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universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0516 elementURI="CBIT.GFCHANB2Current" type=02 *a code=0627 owner=0045 element=0516 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0517 elementURI="CBIT.GFCHANB3Current" type=02 *a code=0628 owner=0045 element=0517 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0518 elementURI="CBIT.GFCHANOpenCurrent" type=02 *a code=0629 owner=0045 element=0518 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=062A owner=0045 element=04CE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0519 elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=062B owner=0045 element=0519 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=051A elementURI="CBIT.binnedDepthRate" type=02 *a code=062C owner=0045 element=051A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=062D owner=0045 element=01B7 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=062E owner=0045 element=01B6 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=062F owner=0045 element=01B8 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0630 owner=0045 element=01B9 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0631 owner=0045 element=01BA universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=0632 owner=0045 element=01C1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0633 owner=0045 element=01BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0634 owner=0045 element=01BC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0635 owner=0045 element=01BE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0636 owner=0045 element=01C0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0637 owner=0045 element=01BF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0638 owner=0045 element=01BD universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0639 owner=0045 element=01C2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=063A owner=0045 element=01C3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=063B owner=0045 element=01C4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=063C owner=0045 element=01C5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=063D owner=0045 element=01C6 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=063E owner=0045 element=01C7 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=063F owner=0045 element=01C8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0640 owner=0045 element=01C9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0641 owner=0045 element=01CA universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0642 owner=0045 element=01CB universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0643 owner=0045 element=01CC universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0644 owner=0045 element=01CD universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0645 owner=0045 element=01CE universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0646 owner=0045 element=01CF universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0647 owner=0045 element=01D0 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0648 owner=0045 element=01D1 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 q({ƿ({fSyncComponent "CBIT" handled in the control thread.({Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)*n code=0046 name="MissionManager" *a code=0649 owner=0046 element=04CB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=064A owner=0046 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=051B elementURI="MissionManager.mission_started" type=00 *a code=064B owner=0046 element=051B universal=001C unitName="count" type=0D size=0004 fl=05 ƿ"({zSyncComponent "MissionManager" handled in the control thread.*n code=0047 name="Reporter" ƿ#({nSyncComponent "Reporter" handled in the control thread.*n code=0048 name="NavChartDb" *e code=051C elementURI="NavChartDb.closestDistance" type=02 *a code=064C owner=0048 element=051C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=051D elementURI="NavChartDb.nextDistance" type=02 *a code=064D owner=0048 element=051D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=051E elementURI="NavChartDb.closestDepth" type=02 *a code=064E owner=0048 element=051E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=051F elementURI="NavChartDb.nextDepth" type=02 *a code=064F owner=0048 element=051F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0650 owner=0048 element=0091 universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=0651 owner=0048 element=0092 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ*({bComponent "NavChartDb" handled in its own thread.*n code=0049 name="NavChartDb ThreadHandler" $+({DCreated PCaller Thread at 40B034E0$+({DProtected caller Thread ID is 7511N0({,Main Thread ID is 6074F0({&Running supervisor.1({2Handler Thread ID is 75123({2Handler Thread ID is 7513 3({4Initializing ControlThread 4({HInitialize VerticalControlComponent.6({LInitialize HorizontalControlComponent. 6({BInitialize SpeedControlComponent.7({@Initialize LoopControlComponent. 8({>Initialize NavChart Navigation.9({hInitializing UniversalFixResidualReporter component.<({BInitializing DepthRateCalculator. <({BInitializing PitchRateCalculator.=({:Initializing SpeedCalculator. =({HInitializing TempGradientCalculator.=({>Initializing YawRateCalculator. >({LInitializing ElevatorOffsetCalculator.!?({4Initialize SBIT Component.!@({6git: 2019-04-10-19-gda15b3b!@({dgit hash: da15b3bc615cce9b5cb8428ed44ec3695b388448!@({0Kernel Release: 2.6.27.8*a code=0652 owner=0043 element=01D3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 !A({Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018ɳA({!B({HBeginning SBIT in 59.000000 seconds."C({4Initialize IBIT Component.)D({"D({4Initialize CBIT Component.E({2Handler Thread ID is 7514"O({*Initialized mux pins."O({@Initializing the watchdog timer.W({2Handler Thread ID is 7515X({dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IPc({2Handler Thread ID is 7516"f({TLast reboot was NOT due to watchdog timer."f({.Initializing heartbeat.n({2Handler Thread ID is 7517o({Powering down*e code=0520 elementURI="CTD_NeilBrown.component_voltage" type=00 *a code=0653 owner=003A element=0520 universal=3FFF unitName="volt" type=07 size=0002 fl=05 iʿt({*e code=0521 elementURI="CTD_NeilBrown.component_avgVoltage" type=00 *a code=0654 owner=003A element=0521 universal=3FFF unitName="volt" type=07 size=0002 fl=05 ʿy({*e code=0522 elementURI="CTD_NeilBrown.component_current" type=00 *a code=0655 owner=003A element=0522 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ʿ~({*e code=0523 elementURI="CTD_NeilBrown.component_avgCurrent" type=00 ({2Handler Thread ID is 7518 ({2Initializing CTD_Seabird.!({2Handler Thread ID is 7520Q)({B2 ({Powering down*e code=0524 elementURI="WetLabsBB2FL.component_voltage" type=00 *a code=0656 owner=0041 element=0524 universal=3FFF unitName="volt" type=07 size=0002 fl=05 ʿ({*e code=0525 elementURI="WetLabsBB2FL.component_avgVoltage" type=00 *a code=0657 owner=0041 element=0525 universal=3FFF unitName="volt" type=07 size=0002 fl=05 ʿ({*e code=0526 elementURI="WetLabsBB2FL.component_current" type=00 *a code=0658 owner=0041 element=0526 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ˿({*e code=0527 elementURI="WetLabsBB2FL.component_avgCurrent" type=00 *a code=0659 owner=0041 element=0527 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )˿({i({({HOpening uart, block timeout 10ths=20({({ɲ({鲿({({a({@a({@*a code=065A owner=003A element=0523 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I˿({"({2Deactivating GF circuits."({8Deactivating emergency mode.$({2Handler Thread ID is 7521$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000$({tAlready Loaded Electronic Nav Chart data from US1WC07M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000$({tAlready Loaded Electronic Nav Chart data from US2WC11M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000$({tAlready Loaded Electronic Nav Chart data from US3CA52M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000$({tAlready Loaded Electronic Nav Chart data from US4CA60M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000$({tAlready Loaded Electronic Nav Chart data from US5CA50M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000$({tAlready Loaded Electronic Nav Chart data from US5CA61M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000$({tAlready Loaded Electronic Nav Chart data from US5CA62M.000$({Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000$({tAlready Loaded Electronic Nav Chart data from US5CA83M.000"({$Backplane powered.#({JLoading Mission: Missions/Startup.xml*n code=004A name="Startup" *n code=004B name="Startup:A.GoToSurface" %({,Construct GoToSurface.*a code=065B owner=004B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=065C owner=004B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=065D owner=004B element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=065E owner=004B element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=065F owner=004B element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0660 owner=004B element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0661 owner=004B element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0662 owner=004B element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0663 owner=004B element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0664 owner=004B element=0164 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0665 owner=004B element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0666 owner=004B element=0131 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0667 owner=004B element=0151 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0668 owner=004B element=014C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0669 owner=004B element=0160 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004C name="Startup:StartupSatComms" *n code=004D name="Startup:StartupSatComms:A" *n code=004E name="Startup:StartupSatComms:B" #({A #({JLoading Mission: Missions/Default.xml*n code=004F name="Default" *e code=0528 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=066A owner=004F element=0528 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=066B owner=004F element=0528 universal=3FFF unitName="minute" type=1F size=0008 fl=05 iͿ8({#9({vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0050 name="Default:A.Wait" (:({Construct Wait.*n code=0051 name="Default:B.GoToSurface" (<({,Construct GoToSurface.