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elementURI="platform_yaw_rate" type=04 *e code=004E elementURI="platform_z_sea_water_velocity" type=04 *e code=004F elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0050 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0051 elementURI="platform_z_velocity_current" type=04 *e code=0052 elementURI="projection_x_coordinate" type=04 *e code=0053 elementURI="projection_y_coordinate" type=04 *e code=0054 elementURI="projection_zone" type=04 *e code=0055 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0056 elementURI="sea_water_density" type=04 *e code=0057 elementURI="sea_water_electrical_conductivity" type=04 *e code=0058 elementURI="sea_water_potential_density" type=04 *e code=0059 elementURI="sea_water_potential_temperature" type=04 *e code=005A elementURI="sea_water_pressure" type=04 *e code=005B elementURI="sea_water_rhodamine" type=04 *e code=005C elementURI="sea_water_salinity" type=04 *e code=005D elementURI="sea_water_sigma_t" type=04 *e code=005E elementURI="sea_water_sigma_theta" type=04 *e code=005F elementURI="sea_water_speed" type=04 *e code=0060 elementURI="sea_water_temperature" type=04 *e code=0061 elementURI="speed_of_sound_in_sea_water" type=04 *e code=0062 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0063 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0064 elementURI="time" type=04 *e code=0065 elementURI="time_fix" type=04 *e code=0066 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0067 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 Fz0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *e code=0068 elementURI="controlThread.enableBroadcast" type=02 *a code=0000 owner=0004 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0005 name="SyncHandler" zDCreated PCaller Thread at 404514E0zDProtected caller Thread ID is 7635ƿzhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" zDCreated PCaller Thread at 404814E0zDProtected caller Thread ID is 7636*n code=0007 name="CycleStarter" *e code=0069 elementURI="CycleStarter.enableBroadcast" type=02 *a code=0001 owner=0007 element=0069 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006A elementURI="CycleStarter.time" type=00 *a code=0002 owner=0007 element=006A universal=0064 unitName="second" type=1F size=0008 fl=01 ƿzvSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandLine" *e code=006B elementURI="CommandLine.enableBroadcast" type=02 *a code=0003 owner=0008 element=006B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006C elementURI="NAL9602.strobeMode" type=02 *a code=0004 owner=0008 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *a code=0005 owner=0008 element=006D universal=3FFF 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/dev/ttyTX26?{)4{ /dev/loadC7I4{ /dev/ttyC7i4?{ 7{ /dev/loadB1)7{ /dev/ttyB1i9{ /dev/loadC69{ /dev/ttyC69?{?{ /dev/loadC5?{ /dev/ttyC5??{ 9{ /dev/loadC4)9 { /dev/ttyC4I9?!{IC#{ /dev/loadC2iC%{ /dev/ttyC2C?&{4({ /dev/loadC14){ /dev/ttyC14?*{ ?,{ /dev/loadC0)?-{/dev/mcp3553C0)>/{ /dev/loadB7I>0{ /dev/ttyS2i>?1{@5{ /dev/loadB6i57{ /dev/loadB459{ /dev/ttyB45?:{9<{ /dev/loadB39={ /dev/ttyB3 :>{ @:A{ /dev/loadB0:B{/dev/mcp3553B0{lOpening Config file at: Config/lrauv-daphne/logger.cfgN{nOpening Config file at: Config/lrauv-daphne/Battery.cfg*n code=001D name="Config/Battery" *e code=0403 elementURI="Config/Battery.stick1" type=00 *a code=039C owner=001D element=0403 universal=3FFF unitName="none" type=00 size=0004 fl=05 s{0266*e code=0404 elementURI="Config/Battery.stick2" type=00 *a code=039D owner=001D element=0404 universal=3FFF unitName="none" type=00 size=0004 fl=05 s{02C3*e code=0405 elementURI="Config/Battery.stick3" type=00 *a code=039E owner=001D element=0405 universal=3FFF 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unitName="watt" type=0B size=0003 fl=05 Q y{#<*e code=061F elementURI="Onboard.platform_average_current" type=00 *a code=06A1 owner=0031 element=061F universal=0021 unitName="milliampere" type=0B size=0003 fl=05 Q }{#<*e code=0620 elementURI="Onboard.platform_average_power" type=00 *a code=06A2 owner=0031 element=0620 universal=0022 unitName="watt" type=0B size=0003 fl=05 Q {#<*e code=0621 elementURI="Onboard.MainBatteryVoltage" type=02 *a code=06A3 owner=0031 element=0621 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0622 elementURI="Onboard.BackupBatteryVoltage" type=02 *a code=06A4 owner=0031 element=0622 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0623 elementURI="Onboard.BatteryCurrent" type=02 *a code=06A5 owner=0031 element=0623 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=06A6 owner=0031 element=031C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06A7 owner=0031 element=031D universal=3FFF 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type=02 *a code=06AE owner=0033 element=0626 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0627 elementURI="Power24vConverter.component_current" type=02 *a code=06AF owner=0033 element=0627 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0628 elementURI="Power24vConverter.component_avgCurrent" type=02 *a code=06B0 owner=0033 element=0628 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0629 elementURI="Power24vConverter.power24vConverter" type=02 *a code=06B1 owner=0033 element=0629 universal=3FFF unitName="bool" type=02 size=0001 fl=05 {ƿ{SyncComponent "Power24vConverter" handled in the control thread.*n code=0034 name="Radio_Surface" *e code=062A elementURI="Radio_Surface.enableBroadcast" type=02 *a code=06B2 owner=0034 element=062A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06B3 owner=0034 element=0331 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=062B elementURI="Radio_Surface.component_voltage" type=02 *a code=06B4 owner=0034 element=062B universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=062C elementURI="Radio_Surface.component_avgVoltage" type=02 *a code=06B5 owner=0034 element=062C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=062D elementURI="Radio_Surface.component_current" type=02 *a code=06B6 owner=0034 element=062D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=062E elementURI="Radio_Surface.component_avgCurrent" type=02 *a code=06B7 owner=0034 element=062E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06B8 owner=0034 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06B9 owner=0034 element=0442 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06BA owner=0034 element=05F4 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=06BB owner=0034 element=0177 universal=3FFF unitName="meter" type=0B 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unitName="bool" type=02 size=0001 fl=05 *a code=06C0 owner=0037 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0632 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=06C1 owner=0037 element=0632 universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 / {ƿ/ {SyncComponent "PitchRateCalculator" handled in the control thread.*n code=0038 name="SpeedCalculator" *e code=0633 elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=06C2 owner=0038 element=0633 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06C3 owner=0038 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06C4 owner=0038 element=0499 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 e3 {*e code=0634 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=06C5 owner=0038 element=0634 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 5 {*e code=0635 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name="Default:CheckIn:Read_GPS" *n code=0053 name="Default:CheckIn:Read_Iridium" *n code=0054 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0055 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" *%{$Construct Execute.*n code=0056 name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=0057 name="Default:CheckIn:C.Wait" +%{Construct Wait.*n code=0058 name="Default:CheckIn:D" *a code=0827 owner=0058 element=0695 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0828 owner=0058 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0059 name="Default:CheckIn:E" *n code=005A name="Default:D" *n code=005B name="Default:E.Execute" -&{$Construct Execute."&{& 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,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,CANONSampler,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,NX ,b?A .*Initializing AHRS_M2.IU*a code=0829 owner=002B element=02B4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 mPowering up  YU>  yEPowering up.)Powering down) im?u@)mF< A@ E@ I@ M@ 5)=w:=EIE)EɊ 4Initializing EZServoServo. 6Initializing BuoyancyServo.4Initializing EZServoServo.6Initializing ElevatorServo. %4Initializing EZServoServo. ].Initializing MassServo.e4Initializing EZServoServo.2Initializing RudderServo. 4Initializing EZServoServo. 6Initializing ThrusterServo.i-*e code=0696 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(eNo depth rate setting specified. Using default value of nan m/s. (e~No pitch setting specified. Using default value of nan degrees. (mNo speed setting specified. Using default value of 1.000000 m/s. (mNo surface timeout specified. 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F>DDJCHYJ;:J>L@T@T@TAT)\```I`)`ɊddipRA~=1y(,@?AD?D?