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*a code=0273 owner=001C element=02CF universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=02D0 elementURI="VerticalControl.depthCmd" type=02
*a code=0274 owner=001C element=02D0 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=02D1 elementURI="VerticalControl.depthRateCmd" type=02
*a code=0275 owner=001C element=02D1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*e code=02D2 elementURI="VerticalControl.pitchCmd" type=02
*a code=0276 owner=001C element=02D2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=02D3 elementURI="VerticalControl.pitchRateCmd" type=02
*a code=0277 owner=001C element=02D3 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=02D4 elementURI="VerticalControl.buoyancyCmd" type=02
*a code=0278 owner=001C element=02D4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*e code=02D5 elementURI="VerticalControl.massPositionCmd" type=02
*a code=0279 owner=001C element=02D5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=02D6 elementURI="VerticalControl.elevatorAngleCmd" type=02
*a code=027A owner=001C element=02D6 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=02D7 elementURI="LoopControl.periodCmd" type=02
*a code=027B owner=001C element=02D7 universal=3FFF unitName="second" type=0B size=0003 fl=04
*e code=02D8 elementURI="SpeedControl.speedCmd" type=02
*a code=027C owner=001C element=02D8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=027D owner=001C element=0073 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=027E owner=001C element=0074 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=027F owner=001C element=0075 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0280 owner=001C element=0076 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0281 owner=001C element=0077 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0282 owner=001C element=0078 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0283 owner=001C element=0079 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0284 owner=001C element=007A universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0285 owner=001C element=007B universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0286 owner=001C element=007C universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0287 owner=001C element=007D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0288 owner=001C element=007E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0289 owner=001C element=007F universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=028A owner=001C element=0080 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=028B owner=001C element=0082 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=028C owner=001C element=0081 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04
*a code=028D owner=001C element=0083 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=028E owner=001C element=0084 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=028F owner=001C element=0085 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0290 owner=001C element=0087 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0291 owner=001C element=0086 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=0292 owner=001C element=0088 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0293 owner=001C element=0089 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0294 owner=001C element=008A universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0295 owner=001C element=008B universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=0296 owner=001C element=008D universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=0297 owner=001C element=008C universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=0298 owner=001C element=008E universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=0299 owner=001C element=008F universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=029A owner=001C element=0090 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=029B owner=001C element=0091 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=029C owner=001C element=0092 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=029D owner=001C element=0093 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=029E owner=001C element=0094 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=029F owner=001C element=0095 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=02A0 owner=001C element=0096 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=02A1 owner=001C element=0097 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=02A2 owner=001C element=0098 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=02A3 owner=001C element=0099 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=02A4 owner=001C element=009A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=02A5 owner=001C element=009B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=02A6 owner=001C element=009C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02A7 owner=001C element=009D universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=02A8 owner=001C element=009E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=02A9 owner=001C element=009F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02AA owner=001C element=00A0 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=02AB owner=001C element=00A1 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=02AC owner=001C element=00A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02AD owner=001C element=00A3 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=02AE owner=001C element=006F universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=02AF owner=001C element=00A4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02B0 owner=001C element=00A5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=02B1 owner=001C element=00A6 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=02B2 owner=001C element=00A7 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=02B3 owner=001C element=00A8 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=02B4 owner=001C element=00A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=02B5 owner=001C element=019A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02B6 owner=001C element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02B7 owner=001C element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02B8 owner=001C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02B9 owner=001C element=0001 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02BA owner=001C element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02BB owner=001C element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02BC owner=001C element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=02D9 elementURI="VerticalControl.depth2buoyIntInternal" type=02
*a code=02BD owner=001C element=02D9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*e code=02DA elementURI="VerticalControl.depthErrorInternal" type=02
*a code=02BE owner=001C element=02DA universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=02DB elementURI="VerticalControl.depthIntegralInternal" type=02
*a code=02BF owner=001C element=02DB universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02DC elementURI="VerticalControl.dtInternal" type=02
*a code=02C0 owner=001C element=02DC universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=02DD elementURI="VerticalControl.elevatorIntegralInternal" type=02
*a code=02C1 owner=001C element=02DD universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02DE elementURI="VerticalControl.massIntegralInternal" type=02
*a code=02C2 owner=001C element=02DE universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=02DF elementURI="VerticalControl.massPitchErrorInternal" type=02
*a code=02C3 owner=001C element=02DF universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02E0 elementURI="VerticalControl.pitchInternal" type=02
*a code=02C4 owner=001C element=02E0 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02E1 elementURI="VerticalControl.smoothDepthInternal" type=02
*a code=02C5 owner=001C element=02E1 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=02C6 owner=001C element=02D8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=02E2 elementURI="VerticalControl.elevatorAngleAction" type=02
*a code=02C7 owner=001C element=02E2 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02E3 elementURI="VerticalControl.massPositionAction" type=02
*a code=02C8 owner=001C element=02E3 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=02E4 elementURI="VerticalControl.buoyancyAction" type=02
*a code=02C9 owner=001C element=02E4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=02CA owner=001C element=02E2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=02CB owner=001C element=02E3 universal=3FFF unitName="meter" type=0B size=0003 fl=04
1��N�#X

