*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 Fű60Initializing 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" ʱ6DCreated PCaller Thread at 404514E0ʱ6DProtected caller Thread ID is 3673ƿʱ6hComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" ˱6DCreated PCaller Thread at 404814E0̱6DProtected caller Thread ID is 3674*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 ƿб6vSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandExec" *e code=006B elementURI="CommandExec.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 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 ƿ6dComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler" 6DCreated PCaller Thread at 404B14E06DProtected caller Thread ID is 3675*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 ƿ6dComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" 6DCreated PCaller Thread at 404E14E06DProtected caller Thread ID is 3676*n code=000C name="logger" *e code=0074 elementURI="logger.enableBroadcast" type=02 *a code=000D owner=000C element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿ6ZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" 6DCreated PCaller Thread at 405114E06DProtected caller Thread ID is 3677*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 ƿ6tSyncComponent "LogSplitter" handled in the control thread.N6\Looking for Config files in directory: Config/N6ZOpening Config file at: Config/Derivation.cfg*n code=000F name="Config/Derivation" *e code=0077 elementURI="DepthRateCalculator.loadAtStartup" type=01 *a code=0010 owner=000F element=0077 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6*e code=0078 elementURI="TempGradientCalculator.loadAtStartup" type=01 *a code=0011 owner=000F element=0078 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )6*e code=0079 elementURI="TempGradientCalculator.binsizeDep" type=01 *a code=0012 owner=000F element=0079 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I6?*e code=007A elementURI="TempGradientCalculator.depDeepBndForAvg" type=01 *a code=0013 owner=000F element=007A universal=3FFF unitName="meter" type=0B size=0003 fl=05 i6A*e code=007B elementURI="TempGradientCalculator.depShallowBndForAvg" type=01 *a code=0014 owner=000F element=007B universal=3FFF unitName="meter" type=0B size=0003 fl=05 6 A*e code=007C elementURI="TempGradientCalculator.extensionDep" type=01 *a code=0015 owner=000F element=007C universal=3FFF unitName="meter" type=0B size=0003 fl=05 6@*e code=007D elementURI="TempGradientCalculator.numConsecutiveDepths" type=01 *a code=0016 owner=000F element=007D universal=3FFF unitName="count" type=0D size=0004 fl=05  6*e code=007E elementURI="TempGradientCalculator.numProfilesGap" type=01 *a code=0017 owner=000F element=007E universal=3FFF unitName="count" type=0D size=0004 fl=05  6*e code=007F elementURI="TempGradientCalculator.numProfilesLP" type=01 *a code=0018 owner=000F element=007F universal=3FFF unitName="count" type=0D size=0004 fl=05 6*e code=0080 elementURI="TempGradientCalculator.threshDepChangeAbs" type=01 *a code=0019 owner=000F element=0080 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )6?*e code=0081 elementURI="PitchRateCalculator.loadAtStartup" type=01 *a code=001A owner=000F element=0081 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I6*e code=0082 elementURI="SpeedCalculator.loadAtStartup" type=01 *a code=001B owner=000F element=0082 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i6*e code=0083 elementURI="SpeedCalculator.speedAccuracy" type=01 *a code=001C owner=000F element=0083 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 6?*e code=0084 elementURI="VerticalHomogeneityIndexCalculator.loadAtStartup" type=01 *a code=001D owner=000F element=0084 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6*e code=0085 elementURI="VerticalHomogeneityIndexCalculator.depth1" type=01 *a code=001E owner=000F element=0085 universal=3FFF unitName="meter" type=0B size=0003 fl=05 6@*e code=0086 elementURI="VerticalHomogeneityIndexCalculator.depth2" type=01 *a code=001F owner=000F element=0086 universal=3FFF unitName="meter" type=0B size=0003 fl=05  6 A*e code=0087 elementURI="VerticalHomogeneityIndexCalculator.depth3" type=01 *a code=0020 owner=000F element=0087 universal=3FFF unitName="meter" type=0B size=0003 fl=05 "6A*e code=0088 elementURI="VerticalHomogeneityIndexCalculator.depth4" type=01 *a code=0021 owner=000F element=0088 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )%6A*e code=0089 elementURI="VerticalHomogeneityIndexCalculator.depthWindow" type=01 *a code=0022 owner=000F element=0089 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I'6?*e code=008A elementURI="VerticalHomogeneityIndexCalculator.verbosity" type=01 *a code=0023 owner=000F element=008A universal=3FFF unitName="count" type=0D size=0004 fl=05 i)6*e code=008B elementURI="VerticalHomogeneityIndexCalculator.medianFilterLengthSalt" type=01 *a code=0024 owner=000F element=008B universal=3FFF unitName="count" type=0D size=0004 fl=05 ,6*e code=008C elementURI="YawRateCalculator.loadAtStartup" type=01 *a code=0025 owner=000F element=008C universal=3FFF unitName="bool" type=02 size=0001 fl=05 /6*e code=008D elementURI="ElevatorOffsetCalculator.loadAtStartup" type=01 *a code=0026 owner=000F element=008D universal=3FFF unitName="bool" type=02 size=0001 fl=05 26*e code=008E elementURI="ElevatorOffsetCalculator.targetConfidenceLevel" type=01 *a code=0027 owner=000F element=008E universal=3FFF unitName="percent" type=0B size=0003 fl=05 46?*e code=008F elementURI="ElevatorOffsetCalculator.targetErrorBound" type=01 *a code=0028 owner=000F element=008F universal=3FFF unitName="degree" type=2F size=0004 fl=05 76:*e code=0090 elementURI="ElevatorOffsetCalculator.verbosity" type=01 *a code=0029 owner=000F element=0090 universal=3FFF unitName="count" type=0D size=0004 fl=05 )96*e code=0091 elementURI="ShortestDistanceToPolygonSidesCalculator.loadAtStartup" type=01 *a code=002A owner=000F element=0091 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I=6*e code=0092 elementURI="ShortestDistanceToPolygonSidesCalculator.verbosity" type=01 *a code=002B owner=000F element=0092 universal=3FFF unitName="count" type=0D size=0004 fl=05 i@6*e code=0093 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex1" type=01 *a code=002C owner=000F element=0093 universal=3FFF unitName="degree" type=2F size=0004 fl=05 E6*e code=0094 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex1" type=01 *a code=002D owner=000F element=0094 universal=3FFF unitName="degree" type=2F size=0004 fl=05 H6*e code=0095 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex2" type=01 *a code=002E owner=000F element=0095 universal=3FFF unitName="degree" type=2F size=0004 fl=05 K6*e code=0096 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex2" type=01 *a code=002F owner=000F element=0096 universal=3FFF unitName="degree" type=2F size=0004 fl=05 N6*e code=0097 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex3" type=01 *a code=0030 owner=000F element=0097 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Q6*e code=0098 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex3" type=01 *a code=0031 owner=000F element=0098 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )S6*e code=0099 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex4" type=01 *a code=0032 owner=000F element=0099 universal=3FFF unitName="degree" type=2F size=0004 fl=05 IV6*e code=009A elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex4" type=01 *a code=0033 owner=000F element=009A universal=3FFF unitName="degree" type=2F size=0004 fl=05 iY6*e code=009B elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex5" type=01 *a code=0034 owner=000F element=009B universal=3FFF unitName="degree" type=2F size=0004 fl=05 \6*e code=009C elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex5" type=01 *a code=0035 owner=000F element=009C universal=3FFF unitName="degree" type=2F size=0004 fl=05 _6*e code=009D elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex6" type=01 *a code=0036 owner=000F element=009D universal=3FFF unitName="degree" type=2F size=0004 fl=05 a6*e code=009E elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex6" type=01 *a code=0037 owner=000F element=009E universal=3FFF unitName="degree" type=2F size=0004 fl=05 d6*e code=009F elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex7" type=01 *a code=0038 owner=000F element=009F universal=3FFF unitName="degree" type=2F size=0004 fl=05 g6*e code=00A0 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex7" type=01 *a code=0039 owner=000F element=00A0 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )i6*e code=00A1 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex8" type=01 *a code=003A owner=000F element=00A1 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Il6*e code=00A2 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex8" type=01 *a code=003B owner=000F element=00A2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 io6*e code=00A3 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex9" type=01 *a code=003C owner=000F element=00A3 universal=3FFF unitName="degree" type=2F size=0004 fl=05 q6*e code=00A4 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex9" type=01 *a code=003D owner=000F element=00A4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 t6*e code=00A5 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex10" type=01 *a code=003E owner=000F element=00A5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 w6*e code=00A6 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex10" type=01 *a code=003F owner=000F element=00A6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 z6ƿ6TLoaded Config Component "Config/DerivationN²6ZOpening Config file at: Config/Estimation.cfg*n code=0010 name="Config/Estimation" *e code=00A7 elementURI="StratificationFrontDetector.loadAtStartup" type=01 *a code=0040 owner=0010 element=00A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ͳ6*e code=00A8 elementURI="StratificationFrontDetector.temperatureFront" type=01 *a code=0041 owner=0010 element=00A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )в6*e code=00A9 elementURI="StratificationFrontDetector.salinityFront" type=01 *a code=0042 owner=0010 element=00A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IӲ6*e code=00AA elementURI="StratificationFrontDetector.highWaterMark" type=01 *a code=0043 owner=0010 element=00AA universal=3FFF unitName="count" type=0D size=0004 fl=05 iղ6*e code=00AB elementURI="StratificationFrontDetector.threshold_VTHI" type=01 *a code=0044 owner=0010 element=00AB universal=3FFF unitName="celsius" type=0B size=0003 fl=05 ز6ƈC*e code=00AC elementURI="StratificationFrontDetector.threshold_VSHI" type=01 *a code=0045 owner=0010 element=00AC universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 ۲68*e code=00AD elementURI="StratificationFrontDetector.verbosity" type=01 *a code=0046 owner=0010 element=00AD universal=3FFF unitName="count" type=0D size=0004 fl=05 ݲ6*e code=00AE elementURI="DepAvgTempFrontDetector.loadAtStartup" type=01 *a code=0047 owner=0010 element=00AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 6*e code=00AF elementURI="DepAvgTempFrontDetector.cntThreshold" type=01 *a code=0048 owner=0010 element=00AF universal=3FFF unitName="count" type=0D size=0004 fl=05 6*e code=00B0 elementURI="DepAvgTempFrontDetector.tempHoriGradThreshold" type=01 *a code=0049 owner=0010 element=00B0 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 ) 6C*e code=00B1 elementURI="DepAvgTempFrontDetector.verbosity" type=01 *a code=004A owner=0010 element=00B1 universal=3FFF unitName="count" type=0D size=0004 fl=05 I 6ƿ.6TLoaded Config Component "Config/EstimationN/6ROpening Config file at: Config/secure.cfg*n code=0011 name="Config/secure" *e code=00B2 elementURI="Vehicle.dashIP" type=01 *a code=004B owner=0011 element=00B2 universal=3FFF unitName="none" type=00 size=000B fl=05 i 86 134.89.2.23*e code=00B3 elementURI="Vehicle.dashPath" type=01 *a code=004C owner=0011 element=00B3 universal=3FFF unitName="none" type=00 size=000B fl=05 :6 /TethysDash*e code=00B4 elementURI="Vehicle.dashPort" type=01 *a code=004D owner=0011 element=00B4 universal=3FFF unitName="none" type=00 size=0003 fl=05 <6443*e code=00B5 elementURI="Vehicle.dashSSL" type=01 *a code=004E owner=0011 element=00B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 >6*e code=00B6 elementURI="Vehicle.hostname" type=01 *a code=004F owner=0011 element=00B6 universal=3FFF unitName="none" type=00 size=0009 fl=05 @6 localhost*e code=00B7 elementURI="Vehicle.imei" type=01 *a code=0050 owner=0011 element=00B7 universal=3FFF unitName="none" type=00 size=000F fl=05 C6000000000000000*e code=00B8 elementURI="Vehicle.imeiPassword" type=01 *a code=0051 owner=0011 element=00B8 universal=3FFF unitName="none" type=00 size=0000 fl=05 ) F6*e code=00B9 elementURI="Vehicle.keyText" type=01 *a code=0052 owner=0011 element=00B9 universal=3FFF unitName="none" type=00 size=0010 fl=05 I I6TethysEncryptionƿ6LLoaded Config Component "Config/secureN6TOpening Config file at: Config/vehicle.cfg*n code=0012 name="Config/vehicle" *e code=00BA elementURI="Vehicle.name" type=01 *a code=0053 owner=0012 element=00BA universal=3FFF unitName="none" type=00 size=0006 fl=05 i 6tethys*e code=00BB elementURI="Vehicle.id" type=01 *a code=0054 owner=0012 element=00BB universal=3FFF unitName="enum" type=02 size=0001 fl=05 6*e code=00BC elementURI="Vehicle.kmlColor" type=01 *a code=0055 owner=0012 element=00BC universal=3FFF unitName="none" type=00 size=0008 fl=05 6ff0055ff*e code=00BD elementURI="Vehicle.argoPlatform" type=01 *a code=0056 owner=0012 element=00BD universal=3FFF unitName="none" type=00 size=0006 fl=05 6000000*e code=00BE elementURI="Vehicle.argoProgram" type=01 *a code=0057 owner=0012 element=00BE universal=3FFF unitName="none" type=00 size=0004 fl=05 60000*e code=00BF elementURI="Vehicle.checkMTQueue" type=01 *a code=0058 owner=0012 element=00BF universal=3FFF unitName="bool" type=02 size=0001 fl=05 6*e code=00C0 elementURI="Vehicle.sendDataToShore" type=01 *a code=0059 owner=0012 element=00C0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) 6*e code=00C1 elementURI="Vehicle.useTlLoader" type=01 *a code=005A owner=0012 element=00C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I 6*e code=00C2 elementURI="AHRS_M2.loadControl" type=01 *a code=005B owner=0012 element=00C2 universal=3FFF unitName="none" type=00 size=000B fl=05 i 6 /dev/loadC7*e code=00C3 elementURI="AHRS_M2.uart" type=01 *a code=005C owner=0012 element=00C3 universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyC7*e code=00C4 elementURI="AHRS_M2.baud" type=01 *a code=005D owner=0012 element=00C4 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ó6 @*e code=00C5 elementURI="Aanderaa_O2.loadControl" type=01 *a code=005E owner=0012 element=00C5 universal=3FFF unitName="none" type=00 size=000B fl=05 ų6 /dev/loadB2*e code=00C6 elementURI="Aanderaa_O2.uart" type=01 *a code=005F owner=0012 element=00C6 universal=3FFF unitName="none" type=00 size=000A fl=05 dz6 /dev/ttyB2*e code=00C7 elementURI="Aanderaa_O2.baud" type=01 *a code=0060 owner=0012 element=00C7 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ʳ6@*e code=00C8 elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01 *a code=0061 owner=0012 element=00C8 universal=3FFF unitName="none" type=00 size=000B fl=05 ) ̳6 /dev/loadB1*e code=00C9 elementURI="AcousticModem_Benthos_ATM900.uart" type=01 *a code=0062 owner=0012 element=00C9 universal=3FFF unitName="none" type=00 size=000A fl=05 I γ6 /dev/ttyB1*e code=00CA elementURI="AcousticModem_Benthos_ATM900.baud" type=01 *a code=0063 owner=0012 element=00CA 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type=0B size=0003 fl=05 IG6I@*e code=00EA elementURI="CTD_NeilBrown.loadControl" type=01 *a code=0083 owner=0012 element=00EA universal=3FFF unitName="none" type=00 size=000B fl=05 iI6 /dev/loadC4*e code=00EB elementURI="CTD_NeilBrown.uart" type=01 *a code=0084 owner=0012 element=00EB universal=3FFF unitName="none" type=00 size=000A fl=05 L6 /dev/ttyC4*e code=00EC elementURI="CTD_NeilBrown.baud" type=01 *a code=0085 owner=0012 element=00EC universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 N6@*e code=00ED elementURI="CTD_Seabird.loadControl" type=01 *a code=0086 owner=0012 element=00ED universal=3FFF unitName="none" type=00 size=000B fl=05 P6 /dev/loadC6*e code=00EE elementURI="CTD_Seabird.uart" type=01 *a code=0087 owner=0012 element=00EE universal=3FFF unitName="none" type=00 size=000A fl=05 R6 /dev/ttyC6*e code=00EF elementURI="CTD_Seabird.baud" type=01 *a code=0088 owner=0012 element=00EF universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 T6@*e code=00F0 elementURI="DAT.loadControl" type=01 *a code=0089 owner=0012 element=00F0 universal=3FFF unitName="none" type=00 size=000B fl=05 )V6 /dev/loadB3*e code=00F1 elementURI="DAT.uart" type=01 *a code=008A owner=0012 element=00F1 universal=3FFF unitName="none" type=00 size=000A fl=05 IX6 /dev/ttyB3*e code=00F2 elementURI="DAT.baud" type=01 *a code=008B owner=0012 element=00F2 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 iZ6 @*e code=00F3 elementURI="DATMMP.loadControl" type=01 *a code=008C owner=0012 element=00F3 universal=3FFF unitName="none" type=00 size=000B fl=05 \6 /dev/loadB3*e code=00F4 elementURI="DATMMP.uart" type=01 *a code=008D owner=0012 element=00F4 universal=3FFF unitName="none" type=00 size=000A fl=05 ^6 /dev/ttyB3*e code=00F5 elementURI="DATMMP.baud" type=01 *a code=008E owner=0012 element=00F5 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 `6 @*e code=00F6 elementURI="DDM.loadControl" type=01 *a code=008F owner=0012 element=00F6 universal=3FFF unitName="none" type=00 size=000B fl=05 b6 /dev/loadA6*e code=00F7 elementURI="DDM.uart" type=01 *a code=0090 owner=0012 element=00F7 universal=3FFF unitName="none" type=00 size=000A fl=05 d6 /dev/ttyA6*e code=00F8 elementURI="DDM.baud" type=01 *a code=0091 owner=0012 element=00F8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )f6 @*e code=00F9 elementURI="Depth_Keller.loadControl" type=01 *a code=0092 owner=0012 element=00F9 universal=3FFF unitName="none" type=00 size=000B fl=05 Ih6 /dev/loadA0*e code=00FA elementURI="Depth_Keller.ad" type=01 *a code=0093 owner=0012 element=00FA universal=3FFF unitName="none" type=00 size=000E fl=05 ij6/dev/mcp3553A0*e code=00FB elementURI="Depth_Keller.adRes" type=01 *a code=0094 owner=0012 element=00FB universal=3FFF unitName="bit" type=1F size=0008 fl=05 m6@*e code=00FC elementURI="Depth_Keller.adTimeout" type=01 *a code=0095 owner=0012 element=00FC universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 o6>*e code=00FD elementURI="Depth_Keller.adVref" type=01 *a code=0096 owner=0012 element=00FD universal=3FFF unitName="volt" type=0B size=0003 fl=05 q6 @*e code=00FE elementURI="DepthKeller33X.loadControl" type=01 *a code=0097 owner=0012 element=00FE universal=3FFF unitName="none" type=00 size=000B fl=05 s6 /dev/loadC3*e code=00FF elementURI="DepthKeller33X.uart" type=01 *a code=0098 owner=0012 element=00FF universal=3FFF unitName="none" type=00 size=000A fl=05 u6 /dev/ttyC3*e code=0100 elementURI="DepthKeller33X.baud" type=01 *a code=0099 owner=0012 element=0100 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )w6@*e code=0101 elementURI="DockingServo.loadControl" type=01 *a code=009A owner=0012 element=0101 universal=3FFF unitName="none" type=00 size=000B fl=05 Iz6 /dev/loadB1*e code=0102 elementURI="DockingServo.uart" type=01 *a code=009B owner=0012 element=0102 universal=3FFF unitName="none" type=00 size=000A fl=05 i|6 /dev/ttyB1*e code=0103 elementURI="DockingServo.baud" type=01 *a code=009C owner=0012 element=0103 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ~6@*e code=0104 elementURI="DockingStepper.loadControl" type=01 *a code=009D owner=0012 element=0104 universal=3FFF unitName="none" type=00 size=000B fl=05 6 /dev/loadB1*e code=0105 elementURI="DockingStepper.uart" type=01 *a code=009E owner=0012 element=0105 universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyB1*e code=0106 elementURI="DockingStepper.baud" type=01 *a code=009F owner=0012 element=0106 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6@*e code=0107 elementURI="DUSBL_Hydroid.loadControl" type=01 *a code=00A0 owner=0012 element=0107 universal=3FFF unitName="none" type=00 size=000B fl=05 6 /dev/loadC4*e code=0108 elementURI="DUSBL_Hydroid.uart" type=01 *a code=00A1 owner=0012 element=0108 universal=3FFF unitName="none" type=00 size=000A fl=05 )6 /dev/ttyC4*e code=0109 elementURI="DUSBL_Hydroid.baud" type=01 *a code=00A2 owner=0012 element=0109 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I6 @*e code=010A elementURI="DVL_micro.loadControl" type=01 *a code=00A3 owner=0012 element=010A universal=3FFF unitName="none" type=00 size=000B fl=05 i6 /dev/loadB4*e code=010B