٠jB``E(9H{?ȴ@ ?|?@_?Il?@ @ ?D?in`;Y28>y2D<>!ddij)jH 5-nGiAYԍӉԍ@׍6û ;=9ؕ+96 >ععCعY:>@@@A)I)Ɋi1RA]=D.,,e?A) =??٠bH(9H6o?0@;%?Op?/^?]l? ??i*`;Y21>y2Di:):5V, VY=9VE Z>XXZC\Y^:^>`@h@h@hAh)IQQQIQ)QɊiRA=5,cC?Abě?b?٠,`'9Hd?{?e?@v^?l?`?bě?i`;Y26>y2D44ir)rQ5%[< -B=9-8 ->115C1Y۵v?:>霹@@@A)I)ɊiRA=;,h!?Aʛ??٠\ (9H^?` ! ௼?_?:_? k? ?ʛ?i a;YB4>yBDi~)~ 5E EH=9M9 M>IQUCQY]:]>a@q@q@qAq)酁鄉I)Ɋi)RA]=&B, ?Aɟܛ??٠eg'9H`XM?Py^Di%)%55U= 5L=95ҹ 5>99=C9YE:E>I@Y@Y@YAY)iiiiIq)qɊqyiRA]=>IH,$ ?A??٠{e(9HiG?|m?H?:\? ]l?  ??i`;Y*4$>y*D,,i2)24:# :W=9>r8 >>@@BC@YF9F>H@P@P@PAP)XXXXIX)XɊ\`ilRAm==N,> ?A??٠lc(9H@wD?@?E?@"]? ml?V ??i`;#CYBM>yB9DiJ)JQ5Ro= RG=9Vh8 V>TTVCXYZg9Z>\@d@d@dAd)lpppIp)pɊttiRA=U,X ?A) J?J˸?٠^sbsB(9HV9?@?x:?,]?hNl?@ ?J?i`;$CY>F;>yBNDLNiR)R 5Z7 ZI=9Z8 Z>\\^C\Yb]:b>d@l@l@lAl)ttttIx)xɊx|iRA%=c\,cr ?Aw?wظ?٠d[(9HD,?Z`K?u-?H\? ߔl?`@ ?w?i`;&CYJ E>yNODPPiV)V 5^< ^J=9^ b>``bCdYf.:f>h@p@p@pAp)xx||I|)|ɊiRA5 =Kb,`> ?A?߸?٠7a'9H%? f?<&?\?@5l?`X@??i`;'CY28>y2Di)5MU뼑 MA=9MS8 M>QQUCQY]:]>a@q@q@qAq)酁鄉I)ɊiRAl=_i,P ?Aɟ@-?-?٠)`G'9H? W ۾? ?@%\?4l?y礿?-?il`;YB>>yBDi)5^z< N=9t8 >yy}CyYۅL:>霉@@@A)酩鄩I)ɊiRA~=?o, ?AP?P?٠c '9H` ? Z6`D??[?yl?x@?P?i;`;&CYB5>yBDDFa=i)5E MG=9M M>QQUCQY]:]>a@q@q@qAq)I)!Ɋ!)iARA]='v, ?A"*?"?٠-fdr'9H?@ʸF? /?g:[?l?F?"*?i`;YR =>yR}DiZ)Z5b< bS=9b3ŷ f>ddfCdYj:j>l@t@t@tAt)|I)Ɋ  i!RA=%=GiEAE@Q|,P ?A) W3?W?٠c"(9H? ? ?@*w[?`pl? ?W3?i `;Y2)<>y2fDi:): 5v zG=9z8 z>||~C|Y3:> @@@A)))))I1)1Ɋ19iQRAm==w9,@ ?A@??٠\<<>C@YB`:B>D@L@L@LAL)TTXXIX)XɊ\\ihRAv<c,_a' ?AF?!?٠a0(9H:ǿ?``?ɿ?T[?`8l?` ?F?il`;'CY25>y27D<> iB)BQ5f f<9f8 j>hhjClYn9r>p@x@x@xAx)   I ) Ɋi)RAE(=aK,)yNNDiV)Vp5: 7=9< >CY%]:%>)@9@9@AAA)IQQQIQ)QɊyyiRA =>v,m[ ?A(b?(=?٠#e'9H`?`p?V?@Y?l??(b?i9`;&CY2;>y2D6p=6p=ir)r5u]< uU=9u }>yy}C؁YۅT:>霉@@@A)酱鄱I)ɊiRA5=֟,Mt ?A&%n?&%I?٠&#i&R(9&Hx?`غa?{?X?`@3m? ?&%n?i&`;&$CY2g2>y2eDir)r95m# mK=9m m>qquCqY}6n:}>霁@@@A)I)ɊQiiRAu=4,Z ?A)%= sv?sQ?٠lhr(9H sh? / `?@0k? Y?im??sv?ia;Y.e6>y2NDi~)~4u< u7=9u8 u>yy}CyYۅ:>霉@@@A)酩鄩I)ɊiRA>ցցg, ?Ax?S?٠jb(9Hc?%Y" "?`gf?@wZ?Zl?t?x?i`;)CYj3>yjDlliv)v5mố mX=9m5r9 m>qquCqY۝4@9>霡@@@A)!!))I)))Ɋ1iRA=sذ,ۋ ?A?i?٠4n(9H7?ϻ@)?:?HAW? m? ??iWa;%CYa>>y Di)?5=< ===9Eӹ E>AAMCIYMC:U>Y@a@a@iAi)酙鄙I)ɊiRA>, ?A@ɟ@?t?٠ϐlX(9H"?%`$@"?%?_W?m?{??i`;&CYe6>y%ND11i})}5 P=98 >CY=R:=>A@I@Q@QA)I)Ɋ 1iIRA=im>oL,; ?A&N?&N{?٠&h&GJ(9&H`]?aZ`V?-?X?m?@?&N?i&`;&%CY2H7>y2eD6=6>i:):`5; S=9%V'9 %>!)-C)Y-!:5>霑@@@A)酑鄑I)ɊiRA=WC,i ?A??٠n (9H?`@?`8?"V? |m?`` ??i`;'CYy!i)059=Ue E>AAECIYMG:M>@!@!@!A!)QQQYIY)YɊYaiRA>ӑ ӑ nGiA Y ԍ 6Ӊ ԍ @ },+ ?A)= ='?'?٠[m(9H?``(0`? ?V? 'm?K?'?iP`;$CY=9>y= Di=)=H 5!; <9 (8 >CY  : >@!@!@!A!)QQYYIY)YɊaaiRA >iiNu,F ?A&BŜ?&B?٠&k&=:(9&H̾? Pt?@Ͼ?AV?Xrm?` ?&BŜ?i&`;&&CYb'>ybLDddi})}5׽@ ^=98 >CY:>霑@@@A)I)Ɋ!!iYRA>E,"7` ?A̜??٠%f#'9H\?ƽ@J`?)?@tW?@l?``?̜?i<`;Y5-4>y5Di})}B4ץg< J=9حjY9 >ررCرY۽:>@@@A)AAAAIA)IɊIQiRA=,Sz ?Aɟ@Ԝ?᯹?٠.gn (9H`??կ?A:W?l?# ?Ԝ?i=`;%CY%A>y%~Di5)55= E=9 >CY :>霙@@@A)!I!)!Ɋ!)iaRA>m>i;,_ ?Akܜ?k?٠b'9H?9@6 &??{AX?sBl?`?kܜ?i`;&CYRE?>yR7DVp=Va=iZ)Z 5fố fY=9j1S9 j>hhnClY:>9@A@I@IAI)yyyyIy)yɊiIRA=Y, ?A5?5Ĺ?٠e((9H@? ?`l?zWW?l?` ?5?i`;'CYJ;>yJDTTiZ)Z`5  F=9   >CYD:>!@1@1@1A1)AAAAII)IɊIQiiRAi=,i ?A) %=?ҹ?٠/~aT'9H i? @@?k?xW?@/l?` 餿??i`;&CY2L/>y2Di:):5BE FS=9F9 F>HHJCHYNE:N>P@T@X@XAX)y酁鄁I)ɊiRA==II+,D ?A*?*޹?٠0-gď'9H@Q?@h@v`M?T?@AV? l? q?*?i`;"CY*/0>y*D,,i`)`vH; vD=9v:Z z>xxzCxY~g:~>@@@A)I)Ɋi RA=U,! ?A??٠mMj'9H@9?๿ ?y2Dir)r5 м  H=9 )  >CYf:>!@1@1@1A1)AAIIII)IɊQQiiRA===,/ ?A@ɟ@??٠/Ad<'9HW,?@k?@2/?aV? "l???i`;&CYV)>yVDi%)%055|-< 5H=95{l9 =>99=C9YE:E>I@Y@Y@YAY)iiiqIq)qɊyyiRA]=M>I=%2SBD MTMSN=20210727T043143g ,g/ ?A??٠`'9H?@F@h ?o?~V?l?@ि`#??i`;Y25>y2D6=4i:):5B< BV=9Fs9 F>HHJCHYND:N>p@t@t@xAx)I)Ɋ iiRAY=P,I ?A(??٠T^Ӗ'9HJ? v@j?@?rW? k?S?(?ia;Y^)<>ybfDif)f5l<  B=9 8  >CY]6:]>a@q@q@qA)酡鄩I)ɊiRA=]z,*c ?A) =7??٠dd(9H`7? ?@?U?l? ?7?iA`;$CY2.>y2D:8i>)>j5= =G=9Uk ]>qyCؑӥGiԹY۵:>@@@@A)!!!!I)))Ɋ)1iIRAe=IM?A,g} ?AC??٠6cw'9H`ѽ?J``2?ӽ?U?`fl?& ?C?i_`;'CY2:>y2D44i:):5F< FV=9J5G8 J>HHNCLYbz:b>d@l@l@|A|)  I)ɊiRA =%,G ?A,J?,%?٠]`[(9H` Ľ?n@`c?`ƽ?@V? l? ?,J?iC`;$CY2=>y2Dip)p%n; %A=9-8 ->)15C1Y=9=>A@I@Q@QAQ)aaaaIi)iɊiqiRA=V+, ?Aɟ@"Z?"5?٠}fK(9HV?`@@?c?@T?l?`^` ?"Z?i'`;&CYN)>yN{Di%)%Z45I 5J=95q 5>99=C9YE:E>I@Y@Y@YAY)iiiiIq)qɊqyiRA^=M>M>.2, ?Aa??% j ?@5?U?`l?@?a?i!`;'CYB4>yBDF=Fp=i) 5M< MI=9M8 M>QQUCQY]G:]>a@q@q@qAq)酁鄉I)ɊiRAk=8, ?Ae?@?٠[`(9H?? ;@0?@׏?]W?bk?@ ?e?i`;$CY21,>y2Di:):y5V VU=9V|9 Z>XXZCXY~o9~>@@@A)I)Ɋi)RAe=>,\ ?A) v?Q?٠`n(9H l?``& ?o?NU?@sl? 6 ?v?i`;&CY25>y2Di6)65< C=9%W %>!)-C)Y-:5>1@A@A@AAI)QYYYIY)YɊaai9RA=II2E, ?A8~?8Y?٠]9>(9H \?``?e_?|%V?-k?; ?8~?i`;YB A>yBfDDDiJ)J5V< VR=9Z08 Z>XX^C\Yrl%:r>t@x@x@|A|)!)AAIA)AɊIIiRAW=NL,b2 ?Aڄ?_?٠Z(9HxO?``?`R?V?Rk?j?ڄ?iF`;(CY29>y2D<CY=9E>I@Q@Q@YAy)酉鄉I)ɊiRA=/R,=L ?Aɟ@^?^n?٠/+\(9H@2? #@? W5?4KV?bk?@?^?i`;$CY2(>y2dDi:):j5Vj0 ZP=9Z Z>\\^C\Yu{:u>y@@@A)酙鄙I)ɊiRA =IM>KY,f ?Ag?g?٠*dm'9H`?,@D ?` ?WS?Al? ?g?i`;&CY20>y26D6=4ir)r5E'< EA=9E M>IIMCIYU3:U>@ @ @ A )9999IA)AɊAIiRA=v?_,M ?AA?A?٠vb'9HG?m?`W?S? \l?`?A?i`;(CYBe6>yBNDi)?5e/b< eH=9e`8 e>iimCiYunh:u>霙@@@A)999AIA)AɊAIiRAE'f,)ϙ ?A)%= B?B?٠ooXJ(9H J?;v?@?,YV? k? ?B?i`;'CY24$>y2Div)v 5+ A=9;9 >CY 8 >@!@!@!A!)1酉鄉I)ɊiRA=IM@A  mGiԁԙ@2Rl, ?A=ϝ?=?٠*lI(9H? ; /?!?P?Km??=ϝ?i`;$CY2{E>y2D44i:):`5bp= b`=9f\X f>dhjChYjt;n>p@t@t@xAx)酙鄡I)ɊiRAz=g9s, ?A-ڝ?-?٠ me(9Hꥼ? X`}?@r?P?m?$ ?-ڝ?iT`;(CYBa>>yB DiJ)J4R RL=9V| V>TTZCXYZZ:^>`@d@d@dAh)lpppIp)pɊ|iRA5=cy,pa ?Aɟ@ޝ??٠W3f(9HM?o!? ?@%4R?gl?`?ޝ?i`;%CYVN>yZPD`bif)f 5n= rG=9r#9 r>ttvCtYz9z>|@@@ A )I)!Ɋ!)iARAU2=IM>Received command:sched asap "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 15 min;set ballast_and_trim.Depth1 2 m;set ballast_and_trim.SurfaceThreshold 1 m;set ballast_and_trim.EstimationTimeout 15 min" 1t5wg 1 2=got command schedule asap "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 15 min;set ballast_and_trim.Depth1 2 m;set ballast_and_trim.SurfaceThreshold 1 m;set ballast_and_trim.EstimationTimeout 15 min" 1t5wg 1 2.000000=PScheduling command #1 of 2 with id=1t5wg=Scheduled #1 (#1 of 2 with id='1t5wg'): "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 15 min;set ballast_and_trim.Depth1 2 m;set ballast_and_trim.SurfaceThreshold 1 m;set ballast_and_trim.EstimationTimeout 15 min" ASAPK,l>?A??٠3f(9H ˌ?,??o+R?vl?`d??i`;'CY25>y2D44i:):05F FP=9J J>HHNCLYR2:R>T@X@X@\A\)`dddId)dɊhhiiRA[=u,U?Ai?i̺?٠{Bdn(9H w? *"@$?z?OR?Kl?`?i?i`;&CYB4>yBDi)ׅF ;=9؍8 >ؑؑCؑY۝lB:>霡@@@A)I)ɊiRA== 2SBD MTMSN=20210727T043151,F5?A)= %=?Һ?٠:F](9Hsk?@Y CQ?an?@S?èk?v??iT`;Y>~=>y> Di~)~Z4 g<  P=99 >CY%c9%>)@1@9@9A9)AIIIII)IɊQYiiRA==!!T,N?A?ۺ?٠9Ya(9HY?`?\?HT?`4'k? ??i:`;$CYJ3>yNDi) 5e eH=9e(9 e>iimCiYuP.:u>y@@@A)酙鄡I)ɊiRAx=,`h?Ad?d?٠?G_4(9H/6?}??9?R?`k? ?d?iA`;(CY==>y=DiM)MZ4׽k< E=9ؽh >CY:>@@@A)I)ɊiRA=Ι,?Aɟ@$??٠Sgw(9H@%?@?@?QP?l? d?$?i`;%CY2)>y2Di:):B4FZ F`=9JԪ J>HHNCLYRb:R>T@X@X@\A\)ddddId)dɊhlixRA  =M>M>æ,1_?A(??٠](9Hk ?`?w ?@R?k?`?(?i`;&CY21>y2Di:):5V8< VH=9ZǴ9 Z>XX^C\Yb(9b>d@h@h@lAl)ttttIt)tɊx|iRA%=,A?A4??٠S_/(9H`7? `? W?Q?mk?k@ ?4?i`;)CYJ9>yJ DNp=LTTiZ)Z5v< vF=9z3c z>xx~C|YGb:> @@@A)!)))I)))Ɋ19iIRAe9=_ճ,+?A)%=  C? ?٠[b,+(9H sջ?`r, c?@ػ?P?@oKl?@@ ? C?iX`;$CYB7>yBDiJ)J 5Rʏ VO=9V V>XXZCXY^ϒ:^>9@I@I@IAQ)YaaaIa)aɊiiiRAX=II- Gi9 Q ԅ ,Ӂ ԅ @,?AdP?d+?٠&ds(9H`??`S?$P?l? ?dP?iT`;&CY2 =>y2}Dir)r5eF< m?=9m m>qquCqY}x:}>霁@@@A)酡鄡I)ɊiRA=;, ?ANZ?N5?٠_a1(9H`7? ` ?{?P?`+l??NZ?i{`;Y2h.>y2|D44ir)rW5= =M=9E9 E>AAMCIYMF:U>Q@a@a@aAi)qqqqIq)qɊyiRA=,P?A@ɟ`?;?٠#`,(9H@?`0.@2?`S?2Q?xl?@?`?i`;YBQ#>yBDi)5e9ټ eH=9e+A8 e>iimCiYu:u>霡@Y@Y@YAY)iiiiIq)qɊiRA=IM>;,=7?Al?G?٠ڏ^5(9Hv?@?অ?Q?k?( ?l?i`;Y2(@>y2ODi:):5F= FY=9J8 J>HLNCLY=ho:E>A@Q@Q@QAY)酱I)ɊiRA5=h$,_Q?A{?V?٠{`'9H`e? ? `h?@P? ql?W`?{?iN`;'CY28>y2D6>6=i:):j5^ bG=9b b>ddfCdYj:j>l@t@t@tAt)||||I)Ɋ iRAb=O,.=k?A)= b?ba?٠T^'9H@O?K@3?R?MP?k? ?b?i`;&CY2yI>y2D:8i>)> 5F)= FM=9J8 J>HHNCLYRY:R>P@X@X@XAX)``ddId)dɊhhitRA=IIj6,?A?r?٠y`'9H@^-? `?0?abN? 8l?W⤿`"??if`;'CYR,>yRMDiV)V5^ bG=9b b>`dfCdYf֧:j>h@p@p@pAp)xx||I|)|ɊiRA5=_,5?AY?Y?٠+cS]'9H?,)` ? }?L?mel?$ꤿ?Y?i(`;%CY29>y2 D46`Aiv)v`5ex< e@=9e ˸ e>iimCiYu :u>霙@@@A)酹鄹I)ɊiRA=,?ɸ?A@ɟs?s?٠b'9H?WP@C?]?iM?Yl?s`?s?i+`;#CY21>y2Dir)r5ם F=9إe7 >ةةCةY۵J:>@@@A)I!)!Ɋ!)iaRA=M>M>q,Ϥ?A??٠jd0'9H?`@W `?W?lK?)l?`??i?`;%CY25>y27Dir)r5-#6< 5R=950 5>99=C9YEn:E>I@@@A)I)Ɋi RA%=,?A"xĞ?"x?٠"ދc"'9"H@Ժ?@?׺?vjK?xql? [@?"xĞ?i"`;"'CYB.>yBDF=Fp=iJ)J 5R܉ RT=9VW8 V>TTZCXYZoW:^>\@d@d@dAd)llppIp)tɊxi!RA=#= Received command:sched asap "set ballast_and_trim.MassEstimationErrorBound 1 mm;set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98.0 %;run" 1t5wg 2 2= !got command schedule asap "set ballast_and_trim.MassEstimationErrorBound 1 mm;set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98.0 %;run" 1t5wg 2 2.000000= PScheduling command #2 of 2 with id=1t5wg= )Scheduled #2 (#2 of 2 with id='1t5wg'): "set ballast_and_trim.MassEstimationErrorBound 1 mm;set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98.0 %;run" ASAP5,B\?A) =ў??٠fʁ'9H? Lr.?̽?I?@l?`?