*a code=066C owner=0051 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=066D owner=0051 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=066E owner=0051 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=066F owner=0051 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0670 owner=0051 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0671 owner=0051 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0672 owner=0051 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0673 owner=0051 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0674 owner=0051 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0675 owner=0051 element=0164 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0676 owner=0051 element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0677 owner=0051 element=0131 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0678 owner=0051 element=0151 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0679 owner=0051 element=014C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=067A owner=0051 element=0160 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0052 name="Default:CheckIn" *n code=0053 name="Default:CheckIn:Read_GPS" *n code=0054 name="Default:CheckIn:Read_Iridium" *n code=0055 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0056 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" +V({$Construct Execute.*n code=0057 name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=0058 name="Default:CheckIn:C.Wait" ,Y({Construct Wait.*n code=0059 name="Default:CheckIn:D" *a code=067B owner=0059 element=0528 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=067C owner=0059 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005A name="Default:CheckIn:E" *n code=005B name="Default:D" *n code=005C name="Default:E.Execute" .n({$Construct Execute. #q({& 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs ({Component order: CycleStarter,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,Aanderaa_O2,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter, "z6A .*Initializing AHRS_M2.a ]e@a Ym@mdPressure reading out of range: 1831.023193 decibarIGPowered 24V power converter LCB with command: ! echo 1 > /dev/loadB2Powering up "Initializing DAT.ePowering up=Dgot command ! echo 1 > /dev/loadB2 !@ɰ6>Depth measurement is not active u u @ @ @ @~ #i} )} } }ɂi 4Initializing EZServoServo. 6Initializing BuoyancyServo.4Initializing EZServoServo.E 6Initializing ElevatorServo. M 4Initializing EZServoServo.  .Initializing MassServo. 4Initializing EZServoServo. 2Initializing RudderServo.  4Initializing EZServoServo. ] 6Initializing ThrusterServo.u *e code=0529 elementURI="controlThread.durationOfLastRun" type=00 *a code=067D owner=0004 element=0529 universal=3FFF unitName="second" type=07 size=0002 fl=05 ϭ >! 36Aa ]a Ya Y YN>a ] yE 4>i CIG EɰE6  ~w:i})}}}ɂiYuy> f6AY">y"EIZG ^ɰ^#6iօ= == =  ~Yi}Y)}Y}Y}Yɂaia ^Rudder initialization uart error serial timeout 6Rudder failed to initializeq  (Communications FaultI"]\Communications Fault in component: RudderServom?  ܺ6AY>y߇E,i.CI^G fɰf]6y  =!= % %~yi})}}}ɂi4Uninitialize Rudder Servo.Powering down*e code=052A elementURI="RudderServo.component_voltage" type=00 *a code=067E owner=0025 element=052A universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=052B elementURI="RudderServo.component_avgVoltage" type=00 *a code=067F owner=0025 element=052B universal=3FFF unitName="volt" type=07 size=0002 fl=05 %*e code=052C elementURI="RudderServo.component_current" type=00 *a code=0680 owner=0025 element=052C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 Ѕ*e code=052D elementURI="RudderServo.component_avgCurrent" type=00 *a code=0681 owner=0025 element=052D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )Х} >N 6AY&>y&kEI^G bɰb#6ye_= =eW= u u~i})}}}ɂi]= ^6AY&>y&&E2t>i2CIfG jɰj6y]< =]K= m m~i})}}}ɂi4Initializing EZServoServo.2Initializing RudderServo.Ñ"^Clearing failed state for component RudderServoq ϭ>>Ǻ 96AY">y&1EI^G jɰj-6y, =P=  ~i})}}}ɂiv=  66AY">y&E.4>i.CI^ՂG bɰb6y < = I=  ~i})}}}ɂim> O6AY>yTEI9Gɨ%Powering down*e code=052E elementURI="Aanderaa_O2.component_voltage" type=00 *a code=0682 owner=0039 element=052E universal=3FFF unitName="volt" type=07 size=0002 fl=05 I*e code=052F elementURI="Aanderaa_O2.component_avgVoltage" type=00 *a code=0683 owner=0039 element=052F universal=3FFF unitName="volt" type=07 size=0002 fl=05 i*e code=0530 elementURI="Aanderaa_O2.component_current" type=00 *a code=0684 owner=0039 element=0530 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 u*e code=0531 elementURI="Aanderaa_O2.component_avgCurrent" type=00 *a code=0685 owner=0039 element=0531 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 U ]ɰ]6y% 9 =} <  ~ i} )} } } ɂ i ù > hi6AY>y=EiIúG }ɰ}6y= ==  ~1i}1)}1}1}1ɂ9i9 Y4z:áϽa>H  6AY~>y~EImG }ɰ}6yF =e=  ~i})}}}ɂ i *e code=0532 elementURI="ThrusterServo.component_voltage" type=00 *a code=0686 owner=0026 element=0532 universal=3FFF unitName="volt" type=07 size=0002 fl=05 Х*e code=0533 elementURI="ThrusterServo.component_avgVoltage" type=00 *a code=0687 owner=0026 element=0533 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0534 elementURI="ThrusterServo.component_current" type=00 *a code=0688 owner=0026 element=0534 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ѕ*e code=0535 elementURI="ThrusterServo.component_avgCurrent" type=00 *a code=0689 owner=0026 element=0535 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )5  9>' 6AYyiCIG ɰ ;6Q ]?a ] ]Q E]?a E] ]Q I]>a I] 9] m~i})}}}ɂiÉϥ<>3- \6AY]3>y]ȆEIG ɰث6yށ =< Q I Q?9  ~i})}}}ɂiyϕ=4 :6A2Y]>yeEqiuCI 'ɰ6yME= =2=Q I?9 ~i})}}}ɂia } ً}u;Áϝ]>D: 6AY]/>y]EIG ɰj6y=` ==e=9AQ IE?9A I~i})}}}ɂi*e code=0536 elementURI="BuoyancyServo.component_voltage" type=00 *a code=068A owner=0022 element=0536 universal=3FFF unitName="volt" type=07 size=0002 fl=05 Iu*e code=0537 elementURI="BuoyancyServo.component_avgVoltage" type=00 *a code=068B owner=0022 element=0537 universal=3FFF unitName="volt" type=07 size=0002 fl=05 i*e code=0538 elementURI="BuoyancyServo.component_current" type=00 *a code=068C owner=0022 element=0538 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 =*e code=0539 elementURI="BuoyancyServo.component_avgCurrent" type=00 *a code=068D owner=0022 element=0539 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ѥu Au Aً= eI e >,A W6AY}>y}EiCIG ɰ6y5^C; =5;=99Q I=@99 I~i})}}}ɂiً+;áϽa>WG 6A*e code=053A elementURI="Radio_Surface.component_voltage" type=00 *a code=068E owner=0030 element=053A universal=3FFF unitName="volt" type=07 size=0002 fl=05 J@A*e code=053B elementURI="Radio_Surface.component_avgVoltage" type=00 *a code=068F owner=0030 element=053B universal=3FFF unitName="volt" type=07 size=0002 fl=05 n@AY]>y]kEIG ɰA6yn =a=Q I@9 ~i}!)}!}!}!ɂ!i)ًE &;Ie4>7M 86AY]>y]ԈEqiqIG ɰE6y5< =5G=99Q I=6@99 I~ai}a)}a}a}aɂiii u=)up=ًE] ;Ia iT R6AY]Q>y]EI ɰA6y =N=Q IO@9 ~!i}!)}!}!}!ɂ)i)ًEΒ{IaZ ql6A*e code=053C elementURI="Radio_Surface.component_current" type=00 *a code=0690 owner=0030 element=053C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 :)>*e code=053D elementURI="Radio_Surface.component_avgCurrent" type=00 *a code=0691 owner=0030 element=053D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )J,>-n`Device message queue exceeded the allowed limit.Yu>yuEiCI ɰ>6yQ= = :=  Q I k@9 ~)i}1)}1}1}1ɂ9i9ًmK>${a ;66AY>yEIuPG }ɰ}6y =^=Q I@9 ~ai}i)}i}i}iɂiً};é@>Dg ^6A z rM@ z yr@ z r>; 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A Q I@9i ]> ] ~i})}}}ɂiًñ>$t 6A*e code=053E elementURI="AHRS_M2.component_voltage" type=00 *a code=0692 owner=002A element=053E universal=3FFF unitName="volt" type=07 size=0002 fl=05 I:@*e code=053F elementURI="AHRS_M2.component_avgVoltage" type=00 *a code=0693 owner=002A element=053F universal=3FFF unitName="volt" type=07 size=0002 fl=05 iR@ZZ;@yZ3@Z~˺9ZG[=YZH@&?](?3a ? boY?e?A?ɔZZ;@Zv;ZtCYr>yrHExixIe9G mɰm6yM =E= A>11Q I5@91y= ]=> A~i})}}}ɂi =)=ًeé@>cz ¢6AYVm>yVvEÍG %~ɰ%6yC< =Q= A>Q I@9y ]> ~i})}}}1ɂ9i9ً (>/ˁ 6A .>)2)>:,@y:„@:,ޜ9:Vx\=Y:H ?,? 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D?p?_?ɔǙ@c{;CY&>y&~E.4>i, :?>)8I^GIbAibA bɰb6yek =eH=m Am>iiQ ImA9iyuك ]u> ~i})}}}ɂiU5F:QYًAQm5>]I )6A\Ǚ@y5@2pؼ9z_S=YHI?XK? T VY??8 ?f?`=?ɔ\Ǚ@!{;CY&>y&1EI\ fɰfƚ6yr= =Q=~ A >  Q I A9 y۸ ]> ~Ii}Q)}Q}Q}QɂQiU:ً%1E0>)P B6Axƙ@yQ@1޼9IS=YHG?}K?`}VX?@8? Eٛ?`o? ?ɔxƙ@3{;~CYB>yB%EHiHIx ɰ&6y}d =}C= A>Q IA9y ]> ~Ai}I)}I}I}IɂIiQY*e code=054C elementURI="MassServo.component_current" type=00 *a code=06A1 owner=0024 element=054C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )ԥ=*e code=054D elementURI="MassServo.component_avgCurrent" type=00 *a code=06A2 owner=0024 element=054D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I= b:ً"5H>aV 4\6A]Ù@y6@59{R=YHA?@tL? fW`zS?h? ?`P?`?ɔ]Ù@{;}CY&>y&E44I\b4=` fɰf]6y< =S= - A>  Q I A9 y ]> ~i})}}}ɂiӑZ: н=)н=ًeÑϭ>q] v6AIi@@yv@9[Q=YH q:? 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06A,Y@y@M9]t>i>CInG r& ɰrnP6y%K =-H=-]; A->)1Q I5gB91y5 ]5> 9~Qi~Qi}Q)}Q}Q}YɂYiaa95R|> =>)=p=ً5=1 9I999AA> d6AH@y@y9n Q IhB9y' ]> !~1i~1i}9)}9}9}9ɂAiAI9->ً-#>1 1I1119U>Y (6AIia7@y:@ξ9l$i0Ix ~ ɰ~N6yE 5= =EF=Mi; AM>IIQ IMjB9IyU٧ ]U> Y~ii~qi}q)}q}q}qɂyiyӁԍ Ս)ՍIՍًI^> I J>- ӟB6A~'@yW@轾9)??2?@Ӗ??ɔ~'@D*};CY&l?y&LEI\ bW ɰbU6y]XH =eI=eN; Ae>aiQ ImkB9iym ]u> q~i~i})}}}ɂiәϭAϭAًus9}>y yIyyyÁϽ= [y\6A#@ym@9"M)PIbPGIfAid f4 ɰfQ6yj< = P= ; A >Q ImB9yư ]> ~1i~1i}1)}1}1}9ɂiً> I> qTv6A%='@y^@t9$Q IoB9y9 ]> !~1i~1i}1)}9}9}9ɂAiAIًm}>q qIqqyyϝ=. 06A@yfP@9HppQ IrpB9pyv ]v> x~i~ i} )} } } ɂi %=)%=ًM>Q QIQYYYϕ=  6A@yA@N9|@ppQ IrrB9pyv ]v> x~i~i} )} } } ɂ iً5Q>9 9I999A]= ~6AI@iۛ@y3@u9u11Q I5sB91y= ]=> A~Qi~Qi}Y)}Y}Y}Yɂaiaiًm&>q qIqyyÁϝ=o 6ARΛ@y+&@b{9  Q I uB9 y' ]> ~)i~1i}1)}1}1}1ɂ9i9AMM M)M I )>5B V6A›@y@9`m?y>ײEi<@HiH R>)R>IzGI~Ai| m ɰX6y  < =I=; A>Q IwB9y%e ]%> !~9i~9i}9)}9}A}AɂAiIIY YIYYYaE>* `w6A=޺@y@ \9,AIQ IMxB9IyM* ]M> Q~ii~ii}i)}i}i}qɂqiyy鳉 IÑϭ^=dT  aS+6Aб@y @ѱ9YYQ I]zB9Yye2 ]e> i~yi~i})}}}ɂiӑ鳙 Iéj=< s-E6A@y@*'9Q I|B9y' ]> ~1i~1i}1)}1}1}9ɂ9iAAQ QIQQQϽ>f [_6AIi@ק@y@d9TppQ Ir}B9tyv똺 ]v> x~i~ i} )} } } ɂi) )I)))1M+= x6An@yG@S9iiQ IuB9qyuQͺ ]u> y~i~i})}}}ɂiӡ鳱 Iùu=x$ 6Ab@y;@8ߪ9difCI-GI)i) 5 ɰ5x_6ye < =eJ=m< Am>iiQ IuB9qyuaq ]u> y~i~i})}}}ɂiӡ鳩 Iù]>/* 6Av@yO@95~Q IB9yzn ]> !~1i~1i}1)}9}9}9ɂAiAIQ QIQQQauC=1 (6Ac@y<@GJ9))Q I-B9)y5q ]5> 9~Ii~Qi}Q)}Q}Q}QɂYiYai iIqqqyϕQ=`7 P6A@y@9aAAQ IEB9AyMMV ]M> Q~ai~ai}i)}i}i}iɂqiqq鳁 IÉ]>f= s+6AIi@y@'9uIIQ IMB9IyUrj ]U> Q~ii~ii}q)}q}q}qɂqiyӁ鳉 IÑ)ĭ@Iĭ蒷iĭ;ĭĭi3ĭz3ĭ" ŵ3)ŵ&"eGround fault detected mA: CHAN A0 (Batt): -0.007279 CHAN A1 (24V): -0.017513 CHAN A2 (12V): 4.697929 CHAN A3 (5V): -0.001271 CHAN B0 (3.3V): 0.000116 CHAN B1 (3.15aV): 0.000101 CHAN B2 (3.15bV): -0.000585 CHAN B3 (GND): 0.000031 OPEN: -0.000453 Full Scale Calc: 4.765 mA, -1.589 mA o=D S  6A@y@XI9<Q IB9y ]> ~i~i})}}}ɂi I =nJ - 6A@yh@9p};Y& ?y&bEi$$0i2C R>)PIbGI`id f ɰfgf6y*< = T= ; A >Q IB9y ]> ~1i~1i}1)}1}1}1ɂ9iAAQ QIQQQYu@=IQ G 6A@yz@9Q IB9y< ]> !~1i~1i}1)}9}9}9ɂAiAIQ QIQQQauB=X -a 6A8@y@Ԗ9 Q IB9ye߹ ]> !~1i~1i}1)}9}9}9ɂAiAAQ QIQQQYqs,^ r{ 6AK@y$@"9||Q I~B9y{ ]> ~i~!i}!)}!}!}!ɂ)i)19 9IAAAI]6=Re M 6AI@i@֊@y@9ViiQ IuB9qyu ]u> y~i~i})}}}ɂiӡ鳱 IIj<u=>k s* 6A@y@w9 IIQ IMB9IyM ]U> Q~i~mj)PIGIAi %M ɰ%o6y-i =-K=5; A5>11Q I=B99y=7 ]=> A~Yi~] i}Y)}Y}Y}Yɂe iai鳁 IÉϥZ=rPx Y 6A%=.@y@09UYYQ I]B9YyeB ]e> i~yi~yi})}}}ɂiӉ鳩 Iñn=z~  6A@y@l9R  Q IB9y ]> ~1i~1i}1)}1}1}1ɂ9iAA鳹 I=b F 6A4@y @"9zllQ InB9lyr8 ]r> p~|i~|i}|)}}}ɂi  9Iً6Ʌ> I %? 