*v 0008
*n code=0000 name="Slate"
*n code=0001 name="Supervisor"
*n code=0002 name="Module Loader"
*e code=0000 elementURI="acoustic_receive_time" type=04
*e code=0001 elementURI="acoustic_transmit_time" type=04
*e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003
*e code=0003 elementURI="acoustic_contact_address" type=04
*e code=0004 elementURI="acoustic_contact_range" type=04
*e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04
*e code=0006 elementURI="depth" type=04
*e code=0007 elementURI="depth_rate" type=04
*e code=0008 elementURI="direction_of_sea_water_velocity" type=04
*e code=0009 elementURI="distance_from_shore" type=04
*e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04
*e code=000B elementURI="downward_sea_water_velocity" type=04
*e code=000C elementURI="eastward_sea_water_velocity" type=04
*e code=000D elementURI="fix_distance_made_good" type=04
*e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04
*e code=000F elementURI="fix_residual_distance" type=04
*e code=0010 elementURI="fix_residual_bearing" type=04
*e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04
*e code=0012 elementURI="grid_latitude" type=04
*e code=0013 elementURI="grid_longitude" type=04
*e code=0014 elementURI="height_above_sea_floor" type=04
*e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04
*e code=0016 elementURI="northward_sea_water_velocity" type=04
*e code=0017 elementURI="latitude" type=04
*e code=0018 elementURI="latitude_fix" type=04
*e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002
*e code=001A elementURI="longitude" type=04
*e code=001B elementURI="longitude_fix" type=04
*e code=001C elementURI="mission_started" type=04
*e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04
*e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04
*e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04
*e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04
*e code=0021 elementURI="platform_average_current" type=04
*e code=0022 elementURI="platform_average_power" type=04
*e code=0023 elementURI="platform_battery_charge" type=04
*e code=0024 elementURI="platform_battery_charge_usage" type=04
*e code=0025 elementURI="platform_battery_energy_usage" type=04
*e code=0026 elementURI="platform_battery_voltage" type=04
*e code=0027 elementURI="platform_battery_fully_charged" type=04
*e code=0028 elementURI="platform_battery_discharging" type=04
*e code=0029 elementURI="platform_buoyancy_position" type=04
*e code=002A elementURI="platform_communications" type=04
*e code=002B elementURI="platform_conversation" type=04
*e code=002C elementURI="platform_course" type=04
*e code=002D elementURI="platform_distance_wrt_ground" type=04
*e code=002E elementURI="platform_distance_wrt_sea_water" type=04
*e code=002F elementURI="platform_elevator_angle" type=04
*e code=0030 elementURI="platform_fault" type=04
*e code=0031 elementURI="platform_fault_leak" type=04
*e code=0032 elementURI="platform_magnetic_orientation" type=04
*e code=0033 elementURI="platform_mass_position" type=04
*e code=0034 elementURI="platform_orientation" type=04
*e code=0035 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003
*e code=0036 elementURI="platform_pitch_angle" type=04
*e code=0037 elementURI="platform_pitch_rate" type=04
*e code=0038 elementURI="platform_pressure" type=04
*e code=0039 elementURI="platform_propeller_rotation_rate" type=04
*e code=003A elementURI="platform_relative_humidity" type=04
*e code=003B elementURI="platform_roll_angle" type=04
*e code=003C elementURI="platform_roll_rate" type=04
*e code=003D elementURI="platform_rudder_angle" type=04
*e code=003E elementURI="platform_speed_wrt_ground" type=04
*e code=003F elementURI="platform_speed_wrt_sea_water" type=04
*e code=0040 elementURI="platform_temperature" type=04
*e code=0041 elementURI="platform_vehicle_power" type=04
*e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003
*e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003
*e code=0044 elementURI="platform_x_sea_water_velocity" type=04
*e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04
*e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04
*e code=0047 elementURI="platform_x_velocity_current" type=04
*e code=0048 elementURI="platform_y_sea_water_velocity" type=04
*e code=0049 elementURI="platform_y_velocity_wrt_ground" type=04
*e code=004A elementURI="platform_y_velocity_wrt_sea_water" type=04
*e code=004B elementURI="platform_y_velocity_current" type=04
*e code=004C elementURI="platform_yaw_angle" type=04
*e code=004D 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
F�;q�f�
0Initializing supervisor.*n code=0003 name="ComponentRegistry"
*n code=0004 name="controlThread"
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*a code=0000 owner=0004 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*n code=0005 name="SyncHandler"
��@q�f�
DCreated PCaller Thread at 404514E0��Aq�f�
DProtected caller Thread ID is 5075ƿAq�f�
hComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler"