ў?il`;Y2B>y2Di:):j5BG= BL=9FZ˸ F>DDJCHYJ:N>@ @ @A)YaaaIa)aɊiqiRA{==got command load ./Missions/Maintenance/tank_ballast_and_trim.xml"Loading Mission: ./Missions/Maintenance/tank_ballast_and_trim.xmlII*n code=005C name="ballast_and_trim" *e code=0697 elementURI="ballast_and_trim.MissionTimeout" type=00 *a code=082E owner=005C element=0697 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=082F owner=005C element=0697 universal=3FFF unitName="minute" type=1F size=0008 fl=05 zAU @"]tDefineArg ballast_and_trim.MissionTimeout = 120.000000 min*e code=0698 elementURI="ballast_and_trim.SkipComms" type=00 *a code=0830 owner=005C element=0698 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0831 owner=005C element=0698 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ae"mZDefineArg ballast_and_trim.SkipComms = 0 bool*e code=0699 elementURI="ballast_and_trim.Depth1" type=00 *a code=0832 owner=005C element=0699 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0833 owner=005C element=0699 universal=3FFF unitName="meter" type=1F size=0008 fl=05 A@"\DefineArg ballast_and_trim.Depth1 = 7.000000 m*e code=069A elementURI="ballast_and_trim.Depth2" type=00 *a code=0834 owner=005C element=069A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0835 owner=005C element=069A universal=3FFF unitName="meter" type=1F size=0008 fl=05 A"RDefineArg ballast_and_trim.Depth2 = nan m*e code=069B elementURI="ballast_and_trim.DepthDeadband" type=00 *a code=0836 owner=005C element=069B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0837 owner=005C element=069B universal=3FFF unitName="meter" type=1F size=0008 fl=05 A ?"jDefineArg ballast_and_trim.DepthDeadband = 0.100000 m*e code=069C elementURI="ballast_and_trim.SurfaceThreshold" type=00 *a code=0838 owner=005C element=069C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0839 owner=005C element=069C universal=3FFF unitName="meter" type=1F size=0008 fl=05 A%@"-pDefineArg ballast_and_trim.SurfaceThreshold = 2.500000 m*e code=069D elementURI="ballast_and_trim.MaxWaitOnSurface" type=00 *a code=083A owner=005C element=069D universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=083B owner=005C element=069D universal=3FFF unitName="minute" type=1F size=0008 fl=05 A@"vDefineArg ballast_and_trim.MaxWaitOnSurface = 20.000000 min*e code=069E elementURI="ballast_and_trim.SettleTime" type=00 *a code=083C owner=005C element=069E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=083D owner=005C element=069E universal=3FFF unitName="minute" type=1F size=0008 fl=05 A-@"5jDefineArg ballast_and_trim.SettleTime = 10.000000 min*e code=069F elementURI="ballast_and_trim.EstimationTimeout" type=00 *a code=083E owner=005C element=069F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=083F owner=005C element=069F universal=3FFF unitName="minute" type=1F size=0008 fl=05 AE@"ExDefineArg ballast_and_trim.EstimationTimeout = 45.000000 min*e code=06A0 elementURI="ballast_and_trim.MinEstimationTime" type=00 *a code=0840 owner=005C element=06A0 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0841 owner=005C element=06A0 universal=3FFF unitName="minute" type=1F size=0008 fl=05  B@"xDefineArg ballast_and_trim.MinEstimationTime = 10.000000 min*e code=06A1 elementURI="ballast_and_trim.MassEstimationErrorBound" type=00 *a code=0842 owner=005C element=06A1 universal=3FFF unitName="millimeter" type=1F size=0008 fl=04 *a code=0843 owner=005C element=06A1 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 BMb0?"DefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mm*e code=06A2 elementURI="ballast_and_trim.BuoyEstimationErrorBound" type=00 *a code=0844 owner=005C element=06A2 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=04 *a code=0845 owner=005C element=06A2 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 *BhUMu>"DefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cc*e code=06A3 elementURI="ballast_and_trim.EstimationConfidence" type=00 *a code=0846 owner=005C element=06A3 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0847 owner=005C element=06A3 universal=3FFF unitName="percent" type=1F size=0008 fl=05 :B,?" zDefineArg ballast_and_trim.EstimationConfidence = 99.900000 %*e code=06A4 elementURI="ballast_and_trim.WaitToFloat" type=00 *a code=0848 owner=005C element=06A4 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0849 owner=005C element=06A4 universal=3FFF unitName="minute" type=1F size=0008 fl=05 JB r@" jDefineArg ballast_and_trim.WaitToFloat = 5.000000 min" XInserting Stack: Missions/Insert/Science.xmlܮ,9 ?AF?F?٠Eg'9Hɜ? ??\H?$l?@k`?F?i`;%CY2\J>y2Di:):5f< fF=9j >!%C!Y-:->1)Mw:IIII)IɊQQiRAE=99ӝԄGiԱ@9ԅb?Yԅf@*n code=005D name="ballast_and_trim:Science" *e code=06A5 elementURI="ballast_and_trim:Science.PeakDetectChlActive" type=00 *a code=084A owner=005D element=06A5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=084B owner=005D element=06A5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ZBU "] ~DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool*e code=06A6 elementURI="ballast_and_trim:Science.TimeWindowPeakReport" type=00 *a code=084C owner=005D element=06A6 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=084D owner=005D element=06A6 universal=3FFF unitName="minute" type=1F size=0008 fl=05 jBm "u DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min*e code=06A7 elementURI="ballast_and_trim:Science.HighestChlPeakReportActive" type=00 *a code=084E owner=005D element=06A7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=084F owner=005D element=06A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 zB " DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool*e code=06A8 elementURI="ballast_and_trim:Science.HighestSaltPeakReportActive" type=00 *a code=0850 owner=005D element=06A8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0851 owner=005D element=06A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 B " DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool*e code=06A9 elementURI="ballast_and_trim:Science.HighestOilPeakReportActive" type=00 *a code=0852 owner=005D element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0853 owner=005D element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 B " DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool*e code=06AA elementURI="ballast_and_trim:Science.PatchTracking" type=00 *a code=0854 owner=005D element=06AA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0855 owner=005D element=06AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 B " rDefineArg ballast_and_trim:Science.PatchTracking = 0 bool*e code=06AB elementURI="ballast_and_trim:Science.FilterWidthHorizontal" type=00 *a code=0856 owner=005D element=06AB universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0857 owner=005D element=06AB universal=3FFF unitName="count" type=1F size=0008 fl=05 B @" DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count*e code=06AC elementURI="ballast_and_trim:Science.NumProfilesSlidingwindow" type=00 *a code=0858 owner=005D element=06AC universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0859 owner=005D element=06AC universal=3FFF unitName="count" type=1F size=0008 fl=05 B Y@" DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count*e code=06AD elementURI="ballast_and_trim:Science.OffPeakFractionHorizontal" type=00 *a code=085A owner=005D element=06AD universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=085B owner=005D element=06AD universal=3FFF unitName="percent" type=1F size=0008 fl=05 B ?" DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %*e code=06AE elementURI="ballast_and_trim:Science.PeakDetectNO3Active" type=00 *a code=085C owner=005D element=06AE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=085D owner=005D element=06AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 B "% ~DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool*e code=06AF elementURI="ballast_and_trim:Science.PeakDetectOilActive" type=00 *a code=085E owner=005D element=06AF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=085F owner=005D element=06AF universal=3FFF unitName="bool" type=02 size=0001 fl=05 B- "5 ~DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool*e code=06B0 elementURI="ballast_and_trim:Science.PeakDetectFDOMActive" type=00 *a code=0860 owner=005D element=06B0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0861 owner=005D element=06B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05  CE "M DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool*e code=06B1 elementURI="ballast_and_trim:Science.PeakDetectSalinityActive" type=00 [ ,:?A ? »?٠}na'9H O?`@?Ԓ?")K?-l?? ?iW`;'CY:&>y:5D<>aADD*a code=0862 owner=005D element=06B1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0863 owner=005D element=06B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 C"DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool*e code=06B2 elementURI="ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=0864 owner=005D element=06B2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0865 owner=005D element=06B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *C"DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=0866 owner=005D element=0352 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06B3 elementURI="ballast_and_trim:Science.EnabledAanderaaO2" type=00 *a code=0867 owner=005D element=06B3 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0868 owner=005D element=06B3 universal=3FFF unitName="bool" type=1F size=0008 fl=05 BC"DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0.000000 booliJ)J 5*a code=0869 owner=005D element=035A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06B4 elementURI="ballast_and_trim:Science.EnabledNeilBrown" type=00 *a code=086A owner=005D element=06B4 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=086B owner=005D element=06B4 universal=3FFF unitName="bool" type=1F size=0008 fl=05 ZCm"uDefineArg ballast_and_trim:Science.EnabledNeilBrown = 0.000000 bool*a code=086C owner=005D element=0362 