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r@#5 DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m*e code=055D elementURI="circle_acoustic_contact.InnerCircleRadius" type=00 *a code=06BD owner=005E element=055D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=06BE owner=005E element=055D universal=3FFF unitName="meter" type=1F size=0008 fl=05 = I@#E DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m*e code=055E elementURI="circle_acoustic_contact.TrackingUpdatePeriod" type=00 *a code=06BF owner=005E element=055E universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=06C0 owner=005E element=055E universal=3FFF unitName="second" type=1F size=0008 fl=05 U N@#] DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s*e code=055F elementURI="circle_acoustic_contact.NumberOfPings" type=00 *a code=06C1 owner=005E element=055F universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=06C2 owner=005E element=055F universal=3FFF unitName="count" type=1F size=0008 fl=05 I ?# DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count*e code=0560 elementURI="circle_acoustic_contact.InnerCircleTime" type=00 *a code=06C3 owner=005E element=0560 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=06C4 owner=005E element=0560 universal=3FFF unitName="minute" type=1F size=0008 fl=05 # DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min*e code=0561 elementURI="circle_acoustic_contact.CircleMaxError" type=00 *a code=06C5 owner=005E element=0561 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=06C6 owner=005E element=0561 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Y@# ~DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m*e code=0562 elementURI="circle_acoustic_contact.CircleTurnToPort" type=00 *a code=06C7 owner=005E element=0562 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06C8 owner=005E element=0562 universal=3FFF unitName="bool" type=02 size=0001 fl=05  # vDefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool*e code=0563 elementURI="circle_acoustic_contact.YoYoMinDepth" type=00 *a code=06C9 owner=005E element=0563 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=06CA owner=005E element=0563 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I- @#- vDefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m d\6A2䦞@y2@2CA92dS ?y>EIzG  ɰ]_6y= =Em=E9 AE?AIQ IMC9IyMX ]U? Q 6QQ tIɎQ AQUq:ɐU:U6 ?*e code=0564 elementURI="circle_acoustic_contact.YoYoMaxDepth" type=00 *a code=06CB owner=005E element=0564 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=06CC owner=005E element=0564 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @@#xDefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m*e code=0565 elementURI="circle_acoustic_contact.YoYoMinAltitude" type=00 *a code=06CD owner=005E element=0565 universal=3FFF unitName="meter" type=1F size=0008 fl=04 ~i})}}}ɂ i  *a code=06CE owner=005E element=0565 universal=3FFF unitName="meter" type=1F size=0008 fl=05 U$@#]~DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m*e code=0566 elementURI="circle_acoustic_contact.YoYoPitch" type=00 *a code=06CF owner=005E element=0566 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=06D0 owner=005E element=0566 universal=3FFF unitName="degree" type=1F size=0008 fl=05 mDJW?Á#|DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg*e code=0567 elementURI="circle_acoustic_contact.Speed" type=00 *a code=06D1 owner=005E element=0567 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=06D2 owner=005E element=0567 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 I?#lDefineArg circle_acoustic_contact.Speed = 1.000000 m/s=*e code=0568 elementURI="circle_acoustic_contact.KwpHeading" type=00 *a code=06D3 owner=005E element=0568 universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=04 *a code=06D4 owner=005E element=0568 universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=05 ]{Gz?#ezDefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m*e code=0569 elementURI="circle_acoustic_contact.MinAltitude" type=00 *a code=06D5 owner=005E element=0569 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=06D6 owner=005E element=0569 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ڕ@#tDefineArg circle_acoustic_contact.MinAltitude = 7.000000 m*e code=056A elementURI="circle_acoustic_contact.MaxDepth" type=00 *a code=06D7 owner=005E element=056A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=06D8 owner=005E element=056A universal=3FFF unitName="meter" type=1F size=0008 fl=05 @Z@#rDefineArg circle_acoustic_contact.MaxDepth = 105.000000 m*e code=056B elementURI="circle_acoustic_contact.MinOffshore" type=00 *a code=06D9 owner=005E element=056B universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=06DA owner=005E element=056B universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 I%p@#mvDefineArg circle_acoustic_contact.MinOffshore = 1.500000 km*n code=005F name="circle_acoustic_contact:A." *a code=06DB owner=005F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06DC owner=005F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06DD owner=005F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06DE owner=005F element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06DF owner=005F element=0486 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06E0 owner=005F element=0488 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06E1 owner=005F element=048E universal=3FFF unitName="none" type=00 size=0000 fl=04 *a code=06E2 owner=005F element=0471 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06E3 owner=005F element=0472 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=056C elementURI="Tracking.contact_label" type=02 *a code=06E4 owner=005F element=056C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=056D elementURI="Tracking.contact_latitude" type=02 *a code=06E5 owner=005F element=056D universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=056E elementURI="Tracking.contact_latitude_lowpass" type=02 *a code=06E6 owner=005F element=056E universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=056F elementURI="Tracking.contact_longitude" type=02 *a code=06E7 owner=005F element=056F universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0570 elementURI="Tracking.contact_longitude_lowpass" type=02 *a code=06E8 owner=005F element=0570 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0571 elementURI="Tracking.eastings_to_contact" type=02 *a code=06E9 owner=005F element=0571 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0572 elementURI="Tracking.northings_to_contact" type=02 *a code=06EA owner=005F element=0572 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0573 elementURI="Tracking.contact_depth" type=02 *a code=06EB owner=005F element=0573 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0574 elementURI="Tracking.contact_depth_lowpass" type=02 *a code=06EC owner=005F element=0574 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0575 elementURI="Tracking.range_to_contact" type=02 *a code=06ED owner=005F element=0575 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0576 elementURI="Tracking.azimuth_to_contact_vehicleFrame" type=02 *a code=06EE owner=005F element=0576 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0577 elementURI="Tracking.elevation_to_contact_vehicleFrame" type=02 *a code=06EF owner=005F element=0577 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0578 elementURI="Tracking.heading_to_contact" type=02 *a code=06F0 owner=005F element=0578 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0579 elementURI="Tracking.direction_vehicleFrame" type=12 blobType=11 fixedSize=0003  ~\6A2X@y2@@2 *92ؗ?i?`Mn?@C?ɔ2X@2h{;0YBm?yBELiL*a code=06F1 owner=005F element=0579 universal=3FFF unitName="none" type=00 size=0000 fl=05 I5G*e code=057A elementURI="Tracking.direction_navigationFrame" type=12 blobType=11 fixedSize=0003 = ɰ=4c6*a code=06F2 owner=005F element=057A universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=057B elementURI="Tracking.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 yf= =A=K9 A>Q I%C9!y%M" ]%> ) 56*a code=06F3 owner=005F element=057B universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=057C elementURI="Tracking.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 ) 6) tIɎ) A)-8<ɐ-<-V6 ?*a code=06F4 owner=005F element=057C universal=3FFF unitName="meter" type=00 size=0000 fl=05 ~Qi}Q)}Q}Q}QɂYiYay*n code=0060 name="circle_acoustic_contact:UpdateCenter" *a code=06F5 owner=0060 element=0575 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0061 name="circle_acoustic_contact:UpdateCenter:A" *a code=06F6 owner=0061 element=055A universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=06F7 owner=0061 element=056D universal=3FFF unitName="degree" type=2F size=0004 fl=04 >*n code=0062 name="circle_acoustic_contact:UpdateCenter:B" *a code=06F8 owner=0062 element=055B universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=06F9 owner=0062 element=056F universal=3FFF unitName="degree" type=2F size=0004 fl=04 #\Inserting Stack: Missions/Insert/NeedComms.xmlII*n code=0063 name="circle_acoustic_contact:NeedComms" *e code=057D elementURI="circle_acoustic_contact:NeedComms.DiveInterval" type=00 *a code=06FA owner=0063 element=057D universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=06FB owner=0063 element=057D universal=3FFF unitName="hour" type=1F size=0008 fl=05 i@#DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h*e code=057E elementURI="circle_acoustic_contact:NeedComms.WaitForPitchUp" type=00 *a code=06FC owner=0063 element=057E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=06FD owner=0063 element=057E universal=3FFF unitName="minute" type=1F size=0008 fl=05 @#m DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min*e code=057F elementURI="circle_acoustic_contact:NeedComms.SurfacePitch" type=00 *a code=06FE owner=0063 element=057F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=06FF owner=0063 element=057F universal=3FFF unitName="degree" type=1F size=0008 fl=05 } DJW?# DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0580 elementURI="circle_acoustic_contact:NeedComms.SurfaceDepthRate" type=00 *a code=0700 owner=0063 element=0580 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0701 owner=0063 element=0580 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ) # DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s*e code=0581 elementURI="circle_acoustic_contact:NeedComms.SurfaceSpeed" type=00 *a code=0702 owner=0063 element=0581 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0703 owner=0063 element=0581 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 i% ?#- DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=0582 elementURI="circle_acoustic_contact:NeedComms.GPSTimeout" type=00 *a code=0704 owner=0063 element=0582 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0705 owner=0063 element=0582 universal=3FFF unitName="minute" type=1F size=0008 fl=05 = @z@#E DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min*e code=0583 elementURI="circle_acoustic_contact:NeedComms.CommsTimeout" type=00 *a code=0706 owner=0063 element=0583 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0707 owner=0063 element=0583 universal=3FFF unitName="minute" type=1F size=0008 fl=05 U @#] DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min*a code=0708 owner=0063 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0709 owner=0063 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0064 name="circle_acoustic_contact:NeedComms:A" *a code=070A owner=0064 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0065 name="circle_acoustic_contact:NeedComms:B.GoToSurface" 2 ,Construct GoToSurface.