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|SyncComponent "VerticalControl" handled in the control thread.*n code=001D name="HorizontalControl"
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8Construct HorizontalControl.*e code=02E5 elementURI="HorizontalControl.horizontalMode" type=02
*a code=02CC owner=001D element=02E5 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=02E6 elementURI="HorizontalControl.latitudeCmd" type=02
*a code=02CD owner=001D element=02E6 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=02E7 elementURI="HorizontalControl.longitudeCmd" type=02
*a code=02CE owner=001D element=02E7 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=02E8 elementURI="HorizontalControl.headingCmd" type=02
*a code=02CF owner=001D element=02E8 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=02E9 elementURI="HorizontalControl.headingRateCmd" type=02
*a code=02D0 owner=001D element=02E9 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=02EA elementURI="HorizontalControl.rudderAngleCmd" type=02
*a code=02D1 owner=001D element=02EA universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=02EB elementURI="HorizontalControl.bearingCmd" type=02
*a code=02D2 owner=001D element=02EB universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=02D3 owner=001D element=0063 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=02D4 owner=001D element=0064 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=02D5 owner=001D element=0065 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=02D6 owner=001D element=0066 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=02D7 owner=001D element=0067 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=02D8 owner=001D element=0068 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04
*a code=02D9 owner=001D element=0069 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=02DA owner=001D element=006A universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=02DB owner=001D element=006B universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02DC owner=001D element=006C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02DD owner=001D element=006D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02DE owner=001D element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02DF owner=001D element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02E0 owner=001D element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02E1 owner=001D element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02E2 owner=001D element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=02EC elementURI="HorizontalControl.headingInternal" type=02
*a code=02E3 owner=001D element=02EC universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02ED elementURI="HorizontalControl.smoothHeadingInternal" type=02
*a code=02E4 owner=001D element=02ED universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02EE elementURI="HorizontalControl.headingIntegralInternal" type=02
*a code=02E5 owner=001D element=02EE universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02EF elementURI="HorizontalControl.xteIntegralInternal" type=02
*a code=02E6 owner=001D element=02EF universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02F0 elementURI="HorizontalControl.xteInternal" type=02
*a code=02E7 owner=001D element=02F0 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=02F1 elementURI="HorizontalControl.kxteInternal" type=02
*a code=02E8 owner=001D element=02F1 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02F2 elementURI="HorizontalControl.bearingInternal" type=02
*a code=02E9 owner=001D element=02F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=02F3 elementURI="HorizontalControl.rudderAngleAction" type=02
*a code=02EA owner=001D element=02F3 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=02EB owner=001D element=02F3 universal=3FFF unitName="radian" type=2F size=0004 fl=04
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�SyncComponent "HorizontalControl" handled in the control thread.*n code=001E name="SpeedControl"

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.Construct SpeedControl.*a code=02EC owner=001E element=02D8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=02ED owner=001E element=0071 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
*a code=02EE owner=001E element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=02F4 elementURI="SpeedControl.propOmegaAction" type=02
*a code=02EF owner=001E element=02F4 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
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vSyncComponent "SpeedControl" handled in the control thread.*n code=001F name="LoopControl"
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,Construct LoopControl.*a code=02F0 owner=001F element=02D7 universal=3FFF unitName="second" type=0B size=0003 fl=04
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tSyncComponent "LoopControl" handled in the control thread.��?O�#X
�Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)��?O�#X
@Loading Module at Modules/BIT.so*n code=0020 name="SBIT"

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@Construct Startup Built In Test.*e code=02F5 elementURI="SBIT.SBITRunning" type=02
*a code=02F1 owner=0020 element=02F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=02F2 owner=0020 element=02CF universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=02F3 owner=0020 element=02D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=02F4 owner=0020 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02F5 owner=0020 element=02D5 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=02F6 owner=0020 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02F7 owner=0020 element=02E5 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=02F8 owner=0020 element=02EA universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=02F9 owner=0020 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=02FA owner=0020 element=00BD universal=3FFF unitName="none" type=00 size=0008 fl=04
*a code=02FB owner=0020 element=00BE universal=3FFF unitName="none" type=00 size=0029 fl=04
*a code=02FC owner=0020 element=007E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=02FD owner=0020 element=0096 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=02FE owner=0020 element=0097 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=02FF owner=0020 element=006D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0300 owner=0020 element=019A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0301 owner=0020 element=01A6 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0302 owner=0020 element=01B3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
1��O�#X