elementURI="DVL_micro.uart" type=01 *a code=00A4 owner=0012 element=010B universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyB4*e code=010C elementURI="DVL_micro.baud" type=01 *a code=00A5 owner=0012 element=010C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6 @*e code=010D elementURI="ElevatorServo.loadControl" type=01 *a code=00A6 owner=0012 element=010D universal=3FFF unitName="none" type=00 size=000B fl=05 6 /dev/loadA4*e code=010E elementURI="ElevatorServo.uart" type=01 *a code=00A7 owner=0012 element=010E universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyA4*e code=010F elementURI="ElevatorServo.baud" type=01 *a code=00A8 owner=0012 element=010F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6@*e code=0110 elementURI="ESPComponent.loadControl" type=01 *a code=00A9 owner=0012 element=0110 universal=3FFF unitName="none" type=00 size=000B fl=05 )6 /dev/loadA6*e code=0111 elementURI="ESPComponent.loadControl2" type=01 *a code=00AA owner=0012 element=0111 universal=3FFF unitName="none" type=00 size=000B fl=05 I6 /dev/loadA7*e code=0112 elementURI="ESPComponent.uart" type=01 *a code=00AB owner=0012 element=0112 universal=3FFF unitName="none" type=00 size=000B fl=05 i6 /dev/ttyTX1*e code=0113 elementURI="ESPComponent.consoleUart" type=01 *a code=00AC owner=0012 element=0113 universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyA6*e code=0114 elementURI="ESPComponent.baud" type=01 *a code=00AD owner=0012 element=0114 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6 @*e code=0115 elementURI="MassServo.loadControl" type=01 *a code=00AE owner=0012 element=0115 universal=3FFF unitName="none" type=00 size=000B fl=05 6 /dev/loadA5*e code=0116 elementURI="MassServo.uart" type=01 *a code=00AF owner=0012 element=0116 universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyA5*e code=0117 elementURI="MassServo.baud" type=01 *a code=00B0 owner=0012 element=0117 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6@*e code=0118 elementURI="Micromodem.loadControl" type=01 *a code=00B1 owner=0012 element=0118 universal=3FFF unitName="none" type=00 size=0009 fl=05 )6 /dev/null*e code=0119 elementURI="Micromodem.uart" type=01 *a code=00B2 owner=0012 element=0119 universal=3FFF unitName="none" type=00 size=0009 fl=05 I6 /dev/null*e code=011A elementURI="Micromodem.baud" type=01 *a code=00B3 owner=0012 element=011A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i6@*e code=011B elementURI="MultiRay.loadControl" type=01 *a code=00B4 owner=0012 element=011B universal=3FFF unitName="none" type=00 size=000B fl=05 6 /dev/loadC1*e code=011C elementURI="MultiRay.uart" type=01 *a code=00B5 owner=0012 element=011C universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyC1*e code=011D elementURI="MultiRay.loadControl2" type=01 *a code=00B6 owner=0012 element=011D universal=3FFF unitName="none" type=00 size=000B fl=05 6 /dev/loadA6*e code=011E elementURI="MultiRay.uart2" type=01 *a code=00B7 owner=0012 element=011E universal=3FFF unitName="none" type=00 size=000A fl=05 6 /dev/ttyA6*e code=011F elementURI="MultiRay.baud" type=01 *a code=00B8 owner=0012 element=011F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6@*e code=0120 elementURI="NAL9602.loadControl" type=01 *a code=00B9 owner=0012 element=0120 universal=3FFF unitName="none" type=00 size=000B fl=05 )6 /dev/loadB7*e code=0121 elementURI="NAL9602.uart" type=01 *a code=00BA owner=0012 element=0121 universal=3FFF unitName="none" type=00 size=000A fl=05 I6 /dev/ttyS2*e code=0122 elementURI="NAL9602.baud" type=01 *a code=00BB owner=0012 element=0122 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universal=3FFF unitName="none" type=1F size=0008 fl=05 X26Q@*e code=032C elementURI="Simulator.density" type=01 *a code=02C5 owner=001A element=032C universal=3FFF unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 X76*e code=032D elementURI="Simulator.eastCurrent" type=01 *a code=02C6 owner=001A element=032D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 X:6*e code=032E elementURI="Simulator.magneticVariation" type=01 *a code=02C7 owner=001A element=032E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 X=6*e code=032F elementURI="Simulator.mixedLayerDepth" type=01 *a code=02C8 owner=001A element=032F universal=3FFF unitName="meter" type=0B size=0003 fl=05 YA6*e code=0330 elementURI="Simulator.northCurrent" type=01 *a code=02C9 owner=001A element=0330 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )YC6*e code=0331 elementURI="Simulator.s300" type=01 *a code=02CA owner=001A element=0331 universal=3FFF unitName="part_per_thousand" type=0B size=0003 fl=05 IYG6*e code=0332 elementURI="Simulator.sMixed" type=01 *a code=02CB owner=001A element=0332 universal=3FFF unitName="part_per_thousand" type=0B size=0003 fl=05 iYK6*e code=0333 elementURI="Simulator.soundSpeed" type=01 *a code=02CC owner=001A element=0333 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 YO6*e code=0334 elementURI="Simulator.sss" type=01 *a code=02CD owner=001A element=0334 universal=3FFF unitName="part_per_thousand" type=0B size=0003 fl=05 YS6*e code=0335 elementURI="Simulator.sst" type=01 *a code=02CE owner=001A element=0335 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 YW6*e code=0336 elementURI="Simulator.t300" type=01 *a code=02CF owner=001A element=0336 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 Y[6*e code=0337 elementURI="Simulator.tMixed" type=01 *a code=02D0 owner=001A element=0337 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 Z_6*e code=0338 elementURI="Simulator.vertCurrent" type=01 *a code=02D1 owner=001A element=0338 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )Zb6*e code=0339 elementURI="Simulator.oceanModelData" type=01 *a code=02D2 owner=001A element=0339 universal=3FFF unitName="none" type=00 size=0021 fl=05 IZd6!Resources/2003080103_mb_l3_las.nc*e code=033A elementURI="Simulator.defaultDensity" type=01 *a code=02D3 owner=001A element=033A universal=3FFF unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 iZh6 D*e code=033B elementURI="Simulator.centerHystMovableMass" type=01 *a code=02D4 owner=001A element=033B universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 Zj6*e code=033C elementURI="Simulator.speedMovableMass" type=01 *a code=02D5 owner=001A element=033C universal=3FFF unitName="millimeter_per_second" type=0B size=0003 fl=05 Zm67:*e code=033D elementURI="Simulator.wideHystMovableMass" type=01 *a code=02D6 owner=001A element=033D universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 Zo6*e code=033E elementURI="Simulator.centerHystBuoyancy" type=01 *a code=02D7 owner=001A element=033E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 Zr6*e code=033F elementURI="Simulator.speedBuoyancy" type=01 *a code=02D8 owner=001A element=033F universal=3FFF unitName="cubic_centimeter_per_second" type=0B size=0003 fl=05 [t6SI6*e code=0340 elementURI="Simulator.wideHystBuoyancy" type=01 *a code=02D9 owner=001A element=0340 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )[w6*e code=0341 elementURI="Simulator.buoyancyNeutralOffset" type=01 *a code=02DA owner=001A element=0341 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 I[{6*e code=0342 elementURI="Simulator.entrainedAir" type=01 *a code=02DB owner=001A element=0342 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 i[~6*e code=0343 elementURI="Simulator.massPositionOffset" type=01 *a code=02DC owner=001A element=0343 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 [6*e code=0344 elementURI="Simulator.bottomLockGone" type=01 *a code=02DD owner=001A element=0344 universal=3FFF unitName="meter" type=0B size=0003 fl=05 [6B*e code=0345 elementURI="Simulator.numberOfHomingTragets" type=01 *a code=02DE owner=001A element=0345 universal=3FFF unitName="count" type=0D size=0004 fl=05 [6*e code=0346 elementURI="Simulator.homingSensorTat" type=01 *a code=02DF owner=001A element=0346 universal=3FFF unitName="second" type=0B size=0003 fl=05 [6>ƿӾ6RLoaded Config Component "Config/SimulatorNԾ6LOpening Config file at: Config/BIT.cfg*n code=001B name="Config/BIT" *e code=0347 elementURI="CBIT.loadAtStartup" type=01 *a code=02E0 owner=001B element=0347 universal=3FFF unitName="bool" type=02 size=0001 fl=05 \߾6*e code=0348 elementURI="CBIT.simulateHardware" type=01 *a code=02E1 owner=001B element=0348 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )\6*e code=0349 elementURI="CBIT.stopDepth" type=01 *a code=02E2 owner=001B element=0349 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I\6C*e code=034A elementURI="CBIT.abortDepth" type=01 *a code=02E3 owner=001B element=034A universal=3FFF unitName="meter" type=0B size=0003 fl=05 i\6C*e code=034B elementURI="CBIT.humidityThreshold" type=01 *a code=02E4 owner=001B element=034B universal=3FFF unitName="percent" type=0B size=0003 fl=05 \6 ?*e code=034C elementURI="CBIT.pressureThreshold" type=01 *a code=02E5 owner=001B element=034C universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 \6E*e code=034D elementURI="CBIT.tempThreshold" type=01 *a code=02E6 owner=001B element=034D universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=05 \6C*e code=034E elementURI="CBIT.navErrorThreshold" type=01 *a code=02E7 owner=001B element=034E universal=3FFF unitName="percent" type=0B size=0003 fl=05 \6?*e code=034F elementURI="CBIT.runNavErrorCritical" type=01 *a code=02E8 owner=001B element=034F universal=3FFF unitName="bool" type=02 size=0001 fl=05 ]6*e code=0350 elementURI="CBIT.abortDepthTimeout" type=01 *a code=02E9 owner=001B element=0350 universal=3FFF unitName="second" type=0B size=0003 fl=05 )]6@*e code=0351 elementURI="CBIT.battFailReport" type=01 *a code=02EA owner=001B element=0351 universal=3FFF unitName="count" type=0D size=0004 fl=05 I]6 *e code=0352 elementURI="CBIT.battFailReportTime" type=01 *a code=02EB owner=001B element=0352 universal=3FFF unitName="minute" type=0B size=0003 fl=05 i] 6aE*e code=0353 elementURI="CBIT.battTempThreshold" type=01 *a code=02EC owner=001B element=0353 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 ] 6C*e code=0354 elementURI="CBIT.envTimeout" type=01 *a code=02ED owner=001B element=0354 universal=3FFF unitName="second" type=0B size=0003 fl=05 ]6 A*e code=0355 elementURI="CBIT.runElevOffsetCalc" type=01 *a code=02EE owner=001B element=0355 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ]6*e code=0356 elementURI="CBIT.runFaultClassifier" type=01 *a code=02EF owner=001B element=0356 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ]6*e code=0357 elementURI="CBIT.vehicleOpen" type=01 *a code=02F0 owner=001B element=0357 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ^6*e code=0358 elementURI="CBIT.allowAuxLeak" type=01 *a code=02F1 owner=001B element=0358 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )^ 6*e code=0359 elementURI="CBIT.gfChanA0_Threshold" type=01 *a code=02F2 owner=001B element=0359 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 I^$67*e code=035A elementURI="CBIT.gfChanA1_Threshold" type=01 *a code=02F3 owner=001B element=035A universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 i^'67*e code=035B elementURI="CBIT.gfChanA2_Threshold" type=01 *a code=02F4 owner=001B element=035B universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 ^+67*e code=035C elementURI="CBIT.gfChanA3_Threshold" type=01 *a code=02F5 owner=001B element=035C universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 ^/67*e code=035D elementURI="CBIT.gfChanB0_Threshold" type=01 *a code=02F6 owner=001B element=035D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 ^367*e code=035E elementURI="CBIT.gfChanB1_Threshold" type=01 *a code=02F7 owner=001B element=035E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 ^667*e code=035F elementURI="CBIT.gfChanB2_Threshold" type=01 *a code=02F8 owner=001B element=035F universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 _:67*e code=0360 elementURI="CBIT.gfChanB3_Threshold" type=01 *a code=02F9 owner=001B element=0360 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 )_>67*e code=0361 elementURI="CBIT.gfScanTimeout" type=01 *a code=02FA owner=001B element=0361 universal=3FFF unitName="hour" type=0B size=0003 fl=05 I_A6F*e code=0362 elementURI="CBIT.gfBattOffset" type=01 *a code=02FB owner=001B element=0362 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 i_E6e8*e code=0363 elementURI="CBIT.gf24Offset" type=01 *a code=02FC owner=001B element=0363 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 _J6e8*e code=0364 elementURI="CBIT.gf12Offset" type=01 *a code=02FD owner=001B element=0364 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 _M68*e code=0365 elementURI="CBIT.gf5Offset" type=01 *a code=02FE owner=001B element=0365 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 _O687*e code=0366 elementURI="CBIT.gf3_3Offset" type=01 *a code=02FF owner=001B element=0366 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 _R67*e code=0367 elementURI="CBIT.gf3_15Offset" type=01 *a code=0300 owner=001B element=0367 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 `U6SI*e code=0368 elementURI="CBIT.gfCommOffset" type=01 *a code=0301 owner=001B element=0368 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 )`W6*e code=0369 elementURI="SBIT.loadAtStartup" type=01 *a code=0302 owner=001B element=0369 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I`Z6*e code=036A elementURI="SBIT.simulateHardware" type=01 *a code=0303 owner=001B element=036A universal=3FFF unitName="bool" type=02 size=0001 fl=05 i`\6*e code=036B elementURI="SBIT.kernelRelease" type=01 *a code=0304 owner=001B element=036B universal=3FFF unitName="none" type=00 size=0015 fl=05 `_62.6.32-45-generic-pae*e code=036C elementURI="SBIT.kernelVersion" type=01 *a code=0305 owner=001B element=036C universal=3FFF unitName="none" type=00 size=002B fl=05 `b6+#102-Ubuntu SMP Wed Jan 2 22:10:16 UTC 2013*e code=036D elementURI="IBIT.loadAtStartup" type=01 *a code=0306 owner=001B element=036D universal=3FFF unitName="bool" type=02 size=0001 fl=05 `e6*e code=036E elementURI="IBIT.batteryCapacityThreshold" type=01 *a code=0307 owner=001B element=036E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 `i6/H*e code=036F elementURI="IBIT.batteryVoltageThreshold" type=01 *a code=0308 owner=001B element=036F universal=3FFF unitName="volt" type=0B size=0003 fl=05 am63[Aƿ6FLoaded Config Component "Config/BITN6NOpening Config file at: Config/Dock.cfg*n code=001C name="Config/Dock" *e code=0370 elementURI="Dock.lat" type=01 *a code=0309 owner=001C element=0370 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )a6mp$?*e code=0371 elementURI="Dock.lon" type=01 *a code=030A owner=001C element=0371 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 Iaÿ6*e code=0372 elementURI="Dock.depth" type=01 *a code=030B owner=001C element=0372 universal=3FFF unitName="meter" type=0B size=0003 fl=05 iaƿ6A*e code=0373 elementURI="Dock.transponderCode" type=01 *a code=030C owner=001C element=0373 universal=3FFF unitName="count" type=0D size=0004 fl=05 aɿ6*e code=0374 elementURI="Docked.dockingDepthOffset" type=01 *a code=030D owner=001C element=0374 universal=3FFF unitName="meter" type=0B size=0003 fl=05 aͿ6@*e code=0375 elementURI="Docked.dockRange" type=01 *a code=030E owner=001C element=0375 universal=3FFF unitName="meter" type=0B size=0003 fl=05 a6A*e code=0376 elementURI="Docked.dockPitch" type=01 *a code=030F owner=001C element=0376 universal=3FFF unitName="degree" type=2F size=0004 fl=05 a6¸>*e code=0377 elementURI="Docked.detachTimeout" type=01 *a code=0310 owner=001C element=0377 universal=3FFF unitName="second" type=0B size=0003 fl=05 b6C*e code=0378 elementURI="Docked.dockTimeout" type=01 *a code=0311 owner=001C element=0378 universal=3FFF unitName="second" type=0B size=0003 fl=05 )b 6A*e code=0379 elementURI="Docked.dataTimeout" type=01 *a code=0312 owner=001C element=0379 universal=3FFF unitName="second" type=0B size=0003 fl=05 Ib6D*e code=037A elementURI="Docked.rangeTimeout" type=01 *a code=0313 owner=001C element=037A universal=3FFF unitName="second" type=0B size=0003 fl=05 ib6D*e code=037B elementURI="Docked.verbose" type=01 *a code=0314 owner=001C element=037B universal=3FFF unitName="bool" type=02 size=0001 fl=05 b6*e code=037C elementURI="LineCapture.midcourseSpeed" type=01 *a code=0315 owner=001C element=037C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 b6?*e code=037D elementURI="LineCapture.midcourseDepth" type=01 *a code=0316 owner=001C element=037D universal=3FFF unitName="meter" type=0B size=0003 fl=05 b6A*e code=037E elementURI="LineCapture.midcourseTimeout" type=01 *a code=0317 owner=001C element=037E universal=3FFF unitName="hour" type=0B size=0003 fl=05 b"6F*e code=037F elementURI="LineCapture.terminalRange" type=01 *a code=0318 owner=001C element=037F universal=3FFF unitName="meter" type=0B size=0003 fl=05 c'6"D*e code=0380 elementURI="LineCapture.acousticTimeout" type=01 *a code=0319 owner=001C element=0380 universal=3FFF unitName="minute" type=0B size=0003 fl=05 )c.6C*e code=0381 elementURI="LineCapture.armRange" type=01 *a code=031A owner=001C element=0381 universal=3FFF unitName="meter" type=0B size=0003 fl=05 Ic36 B*e code=0382 elementURI="LineCapture.armSpeed" type=01 *a code=031B owner=001C element=0382 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ic66L?*e code=0383 elementURI="LineCapture.lockoutRange" type=01 *a code=031C owner=001C element=0383 universal=3FFF unitName="meter" type=0B size=0003 fl=05 c:6@@*e code=0384 elementURI="LineCapture.shortFinalRange" type=01 *a code=031D owner=001C element=0384 universal=3FFF unitName="meter" type=0B size=0003 fl=05 cA6A*e code=0385 elementURI="LineCapture.interceptTimeout" type=01 *a code=031E owner=001C element=0385 universal=3FFF unitName="second" type=0B size=0003 fl=05 cD6pB*e code=0386 elementURI="LineCapture.latchDelayTimeout" type=01 *a code=031F owner=001C element=0386 universal=3FFF unitName="second" type=0B size=0003 fl=05 cI6*e code=0387 elementURI="LineCapture.rolloutDistance" type=01 *a code=0320 owner=001C element=0387 universal=3FFF unitName="meter" type=0B size=0003 fl=05 dM6C*e code=0388 elementURI="LineCapture.rolloutSpeed" type=01 *a code=0321 owner=001C element=0388 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )dP6?*e code=0389 elementURI="LineCapture.rolloutTimeout" type=01 *a code=0322 owner=001C element=0389 universal=3FFF unitName="minute" type=0B size=0003 fl=05 IdS6aD*e code=038A elementURI="LineCapture.rolloutMaxTimeout" type=01 *a code=0323 owner=001C element=038A universal=3FFF unitName="minute" type=0B size=0003 fl=05 idW6D*e code=038B elementURI="LineCapture.kpHeadingTerminalGuidance" type=01 *a code=0324 owner=001C element=038B universal=3FFF unitName="ratio" type=0B size=0003 fl=05 d[6L?*e code=038C elementURI="LineCapture.kiHeadingTerminalGuidance" type=01 *a code=0325 owner=001C element=038C universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 d_6;*e code=038D elementURI="LineCapture.kpHeadingFinalApproach" type=01 *a code=0326 owner=001C element=038D universal=3FFF unitName="ratio" type=0B size=0003 fl=05 dc6L?*e code=038E elementURI="LineCapture.kiHeadingFinalApproach" type=01 *a code=0327 owner=001C element=038E universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 dg6;*e code=038F elementURI="LineCapture.navigationGain" type=01 *a code=0328 owner=001C element=038F universal=3FFF unitName="none" type=1F size=0008 fl=05 ek6@*e code=0390 elementURI="LineCapture.verbose" type=01 *a code=0329 owner=001C element=0390 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )eo6*e code=0391 elementURI="LineCapture.searchTimeout" type=01 *a code=032A owner=001C element=0391 universal=3FFF unitName="minute" type=0B size=0003 fl=05 Ies6D*e code=0392 elementURI="LineCapture.searchCircleRadius" type=01 *a code=032B owner=001C element=0392 universal=3FFF unitName="meter" type=0B size=0003 fl=05 iex6zD*e code=0393 elementURI="SetNav.dockRange" type=01 *a code=032C owner=001C element=0393 universal=3FFF unitName="meter" type=0B size=0003 fl=05 e|6@*e code=0394 elementURI="SetNav.rangeTimeout" type=01 *a code=032D owner=001C element=0394 universal=3FFF unitName="minute" type=0B size=0003 fl=05 e6C*e code=0395 elementURI="Undock.undockDepth" type=01 *a code=032E owner=001C element=0395 universal=3FFF unitName="meter" type=0B size=0003 fl=05 e6@*e code=0396 elementURI="Undock.undockRange" type=01 *a code=032F owner=001C element=0396 universal=3FFF unitName="meter" type=0B size=0003 fl=05 e6 A*e code=0397 elementURI="Undock.undockTimeout" type=01 *a code=0330 owner=001C element=0397 universal=3FFF unitName="second" type=0B size=0003 fl=05 f6A*e code=0398 elementURI="Undock.reverseThrustTimeout" type=01 *a code=0331 owner=001C element=0398 universal=3FFF unitName="second" type=0B size=0003 fl=05 )f6 A*e code=0399 elementURI="Undock.verbose" type=01 *a code=0332 owner=001C element=0399 universal=3FFF unitName="bool" type=02 size=0001 fl=05 If6ƿ6HLoaded Config Component "Config/DockN6VOpening Config file at: Config/workSite.cfg*n code=001D name="Config/workSite" *e code=039A elementURI="Config/workSite.initLat" type=00 *a code=0333 owner=001D element=039A universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 if6G|; ?