*a code=070B owner=0065 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070C owner=0065 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070D owner=0065 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070E owner=0065 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=070F owner=0065 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0710 owner=0065 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0711 owner=0065 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0712 owner=0065 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0713 owner=0065 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0714 owner=0065 element=0164 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0715 owner=0065 element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0716 owner=0065 element=0131 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0717 owner=0065 element=0151 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0718 owner=0065 element=014C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0719 owner=0065 element=0160 universal=3FFF unitName="second" type=0B size=0003 fl=04 % \6A2H@y20@292+ӽ11Q I5C91y5 ]=>*n code=0066 name="circle_acoustic_contact:NeedComms:C" *n code=0067 name="circle_acoustic_contact:NeedComms:C:A_Timeout" *n code=0068 name="circle_acoustic_contact:NeedComms:C:A_Timeout:A" *n code=0069 name="circle_acoustic_contact:NeedComms:D"  6 tIɎ A]:ɐ:鐥a6 ș?*n code=006A name="circle_acoustic_contact:NeedComms:E" *n code=006B name="circle_acoustic_contact:NeedComms:E:A_Timeout" *n code=006C name="circle_acoustic_contact:NeedComms:E:A_Timeout:A" ~Ai}A)}A}A}AɂIiQ*n code=006D name="circle_acoustic_contact:D" *a code=071A owner=006D element=057D universal=3FFF unitName="hour" type=1F size=0008 fl=05 #lInserting Stack: Missions/Insert/StandardEnvelopes.xmlu=*n code=006E name="circle_acoustic_contact:StandardEnvelopes" *e code=0584 elementURI="circle_acoustic_contact:StandardEnvelopes.MinAltitude" type=00 *a code=071B owner=006E element=0584 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=071C owner=006E element=0584 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ]@#eDefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m*e code=0585 elementURI="circle_acoustic_contact:StandardEnvelopes.MaxDepth" type=00 *a code=071D owner=006E element=0585 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=071E owner=006E element=0585 universal=3FFF unitName="meter" type=1F size=0008 fl=05 i@#DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m*e code=0586 elementURI="circle_acoustic_contact:StandardEnvelopes.MinOffshore" type=00 *a code=071F owner=006E element=0586 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0720 owner=006E element=0586 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @@#EDefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=006F name="circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope" 7e6Construct AltitudeEnvelope.*a code=0721 owner=006F element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0722 owner=006F element=0159 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0723 owner=006F element=0155 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0724 owner=006F element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0725 owner=006F element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0726 owner=006F element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0727 owner=006F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0728 owner=006F element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0729 owner=006F element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=072A owner=006F element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=072B owner=006F element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=072C owner=006F element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0070 name="circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope" 80Construct DepthEnvelope.*a code=072D owner=0070 element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=072E owner=0070 element=0159 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=072F owner=0070 element=0155 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0730 owner=0070 element=0139 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0731 owner=0070 element=0153 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0732 owner=0070 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0733 owner=0070 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0734 owner=0070 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0735 owner=0070 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0736 owner=0070 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0737 owner=0070 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0738 owner=0070 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0739 owner=0070 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=073A owner=0070 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=073B owner=0070 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=073C owner=0070 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0071 name="circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope" 86Construct OffshoreEnvelope.*a code=073D owner=0071 element=041A universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=073E owner=0071 element=041B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=073F owner=0071 element=041C universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0740 owner=0071 element=0420 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0741 owner=0071 element=041D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0742 owner=0071 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0743 owner=0071 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0744 owner=0071 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0745 owner=0071 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0746 owner=0071 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0747 owner=0071 element=041A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0748 owner=0071 element=041D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0749 owner=0071 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0072 name="circle_acoustic_contact:F" *a code=074A owner=0072 element=0584 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0073 name="circle_acoustic_contact:G" *a code=074B owner=0073 element=0585 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0074 name="circle_acoustic_contact:H" *a code=074C owner=0074 element=0586 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0075 name="circle_acoustic_contact:I.Pitch" :Construct.*a code=074D owner=0075 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074E owner=0075 element=0405 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=074F owner=0075 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0750 owner=0075 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0751 owner=0075 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0752 owner=0075 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0753 owner=0075 element=0408 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0754 owner=0075 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0755 owner=0075 element=014E universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=0076 name="circle_acoustic_contact:J.Buoyancy" ;}&Construct Buoyancy.*a code=0756 owner=0076 element=017D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0757 owner=0076 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0758 owner=0076 element=0409 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0759 owner=0076 element=0130 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 #XInserting Stack: Missions/Insert/Science.xml , _}\6AIi.M@y.6@.6/9.?@/?ɔ.M@.>~{;.CYBm?yBײEHiHIzG ~ ɰ~-a6y- =-J=- A->11Q I5C91y=| ]=>  6 6 tIɎ A%:ɐW:鐝.6 ?~i})}}}ɂiAϽ=2 Y\6A.ʟ@y.@."9.EQ IC9y ]>  6 tIɎ A:ɐ:͞6 ?~i})}}}ɂi*n code=0077 name="circle_acoustic_contact:Science" !*e code=0587 elementURI="circle_acoustic_contact:Science.SampleISUS" type=00 υ=*a code=075A owner=0077 element=0587 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=075B owner=0077 element=0587 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i#zDefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool*e code=0588 elementURI="circle_acoustic_contact:Science.SampleISUSmaxPitch" type=00 *a code=075C owner=0077 element=0588 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=075D owner=0077 element=0588 universal=3FFF unitName="degree" type=1F size=0008 fl=05 es-8R?#DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg*e code=0589 elementURI="circle_acoustic_contact:Science.SampleISUSminPitch" type=00 *a code=075E owner=0077 element=0589 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=075F owner=0077 element=0589 universal=3FFF unitName="degree" type=1F size=0008 fl=05 es-8R#DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg*e code=058A elementURI="circle_acoustic_contact:Science.PeakDetectChlActive" type=00 *a code=0760 owner=0077 element=058A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0761 owner=0077 element=058A universal=3FFF unitName="bool" type=02 size=0001 fl=05 )#DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool*e code=058B elementURI="circle_acoustic_contact:Science.TimeWindowPeakReport" type=00 Ml>)Mp>*a code=0762 owner=0077 element=058B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0763 owner=0077 element=058B universal=3FFF unitName="minute" type=1F size=0008 fl=05 ie#DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min*e code=058C elementURI="circle_acoustic_contact:Science.HighestChlPeakReportActive" type=00 *a code=0764 owner=0077 element=058C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0765 owner=0077 element=058C universal=3FFF unitName="bool" type=02 size=0001 fl=05 #DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool*e code=058D elementURI="circle_acoustic_contact:Science.PatchTracking" type=00 *a code=0766 owner=0077 element=058D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0767 owner=0077 element=058D universal=3FFF unitName="bool" type=02 size=0001 fl=05 #DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool*e code=058E elementURI="circle_acoustic_contact:Science.FilterWidthHorizontal" type=00 *a code=0768 owner=0077 element=058E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0769 owner=0077 element=058E universal=3FFF unitName="count" type=1F size=0008 fl=05 )@#DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count*e code=058F elementURI="circle_acoustic_contact:Science.NumProfilesSlidingwindow" type=00 *a code=076A owner=0077 element=058F universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=076B owner=0077 element=058F universal=3FFF unitName="count" type=1F size=0008 fl=05 iY@#DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count*e code=0590 elementURI="circle_acoustic_contact:Science.OffPeakFractionHorizontal" type=00 *a code=076C owner=0077 element=0590 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=076D owner=0077 element=0590 universal=3FFF unitName="percent" type=1F size=0008 fl=05 ?#DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %*e code=0591 elementURI="circle_acoustic_contact:Science.PeakDetectNO3Active" type=00 *a code=076E owner=0077 element=0591 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076F owner=0077 element=0591 universal=3FFF unitName="bool" type=02 size=0001 fl=05 #DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool*e code=0592 elementURI="circle_acoustic_contact:Science.PeakDetectOilActive" type=00 *a code=0770 owner=0077 element=0592 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0771 owner=0077 element=0592 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )#DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool*e code=0593 elementURI="circle_acoustic_contact:Science.PeakDetectFDOMActive" type=00 *a code=0772 owner=0077 element=0593 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0773 owner=0077 element=0593 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i#DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool*e code=0594 elementURI="circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=0774 owner=0077 element=0594 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0775 owner=0077 element=0594 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %#-DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=0776 owner=0077 element=031F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0595 elementURI="circle_acoustic_contact:Science.EnabledAanderaaO2" type=00 *a code=0777 owner=0077 element=0595 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0778 owner=0077 element=0595 universal=3FFF unitName="bool" type=1F size=0008 fl=05 =?#EDefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 1.000000 bool*a code=0779 owner=0077 element=0327 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0596 elementURI="circle_acoustic_contact:Science.EnabledNeilBrown" type=00 *a code=077A owner=0077 element=0596 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=077B owner=0077 element=0596 universal=3FFF unitName="bool" type=1F size=0008 fl=05 i?#DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 1.000000 bool*a code=077C owner=0077 element=032F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0597 elementURI="circle_acoustic_contact:Science.EnabledSeabird" type=00 *a code=077D owner=0077 element=0597 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=077E owner=0077 element=0597 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ?#DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 bool*a code=077F owner=0077 element=036E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0598 elementURI="circle_acoustic_contact:Science.EnabledTurbulence_NPS" type=00 *a code=0780 owner=0077 element=0598 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0781 owner=0077 element=0598 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ) #DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool*a code=0782 owner=0077 element=0374 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0599 elementURI="circle_acoustic_contact:Science.EnabledWetLabsBB2FL" type=00 *a code=0783 owner=0077 element=0599 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0784 owner=0077 element=0599 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ?#DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool*a code=0785 owner=0077 element=037F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=059A elementURI="circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=0786 owner=0077 element=059A universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0787 owner=0077 element=059A universal=3FFF unitName="bool" type=1F size=0008 fl=05 #DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool*a code=0788 owner=0077 element=0390 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=059B elementURI="circle_acoustic_contact:Science.EnabledWetLabsUBAT" type=00 *a code=0789 owner=0077 element=059B universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=078A owner=0077 element=059B universal=3FFF unitName="bool" type=1F size=0008 fl=05 I # DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool*a code=078B owner=0077 element=0357 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=059C elementURI="circle_acoustic_contact:Science.EnabledISUS" type=00 *a code=078C owner=0077 element=059C universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=078D owner=0077 element=059C universal=3FFF unitName="bool" type=1F size=0008 fl=05 # DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool*e code=059D elementURI="circle_acoustic_contact:Science.LowPassWindowLength" type=00 *a code=078E owner=0077 element=059D universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=078F owner=0077 element=059D universal=3FFF unitName="count" type=1F size=0008 fl=05 M 4@#M DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count*e code=059E elementURI="circle_acoustic_contact:Science.MedianFilterLen" type=00 *a code=0790 owner=0077 element=059E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0791 owner=0077 element=059E universal=3FFF unitName="count" type=1F size=0008 fl=05 )] @#e DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count*e code=059F elementURI="circle_acoustic_contact:Science.PeakChlShallowBound" type=00 *a code=0792 owner=0077 element=059F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0793 owner=0077 element=059F universal=3FFF unitName="meter" type=1F size=0008 fl=05 iu #} DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m*e code=05A0 elementURI="circle_acoustic_contact:Science.PeakChlDeepBound" type=00 *a code=0794 owner=0077 element=05A0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0795 owner=0077 element=05A0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 E #E DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m*e code=05A1 elementURI="circle_acoustic_contact:Science.PeakShallowBound" type=00 *a code=0796 owner=0077 element=05A1 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0797 owner=0077 element=05A1 universal=3FFF unitName="meter" type=1F size=0008 fl=05 U # DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m*e code=05A2 elementURI="circle_acoustic_contact:Science.PeakDeepBound" type=00 *a code=0798 owner=0077 element=05A2 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0799 owner=0077 element=05A2 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ) # ~DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m*e code=05A3 elementURI="circle_acoustic_contact:Science.PeakChl" type=00 *a code=079A owner=0077 element=05A3 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 I *a code=079B owner=0077 element=05A3 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 # DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l9 3\6A2@y2t@2@"92VQ IC9yF# ]>  6 6 tIɎ A|:ɐ:6*e code=05A7 elementURI="circle_acoustic_contact:Science.PeakChlLongitude" type=00 *a code=07A2 owner=0077 element=05A7 universal=3FFF unitName="degree" type=1F size=0008 fl=05 I *a code=07A3 owner=0077 element=05A7 universal=3FFF unitName="degree" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg*e code=05A8 elementURI="circle_acoustic_contact:Science.PeakNO3" type=00 *a code=07A4 owner=0077 element=05A8 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 %*a code=07A5 owner=0077 element=05A8 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 #-DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l1 5֚?1~Ai}A)}A}A}IɂIiӱ*e code=05A9 elementURI="circle_acoustic_contact:Science.PeakNO3Depth" type=00 *a code=07A6 owner=0077 element=05A9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07A7 owner=0077 element=05A9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m*e code=05AA elementURI="circle_acoustic_contact:Science.PeakNO3Latitude" type=00 *a code=07A8 owner=0077 element=05AA universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07A9 owner=0077 element=05AA universal=3FFF unitName="degree" type=1F size=0008 fl=04 U>#DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg*e code=05AB elementURI="circle_acoustic_contact:Science.PeakNO3Longitude" type=00 *a code=07AA owner=0077 element=05AB universal=3FFF unitName="degree" type=1F size=0008 fl=05 I*a code=07AB owner=0077 element=05AB universal=3FFF unitName="degree" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg*e code=05AC elementURI="circle_acoustic_contact:Science.PatchChl" type=00 *a code=07AC owner=0077 element=05AC universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07AD owner=0077 element=05AC universal=3FFF unitName="meter" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m*e code=05AD elementURI="circle_acoustic_contact:Science.PatchChlDepth" type=00 *a code=07AE owner=0077 element=05AD universal=3FFF unitName="meter" type=1F size=0008 fl=05 -*a code=07AF owner=0077 element=05AD universal=3FFF unitName="meter" type=1F size=0008 fl=04 #5DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m*e code=05AE elementURI="circle_acoustic_contact:Science.PatchChlLatitude" type=00 *a code=07B0 owner=0077 element=05AE universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07B1 owner=0077 element=05AE universal=3FFF unitName="degree" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg*e code=05AF elementURI="circle_acoustic_contact:Science.PatchChlLongitude" type=00 *a code=07B2 owner=0077 element=05AF universal=3FFF unitName="degree" type=1F size=0008 fl=05 I*a code=07B3 owner=0077 element=05AF universal=3FFF unitName="degree" type=1F size=0008 fl=04 # DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg*e code=05B0 elementURI="circle_acoustic_contact:Science.PatchChlDistance" type=00 *a code=07B4 owner=0077 element=05B0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07B5 owner=0077 element=05B0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m*e code=05B1 elementURI="circle_acoustic_contact:Science.PeakOil" type=00 *a code=07B6 owner=0077 element=05B1 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 *a code=07B7 owner=0077 element=05B1 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3*e code=05B2 elementURI="circle_acoustic_contact:Science.PeakOilDepth" type=00 *a code=07B8 owner=0077 element=05B2 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07B9 owner=0077 element=05B2 universal=3FFF unitName="meter" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m*e code=05B3 elementURI="circle_acoustic_contact:Science.PeakOilLatitude" type=00 *a code=07BA owner=0077 element=05B3 universal=3FFF unitName="degree" type=1F size=0008 fl=05 IE*a code=07BB owner=0077 element=05B3 universal=3FFF unitName="degree" type=1F size=0008 fl=04 #MDefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg*e code=05B4 elementURI="circle_acoustic_contact:Science.PeakOilLongitude" type=00 *a code=07BC owner=0077 element=05B4 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07BD owner=0077 element=05B4 universal=3FFF unitName="degree" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg*e code=05B5 elementURI="circle_acoustic_contact:Science.PeakFDOM" type=00 *a code=07BE