�Bq�f�
DCreated PCaller Thread at 404814E0�Cq�f�
DProtected caller Thread ID is 5076*n code=0007 name="CycleStarter"
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*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
ƿGq�f�
vSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandExec"
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*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 unitName="enum" type=02 size=0001 fl=05
*e code=006E elementURI="Dock.docking_state" type=02
*a code=0006 owner=0008 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02
*a code=0007 owner=0008 element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=0070 elementURI="IBIT.IBITRunning" type=02
*a code=0008 owner=0008 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0071 elementURI="CBIT.GFActive" type=02
*a code=0009 owner=0008 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=000A owner=0008 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0072 elementURI="CommandExec.platform_conversation" type=00
*a code=000B owner=0008 element=0072 universal=002B unitName="bool" type=02 size=0001 fl=05
ƿXq�f�
dComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler"
��Yq�f�
DCreated PCaller Thread at 404B14E0��Yq�f�
DProtected caller Thread ID is 5077*n code=000A name="CommandLine"
*e code=0073 elementURI="CommandLine.enableBroadcast" type=02
*a code=000C owner=000A element=0073 universal=3FFF unitName="bool" type=02 size=0001 fl=05
ƿ]q�f�
dComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler"
��^q�f�
DCreated PCaller Thread at 404E14E0��_q�f�
DProtected caller Thread ID is 5078*n code=000C name="logger"
*e code=0074 elementURI="logger.enableBroadcast" type=02
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ƿaq�f�
ZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler"
��bq�f�
DCreated PCaller Thread at 405114E0��bq�f�
DProtected caller Thread ID is 5079*n code=000E name="LogSplitter"
*e code=0075 elementURI="LogSplitter.enableBroadcast" type=02
*a code=000E owner=000E element=0075 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=0076 elementURI="LogSplitter.platform_communications" type=00
*a code=000F owner=000E element=0076 universal=002A unitName="bool" type=02 size=0001 fl=05
ƿfq�f�
tSyncComponent "LogSplitter" handled in the control thread.N�fq�f�
\Looking for Config files in directory: Config/N�hq�f�
TOpening Config file at: Config/vehicle.cfg*n code=000F name="Config/vehicle"
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*a code=0010 owner=000F element=0077 universal=3FFF unitName="none" type=00 size=0006 fl=05
	�sq�f�
tethys*e code=0078 elementURI="Vehicle.id" type=01
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*e code=0079 elementURI="Vehicle.kmlColor" type=01
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I�xq�f�
ff0055ff*e code=007A elementURI="Vehicle.argoPlatform" type=01
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i�zq�f�
000000*e code=007B elementURI="Vehicle.argoProgram" type=01
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��|q�f�
0000*e code=007C elementURI="Vehicle.checkMTQueue" type=01
*a code=0015 owner=000F element=007C universal=3FFF unitName="bool" type=02 size=0001 fl=05
���q�f�

*e code=007D elementURI="Vehicle.sendDataToShore" type=01
*a code=0016 owner=000F element=007D universal=3FFF unitName="bool" type=02 size=0001 fl=05
���q�f�

*e code=007E elementURI="AHRS_M2.loadControl" type=01
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���q�f�
/dev/loadC7*e code=007F elementURI="AHRS_M2.uart" type=01
*a code=0018 owner=000F element=007F universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyC7*e code=0080 elementURI="AHRS_M2.baud" type=01
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 �@*e code=0081 elementURI="Aanderaa_O2.loadControl" type=01
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I��q�f�
/dev/loadB2*e code=0082 elementURI="Aanderaa_O2.uart" type=01
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i��q�f�

/dev/ttyB2*e code=0083 elementURI="Aanderaa_O2.baud" type=01
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���q�f�
��@*e code=0084 elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01
*a code=001D owner=000F element=0084 universal=3FFF unitName="none" type=00 size=000B fl=05
���q�f�
/dev/loadB1*e code=0085 elementURI="AcousticModem_Benthos_ATM900.uart" type=01
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���q�f�

/dev/ttyB1*e code=0086 elementURI="AcousticModem_Benthos_ATM900.baud" type=01
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���q�f�
��@*e code=0087 elementURI="AcousticModem_Benthos_ATM900.loadControl2" type=01
*a code=0020 owner=000F element=0087 universal=3FFF unitName="none" type=00 size=0009 fl=05
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	/dev/null*e code=0088 elementURI="AMEcho.loadControl" type=01
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/dev/loadB4*e code=0089 elementURI="AMEcho.uart" type=01
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I��q�f�

/dev/ttyB4*e code=008A elementURI="AMEcho.baud" type=01
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i��q�f�
��@*e code=008B elementURI="BackseatComponent.loadControl" type=01
*a code=0024 owner=000F element=008B universal=3FFF unitName="none" type=00 size=000B fl=05
���q�f�
/dev/loadC4*e code=008C elementURI="BackseatComponent.loadControl2" type=01
*a code=0025 owner=000F element=008C universal=3FFF unitName="none" type=00 size=0009 fl=05
���q�f�
	/dev/null*e code=008D elementURI="BackseatComponent.uart" type=01
*a code=0026 owner=000F element=008D universal=3FFF unitName="none" type=00 size=000A fl=05
���q�f�

/dev/ttyC4*e code=008E elementURI="BackseatComponent.baud" type=01
*a code=0027 owner=000F element=008E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
���q�f�
 �@*e code=008F elementURI="BPC1A.uart" type=01
*a code=0028 owner=000F element=008F universal=3FFF unitName="none" type=00 size=000B fl=05
	��q�f�
/dev/ttyTX0*e code=0090 elementURI="BPC1A.baud" type=01
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)��q�f�
��@*e code=0091 elementURI="BPC1B.uart" type=01
*a code=002A owner=000F element=0091 universal=3FFF unitName="none" type=00 size=000B fl=05
I��q�f�
/dev/ttyTX2*e code=0092 elementURI="BPC1B.baud" type=01
*a code=002B owner=000F element=0092 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
i��q�f�
��@*e code=0093 elementURI="BuoyancyServo.loadControl" type=01
*a code=002C owner=000F element=0093 universal=3FFF unitName="none" type=00 size=000B fl=05
���q�f�
/dev/loadA4*e code=0094 elementURI="BuoyancyServo.uart" type=01
*a code=002D owner=000F element=0094 universal=3FFF unitName="none" type=00 size=000A fl=05
���q�f�

/dev/ttyA4*e code=0095 elementURI="BuoyancyServo.baud" type=01
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���q�f�
��@*e code=0096 elementURI="CANONSampler.loadControl" type=01
*a code=002F owner=000F element=0096 universal=3FFF unitName="none" type=00 size=000B fl=05
���q�f�
/dev/loadB6*e code=0097 elementURI="CANONSampler.uart" type=01
*a code=0030 owner=000F element=0097 universal=3FFF unitName="none" type=00 size=000A fl=05
	��q�f�

/dev/ttyB6*e code=0098 elementURI="CANONSampler.baud" type=01
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)��q�f�
��@*e code=0099 elementURI="CBITMainGroundfault.ad" type=01
*a code=0032 owner=000F element=0099 universal=3FFF unitName="none" type=00 size=000E fl=05
I��q�f�
/dev/mcp3551-0*e code=009A elementURI="CBITMainGroundfault.adRes" type=01
*a code=0033 owner=000F element=009A universal=3FFF unitName="bit" type=1F size=0008 fl=05
i��q�f�
@*e code=009B elementURI="CBITMainGroundfault.adTimeout" type=01
*a code=0034 owner=000F element=009B universal=3FFF unitName="millisecond" type=0B size=0003 fl=05
���q�f�
>*e code=009C elementURI="CBITMainGroundfault.adVref" type=01
*a code=0035 owner=000F element=009C universal=3FFF unitName="volt" type=0B size=0003 fl=05
���q�f�
 A*e code=009D elementURI="CBITWaterAlarmBow.ad" type=01
*a code=0036 owner=000F element=009D universal=3FFF unitName="none" type=00 size=0010 fl=05
���q�f�
/dev/adlpc32xx_0*e code=009E elementURI="CBITWaterAlarmBow.adRes" type=01
*a code=0037 owner=000F element=009E universal=3FFF unitName="bit" type=1F size=0008 fl=05
���q�f�
�?*e code=009F elementURI="CBITWaterAlarmBow.adVref" type=01
*a code=0038 owner=000F element=009F universal=3FFF unitName="volt" type=0B size=0003 fl=05
	��q�f�
�I@*e code=00A0 elementURI="CBITWaterAlarmStern.ad" type=01
*a code=0039 owner=000F element=00A0 universal=3FFF unitName="none" type=00 size=0010 fl=05
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/dev/adlpc32xx_1*e code=00A1 elementURI="CBITWaterAlarmStern.adRes" type=01
*a code=003A owner=000F element=00A1 universal=3FFF unitName="bit" type=1F size=0008 fl=05
I��q�f�
�?*e code=00A2 elementURI="CBITWaterAlarmStern.adVref" type=01
*a code=003B owner=000F element=00A2 universal=3FFF unitName="volt" type=0B size=0003 fl=05
i��q�f�
�I@*e code=00A3 elementURI="CBITWaterAlarmAux.ad" type=01
*a code=003C owner=000F element=00A3 universal=3FFF unitName="none" type=00 size=0010 fl=05
���q�f�
/dev/adlpc32xx_2*e code=00A4 elementURI="CBITWaterAlarmAux.adRes" type=01
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���q�f�
�?*e code=00A5 elementURI="CBITWaterAlarmAux.adVref" type=01
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���q�f�
�I@*e code=00A6 elementURI="CTD_NeilBrown.loadControl" type=01
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���q�f�
/dev/loadC4*e code=00A7 elementURI="CTD_NeilBrown.uart" type=01
*a code=0040 owner=000F element=00A7 universal=3FFF unitName="none" type=00 size=000A fl=05
	��q�f�

/dev/ttyC4*e code=00A8 elementURI="CTD_NeilBrown.baud" type=01
*a code=0041 owner=000F element=00A8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
)��q�f�
��@*e code=00A9 elementURI="CTD_Seabird.loadControl" type=01
*a code=0042 owner=000F element=00A9 universal=3FFF unitName="none" type=00 size=000B fl=05
I��q�f�
/dev/loadC6*e code=00AA elementURI="CTD_Seabird.uart" type=01
*a code=0043 owner=000F element=00AA universal=3FFF unitName="none" type=00 size=000A fl=05
i��q�f�

/dev/ttyC6*e code=00AB elementURI="CTD_Seabird.baud" type=01
*a code=0044 owner=000F element=00AB universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
���q�f�
��@*e code=00AC elementURI="DAT.loadControl" type=01
*a code=0045 owner=000F element=00AC universal=3FFF unitName="none" type=00 size=000B fl=05
���q�f�
/dev/loadB3*e code=00AD elementURI="DAT.uart" type=01
*a code=0046 owner=000F element=00AD universal=3FFF unitName="none" type=00 size=000A fl=05
���q�f�

/dev/ttyB3*e code=00AE elementURI="DAT.baud" type=01
*a code=0047 owner=000F element=00AE universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
���q�f�
 �@*e code=00AF elementURI="DDM.loadControl" type=01
*a code=0048 owner=000F element=00AF universal=3FFF unitName="none" type=00 size=000B fl=05
		��q�f�
/dev/loadA6*e code=00B0 elementURI="DDM.uart" type=01
*a code=0049 owner=000F element=00B0 universal=3FFF unitName="none" type=00 size=000A fl=05
)	��q�f�

/dev/ttyA6*e code=00B1 elementURI="DDM.baud" type=01
*a code=004A owner=000F element=00B1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
I	��q�f�
 �@*e code=00B2 elementURI="Depth_Keller.loadControl" type=01
*a code=004B owner=000F element=00B2 universal=3FFF unitName="none" type=00 size=000B fl=05
i	��q�f�
/dev/loadA0*e code=00B3 elementURI="Depth_Keller.ad" type=01
*a code=004C owner=000F element=00B3 universal=3FFF unitName="none" type=00 size=000E fl=05
�	��q�f�
/dev/mcp3553A0*e code=00B4 elementURI="Depth_Keller.adRes" type=01
*a code=004D owner=000F element=00B4 universal=3FFF unitName="bit" type=1F size=0008 fl=05
�	��q�f�
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*a code=04CF owner=0027 element=01B9 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=04D0 owner=0027 element=01BB universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04D1 owner=0027 element=01BC universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04D2 owner=0027 element=01BD universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04D3 owner=0027 element=01BF universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04D4 owner=0027 element=01BE universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=04D5 owner=0027 element=01C0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04D6 owner=0027 element=01C1 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04D7 owner=0027 element=01C2 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04D8 owner=0027 element=01C3 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04D9 owner=0027 element=01C5 universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=04DA owner=0027 element=01C4 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=04DB owner=0027 element=01C6 universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=04DC owner=0027 element=01C7 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04DD owner=0027 element=01C8 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04DE owner=0027 element=01C9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04DF owner=0027 element=01CB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04E0 owner=0027 element=01CC universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=04E1 owner=0027 element=01CD universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=04E2 owner=0027 element=01CE universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04E3 owner=0027 element=01D0 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04E4 owner=0027 element=01CF universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04E5 owner=0027 element=01D1 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04E6 owner=0027 element=01D2 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=04E7 owner=0027 element=01D3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04E8 owner=0027 element=01D4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04E9 owner=0027 element=01D5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04EA owner=0027 element=01D6 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=04EB owner=0027 element=01D7 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04EC owner=0027 element=01D8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04ED owner=0027 element=01D9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04EE owner=0027 element=01DA universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=04EF owner=0027 element=01DB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04F0 owner=0027 element=01DC universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04F1 owner=0027 element=01A7 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04F2 owner=0027 element=01DD universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04F3 owner=0027 element=01DF universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04F4 owner=0027 element=01E0 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04F5 owner=0027 element=01E1 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04F6 owner=0027 element=01E2 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04F7 owner=0027 element=01E3 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04F8 owner=0027 element=0165 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04F9 owner=0027 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04FA owner=0027 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04FB owner=0027 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04FC owner=0027 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04FD owner=0027 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04FE owner=0027 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04FF owner=0027 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=04E9 elementURI="VerticalControl.depth2buoyIntInternal" type=02
*a code=0500 owner=0027 element=04E9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*e code=04EA elementURI="VerticalControl.depthErrorInternal" type=02
*a code=0501 owner=0027 element=04EA universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04EB elementURI="VerticalControl.depthIntegralInternal" type=02
*a code=0502 owner=0027 element=04EB universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=04EC elementURI="VerticalControl.dtInternal" type=02
*a code=0503 owner=0027 element=04EC universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=04ED elementURI="VerticalControl.elevatorIntegralInternal" type=02
*a code=0504 owner=0027 element=04ED universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=04EE elementURI="VerticalControl.massIntegralInternal" type=02
*a code=0505 owner=0027 element=04EE universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04EF elementURI="VerticalControl.massPitchErrorInternal" type=02
*a code=0506 owner=0027 element=04EF universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=04F0 elementURI="VerticalControl.pitchInternal" type=02
*a code=0507 owner=0027 element=04F0 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=04F1 elementURI="VerticalControl.smoothDepthInternal" type=02
*a code=0508 owner=0027 element=04F1 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=0509 owner=0027 element=04E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=04F2 elementURI="VerticalControl.elevatorAngleAction" type=02
*a code=050A owner=0027 element=04F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=04F3 elementURI="VerticalControl.massPositionAction" type=02
*a code=050B owner=0027 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04F4 elementURI="VerticalControl.buoyancyAction" type=02
*a code=050C owner=0027 element=04F4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=050D owner=0027 element=04F2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=050E owner=0027 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=04
�	����f�

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|SyncComponent "VerticalControl" handled in the control thread.*n code=0028 name="HorizontalControl"
*e code=04F5 elementURI="HorizontalControl.enableBroadcast" type=02
*a code=050F owner=0028 element=04F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05

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8Construct HorizontalControl.*e code=04F6 elementURI="HorizontalControl.horizontalMode" type=02
*a code=0510 owner=0028 element=04F6 universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=04F7 elementURI="HorizontalControl.latitudeCmd" type=02
*a code=0511 owner=0028 element=04F7 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=04F8 elementURI="HorizontalControl.longitudeCmd" type=02
*a code=0512 owner=0028 element=04F8 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=04F9 elementURI="HorizontalControl.headingCmd" type=02
*a code=0513 owner=0028 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=04FA elementURI="HorizontalControl.headingRateCmd" type=02
*a code=0514 owner=0028 element=04FA universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=04FB elementURI="HorizontalControl.rudderAngleCmd" type=02
*a code=0515 owner=0028 element=04FB universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=04FC elementURI="HorizontalControl.bearingCmd" type=02
*a code=0516 owner=0028 element=04FC universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=04FD elementURI="HorizontalControl.kdHeadingOverride" type=02
*a code=0517 owner=0028 element=04FD universal=3FFF unitName="second" type=0B size=0003 fl=04
*e code=04FE elementURI="HorizontalControl.kiHeadingOverride" type=02
*a code=0518 owner=0028 element=04FE universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*e code=04FF elementURI="HorizontalControl.kpHeadingOverride" type=02
*a code=0519 owner=0028 element=04FF universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=051A owner=0028 element=019B universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=051B owner=0028 element=019C universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=051C owner=0028 element=019E universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=051D owner=0028 element=019F universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=051E owner=0028 element=019D universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=051F owner=0028 element=01A0 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04
*a code=0520 owner=0028 element=01A1 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0521 owner=0028 element=01A2 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=0522 owner=0028 element=01A3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0523 owner=0028 element=01A4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0524 owner=0028 element=01A5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0525 owner=0028 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0526 owner=0028 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0527 owner=0028 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0528 owner=0028 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0529 owner=0028 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0500 elementURI="HorizontalControl.headingCmdInternal" type=02
*a code=052A owner=0028 element=0500 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0501 elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02
*a code=052B owner=0028 element=0501 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0502 elementURI="HorizontalControl.headingIntegralInternal" type=02
*a code=052C owner=0028 element=0502 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0503 elementURI="HorizontalControl.xteIntegralInternal" type=02
*a code=052D owner=0028 element=0503 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0504 elementURI="HorizontalControl.xteInternal" type=02
*a code=052E owner=0028 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0505 elementURI="HorizontalControl.kxteInternal" type=02
*a code=052F owner=0028 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0506 elementURI="HorizontalControl.bearingInternal" type=02
*a code=0530 owner=0028 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0507 elementURI="HorizontalControl.rudderAngleAction" type=02
*a code=0531 owner=0028 element=0507 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0532 owner=0028 element=0507 universal=3FFF unitName="radian" type=2F size=0004 fl=04
1
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�SyncComponent "HorizontalControl" handled in the control thread.*n code=0029 name="SpeedControl"
*e code=0508 elementURI="SpeedControl.enableBroadcast" type=02
*a code=0533 owner=0029 element=0508 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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.Construct SpeedControl.*a code=0534 owner=0029 element=04E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0535 owner=0029 element=01A9 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
*a code=0536 owner=0029 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0509 elementURI="SpeedControl.propOmegaAction" type=02
*a code=0537 owner=0029 element=0509 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
q
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vSyncComponent "SpeedControl" handled in the control thread.*n code=002A name="LoopControl"
*e code=050A elementURI="LoopControl.enableBroadcast" type=02
*a code=0538 owner=002A element=050A universal=3FFF unitName="bool" type=02 size=0001 fl=05