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fSyncComponent "SBIT" handled in the control thread.*n code=0021 name="IBIT"
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DConstruct Initiated Built In Test.*a code=0303 owner=0021 element=005E universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=0304 owner=0021 element=02CF universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0305 owner=0021 element=02D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0306 owner=0021 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0307 owner=0021 element=005A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0308 owner=0021 element=0012 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0309 owner=0021 element=0015 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=030A owner=0021 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=030B owner=0021 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=030C owner=0021 element=02F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=02F6 elementURI="NAL9602.sigQuality" type=02
*a code=030D owner=0021 element=02F6 universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=02F7 elementURI="NAL9602.goodFix" type=02
*a code=030E owner=0021 element=02F7 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=030F owner=0021 element=02E5 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0310 owner=0021 element=02EA universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0311 owner=0021 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=02F8 elementURI="Onboard.Pressure" type=02
*a code=0312 owner=0021 element=02F8 universal=3FFF unitName="pascal" type=0B size=0003 fl=04
*e code=02F9 elementURI="Onboard.Humidity" type=02
*a code=0313 owner=0021 element=02F9 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0314 owner=0021 element=00C0 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04
*a code=0315 owner=0021 element=00C1 universal=3FFF unitName="volt" type=0B size=0003 fl=04
*a code=0316 owner=0021 element=00AD universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0317 owner=0021 element=00AC universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0318 owner=0021 element=00AE universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0319 owner=0021 element=00AF universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
*a code=031A owner=0021 element=0076 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=031B owner=0021 element=007E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=031C owner=0021 element=006D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=031D owner=0021 element=00A8 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=031E owner=0021 element=0093 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=031F owner=0021 element=019A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
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�SyncComponent "DeadReckonUsingMultipleVelocitySourcesVector" handled in the control thread.*n code=0029 name="DeadReckonUsingMultipleVelocitySources"
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*e code=038B elementURI="Batt_Ocean_Server.BattStatus_5" type=00
*a code=0446 owner=0037 element=038B universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=038C elementURI="Batt_Ocean_Server.BattVoltage_5" type=00
*a code=0447 owner=0037 element=038C universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=038D elementURI="Batt_Ocean_Server.BattCurrent_5" type=00
*a code=0448 owner=0037 element=038D universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*a code=0449 owner=0037 element=0302 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=038E elementURI="Batt_Ocean_Server.BattCapacity_5" type=00
*a code=044A owner=0037 element=038E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=038F elementURI="Batt_Ocean_Server.BattStatus_6" type=00
*a code=044B owner=0037 element=038F universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=0390 elementURI="Batt_Ocean_Server.BattVoltage_6" type=00
*a code=044C owner=0037 element=0390 universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=0391 elementURI="Batt_Ocean_Server.BattCurrent_6" type=00
*a code=044D owner=0037 element=0391 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*a code=044E owner=0037 element=0303 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0392 elementURI="Batt_Ocean_Server.BattCapacity_6" type=00
*a code=044F owner=0037 element=0392 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0393 elementURI="Batt_Ocean_Server.BattStatus_7" type=00
*a code=0450 owner=0037 element=0393 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=0394 elementURI="Batt_Ocean_Server.BattVoltage_7" type=00
*a code=0451 owner=0037 element=0394 universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=0395 elementURI="Batt_Ocean_Server.BattCurrent_7" type=00
*a code=0452 owner=0037 element=0395 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*a code=0453 owner=0037 element=0304 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0396 elementURI="Batt_Ocean_Server.BattCapacity_7" type=00
*a code=0454 owner=0037 element=0396 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0397 elementURI="Batt_Ocean_Server.BattStatus_8" type=00
*a code=0455 owner=0037 element=0397 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=0398 elementURI="Batt_Ocean_Server.BattVoltage_8" type=00
*a code=0456 owner=0037 element=0398 universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=0399 elementURI="Batt_Ocean_Server.BattCurrent_8" type=00
*a code=0457 owner=0037 element=0399 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*a code=0458 owner=0037 element=0305 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=039A elementURI="Batt_Ocean_Server.BattCapacity_8" type=00
*a code=0459 owner=0037 element=039A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=039B elementURI="Batt_Ocean_Server.BattStatus_9" type=00
*a code=045A owner=0037 element=039B universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=039C elementURI="Batt_Ocean_Server.BattVoltage_9" type=00
*a code=045B owner=0037 element=039C universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=039D elementURI="Batt_Ocean_Server.BattCurrent_9" type=00
*a code=045C owner=0037 element=039D universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*a code=045D owner=0037 element=0306 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=039E elementURI="Batt_Ocean_Server.BattCapacity_9" type=00
*a code=045E owner=0037 element=039E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=039F elementURI="Batt_Ocean_Server.platform_battery_charge" type=00
*a code=045F owner=0037 element=039F universal=001A unitName="ampere_hour" type=0B size=0003 fl=05
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aD*e code=03A0 elementURI="Batt_Ocean_Server.platform_battery_voltage" type=00
*a code=0460 owner=0037 element=03A0 universal=001D unitName="unspecified" type=0B size=0003 fl=05
*e code=03A1 elementURI="Batt_Ocean_Server.platform_battery_discharging" type=00
*a code=0461 owner=0037 element=03A1 universal=001F unitName="bool" type=02 size=0001 fl=05
*e code=03A2 elementURI="Batt_Ocean_Server.platform_battery_fully_charged" type=00
*a code=0462 owner=0037 element=03A2 universal=001E unitName="bool" type=02 size=0001 fl=05
*a code=0463 owner=0037 element=00C0 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04
*a code=0464 owner=0037 element=00C1 universal=3FFF unitName="volt" type=0B size=0003 fl=04
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�SyncComponent "Batt_Ocean_Server" handled in the control thread.*n code=0038 name="Depth_Keller"
*a code=0465 owner=0038 element=0140 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0466 owner=0038 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03A3 elementURI="Depth_Keller.depth" type=00
*a code=0467 owner=0038 element=03A3 universal=0000 unitName="meter" type=0B size=0003 fl=05
*e code=03A4 elementURI="Depth_Keller.sea_water_pressure" type=00
*a code=0468 owner=0038 element=03A4 universal=0050 unitName="decibar" type=0B size=0003 fl=05
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HC*a code=0469 owner=0038 element=0142 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
*a code=046A owner=0038 element=0143 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04
*a code=046B owner=0038 element=0144 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
*a code=046C owner=0038 element=0145 universal=3FFF unitName="decibar" type=0B size=0003 fl=04
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vSyncComponent "Depth_Keller" handled in the control thread.*n code=0039 name="DropWeight"
*e code=03A5 elementURI="DropWeight.dropWeightState" type=02
*a code=046D owner=0039 element=03A5 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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rSyncComponent "DropWeight" handled in the control thread.*n code=003A name="DVL_micro"
*a code=046E owner=003A element=0149 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=03A6 elementURI="DVL_micro.height_above_sea_floor" type=00
*a code=046F owner=003A element=03A6 universal=000E unitName="meter" type=0B size=0003 fl=05
*e code=03A7 elementURI="DVL_micro.platform_orientation" type=00
*a code=0470 owner=003A element=03A7 universal=002B unitName="degree" type=2F size=0004 fl=05
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=*e code=03A8 elementURI="DVL_micro.platform_magnetic_orientation" type=00
*a code=0471 owner=003A element=03A8 universal=0029 unitName="degree" type=2F size=0004 fl=05
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=*e code=03A9 elementURI="DVL_micro.platform_pitch_angle" type=00
*a code=0472 owner=003A element=03A9 universal=002D unitName="degree" type=2F size=0004 fl=05
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=*e code=03AA elementURI="DVL_micro.platform_roll_angle" type=00
*a code=0473 owner=003A element=03AA universal=0032 unitName="degree" type=2F size=0004 fl=05
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=*e code=03AB elementURI="DVL_micro.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003
*a code=0474 owner=003A element=03AB universal=002C unitName="none" type=00 size=0000 fl=05
*e code=03AC elementURI="DVL_micro.platform_speed_wrt_ground" type=00
*a code=0475 owner=003A element=03AC universal=0035 unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03AD elementURI="DVL_micro.platform_speed_wrt_sea_water" type=00
*a code=0476 owner=003A element=03AD universal=0036 unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03AE elementURI="DVL_micro.platform_velocity_wrt_ground" type=12 blobType=11 fixedSize=0003
*a code=0477 owner=003A element=03AE universal=0038 unitName="meter_per_second" type=00 size=0000 fl=05