owner=0077 element=05B5 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 *a code=07BF owner=0077 element=05B5 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb*e code=05B6 elementURI="circle_acoustic_contact:Science.PeakFDOMDepth" type=00 *a code=07C0 owner=0077 element=05B6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=07C1 owner=0077 element=05B6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 #EDefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m*e code=05B7 elementURI="circle_acoustic_contact:Science.PeakFDOMLatitude" type=00 *a code=07C2 owner=0077 element=05B7 universal=3FFF unitName="degree" type=1F size=0008 fl=05 I*a code=07C3 owner=0077 element=05B7 universal=3FFF unitName="degree" type=1F size=0008 fl=04 #DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg*e code=05B8 elementURI="circle_acoustic_contact:Science.PeakFDOMLongitude" type=00 *a code=07C4 owner=0077 element=05B8 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=07C5 owner=0077 element=05B8 universal=3FFF unitName="degree" type=1F size=0008 fl=04 # DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg*e code=05B9 elementURI="circle_acoustic_contact:Science.PatchFDOMDistance" type=00 *a code=07C6 owner=0077 element=05B9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 % *a code=07C7 owner=0077 element=05B9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 #m DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m*n code=0078 name="circle_acoustic_contact:Science:A" *n code=0079 name="circle_acoustic_contact:Science:B" *a code=07C8 owner=0079 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007A name="circle_acoustic_contact:Science:C" *n code=007B name="circle_acoustic_contact:Science:D" *n code=007C name="circle_acoustic_contact:Science:E" *n code=007D name="circle_acoustic_contact:Science:F" *n code=007E name="circle_acoustic_contact:Science:G" *n code=007F name="circle_acoustic_contact:Science:H" *n code=0080 name="circle_acoustic_contact:Science:Read_Oil" *n code=0081 name="circle_acoustic_contact:Science:PeakDetectChl" *n code=0082 name="circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth" A 8Construct PeakDetectVsDepth.*a code=07C9 owner=0082 element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CA owner=0082 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CB owner=0082 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0083 name="circle_acoustic_contact:Science:PeakDetectChl:B" *n code=0084 name="circle_acoustic_contact:Science:HighestChlPeakReport" *n code=0085 name="circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal" B >Construct PeakDetectHorizontal.{@ ]6A.7@y. @.' 9.ؿ?`e?@[v??ɔ.7@. h{;.CYB?yBE*a code=07CC owner=0085 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CD owner=0085 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CE owner=0085 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CF owner=0085 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D0 owner=0085 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D1 owner=0085 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 I]"G e ɰe`6y;(= =]=9 A>Q IC9y ]>*n code=0086 name="circle_acoustic_contact:Science:PeakDetectNO3" 9 E699 EtIɎ9 EA9=X:ɐ=:=~6I M?I*n code=0087 name="circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth" Ce8Construct PeakDetectVsDepth.*a code=07D2 owner=0087 element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D3 owner=0087 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D4 owner=0087 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 ~i})}}}ɂi*n code=0088 name="circle_acoustic_contact:Science:PeakDetectNO3:B" *n code=0089 name="circle_acoustic_contact:Science:PeakDetectOil" }=*n code=008A name="circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth" E8Construct PeakDetectVsDepth.*a code=07D5 owner=008A element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D6 owner=008A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D7 owner=008A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008B name="circle_acoustic_contact:Science:PeakDetectOil:B" *n code=008C name="circle_acoustic_contact:Science:PeakDetectFDOM" *n code=008D name="circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth" F8Construct PeakDetectVsDepth.*a code=07D8 owner=008D element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D9 owner=008D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07DA owner=008D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008E name="circle_acoustic_contact:Science:PeakDetectFDOM:B" *n code=008F name="circle_acoustic_contact:Science.Redefine.PeakDetectChlActive" *a code=07DB owner=008F element=058A universal=3FFF unitName="bool" type=02 size=0001 fl=05 #RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool*n code=0090 name="circle_acoustic_contact:Science.Redefine.SampleISUS" *a code=07DC owner=0090 element=0587 universal=3FFF unitName="bool" type=02 size=0001 fl=05 #RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool*n code=0091 name="circle_acoustic_contact:Science.Redefine.SampleISUSmaxPitch" *a code=07DD owner=0091 element=0588 universal=3FFF unitName="degree" type=1F size=0008 fl=05 #RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg*n code=0092 name="circle_acoustic_contact:Science.Redefine.SampleISUSminPitch" *a code=07DE owner=0092 element=0589 universal=3FFF unitName="degree" type=1F size=0008 fl=05 #eRedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg*n code=0093 name="circle_acoustic_contact:L.SetSpeed" ImConstruct.*a code=07DF owner=0093 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07E0 owner=0093 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07E1 owner=0093 element=040C universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0094 name="circle_acoustic_contact:YoYos" *n code=0095 name="circle_acoustic_contact:YoYos:A.DepthEnvelope" J0Construct DepthEnvelope.*a code=07E2 owner=0095 element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07E3 owner=0095 element=0159 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07E4 owner=0095 element=0155 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07E5 owner=0095 element=0139 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07E6 owner=0095 element=0153 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07E7 owner=0095 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=07E8 owner=0095 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=07E9 owner=0095 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07EA owner=0095 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07EB owner=0095 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07EC owner=0095 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07ED owner=0095 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07EE owner=0095 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07EF owner=0095 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07F0 owner=0095 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07F1 owner=0095 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0096 name="circle_acoustic_contact:YoYos:B.AltitudeEnvelope" K-6Construct AltitudeEnvelope.*a code=07F2 owner=0096 element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07F3 owner=0096 element=0159 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07F4 owner=0096 element=0155 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07F5 owner=0096 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=07F6 owner=0096 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07F7 owner=0096 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F8 owner=0096 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F9 owner=0096 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07FA owner=0096 element=040B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07FB owner=0096 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07FC owner=0096 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07FD owner=0096 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0097 name="circle_acoustic_contact:YoYos:C.YoYo" K- Construct YoYo.*a code=07FE owner=0097 element=015F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07FF owner=0097 element=0159 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0800 owner=0097 element=0155 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0801 owner=0097 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0802 owner=0097 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0803 owner=0097 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0804 owner=0097 element=040D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0805 owner=0097 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0806 owner=0097 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0807 owner=0097 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0808 owner=0097 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0809 owner=0097 element=0406 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=080A owner=0097 element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0098 name="circle_acoustic_contact:CircleWrapper" *n code=0099 name="circle_acoustic_contact:CircleWrapper:CircleContact" *a code=080B owner=0099 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009A name="circle_acoustic_contact:CircleWrapper:CircleContact:A" *a code=080C owner=009A element=0121 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *n code=009B name="circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle" M Construct.*a code=080D owner=009B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=080E owner=009B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=080F owner=009B element=0420 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0810 owner=009B element=041A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0811 owner=009B element=041B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0812 owner=009B element=041C universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=009C name="circle_acoustic_contact:CircleWrapper:CircleContactClose" *a code=0813 owner=009C element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009D name="circle_acoustic_contact:CircleWrapper:CircleContactClose:A" *a code=0814 owner=009D element=0121 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *n code=009E name="circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle" O- Construct.*a code=0815 owner=009E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0816 owner=009E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0817 owner=009E element=0420 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0818 owner=009E element=041A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0819 owner=009E element=041B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=081A owner=009E element=041C universal=3FFF unitName="degree" type=37 size=0006 fl=05 -F ]6A.@y.@.g9.ܿ11Q I5C91y=X ]}>  6 tIɎ A:ɐ:鐝6 ט?~i})}}}ɂi]= #% This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore. Maximum duration of mission 2 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications 60 If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. 