1 MaU?aU\ )]D;e:m9iuquQ:I}i:ً0@:p2I=͍?׍;)ؑiؙؙؕ)i՝Q9iեQ9)ڡiɱ٥:խQ9խ9 ֱI-I i # :ً 3I =i ;  +NAiIH$iH$H$H(*;IBiBB)B:ًBB:B?4IF=ij7;IsE(ӌ! @ E;Iuiuuu:ًuG:upL2Iu=i:):se4saue49ume%YumSyuim+>ɔq9~@߼Y~F锭;i~ 9)8[GɇC= ?RD);I>i؇>@l>@-=I;ə<= )m?YI i $ :ً &E: 3I =i ^;  ˡ+NAi :Ii(i:ًB:24I=IH$iH$H$H(*; B<)@ijQ;Is-w! @ -;I5i55+5:ً5cF:57Y4I==i:);seq4saueq49um%Yum~yum: m*>ɔu89~ۼY~锭;i~ Q9 @))ciu|>uN?}|IM iM M .M *:ًU cF:U 4IU =i- Ii):ً7:?4I =i`>0p>=II i ' :ً J: &4I =ɍ < Is] |J! @ ] :i ;I @ ) =  +NAiIi":ًx<:p3I=IH iH H H ";inX;I5i55-5:ً5nA:5r4I5=i:)K;se6saum69um>'Yumؠջyum: u,>ɔy9~2Y~ >|D)`==I;   C)1m?YI- i- - (- !:ً- M:- 24I5 =i e;% NQ1 Y = н  $  ADCP ) I o;+=hBi ף;hB =o>hBI ;I i 2 :ً YK: T4I =  l+NAi:IHiHHH;I6M@i4i%VɔQ9Ii+:ً;;:7Y4I=A=A9~Y~3;i~ 8>>)9Gɇ ؓC != |?D)I01>i >%>%I%;i%Q9 ))--uZ2)57:5Q9)=Q9]EQ EK=IAiA^I^MM[B_IIY_Uy U;U9_YɖY]`ey=  e= e9 bma9bmlB - m;YbmA 1 uau?au )u;ׁׅ9iύω׉͍?׍8)ؙi؝؝8ؙ)iաiա)ڥ8iɱ٭:թձ ֵQ9I;In n mlimImiir9 sim<ɗm8yV5v:=< =8)AIM8iM8QQPYɘam8 m>Ii!:ً>:Ii e;I i  :ً C: T3I =   ,NAi:IHiHHHijK;IiًJ:3I=IsE! @ E;i:):s 4s u 49u.%Yuɻyu: #>ɔ%99~m Y~m`miX>@>I; )Tm?Yi%,=Ii(:ًnA:24I=i :I i & :ً OP: T4I   ˡ),NAiIHiHHH;ij7;Is-4! @ -;Iuiu}%}Q:ً}9:} 4I}=i:):sM4sIuM49uMCz%YuIyuIU+>Ii':ً>:&4I=zz {){ӒCI{i{{A{{{ |)|I|i||||| })}ɔ}=9~qY~x锽i->->-;I-V<ə5%=5%=i59 9)==u2)E7:E8)M8]MサQ M6=IM9iQ^Q^]K[B_Y]:Y_] ];e9_aɖm9m8`u'  u = }: bJ9bB - ;YbA 1 a?a~ )^;סשiϵϱ׵k:͵?׵Q9)i)ii:)iɱ:Q9 :I9i-!>Ii+:ً9:7Y4I=yV w: <  ) I i  % P! ɘ- :1 5 >im ɔU9Ii+:ًcF:7Y4I=9~j(Y~锕;i~ 8 )@i;Iuiuu)u:ًuB:u?4Iu=Is] 6! @ ] ;i :Ie ie e (e Q:ًe G:e 24Ie =i :Imimm m9:ًmC:uT3Iu=i :) :I}i}}/}:ً}B:})4I}=i:Is6^! @ *;Imimm%m:ًmO:m 4Im=)?