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06B5 elementURI="ballast_and_trim:Science.EnabledSeabird" type=00 *a code=086D owner=005D element=06B5 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=086E owner=005D element=06B5 universal=3FFF unitName="bool" type=1F size=0008 fl=05 rC?"DefineArg ballast_and_trim:Science.EnabledSeabird = 1.000000 bool*a code=086F owner=005D element=0395 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06B6 elementURI="ballast_and_trim:Science.EnabledWetLabsBB2FL" type=00 *a code=0870 owner=005D element=06B6 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0871 owner=005D element=06B6 universal=3FFF unitName="bool" type=1F size=0008 fl=05 C?" DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1.000000 bool*a code=0872 owner=005D element=03A0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06B7 elementURI="ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=0873 owner=005D element=06B7 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0874 owner=005D element=06B7 universal=3FFF unitName="bool" type=1F size=0008 fl=05 C%"%DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 boolUǑ U(=9]5R9 ]>YYeCaYe(9m>i)鄉I)Ɋi*a code=0875 owner=005D element=03B1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06B8 elementURI="ballast_and_trim:Science.EnabledWetLabsUBAT" type=00 *a code=0876 owner=005D element=06B8 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0877 owner=005D element=06B8 universal=3FFF unitName="bool" type=1F size=0008 fl=05 C%"-DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0.000000 bool*e code=06B9 elementURI="ballast_and_trim:Science.LowPassWindowLength" type=00 *a code=0878 owner=005D element=06B9 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0879 owner=005D element=06B9 universal=3FFF unitName="count" type=1F size=0008 fl=05 C=4@"EDefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 countRA>*e code=06BA elementURI="ballast_and_trim:Science.MedianFilterLen" type=00 *a code=087A owner=005D element=06BA universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=087B owner=005D element=06BA universal=3FFF unitName="count" type=1F size=0008 fl=05 C@"DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count*e code=06BB elementURI="ballast_and_trim:Science.PeakShallowBound" type=00 *a code=087C owner=005D element=06BB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=087D owner=005D element=06BB universal=3FFF unitName="meter" type=1F size=0008 fl=05 C"vDefineArg ballast_and_trim:Science.PeakShallowBound = nan m*e code=06BC elementURI="ballast_and_trim:Science.PeakDeepBound" type=00 *a code=087E owner=005D element=06BC universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=087F owner=005D element=06BC universal=3FFF unitName="meter" type=1F size=0008 fl=05 C"pDefineArg ballast_and_trim:Science.PeakDeepBound = nan m*e code=06BD elementURI="ballast_and_trim:Science.DepChangeThreshForAttitudeFlip" type=00 *a code=0880 owner=005D element=06BD universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0881 owner=005D element=06BD universal=3FFF unitName="meter" type=1F size=0008 fl=05  D@"DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m*e code=06BE elementURI="ballast_and_trim:Science.PeakChl" type=00 *a code=0882 owner=005D element=06BE universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 D*a code=0883 owner=005D element=06BE universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 "zDefineOutput ballast_and_trim:Science.PeakChl = 0.000000 ug/l*e code=06BF elementURI="ballast_and_trim:Science.PeakChlDepth" type=00 *a code=0884 owner=005D element=06BF universal=3FFF unitName="meter" type=1F size=0008 fl=05 "D*a code=0885 owner=005D element=06BF universal=3FFF unitName="meter" type=1F size=0008 fl=04 "~DefineOutput ballast_and_trim:Science.PeakChlDepth = 0.000000 m*e code=06C0 elementURI="ballast_and_trim:Science.PeakChlTemperature" type=00 *a code=0886 owner=005D element=06C0 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 2D-fffffq@*a code=0887 owner=005D element=06C0 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 "5DefineOutput ballast_and_trim:Science.PeakChlTemperature = 0.000000 degC*e code=06C1 elementURI="ballast_and_trim:Science.PeakChlLatitude" type=00 *a code=0888 owner=005D element=06C1 universal=3FFF unitName="degree" type=1F size=0008 fl=05 BD*a code=0889 owner=005D element=06C1 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg*e code=06C2 elementURI="ballast_and_trim:Science.PeakChlLongitude" type=00 *a code=088A owner=005D element=06C2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 RD*a code=088B owner=005D element=06C2 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg*e code=06C3 elementURI="ballast_and_trim:Science.PeakNO3" type=00 *a code=088C owner=005D element=06C3 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 bD*a code=088D owner=005D element=06C3 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 "~DefineOutput ballast_and_trim:Science.PeakNO3 = 0.000000 umol/l*e code=06C4 elementURI="ballast_and_trim:Science.PeakNO3Depth" type=00 *a code=088E owner=005D element=06C4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 rDU*a code=088F owner=005D element=06C4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 "]~DefineOutput ballast_and_trim:Science.PeakNO3Depth = 0.000000 m*e code=06C5 elementURI="ballast_and_trim:Science.PeakNO3Latitude" type=00 *a code=0890 owner=005D element=06C5 universal=3FFF unitName="degree" type=1F size=0008 fl=05 Dm*a code=0891 owner=005D element=06C5 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "}DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg*e code=06C6 elementURI="ballast_and_trim:Science.PeakNO3Longitude" type=00 *a code=0892 owner=005D element=06C6 universal=3FFF unitName="degree" type=1F size=0008 fl=05 D*a code=0893 owner=005D element=06C6 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg*e code=06C7 elementURI="ballast_and_trim:Science.PeakOil" type=00 *a code=0894 owner=005D element=06C7 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 D*a code=0895 owner=005D element=06C7 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 "] |DefineOutput ballast_and_trim:Science.PeakOil = 0.000000 kg/m3*e code=06C8 elementURI="ballast_and_trim:Science.PeakOilDepth" type=00 *a code=0896 owner=005D element=06C8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Dm *a code=0897 owner=005D element=06C8 universal=3FFF unitName="meter" type=1F size=0008 fl=04 "u ~DefineOutput ballast_and_trim:Science.PeakOilDepth = 0.000000 m*e code=06C9 elementURI="ballast_and_trim:Science.PeakOilLatitude" type=00 *a code=0898 owner=005D element=06C9 universal=3FFF unitName="degree" type=1F size=0008 fl=05 D *a code=0899 owner=005D element=06C9 universal=3FFF unitName="degree" type=1F size=0008 fl=04 " DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg*e code=06CA elementURI="ballast_and_trim:Science.PeakOilLongitude" type=00 *a code=089A owner=005D element=06CA universal=3FFF unitName="degree" type=1F size=0008 fl=05 D *a code=089B owner=005D element=06CA universal=3FFF unitName="degree" type=1F size=0008 fl=04 " DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg*e code=06CB elementURI="ballast_and_trim:Science.PeakFDOM" type=00 *a code=089C owner=005D element=06CB universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 D *a code=089D owner=005D element=06CB universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 "% zDefineOutput ballast_and_trim:Science.PeakFDOM = 0.000000 ppb*e code=06CC elementURI="ballast_and_trim:Science.PeakFDOMDepth" type=00 *a code=089E owner=005D element=06CC universal=3FFF unitName="meter" type=1F size=0008 fl=05 D5 *a code=089F owner=005D element=06CC universal=3FFF unitName="meter" type=1F size=0008 fl=04 "= DefineOutput ballast_and_trim:Science.PeakFDOMDepth = 0.000000 m*e code=06CD elementURI="ballast_and_trim:Science.PeakFDOMTemperature" type=00 *a code=08A0 owner=005D element=06CD universal=3FFF unitName="celsius" type=1F size=0008 fl=05 EM *a code=08A1 owner=005D element=06CD universal=3FFF unitName="celsius" type=1F size=0008 fl=04 "U DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC*e code=06CE elementURI="ballast_and_trim:Science.PeakFDOMLatitude" type=00 *a code=08A2 owner=005D element=06CE universal=3FFF unitName="degree" type=1F size=0008 fl=05 E% *a code=08A3 owner=005D element=06CE universal=3FFF unitName="degree" type=1F size=0008 fl=04 "- DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg*e code=06CF elementURI="ballast_and_trim:Science.PeakFDOMLongitude" type=00 *a code=08A4 owner=005D element=06CF universal=3FFF unitName="degree" type=1F size=0008 fl=05 "E= *a code=08A5 owner=005D element=06CF universal=3FFF unitName="degree" type=1F size=0008 fl=04 "E DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg*e code=06D0 elementURI="ballast_and_trim:Science.PatchFDOMDistance" type=00 *a code=08A6 owner=005D element=06D0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 2EU *a code=08A7 owner=005D element=06D0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 "] ~DefineOutput ballast_and_trim:Science.PatchFDOMDistance = nan m*e code=06D1 elementURI="ballast_and_trim:Science.PeakSalt" type=00 *a code=08A8 owner=005D element=06D1 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 BEm *a code=08A9 owner=005D element=06D1 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 "u zDefineOutput ballast_and_trim:Science.PeakSalt = 0.000000 psu*e code=06D2 elementURI="ballast_and_trim:Science.PeakSaltDepth" type=00 *a code=08AA owner=005D element=06D2 universal=3FFF unitName="meter" type=1F size=0008 fl=05 REU ,0S?Aɟ@'?'