*e code=039B elementURI="Config/workSite.initLon" type=00 *a code=0334 owner=001D element=039B universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 f6wf*e code=039C elementURI="Config/workSite.startupScript" type=00 *a code=0335 owner=001D element=039C universal=3FFF unitName="none" type=00 size=0013 fl=05 f6Missions/Startup.tl*e code=039D elementURI="Config/workSite.defaultScript" type=00 *a code=0336 owner=001D element=039D universal=3FFF unitName="none" type=00 size=0013 fl=05 f6Missions/Default.tl*e code=039E elementURI="Config/workSite.beacon1Address" type=00 *a code=0337 owner=001D element=039E universal=3FFF unitName="count" type=1F size=0008 fl=05 f6 i@*e code=039F elementURI="Config/workSite.beacon1Lat" type=00 *a code=0338 owner=001D element=039F universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 g6G|; ?*e code=03A0 elementURI="Config/workSite.beacon1Lon" 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unitName="bool" type=02 size=0001 fl=05 hv6*e code=03AC elementURI="AHRS_M2.boresightMatrix" type=01 *a code=0345 owner=001E element=03AC universal=3FFF unitName="none" type=00 size=002F fl=05 h|6/f0.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f0.0*e code=03AD elementURI="AHRS_M2.magDeviation" type=01 *a code=0346 owner=001E element=03AD universal=3FFF unitName="degree" type=2F size=0004 fl=05 h6*e code=03AE elementURI="AHRS_M2.minNumPointsCal" type=01 *a code=0347 owner=001E element=03AE universal=3FFF unitName="count" type=0D size=0004 fl=05 h6*e code=03AF elementURI="AHRS_M2.power" type=01 *a code=0348 owner=001E element=03AF universal=3FFF unitName="watt" type=0B size=0003 fl=05 i6u=*e code=03B0 elementURI="AHRS_M2.readAccelerations" type=01 *a code=0349 owner=001E element=03B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )i6*e code=03B1 elementURI="AHRS_M2.readAngularVelocities" type=01 *a code=034A owner=001E element=03B1 universal=3FFF unitName="bool" type=02 size=0001 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universal=3FFF unitName="bool" type=02 size=0001 fl=05 I~6*e code=048A elementURI="SCPI.loadAtStartup" type=01 *a code=0423 owner=001E element=048A universal=3FFF unitName="bool" type=02 size=0001 fl=05 i6*e code=048B elementURI="SCPI.simulateHardware" type=01 *a code=0424 owner=001E element=048B universal=3FFF unitName="bool" type=02 size=0001 fl=05 6*e code=048C elementURI="SCPI.sampleTime" type=01 *a code=0425 owner=001E element=048C universal=3FFF unitName="second" type=0B size=0003 fl=05 6C*e code=048D elementURI="Sonardyne_Nano.loadAtStartup" type=01 *a code=0426 owner=001E element=048D universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ʉ6*e code=048E elementURI="Sonardyne_Nano.simulateHardware" type=01 *a code=0427 owner=001E element=048E universal=3FFF unitName="bool" type=02 size=0001 fl=05 鄿6*e code=048F elementURI="Sonardyne_Nano.chargeMin" type=01 *a code=0428 owner=001E element=048F universal=3FFF unitName="percent" type=0B size=0003 fl=05 63s?*e code=0490 elementURI="Sonardyne_Nano.chargeMax" type=01 *a code=0429 owner=001E element=0490 universal=3FFF unitName="percent" type=0B size=0003 fl=05 )6?*e code=0491 elementURI="Waterlinked.loadAtStartup" type=01 *a code=042A owner=001E element=0491 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I6*e code=0492 elementURI="Waterlinked.simulateHardware" type=01 *a code=042B owner=001E element=0492 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i6ƿ6LLoaded Config Component "Config/SensorN6vLooking for Config files in directory: Config/lrauv-galene/N6lOpening Config file at: Config/lrauv-galene/secure.cfg 6lrauv-galene.shore.mbari.org 6300234065065610) 6OexCx0tcFOV86JXwN6nOpening Config file at: Config/lrauv-galene/vehicle.cfgi 6galene 6 6ff66FF66 69228 6177270i 6 /dev/loadC5 6 /dev/ttyC5 ?6 6 /dev/loadC4I 6 /dev/ttyC4i ?66 /dev/loadB46 /dev/ttyB46 /dev/loadA66 /dev/ttyA6 ?66 /dev/loadC36 /dev/null6 /dev/nulli6 /dev/loadC06/dev/mcp3553C0?6?6?6)6 /dev/loadB4I6 /dev/ttyB4I6 /dev/loadB0i6/dev/mcp3553B0?6?6?6NF6nOpening Config file at: Config/lrauv-galene/Battery.cfg*n code=001F name="Config/Battery" *e code=0493 elementURI="Config/Battery.stick1" type=00 *a code=042C owner=001F element=0493 universal=3FFF unitName="none" type=00 size=0004 fl=05 S60226*e code=0494 elementURI="Config/Battery.stick2" type=00 *a code=042D owner=001F element=0494 universal=3FFF unitName="none" type=00 size=0004 fl=05 V60244*e code=0495 elementURI="Config/Battery.stick3" type=00 *a code=042E owner=001F element=0495 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɅY60268*e code=0496 elementURI="Config/Battery.stick4" type=00 *a code=042F owner=001F element=0496 universal=3FFF unitName="none" type=00 size=0004 fl=05 酿\601F1*e code=0497 elementURI="Config/Battery.stick5" type=00 *a code=0430 owner=001F element=0497 universal=3FFF unitName="none" type=00 size=0004 fl=05 _601EE*e code=0498 elementURI="Config/Battery.stick6" type=00 *a code=0431 owner=001F element=0498 universal=3FFF unitName="none" type=00 size=0004 fl=05 )y601D9*e code=0499 elementURI="Config/Battery.stick7" type=00 *a code=0432 owner=001F element=0499 universal=3FFF unitName="none" type=00 size=0004 fl=05 I|60265*e code=049A elementURI="Config/Battery.stick8" type=00 *a code=0433 owner=001F element=049A universal=3FFF unitName="none" type=00 size=0004 fl=05 i6028E*e code=049B elementURI="Config/Battery.stick9" type=00 *a code=0434 owner=001F element=049B universal=3FFF unitName="none" type=00 size=0004 fl=05 60211*e code=049C elementURI="Config/Battery.stick10" type=00 *a code=0435 owner=001F element=049C universal=3FFF unitName="none" type=00 size=0004 fl=05 601E3*e code=049D elementURI="Config/Battery.stick11" type=00 *a code=0436 owner=001F element=049D universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɇ601E0*e code=049E elementURI="Config/Battery.stick12" type=00 *a code=0437 owner=001F element=049E universal=3FFF unitName="none" type=00 size=0004 fl=05 醿6024F*e code=049F elementURI="Config/Battery.stick13" type=00 *a code=0438 owner=001F element=049F universal=3FFF unitName="none" type=00 size=0004 fl=05 601F8*e code=04A0 elementURI="Config/Battery.stick14" type=00 *a code=0439 owner=001F element=04A0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )60233*e code=04A1 elementURI="Config/Battery.stick15" type=00 *a code=043A owner=001F element=04A1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I60220*e code=04A2 elementURI="Config/Battery.stick16" type=00 *a code=043B owner=001F element=04A2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i60290*e code=04A3 elementURI="Config/Battery.stick17" type=00 *a code=043C owner=001F element=04A3 universal=3FFF unitName="none" type=00 size=0004 fl=05 60245*e code=04A4 elementURI="Config/Battery.stick18" type=00 *a code=043D owner=001F element=04A4 universal=3FFF unitName="none" type=00 size=0004 fl=05 601CA*e code=04A5 elementURI="Config/Battery.stick19" type=00 *a code=043E owner=001F element=04A5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɇ60252*e code=04A6 elementURI="Config/Battery.stick20" type=00 *a code=043F owner=001F element=04A6 universal=3FFF unitName="none" type=00 size=0004 fl=05 釿$601E5*e code=04A7 elementURI="Config/Battery.stick21" type=00 *a code=0440 owner=001F element=04A7 universal=3FFF unitName="none" type=00 size=0004 fl=05 '601DB*e code=04A8 elementURI="Config/Battery.stick22" type=00 *a code=0441 owner=001F element=04A8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )2602C5*e code=04A9 elementURI="Config/Battery.stick23" type=00 *a code=0442 owner=001F element=04A9 universal=3FFF unitName="none" type=00 size=0004 fl=05 I5602A0*e code=04AA elementURI="Config/Battery.stick24" type=00 *a code=0443 owner=001F element=04AA universal=3FFF unitName="none" type=00 size=0004 fl=05 i8602BD*e code=04AB elementURI="Config/Battery.stick25" type=00 *a code=0444 owner=001F element=04AB universal=3FFF unitName="none" type=00 size=0004 fl=05 i601EB*e code=04AC elementURI="Config/Battery.stick26" type=00 *a code=0445 owner=001F element=04AC universal=3FFF unitName="none" type=00 size=0004 fl=05 60C23*e code=04AD elementURI="Config/Battery.stick27" type=00 *a code=0446 owner=001F element=04AD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɉ60234*e code=04AE elementURI="Config/Battery.stick28" type=00 *a code=0447 owner=001F element=04AE universal=3FFF unitName="none" type=00 size=0004 fl=05 鈿60221*e code=04AF elementURI="Config/Battery.stick29" type=00 *a code=0448 owner=001F element=04AF universal=3FFF unitName="none" type=00 size=0004 fl=05 60235*e code=04B0 elementURI="Config/Battery.stick30" type=00 *a code=0449 owner=001F element=04B0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )602D2*e code=04B1 elementURI="Config/Battery.stick31" type=00 *a code=044A owner=001F element=04B1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I602C8*e code=04B2 elementURI="Config/Battery.stick32" type=00 *a code=044B owner=001F element=04B2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i60273*e code=04B3 elementURI="Config/Battery.stick33" type=00 *a code=044C owner=001F element=04B3 universal=3FFF unitName="none" type=00 size=0004 fl=05 601B6*e code=04B4 elementURI="Config/Battery.stick34" type=00 *a code=044D owner=001F element=04B4 universal=3FFF unitName="none" type=00 size=0004 fl=05 60260*e code=04B5 elementURI="Config/Battery.stick35" type=00 *a code=044E owner=001F element=04B5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɉ601F9*e code=04B6 elementURI="Config/Battery.stick36" type=00 *a code=044F owner=001F element=04B6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鉿6025D*e code=04B7 elementURI="Config/Battery.stick37" type=00 *a code=0450 owner=001F element=04B7 universal=3FFF unitName="none" type=00 size=0004 fl=05 6023C*e code=04B8 elementURI="Config/Battery.stick38" type=00 *a code=0451 owner=001F element=04B8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )60201*e code=04B9 elementURI="Config/Battery.stick39" type=00 *a code=0452 owner=001F element=04B9 universal=3FFF unitName="none" type=00 size=0004 fl=05 I2601F7*e code=04BA elementURI="Config/Battery.stick40" type=00 *a code=0453 owner=001F element=04BA universal=3FFF unitName="none" type=00 size=0004 fl=05 i5601E9*e code=04BB elementURI="Config/Battery.stick41" type=00 *a code=0454 owner=001F element=04BB universal=3FFF unitName="none" type=00 size=0004 fl=05 86024C*e code=04BC elementURI="Config/Battery.stick42" type=00 *a code=0455 owner=001F element=04BC universal=3FFF unitName="none" type=00 size=0004 fl=05 i60259*e code=04BD elementURI="Config/Battery.stick43" type=00 *a code=0456 owner=001F element=04BD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɋl601F6*e code=04BE elementURI="Config/Battery.stick44" type=00 *a code=0457 owner=001F element=04BE universal=3FFF unitName="none" type=00 size=0004 fl=05 銿w60264*e code=04BF elementURI="Config/Battery.stick45" type=00 *a code=0458 owner=001F element=04BF universal=3FFF unitName="none" type=00 size=0004 fl=05 z6024D*e code=04C0 elementURI="Config/Battery.stick46" type=00 *a code=0459 owner=001F element=04C0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )}60261*e code=04C1 elementURI="Config/Battery.stick47" type=00 *a code=045A owner=001F element=04C1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I60255*e code=04C2 elementURI="Config/Battery.stick48" type=00 *a code=045B owner=001F element=04C2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i6021B*e code=04C3 elementURI="Config/Battery.stick49" type=00 *a code=045C owner=001F element=04C3 universal=3FFF unitName="none" type=00 size=0004 fl=05 60283*e code=04C4 elementURI="Config/Battery.stick50" type=00 *a code=045D owner=001F element=04C4 universal=3FFF unitName="none" type=00 size=0004 fl=05 6025C*e code=04C5 elementURI="Config/Battery.stick51" type=00 *a code=045E owner=001F element=04C5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɋ60256*e code=04C6 elementURI="Config/Battery.stick52" type=00 *a code=045F owner=001F element=04C6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鋿601D0*e code=04C7 elementURI="Config/Battery.stick53" type=00 *a code=0460 owner=001F element=04C7 universal=3FFF unitName="none" type=00 size=0004 fl=05 6026B*e code=04C8 elementURI="Config/Battery.stick54" type=00 *a code=0461 owner=001F element=04C8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )6020A*e code=04C9 elementURI="Config/Battery.stick55" type=00 *a code=0462 owner=001F element=04C9 universal=3FFF unitName="none" type=00 size=0004 fl=05 IB6024B*e code=04CA elementURI="Config/Battery.stick56" type=00 *a code=0463 owner=001F element=04CA universal=3FFF unitName="none" type=00 size=0004 fl=05 iF601FB*e code=04CB elementURI="Config/Battery.stick57" type=00 *a code=0464 owner=001F element=04CB universal=3FFF unitName="none" type=00 size=0004 fl=05 I60282*e code=04CC elementURI="Config/Battery.stick58" type=00 *a code=0465 owner=001F element=04CC universal=3FFF unitName="none" type=00 size=0004 fl=05 60286*e code=04CD elementURI="Config/Battery.stick59" type=00 *a code=0466 owner=001F element=04CD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɍ60BEB*e code=04CE elementURI="Config/Battery.stick60" type=00 *a code=0467 owner=001F element=04CE universal=3FFF unitName="none" type=00 size=0004 fl=05 錿6025A*e code=04CF elementURI="Config/Battery.stick61" type=00 *a code=0468 owner=001F element=04CF universal=3FFF unitName="none" type=00 size=0004 fl=05 60214*e code=04D0 elementURI="Config/Battery.stick62" type=00 *a code=0469 owner=001F element=04D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )6027Eƿr6NLoaded Config Component "Config/BatteryNr6nOpening Config file at: Config/lrauv-galene/Science.cfg ?|6 ~6!6@!6Hz!6g"7? "66Dr)"6^)?I"69 ?ʾi"6;On?I%?6i%6&6UWQ8594%63-%6I&6Ci&6K7? '?6)'6(6 bb2flmba-5408I'62'6/'6)'60)(6!E7I(6_6i(6?F?6)?6I?6?6 @6I@ 6>N6tOpening Config file at: Config/lrauv-galene/Navigation.cfgA?6A6dIB?6B6dIE?6D?6C?6 C?6Nc6rOpening Config file at: Config/lrauv-galene/Simulator.cfgH?l6II?p6N6fOpening Config file at: Config/lrauv-galene/BIT.cfg \?6)\6I\6Ci\?6 ^6)]6 A_6<9I`?6`62.6.27.8`6'#2 PREEMPT Thu Jan 11 20:13:48 PST 2018`?6N!6pOpening Config file at: Config/lrauv-galene/workSite.cfgf+6Missions/Default.xmlNt6lOpening Config file at: Config/lrauv-galene/Sensor.cfgih?~6h6h?6)i?6ii?6i?6il?6l6Ik6ik?6 l6)l6z?6z6z?6z?6o6o6 q?6)q6n?6n?6 o6 B)o?6Io6pBio?6it?6t6t?6t?6t6`F)u6"8u?6 v6)v?6Iv6 {?6){6{?6|?6|6I}6@i}6qs**}6|]}6DQ 6?*a code=04C1 owner=0029 element=036E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=04C2 owner=0029 element=036F universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=04C3 owner=0029 element=03CD universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04C4 owner=0029 element=03CE universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=04C5 owner=0029 element=03CF universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=04C6 owner=0029 element=03CC universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0508 elementURI="BPC1.BattCapacity_1" type=00 *a code=04C7 owner=0029 element=0508 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0509 elementURI="BPC1.BattCurrent_1" type=00 *a code=04C8 owner=0029 element=0509 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=050A elementURI="BPC1.BattStatus_1" type=00 *a code=04C9 owner=0029 element=050A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=050B elementURI="BPC1.BattTemp_1" type=00 *a code=04CA owner=0029 element=050B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=050C elementURI="BPC1.BattVoltage_1" type=00 *a code=04CB owner=0029 element=050C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=050D elementURI="BPC1.BattCapacity_2" type=00 *a code=04CC owner=0029 element=050D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=050E elementURI="BPC1.BattCurrent_2" type=00 *a code=04CD owner=0029 element=050E universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=050F elementURI="BPC1.BattStatus_2" type=00 *a code=04CE owner=0029 element=050F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0510 elementURI="BPC1.BattTemp_2" type=00 *a code=04CF owner=0029 element=0510 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0511 elementURI="BPC1.BattVoltage_2" type=00 *a code=04D0 owner=0029 element=0511 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0512 elementURI="BPC1.BattCapacity_3" type=00 *a code=04D1 owner=0029 element=0512 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0513 elementURI="BPC1.BattCurrent_3" type=00 *a code=04D2 owner=0029 element=0513 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0514 elementURI="BPC1.BattStatus_3" type=00 *a code=04D3 owner=0029 element=0514 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0515 elementURI="BPC1.BattTemp_3" type=00 *a code=04D4 owner=0029 element=0515 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0516 elementURI="BPC1.BattVoltage_3" type=00 *a code=04D5 owner=0029 element=0516 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0517 elementURI="BPC1.BattCapacity_4" type=00 *a code=04D6 owner=0029 element=0517 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0518 elementURI="BPC1.BattCurrent_4" type=00 *a code=04D7 owner=0029 element=0518 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0519 elementURI="BPC1.BattStatus_4" type=00 *a code=04D8 owner=0029 element=0519 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=051A elementURI="BPC1.BattTemp_4" type=00 *a code=04D9 owner=0029 element=051A universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=051B elementURI="BPC1.BattVoltage_4" type=00 *a code=04DA owner=0029 element=051B universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=051C elementURI="BPC1.BattCapacity_5" type=00 *a code=04DB owner=0029 element=051C universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=051D elementURI="BPC1.BattCurrent_5" type=00 *a code=04DC owner=0029 element=051D universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=051E elementURI="BPC1.BattStatus_5" type=00 *a code=04DD owner=0029 element=051E universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=051F elementURI="BPC1.BattTemp_5" type=00 *a code=04DE owner=0029 element=051F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0520 elementURI="BPC1.BattVoltage_5" type=00 *a code=04DF owner=0029 element=0520 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0521 elementURI="BPC1.BattCapacity_6" type=00 *a code=04E0 owner=0029 element=0521 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0522 elementURI="BPC1.BattCurrent_6" type=00 *a code=04E1 owner=0029 element=0522 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0523 elementURI="BPC1.BattStatus_6" type=00 *a code=04E2 owner=0029 element=0523 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0524 elementURI="BPC1.BattTemp_6" type=00 *a code=04E3 owner=0029 element=0524 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0525 elementURI="BPC1.BattVoltage_6" type=00 *a code=04E4 owner=0029 element=0525 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0526 elementURI="BPC1.BattCapacity_7" type=00 *a code=04E5 owner=0029 element=0526 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0527 elementURI="BPC1.BattCurrent_7" type=00 *a code=04E6 owner=0029 element=0527 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0528 elementURI="BPC1.BattStatus_7" type=00 *a code=04E7 owner=0029 element=0528 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0529 elementURI="BPC1.BattTemp_7" type=00 *a code=04E8 owner=0029 element=0529 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=052A elementURI="BPC1.BattVoltage_7" type=00 *a code=04E9 owner=0029 element=052A universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=052B elementURI="BPC1.BattCapacity_8" type=00 *a code=04EA owner=0029 element=052B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=052C elementURI="BPC1.BattCurrent_8" type=00 *a code=04EB owner=0029 element=052C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=052D elementURI="BPC1.BattStatus_8" type=00 *a code=04EC owner=0029 element=052D universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=052E elementURI="BPC1.BattTemp_8" type=00 *a 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universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0637 elementURI="BPC1.BattTemp_61" type=00 *a code=05F6 owner=0029 element=0637 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0638 elementURI="BPC1.BattVoltage_61" type=00 *a code=05F7 owner=0029 element=0638 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0639 elementURI="BPC1.BattCapacity_62" type=00 *a code=05F8 owner=0029 element=0639 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=063A elementURI="BPC1.BattCurrent_62" type=00 *a code=05F9 owner=0029 element=063A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=063B elementURI="BPC1.BattStatus_62" type=00 *a code=05FA owner=0029 element=063B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=063C elementURI="BPC1.BattTemp_62" type=00 *a code=05FB owner=0029 element=063C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=063D elementURI="BPC1.BattVoltage_62" type=00 *a code=05FC owner=0029 element=063D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 q 6ƿ6fSyncComponent "BPC1" handled in the control thread.