15 The acoustic address of the asset to be tracked 0 The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. 36.81544 The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. -121.82506 Radius of circle around acoustic contact during wait time 300 Radius of circle around acoustic contact during wait time 50 How long to wait between acoustic queries 60 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 1 Time before each normal communication cycle to move to the inner circle. Default value of 0 means vehicle will stay at OuterCircleRadius the whole time. 0 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 100 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Minimum depth during yo-yo's. 3 Maximum depth during yo-yo's. 33 Min altitude while in yo-yo mode. 10 Pitch (plus and minus) for yo-yo behavior. 20 Vehicle speed. 1 Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) 0.010 Minimum height above the sea floor for the entire mission. 7 Maximum depth for the entire mission. 105 Minimum offshore distance for the entire mission. 1.5 Get science data, including PeakDetectChl 30.0 10.0 Circle the contact while updating its position using the tracking behavior. 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Q:A@z@bm@@b@B@R@J@ )   !)!)! }bm}~ ~i~i})}}}4c bm)ɂ遭bmiӹ >)0>9ñ==- got command stop=5(Scheduling is pausedN5^Stop Mission called by CommandLine::commandStop-b@-ґCI)))y- =)٪)a a Ia )a ya a ٪a D;y Ay6Ai$&:$ɲ$&8$ $)&g6x@y6j8@62$96F=Y6H/IQQ IUD9U=B٤Qy] < ]]> a m7e?eE mtIɎeZ3B mLBeBe:ɐe :e77q uy@z@m@@b@B@R@J@)  !)!)) m#8MissionManager is completed.#\Uninitializing Mission circle_acoustic_contact /^Aggregate::uninitialize circle_acoustic_contact 7Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes7NUninitialize AltitudeEnvelopeComponent.1 8Uninitialize.q8NUninitialize OffshoreEnvelopeComponent.q ;@Uninitialize Buoyancy Component.;nAggregate::uninitialize circle_acoustic_contact:Science1q @Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl  AUninitialize.$IUninitialize.1% JjAggregate::uninitialize circle_acoustic_contact:YoYosq%JUninitialize.% KNUninitialize AltitudeEnvelopeComponent.%K6Uninitialize YoYoComponent.1& LzAggregate::uninitialize circle_acoustic_contact:CircleWrapperq&LAggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact&&MUninitialize.&q&m&$1M}yuqmiea]YUQMIEA=951-)%!%a!aau M MMMMUU]]}yuqmiea]Y~w: ~i~i})}}} vci9n>iʅ ʅ ʅ I˅ # z6A.@y.X@.N9.w=Y.HoS?`?Ϳ@K?@ ?F? $? r?ɔ.@.;.CYB?yBFJ>iHIGIAi  ɰ /6yM< =MJ=M  AM>QQQ IUD9U By]L< ]]> a m7e ? m7e*E mtIɎe3B mLBeBe:ɐe:ed7uΨ? }}A=#.Started mission DefaultyɁ':Aggregate::initialize Defaultq(@Initialize GoToSurfaceComponent.(No depth rate setting specified. Using default value of nan m/s.(~No pitch setting specified. Using default value of nan degrees.(No speed setting specified. Using default value of 1.000000 m/s.(No surface timeout specified. Using default value of 1000.000000 seconds.(nReceived pitch timeout configuration 60.000000 seconds.1 (4Initialize Wait Component.IΝ Ν ?Ν\͝)ΙiΙ~Xz: ~p6~\i~M)~?I}8i})}}}fɂi9-Q Powering down% %)%i}}}ɲ}}}a%@a-@99A]U>L lz6A==Y~!?y~0FImރGɨuu}ePowering downIeimmm m ɰm36y-?= =5=5 A5>99Q I=D9]-Bye ]e>uNew estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -35.00 mm (2 active estimators). q 7u?u۵E tIɎu4B MBuBu;ɐu0;ux UL4z6A.^O@y.P@.Ӿ9.=Y.H`?ZY?ͿQ?@ ?M?`ϡ?`C?ɔ.^O@.0;.CY>?yBdFJT>iHI|  ɰ`46y% =%=-* A-:?)1Q I5D95By5"= ]]>? 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L7ZO tIɎ@ BU[C6:ɐ:y,L7@ %@CI! !!!)!i!~1 ~uG2=i~q)~qI}}˙?i}y)}}Z8}y}}hH>ɂiӉY0:9iqύ>\& X:|6AIi@~非@y~@~??9~s=Y~H/?K8?@?@i?13? E?ɔ~非@~mQz;~CY ̗?y :FIGӽR=ӽ4= ɰ6y =D= A>Q I!D9tsCyj ]5> 9 EL7=ǂ?=wO EtIɎ=#@ MB=[C=:ɐ=:=eL7Q @IΙ ΙΙ͙)ΙiΙ~ ~=i~)~I}̗?i})}8}}[0J>ɂi R> Y>Y9: ѵ%=)ѱ9Ñϭ=>C& r6AFK@yFH@Fh2?9F =YFH`? i9??Oe?@`?#F?ɔFK@Fy;DY~ژ?y~;FiIłG ɰ]6y< =L=U A>Q I"D9sCy ]5> 9 EL7=?=HP EtIɎ=@ MB=\C=ʽ:ɐ=:=L7Q b@Iι ιι͹)ιi~ ~cz=i~))~)I}-ژ?i}i)}m8}i}uK>ɂqiyyYm:9AIe4> l>)>m& =𯚼6A>@y>@>/?9>=Y>Ho?E:?@?`oa?` f?YF?ɔ>@>(y;>CY^?y^;FI ɰL6y =L=<Ӹ A>Q I"D9AtCy9 ]>  L7&?P  tIɎ@  BW\C:ɐ:L7u@ u@}CIy ΁΁́)΁i΁~ ~«=i~)~I}?i})}+8}}CM>ɂiYP:9aiυ8>cZ& ɚ6A%=2@y2@2:?92=Y2H ?@%;? ?@8e]?F࿙?E?ɔ2@2y;0YZ?yZ:FhihI$GIӭAiӭA ɰ6y=!8 ==A==c9 A=>AAQ IE"D9EtCy4 ]>  M7? M7;P tIɎ@ B\C:ɐ.:鐵g M7@ @ .CI )i~! ~eY=i~i)~iI}m?i}i)}mɕ8}i}maO>ɂqiqyIсiYY:9D>& "㚼6A.,@y.)@.oA?9.<=Y.H ? ?yBiiQ Im"D9m uCyu ]]> a mM7e(?eP mtIɎe@ Be]Ce8;ɐe;eCM7@ @1CIΡ ΡΡ͡)ΡiΩ~ ~׉=i~)~I}?i})}a8}}dQ>ɂiY:9ñ%,>& 6A..@y.+@.tT?9.=Y.H@?`=?g?}`S?@R@j `}?"D?ɔ..@.y;,Y>?yB9FHiHIzՂG ~ɰ~P6y=B =6=): A>Q I"D9uCyպ ]M> Q ]M7U?U@'P ]tIɎU@ eBU`]CU:ɐU:Uj~M7 0@I )i~9 ~EǞ=i~A)~II}M?i}I)}M8}I}MR>ɂQiYYY:9áϽa>ˑ& 6\6AIi@.L@y.I@.s?9. ^=Y.HS? =?`~?R?` @@? A?ɔ.L@.Ϲy;.CYB?yB?= =a=: A>Q I"D9uCy9 ]>  M7?-P tIɎ@ B]C+:ɐ:鐵M7 @I )i~! ~-=i~))~)I}-?i}))}58}1}5ZT>ɂQiQY]=]C>Y-z: 5=)5)>9-,>& 716A.@y.@.5?9.=Y.H?@??@?p@YM?X<{?@?ɔ.@.y;.CYBL?yBJ;FJ>iHIՂG ɰ 6yEz =EN=Ez(: AE>IIQ IM"D9MBvCyUg ]U> y }M7}~?}5P tIɎ}@ B}]C}:ɐ}L:}`M7g@ T@kCIΑ αι͹)ιiι~ ~`=i~)~I}L?i})}(8}}V>ɂiY:9ñ= {>)>& K6A.@y.ޥ@.m?9.E=Y.H@??? ?r`K?C`A`;m?>?ɔ.@.y;,YB?yBg:FIz G ɰ-6yg =M=: A>!!Q I%"D9%vCy-~' ]-> 1 N75? N75Z=P tIɎ5q@ B5Q^C5<ɐ5Ӑ<5[N7 @I )i~! ~-q=i~))~)I}-?i}))}-Ø8})}5W>ɂ9i9AY :9Ñϭ>S& Rd6A=:@y:@:7?9:=Y:H? :???`L?`ѡco?f;?ɔ:@:]y;:CYN?yR>FXiXIhGI!i%A -ɰ-86yj`= =C=: A>Q I"D9wCyp: ]>  N7.?FP tIɎL@ B^Cӻ:ɐ;:鐝WN7@ @nCI )i~ ~=i~)~I}?i})}e8}}Y>ɂIiQQIYiYYE:QQ9!)E0>& ~6A.Ɛ@y.@.{?9.=Y.H@?0>?@?`.P?`?@7?ɔ.Ɛ@.>y;.CYB!?yB;FI=G EɰE6y= =K=x: A>Q I"D9{wCy: ]>  N7?NMP tIɎ@ B_Cɐ]:鐽 N7c@ [@I )i~) ~-=i~1)~1I}5!?i}1)}U8}Q}U4[>ɂYiYaY5:9 m>L& z6A.@y.@.?9.=Y.H?@=??|O?@e?`5?ɔ.@.z;.CYB?yB:FHiHIzłG EɰEy6y =G=t: A>Q I#D9wCy: ]>  N7?AUP tIɎ @ BV_C:ɐi::N7 q@ @ CI )i~! ~-@=i~))~)I}-?i}))}-8}1}5\>ɂQiYYY-!:9 $>s & 6AIi.M@y.J@.3?9.=Y.H?Q I#D9KxCy: ]>  N7?\P tIɎϙ@ B_C;:ɐ:N7 w@  @ CI 11)1i1~A ~E1$=i~I)~II}MY?i}I)}M/8}I}Mx^>ɂqiqyх>хJ>YM: ]t>)]8>9)1M>h& X̛6A.@y.@.UM?9.M=Y.H?c:??it[?`$?0?ɔ.@.y;.CYB?yB11Q I5#D95xCy=3; ]]> a mO7e(? mO7exdP mtIɎe@ uBe_Ce:ɐe:e.O7d@ @IΡ ΡΡ͡)ΡiΡ~ ~_=i~q)~qI}u?i}y)}}Ǜ8}y}}VJ`>ɂyiӁY5:9 - > >)>q& 6曼6A.c@y.`@.R?9.=Y.H`!? I6? / ?om?$ ?,0?ɔ.c@.y;.CYNٙ?yR3=FI  ɰk6yEP; =EH=ML9 AM>IIQ IU#D9UyCyU`; ]U>  O74?TlP tIɎX@ BS`C߼:ɐT:鐅fO7k@ @CIι )i~ ~@=i~)~I}ٙ?i})}c8}}b>ɂiYB:9ñ= ' M6A%=.캞@y.@.H?9.-9=Y.H 5?0?-?Qkඈ?`̭#?@1?ɔ.캞@.oy;.CYB?yBy=FHiHIz$GIzAix ~ɰ~6yE; =EJ=MdϹ AM>IIQ IU#D9U~yCyU; ]U> a mO7eA?etP mtIɎe@ mBe`Ce/:ɐe:e4O7uR@ }͆@}CI΁ ΁΁́)΁i΁~ ~t=i~)~I}?i})}8}}ʹc>ɂiөIѱiѱYqA9ùE Received command:load Science/circle_acoustic_contact.xml;set circle_acoustic_contact.TrackingUpdatePeriod 25 second;set circle_acoustic_contact.Speed 0 meter_per_second;run I.' 6A.XȞ@y.U@.=?9.t=Y.HI?*?S?@f`?@x"@?2?ɔ.XȞ@.by;,YB?yBQ I#D9yCy; ]>  O7N?{P tIɎHy@ B`CY:ɐi:鐝MO7 @Iα )i~ ~=i~)~I}?i})}8}}qye>ɂi=M~got command load ./Missions/Science/circle_acoustic_contact.xml#U~Loading Mission: ./Missions/Science/circle_acoustic_contact.xmlYm:9IQm>Y ֡#zDefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h]Iֱ#~DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 mina#DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 mine#~DefineArg circle_acoustic_contact.ContactLabel = 0.000000 counti #DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdegmI#DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdegq#DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 mu%!#-DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 my5 1#=DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s}EIA#MDefineArg circle_acoustic_contact.NumberOfPings = 1.000000 countUQ#]DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 minea#m~DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 mu y#}vDefineArg circle_acoustic_contact.CircleTurnToPort = 0 boolIف#vDefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 mٙ#xDefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m٩#~DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m ڹ#|DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdegI#lDefineArg circle_acoustic_contact.Speed = 1.000000 m/s#zDefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m#tDefineArg circle_acoustic_contact.MinAltitude = 7.000000 m  # rDefineArg circle_acoustic_contact.MaxDepth = 105.000000 m I #% vDefineArg circle_acoustic_contact.MinOffshore = 1.500000 km     - - - - 5 5 5 5 = = = E   #% \Inserting Stack: Missions/Insert/NeedComms.xmlY ' u36A.՞@y.*@.(?9.h<=Y.H^?$?_q?c`?`S 7߷?3?ɔ.՞@.y;.CY>0?yB9FHiHI~;G ɰ6y=2E ==N=EHR AE>AIQ IM#D9MLzCyM͇; ]U>  P7[? P7ăP %tIɎj@ %BTaCk<ɐl<鐵 P7-U@ -@-C~]<~]w:i}e)}e}a}eɂaimii@#DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h%)#5DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min=9#EDefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg)#DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/si#DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s #EDefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 minYEb: }y#DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min2,Construct GoToSurface.9!)E0>#lInserting Stack: Missions/Insert/StandardEnvelopes.xml@#DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m  i@#5DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m= E@@#EDefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m7m6Construct AltitudeEnvelope. 80Construct DepthEnvelope.8] 6Construct OffshoreEnvelope.au} : Construct.a a!  ; &Construct Buoyancy.% #= XInserting Stack: Missions/Insert/Science.xml@' M6AI@i.O@y.L:@..?9.-=Y.Hv???e^ ?@J޷?5?ɔ.O@.y;.CY>?yBAIQ IM#D9MzCyM; ]U> Q P7Uh?UMP tIɎUM\@ BUaCU:ɐU:UxBP7 @~i})}}}ɂ!i!)5!>uC>uu u)u9!=q>e ie #m zDefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool!u u es-8R?#} DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg%  es-8R# DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg) ) # DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool- i # DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min1  # DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool5  # DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool9 ) # DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count= i # DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 countA  # DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %E  #% DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 boolI5 )1 #= DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 boolME iA #E DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 boolQM I i' {g6A.@y.I@.J?9.=Y.H^?@?t?JZ'?-P@? 6?ɔ.@.0y;.CY~L?y~:F# DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 booliCUe aIłG ɰS6y@5 =B=< A>Q I#D9#DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 1.000000 boolY-i)#-DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 1.000000 boolyuŒ; ]u> y P7yy tIɎy By}:ɐ}:}~P7]#DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 boola) @~i})}}}ɂ#DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 boole# DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 booliQai#DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 boolmI=#DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 boolq-)#5DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 boolu=9#EDefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 countym)i#uDefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count}i#DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m#DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m#DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m)#%~DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m-I)#5DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l=9#MDefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 mUQ#]DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC #DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdegI#DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg#DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l#DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m% !