Ի?٠f'9H`Lk?K< 5?@o? G?l?K?'?i"`;&CY2 E>y2ODi6)65^ż= b=9b9 b ?ddfCdYj:j ?*a code=08AB owner=005D element=06D2 universal=3FFF unitName="meter" type=1F size=0008 fl=04 "rDefineOutput ballast_and_trim:Science.PeakSaltDepth = 0.000000 m*e code=06D3 elementURI="ballast_and_trim:Science.PeakSaltTemperature" type=00 *a code=08AC owner=005D element=06D3 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 bEzfffffq@*a code=08AD owner=005D element=06D3 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 l)111"=DefineOutput ballast_and_trim:Science.PeakSaltTemperature = 0.000000 degC*e code=06D4 elementURI="ballast_and_trim:Science.PeakSaltLatitude" type=00 *a code=08AE owner=005D element=06D4 universal=3FFF unitName="degree" type=1F size=0008 fl=05 rE]*a code=08AF owner=005D element=06D4 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "eDefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg*e code=06D5 elementURI="ballast_and_trim:Science.PeakSaltLongitude" type=00 *a code=08B0 owner=005D element=06D5 universal=3FFF unitName="degree" type=1F size=0008 fl=05 EuIy)yɊ*a code=08B1 owner=005D element=06D5 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg*e code=06D6 elementURI="ballast_and_trim:Science.PatchChl" type=00 *a code=08B2 owner=005D element=06D6 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 E*a code=08B3 owner=005D element=06D6 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 i"|DefineOutput ballast_and_trim:Science.PatchChl = 0.000000 ug/l*e code=06D7 elementURI="ballast_and_trim:Science.PatchChlDepth" type=00 *a code=08B4 owner=005D element=06D7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 E *a code=08B5 owner=005D element=06D7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 RA5="=DefineOutput ballast_and_trim:Science.PatchChlDepth = 0.000000 m*e code=06D8 elementURI="ballast_and_trim:Science.PatchChlLatitude" type=00 *a code=08B6 owner=005D element=06D8 universal=3FFF unitName="degree" type=1F size=0008 fl=05 EM*a code=08B7 owner=005D element=06D8 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "uDefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg*e code=06D9 elementURI="ballast_and_trim:Science.PatchChlLongitude" type=00 *a code=08B8 owner=005D element=06D9 universal=3FFF unitName="degree" type=1F size=0008 fl=05 E*a code=08B9 owner=005D element=06D9 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg*e code=06DA elementURI="ballast_and_trim:Science.PatchChlDistance" type=00 *a code=08BA owner=005D element=06DA universal=3FFF unitName="meter" type=1F size=0008 fl=05 E*a code=08BB owner=005D element=06DA universal=3FFF unitName="meter" type=1F size=0008 fl=04 "|DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m*e code=06DB elementURI="ballast_and_trim:Science.PatchSalt" type=00 *a code=08BC owner=005D element=06DB universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 E*a code=08BD owner=005D element=06DB universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 "%|DefineOutput ballast_and_trim:Science.PatchSalt = 0.000000 psu*e code=06DC elementURI="ballast_and_trim:Science.PatchSaltDepth" type=00 *a code=08BE owner=005D element=06DC universal=3FFF unitName="meter" type=1F size=0008 fl=05 E5*a code=08BF owner=005D element=06DC universal=3FFF unitName="meter" type=1F size=0008 fl=04 "=DefineOutput ballast_and_trim:Science.PatchSaltDepth = 0.000000 m*e code=06DD elementURI="ballast_and_trim:Science.PatchSaltLatitude" type=00 *a code=08C0 owner=005D element=06DD universal=3FFF unitName="degree" type=1F size=0008 fl=05 FM*a code=08C1 owner=005D element=06DD universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg*e code=06DE elementURI="ballast_and_trim:Science.PatchSaltLongitude" type=00 *a code=08C2 owner=005D element=06DE universal=3FFF unitName="degree" type=1F size=0008 fl=05 F*a code=08C3 owner=005D element=06DE universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg*e code=06DF elementURI="ballast_and_trim:Science.PatchSaltDistance" type=00 *a code=08C4 owner=005D element=06DF universal=3FFF unitName="meter" type=1F size=0008 fl=05 "F*a code=08C5 owner=005D element=06DF universal=3FFF unitName="meter" type=1F size=0008 fl=04 " ~DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m*e code=06E0 elementURI="ballast_and_trim:Science.PatchOil" type=00 *a code=08C6 owner=005D element=06E0 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 2F*a code=08C7 owner=005D element=06E0 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 "%zDefineOutput ballast_and_trim:Science.PatchOil = 0.000000 psuM>M>*e code=06E1 elementURI="ballast_and_trim:Science.PatchOilDepth" type=00 *a code=08C8 owner=005D element=06E1 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BF*a code=08C9 owner=005D element=06E1 universal=3FFF unitName="meter" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PatchOilDepth = 0.000000 m*e code=06E2 elementURI="ballast_and_trim:Science.PatchOilLatitude" type=00 *a code=08CA owner=005D element=06E2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 RF*a code=08CB owner=005D element=06E2 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg*e code=06E3 elementURI="ballast_and_trim:Science.PatchOilLongitude" type=00 *a code=08CC owner=005D element=06E3 universal=3FFF unitName="degree" type=1F size=0008 fl=05 bF*a code=08CD owner=005D element=06E3 universal=3FFF unitName="degree" type=1F size=0008 fl=04 "DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg*e code=06E4 elementURI="ballast_and_trim:Science.PatchOilDistance" type=00 *a code=08CE owner=005D element=06E4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 rF*a code=08CF owner=005D element=06E4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 "|DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m*n code=005E name="ballast_and_trim:Science:A" *n code=005F name="ballast_and_trim:Science:B" *n code=0060 name="ballast_and_trim:Science:C" *n code=0061 name="ballast_and_trim:Science:D" *n code=0062 name="ballast_and_trim:Science:E" *n code=0063 name="ballast_and_trim:Science:F" *n code=0064 name="ballast_and_trim:Science:Read_Oil" *n code=0065 name="ballast_and_trim:Science:OceanCurrent" *n code=0066 name="ballast_and_trim:Science:OceanCurrent:A." *a code=08D0 owner=0066 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D1 owner=0066 element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D2 owner=0066 element=0499 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=06E5 elementURI="CurrentEstimator.current_speed_vehicle_frame" type=02 *a code=08D3 owner=0066 element=06E5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=06E6 elementURI="CurrentEstimator.current_speed_navigation_frame" type=02 *a code=08D4 owner=0066 element=06E6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=06E7 elementURI="CurrentEstimator.current_direction_vehicle_frame" type=02 *a code=08D5 owner=0066 element=06E7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06E8 elementURI="CurrentEstimator.current_direction_navigation_frame" type=02 *a code=08D6 owner=0066 element=06E8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06E9 elementURI="CurrentEstimator.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=08D7 owner=0066 element=06E9 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=06EA elementURI="CurrentEstimator.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=08D8 owner=0066 element=06EA universal=3FFF unitName="none" type=00 size=0000 fl=05 *n code=0067 name="ballast_and_trim:Science:PeakDetectChl" *n code=0068 name="ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth" 4 8Construct PeakDetectVsDepth.*a code=08D9 owner=0068 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DA owner=0068 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DB owner=0068 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0069 name="ballast_and_trim:Science:PeakDetectChl:B" *n code=006A name="ballast_and_trim:Science:HighestChlPeakReport" *n code=006B name="ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal" 5u >Construct PeakDetectHorizontal.*a code=08DC owner=006B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DD owner=006B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DE owner=006B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DF owner=006B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E0 owner=006B element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E1 owner=006B element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006C name="ballast_and_trim:Science:PeakDetectNO3" *n code=006D name="ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth" 6= 8Construct PeakDetectVsDepth.*a code=08E2 owner=006D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E3 owner=006D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E4 owner=006D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006E name="ballast_and_trim:Science:PeakDetectNO3:B" *n code=006F name="ballast_and_trim:Science:PeakDetectOil" *n code=0070 name="ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth" 8M 8Construct PeakDetectVsDepth.