*n code=002A name="DataOverHttps" *e code=063E elementURI="DataOverHttps.enableBroadcast" type=02 *a code=05FD owner=002A element=063E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=063F elementURI="DataOverHttps.platform_communications" type=00 *a code=05FE owner=002A element=063F universal=002A unitName="bool" type=02 size=0001 fl=05 6*e code=0640 elementURI="DataOverHttps.connectionStatus" type=02 *a code=05FF owner=002A element=0640 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0641 elementURI="Radio_Surface.radio_surface_power" type=02 *a code=0600 owner=002A element=0641 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0601 owner=002A element=00C0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0602 owner=002A element=03DE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0603 owner=002A element=03DF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0604 owner=002A element=03E1 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0605 owner=002A element=03E2 universal=3FFF unitName="count" type=0D size=0004 fl=04 F6ƿF6hComponent "DataOverHttps" handled in its own thread.*n code=002B name="DataOverHttps ThreadHandler" G6DCreated PCaller Thread at 4087F4E0G6DProtected caller Thread ID is 3764*n code=002C name="Depth_Keller" *e code=0642 elementURI="Depth_Keller.enableBroadcast" type=02 *a code=0606 owner=002C element=0642 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0607 owner=002C element=040B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0643 elementURI="Depth_Keller.component_voltage" type=02 *a code=0608 owner=002C element=0643 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0644 elementURI="Depth_Keller.component_avgVoltage" type=02 *a code=0609 owner=002C element=0644 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0645 elementURI="Depth_Keller.component_current" type=02 *a code=060A owner=002C element=0645 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0646 elementURI="Depth_Keller.component_avgCurrent" type=02 *a code=060B owner=002C element=0646 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=060C owner=002C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0647 elementURI="Depth_Keller.depth" type=00 *a code=060D owner=002C element=0647 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=0648 elementURI="Depth_Keller.sea_water_pressure" type=00 *a code=060E owner=002C element=0648 universal=005A unitName="decibar" type=0B size=0003 fl=05  !Z6HC*a code=060F owner=002C element=040E universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0610 owner=002C element=0410 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04 *a code=0611 owner=002C element=040C universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0612 owner=002C element=040D universal=3FFF unitName="decibar" type=0B size=0003 fl=04 1 [6ƿ\6vSyncComponent "Depth_Keller" handled in the control thread.*n code=002D name="DropWeight" *e code=0649 elementURI="DropWeight.enableBroadcast" type=02 *a code=0613 owner=002D element=0649 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=064A elementURI="DropWeight.dropWeightState" type=02 *a code=0614 owner=002D element=064A universal=3FFF unitName="bool" type=02 size=0001 fl=05 q `6ƿa6rSyncComponent "DropWeight" handled in the control thread.*n code=002E name="MultiRay" *e code=064B elementURI="MultiRay.enableBroadcast" type=02 *a code=0615 owner=002E element=064B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=064C elementURI="MultiRay.component_voltage" type=02 *a code=0616 owner=002E element=064C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=064D elementURI="MultiRay.component_avgVoltage" type=02 *a code=0617 owner=002E element=064D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=064E elementURI="MultiRay.component_current" type=02 *a code=0618 owner=002E element=064E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=064F elementURI="MultiRay.component_avgCurrent" type=02 *a code=0619 owner=002E element=064F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=061A owner=002E element=043D universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=061B owner=002E element=043E universal=3FFF unitName="none" type=1F size=0008 fl=04 *e code=0650 elementURI="MultiRay.lightModeCommand" type=02 *a code=061C owner=002E element=0650 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0651 elementURI="MultiRay.lightModeLog" type=02 *a code=061D owner=002E element=0651 universal=3FFF unitName="count" type=0D size=0004 fl=05 s6ƿs6nSyncComponent "MultiRay" handled in the control thread.*n code=002F name="NAL9602" *e code=0652 elementURI="NAL9602.enableBroadcast" type=02 *a code=061E owner=002F element=0652 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=061F owner=002F element=0440 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0653 elementURI="NAL9602.component_voltage" type=02 *a code=0620 owner=002F element=0653 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0654 elementURI="NAL9602.component_avgVoltage" type=02 *a code=0621 owner=002F element=0654 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0655 elementURI="NAL9602.component_current" type=02 *a code=0622 owner=002F element=0655 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0656 elementURI="NAL9602.component_avgCurrent" type=02 *a code=0623 owner=002F element=0656 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0624 owner=002F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0625 owner=002F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0626 owner=002F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0627 owner=002F element=006C universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0657 elementURI="NAL9602.SNRSatellite_0" type=00 *a code=0628 owner=002F element=0657 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0658 elementURI="NAL9602.SNRSatellite_1" type=00 *a code=0629 owner=002F element=0658 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0659 elementURI="NAL9602.SNRSatellite_2" type=00 *a code=062A owner=002F element=0659 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=065A elementURI="NAL9602.SNRSatellite_3" type=00 *a code=062B owner=002F element=065A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=065B elementURI="NAL9602.SNRSatellite_4" type=00 *a code=062C owner=002F element=065B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=065C elementURI="NAL9602.SNRSatellite_5" type=00 *a code=062D owner=002F element=065C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=065D elementURI="NAL9602.SNRSatellite_6" type=00 *a code=062E owner=002F element=065D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=065E elementURI="NAL9602.SNRSatellite_7" type=00 *a code=062F owner=002F element=065E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=065F elementURI="NAL9602.SNRSatellite_8" type=00 *a code=0630 owner=002F element=065F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0660 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=0631 owner=002F element=0660 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0661 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=0632 owner=002F element=0661 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0662 elementURI="NAL9602.SNRSatellite_11" type=00 *a code=0633 owner=002F element=0662 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0663 elementURI="NAL9602.goodFix" type=02 *a code=0634 owner=002F element=0663 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0664 elementURI="NAL9602.numSatellites" type=02 *a code=0635 owner=002F element=0664 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0665 elementURI="NAL9602.sigQuality" type=02 *a code=0636 owner=002F element=0665 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0666 elementURI="NAL9602.SOG" type=02 *a code=0637 owner=002F element=0666 universal=3FFF unitName="knot" type=0B size=0003 fl=05 *e code=0667 elementURI="NAL9602.COG" type=02 *a code=0638 owner=002F element=0667 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0668 elementURI="NAL9602.time_fix" type=00 *a code=0639 owner=002F element=0668 universal=0065 unitName="second" type=1F size=0008 fl=05 *e code=0669 elementURI="NAL9602.latitude_fix" type=00 *a code=063A owner=002F element=0669 universal=0018 unitName="degree" type=37 size=0006 fl=05 6;4*e code=066A elementURI="NAL9602.longitude_fix" type=00 *a code=063B owner=002F element=066A universal=001B unitName="degree" type=37 size=0006 fl=05 6;4*e code=066B elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=063C owner=002F element=066B universal=0019 unitName="degree" type=00 size=0000 fl=05 6;4*e code=066C elementURI="NAL9602.platform_communications" type=00 *a code=063D owner=002F element=066C universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=063E owner=002F element=020D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=063F owner=002F element=00C0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0640 owner=002F element=00BF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0641 owner=002F element=0441 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0642 owner=002F element=0442 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0643 owner=002F element=0445 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0644 owner=002F element=0446 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0645 owner=002F element=0447 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0646 owner=002F element=0448 universal=3FFF unitName="byte" type=1F size=0008 fl=04 6ƿ6lSyncComponent "NAL9602" handled in the control thread.*n code=0030 name="Onboard" *e code=066D elementURI="Onboard.enableBroadcast" type=02 *a code=0647 owner=0030 element=066D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0648 owner=0030 element=044E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=066E elementURI="Onboard.Pressure" type=02 *a code=0649 owner=0030 element=066E universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=066F elementURI="Onboard.Temperature" type=02 *a code=064A owner=0030 element=066F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0670 elementURI="Onboard.Humidity" type=02 *a code=064B owner=0030 element=0670 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=0671 elementURI="Onboard.platform_battery_voltage" type=00 *a code=064C owner=0030 element=0671 universal=0026 unitName="volt" type=0B size=0003 fl=05  6#<*e code=0672 elementURI="Onboard.platform_vehicle_power" type=00 *a code=064D owner=0030 element=0672 universal=0041 unitName="watt" type=0B size=0003 fl=05  6#<*e code=0673 elementURI="Onboard.platform_average_current" type=00 *a code=064E owner=0030 element=0673 universal=0021 unitName="milliampere" type=0B size=0003 fl=05  6#<*e code=0674 elementURI="Onboard.platform_average_power" type=00 *a code=064F owner=0030 element=0674 universal=0022 unitName="watt" type=0B size=0003 fl=05  6#<*e code=0675 elementURI="Onboard.MainBatteryVoltage" type=02 *a code=0650 owner=0030 element=0675 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0676 elementURI="Onboard.BackupBatteryVoltage" type=02 *a code=0651 owner=0030 element=0676 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0677 elementURI="Onboard.BatteryCurrent" type=02 *a code=0652 owner=0030 element=0677 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0653 owner=0030 element=0451 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0654 owner=0030 element=0452 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0655 owner=0030 element=0453 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0656 owner=0030 element=0454 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0657 owner=0030 element=0127 universal=3FFF unitName="count" type=0D size=0004 fl=04 1 6ƿ6\Component "Onboard" handled in its own thread.*n code=0031 name="Onboard ThreadHandler" 6DCreated PCaller Thread at 408AF4E06DProtected caller Thread ID is 3765*n code=0032 name="PowerOnly" *e code=0678 elementURI="PowerOnly.enableBroadcast" type=02 *a code=0658 owner=0032 element=0678 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0659 owner=0032 element=04FE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0679 elementURI="PowerOnly.samplePowerOnly" type=02 *a code=065A owner=0032 element=0679 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=065B owner=0032 element=045E universal=3FFF unitName="second" type=0B size=0003 fl=04 6^Adding load control power supply at /dev/loadC3*a code=065C owner=0032 element=045D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=067A elementURI="PowerOnly.component_voltage_loadControl" type=02 *a code=065D owner=0032 element=067A universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=067B elementURI="PowerOnly.component_avgVoltage_loadControl" type=02 *a code=065E owner=0032 element=067B universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=067C elementURI="PowerOnly.component_current_loadControl" type=02 *a code=065F owner=0032 element=067C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=067D elementURI="PowerOnly.component_avgCurrent_loadControl" type=02 *a code=0660 owner=0032 element=067D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=067E elementURI="PowerOnly.sampleLoad1" type=02 *a code=0661 owner=0032 element=067E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0662 owner=0032 element=045F universal=3FFF unitName="second" type=0B size=0003 fl=04 6ƿ6pSyncComponent "PowerOnly" handled in the control thread.*n code=0033 name="Power24vConverter" *e code=067F elementURI="Power24vConverter.enableBroadcast" type=02 *a code=0663 owner=0033 element=067F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0664 owner=0033 element=045B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0680 elementURI="Power24vConverter.component_voltage" type=02 *a code=0665 owner=0033 element=0680 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0681 elementURI="Power24vConverter.component_avgVoltage" type=02 *a code=0666 owner=0033 element=0681 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0682 elementURI="Power24vConverter.component_current" type=02 *a code=0667 owner=0033 element=0682 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0683 elementURI="Power24vConverter.component_avgCurrent" type=02 *a code=0668 owner=0033 element=0683 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0669 owner=0033 element=04FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 6ƿ6SyncComponent "Power24vConverter" handled in the control thread.*n code=0034 name="Radio_Surface" *e code=0684 elementURI="Radio_Surface.enableBroadcast" type=02 *a code=066A owner=0034 element=0684 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=066B owner=0034 element=046B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0685 elementURI="Radio_Surface.component_voltage" type=02 *a code=066C owner=0034 element=0685 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0686 elementURI="Radio_Surface.component_avgVoltage" type=02 *a code=066D owner=0034 element=0686 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0687 elementURI="Radio_Surface.component_current" type=02 *a code=066E owner=0034 element=0687 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0688 elementURI="Radio_Surface.component_avgCurrent" type=02 *a code=066F owner=0034 element=0688 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0670 owner=0034 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0689 elementURI="VerticalControl.verticalMode" type=02 *a code=0671 owner=0034 element=0689 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0672 owner=0034 element=0641 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0673 owner=0034 element=020D universal=3FFF unitName="meter" type=0B size=0003 fl=04 1 6ƿ6hComponent "Radio_Surface" handled in its own thread.*n code=0035 name="Radio_Surface ThreadHandler" 6DCreated PCaller Thread at 408DF4E06DProtected caller Thread ID is 37666lLoaded Module: Sensor (Contains the sensor components)6NLoading Module at Modules/Navigation.so*n code=0036 name="DeadReckonUsingMultipleVelocitySources" *e code=068A elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *a code=0674 owner=0036 element=068A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0675 owner=0036 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0676 owner=0036 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0677 owner=0036 element=001B 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type=0B size=0003 fl=04 *a code=0740 owner=003C element=061E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0741 owner=003C element=0623 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0742 owner=003C element=0628 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0743 owner=003C element=062D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0744 owner=003C element=0632 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0745 owner=003C element=0637 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0746 owner=003C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0747 owner=003C element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0748 owner=003C element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0749 owner=003C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074A owner=003C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074B owner=003C element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074C owner=003C element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074D owner=003C element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06BD elementURI="CBIT.shorePowerOn" type=02 *a code=074E owner=003C element=06BD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06BE elementURI="CBIT.ampHoursUsed" type=02 *a code=074F owner=003C element=06BE universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=06BF elementURI="CBIT.platform_fault" type=00 *a code=0750 owner=003C element=06BF universal=0030 unitName="enum" type=02 size=0001 fl=05 *e code=06C0 elementURI="CBIT.platform_fault_leak" type=00 *a code=0751 owner=003C element=06C0 universal=0031 unitName="enum" type=02 size=0001 fl=05 *a code=0752 owner=003C element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06C1 elementURI="CBIT.GFCHANA0Current" type=02 *a code=0753 owner=003C element=06C1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C2 elementURI="CBIT.GFCHANA1Current" type=02 *a code=0754 owner=003C element=06C2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C3 elementURI="CBIT.GFCHANA2Current" type=02 *a code=0755 owner=003C element=06C3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C4 elementURI="CBIT.GFCHANA3Current" type=02 *a code=0756 owner=003C element=06C4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C5 elementURI="CBIT.GFCHANB0Current" type=02 *a code=0757 owner=003C element=06C5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C6 elementURI="CBIT.GFCHANB1Current" type=02 *a code=0758 owner=003C element=06C6 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C7 elementURI="CBIT.GFCHANB2Current" type=02 *a code=0759 owner=003C element=06C7 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C8 elementURI="CBIT.GFCHANB3Current" type=02 *a code=075A owner=003C element=06C8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06C9 elementURI="CBIT.GFCHANOpenCurrent" type=02 *a code=075B owner=003C element=06C9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=075C owner=003C element=06BB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06CA elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=075D owner=003C element=06CA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=06CB elementURI="CBIT.binnedDepthRate" type=02 *a code=075E owner=003C element=06CB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=075F owner=003C element=034A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0760 owner=003C element=0349 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0761 owner=003C element=034B universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0762 owner=003C element=034C universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0763 owner=003C element=034D universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=0764 owner=003C element=0357 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0765 owner=003C element=0350 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0766 owner=003C element=0352 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0767 owner=003C element=0354 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0768 owner=003C element=0356 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0769 owner=003C element=0355 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076A owner=003C element=034E universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=076B owner=003C element=034F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076C owner=003C element=0358 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076D owner=003C element=0353 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=076E owner=003C element=0359 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=076F owner=003C element=035A universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0770 owner=003C element=035B universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0771 owner=003C element=035C universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0772 owner=003C element=035D universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0773 owner=003C element=035E universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0774 owner=003C element=035F universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0775 owner=003C element=0360 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0776 owner=003C element=0361 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0777 owner=003C element=0362 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0778 owner=003C element=0363 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0779 owner=003C element=0364 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=077A owner=003C element=0365 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=077B owner=003C element=0366 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=077C owner=003C element=0367 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=077D owner=003C element=0368 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 16ƿ6fSyncComponent "CBIT" handled in the control thread.6Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)6HLoading Module at 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fl=04 *a code=078F owner=003D element=0172 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0790 owner=003D element=0173 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0791 owner=003D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0792 owner=003D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0793 owner=003D element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06D1 elementURI="CTD_Seabird.sea_water_electrical_conductivity" type=00 *a code=0794 owner=003D element=06D1 universal=0057 unitName="siemens_per_meter" type=0B size=0003 fl=05 QEv67*e code=06D2 elementURI="CTD_Seabird.sea_water_temperature" type=00 *a code=0795 owner=003D element=06D2 universal=0060 unitName="celsius" type=0B size=0003 fl=05 QIy6C*e code=06D3 elementURI="CTD_Seabird.sea_water_pressure" type=00 *a code=0796 owner=003D element=06D3 universal=005A unitName="decibar" type=0B size=0003 fl=05 QM{6C*e code=06D4 elementURI="CTD_Seabird.depth" type=00 *a code=0797 owner=003D element=06D4 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=06D5 elementURI="CTD_Seabird.sea_water_salinity" type=00 *a code=0798 owner=003D element=06D5 universal=005C unitName="practical_salinity_unit" type=0B size=0003 fl=05 QU6'7*e code=06D6 elementURI="CTD_Seabird.sea_water_density" type=00 *a code=0799 owner=003D element=06D6 universal=0056 unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *e code=06D7 elementURI="CTD_Seabird.speed_of_sound_in_sea_water" type=00 *a code=079A owner=003D element=06D7 universal=0061 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=06D8 elementURI="CTD_Seabird.mass_concentration_of_oxygen_in_sea_water" type=00 *a code=079B owner=003D element=06D8 universal=001E unitName="microgram_per_liter" type=0B size=0003 fl=05 Qa69*e code=06D9 elementURI="CTD_Seabird.sea_water_dissolved_oxygen_freq" type=02 *a code=079C owner=003D element=06D9 universal=3FFF unitName="hertz" type=0B size=0003 fl=05 *e code=06DA elementURI="CTD_Seabird.bin_median_sea_water_temperature" type=02 *a code=079D owner=003D element=06DA universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=06DB elementURI="CTD_Seabird.bin_mean_sea_water_temperature" type=02 *a code=079E owner=003D element=06DB universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=06DC elementURI="CTD_Seabird.bin_standard_deviation_sea_water_temperature" type=02 *a code=079F owner=003D element=06DC universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=06DD elementURI="CTD_Seabird.bin_median_sea_water_salinity" type=02 *a code=07A0 owner=003D element=06DD universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *e code=06DE elementURI="CTD_Seabird.bin_mean_sea_water_salinity" type=02 *a code=07A1 owner=003D element=06DE universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *e code=06DF elementURI="CTD_Seabird.bin_standard_deviation_sea_water_salinity" type=02 *a code=07A2 owner=003D element=06DF universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 q6ƿ6dComponent "CTD_Seabird" handled in its own thread.*n code=003E name="CTD_Seabird ThreadHandler" 6DCreated PCaller Thread at 409E64E06DProtected caller Thread ID is 3767*n code=003F name="PAR_Licor" *e code=06E0 elementURI="PAR_Licor.enableBroadcast" type=02 *a code=07A3 owner=003F element=06E0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07A4 owner=003F element=0192 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06E1 elementURI="PAR_Licor.component_voltage" type=02 *a code=07A5 owner=003F element=06E1 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06E2 elementURI="PAR_Licor.component_avgVoltage" type=02 *a code=07A6 owner=003F element=06E2 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06E3 elementURI="PAR_Licor.component_current" type=02 *a code=07A7 owner=003F element=06E3 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06E4 elementURI="PAR_Licor.component_avgCurrent" type=02 *a code=07A8 owner=003F element=06E4 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=07A9 owner=003F element=0193 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=04 *a code=07AA owner=003F element=0194 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07AB owner=003F element=0199 universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=04 *a code=07AC owner=003F element=019A universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=07AD owner=003F element=0195 universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=07AE owner=003F element=0197 universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=07AF owner=003F element=0196 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=07B0 owner=003F element=0198 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=06E5 elementURI="PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water" type=00 *a code=07B1 owner=003F element=06E5 universal=000A unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 6Q8*a code=07B2 owner=003F element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06E6 elementURI="PAR_Licor.adcCount" type=02 *a code=07B3 owner=003F element=06E6 universal=3FFF unitName="count" type=0D size=0004 fl=05 6ƿ6pSyncComponent "PAR_Licor" handled in the control thread.*n code=0040 name="WetLabsBB2FL" *e code=06E7 elementURI="WetLabsBB2FL.enableBroadcast" type=02 *a code=07B4 owner=0040 element=06E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07B5 owner=0040 element=01A0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06E8 elementURI="WetLabsBB2FL.component_voltage" type=02 *a code=07B6 owner=0040 element=06E8 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06E9 elementURI="WetLabsBB2FL.component_avgVoltage" type=02 *a code=07B7 owner=0040 element=06E9 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06EA elementURI="WetLabsBB2FL.component_current" type=02 *a code=07B8 owner=0040 element=06EA universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06EB elementURI="WetLabsBB2FL.component_avgCurrent" type=02 *a code=07B9 owner=0040 element=06EB universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=07BA owner=0040 element=01AC universal=3FFF unitName="none" type=00 size=000D fl=04 *a code=07BB owner=0040 element=01A8 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04 *a code=07BC owner=0040 element=01A3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07BD owner=0040 element=01A9 universal=3FFF 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unitName="reciprocal_meter" type=0B size=0003 fl=05 *e code=06F3 elementURI="WetLabsBB2FL.BackscatteringCoeff650nm" type=02 *a code=07CD owner=0040 element=06F3 universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *e code=06F4 elementURI="WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water" type=00 *a code=07CE owner=0040 element=06F4 universal=001D unitName="microgram_per_liter" type=0B size=0003 fl=05 67*e code=06F5 elementURI="WetLabsBB2FL.concentration_of_colored_dissolved_organic_matter_in_sea_water" type=00 *a code=07CF owner=0040 element=06F5 universal=0005 unitName="part_per_billion" type=0B size=0003 fl=05 6E/*e code=06F6 elementURI="WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water" type=02 *a code=07D0 owner=0040 element=06F6 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 *e code=06F7 elementURI="WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water" type=02 *a code=07D1 owner=0040 element=06F7 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universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=086C owner=0047 element=01FF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=086D owner=0047 element=0200 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=086E owner=0047 element=0201 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=086F owner=0047 element=0202 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0870 owner=0047 element=0203 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0871 owner=0047 element=0204 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0872 owner=0047 element=0205 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0873 owner=0047 element=0206 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0874 owner=0047 element=0207 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0875 owner=0047 element=01D2 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0876 owner=0047 element=0208 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0877 owner=0047 element=020A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0878 owner=0047 element=020B universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0879 owner=0047 element=020C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=087A owner=0047 element=020D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=087B owner=0047 element=020E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=087C owner=0047 element=023E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=087D owner=0047 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=087E owner=0047 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=087F owner=0047 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0880 owner=0047 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0881 owner=0047 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0882 owner=0047 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0883 owner=0047 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0725 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=0884 owner=0047 element=0725 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=0726 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=0885 owner=0047 element=0726 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0727 elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=0886 owner=0047 element=0727 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0728 elementURI="VerticalControl.dtInternal" type=02 *a code=0887 owner=0047 element=0728 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0729 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=0888 owner=0047 element=0729 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=072A elementURI="VerticalControl.massIntegralInternal" type=02 *a code=0889 owner=0047 element=072A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=072B elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=088A owner=0047 element=072B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=072C elementURI="VerticalControl.pitchInternal" type=02 *a code=088B owner=0047 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=072D elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=088C owner=0047 element=072D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=088D owner=0047 element=04DD universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=088E owner=0047 element=0709 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=088F owner=0047 element=0710 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0890 owner=0047 element=0702 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0891 owner=0047 element=0709 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0892 owner=0047 element=0710 universal=3FFF unitName="meter" type=0B size=0003 fl=04 .6ƿ.6|SyncComponent "VerticalControl" handled in the control thread.*n code=0048 name="HorizontalControl" *e code=072E elementURI="HorizontalControl.enableBroadcast" type=02 *a code=0893 owner=0048 element=072E universal=3FFF unitName="bool" type=02 size=0001 fl=05 $168Construct HorizontalControl.*a code=0894 owner=0048 element=06B5 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=072F elementURI="HorizontalControl.latitudeCmd" type=02 *a code=0895 owner=0048 element=072F universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0730 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=0896 owner=0048 element=0730 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0731 elementURI="HorizontalControl.headingCmd" type=02 *a code=0897 owner=0048 element=0731 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0732 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0898 owner=0048 element=0732 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0899 owner=0048 element=06B6 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0733 elementURI="HorizontalControl.bearingCmd" type=02 *a code=089A owner=0048 element=0733 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=089B owner=0048 element=04DD universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0734 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=089C owner=0048 element=0734 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0735 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=089D owner=0048 element=0735 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=0736 elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=089E owner=0048 element=0736 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=089F owner=0048 element=01C6 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08A0 owner=0048 element=01C7 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=08A1 owner=0048 element=01C9 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08A2 owner=0048 element=01CA universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=08A3 owner=0048 element=01C8 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=08A4 owner=0048 element=01CB universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=08A5 owner=0048 element=01CC universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=08A6 owner=0048 element=01CD universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=08A7 owner=0048 element=01CE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08A8 owner=0048 element=01CF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08A9 owner=0048 element=01D0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08AA owner=0048 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AB owner=0048 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AC owner=0048 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AD owner=0048 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AE owner=0048 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0737 elementURI="HorizontalControl.headingCmdInternal" type=02 *a code=08AF owner=0048 element=0737 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0738 elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *a code=08B0 owner=0048 element=0738 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0739 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=08B1 owner=0048 element=0739 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=073A elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=08B2 owner=0048 element=073A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=073B elementURI="HorizontalControl.xteInternal" type=02 *a code=08B3 owner=0048 element=073B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=073C elementURI="HorizontalControl.kxteInternal" type=02 *a code=08B4 owner=0048 element=073C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=073D elementURI="HorizontalControl.bearingInternal" type=02 *a code=08B5 owner=0048 element=073D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08B6 owner=0048 element=0717 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08B7 owner=0048 element=0717 universal=3FFF unitName="radian" type=2F size=0004 fl=04 16ƿ6SyncComponent "HorizontalControl" handled in the control thread.*n code=0049 name="SpeedControl" *e code=073E elementURI="SpeedControl.enableBroadcast" type=02 *a code=08B8 owner=0049 element=073E universal=3FFF unitName="bool" type=02 size=0001 fl=05 $6.Construct SpeedControl.*a code=08B9 owner=0049 element=04DD universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=08BA owner=0049 element=01D4 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=08BB owner=0049 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BC owner=0049 element=071E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 q6ƿ6vSyncComponent "SpeedControl" handled in the control thread.*n code=004A name="LoopControl" *e code=073F elementURI="LoopControl.enableBroadcast" type=02 *a code=08BD owner=004A element=073F universal=3FFF unitName="bool" type=02 size=0001 fl=05 %6,Construct LoopControl.*a code=08BE owner=004A element=0724 universal=3FFF unitName="second" type=0B size=0003 fl=04 6ƿ6tSyncComponent "LoopControl" handled in the control thread.6Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)6BLoading Module at Modules/Dock.soW6Loaded Module: Dock (Contains behaviors and commands for docking)X6LLoading Module at Modules/Simulator.so6Loaded Module: Simulator (This is the module containing the Simulator)6JLoading Module at Modules/Guidance.so=6rLoaded Module: Guidance (Contains behaviors and commands)>6NLoading Module at Modules/Estimation.sow6Loaded Module: Estimation (Contains the base estimation components)*n code=004B name="MissionManager" *e code=0740 elementURI="MissionManager.enableBroadcast" type=02 *a code=08BF owner=004B element=0740 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08C0 owner=004B element=06B3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08C1 owner=004B element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0741 elementURI="MissionManager.mission_started" type=00 *a code=08C2 owner=004B element=0741 universal=001C unitName="count" type=0D size=0004 fl=05 ƿ}6zSyncComponent "MissionManager" handled in the control thread.*n code=004C name="Reporter" *e code=0742 elementURI="Reporter.enableBroadcast" type=02 *a code=08C3 owner=004C element=0742 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿ6nSyncComponent "Reporter" handled in the control thread.*n code=004D name="NavChartDb" *e code=0743 elementURI="NavChartDb.enableBroadcast" type=02 *a code=08C4 owner=004D element=0743 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0744 elementURI="NavChartDb.closestDistance" type=02 *a code=08C5 owner=004D element=0744 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0745 elementURI="NavChartDb.nextDistance" type=02 *a code=08C6 owner=004D element=0745 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0746 elementURI="NavChartDb.closestDepth" type=02 *a code=08C7 owner=004D element=0746 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0747 elementURI="NavChartDb.nextDepth" type=02 *a code=08C8 owner=004D element=0747 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08C9 owner=004D element=02A7 universal=3FFF unitName="none" type=00 size=0023 fl=04 *a code=08CA owner=004D element=02A8 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ6bComponent "NavChartDb" handled in its own thread.