*e code=03AF elementURI="DVL_micro.platform_x_velocity_wrt_ground" type=00
*a code=0478 owner=003A element=03AF universal=003B unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03B0 elementURI="DVL_micro.platform_y_velocity_wrt_ground" type=00
*a code=0479 owner=003A element=03B0 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03B1 elementURI="DVL_micro.platform_z_velocity_wrt_ground" type=00
*a code=047A owner=003A element=03B1 universal=0045 unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03B2 elementURI="DVL_micro.platform_velocity_wrt_sea_water" type=12 blobType=11 fixedSize=0003
*a code=047B owner=003A element=03B2 universal=0039 unitName="meter_per_second" type=00 size=0000 fl=05
*a code=047C owner=003A element=0347 universal=003C unitName="meter_per_second" type=0B size=0003 fl=05
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;*a code=047D owner=003A element=0348 universal=0040 unitName="meter_per_second" type=0B size=0003 fl=05
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;*a code=047E owner=003A element=0349 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05
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;*e code=03B3 elementURI="DVL_micro.platform_x_velocity_current" type=00
*a code=047F owner=003A element=03B3 universal=003D unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03B4 elementURI="DVL_micro.platform_y_velocity_current" type=00
*a code=0480 owner=003A element=03B4 universal=0041 unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03B5 elementURI="DVL_micro.platform_z_velocity_current" type=00
*a code=0481 owner=003A element=03B5 universal=0047 unitName="meter_per_second" type=0B size=0003 fl=05
*e code=03B6 elementURI="DVL_micro.Status" type=02
*a code=0482 owner=003A element=03B6 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03B7 elementURI="DVL_micro.Beam1Good" type=02
*a code=0483 owner=003A element=03B7 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03B8 elementURI="DVL_micro.Beam2Good" type=02
*a code=0484 owner=003A element=03B8 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03B9 elementURI="DVL_micro.Beam3Good" type=02
*a code=0485 owner=003A element=03B9 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03BA elementURI="DVL_micro.Beam4Good" type=02
*a code=0486 owner=003A element=03BA universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03BB elementURI="DVL_micro.Altitude1" type=02
*a code=0487 owner=003A element=03BB universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=03BC elementURI="DVL_micro.Altitude2" type=02
*a code=0488 owner=003A element=03BC universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=03BD elementURI="DVL_micro.Altitude3" type=02
*a code=0489 owner=003A element=03BD universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=03BE elementURI="DVL_micro.Altitude4" type=02
*a code=048A owner=003A element=03BE universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=03BF elementURI="DVL_micro.BottomVelocityFlag" type=02
*a code=048B owner=003A element=03BF universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C0 elementURI="DVL_micro.WaterVelocityFlag" type=02
*a code=048C owner=003A element=03C0 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=048D owner=003A element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=048E owner=003A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=048F owner=003A element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0490 owner=003A element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0491 owner=003A element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0492 owner=003A element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0493 owner=003A element=014B universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0494 owner=003A element=014C universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0495 owner=003A element=014D universal=3FFF unitName="degree" type=2F size=0004 fl=04
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pSyncComponent "DVL_micro" handled in the control thread.*n code=003B name="NAL9602"
*a code=0496 owner=003B element=0152 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0497 owner=003B element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0498 owner=003B element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0499 owner=003B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03C1 elementURI="NAL9602.SNRSatellite_0" type=00
*a code=049A owner=003B element=03C1 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C2 elementURI="NAL9602.SNRSatellite_1" type=00
*a code=049B owner=003B element=03C2 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C3 elementURI="NAL9602.SNRSatellite_2" type=00
*a code=049C owner=003B element=03C3 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C4 elementURI="NAL9602.SNRSatellite_3" type=00
*a code=049D owner=003B element=03C4 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C5 elementURI="NAL9602.SNRSatellite_4" type=00
*a code=049E owner=003B element=03C5 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C6 elementURI="NAL9602.SNRSatellite_5" type=00
*a code=049F owner=003B element=03C6 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C7 elementURI="NAL9602.SNRSatellite_6" type=00
*a code=04A0 owner=003B element=03C7 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C8 elementURI="NAL9602.SNRSatellite_7" type=00
*a code=04A1 owner=003B element=03C8 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03C9 elementURI="NAL9602.SNRSatellite_8" type=00
*a code=04A2 owner=003B element=03C9 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03CA elementURI="NAL9602.SNRSatellite_9" type=00
*a code=04A3 owner=003B element=03CA universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03CB elementURI="NAL9602.SNRSatellite_10" type=00
*a code=04A4 owner=003B element=03CB universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03CC elementURI="NAL9602.SNRSatellite_11" type=00
*a code=04A5 owner=003B element=03CC universal=3FFF unitName="count" type=0D size=0004 fl=05
*a code=04A6 owner=003B element=02F7 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=03CD elementURI="NAL9602.numSatellites" type=02
*a code=04A7 owner=003B element=03CD universal=3FFF unitName="count" type=0D size=0004 fl=05
*a code=04A8 owner=003B element=02F6 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03CE elementURI="NAL9602.SOG" type=02
*a code=04A9 owner=003B element=03CE universal=3FFF unitName="knot" type=0B size=0003 fl=05
*e code=03CF elementURI="NAL9602.COG" type=02
*a code=04AA owner=003B element=03CF universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03D0 elementURI="NAL9602.time_fix" type=00
*a code=04AB owner=003B element=03D0 universal=005A unitName="second" type=0B size=0003 fl=05
*e code=03D1 elementURI="NAL9602.latitude_fix" type=00
*a code=04AC owner=003B element=03D1 universal=0012 unitName="degree" type=37 size=0006 fl=05
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;4*e code=03D2 elementURI="NAL9602.longitude_fix" type=00
*a code=04AD owner=003B element=03D2 universal=0015 unitName="degree" type=37 size=0006 fl=05
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;4*e code=03D3 elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002
*a code=04AE owner=003B element=03D3 universal=0013 unitName="degree" type=00 size=0000 fl=05
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;4*e code=03D4 elementURI="NAL9602.platform_communications" type=00
*a code=04AF owner=003B element=03D4 universal=0021 unitName="bool" type=02 size=0001 fl=05
*a code=04B0 owner=003B element=00A8 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04B1 owner=003B element=0254 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04B2 owner=003B element=0255 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04B3 owner=003B element=014E universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04B4 owner=003B element=014F universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04B5 owner=003B element=0150 universal=3FFF unitName="bool" type=02 size=0001 fl=04
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lSyncComponent "NAL9602" handled in the control thread.*n code=003C name="Onboard"
*a code=04B6 owner=003C element=0156 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04B7 owner=003C element=02F8 universal=3FFF unitName="pascal" type=0B size=0003 fl=05
*a code=04B8 owner=003C element=02FC universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*a code=04B9 owner=003C element=02F9 universal=3FFF unitName="percent" type=0B size=0003 fl=05
*e code=03D5 elementURI="Onboard.SecBattCurrent" type=02
*a code=04BA owner=003C element=03D5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=03D6 elementURI="Onboard.EmergBattCurrent" type=02
*a code=04BB owner=003C element=03D6 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=03D7 elementURI="Onboard.MB5VCurrent" type=02
*a code=04BC owner=003C element=03D7 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=03D8 elementURI="Onboard.MB3p15VCurrent" type=02
*a code=04BD owner=003C element=03D8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=03D9 elementURI="Onboard.MB3p3VCurrent" type=02
*a code=04BE owner=003C element=03D9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=03DA elementURI="Onboard.MB1p8VCurrent" type=02
*a code=04BF owner=003C element=03DA universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=03DB elementURI="Onboard.platform_average_current" type=00
*a code=04C0 owner=003C element=03DB universal=0019 unitName="milliampere" type=0B size=0003 fl=05
m��X�#X
�9*e code=03DC elementURI="Onboard.platform_battery_charge_usage" type=00
*a code=04C1 owner=003C element=03DC universal=001B unitName="unspecified" type=0B size=0003 fl=05
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aD*a code=04C2 owner=003C element=0157 universal=3FFF unitName="pound_per_square_inch_per_volt" type=0B size=0003 fl=04
*a code=04C3 owner=003C element=0158 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
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lSyncComponent "Onboard" handled in the control thread.*n code=003D name="Radio_Freewave"
*a code=04C4 owner=003D element=0169 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04C5 owner=003D element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03DD elementURI="Radio_Freewave.FreewavePower" type=02
*a code=04C6 owner=003D element=03DD universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=04C7 owner=003D element=016B universal=3FFF unitName="meter" type=0B size=0003 fl=04
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jComponent "Radio_Freewave" handled in its own thread.*n code=003E name="Radio_Freewave ThreadHandler"