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,Construct LoopControl.*a code=0539 owner=002A element=04E7 universal=3FFF unitName="second" type=0B size=0003 fl=04
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tSyncComponent "LoopControl" handled in the control thread.��ƍ�f�
�Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)��ƍ�f�
NLoading Module at Modules/Derivation.so*n code=002B name="DepthRateCalculator"
*e code=050B elementURI="DepthRateCalculator.enableBroadcast" type=02
*a code=053A owner=002B element=050B universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=053B owner=002B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=050C elementURI="DepthRateCalculator.depth_rate" type=00
*a code=053C owner=002B element=050C universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05
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�SyncComponent "DepthRateCalculator" handled in the control thread.*n code=002C name="PitchRateCalculator"
*e code=050D elementURI="PitchRateCalculator.enableBroadcast" type=02
*a code=053D owner=002C element=050D universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=053E owner=002C element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=050E elementURI="PitchRateCalculator.platform_pitch_rate" type=00
*a code=053F owner=002C element=050E universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05
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�SyncComponent "PitchRateCalculator" handled in the control thread.*n code=002D name="SpeedCalculator"
*e code=050F elementURI="SpeedCalculator.enableBroadcast" type=02
*a code=0540 owner=002D element=050F universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=0541 owner=002D element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0542 owner=002D element=04AD universal=003F unitName="meter_per_second" type=0B size=0003 fl=05
Q����f�
�*e code=0510 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00
*a code=0543 owner=002D element=0510 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05
QA���f�
�*e code=0511 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00
*a code=0544 owner=002D element=0511 universal=002E unitName="meter" type=0B size=0003 fl=05
QE���f�
�*a code=0545 owner=002D element=01F8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0546 owner=002D element=01A9 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
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|SyncComponent "SpeedCalculator" handled in the control thread.*n code=002E name="YawRateCalculator"
*e code=0512 elementURI="YawRateCalculator.enableBroadcast" type=02
*a code=0547 owner=002E element=0512 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=0548 owner=002E element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0513 elementURI="YawRateCalculator.platform_yaw_rate" type=00
*a code=0549 owner=002E element=0513 universal=004D unitName="radian_per_second" type=0B size=0003 fl=05
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�SyncComponent "YawRateCalculator" handled in the control thread.*n code=002F name="ElevatorOffsetCalculator"
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*a code=054A owner=002F element=0514 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=054B owner=002F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=054C owner=002F element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=054D owner=002F element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=054E owner=002F element=04E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=054F owner=002F element=04E2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0550 owner=002F element=04E5 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0551 owner=002F element=0204 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0552 owner=002F element=0203 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0553 owner=002F element=0205 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0554 owner=002F element=01E2 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=0515 elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02
*a code=0555 owner=002F element=0515 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0516 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02
*a code=0556 owner=002F element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0517 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02
*a code=0557 owner=002F element=0517 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0518 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02
*a code=0558 owner=002F element=0518 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=0519 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02
*a code=0559 owner=002F element=0519 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=051A elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02
*a code=055A owner=002F element=051A universal=3FFF unitName="meter" type=0B size=0003 fl=05
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�SyncComponent "ElevatorOffsetCalculator" handled in the control thread.����f�
�Loaded Module: Derivation (Contains the base derivation components)����f�
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�Loaded Module: Dock (Contains behaviors and commands for docking)��{��f�
NLoading Module at Modules/Estimation.so�����f�
�Loaded Module: Estimation (Contains the base estimation components)�����f�
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*e code=051B elementURI="BuoyancyServo.enableBroadcast" type=02
*a code=055B owner=0030 element=051B universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=055C owner=0030 element=0140 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=051C elementURI="BuoyancyServo.component_voltage" type=02
*a code=055D owner=0030 element=051C universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=051D elementURI="BuoyancyServo.component_avgVoltage" type=02
*a code=055E owner=0030 element=051D universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=051E elementURI="BuoyancyServo.component_current" type=02
*a code=055F owner=0030 element=051E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=051F elementURI="BuoyancyServo.component_avgCurrent" type=02
*a code=0560 owner=0030 element=051F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*a code=0561 owner=0030 element=014A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0562 owner=0030 element=0149 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0563 owner=0030 element=0142 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0564 owner=0030 element=0143 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0565 owner=0030 element=0144 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0566 owner=0030 element=0146 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0567 owner=0030 element=0147 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0568 owner=0030 element=0148 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0569 owner=0030 element=0145 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=056A owner=0030 element=0141 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=056B owner=0030 element=014B universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=056C owner=0030 element=014D universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04
*a code=056D owner=0030 element=014E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=056E owner=0030 element=014C universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=056F owner=0030 element=0151 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0570 owner=0030 element=0150 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0571 owner=0030 element=014F universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0572 owner=0030 element=01AB universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0573 owner=0030 element=01AF universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0574 owner=0030 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0520 elementURI="BuoyancyServo.platform_buoyancy_position" type=00
*a code=0575 owner=0030 element=0520 universal=0029 unitName="cubic_centimeter" type=0B size=0003 fl=05
��1��f�
�4*a code=0576 owner=0030 element=04F4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
1�2��f�

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xSyncComponent "BuoyancyServo" handled in the control thread.*n code=0031 name="ElevatorServo"
*e code=0521 elementURI="ElevatorServo.enableBroadcast" type=02
*a code=0577 owner=0031 element=0521 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=0578 owner=0031 element=0162 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0522 elementURI="ElevatorServo.component_voltage" type=02
*a code=0579 owner=0031 element=0522 universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=0523 elementURI="ElevatorServo.component_avgVoltage" type=02
*a code=057A owner=0031 element=0523 universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=0524 elementURI="ElevatorServo.component_current" type=02
*a code=057B owner=0031 element=0524 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=0525 elementURI="ElevatorServo.component_avgCurrent" type=02
*a code=057C owner=0031 element=0525 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*a code=057D owner=0031 element=016D universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=057E owner=0031 element=0164 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=057F owner=0031 element=0166 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0580 owner=0031 element=0167 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0581 owner=0031 element=016A universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0582 owner=0031 element=016B universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0583 owner=0031 element=016C universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0584 owner=0031 element=0169 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0585 owner=0031 element=0163 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=0586 owner=0031 element=0168 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0587 owner=0031 element=0165 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0588 owner=0031 element=01B5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=0526 elementURI="ElevatorServo.platform_elevator_angle" type=00
*a code=0589 owner=0031 element=0526 universal=002F unitName="radian" type=2F size=0004 fl=05
Q��E��f�
�;*a code=058A owner=0031 element=04F2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
q�E��f�

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xSyncComponent "ElevatorServo" handled in the control thread.*n code=0032 name="MassServo"
*e code=0527 elementURI="MassServo.enableBroadcast" type=02
*a code=058B owner=0032 element=0527 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=058C owner=0032 element=016F universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0528 elementURI="MassServo.component_voltage" type=02
*a code=058D owner=0032 element=0528 universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=0529 elementURI="MassServo.component_avgVoltage" type=02
*a code=058E owner=0032 element=0529 universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=052A elementURI="MassServo.component_current" type=02
*a code=058F owner=0032 element=052A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=052B elementURI="MassServo.component_avgCurrent" type=02
*a code=0590 owner=0032 element=052B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*a code=0591 owner=0032 element=0175 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0592 owner=0032 element=0171 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0593 owner=0032 element=0172 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0594 owner=0032 element=0173 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0595 owner=0032 element=0174 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0596 owner=0032 element=0170 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0597 owner=0032 element=0176 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0598 owner=0032 element=0179 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0599 owner=0032 element=0178 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04
*a code=059A owner=0032 element=0177 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=059B owner=0032 element=01CB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*e code=052C elementURI="MassServo.platform_mass_position" type=00
*a code=059C owner=0032 element=052C universal=0033 unitName="meter" type=0B size=0003 fl=05
*a code=059D owner=0032 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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pSyncComponent "MassServo" handled in the control thread.*n code=0033 name="RudderServo"
*e code=052D elementURI="RudderServo.enableBroadcast" type=02
*a code=059E owner=0033 element=052D universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=059F owner=0033 element=017B universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=052E elementURI="RudderServo.component_voltage" type=02
*a code=05A0 owner=0033 element=052E universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=052F elementURI="RudderServo.component_avgVoltage" type=02
*a code=05A1 owner=0033 element=052F universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=0530 elementURI="RudderServo.component_current" type=02
*a code=05A2 owner=0033 element=0530 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=0531 elementURI="RudderServo.component_avgCurrent" type=02
*a code=05A3 owner=0033 element=0531 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*a code=05A4 owner=0033 element=0186 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=05A5 owner=0033 element=017D universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=05A6 owner=0033 element=017F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05A7 owner=0033 element=0180 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05A8 owner=0033 element=0183 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05A9 owner=0033 element=0184 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05AA owner=0033 element=0185 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05AB owner=0033 element=0182 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=05AC owner=0033 element=017C universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=05AD owner=0033 element=0181 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05AE owner=0033 element=017E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=05AF owner=0033 element=01A4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=0532 elementURI="RudderServo.platform_rudder_angle" type=00
*a code=05B0 owner=0033 element=0532 universal=003D unitName="radian" type=2F size=0004 fl=05
*a code=05B1 owner=0033 element=0507 universal=3FFF unitName="radian" type=2F size=0004 fl=04
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tSyncComponent "RudderServo" handled in the control thread.*n code=0034 name="ThrusterHE"
*e code=0533 elementURI="ThrusterHE.enableBroadcast" type=02
*a code=05B2 owner=0034 element=0533 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=05B3 owner=0034 element=0188 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0534 elementURI="ThrusterHE.component_voltage" type=02
*a code=05B4 owner=0034 element=0534 universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=0535 elementURI="ThrusterHE.component_avgVoltage" type=02
*a code=05B5 owner=0034 element=0535 universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=0536 elementURI="ThrusterHE.component_current" type=02
*a code=05B6 owner=0034 element=0536 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=0537 elementURI="ThrusterHE.component_avgCurrent" type=02
*a code=05B7 owner=0034 element=0537 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=0538 elementURI="ThrusterHE.platform_propeller_rotation_rate" type=00
*a code=05B8 owner=0034 element=0538 universal=0039 unitName="radian_per_second" type=0B size=0003 fl=05
*a code=05B9 owner=0034 element=0509 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=05BA owner=0034 element=018C universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=05BB owner=0034 element=018B universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05BC owner=0034 element=0189 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05BD owner=0034 element=018A universal=3FFF unitName="count" type=0D size=0004 fl=04
1
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rSyncComponent "ThrusterHE" handled in the control thread.��y��f�
�Loaded Module: Servo (This is the module containing motor controllers)��y��f�
LLoading Module at Modules/Simulator.so��@��f�
�Loaded Module: Simulator (This is the module containing the Simulator)��A��f�
FLoading Module at Modules/Sensor.so*n code=0035 name="AHRS_M2"
*e code=0539 elementURI="AHRS_M2.enableBroadcast" type=02
*a code=05BE owner=0035 element=0539 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=05BF owner=0035 element=0353 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=053A elementURI="AHRS_M2.component_voltage" type=02
*a code=05C0 owner=0035 element=053A universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=053B elementURI="AHRS_M2.component_avgVoltage" type=02
*a code=05C1 owner=0035 element=053B universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=053C elementURI="AHRS_M2.component_current" type=02
*a code=05C2 owner=0035 element=053C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=053D elementURI="AHRS_M2.component_avgCurrent" type=02
*a code=05C3 owner=0035 element=053D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*a code=05C4 owner=0035 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05C5 owner=0035 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05C6 owner=0035 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=053E elementURI="AHRS_M2.platform_magnetic_orientation" type=00
*a code=05C7 owner=0035 element=053E universal=0032 unitName="radian" type=2F size=0004 fl=05
*e code=053F elementURI="AHRS_M2.platform_pitch_angle" type=00
*a code=05C8 owner=0035 element=053F universal=0036 unitName="radian" type=2F size=0004 fl=05
*e code=0540 elementURI="AHRS_M2.platform_roll_angle" type=00
*a code=05C9 owner=0035 element=0540 universal=003B unitName="radian" type=2F size=0004 fl=05
*e code=0541 elementURI="AHRS_M2.platform_orientation" type=00
*a code=05CA owner=0035 element=0541 universal=0034 unitName="radian" type=2F size=0004 fl=05
*e code=0542 elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003
*a code=05CB owner=0035 element=0542 universal=0035 unitName="none" type=00 size=0000 fl=05
*e code=0543 elementURI="AHRS_M2.calibration_state" type=02
*a code=05CC owner=0035 element=0543 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=0544 elementURI="AHRS_M2.orientation_error" type=02
*a code=05CD owner=0035 element=0544 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0545 elementURI="AHRS_M2.orientation" type=02
*a code=05CE owner=0035 element=0545 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0546 elementURI="AHRS_M2.temperature" type=02
*a code=05CF owner=0035 element=0546 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0547 elementURI="AHRS_M2.acceleration_along_xyz" type=12 blobType=11 fixedSize=0003
*a code=05D0 owner=0035 element=0547 universal=3FFF unitName="meter_per_second_squared" type=00 size=0000 fl=05
*e code=0548 elementURI="AHRS_M2.angular_velocity_along_xyz" type=12 blobType=11 fixedSize=0003
*a code=05D1 owner=0035 element=0548 universal=3FFF unitName="radian_per_second" type=00 size=0000 fl=05