*a code=08E5 owner=0070 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E6 owner=0070 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E7 owner=0070 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0071 name="ballast_and_trim:Science:PeakDetectOil:B" *n code=0072 name="ballast_and_trim:Science:HighestOilPeakReport" *n code=0073 name="ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal" 9 >Construct PeakDetectHorizontal.*a code=08E8 owner=0073 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E9 owner=0073 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 e,m?A?޻?٠=f'9HV?@@y?oZ?rG?l?@??i `;'CY2*>y2D*a code=08EA owner=0073 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 ib)b5*a code=08EB owner=0073 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08EC owner=0073 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08ED owner=0073 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 m :=9‰7 >CYv<:>)   I )*n code=0074 name="ballast_and_trim:Science:PeakDetectFDOM" *n code=0075 name="ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth" :M8Construct PeakDetectVsDepth.ɊQYiRA=*a code=08EE owner=0075 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08EF owner=0075 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F0 owner=0075 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0076 name="ballast_and_trim:Science:PeakDetectFDOM:B" *n code=0077 name="ballast_and_trim:Science:PeakDetectSalinity" *n code=0078 name="ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth" <8Construct PeakDetectVsDepth.*a code=08F1 owner=0078 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F2 owner=0078 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F3 owner=0078 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0079 name="ballast_and_trim:Science:PeakDetectSalinity:B" *n code=007A name="ballast_and_trim:Science:HighestSaltPeakReport" *n code=007B name="ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" =->Construct PeakDetectHorizontal.*a code=08F4 owner=007B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F5 owner=007B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F6 owner=007B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F7 owner=007B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F8 owner=007B element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F9 owner=007B element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007C name="ballast_and_trim:RunBallastAndTrim" "=fInserting Stack: Missions/Insert/BallastAndTrim.xml!,?A??٠9a@'9H N??LR?lI?C3l?` ??i+`;$CY6E?>y67D>=IIMCIYU9U>*n code=007D name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim" *e code=06EB elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth" type=00 *a code=08FA owner=007D element=06EB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=08FB owner=007D element=06EB universal=3FFF unitName="meter" type=1F size=0008 fl=05 G}9@"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m*e code=06EC elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed" type=00 霱)I)ɊiRA =*a code=08FC owner=007D element=06EC universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=08FD owner=007D element=06EC universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 G}"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s*e code=06ED elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate" type=00 *a code=08FE owner=007D element=06ED universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=08FF owner=007D element=06ED universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 G?"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s*e code=06EE elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit" type=00 *a code=0900 owner=007D element=06EE universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0901 owner=007D element=06EE universal=3FFF unitName="degree" type=1F size=0008 fl=05  HDJW?"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg*e code=06EF elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive" type=00 *a code=0902 owner=007D element=06EF universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0903 owner=007D element=06EF universal=3FFF unitName="minute" type=1F size=0008 fl=05 H"-DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min*e code=06F0 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout" type=00 *a code=0904 owner=007D element=06F0 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0905 owner=007D element=06F0 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *HE@"EDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min*e code=06F1 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime" type=00 *a code=0906 owner=007D element=06F1 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0907 owner=007D element=06F1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 :H]@"eDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min*e code=06F2 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout" type=00 *a code=0908 owner=007D element=06F2 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0909 owner=007D element=06F2 universal=3FFF unitName="minute" type=1F size=0008 fl=05 JHu@"}DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min*e code=06F3 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime" type=00 *a code=090A owner=007D element=06F3 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=090B owner=007D element=06F3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 ZHm@"uDefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min*e code=06F4 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound" type=00 *a code=090C owner=007D element=06F4 universal=3FFF unitName="millimeter" type=1F size=0008 fl=04 *a code=090D owner=007D element=06F4 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 jHMb0?"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm*e code=06F5 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound" type=00 *a code=090E owner=007D element=06F5 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=04 *a code=090F owner=007D element=06F5 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 zHhUMu>"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc*e code=06F6 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence" type=00 *a code=0910 owner=007D element=06F6 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0911 owner=007D element=06F6 universal=3FFF unitName="percent" type=1F size=0008 fl=05 H,?"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900000 %*e code=06F7 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband" type=00 *a code=0912 owner=007D element=06F7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0913 owner=007D element=06F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 H?"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m*e code=06F8 elementURI="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband" type=00 *a code=0914 owner=007D element=06F8 universal=3FFF unitName="millimeter" type=1F size=0008 fl=04 *a code=0915 owner=007D element=06F8 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 HMb0?"DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm*n code=007E name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A" *a code=0916 owner=007E element=015D universal=3FFF unitName="none" type=1F size=0008 fl=05 *n code=007F name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B" *a code=0917 owner=007F element=0158 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *n code=0080 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C" *a code=0918 owner=0080 element=0152 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0081 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D" *a code=0919 owner=0081 element=0160 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *n code=0082 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E" *a code=091A owner=0082 element=0145 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=0083 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F" *n code=0084 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth" *n code=0085 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A" *a code=091B owner=0085 element=0172 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *n code=0086 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold" *n code=0087 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point" C=Construct.*a code=091C owner=0087 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091D owner=0087 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091E owner=0087 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091F owner=0087 element=0459 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0920 owner=0087 element=045C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0921 owner=0087 element=045D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0922 owner=0087 element=045E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0923 owner=0087 element=045A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0924 owner=0087 element=045B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0088 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy" Dm&Construct Buoyancy.