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DCreated PCaller Thread at 407D44E0��X�#X
DProtected caller Thread ID is 2546*n code=003F name="Radio_Surface"
*a code=04C8 owner=003F element=016F universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04C9 owner=003F element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03DE elementURI="Radio_Surface.RadioPower" type=02
*a code=04CA owner=003F element=03DE universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=04CB owner=003F element=0171 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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hComponent "Radio_Surface" handled in its own thread.*n code=0040 name="Radio_Surface ThreadHandler"

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DCreated PCaller Thread at 408044E0 ��X�#X
DProtected caller Thread ID is 2547*n code=0041 name="DAT"
*a code=04CC owner=0041 element=013D universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04CD owner=0041 element=013E universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=03DF elementURI="DAT.queryAddressRequested" type=02
*a code=04CE owner=0041 element=03DF universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=03E0 elementURI="DAT.numberOfPingsRequested" type=02
*a code=04CF owner=0041 element=03E0 universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=03E1 elementURI="DAT.LVL1" type=02
*a code=04D0 owner=0041 element=03E1 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E2 elementURI="DAT.LVL2" type=02
*a code=04D1 owner=0041 element=03E2 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E3 elementURI="DAT.LVL3" type=02
*a code=04D2 owner=0041 element=03E3 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E4 elementURI="DAT.LVL4" type=02
*a code=04D3 owner=0041 element=03E4 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E5 elementURI="DAT.AGC" type=02
*a code=04D4 owner=0041 element=03E5 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E6 elementURI="DAT.IDXPeak" type=02
*a code=04D5 owner=0041 element=03E6 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E7 elementURI="DAT.IDXFit" type=02
*a code=04D6 owner=0041 element=03E7 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03E8 elementURI="DAT.IDXPhase" type=02
*a code=04D7 owner=0041 element=03E8 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03E9 elementURI="DAT.phaseA" type=02
*a code=04D8 owner=0041 element=03E9 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03EA elementURI="DAT.phaseB" type=02
*a code=04D9 owner=0041 element=03EA universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03EB elementURI="DAT.phaseC" type=02
*a code=04DA owner=0041 element=03EB universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03EC elementURI="DAT.vectorMagnitude" type=02
*a code=04DB owner=0041 element=03EC universal=3FFF unitName="none" type=1F size=0008 fl=05
*e code=03ED elementURI="DAT.rawAzimuth" type=02
*a code=04DC owner=0041 element=03ED universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03EE elementURI="DAT.rawElevation" type=02
*a code=04DD owner=0041 element=03EE universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03EF elementURI="DAT.calibratedAzimuth" type=02
*a code=04DE owner=0041 element=03EF universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03F0 elementURI="DAT.calibratedElevation" type=02
*a code=04DF owner=0041 element=03F0 universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03F1 elementURI="DAT.rotatedAzimuth" type=02
*a code=04E0 owner=0041 element=03F1 universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03F2 elementURI="DAT.rotatedElevation" type=02
*a code=04E1 owner=0041 element=03F2 universal=3FFF unitName="degree" type=2F size=0004 fl=05
*e code=03F3 elementURI="DAT.remoteAddress" type=02
*a code=04E2 owner=0041 element=03F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=04E3 owner=0041 element=013E universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=03F4 elementURI="DAT.range" type=02
*a code=04E4 owner=0041 element=03F4 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=03F5 elementURI="DAT.azimuth_instrumentFrame" type=02
*a code=04E5 owner=0041 element=03F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03F6 elementURI="DAT.elevation_instrumentFrame" type=02
*a code=04E6 owner=0041 element=03F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03F7 elementURI="DAT.azimuth_vehicleFrame" type=02
*a code=04E7 owner=0041 element=03F7 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03F8 elementURI="DAT.elevation_vehicleFrame" type=02
*a code=04E8 owner=0041 element=03F8 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=03F9 elementURI="DAT.direction_instrumentFrame" type=12 blobType=11 fixedSize=0003
*a code=04E9 owner=0041 element=03F9 universal=3FFF unitName="none" type=00 size=0000 fl=05
*e code=03FA elementURI="DAT.direction_vehicleFrame" type=12 blobType=11 fixedSize=0003
*a code=04EA owner=0041 element=03FA universal=3FFF unitName="none" type=00 size=0000 fl=05
q�LY�#X