*n code=004E name="NavChartDb ThreadHandler" '6DCreated PCaller Thread at 40BE14E0'6DProtected caller Thread ID is 3769N6,Main Thread ID is 3672F6&Running supervisor.62Handler Thread ID is 37706FInitializing the command executive.62Handler Thread ID is 377162Handler Thread ID is 3772 64Initializing ControlThread 6BInitializing DepthRateCalculator.6BInitializing PitchRateCalculator. 6:Initializing SpeedCalculator.6>Initializing YawRateCalculator. 6LInitializing ElevatorOffsetCalculator.*a code=08CB owner=002D element=0417 universal=3FFF unitName="bool" type=02 size=0001 fl=04 6lInitializing DeadReckonUsingSpeedCalculator component. 6>Initialize NavChart Navigation.6hInitializing UniversalFixResidualReporter component.64Initialize SBIT Component.=6git: 2024-02-066dgit hash: 45759fb189c1cf26f5343b3c07f985a86883e7e8=60Kernel Release: 2.6.27.8*a code=08CC owner=003A element=036A universal=3FFF unitName="bool" type=02 size=0001 fl=04 6Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021 ٿ66HBeginning SBIT in 48.000000 seconds.64Initialize IBIT Component.ۿ6 64Initialize CBIT Component.62Handler Thread ID is 3773 6*Initialized mux pins. 6@Initializing the watchdog timer.62Handler Thread ID is 377462Handler Thread ID is 3775*a code=08CD owner=002A element=03DD universal=3FFF unitName="bool" type=02 size=0001 fl=04 6dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP6TLast reboot was NOT due to watchdog timer. 6.Initializing heartbeat.62Handler Thread ID is 3776)ɿ 6UiG62Handler Thread ID is 3777 ʿ6vA)ʿ6AIʿ6;! 6 ɿ6vA&62Handler Thread ID is 3778&62Initializing CTD_Seabird. *62Handler Thread ID is 3780+62+6 -6Powering up'.62Handler Thread ID is 3782&16Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000&16tAlready Loaded Electronic Nav Chart data from US1WC07M.000&16Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000&16tAlready Loaded Electronic Nav Chart data from US2WC11M.000&26Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000&26tAlready Loaded Electronic Nav Chart data from US3CA52M.000&26Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000&26tAlready Loaded Electronic Nav Chart data from US5CA50M.000 <62Deactivating GF circuits. <68Deactivating emergency mode. c6$Backplane powered.#i6HInitialize VerticalControlComponent. $j6LInitialize HorizontalControlComponent.$k6BInitialize SpeedControlComponent. %l6@Initialize LoopControlComponent.%l6:Using TethysL tl-to-tx parser%m6\Loading Mission from file: Missions/Startup.tl%m6PTethyslAPI: loading: Missions/Startup.tl%n6hTethyslAPI: mission file loaded: Missions/Startup.tl%6TethyslAPI: Missions/Startup.tl translated into: *n code=004F name="Startup" *n code=0050 name="Startup:A.GoToSurface" *e code=0748 elementURI="GoToSurface.enableBroadcast" type=02 *a code=08CE owner=0050 element=0748 universal=3FFF unitName="bool" type=02 size=0001 fl=05 (6,Construct GoToSurface.*a code=08CF owner=0050 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D0 owner=0050 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D1 owner=0050 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D2 owner=0050 element=0721 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08D3 owner=0050 element=04DE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08D4 owner=0050 element=04DD universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08D5 owner=0050 element=0689 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08D6 owner=0050 element=06B4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08D7 owner=0050 element=04DF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08D8 owner=0050 element=020D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08D9 owner=0050 element=0208 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08DA owner=0050 element=01DA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08DB owner=0050 element=01FA universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08DC owner=0050 element=01F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08DD owner=0050 element=0209 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0051 name="Startup:StartupSatComms" *n code=0052 name="Startup:StartupSatComms:A" *n code=0053 name="Startup:StartupSatComms:B" %6 mission Startup { behavior Guidance:GoToSurface { run in progression } aggregate StartupSatComms { run in sequence readDatum { timeout duration=P1M Universal:latitude_fix } readDatum { timeout duration=P1M Universal:platform_communications } } } %6^Loading Mission from file: Missions/Default.xml*n code=0054 name="Default" *e code=0749 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=08DE owner=0054 element=0749 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=08DF owner=0054 element=0749 universal=3FFF unitName="minute" type=1F size=0008 fl=05 FR6%S6vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0055 name="Default:A.Wait" *U6Construct Wait.*n code=0056 name="Default:B.GoToSurface" *a code=08E0 owner=0056 element=0748 universal=3FFF unitName="bool" type=02 size=0001 fl=05 +[6,Construct GoToSurface.*a code=08E1 owner=0056 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E2 owner=0056 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E3 owner=0056 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E4 owner=0056 element=0721 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08E5 owner=0056 element=04DE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08E6 owner=0056 element=04DD universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08E7 owner=0056 element=0689 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08E8 owner=0056 element=06B4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08E9 owner=0056 element=04DF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08EA owner=0056 element=020D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08EB owner=0056 element=0208 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08EC owner=0056 element=01DA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08ED owner=0056 element=01FA universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08EE owner=0056 element=01F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08EF owner=0056 element=0209 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0057 name="Default:CheckIn" *n code=0058 name="Default:CheckIn:Read_GPS" *n code=0059 name="Default:CheckIn:Read_Iridium" *n code=005A name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=005B name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" -x6$Construct Execute.*n code=005C name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=005D name="Default:CheckIn:C.Wait" .z6Construct Wait.*n code=005E name="Default:CheckIn:D" *a code=08F0 owner=005E element=0749 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=08F1 owner=005E element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005F name="Default:CheckIn:E" *n code=0060 name="Default:D" *n code=0061 name="Default:E.Execute" 06$Construct Execute.%6( 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 6Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,|F\ ,T5UrAPowering up*Initializing AHRS_M2.Iv*a code=08F2 owner=0029 element=03CB universal=3FFF unitName="bool" type=02 size=0001 fl=04 ! !%@! -@--Pressure or depth reading out of range: 1629.131348 decibar, 0.000000 m56Powering up MultiRay Lights.Powering up loadControl)-5Powering up.)5i=U 9=w-u>Depth measurement is not active҅҅ 9@ =@ A@ E@ I@ M@ y@ }@ @ @ @ @zDV2D"DJDBDEE  !-4Initializing EZServoServo. !m6Initializing BuoyancyServo.!u4Initializing EZServoServo.!6Initializing ElevatorServo. "4Initializing EZServoServo. ".Initializing MassServo."4Initializing EZServoServo."%2Initializing RudderServo. #-4Initializing EZServoServo. #e0Initializing ThrusterHE.u*e code=074A elementURI="controlThread.durationOfLastRun" type=00 *a code=08F3 owner=0004 element=074A universal=3FFF unitName="second" type=07 size=0002 fl=05 G\>L\,4UrA! !]! e! e e>@! !e eXFem*DROP WEIGHT MISSING. q mmHardware Faulti]a$9]7ҽҽDXz:2D"DJDBDEE](Scheduling is pausedBCritical error at 20240213T050836NVStop Mission called by CBIT::checkCriticals-5NHardware Fault in component: DropWeight!5 5M=NHardware Fault in component: DropWeightGE=2S\,NNUrA"3=&C)(I*i.2$9.7b Mfp=!Mf jjD 2D"DJDBDE!E!=BCritical error at 20240213T050836AQG]4=Y\,hUrA"Z=&JC&&)& &) ˝A˝A)̙I˙̥ḀAi$97u!]Mu<҅҅D2D"DJDBDEE YqG}>a\,UrA*W=*D),I,i2#927:=M:=>>Dl2Dl"DlJDlBDlEpEpiGt=_g\,UrA"z=" D)$I$i*#9*7NW<MRI=VVDd2Dd"DdJDdBDdEhEht|G= Powering down) mm\,sUrA"F="#C &;&;)$I( *;*p;i*D#9*67NMRJ=VVD`2D`"D`JDdBDdEdEhpxG  =]t\,ZUrA"U8="C)(I(i."9.r7b MbH=jjDx2D|"D|JD9BD9EAEIG]=]{\,v5UrAU!S=UD)YIaie"9e7V<M#=ҽҽD2D"DJDBDEEG>R쁕\,VrA~F=#C  ) I   i"9|7= M=e=EED2D"DJDBDEE G=e\,!VrA~T=~D) I i w"9 @7U. <MUH=eeD2D"DJDBDEEaY ^A9)9GEQ>@\,;VrAi%>I-CpY=D)̩I˱)ɵhG )fAi:"97I-;)(;M6=ҽҽD2D"DJDBDEE!@E@E@E@E G >,)\,eUVrAr=5D !%4<)!I) -4<-;i-!9-{7@<M^=ҝҝD2D"DJDBDEEG=I΅ R\,}oVrA~U8=~C) I i !9 75M=P=EED2D"DJDBDEEG%N>:\,ZVrA] f=]t D)aIaim-!9mF7X<ML=%%DA2DA"DAJDABDAEIEI-#5*Zero Speed Commanded. 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W!??ɞ@i2_;CBr=B5DiFR=ID HH)HIHiJ9J>6v<MvE=z/9QUz>yxxezCxY~.:m~>2G:GBGJGD!rD!2D)"D)JD)BD)E)E1@!1G==#+°\,j þrA) nȞ@*ۥ@ْ:)<9H@?y? pY?&rT??nȞ@i_;C=%;D)̡Iˡi 96w=M/=QU>yeCYm>2G:GBGJGDrD2D"DJDBDEE!@AQaGm5>)E=iG Y)qIʥ;ɡTȰ\,"þrAʞ@mݥ@ْ;:Ȩ<9H  ?q?@j U?`tGV ?|?ʞ@im_;C"&Cɻ&sAi&I&sF&I&Ci&uA *t*mF)**C *sA**qFɼ..LC.uAI.Ļ).nmFi.)2sCI2uA2ɽ2F 2ɾ6C6uA6i6iyF6i: C:uA): :nFI:8RM=R'D)Ii% 9%6 M X=X9QU>yeCY?:m%>!2G9:G9BG9JG9DIrDI2DI"DIJDIBDIEQEY@!)AGM>uAAuAA-~ΰ\,<þrAcȞ@ۥ@ْHn:<9H??u B?` V`֝??cȞ@i_;C&*=>C)  Ayy)yIˁi96߁MO=5QU>yeCY;m>!2G1:G1BG9JG9DArDA2DI"DIJDIBDIEIEQ@ )G5 >fհ\,"VþrAɑɞ@ܥ@ْj:<9H |?? ҄?s^-W֝?@?ɞ@i^;Cru=r%D)tItiz 9z$6%E=M-U=-?;9QU->y)1e5C1Y5r9m5>92GQ:GQBGQJGQDarDa2Da"DiJDiBDiEiEq@iyG=ʐ۰\,spþrAȞ@ۥ@ْo:<9H?W?'֙@B ?@s -W? ?Ȟ@iT_;CBo=BDD)DIDiJ9J56RHMRS=RX4QUV>yTTeVCTYZmZ>\2Gd:GdBGdJGdDlrDl2Dp"DpJDpBDpEpEt@G=mV>mR>xⰯ\,]þrAŞ@إ@ْ/:<9H?@? ?@OVϒ?@?Ş@i@_;BD=B2CiDID HH)HIHiN9N6V_ҼMVJ=VϸQUV>yXXeZCXYZG`m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDpBDtEtEt@G=Ǣ谯\,8þrA) "Þ@"l֥@ْ"":"<9"H?? ֙?`/ @DTL??"Þ@i"^;"CBz=B D)HIHiN9N%6V=MVJ=VQUV>yXXeZCXY^s6m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDtBDtEtEx@G=\,þrAĞ@ץ@ْ~լ:DL<9H?`"? ԙ ?@G`Uv?`?Ğ@i_;CVZl=VTD)XIXi^9^-6f MfH=fQ9QUf>yhhejChYj9mn>p2Gx:GxBGxJGxDrD2D"DJDBD E E@IYiGu=u@Au@A.\,þrAƞ@٥@ْm:Fw<9H`A?`=?Й&`? j -V֭??ƞ@i_;C^[=bD)d d99)AIAiA9A~M8=w 9QU>yeCY :m >2Ga:GaBGaJGaDrD2D"DJDBDEE@!G-->o\,OþrAɑƞ@٥@ْ:<9H?`y))e-C)Y-Էm5>12G:GBGJGDrD2D"DJDBDEE@G>\,y ľrA&Ǟ@٥@ْ:|A<9H`?? )癿@` ?`&sVǝ? ?&Ǟ@iM_;CNm=NLD)|I|i9>6%;M%J=-8QU->y))e5C1Y58mU>Y2Gi:GiBGqJGqD rD 2D "D JD BD E1E1@G>imN>e\,k%ľrA!ʞ@ܥ@ْ:f<9H@?@Á?ə Y?ę^W??!ʞ@i_;b!S=bDifa=If> dd)hIhij9j6 M L= }O9QU >yeCY~n:m>A2GQ:GQBGQJGyDrD2D"DJDBDEE@IYiGu=\,]?ľrA) Ȟ@Yۥ@ْ:r <9Hb? m?`t䙿`[?nV ??Ȟ@i^;CQ=D)̹I˹i96jKM%=BrQU>yeCYùm>)2G9:G9BGAJGADqrDq2Dq"DqJDqBDyEyEy@9IYGeU>iɩ Iɭ C) UiG ! )9 \,q9YľrAȞ@ڥ@ْ:o<9H}? ?䙿`@?x`RV`? ?Ȟ@i_;CI"Ci"vA &&7F)&&fC &rA&&@cFɨ**̔C*hsAI*)*pFi*).CI.vA.`ɩ.F .ɪ2C2uA2i2F2i6 C6vA)6 67FI6 6 C)6hsAɫ::ipF:8>Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.a F ٗ:8YI:uA:i:G:AJLReceived data from all battery sticks.b[=bD)hIhI||ir9r6;Mv=p8QU?yeCY@m?2G :G BGJGDrD2D"DJDBDEE@)G5.>mAAi.\,sľrAŞ@Pإ@ْŷ: <9H? 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JdU`p??Ğ@iX^;ϕCBW=BD||)Ii 9 6s:MF=qQQU>ye8DYam>2G:GBGJGDrD2D"DJDBDEEJ@ B@ @Gfhï\,rAɑŞ@ץ@ْQt: <9H !?? q?@]U ѝ??Ş@i _;ӕC29=2C)lIlir 9ro6UMUP=]yYYe]8DYYeà9me>i2Gy:GyBGyJGDrD2D"DJDBDEE@G>ï\,0rAOƞ@ ٥@ْ:|<<9H@F?v?g@?`^@_UzƝ??Oƞ@i_;F>=FrC)H H)HIHiN 9NE6ZE;MZU=Z=T8QUZ>y\\e^8D\Yb$9mb>d2Gl:GlBGlJGlDtrDt2Dt"DtJDtBDxExEx@G=͕Y>͑$yï\,_JrAŞ@qإ@ْ>]:[/<9H3? ?ꙿ?k`Uĝ??Ş@i^;ѕC2A=2RC 46;)4I8 88i:9:F6%:M%C=-8QU->y))e58D1Y57m5>2G:GBGJGDrD2D"DJDBDEEZ@5=R@5R=@ G)>Cï\,:drA) /ɞ@ۥ@ْ:7:V<9Hf?*?`䙿?ಯWTϝ??/ɞ@i_;ӕCRO=RC)TITiZ 9Z6v#<MvN=v9QUv>yxxez8DxYz{:m~>iɁIɉ)hG )IE;I92G:GBGJGDrD2D"DJDBDEE@G%>~ï\,H~rAĞ@ץ@ْ:1<9H?? @ @?@@Vѝ??Ğ@i2_;ѕC2Zl=2TDi6R=I6<)8I8i<9yptev8DtYvmv>x2G!:G)BG)JG)D1rD12DY"DYJDYBDYEaEa@G%=͉͉Hï\,rAĞ@ץ@ْx:@<9H ?`?陿` ?`{vVƝ? ?Ğ@i_^;ӕCB6=BCHH)HIHHHiL9L<MH=朸QU >y  e 8D Y6m>2GI:GIBGIJGIDyrDy2Dy"DyJDBDEEJ@B@@19QGU=Zï\,˱rAɑ@vԥ@ْx:Ȍ<9H??@= zf?@jU Н??@iJ_;2O=2C)`I`ib 9b6]r<M]E=]߸QUe>yaaee9DaYmtmm>q2G:GBGJGDrD2D"DJDBDEE@G>Gï\,PrAÞ@D֥@ْ>:<9HR??ᙿ`?f'Vǻ??Þ@iT_;ѕC2_=2 D)4 6}A)pIpir 9r6]<MeJ=e8QUe>yaiem9DiYm:mm>q2G:GBGJGDrD2D"DJDBDEE@)9IG]>=rgot command load ./Missions/Engineering/lab_test_optim.tl%Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl%zTethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl%-TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl͍V>͉ï\,orAIž@ե@ْq:<9H?L? ݙ9o?E@#nU૰??Iž@i^;RD"=RC ||)I <i P 9 46MD=߸QU>ye9DYm>D)2D)"D)JD)BD1EqEyZ@=R@=@aqG>ï\,^rA) "Ğ@"ץ@ْ"״:"<9"H?@ ? ݙ `?uV??"Ğ@i"_; 2\=2D)4I4i:X 9:6^=Mb\=bdJ9QUb>y`def9DdYfZ_:mf>hD 2D"DJDBDEEY@G=% TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for *n code=0062 name="lab_test_optim" *e code=074B elementURI="lab_test_optim.MissionTimeout" type=00 *a code=08F8 owner=0062 element=074B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=08F9 owner=0062 element=074B universal=3FFF unitName="minute" type=1F size=0008 fl=05 G @% nDefineArg lab_test_optim.MissionTimeout = 15.000000 min*e code=074C elementURI="lab_test_optim.RecordTime" type=00 *a code=08FA owner=0062 element=074C universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=08FB owner=0062 element=074C universal=3FFF unitName="minute" type=1F size=0008 fl=05 G N@% dDefineArg lab_test_optim.RecordTime = 1.000000 min*e code=074D elementURI="lab_test_optim.BackseatWait" type=00 *a code=08FC owner=0062 element=074D universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=08FD owner=0062 element=074D universal=3FFF unitName="second" type=1F size=0008 fl=05 G >@% fDefineArg lab_test_optim.BackseatWait = 30.000000 s*e code=074E elementURI="lab_test_optim.UseMission" type=00 *a code=08FE owner=0062 element=074E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08FF owner=0062 element=074E universal=3FFF unitName="bool" type=02 size=0001 fl=05 G % XDefineArg lab_test_optim.UseMission = 1 bool*e code=074F elementURI="lab_test_optim.UseHardcode" type=00 *a code=0900 owner=0062 element=074F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0901 owner=0062 element=074F universal=3FFF unitName="bool" type=02 size=0001 fl=05  HE %E ZDefineArg lab_test_optim.UseHardcode = 0 bool*e code=0750 elementURI="lab_test_optim.InitialSampleTime" type=00 į\,~:rAĞ@ץ@ْ:<9H? ?`iԙ?vkV찝?@?Ğ@i?_;2L=2Ci6a=I6=)4I4i:W 9:6*a code=0902 owner=0062 element=0750 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0903 owner=0062 element=0750 universal=3FFF unitName="second" type=1F size=0008 fl=05 H?%nDefineArg lab_test_optim.InitialSampleTime = 1.000000 s*e code=0751 elementURI="lab_test_optim.SleepCycles" type=00 *a code=0904 owner=0062 element=0751 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0905 owner=0062 element=0751 universal=3FFF unitName="count" type=1F size=0008 fl=05 *H @UE MU3=]QU]>yYYe]9DaYe7me>i%ujDefineArg lab_test_optim.SleepCycles = 3.000000 count*e code=0752 elementURI="lab_test_optim.LightMode" type=00 *a code=0906 owner=0062 element=0752 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0907 owner=0062 element=0752 universal=3FFF unitName="count" type=1F size=0008 fl=05 :H@%fDefineArg lab_test_optim.LightMode = 2.000000 countD2D"DJDBD*e code=0753 elementURI="lab_test_optim.BrightnessWhite" type=00 *a code=0908 owner=0062 element=0753 universal=3FFF unitName="none_int" type=1F size=0008 fl=04 *a code=0909 owner=0062 element=0753 universal=3FFF unitName="none_int" type=1F size=0008 fl=05 JHY@%~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32*e code=0754 elementURI="lab_test_optim.BrightnessRed" type=00 *a code=090A owner=0062 element=0754 universal=3FFF unitName="none_int" type=1F size=0008 fl=04 *a code=090B owner=0062 element=0754 universal=3FFF unitName="none_int" type=1F size=0008 fl=05 ZHuY@%}zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32*e code=0755 elementURI="lab_test_optim.CyclesWaited" type=00 *a code=090C owner=0062 element=0755 universal=3FFF unitName="count" type=1F size=0008 fl=05 bHEiE*a code=090D owner=0062 element=0755 universal=3FFF unitName="count" type=1F size=0008 fl=04 %rDefineOutput lab_test_optim.CyclesWaited = 0.000000 count*e code=0756 elementURI="lab_test_optim.RecordingEnabled" type=00 *a code=090E owner=0062 element=0756 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rH*a code=090F owner=0062 element=0756 universal=3FFF unitName="bool" type=02 size=0001 fl=04 %jDefineOutput lab_test_optim.RecordingEnabled = 0 bool@aiG9>*e code=0757 elementURI="lab_test_optim.LightsEnabled" type=00 *a code=0910 owner=0062 element=0757 universal=3FFF unitName="bool" type=02 size=0001 fl=05 H*a code=0911 owner=0062 element=0757 universal=3FFF unitName="bool" type=02 size=0001 fl=04 %dDefineOutput lab_test_optim.LightsEnabled = 0 bool%xInserting Stack from file: Missions/Insert/BackseatDriver.tl%lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl%TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: *n code=0063 name="lab_test_optim:BackseatDriver" *e code=0758 elementURI="lab_test_optim:BackseatDriver.EnableBackseat" type=00 *a code=0912 owner=0063 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0913 owner=0063 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=05 HU%]~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool*n code=0064 name="lab_test_optim:BackseatDriver:A.BackseatDriver" ͍@A͍@A 22Construct BackseatDriver.*a code=0914 owner=0064 element=04FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0915 owner=0064 element=04FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0916 owner=0064 element=03C4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0917 owner=0064 element=04FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0065 name="lab_test_optim:B" *a code=0918 owner=0065 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0066 name="lab_test_optim:C" *n code=0067 name="lab_test_optim:D" *n code=0068 name="lab_test_optim:Startup" *n code=0069 name="lab_test_optim:Startup:A" *n code=006A name="lab_test_optim:Startup:B.Wait" 5} Construct Wait.*n code=006B name="lab_test_optim:Startup:UseMission" *n code=006C name="lab_test_optim:Startup:UseMission:A" *a code=0919 owner=006C element=045F universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=006D name="lab_test_optim:Startup:UseMission:B" *a code=091A owner=006D element=0756 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=006E name="lab_test_optim:Startup:UseMission:C" *n code=006F name="lab_test_optim:Startup:UseMission:D" *a code=091B owner=006F element=0756 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0070 name="lab_test_optim:Startup:UseMission:E.Wait" 8 Construct Wait.*n code=0071 name="lab_test_optim:Startup:UseMission:F" *a code=091C owner=0071 element=0756 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0072 name="lab_test_optim:Startup:UseMission:G" *n code=0073 name="lab_test_optim:Startup:UseBackdoor" *n code=0074 name="lab_test_optim:Startup:UseBackdoor:A.Execute" :e $Construct Execute.*n code=0075 name="lab_test_optim:Startup:UseBackdoor:B" *n code=0076 name="lab_test_optim:Startup:UseBackdoor:WaitForStop" *n code=0077 name="lab_test_optim:Startup:UseBackdoor:WaitForStop:A" *a code=091D owner=0077 element=0755 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=0078 name="lab_test_optim:Startup:UseBackdoor:D.Execute" < $Construct Execute.*n code=0079 name="lab_test_optim:Startup:UseBackdoor:E" *n code=007A name="lab_test_optim:Startup:UseBackdoor:WaitForStart" *n code=007B name="lab_test_optim:Startup:UseBackdoor:WaitForStart:A" *a code=091E owner=007B element=0755 universal=3FFF unitName="count" type=1F size=0008 fl=05 I- į\,3rAȞ@Rۥ@ْԽ:<9H@U?u?`Й@^ ?nW&??Ȟ@iD_;ҕC2I=2C88)8I8<>AiBT 9B6*n code=007C name="lab_test_optim:Startup:UseBackdoor:G.Execute" >$Construct Execute.*n code=007D name="lab_test_optim:Startup:UseBackdoor:H" *n code=007E name="lab_test_optim:Startup:UseHardcode" EME^=EbE9QUE>yIIeM9DIYMw:mU>*n code=007F name="lab_test_optim:Startup:UseHardcode:A.Execute" ?}$Construct Execute.*n code=0080 name="lab_test_optim:Startup:UseHardcode:B" *n code=0081 name="lab_test_optim:Run" *n code=0082 name="lab_test_optim:Run:A" QD2D"DJD*n code=0083 name="lab_test_optim:Run:B" *a code=091F owner=0083 element=0756 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0084 name="lab_test_optim:Run:C" *a code=0920 owner=0084 element=0757 universal=3FFF unitName="bool" type=02 size=0001 fl=05 BDE9E9J@AB@A*n code=0085 name="lab_test_optim:Run:D" *a code=0921 owner=0085 element=0650 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=0086 name="lab_test_optim:Run:setRed" *n code=0087 name="lab_test_optim:Run:setRed:A" *a code=0922 owner=0087 element=043E universal=3FFF unitName="none" type=1F size=0008 fl=05 *n code=0088 name="lab_test_optim:Run:setRed:B" *n code=0089 name="lab_test_optim:Run:setWhite" *n code=008A name="lab_test_optim:Run:setWhite:A" *a code=0923 owner=008A element=043D universal=3FFF unitName="none" type=1F size=0008 fl=05 *n code=008B name="lab_test_optim:Run:setWhite:B" *n code=008C name="lab_test_optim:Run:G" @ )G5 >*n code=008D name="lab_test_optim:Run:H.Wait" F}Construct Wait.