*a code=0925 owner=0088 element=0190 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0926 owner=0088 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0927 owner=0088 element=0447 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0928 owner=0088 element=0143 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=0089 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch" DConstruct.*a code=0929 owner=0089 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=092A owner=0089 element=0443 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=092B owner=0089 element=0444 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=092C owner=0089 element=0449 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=092D owner=0089 element=0448 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=092E owner=0089 element=0445 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=092F owner=0089 element=0446 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0930 owner=0089 element=0442 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0931 owner=0089 element=0161 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=008A name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive" *n code=008B name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A" *n code=008C name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait" FuConstruct Wait.*n code=008D name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth" *n code=008E name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A" *n code=008F name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed" GConstruct.*a code=0932 owner=008F element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0933 owner=008F element=044B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0934 owner=008F element=044A universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0090 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch" H Construct.*a code=0935 owner=0090 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0936 owner=0090 element=0443 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0937 owner=0090 element=0444 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0938 owner=0090 element=0449 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0939 owner=0090 element=0448 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=093A owner=0090 element=0445 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=093B owner=0090 element=0446 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=093C owner=0090 element=0442 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0091 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout" *n code=0092 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A" *a code=093D owner=0092 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0093 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute" I $Construct Execute.*n code=0094 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth" *n code=0095 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed" J Construct.*a code=093E owner=0095 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=093F owner=0095 element=044B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0940 owner=0095 element=044A universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0096 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch" K= Construct.*a code=0941 owner=0096 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0942 owner=0096 element=0443 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0943 owner=0096 element=0444 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0944 owner=0096 element=0449 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0945 owner=0096 element=0448 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0946 owner=0096 element=0445 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0947 owner=0096 element=0446 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0948 owner=0096 element=0442 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0097 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C" *a code=0949 owner=0097 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0098 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait" L Construct Wait.*n code=0099 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E" *a code=094A owner=0099 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009A name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F." *e code=06F9 elementURI="BallastAndTrim.enableBroadcast" type=02 *a code=094B owner=009A element=06F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M% 2Construct BallastAndTrim.*a code=094C owner=009A element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=094D owner=009A element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06FA elementURI="BallastAndTrim.mass_position_estimated_mean" type=02 *a code=094E owner=009A element=06FA universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *e code=06FB elementURI="BallastAndTrim.mass_position_estimated_variance" type=02 *a code=094F owner=009A element=06FB universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *e code=06FC elementURI="BallastAndTrim.buoyancy_position_estimated_mean" type=02 *a code=0950 owner=009A element=06FC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=06FD elementURI="BallastAndTrim.buoyancy_position_estimated_variance" type=02 *a code=0951 owner=009A element=06FD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=009B name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertDepthDeadband" c',?A) ??٠$ke'9H.?{? 2?G?`l? ??i[`;%CYB@>yBD*a code=0952 owner=009B element=06F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ir)r5"=RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband*n code=009C name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachDepthTimeout" *a code=0953 owner=009C element=06F0 universal=3FFF unitName="minute" type=1F size=0008 fl=05 "M RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.MaxWaitOnSurface*n code=009D name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertSettleTime" *a code=0954 owner=009D element=06F1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 "eRedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime*n code=009E name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.EstTimeout" *a code=0955 owner=009E element=06F2 universal=3FFF unitName="minute" type=1F size=0008 fl=05 "uRedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeoutםL; E=9؝ >ءءCءYۭ:>*n code=009F name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.MinEstTime" *a code=0956 owner=009F element=06F3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 "%RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime*n code=00A0 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.MassEstErrorBound" *a code=0957 owner=00A0 element=06F4 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 "- RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound霱)IIIII)I*n code=00A1 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.BuoyEstErrorBound" *a code=0958 owner=00A1 element=06F5 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 "} RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound*n code=00A2 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.EstConfidence" *a code=0959 owner=00A2 element=06F6 universal=3FFF unitName="percent" type=1F size=0008 fl=05 "RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence*n code=00A3 name="ballast_and_trim:RunBallastAndTrim:Depth1" Ɋ*n code=00A4 name="ballast_and_trim:RunBallastAndTrim:Depth1:A" i*a code=095A owner=00A4 element=06EB universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00A5 name="ballast_and_trim:RunBallastAndTrim:Depth1:B" *n code=00A6 name="ballast_and_trim:RunBallastAndTrim:Depth2" RA5=*n code=00A7 name="ballast_and_trim:RunBallastAndTrim:Depth2:A" *a code=095B owner=00A7 element=06EB universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00A8 name="ballast_and_trim:RunBallastAndTrim:Depth2:B" *n code=00A9 name="ballast_and_trim:Float_Up" *a code=095C owner=00A9 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=095D owner=00A9 element=0177 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00AA name="ballast_and_trim:Float_Up:A.Buoyancy" U&Construct Buoyancy.*a code=095E owner=00AA element=0190 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=095F owner=00AA element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0960 owner=00AA element=0447 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0961 owner=00AA element=0140 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=00AB name="ballast_and_trim:Float_Up:B.Wait" UConstruct Wait.II"]W Maximum duration of mission 120 Skip communications at start of mission. 7 NaN How much vertical drift from the specified depth is allowed durnig the mission. 0.1 Surface threshold depth. 2.5 Maximum wait time for the vehicle to go under the surface (i.e., reach the surface threshold depth). 20 How long to wait after reaching target depth before starting ballast and trim. 10 Timeout for ballast and trim estimation. 45 Minimum time to run ballast and trim estimation before determining convergence (must be shorter than timeout). 