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dSyncComponent "DAT" handled in the control thread.��MY�#X
lLoaded Module: Sensor (Contains the sensor components)��NY�#X
DLoading Module at Modules/Servo.so*n code=0042 name="BuoyancyServo"
*a code=04EB owner=0042 element=017E universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04EC owner=0042 element=017F universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04ED owner=0042 element=0180 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04EE owner=0042 element=0181 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=04EF owner=0042 element=0182 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04F0 owner=0042 element=0183 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04F1 owner=0042 element=0184 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04F2 owner=0042 element=0185 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04F3 owner=0042 element=0186 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04F4 owner=0042 element=0187 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=04F5 owner=0042 element=0188 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04F6 owner=0042 element=0189 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04F7 owner=0042 element=018A universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04
*a code=04F8 owner=0042 element=018B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04F9 owner=0042 element=018C universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04FA owner=0042 element=018D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04FB owner=0042 element=0073 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04FC owner=0042 element=0077 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04FD owner=0042 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=03FB elementURI="BuoyancyServo.platform_buoyancy_position" type=00
*a code=04FE owner=0042 element=03FB universal=0020 unitName="cubic_centimeter" type=0B size=0003 fl=05
����Y�#X
�4*a code=04FF owner=0042 element=02E4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
���Y�#X

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xSyncComponent "BuoyancyServo" handled in the control thread.*n code=0043 name="ElevatorServo"
*a code=0500 owner=0043 element=018F universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0501 owner=0043 element=0190 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0502 owner=0043 element=0191 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0503 owner=0043 element=0192 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0504 owner=0043 element=0193 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0505 owner=0043 element=0194 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0506 owner=0043 element=0195 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0507 owner=0043 element=0196 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0508 owner=0043 element=0197 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0509 owner=0043 element=0198 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=050A owner=0043 element=0199 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=050B owner=0043 element=019A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=050C owner=0043 element=007D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=03FC elementURI="ElevatorServo.platform_elevator_angle" type=00
*a code=050D owner=0043 element=03FC universal=0026 unitName="radian" type=2F size=0004 fl=05
����Y�#X
�;*a code=050E owner=0043 element=02E2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
���Y�#X

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xSyncComponent "ElevatorServo" handled in the control thread.*n code=0044 name="MassServo"
*a code=050F owner=0044 element=019C universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0510 owner=0044 element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0511 owner=0044 element=019E universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0512 owner=0044 element=019F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0513 owner=0044 element=01A0 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0514 owner=0044 element=01A1 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0515 owner=0044 element=01A2 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0516 owner=0044 element=01A3 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0517 owner=0044 element=01A4 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0518 owner=0044 element=01A5 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04
*a code=0519 owner=0044 element=01A6 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=051A owner=0044 element=0092 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*e code=03FD elementURI="MassServo.platform_mass_position" type=00
*a code=051B owner=0044 element=03FD universal=002A unitName="meter" type=0B size=0003 fl=05
*a code=051C owner=0044 element=02E3 universal=3FFF unitName="meter" type=0B size=0003 fl=04
1��Y�#X

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pSyncComponent "MassServo" handled in the control thread.*n code=0045 name="RudderServo"
*a code=051D owner=0045 element=01A8 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=051E owner=0045 element=01A9 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=051F owner=0045 element=01AA universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0520 owner=0045 element=01AB universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0521 owner=0045 element=01AC universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0522 owner=0045 element=01AD universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0523 owner=0045 element=01AE universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0524 owner=0045 element=01AF universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0525 owner=0045 element=01B0 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0526 owner=0045 element=01B1 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=0527 owner=0045 element=01B2 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0528 owner=0045 element=01B3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0529 owner=0045 element=006C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=03FE elementURI="RudderServo.platform_rudder_angle" type=00
*a code=052A owner=0045 element=03FE universal=0034 unitName="radian" type=2F size=0004 fl=05
*a code=052B owner=0045 element=02F3 universal=3FFF unitName="radian" type=2F size=0004 fl=04
q��Y�#X