*n code=008E name="lab_test_optim:G.Wait" GConstruct Wait.%}!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =}Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optimį\,ZLrAɑǞ@ڥ@ْ:B<9H?͂?Oԙ@ <?ʔWT??Ǟ@i^;ӕC2}=2D)4I4i:K 9:6^&=MbS=bƷQUb>yddef9DdYf|mj>h2G):G)BG)JG)D1rDY2DY"DaJDaBDaEyEy@ )G5=?į\,hfrAǞ@ڥ@ْCھ:<9H /?@?ҙ`q?`GW%??Ǟ@ie _;ԕC2L=2C)4 6A)`I`ib1 9b46MF=,8QU>y  e 9D Y d8m>2GI:GIBGIJGIDrD2D"DJDBDEE@G>͍a>͍Y>& į\,rAÞ@֥@ْ,:4<9H? ?`˙5? < EUV??Þ@iI_;ՕCR]=R"D 4<)!I! %;%i-4 9-6e=MeD=mQUm>yiieu9DqYumu>y2G:GBGJGDrD2D"DJDBDEEZ@=R@@G=R&į\,܂rA) Ȟ@ڥ@ْ:k<9H`v??ϙ?@ 5Wy?@?Ȟ@iG^;ӕC=5=ED)̹I˹i) 9n6mMA=Y9QU>y  e 9D Y ʠ:m>2G):G)BG)JG)DrD2D"DJDBDEE@AQiGu>)ɥiG ʹ)I  {,į\,CYrAƞ@٥@ْJf:)p<9H@S?`:?ə "?@\ȌW??ƞ@i_;ѕCB@K=BC)DIHiJ, 9J6RMRc=V#QUV>yTTeV:DXYZչmZ>\2Gd:GdBGhJGhDlrDp2Dp"DpJDpBDpEtEt@G=͉͉c3į\,v4rAŞ@إ@ْN:k<9H??1?W`V]? ?Ş@iw_;ӕCBO=BCiFR=IDHH)HIHiN' 9N=6V;;MVJ=VQUV>yXXeZ:DXYZӞm^>\2Gh:GhBGhJGhDlrDp2Dp"DpJDpBDpEtEtJ@|B@|@G=9į\,|rAɑ"ʞ@"ܥ@ْ"B:"M<9"H`?ȁ?@왿`?'W@Rڝ?`?"ʞ@i"^;"ѕC2[=2D)8I9>6F};MFL=J<9QUJ>yHHeJ:DLYNڤ:mN>P2GX:GXBG\JG\D`rD`2Dd"DdJDdBDdEhEh@G=u@į\,rADȞ@ۥ@ْ :i<9H??ę`?[W? ?DȞ@i_;ՕCRz=R D)XIXiZ 9Z6b'<MfF=fQUf>ydhej:DhYjVmj>l2Gx:GxBGxJGxDrD2D"DJDBDE E @qG=͍V>͍R>Fį\,rAɞ@ܥ@ْ :K<9H?ԁ?@ޙ@?I#W]ȝ??ɞ@i_;&Qa=& D)*A ( ``)`I`if9f6eOnMeA=eQUe>yiiem:DiYm9mu>q2G:GBGJGDrD2D"DJDBDEE@iyG=3Lį\,ˠ5rA) Ǟ@=ڥ@ْhO:њ<9Hg? ?@ ܅`?~ VDҝ??Ǟ@i^;ԕCBj=B\D)|Ii96V;MH=恹QU>ye:DY>m>ґ2G:GBGJGDrD2D"DJDBDEE@G="Sį\,OrAƞ@M٥@ْP:2<9H? 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Dԙ` I?@@+T@|?? @ik^;ޕCBcw=BD)Ii96%m<M-5=-IQU->y11e5D1Y=+m=>9HQ"IHYDy2Dy"DJDBDEE@AYG>ٯ\,_drA@B@ْ:d<9H೔?О??⌿ qQU??@i1^;ݕCBr=B5D)D D)HIHiJ9J6R"UMRf=VN9QUV>yTTeZDXYZh:mZ>\Hh"I!HlD2D"DJDBDE E @G=mV>mR>~ٯ\,*!drA@ѝ@ْcq:|`<9H}?? ` ԓ?,U ʝ?`?@i^;ޕCVIV=VD)Ii 96]vM]2=e8QUe>yaaemDiYm9mm>qH"IHD2D"DJDBDEEZ@=R@=@G*>ɕ=l?=g?0ٯ\,';drA@t@ْ:x<9H ?`? `?󧌿S@???@i^;ܕCB^C=BBC) I i 9N6EfMMM^=M2QUM>yIQeUDQYUmU>Y e-eSoftware Fault mmSoftware FaultHy"IHD2D"DJDBDEE@ --Software Fault in component: DeadReckonUsingMultipleVelocitySources--vSoftware Fault in component: DeadReckonUsingSpeedCalculatorG= >ٯ\,_UdrA@r@ْ2~:<9H`?`?`UsO?ܨS@??@i"^;ޕCB9=BCi=I=)9I9i=, 9=6}iM8=ǷQU>yeDY=m>H"IHD2D"DJDBDEE@Clearing failed state for component DeadReckonUsingMultipleVelocitySources  Clearing failed state for component DeadReckonUsingSpeedCalculator G+>im@ADٯ\,@odrA@Q@ْ|:V<9Hۋ???` D?V /Tǩ?@?@i^;B=B%D DF>)HIHiJE 9J$6Vr=MVn=V9QUV?yXXeZDXYZ ҹmZ?blInitializing DeadReckonUsingSpeedCalculator component.Hd"IHhD2D"DJDBDE E J@rAB@qA@G=iI)UgG a)yIʩɩ0+"ٯ\,drAb\=bD)IiK 96]ԼM]2=]QU]>yaaeeDaYemm>mH"IHD2D"DJDBDEE@G!>U(ٯ\,drA@^@ْ>:<9Hy??陿Π@ɔ?3@W ?@?@i^;ݕCBQa=B D)FqA D)HIHiNB 9N6V Y;MVj=V<:QUV?yXXeZDXYZ!;m^?!H9"IyHADa2Da"DaJDaBDiEiEi@IYG}=m]>i~.ٯ\,˼drA@A@ْ :=<9H?`9? `2;?@@!U pߝ??@i^;BU8=BC)I  >>iI 96%HM%5=%QU%>y))e-D)Y-T\m5>9HI"I!HYDy2Dy"DJDBDEEZ@=R@=@IYG}>f5ٯ\,ndrA) p<@_@ْꟺ:<9Hٝ??@ v"?SNSWڝ?`?@i^;ܕCBI=BC)HIHiNH 9Nn6VB<MVf=Vϒ9QUV>yXXeZDXYZ ;m^>`Hh"IHpD2D "D JD BD EE@I1G==;ٯ\,drA@{@ْ:<9HO?-?䙿?܌U`蜝??@i^;ޕCRo=RDDią=Ią=)Ii? 96E<ME3=MlQUM>yIIeMDIYUHκmU>YH"IHD2D"DJDBDEE@G>xBٯ\,l] erA+@盥@ْB: p<9H?@?Kՙ@v? ӌ`_U??+@i ^;B=BC >>)IiH 9n6E^XMM\=MC7QUM>yIQeUDQYUk9mU>YHq"IYHyD2D"DJDBDEEJ@qAB@@iyG=ŢHٯ\,8$erAɑ܉@@ْ*5:<9HM? ?U㙿@?`⌿U ??܉@ia^;ߕCBxd=B| D)Ii_ 96"=M@=QU>yeDYO9m>H9"IAHIDY2Da"DaJDaBDaEaEi@IYG}>Nٯ\,>erA@g@ْ:e<9H+?4?ꙿ`!?Ќ8U \??@i^;B3i=BdD)D D)HIHiNp 9NL6VP;MVb=VQUV>yXXeZDXY^ҹm^>`Hh"IHpD2D "D JD BD E E@G =uR>uV>Uٯ\,WerA@j@ْy:E<9HŖ?@I?`d`;?` 5U`T??@i^;C2&=2#DAA)QIQima 9m6˗<M;=8QU>yeDY:m>9HQ"IHYDy2Dy"DJDBDEEZ@=R@=@IQG}>[ٯ\,qerAg@#@ْ:<9H? ?`?4|V*?@?g@iM^;ޕCVM-=VC)\I\ibI 9b6jvMjY=j8QUn>ypperDpYrf:mv>tH "IHD!2D)"D)JD)BD)E)E1@)9Ge=iqAbٯ\,'erA_@@ْg: <9H@??ᙿ?U??_@i^;CBgN=BCią=Ią=)̩I˩iE 9$6<M8=QU>y  e D Ym>H)"IH9DY2Da"DaJDaBDaEaEi@G">m@Aimhٯ\,erA@b@ْ<-:<9H K?`p?ܙ Z?V ?`?@i^;B!S=BD >>)Ii 9 @;MP=8QU>yeDY_km>H"IHD2D"DJDBDE E J@pAB@@G >) gG ! )9 Ia i oٯ\,EberAK@@ْhn:o<9H`ޗ??@=? xmU ۴??K@i*^;ߕC>Zl=BTD)Ii4 965n<M=A==zKQU=>y9AeEDAYEw͹mE>IHa"IHiDy2Dy"DyJDyBDyEE@IYG}>vٯ\,6erA3@@ْު:<9H? ?@?-`[U,?`?3@i^;ݕCFD=F2C)H JqA) Ii%7 9%6e"ѼMeY=md8QUm>yiieuDqYumu>yH"I!HD2D"DJDBDEE@iyG=mY>mx>-|ٯ\,erA퉞@@ْB:&j<9H l??@̑?@|錿YU2??퉞@i^;CB\=BDˡˡ)̩I˱i) 9n6_<MA=5QU>y  e D Y8m>H)"IIH9D2D"DJDBDEEZ@=R@=@aqG>ٯ\,F frA|@8@ْG: <9H?`؞?噿 ġ?`猿hU`!?@?|@i^;ܕCBQ=BD)HIHiN. 9N6f_Mf`=fi8QUj>yhhejDhYnmn>pHx"I9HD2D"DJDBDEE@)9Ge=?ٯ\,G&frA@@ْO:ݧ<9H@?֜?ϙ?` W쓝??@i^;F=JDiu=Iq)Ii6 96EQ<ME5=E09QUE>yIIeMDIYM}:mU>YHi"IHyD2D"DJDBDEE@AQGu>ImAAi&ٯ\,/@frA폞@@ْ:(<9H'? ?ᙿq?N@_~X?@?폞@i^;ݕCZ\=ZD b>b>)`I`if 9f6nܼMnd=rxv9QUr>ypperDpYv*:mv>xH"I!HD!2D!"D)JD)BD)E)E1@ G==Qٯ\,F~ZfrA.@.ҡ@ْ.:.<9.H ?@\?ЙB?@C@XN??.@i.^;.ߕCbH=fC)Ii%9%6}Z3M}3=}7QU}>yeDYMkm>҉H"IHD2D"DJDBDEE@G*>ٯ\,mtfrA&@&@ْ&l:&9<9&H?ڜ?ڙß?I0W`)??&@i&^;&ޕC2F=2#C)6pA 4)hIhin9n6=M=`==9QU=>yAAeEDAYEŹmM>IHa"IHqD2D"DJDBDEE@G>eV>ea>Pcٯ\,5frA@e@ْC:<9H`^? ?x陿Í?ҌtHU??@i^;BW=BDFqAFrAFoAFnA99)9I9 =>=>iE 9E$6}+<M}8=}bQU>yeDYm>ґH"IHD2D"DJDBDEE@G5.>2ٯ\,frA) "H@"@ْ" :"+c<9"HD??Jꙿ@ۡ?bV`S??"H@i"^; BIV=BD)HIHiN 9No6VMVm=Vs|9QUV?yXXeZDXYZ:m^?`Hh"IHpD2D "D JD BD E E@G=uٯ\,frA@F@ْ}ڴ:<9H?9?`J0??`. OV@ٝ??@i^;ݕCVT=VDiĕp=Iĕp=)̩I˱i1 946aM6=2QU >y  e D YSm>YHi"IHyD2D"DJDBDEE@G!>ɕi?d?quAAٯ\,frAJ@@ْĸ:<9H`~?``?q虿L@?Ќ 7Ua??J@iU^;ޕCBQa=B D J>J>)HIHiNA 9N6V% <MVc=VmwQUV>yXXeZDXY^ѱm^>`Hh"IyHIDQ2DQ"DQJDQBDYEYEaJ@mrAB@mrA@ G==ȼٯ\,,frAɑ@@ْq:D<9H??֙ ?`ݵ`3Tt? ?@i^;&Zl=*TD)̡Iˡi 9,6;M8=)$QU>yeDYk?9m>H "Ii!I!H))}iGD ʑ2D"DJD)ʩBDEIE@G">ٯ\,grA}@9@ْt:<9H?? uá?` Uq??}@i^;ݕCBQa=B D)FqA D)HIHiL9LVpMV`=VW 9QUV>yXXeZDXYZ$<9mZ>\Hh"IyHlD2D"DJDBD E E @G=m]>mN>]ٯ\,W)grA@ڝ@ْk:(<9H?)?@#` `?`ԤQU` d?@?@i^;ޕCF|=FD)Ii 96]{i<M]2=]t^QU]>yaaeeDaYm9mm>iH"IHD2D"DJDBDEEZ@=R@=@G!>ٯ\,Y2CgrAċ@@ْl:E<9H?֝?ٙ`&?@MT ? ?ċ@i^;BT=BD)Ii 9o6EռME^=M`0QUM>yIIeMDIYUHa9mU>YHi"IyHyD2D"DJDBDEE@G=<ٯ\,| ]grA@E@ْ,:n<9HM? ?Nۙ٠@?B Tʌ??@i^;ܕCB3i=BdDič=Ič=)Ii 9$6e:<Me:=e78QUe>yiiemDiYmmu>yH"IaHD2D"DJDBDE E @G&>im@Amٯ\,vgrAA@@ْ:YN<9H`?%? Ɨ?}Ռ`T??A@i^;ݕCBj=B\D HJ?)HIHiN 9Nf6V:MVk=VTQUV?yXXeZDXY^:m^?`Hh"IHpD2D "D JD BD E EJ@qAB@qA@G=IAٯ\,ÐgrA@M@ْ:^<9H%?r?c ?`RU ??@iu^;ޕCRpY=RD)́Iˉi 96bM7=|-9QU>yeDY Em> H!"IH)DA2DA"DAJDABDAEIEI@)1G]>e)ٯ\, grA@>@ْ=:V<9H@??ܠ ?錿@'@U@x? ?@i_;B|=BD)D FrA)LILin 9n6v<Mv]=vDQUv>yxxezDxYzam~>H"IH!DA2DA"DAJDIBDIEIEQ@IYG}=mR>iUٯ\,pzgrA@@ْF:<9H`=?@+?`?` ݨU ??@i^;BA=BRCˁˁ)̉Iˑi3 9f6M:=m8QU >y  e D Y$m>9HI"IHqD2D"DJDBDEEZ@=R@=@IYG}>r;ٯ\,UgrA܉@@ْ:Q<9HM??@?`錿Uv??܉@i ^;ߕCB\=BD)|Ii" 96E<MEW=MٸQUM>yIQeUDQYUMmU>ҹH"I!HD2D"DJDBDE E @G >eٯ\,0grA}@9@ْ:0<9Hm?_?t`Q`Ò?[UBV@ŝ??}@iy_;ޕC2r=25Di5=I5=)Ii 956%UL<M%==%w89QU%>y))e-D)Y-W:9m5>9HI"IHYDy2Dy"DJDBDEE@aqG>imAAZMگ\,g hrAp@,@ْdz:4<9H@’?B?;?`$5xV??p@i!^;ܕCV\=VD ??)!I!i%9%g6eKhMeW=m8QUm>yiieuDqYu,mu>yH"I9HD2D"DJDBDEEJ@B@lA@G=AiAzw گ\,+hrAk@'@ْZ%:d<9H`??c6?OW ?v?k@i^;ݕCB>=BrC)̡I˩i96DMA=C9QU >y  e D Y:m>H)"IiH9DY2Da"DaJDaBDaEaEi@IYG}>)EhG Y)ʁIʱɱ^_گ\,EhrA΍@@ْ}:<9H\? ݜ?՟`?`e Wd?}?΍@i^;J|;=JC)NpA NpA)PIPiV 9V6Z} M^b=^vQU^>y``ebD`Yf9mf>dHp"IHtD2D "D JD BD E E@G=m]>mR>=E got command stop=E (Scheduling is pausedNE ^Stop Mission called by CommandExec::commandStopΪگ\,(`hrA@w@ْ:5<9HH? ?)@?` U`?@?@iK^;C^C=BC))I)iM; 9M,6} ;M}.=QU>yeDYm>ґH"IiH%8MissionManager is completed.%JUninitializing Mission lab_test_optim 1LAggregate::uninitialize lab_test_optim1jAggregate::uninitialize lab_test_optim:BackseatDriver1q# G8Uninitialize Wait Component.a!A!e]a]]eYeUeQMIEA=951-D2D"DJDBDEEZ@=R@@QaGZ>گ\,zyhrA=@@ْp:H<9H?ʟ?/&Ģ?`Tߝ??=@i@^;ޕC&Q=&D)LILiRB 9R6ZY(<MZs=ZeQU^?yllenDlYr mr?t%.Started mission DefaultF1 *:Aggregate::initialize Default +%@Initialize GoToSurfaceComponent. +%No depth rate setting specified. Using default value of nan m/s. +%~No pitch setting specified. Using default value of nan degrees. +%No speed setting specified. Using default value of 1.000000 m/s. +-No surface timeout specified. Using default value of 1000.000000 seconds.+-nReceived pitch timeout configuration 60.000000 seconds.q-*54Initialize Wait Component.2G1:G1BG1JG1DrD2D"DJDBDEE@G>$گ\,UhrA^@@ْ>:1<9H@?H?`(C?`G|Tߝ??^@i%^;2l=2D66)6 6  )  iĵ%=Iĵ= ̹˽>)̹IiP 9465<M5<=/QU=>y99e=D9YE_9mE>iiI2G:GBGJGDrD2D"DJDBDEEJ@B@qA@ G >*گ\,1hrA"؆@"@ْ"J:"ҫ<9"H??@(@O?`|ČW)S`dԝ??"؆@i"E^;"ߕC2r=25D)pIpir8 9r6㤼M%=%:QU%?y))e-D)Y-m-?12Gi:GiBGiJGiDrD2D"DJDBDEE@G>4Sent LCM shutdown request.nShutdown requested. 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Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -G!%%nDefineArg lab_test_optim.MissionTimeout = 15.000000 min15G1%=dDefineArg lab_test_optim.RecordTime = 1.000000 min5EGA%EfDefineArg lab_test_optim.BackseatWait = 30.000000 s9UGQ%UXDefineArg lab_test_optim.UseMission = 1 bool=] HY%eZDefineArg lab_test_optim.UseHardcode = 0 boolAuHq%}nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE*H%jDefineArg lab_test_optim.SleepCycles = 3.000000 countI:H%fDefineArg lab_test_optim.LightMode = 2.000000 countMJH%~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32QZH%zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UbH%rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countYrH%jDefineOutput lab_test_optim.RecordingEnabled = 0 bool]H%dDefineOutput lab_test_optim.LightsEnabled = 0 bool%xInserting Stack from file: Missions/Insert/BackseatDriver.tl%lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl% TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: a H % ~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2- 2Construct BackseatDriver. 5 Construct Wait.;\,P rAɑv@2@ْ:_<9H̒?@M?C癿8#?W骝??v@i%^;ޕC2T=2D)4I4i:9:6 8 Construct Wait.]M]>=eQUe>yaiemDiYm8mm> :$Construct Execute.qD2Dq"DqJDqBDyEyE <$Construct Execute. >$Construct Execute.?$Construct Execute.a!AU@aqG>FConstruct Wait. G%Construct Wait.%!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim\,I%rA@@ْp:[<9H`??ᙿ?@j(MWk??@i^;ߕCRq=R=DTT)XIX Z>Z>iZ9Z6vȑ<MvR=z 8QUz>yxxe~D|Y~&9m~>2G:GBGJGD!rD)2D)"D)JD)BD)E1E1Z@Ep=R@Ep=@G=uY>qc\,X?rAq@-@ْ:<9H?՞?`ȡ֐? 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J ]?f2WL?`?@i$^;Ru=R%DiV=IV=i%9%O6eg<MmH=m8QUm>yiqeuDqYuX9m}>y=7XDisabling Optim recording after 1.000000 s H 3vInitialize ReadDataComponent to sense PowerOnly.sampleLoad1HD2D"DJDBDEE@G >\,rA@z@ْU:R<9H$??7!g? ]W?`}?@iB^;ߕCBxd=B| DJ2Powering down loadControlJJ JJ)JIJ N>N>iE9E6U,MUL=UH(QUU>yYYe]DYYe9me>iH}}1} 84Initialize Wait Component.HHD2D"DJDBDEEZ@R@=@IYG}=ii\,£rA⏞@@ْE:X<9H@? ?b?8W`ɝ?@?⏞@i*_;CBZl=BTDiJ9J6R%;MRV=RQUV>yTTeVDTYZi;mZ>\HdjHhDp2Dt"DtJDtBDtExEx@ G==\,\ܣrA) ԕ@@ْ,:b<9H?`T?@9ݙ>?ތ@%U??ԕ@i8_;B^C=BBC)FnA DiN9Nx6VkʼMVJ=V QUV>yXXeZDXY^:m^>`HhHhDp2Dt"DtJDtBDtEtEx@G=c\,rAD@@ْzA:<9H ̹? ?뙿`v`4?׌.T??D@i_;ߕCR_=R DXZAiZ9Z6bH<MbI=f /QUf>yddejDhYj%;mj>lHxHxD 2D "D JD BD EEJ@%oAB@%yA@G=qq\,rAܣ@@ْ:X<9H?? ꙿ@ ,?"@T?@?ܣ@iя_;ݕC2@K=2Cir9r66zGMzG=~8QU~>yeDY :m >8MDone Waiting.1M 8M8Uninitialize Wait Component.qHHD2D"DJDBDEE@G )> \,]*rAɑ@?@ْG=:<9H?@??K`gV? ?@i3u_;CB=B!7Di191eb=MeC=m]9QUm>yiieuDqYu:mu>yHqHHD2D"DJDBDEE@G>\,m6DrA@@ْh:<9H?8?`/`"? @Sjϝ??@i 1_;C&=&!Di.=I.= ba=bp;if9f6 M P= ԹQU >yeDY%m>!=95nPowering up Optim to try to tide over gap to handoff...5H15=VCompleted lab_test_optim:Startup:UseMission=5ErAggregate::uninitialize lab_test_optim:Startup:UseMission1EE9MpAggregate::initialize lab_test_optim:Startup:UseBackdoor1U)egG y}H)ʑIʽ;ɹD2D"DJDBDE1E9Z@AR@A@G*>͕V>͕R>y+\,^rAˬ@@ْ:P<9H??ᙿ@ ?bU?`?ˬ@i5_;ߕCBO=BCJ.Powering up loadControl)i- 9-65M=G==_w9QU=>yAAeEDAYEY:mM>Ie9etAggregate::uninitialize lab_test_optim:Startup:UseBackdoor1ee ?epAggregate::initialize lab_test_optim:Startup:UseHardcodeeHiD2D"DJDBDEE@IYGu=U\,wrA) @@ْT:p<9HX?]?ۙH?`AV@? ?@i^;_;CB f=Bt DiJ 9Jw6R%e<MRT=RT9QUV>yTTeVDTYZmZ>\f ?ftAggregate::uninitialize lab_test_optim:Startup:UseHardcodef4j@Completed lab_test_optim:Startup1j 4j\Aggregate::uninitialize lab_test_optim:Startupq j@jPAggregate::initialize lab_test_optim:Run jHhDt2Dt"DtJDtBDtExEx@ G==g=$\,ȑrA@T@ْ:<9Hv?@\?@ә E? 1)@vV`? ?@i_;CB*^=BD)F{A F~A)HIJLNAiN0 9N6VMZJ=ZQUZ>yX\e^D\Y^%mb>`=AnPTrying to run Optim and Multiray forreal n nHlD2D "D JD BD E EJ@}AB@|A@G=qqg*\,rA@η@ْG: <9H?{?M♿g`H?@>5V??@i^'_;2\=2D)@I@iF. 9F6J{MNL=N57QUN>yPPeRDPYVVImV>TH` b1!bH`Dt2Dt"DtJDtBDtExEx@G=pAizAO1\,$ŤrAɑ@y@ْ[: <9H`?O?@ @?`k댿uKT1??@i=+_;CVZl=VTD)\I\ib6 9b6j=<MjG=j;QUj>yllenDlYr7mr>tI~1!~q!~HD!2D!"D)JD)BD)E)E1@)9G]=y7\,B[ߤrAw@3@ْo:lu<9Hʴ?@ǖ?i@`2?ՌS??w@i4_;B!S=BDiFa=IF< >>)I %==iH 9n6exnMeA=mHQUm>yiieuDqYuwmu>y Iq!! 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BR ??"7x@i"v^;"CByeDY Ve:m >H!"IH1Da2Da"DaJDaBDaEiEi@)1G]>M\,~:rAw@]@ْv:<9H t?`æ?S@q?`.Sᵝ??w@ii^;VpY=VDXZoA)\I\ibY 9b6j莼MjZ=j4!9QUn>yllerDpYrLmr>tH"IH D!2D)"D)JD)BD)E)E1@)9Ge=quN> T\,YTrAAs@@ْg*:<9H@l?@?ફ Ai? LS?@?As@i]^;C2>=2rC)Ii7 96%oM%7=%iA8QU->y))e-D)Y5m5>9HI"IHYD2D"DJDBDEE@G>'[\,4nrA) #z@ߌ@ْ⾠:T<9H'y?ਥ? nu?`Tخ? ?#z@i _;CBQ=BD)FpA FpA)|Ii3 9f6E<MU=8QU>yeDYm;m>ҙH"IQHD2D"DJDBDEE@G>ɕ}z?}q?a\,'rA{@@ْV:E<9Hf|?@ܤ?ͧx?@5@JT??{@i^;ߕC>T=BD)@ @)Ii6 96:MA=%7QU%>y!)e-D)Y-:m->1HI"IiHQDy2Dy"DyJDyBDyEE@AQG}>iih\,rA@r@ْ:-U<9H ?F?@; ?8Uɝ??@iQ^;CVIV=VD)\I\ibD 9b 6fы:Mjc=jW9QUj>yllenDlYr_:mr>pH|"IHD!2D)"D)JD)BD)E)E1@)9Ge=9@n\,ŻrAɑǂ@@ْh:o<9Hࠈ?ȡ?$`¤ ?`댿 T`w؝?`?ǂ@i _;CBF=B#Ciĕa=Iĕ=)̱I˹iK 96M8= QU >y  eDYԙ9m>H1"IH9DY2Da"DaJDaBDaEaEiZ@R@=@G">(u\,rAڂ@@ْ,:c<9Hˆ?࿡?%๤@#?ތ iU 96ڀ<MQ=G}QU>yeDY:7m>ҹH"IqHD2D"DJDBDE E @G >m]>iR{\,~rAE@@ْ :<9HL?#? @? T`??E@i^;B*^=BD)iIii\ 9]6uMF=8QU>yeDY[9m>H "IHD92D9"DAJDABDAEAEI@AQG}>e:\,hX rA) f@"@ْL;: <9H@? ?R P?댿 igU??f@iR_;F[=FD)NoA L)|Ii] 9v6E9MMU=M8QUM>yQQeUDQYUmU>YHq"IHD2D"DJDBDEEJ@B@@iyG=Hd\,2#rA@I@ْa:?<9H8?? ܤ?`#@9U ??@i^;B f=Bt D)F4< F4<)Iit 96E;ME;=E8QUE>yIIeMDIYM28mU>҉H"IIHD2D"DJDBDEE@G*>I)im@Ar\, =rA@@ْ2:E<9Hn?`?ȁ?evUϝ?`?@i^;CB5=BD)Iiw 96}<MX= QU>yeDYm>ґH"IHD2D"DJDBDEE@G>Zv\,VrAɑ~@@ْQ:J<9H?@|?`//`x@~?m댿"TQ? ?~@i^;2@K=2CiUp=IU%=)Iih 96%M%@=% QU%>y))e-D)Y5m5>9HI"IHYD2D"DJDBDEE@)9G]>T\,prA9~@@ْ`:}G<9H y?ڣ?ɦ|?ƌkU@ާ??9~@i^;CRxd=R| DTVnA)XIXi^ 9^ 6f<Mfc=fG8QUj>yhhejDhYn~mn>pHx"IHD!2D)"D)JD)BD)E)E1@G%=uR>uR>R\,ArA @Ŗ@ْ:<9H?C?@`23?@g@>Wy  e D Y:m>H)"IHqD2D"DJDBDEE@)9G]>=E got command stopNE ^Stop Mission called by CommandExec::commandStop"\,F}rA) @I@ْ4:<9H@? x?wj`]?w fUE?@?@i^;C2W=2D)6pA 6oA)lIlir 9r6}M}S=jNQU>yeDY" m>ґH"IH%8MissionManager is completed.%JUninitializing Mission lab_test_optim 1LAggregate::uninitialize lab_test_optim1jAggregate::uninitialize lab_test_optim:BackseatDriver1q# G8Uninitialize Wait Component.a!A!e-a-]5Y5U5Q5M5I5E5A===9=5=1=-=DA2DA"DIJDIBDIEIEQ@aqG>ܮ\,aUrAV@@ْ^~:r1<9H ?r? f g?@(`˯Uŝ??V@i^;CBcw=BD)|I|il 96E<MEN=MFQUM>yIQeUDQYU2mU>ҹ%.Started mission DefaultF1 *:Aggregate::initialize Default +@Initialize GoToSurfaceComponent. +No depth rate setting specified. Using default value of nan m/s. +~No pitch setting specified. Using default value of nan degrees. +No speed setting specified. Using default value of 1.000000 m/s. +No surface timeout specified. Using default value of 1000.000000 seconds.+nReceived pitch timeout configuration 60.000000 seconds.q*4Initialize Wait Component.2G:GBGJGDrD2D"DJDBDEE@G>}4Sent LCM shutdown request.nShutdown requested. Waiting (18.00 sec to power down.).\ĵ\,M0rA}@9@ْ:N<9H?Ѣ?_`ǥ?<䌿Tȝ??}@iT^;B[=BD)F< Fp<)F; F4y!!e%D)Y-,m->12GA:GABGAJGIDrD2D"DJDBDEE@a q G >\,rAɑ~@@ْs:5;<9H@??``~? 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Ӣ?}ɥԀ?0 U ԝ?@?x@i _;CBx=BD)DIHiJY 9J6R<MRK=V 7QUV>yTTeZDXYZJmZ>\2Gd:GhBGhJGhDlrDp2Dp"DpJDpBDpEtEtZ@z=R@z=@G=iI)) A)YIʉɉy``efDdYftmf>h2Gp:GpBGtJGtDxrDx2D|"D|JD|BD|EE@G=NA\,CrA@a@ْ|ў:}<9H ? 5?'`q?`ઌ /S?@?@i^;C2t0=2C 8:?)8I8 >>> >i>M 9>6FtMFM=FָQUJ>yHHeJDHYNj^9mN>P2GX:GXBGXJGXD9rD92DA"DAJDABDAEIEI@)9GU===rgot command load ./Missions/Engineering/lab_test_optim.tl%ELoading Mission from file: ./Missions/Engineering/lab_test_optim.tl%EzTethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl%MTethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tlmV>m]>i\,rA}@y@ْ{:@<9H ?? `|?@QO7T劣??}@i_;C2b=2 D)pIpivd 9v#6e%<Me>=eX8QUe>yiiemDiYm mu>qD2D"DJDBDEEJ@AB@@G>%] TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for - G % nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1 G % dDefineArg lab_test_optim.RecordTime = 1.000000 min5 G % fDefineArg lab_test_optim.BackseatWait = 30.000000 s9 G % XDefineArg lab_test_optim.UseMission = 1 bool=  H % ZDefineArg lab_test_optim.UseHardcode = 0 boolA H % nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE *H % jDefineArg lab_test_optim.SleepCycles = 3.000000 countI :H % fDefineArg lab_test_optim.LightMode = 2.000000 countM JH % ~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32Q ZH % zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32U bH % rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countY rH % jDefineOutput lab_test_optim.RecordingEnabled = 0 bool]% H% %- dDefineOutput lab_test_optim.LightsEnabled = 0 bool%5 xInserting Stack from file: Missions/Insert/BackseatDriver.tl%5 lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl\,rA) x@@ْ˗: o<9Hv?8?)30s?h`~R̝?`?x@i^;2Q=2D)4 4)lIlir_ 9r6=-M=L=EFQUE>yAAeEDAYMźmM>QDq2Dq"DqJDqBDqEyEy%TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl@)9G]=%TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: aH%~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2]2Construct BackseatDriver. 5Construct Wait. 8Construct Wait. :$Construct Execute. $Construct Execute.?$Construct Execute.a!A}FConstruct Wait. G- Construct Wait.% !O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } = Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim>|\,rA1y@틥@ْ:@<9Hvw??@@s?@" S??1y@i^;Bu=B%D||)IAi c 9  6<MD=8QU>yeDY8m>2G:GBGJGDrD2D"DJDBDE E @ G5 >imAAv \,ͯ,rAz@@ْ:Z$<9H`z?M?f A`v? wVvÝ? ?z@i^;CBgN=BC)DIDiJ_ 9J6RBԼMR\=V9QUV>yTTeVDTYZ:mZ>\2Gd:GdBGhJGhDprDp2Dp"DpJDpBDtEtEtZ@~=R@~=@G=C\,nFrAɑ|@`@ْ֙:߫<9H}??  ~y? @:3Veԝ? ?|@ij^;CFo=JDDiN=IN>)PIPiRM 9R6Z2<MZI=^7QU^>y\\ebD`Yb:mb>d2Gp:GpBGpJGpDxrDx2Dx"DxJDxBDxE|E@G=\,=``rAO|@ @ْf:^<9H }? ?/_y?`!@ӬU?~?O|@i-^;C2T=6D >?<)B>iBW 9B6JMJL=NQUN>yLPeRDPYRyԸmR>T2G:GBG!JG!DArDI2DI"DIJDIBDIEQEQ@QaG}=uY>uN>$\,%;zrAz@@ْ:g0<9H@jz?`N?3`K@v?䌿@VvT??z@i^;CB3i=BdD)HIHiJc 9J 6RI<MVI=V?QUV>yTXeZDXYZmZ>`2Gx:GxBGxJGxDrD2D"D JD BD E EJ@AB@@)9G]=q$\,rA) <=|@@ْ:<9H|??> Gy?茿5T? ~?=|@iM_;CBQa=B D)D D)IiF 9<6E~MM@=MQUM>yIQeUDQYU9mU>Y2Gq:GqBGqJGqDrD2D"DJDBDEE@G>%*\,orA~@А@ْ=:]<9H6?ݣ?1@ڦ|?GU??~@i^;CR3=RC)!I!!!i-K 9-6eMmH=m'9QUm>yiqeuDqYuN:mu>y2G:GBGJGDrD2D"DJDBDEE@G=qu@A1\,rAsx@/@ْo:<9H "v? 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U?@Mj?钌T&S??t@i;_;CBr=B5D)F; F;)|I|i9.6}<M]=QU>yeEYѓm>ҹH"IHD2D"DJD BD E EJ@B@nA@G>aienAR>N>ű\,~brAr@>@ْ:+<9H}k?@ ?  g?`z {>S i??r@i^;2_=2 D)̡Iˡi96W2MA=%c7QU%>y!!e-E)Y-m->QHi"IHD2D"DJDBDEE@G)>ۉ\,mY)brA) 4<q@@ْU:<9Hj?C?:g?`JR@˹??q@i^;23i=2dDi6=I6=)8I8i:9:6;M\=%}BQU%>y!!e-E)Y-&3m->1Hi"IHqD2D"DJDBDEE@iyG=Ð\,4CbrAu@w@ْ W:q<9H Cq? ?  m?@jT)??u@i^;C2o=2DD6kA4)AIIQUAie9e6Xi;M==pW9QU>yeEY |:m >HA"IIHQD2D"DJDBDEEZ@R@=@G>AA\,,]brAr@z@ْ&:'<9Hk??,Ph?ʯ@ФS ҝ??r@iZ_;C~>=rC)Ii{96XMR=QU>yeEYum>ҙH"IiHD2D"DJDBDEE@G>)KhG  )) IU ˻;Q \,vbrAɑ@8t@@ْr:g<9Hn?`C?&<@j?N֌@CT՝??8t@iZ^;C.=2$D)MlA MlA)iIqi96)6=MA=%`/9QU%>y!!e-E)Y-9m->qH"IHD2D"DJDBDEE@G%>\,LƐbrAr@@ْ:<9H k?? fh?@h RT` ? ?r@i^;CRj=R\D)V4< V<)I %%>%)>i%9%6MO=cQU>yeEY!m>H!"IHQDY2Da"DaJDaBDaEaEiJ@umAB@q@ G= >Y>a>)\,brA6q@@ْ83:I`<9H *i??@@e? gxfS?@?6q@iY _;C2xd=2| D)Ii9_6=rM=D==GQU=>yAAeEEAYM:mM>IH"IHD2D"DJDBDEE@G>I\,{brAq@@ْt:<9HWj?R?-`Hf?@@.Tờ? ?q@i^;Cb*^=fDij=Ih)9I9iE9E6fMW=^B9QU>yeEY\9m>ҙH"IYHD2D"DJDBDEE@G>\;\,*UbrA p@܂@ْz:h=<9H7g??$"c?㥌nSƝ?? p@i0^;CBj=B\DFlAFmA)́Iˉi96?;MC=]QU >y  e E Ym>9HI"IHqDy2Dy"DJDBDEEZ@=R@p=@IYG}>e\,0brAqp@-@ْs:N<9H g?@?!9d?>}S v??qp@iU _;B7@=BbC)HIHiN9N6VMVc=VvQUV>yXXeZEXYZ(8m^>`Hh"IHpD2D "D JD BD E E@G =SM\,J crAs@@ْԾ:<9Hm? w?*l@8j? | T ?@?s@i^;Bu=B%D)UnA UpA)̑Iˑi96B<M7=9QU>yeEYp:m> H!"IH)D92DA"DAJDABDAEIEI@aqG>|w\,+crALu@@ْ :<9H@|p?է?`홿@ªl?@ҨU뗝?@?Lu@i`^;CV==VC)Z; Z;)\I`ib9bg6jMj_=j*9QUn>yllenEpYrc:mr>tH"I9H D!2D)"D)JD)BD)E)E1J@=oAB@=oA@G%=V>N>__\,EcrA>z@@ْ:P<9HXy?@?`ԙ@u?nj`TV??>z@i _;C6Q=6D)Ii9N6Z8<M8=49QU>yeEY%:m%>)H9"IHIDY2Da"DaJDaBDaEaEi@G!>ɕ??|\,؜_crA) p<y@t@ْ:7<9H hx?@֥?f˨t?`{茿5Uŝ??y@i^;CBgN=BCiF=ID)|Ii9o6kMS=QU>yeEYN-m>ҡH"IqHD2D"DJDBDEE@G >\,9~ycrAw@c@ْS8:<9Ht? ?@$`q?`Xڌ T ԝ?@?w@i&^;C>O=BCBnABoA)IAi 96'n:M%A=%QU%>y))e-E)Y-3m->1HI"IHQDy2Dy"DyJDyBDyEEZ@=R@a=@AQGu>  @A\,rScrAt@@ْ[:a=<9Ho??@k?@pKTƝ??t@ib_;CF==FC)LILiR9R6V5TMZe=ZUQUZ>yX\e^E\Y^mb>`Hl"I!HpD2D "D JD BD E E@ GE=\,{/crAɑ@t@A@ْף:<9Ho?1?ݙk? 邌`zT@ˁ??t@i,^;CBZl=BTDiI)}oA y)̹I)gGi96 )!IQy;<M3=7QU>yeEY…m>ҡH"IHD2D"DJDBDEE@G=.>\, crAr@q@ْN:<9H@k??@U Ih?@iT? ?r@i ^;CBW=BD)D D)\I\ ^>^>ib9b6jbfMjf=jBEQUj?yllenElYrQ&mr?tH|"IH D2D"DJDBDEEJ@pAB@pA@G=\,crAo@@ْ:<9Hf?E?``@5`c?Q`yR??o@i^;CBI=BC)Ii 96eJMe3=eQUe>yiiemEiYmMmu>yH"IYHD2D"DJDBDEE=U got command stopN]^Stop Mission called by CommandExec::commandStop@G>\,crA) ^o@@ْDf:a<9H@e?u? d\b?G@lR"??^o@ib _;CBW=BDiJa=IJ>)HILiN 9N6V"<MVk=ZVQUZ?yXXeZEXY^m^?`Hh"IaHp%~8MissionManager is completed.%~JUninitializing Mission lab_test_optim~ 1~LAggregate::uninitialize lab_test_optim1jAggregate::uninitialize lab_test_optim:BackseatDriver1q# G8Uninitialize Wait Component.a!A !emau]uYuUuQuM}I}E}A}=}9}5}1}-}D2D"DJDBDEE@iyG=I4Sent LCM shutdown request.nShutdown requested. Waiting (18.00 sec to power down.).0\,jdrAq@l@ْߩ:<9Hj?j?