%Gɇ-C5= e>eD)e=im>m>m=iIH$iH$H$H$&ɔ9~Y~;i~ \Inadequate Iridium signal strength reported: 0)9GɇؓCIi(:ً&E:24I=ɍ%=4='= H> D) |i t>>\=I;i8 %8)%%uZ2)-:-Q9)58]57i=I i   :ً 3: 3I =i ;I i ) :ً YK: ?4I =$  ,NAiIHiHHH;NNQ1Isv忬! @ v ;IYM<MM#MbUeADCP i)qIe DɔyIi":ًH:p3I=9~+Y~z锵;i~ Q9)MGɇC= >D)I;i: )~#)k:8) Q9] Q M=I9i^^%P[B_!%:Y_%5l -;-9_)ɖ)5`5  == =9 bE+9bEڐB - E'9YbEA 1 MaM?aM| )U;ae9imiim?i)yi؅؁؁)iՁiՉ)ڍQ9iɱّՕ9՝9 ֥Q9IE>)E9MGɇU#CU= uЉ>}D)}=i>`d>i= ]D)]|ie@>e>m=Im  M@IMiUUUi:ًU&E:QIU=ieɔ99~3Y~5;i~ Q9i;I5i55)5:ً5cF:5?4I==i ;I= i= E E :ًE B:E T3IA i :I-i--#5:ً59:53I5=):Isp! @ ;i*;Ii:ًR:3I!i;Ieiee-m:ًmC:mr4Im=m=Ai)]?eGɇmؓCu.= >D)I?i??9>I"<ə陵= )wm?Y ?(D  Gr-NAIJiJJ'J:ًJ&E:J&4IJ=ibiU;I]i]]]:ًeJ:epL3Ie=zz {){I{i{{{{{ |)|I|i||||| }C)}ɔe*=9~m_Y~mm7:i~i i u@)u@u\Inadequate Iridium signal strength reported: 0)u:}[Gɇ3C重= >D)|;I@>i>Xf? =I;i9 8)銥&2):锵Q9)8]/=Q =Ii^^E[B_:Y_0 /<9_ɖQ9`)<  [= 9 bM9bB - 8YbΤA 1 Na?a| )#;99i?)8i8)iQ9iQ9)8i%!ɱ%%7:%9-9 )I-;In9 n9 mAlAimAImAiE*;irII sIMQ9ɗQU8 ])eIaiimu8Pyɘ:阁 >I i B:ً =: T3I =i% ɔQ99~ԼY~;i~ )Q9Gɇ= > D)M`=IMiMM$U9:ًUcF:U3IU=ɍU<]%=]I]< a)em?YeADCP9b-B - -9Yb-A 1 -a5?a5i| )5<9A !)AI ;}=hBi oohB = ==hBIU;i]Y]e;]?e8)mQ9im8uu8)qiqiuq)}i}}yɱ}}9ՅQ9Յ: ։I/I} =Iy i 0 ً &E: 4I =i ;I%i--,-:ً-cF:-e4I-=) :sev3sauev39ueg$YueyumSm.>ɔq9~Y~锝;i~ )85Gɇ釽=  :?D)I?iN?@-?Is ! @ ;iu 0ɔ]99~e3Y~e5eQ:i~i im>m{>)9<ɇ#C= P>(D)Ii#B:ً=:3Ii>(??I;iQ9i5; )=a=n)E:MQ9)M8]MVQ UF=IU9iU8^Y^]R[B_Y]Q:Isu3! @ u;Y_ur: };y_yɖ}Q9閅`~  =  b29bB - 3:YbA 1 ai?a | );סשiϭϩ׵:͵?׵Q9)عi8)ii)8iɱ9 I;In n mlimImi;ir9 sɗQ9 8) 8I 8i Pɘ:! %o>Ii Q:ًYK:T3Iu =i ɔeQ99~~Y~锕;i~ 8)Q9ɇCIi**:ًG:pL4I釽= >1D)=Ii!Z:ً;;:3I=iu <i:i#;IH$iH$H$H(*:&4I=s2su29u"YuyuS0>ɔ9~+Y~z锭:i~ 9)8[Gɇ3C= >;D)Ii*:ًR:pL4I=i V<) c>I i " :ً 0@: p3I iE :Sj  P-NAi:IHiHHH;Is.! @ .; ><)ɔq9~Y~pU锕;i~ Q9 @)@)95Gɇ釭= >ED)I?i?,? =INI}i},i:ًH:e4I==A>Ai rIuiuu(}Z:ً}8:}24I}=z z A {){CI{i{{{{C{ |)|I|i|C||iM;|I|I }UC)}Qɔ#=9~3Y~5;i~ )Q9ɇBC= >PD)=i%P>%=%\=I-< ))-m?Y5Is/l! @ ;i < NQ1Ie ie e 'e :ًe cF:e &4Ie =q Yu L=u L=u ;u ٽ}  ADCP ) I ohBI k;$Mw  -NAiIH(iH(H(H(*ɔ99~rY~;i~ 8)8[Gɇ#C= >YD)p!> =I;i9 i=;)EEuZ)E:MQ9)MQ9]U"=Q U]=IU9iQIsmA! @ i^q^uC[B_que;Y_}; }<}:_yɖQ9閅`q  '= 9 bV9bB - s:Yb7A 1 9aڥ?a{ );׭9שiϭϱ׵7:͵?ױ)i)ii)iɱ:: Q9I;In n mlimImi;ir sɗ   8)Q9I%8i!))P1ɘ=:9 =r>Ii$:ًB:3I=i} ri%K;uuA v)vIvivvvvv w)wIwiwwww Aw x)xIxixAxxxx y)yIyiyyyyy z)zIzizzz } } ɔ=9~J1Y~锕7:i~ 9>>Ii**:ًcF:pL4I =ie EnD)E|iM>MP>U|;IU< Y)]m?Y] ɔeQ99~ Y~1锝;i~ 8\Inadequate Iridium signal strength reported: 0)95GɇC釽= 8>tD)i ɔq9~YY~锭;i~ Q9)8[GɇBC= `>{D)Ii#ً>:3I=Is ߑ! @ ;i <)@Im@ m=)m=Iuiuuur:ًuL:uIu=i%;)M-ɔe99~mqY~mxm:i~i i u@)u@)u9}5GɇC釅= 0>D)=i=X'?I;iQ9 8)銥h3):锵Q9)8][ļQ W=I9i^^K[B_Q:Y_̈́: <9_ɖQ9`W  $= 9 b9bJB - w:YbA 1 9a؞?a| );Q9i:?)U9i]8]8Y)aieQ9iee9Is}@! @ ;)aiɱٕ:Ց՝: ֙IIeimm*mQ:ًmC:mpL4Im=qqiM=i% k:Iu iu u !u :ًu B:u 3I} =i5 :8`  7x.NAi ;IH$iH$H$H$*;IMiMM+M:ًMnA:M7Y4IQeNQ1i-;iYm;mm#mνmADCP )I tɔi<9~~Y~锕eD)mu=?u==Iu^i :] T3I] =i5 ;`<  3đ.NAi :IH iH$H$H$&;Irivv,v!:ًvR:ve4Iv=IsuR! @ u0;i;)=i-;zAzA {A){AI{Ai{A{A{A{MC{I |I)|II|Ii|MyC|I|Q|Q|Q }Q)}Qɔ)=Ii+:ًJ:7Y4I=9~Y~;i~ Q9iM ;I i  & :ً 5: T4I =i5 ;Is y! @ ;I i , i:ً E6: e4I =iE;I i  ! r:ً G: 3I =)VD)ɔQ99~rY~;i~ 8=8>%\Inadequate Iridium signal strength reported: 0)%:-5Gɇ-QC5C> =>=D)=IEЉ?iEj?E?M>IM;iU: ]8)]]E3)eQ:e8)mQ9]u;U:U9i]Y]:e?aIuiuu+u:ًuG:u7Y4Iu=)ؑiؑؕؕ8)i՝9iՙ)ڝiɱ٥7: 9I =In n m l im Im i ;ir: sɗ8%Q9 5i]P=)iImQ9iu8qyPyɘ:阉 >IsU ƒ! @ Q i ;I} i} } * :ً L: pL4I =  +.NA>i:IH iH H H$&;i^k;Ii!