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tSyncComponent "RudderServo" handled in the control thread.*n code=0046 name="ThrusterServo"
*a code=052C owner=0046 element=01B5 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=03FF elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00
*a code=052D owner=0046 element=03FF universal=0030 unitName="radian_per_second" type=0B size=0003 fl=05
*a code=052E owner=0046 element=02F4 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=052F owner=0046 element=01B6 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0530 owner=0046 element=01B7 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0531 owner=0046 element=01B8 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0532 owner=0046 element=01B9 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0533 owner=0046 element=01BA universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0534 owner=0046 element=01BB universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0535 owner=0046 element=01BC universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0536 owner=0046 element=01BD universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04
*a code=0537 owner=0046 element=01BE universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04
*a code=0538 owner=0046 element=01BF universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0539 owner=0046 element=01C0 universal=3FFF unitName="count" type=0D size=0004 fl=04
���Y�#X

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xSyncComponent "ThrusterServo" handled in the control thread.���Y�#X
�Loaded Module: Servo (This is the module containing motor controllers)���Y�#X
LLoading Module at Modules/Simulator.so*n code=0047 name="InternalSim"
*a code=053A owner=0047 element=004C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=053B owner=0047 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=053C owner=0047 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=053D owner=0047 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0400 elementURI="InternalSim.platform_orientation" type=00
*a code=053E owner=0047 element=0400 universal=002B unitName="degree" type=2F size=0004 fl=05
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an*e code=0401 elementURI="InternalSim.platform_pitch_angle" type=00
*a code=053F owner=0047 element=0401 universal=002D unitName="degree" type=2F size=0004 fl=05
��OZ�#X
an*e code=0402 elementURI="InternalSim.platform_roll_angle" type=00
*a code=0540 owner=0047 element=0402 universal=0032 unitName="degree" type=2F size=0004 fl=05
�	�TZ�#X
an*a code=0541 owner=0047 element=0000 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0403 elementURI="InternalSim.depth" type=00
*a code=0542 owner=0047 element=0403 universal=0000 unitName="meter" type=0B size=0003 fl=05
*a code=0543 owner=0047 element=0012 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0544 owner=0047 element=0015 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0545 owner=0047 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0546 owner=0047 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0404 elementURI="InternalSim.latitude" type=00
*a code=0547 owner=0047 element=0404 universal=0011 unitName="degree" type=37 size=0006 fl=05
��^Z�#X
an*e code=0405 elementURI="InternalSim.longitude" type=00
*a code=0548 owner=0047 element=0405 universal=0014 unitName="degree" type=37 size=0006 fl=05
��cZ�#X
an*a code=0549 owner=0047 element=02F4 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=054A owner=0047 element=02E2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=054B owner=0047 element=02F3 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=054C owner=0047 element=02E3 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=0406 elementURI="InternalSim.platform_propeller_rotation_rate" type=00
*a code=054D owner=0047 element=0406 universal=0030 unitName="radian_per_second" type=0B size=0003 fl=05
*e code=0407 elementURI="InternalSim.platform_elevator_angle" type=00
*a code=054E owner=0047 element=0407 universal=0026 unitName="radian" type=2F size=0004 fl=05
��mZ�#X
an*e code=0408 elementURI="InternalSim.platform_rudder_angle" type=00
*a code=054F owner=0047 element=0408 universal=0034 unitName="radian" type=2F size=0004 fl=05
�!�qZ�#X
an*e code=0409 elementURI="InternalSim.platform_mass_position" type=00
*a code=0550 owner=0047 element=0409 universal=002A unitName="meter" type=0B size=0003 fl=05
*a code=0551 owner=0047 element=00A8 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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tSyncComponent "InternalSim" handled in the control thread.��wZ�#X
�Loaded Module: Simulator (This is the module containing the Simulator)��xZ�#X
HLoading Module at Modules/Trigger.so���Z�#X
|Loaded Module: Trigger (Contains triggers for use in missions)*n code=0048 name="MissionManager"
*a code=0552 owner=0048 element=02F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0553 owner=0048 element=005E universal=3FFF unitName="bool" type=02 size=0001 fl=04
ƿ�Z�#X
zSyncComponent "MissionManager" handled in the control thread.*n code=0049 name="Reporter"
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nSyncComponent "Reporter" handled in the control thread.*n code=004A name="NavChartDb"
*e code=040A elementURI="NavChartDb.closestDistance" type=02
*a code=0554 owner=004A element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=040B elementURI="NavChartDb.nextDistance" type=02
*a code=0555 owner=004A element=040B universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=040C elementURI="NavChartDb.closestDepth" type=02
*a code=0556 owner=004A element=040C universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=040D elementURI="NavChartDb.nextDepth" type=02
*a code=0557 owner=004A element=040D universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=0558 owner=004A element=00EE universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
ƿ�Z�#X
bComponent "NavChartDb" handled in its own thread.*n code=004B name="NavChartDb ThreadHandler"
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DCreated PCaller Thread at 408B54E0�%��Z�#X
DProtected caller Thread ID is 2548N��Z�#X
,Main Thread ID is 2458F��Z�#X
&Running supervisor.���Z�#X
2Handler Thread ID is 2549!���Z�#X
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2Handler Thread ID is 2550
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4Initializing ControlThread
��Z�#X
HInitialize VerticalControlComponent.���Z�#X
LInitialize HorizontalControlComponent.
��Z�#X
BInitialize SpeedControlComponent.���Z�#X
@Initialize LoopControlComponent.��Z�#X
4Initialize SBIT Component.=��Z�#X
FTethys CM Info: SVN revision: 11644=��Z�#X
0Kernel Release: 2.6.27.8=��Z�#X
pKernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014)^��Z�#X