#-DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg5I1#=DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdegea#DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m#DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m #DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg I #DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg=9#EDefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan mMI#DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3 # DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 mI#DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg%!#-DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg#DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb  >)>#DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m I # DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdegU Q #] DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdege a # DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m A 8Construct PeakDetectVsDepth.B >Construct PeakDetectHorizontal.C= 8Construct PeakDetectVsDepth.vR ' Y6A.@y.Y@.?9.D=Y.H@l??@b?U?g?7?ɔ.@.ˌy;.CY>=?yBsQ I#D9yܞ; ]>  P7 tIɎ B:ɐ:P79 =@9~Ii}I)}I}I}IɂQiQYiF8Construct PeakDetectVsDepth.ϵ=#5RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool#ERedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool#URedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg#]RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdegIeConstruct.$1}J0Construct DepthEnvelope. K6Construct AltitudeEnvelope.KConstruct YoYo.M%Construct.&5&m=&q= OmConstruct. #] This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore. Maximum duration of mission 2 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications 60 If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. 15 The acoustic address of the asset to be tracked 0 The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. 36.81544 The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. -121.82506 Radius of circle around acoustic contact during wait time 300 Radius of circle around acoustic contact during wait time 50 How long to wait between acoustic queries 60 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 1 Time before each normal communication cycle to move to the inner circle. Default value of 0 means vehicle will stay at OuterCircleRadius the whole time. 0 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 100 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Minimum depth during yo-yo's. 3 Maximum depth during yo-yo's. 33 Min altitude while in yo-yo mode. 10 Pitch (plus and minus) for yo-yo behavior. 20 Vehicle speed. 1 Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) 0.010 Minimum height above the sea floor for the entire mission. 7 Maximum depth for the entire mission. 105 Minimum offshore distance for the entire mission. 1.5 Get science data, including PeakDetectChl 30.0 10.0 Circle the contact while updating its position using the tracking behavior. 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L~ ~i~i})}}} L) ɂ  Lii]H]<] ɲ]!9]i8]f3 ]9)]vD8u;9IYu>eH@aIeE)aye =a٪a* '06A44I4)4y6 =4٪4Jơ@yJ@JM=9J,B=YJHzN??qs@W@0?`?@q?ɔJơ@J؇;JCY^@y^\FdihI-4G5<5;?9 Ey ɰE6ye2-< =eG=e2ټ Am>iiQ Im3D9mƚC٤qy ]>  p7j ?G'U tIɎq BC:ɐQ:鐝#p7A @y5C@z@o+@@b@B@R@)  !)!)%? jM~ ~i~i})}}} jM)ɂ^p>遝jMiӡ)AIE?iE }FAAٮAA;9G>iae=e"ɲae18ew4 e9)e8I@I)y =٪*  6AN@yNب@N=9Nې=YNH4??@  ?] ܣ`?]?ɔN@N쇇;NCY^@y^FppIrE)pyr =p٪pIUG]<]<ɨqu&H?u2; }r ɰ}s6y= =D=ݼ A>Q I3D9C٤y ]>  q7 ? q7y0U tIɎ B̊C*;ɐu*;3q7  A @ 6C@%z@-,@)@)b@)B@1R@19)9 E Q)Y)]? N~ ~i~i})}}} N)ɂNi E;9aqύ9>qqIuE)qyqq٪qiu Gq u ɲu 9q u 3 u )}9)q O* e׫6A%=Y@yPFiaaIeE)ayaa٪aIރG]Aunknown deviceResponse_: 16:42:43.4934 LVL= 32752, 32753, 32754, 32755, AGC= 30, IDX= 366, 0.28,-2.990,-1.695, 2.317, 3.069, PHS= 0.312, 1.566,-0.755, RAW= 357.3, -11.2, CAL= 356.5, -14.8, ROT= 183.5, 14.8 -(Communications Fault   ɰ̀6yz =E= A>!Q I%3D9%0C٤!y- ]-> 1 =q75 ?59U =tIɎ5 =B5C5:ɐ5j:5kq7Ex A M@U6C@}z@},@y@b@B@R@)  ))? 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A~ ~i~i})}}}  A)`<ɂ AiAyyIy)yyyy٪y9ñ> I ) y  ٪ 81 cļ6A:k@y:vA@:e9:"=Y:H{?? ,˿@U`?@9??1?+3?ɔ:k@:e;:CY^g?ybFlipIU$Ge4Q ILD9EC٤iJ9ɲS9鲥f8  :) ymu ]>  742?9v] tIɎ!@ BݺC{;ɐ;l7]A ]mA]"C@z@ۖ@@b@B@R@)  ))?iʕ@ʑ A~ ~ i~ i})}}} A)7<ɂ!%Ai!QI)y =٪9aqύ9>7>1 yļ6AI@iY~?y~FImGIuAiuA]Aunknown deviceResponse_: 16:44:23.8658 LVL= 26704, 21569, 22274, 27635, AGC= 33, IDX= 83, 0.13, 0.744, 1.758, 2.524, 1.516, PHS=-0.684, 0.288, 1.005, RAW= 245.0, -8.3, CAL= 244.6, -11.5, ROT= 295.4, 11.5 -(Communications Fault  ɨlH?z;  ɰ>J6y7L; =D= A>Q ILD9{C٤y ]>   7)2?~]  tIɎw@  BCU:ɐ:ʈ7 mA@z@ܖ@@b@B@ R@)  ))Q)U?I)y =٪ ewB)LILiLLLٮN@L ˭a=)˩i= ɲ鲽18f3 )a8e~  ~ i~ i})}}} wB).<ɂAEwBiAI99A"]LCommunications Fault in component: DATeU> I ) y  ٪ E1 rż6A.ԡ@y.)@.9.O%=Y.Hg?v?`=˿S^?)O?`??@Q/?ɔ.ԡ@.;.CYN?yRFXiXIkGPowering downIiII)y٪  ɰC6yta: ="=0 A>Q ILD9 C٤ y ]>  -7>2?Z] -tIɎ̢@ -BLC;ɐ;J7=A =mA=C@Uz@Ufݖ@Q@Yb@YB@YR@Yi)i m y)y)? uXC}~ ~i~i})}}} XC)<ɂXCi >) 0>iG>ɲ98!3 |9)^ 99> I ) y = ٪ )a8Iiɫ95 L1 J2ż6A.,ʡ@y.7@.do9.%=Y.H@]??`B˿:b?Z?3&?,?@o-?ɔ.,ʡ@.{;.CYB?yBFIGI @Ai   ɰA6y%d< =%=- A-?11Q I5LD95C٤9y= ]E ? I U7MJ2?M+] UtIɎM@ UBMnCM:ɐM6;MP7a emAa@}z@ݖ@@b@B@R@)  ))? C~ ~i~i})}}} %C)-x<ɂ)-Ci)191Iu=I)y٪) ) I) )) y- =) ٪) )qIqiqqqٮqq )Ii = =4 AA i J ; ɲ S9 8 :) 6IU3iU3U/"S1 $Mż6A.á@y.@.ܔ9.A%=Y.HX?ҧ?;˿dש?@c? *?I}?,?ɔ.á@.z;.CYn?ynF|i~CI]$GɨquH?u; }{ ɰ}0>6y =;=+ A>Q ILD9C٤y$ ]>  7]2?V] tIɎd@ BC:ɐ:Jܓ7 `A omA5C@Ez@Eޖ@A@Ab@AB@IR@Iq)q u ))? 5D5~Y ~Yi~Yi}a)}a}a}a mD)mZ<ɂimDiqyiʭ@ʭ@I)y =٪9IQ"eNClearing failed state for component DAT em> I ) y = ٪ KY1 fż6ABF@yBQ@B-ɬ9BR%=YBH?S?@?n=˿@f?kj?0?~?+?ɔBF@BV;BCYf?yf-Fi%K%>% ɲ%9%8%f3 %3(:)%^ 9IMG U ɰU?6yeKY; =eP=ms Am>iiQ ImLD9uIC٤qy}ٺ ]}> y 7}n2?}p] tIɎ}@ B}һCyɐy}7 jmA@z@Mߖ@@b@B@R@)  ))? ?E~ ~i~i})}}} %?E)%r<ɂ!-?Ei))9A9==g@I)y٪ h@ I ) y  ٪ 2`1 Ԁż6A.T@y._ @.&'9.N%=Y.H L?w?@˿hԟ?!w? ;? Dw?)?ɔ.T@.E;.CYr?yvʚF|i$CI]TGeQ ILD9}C٤y ]>  72? 7] tIɎײ@ BC:ɐ:鐥7oA gmAC@z@ߖ@@b@B@R@)  ))? 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R/(*** querying DAT ***Ii#8MissionManager is completed.#\Uninitializing Mission circle_acoustic_contact /^Aggregate::uninitialize circle_acoustic_contact 7Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes7NUninitialize AltitudeEnvelopeComponent.1 8Uninitialize.q8NUninitialize OffshoreEnvelopeComponent.q ;@Uninitialize Buoyancy Component.;nAggregate::uninitialize circle_acoustic_contact:Science1q @Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl  AUninitialize.$IUninitialize.1%  J jAggregate::uninitialize circle_acoustic_contact:YoYosq% J Uninitialize.%  K NUninitialize AltitudeEnvelopeComponent.% K 6Uninitialize YoYoComponent.1&  L zAggregate::uninitialize circle_acoustic_contact:CircleWrapperq& L Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact&&MUninitialize.&q-&m-&-$1MEMMMMMmmmmmmmmuuuuuuuuuuuu}uyuu}q}m}i}e}a}]}Y}U}Q}M}I}E}A}=}951-)%!%a!aau  %----------55555555====}=y=u=q=m=i=e=a=]=Y=~w: ~i~i})}}}iә =)>9F> Powering downʵʵ ˵)˵iɲa@a@i % % I% VB7 6 ݼ6A.@y.@.Y{9.<22=Y.H0? 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JJoin timeout helper Thread ID is 76941C c_" 6A.@y.i@.?9.H=Y.H@4?Q?@;?@O@P?rb ^??ɔ.@.szz;.CYB2?yB3FIv G zNɰz7y%O= =-J=-+ A->)1Q I5D95-Dy59 ]=> A E7E\?ECs MtIɎE M)CE-DEM:ɐE;:E f7U%B U BUCIY Yaa)aia~i ~uH=i~q)~qI}u2?i}q)}})9}y}yɂyiӁYu[4:9IYu=[C 8< 6A!NUninitializing protected caller thread. Powering down )!"Thread cancelled.6@y6 l@6?96d=Y6H`?`Q?? FP ?l}?` ?ɔ6@6lz;6CBNShutting down CTD_Seabird ThreadHandlerB"Thread cancelled.BJJoin timeout helper Thread ID is 7695YB?yB34FLiLIzbG wɰ07yE; =MH=M~ AM>IQQ IUD9U-DyU&: ]]> a e7e\?ejs mtIɎe m)CeCDe:ɐe¿:e7uL%B u BuCIy y΁́)΁i΁~ ~U=i~)~I}?i})} *9}}ɂiӡY4: >)9ù= Powering down )  NUninitializing protected caller thread. Powering down! ! ! )! } "Thread cancelled.- RShutting down CTD_NeilBrown ThreadHandler- "Thread cancelled.- JJoin timeout helper Thread ID is 7696CC V 6A.@y.i@.fw?9.=Y.H?@R?n?@S` ? \鐵?`?ɔ.@.kz;,YB2?yB3FIvqGz4=z%= ~iɰ~7y  ׻ = N= ˺ A >Q ID9.Dy? ]> ! -7%]?%Wt -tIɎ% -)C%YD%Y:ɐ%&:%71 5 B9IA AAA)AiA~I ~UG=i~Q)~QI}U2?i}Y)}]T*9}Y}YɂaiaiIiiiY5r5:]Powering downiaaaIi9-NUninitializing protected caller thread.5Powering downi111I1u="Thread cancelled.RShutting down Radio_Surface ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 7697Powering down )NUninitializing protected caller thread."Thread cancelled.RShutting down DataOverHttps ThreadHandler"Thread cancelled.%JJoin timeout helper Thread ID is 7698NUninitializing protected caller thread."Thread cancelled.UDShutting down logger ThreadHandlerU"Thread cancelled.]JJoin timeout helper Thread ID is 7699 NUninitializing protected caller thread. "Thread cancelled.΍ NShutting down CommandLine ThreadHandler "Thread cancelled.΍ RShutting down controlThread ThreadHandler "Thread cancelled. JJoin timeout helper Thread ID is 7700U NUninitializing protected caller thread. ] 8Uninitializing ControlThread] Powering downI] i] e e Powering downiԕԕԕԕPowering downIӝiӝӝӝ5Powering downI1i999EFUninitializing DepthRateCalculator. EPUninitializing ElevatorOffsetCalculator. MBUninitialize NavChart Navigation.#MAggregate::uninitialize DefaultqU(UDUninitialize GoToSurfaceComponent.a]a]e eLUninitialize VerticalControlComponent.ePUninitialize HorizontalControlComponent. mFUninitialize SpeedControlComponent.mDUninitialize LoopControlComponent. m8Uninitialize Buoyancy Servo.uPowering downIuiuuu}8Uninitialize Elevator Servo.}Powering downy y)yIy 0Uninitialize Mass Servo.Powering downӁ ԁ)ԁIԁ4Uninitialize Rudder Servo.Powering downωω Љ)Љ 8Uninitialize Thruster Servo.Powering downЕЕ ѕ)ѕ!8Uninitialize SBIT Component. "8Uninitialize IBIT Component."8Uninitialize CBIT Component."&Powering off loads."Disabling WDT."UDOpening all GF detection circuits.]"Thread cancelled.!ea]5YUQMIEA=9       a a a a a a  ! 5! 1! -! )! !  UQMI  ! ! !  ! ! !                        %] !] ] ] 9] 5] 1] -] )] %] !] e e e e e e e e e e e e e e e e m m m m m mm"Thread cancelled.! }! }! }! }! U} } } } E A = 9                    } y u q m i e aa ]a  a Ya  "Thread cancelled. Q     M I E A = 9 5 1 - ) % !             !u}!q}!m}!i}!e!a ]  Y U Q M  a Ia  a Ea  a a  ! A!  =  !"Thread cancelled.aaaaa)a%a!aaaaa a aa!!"Thread cancelled.  "Thread cancelled.aaaaaa}ayaie aee a9e aam a]m aYm aUm aQm aMm aIm aEm aAm am a=m a9m a5m !u }} i} )} -} } -} $ "Thread cancelled.!}u!!yu!!uu!!qu!mu!u! a u!a u!a}!a}!a}!a}!a}!a}!a}!a}!a}!a}!a}!a}!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a!a}!ay!au!aq!am!ai!ae!aa!a]!aY!aU!aQ!aM!aI!aE!aA!a=!a9!a5!a1!a-!a)!a%!a!!a!a!a !a !a !a !a !a !a !iM"eM"aM"]M"YM"UM"QM"MM"IM"EM"AU"=U"9U"5U"1U"-U")U"%U"!U"U"]"]"]" ]" ]"]"]"]"]"]"e"e"e"e"e"e"e"e"e"e"e"m"m"m"m"m"m"m"m"m"m"m"m"u"u"u"u"u"u"}u"yu"uu"qu"mu"i}"e}"a}"]}"Y}"U}"Q}"M}"I}"E}"A}"=}"9}"5"1"-")"%"!""""" " """""""""""""""""""""""""""""""""""}"y"u"q"m"i"e"!ԭ"""Thread cancelled.