10 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 0.25 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 15 Confidence level that the estimator has reached the desired error range (larger values take longer to converge). 99.9 5 Float to surface instead of driving. =nLoaded ./Missions/Maintenance/tank_ballast_and_trim.xml&.,![?A22?2 ?٠2:g2B'92H.? @?`?PE?`#l?@ ?22?i26`;2'CYB1>yBMDiJ)J5~% U=9 >   C YE ;>@a@i@iAi)Xz:I)ɊiYRA=5,6?A*B?*?٠* k* (9*Hwع?@*B ?ܹ?eB?=~m?@?*B?i*`;*#CYR/>yRDTTiZ)Z5rۍ rL=9rA v>ttvCtYzF:z>@)@)@)A))999AIA)AɊaai9RAM=:;, ?A"@ɟ &CD?&C?٠&{`&NP(9&Hչ?-M ?@ٹ?GH?@wl?}` ?&CD?i&+`;&'CY^5>y^Dhhin)n 5׽%E< ==9ؽ19 >CY8>@!@!@!A!)I)Ɋi9RA>E>E>$B,?A"oU?"o0?٠"!i"(9"H?$`??;C? 5m?`A?"oU?i"`; Y. A>y.fDi6)6y5^= ^\=9^Ź ^>``bC`Yf߸:f>h@@@A)QQYIY)YɊYaiyRAg=KH,"?Af?A?٠Y4m(9H? G ?? _@?m?`@ ?f?ia`;&CY21>y2MD44ir)r 5 8=9 >CY : >@@@A)I)Ɋi RA=y2Dir)rs5E_; EW=9El8 E>IIMCIYUI:U>@@ @ A )9999I9)9ɊAIiaRA=II+\U,J{V?Aԁ?\?٠k(9H Y[? ?@_? ??vm?@ ?ԁ?i`;YB:>yBDi)95e< eH=9e\6 e>iimCiYuݬ:u>霙@@@A)I)ɊiRA=eGiyԑԽӹԽ@N[,zVp?A?a?٠t?h(9H`Q?D*?U? B?m? ??i`;%CY2&D>y28D44i:):4e< eJ=9e' 9 e>iimCiYu9u>@@@A)I)ɊiRA==(nb,1?A@ɟe?et?٠ۘki'9H r,?@SL>?`0?=?@sm??e?i`;Y2M+>y2Di:):?5F̃ FY=9J" J>HLNCLYb:b>d@h@h@lAl)I)Ɋi!RA]=M>M>=h,x ?Aã?~?٠j[(9H? ?@?-??Cm?@ `?ã?i`;&CY2)>y2{D>XX^C\YrJK:r>t@x@x@|A|)    I ) Ɋi1RA|=qn,?Ap?p?٠~f(9H ?`?`?@?+l?l ?p?i`;YB">yBLDF=DiJ)J5%%~ %C=9%8 ->))-C)Y5:5>霙@@@A)酹鄹I)ɊiRA=Ru,?A) %=??٠͟a(9HE?@?$?B?3l?q??i`;Y2&D>y28Dir)r 5m= K=9T9 =>9AECAYM~4:M>Q@a@a@aAa)qqqqIq)qɊiRA=IIa{,?A??٠ `P(9H?*? ?rC?`l?@` ??i+`;%CY2&>y25Dir)r5םߊ B=9إn8 >ةةCةY۵&/:>@@@A)I)!Ɋ!)iARA}=*,x ?A:ҟ?:?٠Ĵji(9HS?@??:?`Vm? ?:ҟ?i`;Y2`B>y2 D44ir)r 5EZ= EP=9E_ٹ E>IIMCIYU$:U>@!@!@)A))1999I9)9ɊAAiYRA=s,T%?Aɟڟ?ε?٠ʠb'9H@@? ?:?ˣ@?Tl?`N ?ڟ?iM`;)CYR3>yRDiZ)Z5v  vP=9vy9 z>xxzCxY,:>!@1@1@1A1)aaiiIi)iɊqqiRAj=M>M>x,4/??A?ü?٠c'9H?Fh -? ?>?@7xl?w@??i`;&CY2*>y2Di:): 5F FP=9JN8 J>HLNCLY:%>!@1@1@1A1)酁鄉I)ɊiRA =g, Y?A?Ƽ?٠Zg(9Hྈ?@K@??`j?8cD? YRk?j ??i`;%CY2\J>y2D6=6R=<=9es9 e>iimCiYujN9u>@@@A)I)ɊiRA5=",r?A) =&?&ټ?٠pc(9Hc?U?g?6=?@jxl?`e`?&?i`;&CY25>y2Di:):5Fa FY=9Jù J>HLNCLYb;:b>d@h@l@lAl)    I ) Ɋi1RA}=II\ ,?AK ?K?٠zc'9H@G? !?K?;?Kvl??K ?i`;(CYB)>yBDi)5e]޼ e>=9eh6 e>iimCiYu:u>霙@@@A)IQQqIq)qɊyyiRA=4,?Ao?o?٠bg/'9H+?`p lZ?@/?%z7?[l?@?o?i^`;&C48Y:|A>y>Di)9IImNimB@i)5e= @=9   >  CYۍ:>霑@@@A)酱鄱I)Ɋi)RAE=b, w?A@ɟM'?M?٠\ d'9H?6??K9?Gl??M'?i `;Y21>y2Dir)rj5}) S=9؅L 9 >؉؉C؉Yە?:>霹@@@A)I)Ɋ i!RA]=M>M>F,]R?A3??٠Bfa(9H@? #?N?)7?`Ql?` @?3?i`;Y22>y2Di:):4V; VY=9Z} Z>XX^C\Yn`:r>p@x@x@xA|)   I ) ɊiIRA=p,E-?A"F?"!?٠"*h"'9"HԷ?`{@`? ٷ?{2?`Xm?@ @?"F?i"Z`;"'CY2S>y2D6a=6a=i:):05F9C FL=9J J>HLNCLYʲ:> @@@A)))))I))1Ɋ19iQRAm==- got command set ballast_and_trim.MissionTimeout 15.000000 minutezA- @=- lgot command set ballast_and_trim.Depth1 2.000000 meterA5 @=5 got command set ballast_and_trim.SurfaceThreshold 1.000000 meterA5 ?== got command set ballast_and_trim.EstimationTimeout 15.000000 minuteA= @Y,(?A) O?*?٠YqgO(9H·?!@? Ƿ?G3? 'l? j?O?i`;Y28>y2Di6)65^Iv= bG=9b7 b>ddfCdYj5:j>l@@ @ A )9999IA)AɊAIiRAV=II,i'?AY?4?٠o0`'9H﮷?@ #??9?@ l?`?Y?ik`;&CY21>y2MD<xxzCxY~A:>@@@A)!)))I)))Ɋ11i RA]=k,A?AVd?V??٠Qc]:'9Hj?@:? j?*I:?fk?夿` ?Vd?i`;)CY2>>y2D44i:):`5F= FP=9F8 J>HHJCHY~_:>@@@A)!)))I)))Ɋ11iaRA}=L,[?A@ɟm?H?٠_'9H3?g@v M?G?g8?k?.?m?i`;$CYBM+>yBDir)r5%8 %A=9%x %>))-C)Y5<:5>Y@i@i@iAi)酙鄡I)ɊiRAyM>M>ľ,uu?At?O?٠\6Z(9Hbw?`{v?^{?l;? 1k? ?t?iI`;'CY6B>y6Di) 5-Kh= -J=9-;8 5>115C1Y]:]>a@q@q@qAq)酁鄉I)ɊiRA=,O?A`?`]?٠ô_~(9H@\? ?``?O^7?k?H?`?i`;Y21>y2D6=6=ir)r5 @=9 >CY~:>@9@A@AAA)QQQQIQ)YɊYaiyRA=b,-?A) ͓?n?٠d'9H9? C@ *?C>?/?{l?q?͓?i`;(CY2l&>y2Di:):j5n r\=9r] r>ttvCtYza:z>|@!@)@)A))9YYYIY)aɊaii9RAU=II,?Ac?cy?٠Naٙ'9H$?`{g? )? ,2? )l?@?c?i`;&CYB8>yBDiJ)Jy5Z6= ZM=9Z9 Z>\\nClYrR:r>t@|@@A)))11I1)1Ɋ99iQRAM=,?A??٠Y^ӕ'9Hn?`u`? ?U4?`k?3??i`;'CY29>y6D88<CY(:>@y@y@yAy)酉鄉I)ɊiRA=ӍnGiԡԹ@# ,?AɟN?N?٠6gL'9H,?@w`??@#?bl?@?N?i/`;Y2g2>y2eDi:): 5FM Fb=9Jι J>HLNCLYb:b>d@h@h@lAl)I)Ɋi!RA]=M>M>,?A$Ơ?$?٠Gf'9Hն?e K?(ڶ?tg#?l? @?$Ơ?i:`;Y21>y2Dib)bB4%cI %A=9%7 8 ->))-C)Y5 :5>@@@A)199I9)9ɊAAiYRAu= , s*?APҠ?P?٠@Uf'9H@]?&??ʖ"? l?@v?PҠ?i`;&CYBJ3>yB|DFp=Fp=i)?5i; ==97 >C Y a: >q@@@A)酑鄑I)ɊiRA=,QD?A) %=??٠j'9H4?@??y?`z_m? Z??i`;'CY2,>y2MDir)r5ׅ R=9؅? >؉؉C؉Yە:>@ @ @ A )酹鄹I)ɊiRA]=IIA2,.^?A?Ľ?٠_h2Y(9H`?#@?@H?ta?m?` ??i`;Y2(>y2dDi6)6 5Fy+ F[=9F8 F>HHJCHYN9N>P@X@X@XAX)```dId)dɊhhitRA=[,x?A?ҽ?٠)i(9Hs?v4@c?w?@ ?-%m?@@ ??i`;Y24$>y2D44i:):4 5=9 >CY  u: >@@@A)酩鄩I)ɊQYiRA>b$,0e?A ɟ *?*߽?٠*>h*a(9*H@+Y?`@?`]? ?m? ?*?i*`;*(CY)<>yfDi)5es= eP=9mX7 m>qquCqY}P:}>霁@@@A)I)ɊiRA== > +*,?A.?.?٠.]Oe.='9.HB?`?9G?P?l?]?.?i.`;.&CYR1>yRD\^ib)b5jѼ jR=9j9 j>yy}CyYۅN]:>霉@@@A)I)ɊiqRA=1,]?At?t?٠fFx(9H'?`B@8!6?[,?x: ?l? { `?t?i,`;'CYEO'>yEDM=IiU)U5ׅkǼ ?=9؍i >ؑؑCؑYQ:>@@@A1)AAIIII)IɊQi)RA=Ǿ7,_|?A)%= ??٠i^D(9H#?`H@T+@D?`n'?E(?.k???i`;&CYB->yBDir)r5=\g< EM=9E9 E>IIMCIYUu<9U>9@A@A@IAI)酙鄙I)ɊiRA=  =,?A .? ?٠f_9(9H?@ a+ ?@ ?D#?k?? .?is`;$CYB*>yBDi%)%5 ?=9 >CY:>霑@@@A)I)ɊiYRApD,o?A=??٠&_m(9H`? `?#? ?k?' ?=?is`;#CYBg2>yBeDDDi%)% 5ݒ< G=97 >CY:> @9@9@9A9)II鄑I)ɊiRA=Q U {C ^Gi A i i i )K,|.?A@ɟ@J?%?٠8 d(9H%͵?:V#0?ѵ?X?@l??J?i`;&CYB^F>yBDiJ)J4ם'I= N=9؝H >ءءCءYۭ`:>@@@A)酱鄱I)ɊiRAU= > > R,5H?AOW?O2?٠)d](9Ha?`r t??@>`al? ?OW?iV`;YB=>yBDiJ)J5f fV=9j# j>hhnClY%:%>)@1@1@1A1)AAIIII)IɊQiRA%=p[X,t c?Ag?B?٠Zg.v(9H蓵?`!?Ø? @l? 8 `?g?i`;'CY=@>y=DAEa=UUi})}5׍; ==9ؕ >CYo:>@@@A) I ) ɊiQRAm=£^,yRDiZ)Z 5˼ C=97 >CY:>@)@)@)A))yy鄁I)ɊiaRA=e,B?A?\?٠hs`I(9H`_?@jY@Z?c?>`il? ??i"`;Yj">yjLDiE)E 5ם> M=9إІ9 >ةةCةY۵:>@@@A)酹鄹I)Ɋi!RAu=wk,c?A?g?٠\u(9H ?K??@O?p?~k? ??ia;&CYB.>yBDDDi%)%5?< D=9s9 >CY1B:>@@ @ A )YYYaIa)aɊiiiRA==Egot command set ballast_and_trim.MassEstimationErrorBound 1.000000 millimeterBMMbP?=Mgot command set ballast_and_trim.BuoyEstimationErrorBound 25.000000 cubic_centimeter*BM6>=Ugot command set ballast_and_trim.EstimationConfidence 98.000000 percent:BU)\?=]got command run=Running r,??Aɟh?hw?٠`}&(9H*? ?T/?l?D ?h?i`;$CYN2>yRDi)Q5}D#< }Q=9}E) }>؁؁C؁Yۍ:>霑 '>Aggregate::uninitialize Default1 (DUninitialize GoToSurfaceComponent.q(NAggregate::uninitialize Default:CheckIn"@Started mission ballast_and_trimY1 .LAggregate::initialize ballast_and_trimq.\Aggregate::initialize ballast_and_trim:Science1q13xAggregate::initialize ballast_and_trim:Science:PeakDetectChl1 4Initialize.*a code=0962 owner=0068 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0963 owner=0068 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04  5Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport5Initialize.1 6xAggregate::initialize ballast_and_trim:Science:PeakDetectNO3q6Initialize.*a code=0964 owner=006D element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0965 owner=006D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 7xAggregate::initialize ballast_and_trim:Science:PeakDetectOil1 8Initialize.*a code=0966 owner=0070 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0967 owner=0070 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04  9Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport9Initialize.1 :zAggregate::initialize ballast_and_trim:Science:PeakDetectFDOMq:Initialize.*a code=0968 owner=0075 element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0969 owner=0075 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 M;MAggregate::initialize ballast_and_trim:Science:PeakDetectSalinity1M pAggregate::initialize ballast_and_trim:RunBallastAndTrim(Q~Aggregate::initialize ballast_and_trim:RunBallastAndTrim:Depth11)J@1)q)RAggregate::initialize ballast_and_trim:RunBallastAndTrim:Depth1:Bq =Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport  >=Uninitialize. ; Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity1 <Uninitialize.1 :~Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOMq:Uninitialize. 9Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport9Uninitialize.7|Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil1 8Uninitialize.1 6|Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3q6Uninitialize. 5Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport5%Uninitialize.%3%|Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl1% 4%Uninitialize.1*a code=096C owner=0062 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 1Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_waterq1*a code=096D owner=0060 element=0651 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 0Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature*a code=096E owner=0060 element=0654 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 0Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity*a code=096F owner=005F element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 /vInitialize ReadDataComponent to sense sea_water_temperature*a code=0970 owner=005F element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 /%pInitialize ReadDataComponent to sense sea_water_salinity-)5w:19I9)9ɊiRAG> Powering up*x,[?A??٠`B(9H"?>x@-??l? ??i`;&CYB/0>yBDiJ)J5=Ի =L=9E'7 E>AAMCIYM:U>霑q>Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim1 q   J?JJJ @JJMbP?J6>J)\?AbGoing to target depth. Speed set to 0.000000 m/s 1! BAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepthq!! CAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold!CInitialize.1" DH7>yBeDDF=iF)F5=< =H=9E" E>AIMCIYM:U>霙" EAggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive"q#FAggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth#GInitialize.#! 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(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. 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