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4Initialize IBIT Component.i`��Z�#X

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4Initialize CBIT Component.��Z�#X
TLast reboot was NOT due to watchdog timer.���Z�#X
2Handler Thread ID is 2551��Z�#X
2Handler Thread ID is 2552���Z�#X
6Initializing CTD_NeilBrown.���Z�#X
BInitializing DepthRateCalculator.
��Z�#X
BInitializing PitchRateCalculator.���Z�#X
:Initializing SpeedCalculator.
��Z�#X
HInitializing TempGradientCalculator.���Z�#X
>Initializing YawRateCalculator.
��Z�#X
�Initializing DeadReckonUsingMultipleVelocitySourcesVector component.���Z�#X
|Initializing DeadReckonUsingMultipleVelocitySources component.
��Z�#X
hInitializing DeadReckonWithRespectToWater component.���Z�#X
nInitializing DeadReckonWithRespectToSeafloor component.
��Z�#X
hInitializing DeadReckonUsingDVLWaterTrack component.���Z�#X
vInitializing DeadReckonUsingCompactModelForecast component.
��Z�#X
>Initialize NavChart Navigation.���Z�#X
|Initializing DeadReckonUsingMultipleVelocitySources component.���Z�#X
FOpening uart, block timeout 10ths=4*e code=040E elementURI="CTD_NeilBrown.durationOfLastRun" type=00
*a code=0559 owner=0031 element=040E universal=3FFF unitName="second" type=07 size=0002 fl=05
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2Handler Thread ID is 2554
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Powering down*e code=040F elementURI="WetLabsBB2FL.component_voltage" type=00
*a code=055A owner=0034 element=040F universal=3FFF unitName="volt" type=07 size=0002 fl=05
I���Z�#X
*e code=0410 elementURI="WetLabsBB2FL.component_avgVoltage" type=00
*a code=055B owner=0034 element=0410 universal=3FFF unitName="volt" type=07 size=0002 fl=05
i���Z�#X
*e code=0411 elementURI="WetLabsBB2FL.component_current" type=00
*a code=055C owner=0034 element=0411 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
����Z�#X
*e code=0412 elementURI="logger.durationOfLastRun" type=00
*a code=055D owner=000A element=0412 universal=3FFF unitName="second" type=07 size=0002 fl=05
����Z�#X
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2Handler Thread ID is 2555*e code=0413 elementURI="Radio_Freewave.durationOfLastRun" type=00
*a code=055E owner=003D element=0413 universal=3FFF unitName="second" type=07 size=0002 fl=05
ɫ��Z�#X
�9*e code=0414 elementURI="WetLabsBB2FL.component_avgCurrent" type=00
*a code=055F owner=0034 element=0414 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
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2Handler Thread ID is 2557*e code=0415 elementURI="Radio_Surface.durationOfLastRun" type=00
*a code=0560 owner=003F element=0415 universal=3FFF unitName="second" type=07 size=0002 fl=05
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2Handler Thread ID is 2558%�:[�#X
|Looking for Electronic Nav Chart files in directory: Resources%�;[�#X
tAlready Loaded Electronic Nav Chart data from US1WC07M.000%�;[�#X
tAlready Loaded Electronic Nav Chart data from US2WC11M.000%�<[�#X
tAlready Loaded Electronic Nav Chart data from US3CA52M.000%�<[�#X
tAlready Loaded Electronic Nav Chart data from US4CA60M.000%�<[�#X
tAlready Loaded Electronic Nav Chart data from US5CA50M.000%�=[�#X
tAlready Loaded Electronic Nav Chart data from US5CA61M.000%�=[�#X
tAlready Loaded Electronic Nav Chart data from US5CA62M.000%�=[�#X
tAlready Loaded Electronic Nav Chart data from US5CA83M.000���^[�#X
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Powering up���*\�#X
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�>*e code=0416 elementURI="CTD_NeilBrown.component_voltage" type=00
*a code=0561 owner=0031 element=0416 universal=3FFF unitName="volt" type=07 size=0002 fl=05
)���\�#X
*e code=0417 elementURI="CTD_NeilBrown.component_avgVoltage" type=00
*a code=0562 owner=0031 element=0417 universal=3FFF unitName="volt" type=07 size=0002 fl=05
I���\�#X
*e code=0418 elementURI="CTD_NeilBrown.component_current" type=00
����\�#X
�=*a code=0563 owner=0031 element=0418 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

        <ReadDatum>
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            <Universal:platform_communications/>
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    </Aggregate>

</Mission>

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*n code=005E name="Default:UpdateAndReportMinutesSinceMissionStarted:B"
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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="TimeMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedSinceMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <Aggregate Id="StartClock">

        <Sequence/>

        <Assign><Arg Name="TimeMissionWasStarted"/><Universal:time/></Assign>

    </Aggregate>

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

    <Aggregate Id="CheckIn">

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or><Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

<!-- TODO: Do we really want this When operating on platform_communications? or on something else like time_fix? -->

<!-- Run application at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
<!-- NOTE: Original Default.xml didn't have a timeout on the GPS read, so theoretically could have hung indefinitely there... -->
            <Universal:latitude_fix/>
        </ReadDatum>

<!-- Do data comms -->

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

    </Aggregate>

    <Aggregate Id="UpdateAndReportMinutesSinceMissionStarted">

        <When>
            <Elapsed><Arg Name="ElapsedSinceMissionWasStarted"/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
        </When>

        <Assign><Arg Name="ElapsedSinceMissionWasStarted"/><Universal:time/><Sub><Arg Name="TimeMissionWasStarted"/></Sub></Assign>

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

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunApplicationAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

    </Aggregate>

</Mission>


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