ً%0@:%3I%=i:I-i--,-:ً-C:-e4I5=):s41su419uZ!Yuؠջyu/>ɔ99~Y~u;i~ )8ɇؓC.= V?D)I>i?@?B?I; )>m?Yi#=i :IE iE E -E Z:ًM J:M r4IM =ɍM ɔQ99~rY~;i~ 9) Q9[Gɇ%O= %>-D)-|I=;əAE4=iE9 I)MM3)Uk:]Q9)]9]eOQ eG=Ie9ie^i^uC[B_qu:I}@)IAY_ ;9_ɖ9閕8`U  =  b\9bOB - 8YbA 1 Ii&Q:ًC:T4I=af?a5| )5<=Q9EQ9iEAM:M?I)Yi]8YY)Yi]Q9ieeQ9)aieeaɱmm9mQ9m9 ֕Q9IBi6=i 9IE iE E )E :ًE x<:E ?4IE =$  I/NAi :IHiH H H$&; D)Dib;Ififff:ًfC:jT3Ij=Is%7:! @ -;i;IiB:ً>:3I=):s]3su]39uE$Yuyu/>ɔ99~颼Y~XH;i~ 8 @))=mD) =I@=i@>=I"< )m?YADCP9bPB - 8YbФA 1 a?a| )< )I '={=i ̼1 ==)\I;i   k; ? )i8)ii%!)%8i%%!ɱ--:-95: 1I5-I i  Q:ً cF: p2I =I =i <  )/NAi :IHiHH H ";iV:Ininn'r:ًrQ:r&4Ir=Is `! @ ;i:Ii)i:ً0@:?4I=)ɔQ99~XY~;i~ ) Q9ɇؓC%l= %>%D)-=i5>5l"?=L=I=;iE8 EQ9)EqE)Mk:U8)]8]]*Q ][=Iaie^i^mI[B_iqY_u] uI i & :ً &E: T4I =i >I}i:ً0@:3I=uu v)vIvi;ivvvvv w)wIwiwwwww x)xIxixxxxx yA)yIyiyyyyy z)zIzƀAizzz}}ɔu=9~Y~锵و ?D)|;I\=i> >I;i9 8)02):Q9)Q9]!z:Q 4=Ii ^^_:Y_{] ;_ɖQ9%`%=  % = ! b-9b5bB - 5x:Yb5A 1 5a=?a=| )=;E9M9iMQUk:U?UQ9)YiYaa)aieQ9iea)iimmiɱmuQ:qu9 yI};In n mlimImiX;ir: sɗ闱 8)IiPɘ: >Is= z! @ E ;I i  :ً >: pL3I =i <d  ]/NAi :IH$iH$H$H$&;IDiFM@iZ#;IZi^^%^:ً^cF:^ 4Ib=i:Ii:ً0@:p2I=);s3su39uߵ#YuɻyuS3>zaza {a){aI{ai{a{eA{a{a{i |i)|iI|ii|i|i|i|i|i }i)}iI}i}}1}:ًL:4I=i;ɔ%=9~颼Y~XH7:i~ 4>>)9 Gɇ#CIs% ӓ! @ %:-= ->-D)5I i " :ً G: p3I =i] <  hv/NAi :IHiHHH "@I"i"""9:ً&YK:$I&=$$;iZX; MIIiUUQًU0@:UpL3IU=i:):Is0! @ ;sE2sAuM29uM"YuM~yuIU'>ɔ]Q99~ CY~锅;i~ 9)Q95GɇC釭= >D)I;i8 8)44)Q::)y;]֟Q f=I:i ^^V[B_:Y_F:  <7:_!ɖ%9)`-10=  -.= 59 b5B9b=qB - =D:Yb=JA 1 EùaE9?aE{ )E;QQIYi]]'aًecF:e&4Ie=ieam*;m?i)qi}y}8)yiyiՁ)ځiɱفՉՍ9 ֕Q9IIM iI M $M *:ًI M 3IM =i X;I= i= = /= !:ً= OP:= )4IA  e/NAi:IHiHHH;iV>;Ii$ ً B: 3I =IsV ! 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