*e code=0549 elementURI="AHRS_M2.magnetic_field_along_xyz" type=12 blobType=11 fixedSize=0003
*a code=05D2 owner=0035 element=0549 universal=3FFF unitName="milligauss" type=00 size=0000 fl=05
*e code=054A elementURI="AHRS_M2.number_of_calbration_points" type=02
*a code=05D3 owner=0035 element=054A universal=3FFF unitName="count" type=0D size=0004 fl=05
*a code=05D4 owner=0035 element=0354 universal=3FFF unitName="none" type=00 size=002F fl=04
*a code=05D5 owner=0035 element=0355 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=05D6 owner=0035 element=0356 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05D7 owner=0035 element=0358 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05D8 owner=0035 element=0359 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05D9 owner=0035 element=035A universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05DA owner=0035 element=035B universal=3FFF unitName="count" type=0D size=0004 fl=04
q
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lSyncComponent "AHRS_M2" handled in the control thread.*n code=0036 name="BackseatComponent"
*e code=054B elementURI="BackseatComponent.enableBroadcast" type=02
*a code=05DB owner=0036 element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=05DC owner=0036 element=036A universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=054C elementURI="BackseatComponent.component_voltage" type=02
*a code=05DD owner=0036 element=054C universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=054D elementURI="BackseatComponent.component_avgVoltage" type=02
*a code=05DE owner=0036 element=054D universal=3FFF unitName="volt" type=07 size=0002 fl=05
*e code=054E elementURI="BackseatComponent.component_current" type=02
*a code=05DF owner=0036 element=054E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=054F elementURI="BackseatComponent.component_avgCurrent" type=02
*a code=05E0 owner=0036 element=054F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
*e code=0550 elementURI="BackseatComponent.handled_message" type=02
*a code=05E1 owner=0036 element=0550 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0551 elementURI="Power24vConverter.power24vConverter" type=02
*a code=05E2 owner=0036 element=0551 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0552 elementURI="BackseatComponent.power_backseat" type=02
*a code=05E3 owner=0036 element=0552 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=05E4 owner=0036 element=0550 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*a code=05E5 owner=0036 element=036C universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=05E6 owner=0036 element=036B universal=3FFF unitName="none" type=00 size=0008 fl=04
*a code=05E7 owner=0036 element=036D universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05E8 owner=0036 element=036E universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05E9 owner=0036 element=036F universal=3FFF unitName="bool" type=02 size=0001 fl=04
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pComponent "BackseatComponent" handled in its own thread.*n code=0037 name="BackseatComponent ThreadHandler"
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DCreated PCaller Thread at 40A554E0�����f�
DProtected caller Thread ID is 5163*n code=0038 name="LcmUniversalReporter"
*e code=0553 elementURI="LcmUniversalReporter.enableBroadcast" type=02
*a code=05EA owner=0038 element=0553 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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�SyncComponent "LcmUniversalReporter" handled in the control thread.*n code=0039 name="BPC1"
*e code=0554 elementURI="BPC1.enableBroadcast" type=02
*a code=05EB owner=0039 element=0554 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=0555 elementURI="BPC1.reserve_battery_charge" type=02
*a code=05EC owner=0039 element=0555 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0556 elementURI="BPC1.reserve_battery_voltage" type=02
*a code=05ED owner=0039 element=0556 universal=3FFF unitName="volt" type=0B size=0003 fl=05
*e code=0557 elementURI="BPC1.platform_battery_charge" type=00
*a code=05EE owner=0039 element=0557 universal=0023 unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0558 elementURI="BPC1.platform_battery_voltage" type=00
*a code=05EF owner=0039 element=0558 universal=0026 unitName="volt" type=0B size=0003 fl=05
Q]���f�
aDQa���f�
�>*a code=05F0 owner=0039 element=0340 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04
*a code=05F1 owner=0039 element=0341 universal=3FFF unitName="volt" type=0B size=0003 fl=04
*a code=05F2 owner=0039 element=0373 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=05F3 owner=0039 element=0374 universal=3FFF unitName="hour" type=0B size=0003 fl=04
*a code=05F4 owner=0039 element=0375 universal=3FFF unitName="hour" type=0B size=0003 fl=04
*a code=05F5 owner=0039 element=0372 universal=3FFF unitName="count" type=0D size=0004 fl=04
*e code=0559 elementURI="BPC1.BattCapacity_1" type=00
*a code=05F6 owner=0039 element=0559 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=055A elementURI="BPC1.BattCurrent_1" type=00
*a code=05F7 owner=0039 element=055A universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=055B elementURI="BPC1.BattStatus_1" type=00
*a code=05F8 owner=0039 element=055B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=055C elementURI="BPC1.BattTemp_1" type=00
*a code=05F9 owner=0039 element=055C universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=055D elementURI="BPC1.BattVoltage_1" type=00
*a code=05FA owner=0039 element=055D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=055E elementURI="BPC1.BattCapacity_2" type=00
*a code=05FB owner=0039 element=055E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=055F elementURI="BPC1.BattCurrent_2" type=00
*a code=05FC owner=0039 element=055F universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0560 elementURI="BPC1.BattStatus_2" type=00
*a code=05FD owner=0039 element=0560 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0561 elementURI="BPC1.BattTemp_2" type=00
*a code=05FE owner=0039 element=0561 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0562 elementURI="BPC1.BattVoltage_2" type=00
*a code=05FF owner=0039 element=0562 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0563 elementURI="BPC1.BattCapacity_3" type=00
*a code=0600 owner=0039 element=0563 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0564 elementURI="BPC1.BattCurrent_3" type=00
*a code=0601 owner=0039 element=0564 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0565 elementURI="BPC1.BattStatus_3" type=00
*a code=0602 owner=0039 element=0565 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0566 elementURI="BPC1.BattTemp_3" type=00
*a code=0603 owner=0039 element=0566 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0567 elementURI="BPC1.BattVoltage_3" type=00
*a code=0604 owner=0039 element=0567 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0568 elementURI="BPC1.BattCapacity_4" type=00
*a code=0605 owner=0039 element=0568 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0569 elementURI="BPC1.BattCurrent_4" type=00
*a code=0606 owner=0039 element=0569 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=056A elementURI="BPC1.BattStatus_4" type=00
*a code=0607 owner=0039 element=056A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=056B elementURI="BPC1.BattTemp_4" type=00
*a code=0608 owner=0039 element=056B universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=056C elementURI="BPC1.BattVoltage_4" type=00
*a code=0609 owner=0039 element=056C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=056D elementURI="BPC1.BattCapacity_5" type=00
*a code=060A owner=0039 element=056D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=056E elementURI="BPC1.BattCurrent_5" type=00
*a code=060B owner=0039 element=056E universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=056F elementURI="BPC1.BattStatus_5" type=00
*a code=060C owner=0039 element=056F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0570 elementURI="BPC1.BattTemp_5" type=00
*a code=060D owner=0039 element=0570 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0571 elementURI="BPC1.BattVoltage_5" type=00
*a code=060E owner=0039 element=0571 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
*e code=0572 elementURI="BPC1.BattCapacity_6" type=00
*a code=060F owner=0039 element=0572 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05
*e code=0573 elementURI="BPC1.BattCurrent_6" type=00
*a code=0610 owner=0039 element=0573 universal=3FFF unitName="ampere" type=0B size=0003 fl=05
*e code=0574 elementURI="BPC1.BattStatus_6" type=00
*a code=0611 owner=0039 element=0574 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05
*e code=0575 elementURI="BPC1.BattTemp_6" type=00
*a code=0612 owner=0039 element=0575 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0576 elementURI="BPC1.BattVoltage_6" type=00
*a code=0613 owner=0039 element=0576 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05
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