\@if? ;U ??q@i^;2T=2D)pIpir 9r6%RM%C=-+9QU->y))e-E)Y50:m5>9%M.Started mission DefaultFI1M *M:Aggregate::initialize DefaultU +U@Initialize GoToSurfaceComponent. +UNo depth rate setting specified. Using default value of nan m/s. +U~No pitch setting specified. Using default value of nan degrees. +]No speed setting specified. Using default value of 1.000000 m/s. +]No surface timeout specified. Using default value of 1000.000000 seconds.+]nReceived pitch timeout configuration 60.000000 seconds.qe*e4Initialize Wait Component.2Ga:GaBGaJGaDqrDq2Dy"DyJDyBDyEEZ@=R@=@G>/ \,w.drAo@[@ْCu:f<9HPf?P?Gb?׌nU˝?@?o@i_;C23=2C6oA6pA66)6 6  )  )ĽpA Ĺ)1I1i=9=6}MM}<}p7QU}>yeEYY͹m>ґ2G:GBGJGDrD2D"DJDBDEE@ G >\, ZHdrAl@@ْ:@<9H|a??V(z`]?v6R@??l@i_;>r=>5D)|I|i 96E=ME=EQUM?yIIeMEIYU\mU?Y2Gi:GiBGiJGiDrD2D"DJDBDEE@G=%\,o,bdrAp@ڂ@ْl:x<9H 4g?!? c?𡌿 T>??p@i^;CRt=R+D)TIXiZ 9Z6b*<MbS=f@9QUf>yddefEhYj΃:mj>l2Gt:GtBGtJGxD|rD|2D"DJDBDE E J@B@qA@G%=O\,|drAm@L@ْp:<9Hb?;?@l1_?@S F?@?m@i^;CBɂ=B DiF=IF=HH)HIHiN' 9N=6v)MvH=v \QUz>yxxezExY~Gm~>2G:GBGJGD!rD!2D)"D)JD)BD)E)E1@IYG}=7%\,drA) m@T@ْ+:N<9Hb?4?%@.)_?Y eQ 7?@?m@i_;CB[=BD)HIHiNH 9Nn6V׼MVN=VtQUZ>yXXeZEXY^!7m^>`2Gh:GhBGhJGhDprDp2Dp"DtJDtBDtEtEx@IYGyXa+\,sdrAu@͇@ْ :<9Hp?ߧ? 3ܪzl? `5aS@Bٝ?`?u@i^;C&Q=&D),I,,,i2[ 92D6:ʾM:N=:9QU>>y<<e>ED2GL:GLBGLJGLDTrDT2DT"DXJDXBDXEXE\Z@`R@b=@qG=AA^J2\,gdrA^o@@ْ,:y<9He?@]?`beMb?@Qu?|?^o@i^^;CB\=BD)D D |~?)IiV 96E;ME==MQUM>yIIeUEQYUӺmU>Y2Gi:GiBGqJGqDyrD2D"DJDBDEE@iyG=s8\,tdrAɑw@҉@ْܨ:X<9Hs?? |`p?ь`U??w@i_;VA=VRC)Ii%? 9%6eZMeH=m:QUm>yiieuEqYuZ;mu>y2G:GBGJGDrD2D"DJDBDEE@IYG}=)-gG A)QIʁɁ>\,OdrA%u@ᇥ@ْ :C<9H6p?ا?+Ӫl?@AS3ϝ??%u@i^;CBT=BD) I  %>!>iI 96M<<MML=MQUM>yQQeUEQY]&m]>a2Gq:GqBGqJGqDrD2D"DJDBDEEJ@B@mA@IYGyE\,A*erAx@r@ْ[3:O<9Hv?@C?*=r? \jfV`?@?x@i^;CB==BCiFa=IDHH)HIHiNL 9N6VvMVU=V):QUV>yXXeZEXY^ǔ:m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDtBDtEtEx@G=tK\,t 1erA) z@?@ْ%:<9H@y?`|?@p v?`1>X@yם??z@i_;C@@)DIDiJn 9J6Ro9QUR>yTTeVETYZ:mZ>X2Gd:GdBGdJGdDlrDl2Dl"DlJDlBDpEpEt@G=ٗR\,aJerA}v@9@ْ٨:ٴ<9Hr?@B?!:`n?茿UU՝??}v@i^;CFgN=FC)LILPPiRo 9R46Zh;MZ<^ӹQU^>y\\ebE`Ybvmb>d2Gl:GlBGpJGpDtrDt2Dx"DxJDxBDxExE|Z@=R@=@G@AX\,derAZu@@ْ:4<9H`p?ྦྷ?6 l? ߌTz?`?Zu@i^;CB&=B#D F?F?)HIHiJe 9J<6R=MVK=VOQUV>yXXeZEXYZ崹mZ>2G1:G1BG1JG1DArDA2DA"DAJDABDAEIEI@IYG}=>^\,B~erAɑu@@ْɣ:a.<9H`uq??5`m?܌;yT@??u@i_;CBQ=BD)D D)|Iir 9~6qM==mQU>yeEY9m>ґ2G:GBGJGDrD2D"DJDBDEE@G>e\,perAXt@@ْ:k<9H@n?4? m)/3k?{:?SM̝?`?Xt@i _;CBH=BC)|I >>i_ 96EMMN=MEQUM>yQQeUEQYUkmU>a2Gq:GqBGqJGqDrD2D"DJDBDEEJ@ B@ pA@G>R>"k\,MerA4s@@ْ0:Z<9H l?? #@.i?reR? ?4s@i&^;CRIV=RD)I!i%b 9%65D <M5K==ɱQU=>yAAeEEAYEmM>I2Ga:GaBGaJGaDirDq2Dq"DqJDqBDqEyEy@ G==r\,,(erA) )u@凥@ْ.:Ts<9H=p?ا?$Ҫl?໻`T U͝??)u@i_;B_=B DiF=IF%=)HIHiNV 9N6v;MvO=z5b9QUz>yxxezE|Y:m> 2G:GBGJGD)rD)2D)"D)JD1BD1E1E9@G=y\,erAs@@ْ/!:O<9Hgl?Ѩ?` ū@h? 0y%SѨ??s@il_;C2[=2D)8I888i>B 9>6VU?MVO=V,QUZ>yXXeZEXY^-m^>`2Gh:GhBGhJGhDprDp2Dp"DtJDtBDtEtExZ@=R@=@)9G]=9\,7erAjq@&@ْaf:Ez<9H`i?? |@e?*uR6??jq@i^;CBQa=B D HJ?)HIHiL9LVy;MVJ=V QUV>yXXeZEXYZm^>`2Gh:GhBGhJGhDprDp2Dp"DpJDtBDtEtEx@G ="\,4frAɑ"r@"@ْ"_:"<9"H l??q`ܫxh?kT P?`?"r@i"^;"CBIV=BD)D FoA)HIHiN> 9Nv6V%ڻMVJ=Z9QUZ>yXXeZEXY^9m^>`2Gh:GhBGhJGlDprDt2Dt"DtJDtBDtExEx@G=iɍ ܒ>Iɕ sC)  ) IQ Y hL\,_3frAMv@ @ْb:<9HHr?Y? Pn?@ wV%ԝ??Mv@i_;CVO=ZC)\I` `b!>ib9 9b6jvMjH=n}9QUn>ypperEpYr(:mr>t2G|:GBGJGD rD2D"DJDBDEEJ@)B@)@G=Y>3\,nMfrAs@@ْҤ:<9Hm?u?R(o"j?@ό @T՝? ?s@i^;CBgN=BC  ) Ii 96%}sM-E=-ۏQU->y)1e5E1Y5UCm5>92GI:GQBGQJGQDYrDa2Da"DaJDaBDaEiEi@G>]\,HgfrA) s@@ْ:.h<9Hn?g?Xj?@U??s@i^;C&=*$Di.%=I.=)`I`if 9f6 =M L=  8QU >yeEY8m>!2G1:G1BG1JG1DrD2D"DJDBDEE@G>(G\,s*frAq@t@ْ:eS<9Hj?l?`Yf??b`CS^??q@i%^;CB=F(D)|I|i96eQr;MmD=mQUm>yiqeuEqYu-m}>y2G:GBGJGD)rD12D1"D1JD1BD1E9E9Z@M=R@M=@G>@AAAo\,frAp@b@ْ=:<9H(h?ީ?@\Ӭd?``GS`??p@ii^;CFpY=FD HJ?)HILiR9R6Z+MZW=Z–8QUZ>y\\e^E\Ybmb>d2Gl:GlBGlJGpDtrDt2Dx"DxJDxBDxE|E|@G=\,޴frAɑso@/@ْ:V/<9Hf?_?/[`zb?fCQĝ?`?so@iP^;B[=BD)D FpA)HIHiJ9J6RXz:MVK=VsQUV>yXXeZEXYZmZ>92GQ:GQBGQJGQDarDa2Da"DaJDaBDaEiEi@IYG}=]\,frAo@ہ@ْ:8<9H`ke??"a?`PRӾ??o@i_;CBxd=B| D)HIH N>N>iN9N 6V;MVJ=Z"09QUZ>yXXeZE\Y^ϸmb>p2G|:G|BG|JG|D rD 2D "D JDBDEEJ@B@@)9G]=R>'\,frAp@@ْݚ:F"<9Hh?ǩ?@e?y`[SS 8??p@i\^;CBIV=BDDD)HIHiR9Rg6f. MfH=fz8QUj>yhhejEhYn :mn>p2Gx:GxBGxJGxDrD2D"D JD BD E E@G=H\,mgrA) *q@惥@ْ7%:<9Hi?`?`0`@}e?`Sԝ?`?*q@i^;RW=RDiV=IT)I!i%9%56mm:MmA=mQ7QUm>yqqeuEqY}_8m}>ҁ2G:GBGJGDrD2D"DJDBDEE@iG=\,sGgrA(p@䂥@ْȠ:Vv<9HFg??` c?㗌`Tอ?`?(p@ib_;CB!S=BD)Ii  9 6E`=MMM=MŹ8QUM>yQQeUEQYUjmU>Y2Gi:GqBGqJGqDrD2D"DJDBDEEZ@=R@=@IYG}=AA3\,"6grA2p@2@ْ2 :28#<92H h?@?!d?3aSRÝ??2p@i2B^;2CRxd=R| D -?->))I)i191E+<MEJ=MQUM>yIIeMEQYUb9mU>Y2Gi:GiBGiJGqDyrDy2D"DJDBDEE@G>\, PgrAɑ&nn@&*@ْ&:&<9&H.d?`ت? ϭ``?@ S@j? ?&nn@i&N_;$NZl=NTD)P RrA)TITiZ 9Z6bn;MbS=bZ8QUb>yddefEdYjAImj>l2Gt:GtBGtJGtD|rD|2D|"D|JDBDEE @G=F\,figrAm@I@ْl*:<9Hb?@9?\' 3_? -X@MQ??m@i! _;BL=BC)HIH HJ>iN 9N6V}MVL=ZQUZ>yXXeZEXY^m^>`2Gh:GhBGhJGl*nDone Waiting.qn*n8Uninitialize Wait Component.DtrDt2Dt"DtJDtBDtExExJ@B@qA@!)ɽiG )IGu>V>N>f\,grAo@@ْt*:<9H;e?? Aa?@m@NeR@?`?o@iZ^;2Q=2D88)8I8i>9>F6V];;MVJ=V8QUV>yXXeZEXY^-9m^>`2Gh:GhBGhJGhj+nJAggregate::initialize Default:CheckIn1nDprDp2Dt"DtJDtBDtExEx@G= \,grA) "l@"]@ْ":"Z<9"H`??y]?@./|Q? ?"l@i"F^; B)HILiN9N6V<MVJ=Z$QUZ>yXXeZE\Y^<m^>`2Gh:GhBGlJGlDprDp2Dt"DtJDtBDtExEx@G=U6\,jgrAm@@ْFь: R<9H@c?!? _?xH(Q3??m@i _;CV=V*D)\I\``ib9b>6j<MjH=j7QUn>yllerEpYr{9mr>t2G|:G|BGJGD rD 2D"DJDBDEEZ@%=R@%=@G.\,EgrAn@`@ْؗ:I[<9Hd?ª?m@a?drRW?`?n@i^;CBb=B D > >) I i 96%PM%E=-T9QU->y)1e5E1Y59m5>92GQ:GQBGQJGQDarDa2Da"DaJDaBDaEiEi@G>H\,!grAɑm@@ْ:6<9HHc??$`_? N~S`ŝ??m@i&^;CBQ=BD)D FqA)|Ii 9 6&MD=8QU>yeEYZm>ҙ2G:GBGJGDrD2D"DJDBDEE@G >0\,hrANp@ @ْu:<9H g??{c?ɴ@T@??Np@i_;CBU8=BC)|I| >>i 9o6E~MEN=M.9QUM>yIIeUEQYU?:mU>Y2Gi:GqBGqJGqDrD2D"DJDBDEEJ@%oAB@%pA@G>Y[\,UhrAm@@ْ[V:N<9H@Sc?` ?' _? jSȝ?@?m@i^;CBm=BLDHH)HIHiN 9N6Vk =MVU=ZAQUZ>yXXeZEXY^Cm^>`2Gh:GhBGhJGlDprDp2Dt"DtJDtBDtEtEx@G= \,[8hrA) <m@[@ْZ:Ǵ<9H b? ,?= +`._?yQ՝??m@i^;C2|=6Di:C=I:=)8I9>6F <MFL=JhQUJ>yHHeJEHYNԸmN>P2GX:GXBGXJG\D9rDA2DA"DAJDABDAEIEI@G=Nl\,;RhrAn@@ْX:>a<9Hd?@?/ Ma?@+R˝??n@i*_;CByX\e^E\Ybѹ9mb>d2Gl:GlBGlJGpDtrDt2Dt"DtJDxBDxExE|Z@ =R@ =@G=u\,{hlhrAwp@3@ْ0m:s<9Hg??Z Fd?R ? ?wp@i^;CBQ=BD F>F>)HIHiN9N^6V MVK=V%8QUV>yXXeZEXYZ:m^>\2Gh:GhBGhJGhDprDp2Dp"DpJDpBDpEtEt@G=~!\,DhrAɑs@w@ْħ:<9Hm??Wt@j? ŌT ɾ?@?s@i^;CRpY=RD)T T)!I!i%9%F6e1;Me?=m9QUm>yiieuEqYus:mu>ҁ2G:GBGJGDrD2D"DJDBDEEUlPowering down and starting shutdown timer (18.00 sec).UiUɕUU]@Unsubscribing from LCM channels.].Deactivating messaging.@iG>Ǩ'\, hrAs@c@ْ:<9Hm?`?)`} i?2댿]UEܝ?`?s@iE^;C2D=22C)lIp r>r!>ir9r6E\MMEM=E{8QUE>yIIeMEIYMlȷmM>Q2Gi:GiBGiJGiDqrDy2Dy"DyJDyBDyEEJ@pAB@@iyG=iI]>V>)%hG 9)QIyɁ-\,3hrAt@@ْ:<9H@o?@?l? :Uϝ? ?t@i} _;CBcw=BDpp)pIpiv 9vw6z<M~O=Ef8QUE>yIIeMEIYM9mU>Q2Gi:GiBGiJGiDyrDy2Dy"DyJDyBDyEE@)9G]=4\,$hrA) p<t@@ْo:<9Ho?@? 6l?֌U?`?t@i^;C>D=>2CiJ=IJ=)LILiZ9Z6fUMfM=fҶQUf>yhhejEhYnmn>p2Gx:GxBGxJGxDrD2D"DJD BD E E@G=:\,hrAp@H@ْȚ:<9H`g?`?9ެpd?`gqYSᙝ? ?p@i^;CB3i=BdD)HIHHHiN9N^6VX<MVL=VĹQUZ>yXXeZEXY^m^>`2Gh:GhBGhJGhDprDp2Dp"DtJDtBDtEtExZ@~=R@~=@G=rA\,?irAs@…@ْ:<9Hil?@Ψ?P ū@h?BSſ?@?s@in_;C2A=6RC 88)8I8i> 9>6f$MfH=f$8QUf>yhhejEhYn8B:mn>p2Gx:GxBGxJGxDrD2D"DJD BD E E@)9G]=G\,g!irAɑq@@ْ:D<9Huj?S? 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O@Z? !w S@'? ? k@iT^;C>e=BX0DiDID)1I1i=9=-6J=MA=I+QU>yeEYcYm>ҙ2G:GBGJGDrD2D"DJDBDEE@G=D'\,ޭ"rAn@x@ْ:6<9Hd??`@&a?ÛT??n@i_;CJQa=J D)|I >>i 96E<MMN=Mj8QUM>yQQeUEQYU:mU>ҹ2G:GBGJGDrD2D"DJDBDEEJ@AB@A@G=e>>n'\,Hy!!e%E!Y%+:m->)2GA:GABGAJGADIrDQ2DQ"DQJDQBDQEYEY@G=W'\,eVrA)$ $.r@.W@ْ.^:.<9.Hk? ?@h?``S䚝??.r@i. _;.C:=:D)< <)\I\ib 9b,6f<MfO=j3QUj>yhlenElYn59mr>p2Gx:G|BG|JG|D rD 2D "D JDBDEE@G== rgot command load ./Missions/Engineering/lab_test_optim.tl% Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl% zTethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl'\,wjprAir@%@ْ;:<9H Pk? ? 홿 g? aT`??ir@i^;C%:TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tlVb=V D)\I\`bAib 9b6zMzG=z/8QU~>y||e~E|YBsm>)Da2Da"DiJDiBDiEiEqZ@}=R@}=@yG=@Ah"'\,rAw@@ْ:H<9Hs??>뙿`o?BW ? ?w@i^;C2D=22C :>:>)yhhejEhYn:mn>D2D"DJDBDEE@G>%]TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -G%nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1G%dDefineArg lab_test_optim.RecordTime = 1.000000 min5G%fDefineArg lab_test_optim.BackseatWait = 30.000000 s9G%XDefineArg lab_test_optim.UseMission = 1 bool= H%ZDefineArg lab_test_optim.UseHardcode = 0 boolAH% nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE*H%jDefineArg lab_test_optim.SleepCycles = 3.000000 countI%:H!%-fDefineArg lab_test_optim.LightMode = 2.000000 countM5JH1%=~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32QEZHA%MzDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UUbHQ%]rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countYerHe%mjDefineOutput lab_test_optim.RecordingEnabled = 0 bool]uHu%}dDefineOutput lab_test_optim.LightsEnabled = 0 bool%}xInserting Stack from file: Missions/Insert/BackseatDriver.tl%lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl%-TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: aH%~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 22Construct BackseatDriver. 5Construct Wait. 8 Construct Wait. :M $Construct Execute. < $Construct Execute. >5 $Construct Execute.? $Construct Execute.a!A- Γ('\,rAɑs@h@ْ_ި:e<9Hm?`?d {`i?ŒU? ?s@iU_;C2( 9>U6~6<M~G=kQU>y e E Y 灺m >Di2Dq"DqJDqBDqFConstruct Wait.EE G5Construct Wait.%!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim@G>.'\,ѽrAlu@(@ْ:q<9Hp?@? m? :SU!͝??lu@i^;C2Zl=2TD)pIp v>v>iv 9v6%M-H=-~9QU->y11e5E1Y5:m5>92GQ:GQBGQJGQDarDa2Da"DaJDiBDiEiEqJ@B@A@G>V>N>٤5'\,!לrA"q@ރ@ْOb: <9Hi?`?`ae? 3挿IUKѝ??"q@i^;CR=R(D)!I!i% 9%65~<M5I==**QU=>yAAeEEAYEmM>I2Ga:GaBGaJGaDirDq2Dq"DqJDqBDqEyEy@ G==@;'\,nrA) q@|@ْu:,]<9H@!j?X?`6Uyf?@SU? ?q@ic^;CBpY=BD)D FA)|Ii9F6] MeH=eYQUe>yiiemEiYm'A9mm>q2G:GBGJGDrD2D"DJDBDEE@IYGu=жB'\,Ab rAo@@ْꆤ:ͤ<9Hf?.?`((`0c?iƌܐTӝ??o@i _;CB_=B D)HIHHHiN 9Nw6V;MVW=V!QUV>yXXeZEXYZm^>`2Gh:GhBGhJGhDprDp2Dp"DpJDpBDtEtEtZ@~=R@~=@IYG}=@AH'\,W=%rAq@ۃ@ْ:w<9Hi??f+`je?@ S`ϝ??q@i^;CB3=BC J>J>)HIHiN 9N6VڼMVJ=VQUV>yXXeZEXYZT9m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDtBDtEtEx@G=iɑ Iɑ ) hG ) )A Iq q L; qE=a O'\,?rAɑr@Ä@ْ,?:<9Hj?yddejEhYj?9mj>l2Gt:GtBGxJGxD|rD2D"DJDBDE E @G=U'\,XrA t@Ɔ@ْ|Ŵ:4<9H ;n? i?_ۙ@Qj?` ˌV?? t@iY _;CBxd=B| D)HIL N>N>in9n6v;MvH=vѡ9QUv>yxxezExYz:m~>2G:GBGJGD!rD!2D!"D!JD!BD)E)E)J@9B@9@IYG}=Y>V>\'\,rrA u@܇@ْN:?<9H@-p??ժl?`iVӽ?@? u@i#^;B@K=BCHH)HIHiN9N6V~MVN=VQUV>yXXeZEXYZ9m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDpBDpEtEt=got command run=Running @)9G]=fc'\,ޫrA) <=u@@ْy:x<9Hap?ԧ?Ȫl?@VΝ?`?=u@iY^;CBg=BlD)D FA)|Ii6 96E<MEA=M8QUM>yIQeUEQYU8mU>1 *>Aggregate::uninitialize Default +DUninitialize GoToSurfaceComponent.+NAggregate::uninitialize Default:CheckIn1%x/i'\,ƆrAv@@ْ:q<9H-s? $? > `|o? 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Y?9^R?@?j@i^;C& f=&t D)`I`if9f6%|M%M=%!8QU%>y))e-E)Y5|\8m5>1HD2D"DJDBDEE@iyG=L')\,NrAp@B@ْ8}:"<9H`g?@?`Md?ՌU CÝ? ?p@i_;B=B*C)HIH J>J>iJ 9J 6RVMVR=V{9QUV>yXXeZEXYZp:mZ>\HhDp2Dp"DpJDpBDtEtEtJ@~oAB@~qA@G=rAijA Y> R>t-)\,prAo@@ْU«:cR<9H`5e??`a?@Z@JxU:?@?o@i^;B9=FCHH)LILiN 9N6V<MVJ=ZgQUZ>yXXe^E\Y^m^>`HlDt2Dt"DtJDtBDtExExi!I% C)ɍgG ʡ)ʹI;@iyG=\4)\,LҤrA) 6p@@ْ(:)<9H _g? ? c? p͌EUĝ??6p@i^^;CB|;=BC)HIHiN 9N6Vy:MVJ=ZQUZ>yXXeZEXY^L9m^>AHaD2D"DJDBDEE@iyG=:)\,(rAo@@ْ: <9Hf?5?* 0c?BT ӝ??o@i_;CB3=BC)HIHHHiH9HRFMVK=V QUV>yXXeZEXYZmZ>\HhDt2Dt"DtJDtBDtExExZ@R@=@G=nA)\,?rAp@@ْ:<9H h? ?@@ e? ~S?`?p@iA_;CBW=BD >>)Ii 9 6e<Me?=eQUe>yiiemEiYm9mu>qHD2D"DJDBDE E @ G5 >4G)\,rAɑn@@ْl:C<9H e??@+ a?@Rhǝ??n@i^;CRgN=RC)Ii%9%6e麻MeJ=m>2QUm>yiieuEqYumu>yHD2D"DJDBDEE@IYG=?M)\,9rA1n@퀥@ْ1#:<9Hc?@?, *`?=eS<Н??1n@i^;BF=B#C)|I !>%>i96EMML=M$9QUM>yIQeUEQYUnmU>Y5uDone Waiting.u 5u8Uninitialize Wait Component.u5unAggregate::initialize lab_test_optim:Startup:UseMission1uquHqD2D"DJDBDEEJ@B@nA@G=V>T)\,SrAio@%@ْ:T<9He?@c?a3_Xb?S@֝??io@i _;C26=2C88)8I8i> 9>6Z#MZT=Z[QUZ>y\\e^E\Yb9mb>dHnqnn1nHr?HpD2D"DJDBDEE@iyG=9Z)\,omrA) o@L@ْw:Hb<9H5f?L?IJN`b?`ǨnR0?@?o@i^;CBO=BCiJ 9JV6Rz<MRK=RظQUV>yTTeVETYZA8mZ>\=7jXDisabling Optim recording after 1.000000 s jjHhjj 3nvInitialize ReadDataComponent to sense PowerOnly.sampleLoad1HlD 2D "D JD BD EE@G=a)\,^JrAos@+@ْӡ:S<9H%m?`?A `i?b:T`dɝ??os@i^;CDDN2Powering down loadControlNN ̅˅)̅I˅̉̍Ai96G9QU>y!!e%E!Y- :m->1HEM1M 8M4Initialize Wait Component.HIHIDY2Da"DaJDaBDaEaEiZ@u=R@u=@)9GU>@Ag)\,$rA$~@@ْ*:(<9HS?@ߣ? Ӧ|? XUÝ??$~@iǢ_;C2Zl=2TDi>9>%6F <MF<J9QUJ>yHHeJELYNr;mN>xH  H D!2D)"D)JD)BD)E)E1@)9GU=[n)\,.rAɑl@(@ْ_:F@<9H`O?e?X`?m`"VƝ?@?l@i_;CB^C=BBCiJ9JF6RlɼMRI=Rҙ8QUV>yTTeVETYZjq;mZ>\HdHhDp2Dt"DtJDtBDtExEx@QaG}=t)\,+ԥrA@f@ْ5:<9H`?@?x?@fS@"??@i_;CBҍ=Bh.D >p;i 96EO=MM@=M͹QUM>yIQeUEQYU+;mU>ҹHHD2D"DJDBDEEJ@B@~A@G>Y>V>ɕ ? ?#{)\,grA@h@ْ:<9H̯? ?z虿;? Sꗝ??@i>_;CR[=RDi% 9%6ehMeH=mr7QUm>yiieuEqYu:mu>y8Done Waiting.1 88Uninitialize Wait Component.qHHD2D"DJDBDEE@)9GU>)EgG Q)iIʝ˻;ə )\,rA) @J@ْ>:D<9H?ҕ?@@Ș?Smǝ??@iI_;C>x=BDi9g6E<MEL=M48QUM>yIIeMEIYUN:mU>]HmquuHqHqD2D"DJDBDEE@IYGu=%5)\,l"rA꟞@@ْ.9:<9H?ྔ? ?``%S@ܝ??꟞@izH_;C2b=6 D8:Ai>9>6F\hMFW=F3QUJ>yHHeJEHYNF:mN>P=9ZnPowering up Optim to try to tide over gap to handoff...ZH\5^VCompleted lab_test_optim:Startup:UseMission^5^rAggregate::uninitialize lab_test_optim:Startup:UseMission1^^9^pAggregate::initialize lab_test_optim:Startup:UseBackdoor1bbH`Dp2Dt"DtJDtBDtExExZ@ R@ =@G>AA@A'_)\,|GyeEYy9m> 9tAggregate::uninitialize lab_test_optim:Startup:UseBackdoor1 ?%pAggregate::initialize lab_test_optim:Startup:UseHardcode%H!D92DA"DAJDABDAEIEI@ G5 >G)\,$VrAɑ"@"ð@ْ"KΜ:"g]<9"H@_??@?@ əSʝ??"@i"J_;"CBcw=BDiN9No6VF ;MVb=V08QUV>yXXeZEXYZtm^>`j ?jtAggregate::uninitialize lab_test_optim:Startup:UseHardcodej4j@Completed lab_test_optim:Startup1j 4j\Aggregate::uninitialize lab_test_optim:Startupq n@nPAggregate::initialize lab_test_optim:Run nHlD2D "D JD BD E E@G=Aq)\,.orA@g@ْ֠:<9H@??`@?` `T@ڝ??@i(_;CR=RD)XIZ Z;Xi^9^N6r;MvF=v8QUv>ytxezExYzWmz>|=APTrying to run Optim and Multiray forreal  HD!2D)"D)JD)BD)E)E1J@=}AB@=A@G=R>R>xY)\,ډrA6@@ْM:vZ<9He?? ?U9ʝ??6@i?_;C2T=2D)Ii96]wMeC=em9QUe>yiiemEiYmԃmu>qH 1!HD2D"DJDBDEE@G=)\,NrA) <D@@ْٯ:f<9H?9?.U?T˝?@?D@iI<_;&@K=*C b>b>)`I`if9f^6 M P= QU >yeEYz m>!I51!5q!5H1D2D"DJDBDEE@G>!)\,rA^@@ْ:<9H`(?*?` #{? Uݝ??^@i_;>b=B D)|I|i9F6Ee<MEF=E8QUM>yIIeMEIYUp7mU>Y Iiq!m!u Cu^Aggregate::initialize lab_test_optim:Run:setRed!uuu3}vInitialize ReadDataComponent to sense MultiRay.lightModeLogHyD2D"DJDBD!E!E!Z@1R@5=@G> @A AA)\,kצrA@t@ْ<ߤ:<9H?ѝ?hĠ`?ጿ T ??@i!_;PT)XIXi^ 9^6f-"QUf>yhhejEhYntmn>p!z CzbAggregate::uninitialize lab_test_optim:Run:setRed!zq"zDzbAggregate::initialize lab_test_optim:Run:setWhite"~H|D!2D!"D)JD)BD)E)E1@)9G]=)\,FrAɑL@@ْ|F:<9H?@a? <ᙿL ?𹌿 T@䑝??L@i-_;BpY=BD˅A˅A)́Iˁi 967M<7QU>yeEY#{m>IY@""HD2D!"D!JD!BD!E)E)@ G5 >)\," rA@@ْ:<9H`M?+?0` ?V? ?@i_;Bo=BDD)I ==i9V6E/R<MEC=E9QUE>yIIeMEIYM*L:mU>YEmjSetting muliray white brightness to 100.000000 count "mDuJCompleted lab_test_optim:Run:setWhiteq"uDufAggregate::uninitialize lab_test_optim:Run:setWhite1#uHqD2D"DJDBDEEJ@vAB@uA@iqG>Y>-)\,H$rA@A@ْ*:]<9H?`?x@ ?<TV`ʝ?@?@i_;CF@K=FC)LILi96ҵMM=5QU>y!!e%E!Y%m->)=FE8Recording for 1.000000 min 1#Eq#EFM4Initialize Wait Component.HIDY2Da"DaJDaBDaEiEiisA@G%>iɩ Iɭ sC) KhG  )1 Ie ;a o)\,V>rA) p<@l@ْ!½:f<9H ?0?`"d?3CW˝??@i_;C:I=:C) I i9o6][sM]E=e9QUe>yaiemEiYmhmm>qHD2D"DJDBDEE@G#>)\,_XrA}@Ϗ@ْ :<9Hj~?\?;Lz?V̌$U}??}@i?_;CBQa=B D)|Ii 96}|<M[=ܹQU>yeEY_m>ґHD2D"DJDBDEEZ@R@=@G= )\,rrAu@@ْ:N<9Hq??un?`)Uந?`?u@i1Q`;CB=B$D)Ii 96=<M=?==QU=>yAAeEEAYMmM>IHaDy2Dy"DJDBDEE@AQGu>)\,irAɑGt@@ْŧ:<9Hn?`=?#@6`k?}ٌ@Tӝ?`?Gt@iVR`;CRA=RRC)XIXiZ( 9ZU6bOMfe=f)QUf>ydhejEhYjmj>lHxD2D "D JD BD E E@G=)\,DrAJw@@ْ:)<9Ht? ?`ߩsp?F q_Tĝ? ?Jw@i_;CByeEY\:m>HD2D"DJDBDE E J@sAB@sA@G>)\,!rAx@@ْЦ:<9H`v? 8? 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Using default value of nan m/s. +M~No pitch setting specified. Using default value of nan degrees. +MNo speed setting specified. Using default value of 1.000000 m/s. +No surface timeout specified. Using default value of 1000.000000 seconds.+nReceived pitch timeout configuration 60.000000 seconds.q*4Initialize Wait Component.2G:GBGJGDrD2D"DJDBDEAEI@G J>5\,mrAUm@@ْ덕:<9H`6b?U?@ZK^?@Kn R b??Um@i^;\`)b< bp<)f4< f;ff)f fii)i i 4Sent LCM shutdown request. nShutdown requested. Waiting (18.00 sec to power down.).i%C=I%>)̱I˱̱̱i 9V6 7QU >y e E Y 8m >ҙ 2G :G BG JG Da rDa 2Da "Da JDa BDa Ei Ei Z@} =R@} p=@q G >5\,grAp@@ْuY:<9H`h? ϩ? 虿``d?@V@. U??p@i_;Cvcw=vD)Ii" 96:<M<>G:QUl?ye EY;ml?2G :G BG JGDyrDy2D"DJDBDEE@GL>i9I= C)ə ʹ)I˴5\,irAɑr@@ْ8̥:x<9H`k??Zh?_T ?@?r@iQ _;2W=2D)4I4i:, 9:6^M^q=bpQUb?y``ef EdYf2:mf?h2G:GBG JG DrD2D"DJDBDEE@ G5 >T5\,rA4r@@ْ;e:\<9H j?5?b " [g?@ʫLU??4r@i>^;.q=.=D)4I4 6>6)>i:7 9:6^y<M^J=^8QUb>y``eb E`Yf0mf>h2G:GBGJGDrD2DQ"DQJDYBDYEYEaJ@moAB@i@)9G]=V>>U5\,rA[q@@ْ_:Yn<9H@li??v`e?T@??[q@iH^;C^\=bD)dIdij> 9jv6rHHMvH=v@QUv>yxxez ExYzmz>Y2Gi:GqBGqJGqDrD2D"DJDBDEE@G!>w5\,?!rA) n@`@ْP:t<9Hd?`?@ ``?]4S ??n@i _;C2W=2D : :?:?)6 9>6]|4M]C=erQUe>yaiem EiYm9Omm>q2G:G!BG!JG!D)rD)2D"DJDBDEE@G>515\,Ɔ;rAfn@"@ْ :<9Hd?@ݪ?Cҭ``? f|$SⰝ??fn@i_;2t=2+D)4I48:Ai898r"=MrS=rX)QUr>yttev EtYzןmz>x2G):G)BG)JG)DrD2D"DJDBDEEZ@=R@=@iyG=@A5\,_UrAwp@3@ْx:ھ<9Hg?`?3=d?cS֝??wp@iD^;2!S=2D6JGPS failed to acquire within timeout. 66Data Fault)8I8i>D 9> 6_M>=O8QU>ye EY:m>2G:GBGJGDrD2D"DJDBDEE@- @Data Fault in component: NAL9602G >B5\,:orAɑp@@ْ*:<9Hzh?@ǩ?@d?|_R??p@i_;V*^=VDZPowering down)^ ^i^I^``)`I`ifL 9f6j;MnY=nӸQUn>ypper EpYvN8mv>x2G:GBGJGDrD2D"DJDBDEE!@G%=)+5\,rAo@M@ْp:l<9H7f?J?S Nb?@R?|?o@i'_;B&=B#D)DID J%>J%>iJ> 9Jv6R<MRM=VF7QUV>yTTeZ EXYZ1˹mZ>\2Gd:GdBGdJGhDprDp2Dp"DpJDpBDpEtEtJ@}pAB@y@iyG=R>R>U5\,rAko@'@ْɞ:0<9H`e? d?@,^Zb?V 3S`ѝ? ?ko@il^;C2I=2C)4I4i6X 966rMvF=m 9QU>y!!e% E!Y%~5m%>)2G:GBGJGDrD2D"DJDBDEE@ VClearing failed state for component NAL9602 G >5\,ѼrA) <*l@~@ْ:@G<9H@`?@֫? 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Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for @IYGu=-G%nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1UGQ%]dDefineArg lab_test_optim.RecordTime = 1.000000 min5eGa%fDefineArg lab_test_optim.BackseatWait = 30.000000 s9G%XDefineArg lab_test_optim.UseMission = 1 bool= H%ZDefineArg lab_test_optim.UseHardcode = 0 boolAH%nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE*H%jDefineArg lab_test_optim.SleepCycles = 3.000000 countI:H%fDefineArg lab_test_optim.LightMode = 2.000000 countMEJHA%M~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32QUZHQ%]zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UEbHA%MrDefineOutput lab_test_optim.CyclesWaited = 0.000000 countYrH%jDefineOutput lab_test_optim.RecordingEnabled = 0 boolV>]uHu%dDefineOutput lab_test_optim.LightsEnabled = 0 bool%xInserting Stack from file: Missions/Insert/BackseatDriver.tl%lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl% TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl% TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: a H % ~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2% 2Construct BackseatDriver.l1<\,{rAn@?@ْh͡:<9HSd?˪? x,ŭ@`?J9Tԝ?`?n@i?^;2L=2Ci6R=I4)lIpirV 9r6 5Construct Wait.uU'M5=GQU> 8Construct Wait.ye&EY8m> :$Construct Execute.D92D9"D9JD9BD9EAEA <]$Construct Execute. >$Construct Execute.?$Construct Execute.@AQGm5>a!AuF5Construct Wait. GeConstruct Wait.%!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim%<\,hrA) p<n@n@ْh:mr<9Hd?@?A`a?ӌMT4?~?n@i _;.IV=2D n?n?)lIlir] 9rv6=;M=a==U7QU=>yAAeE&EAYM8mM>I2Ga:GaBGaJGaDqrD2D"DJDBDEE@G=/B+<\,8rAo@́@ْ[:<9H@Pe? ?@6 a?a͌`wkT@?@?o@i_;CBo=BDD)IAi V 9 6e w<MeH=e&7QUe>yiiem&EiYm48mu>q2G:GBGJGD)rD)2D)"D)JD)BD1EQEYZ@aR@e=@ G5 >@AA*2<\,rAn@~@ْ{:<9Hd? ? 1a?ේ bS@??n@iG^;C00)4 6~A)8I8i>E 9>$6JQUJ>yHHeN&ELYNθm~>2G:GBGJGDArDA2DA"DIJDIBDIEIEQ@19GU=U8<\,rAɑm@@ْܡ:{7<9Ha?y? j&^?  ;tT@ޥ?@?m@i^;C2@K=2C44)8I8i:> 9:v6n57Mn<r68QUr>yptev&EtYv'mv>x2G:GBGJGDrD2D"DJDBDEE@G=C~><\,rAq@@ْR:{<9Hoj?O?A f?@V ??q@i _;C2\=2D)>>>iB 9B$6f,<MfK=j9QUj>yhlen&ElYn:mr>p2G|:G|BG|JG|D!rD)2D)"D)JD)BD)E1E1J@AB@A@G%=Y>)gG ))AIiifE<\, rAo@ց@ْ:<9H be?? a?Œ@VU` ??o@i^;CBg=BlDiDIF=)HIHiN 9Nf6r;MrI=rXQUv>yttev&EtYz]mz>|2G):G)BG)JG)DYrDY2DY"DYJDYBDaEaEi@G5=@K<\,b0rA) Zm@@ْ:<9H@?b? 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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. +ENo surface timeout specified. Using default value of 1000.000000 seconds.+EnReceived pitch timeout configuration 60.000000 seconds.qE*E4Initialize Wait Component.2GI:GIBGIJGIDQrD2D"DJDBDEEJ@lAB@gA@iyGV>V>6=>\,lrAo@V@ْt\:!<9HGf?S?sI b?` T@!Ý?@?o@i_;Bm=BLD)pIpiv 9vf6%<M-C=-e QU->y11e5(E1Y50m5>92GQ:GQBGQJGQDarDa2Da"DaJDaBDaEiEi@G>yD>\,FrA) 0o@쁥@ْE: B<9He?y??ya? Ì`S`)? ?0o@i^;CR=R&DiV=IV= ?)!I!i%& 9%$6}x<ME=QU>ye(EYWm>ґ2G:GBGJGDrD2D"DJDBDEE4Sent LCM shutdown request.nShutdown requested. Waiting (18.00 sec to power down.).@G (>.HJ>\,) +rAAm@@ْ];:J<9H`b? 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Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -M GI %U nDefineArg lab_test_optim.MissionTimeout = 15.000000 minD\,grAl@v@ْ:<9H a?`?2]?A`pR@Н??l@i^;C12G0%6dDefineArg lab_test_optim.RecordTime = 1.000000 min5:G8%>fDefineArg lab_test_optim.BackseatWait = 30.000000 s9BG@%FXDefineArg lab_test_optim.UseMission = 1 bool=J HH%NZDefineArg lab_test_optim.UseHardcode = 0 bool=F==#C)IIIAH%nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE*H%jDefineArg lab_test_optim.SleepCycles = 3.000000 countI:H% fDefineArg lab_test_optim.LightMode = 2.000000 countiM6 9M6MJH%~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32QZH5ԓ;MM =MQUM>yQQeU/EQY]fm]>YDy2Dy"DyJDyBDyEE%EzDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UEbHA%UrDefineOutput lab_test_optim.CyclesWaited = 0.000000 countY]rHY%ejDefineOutput lab_test_optim.RecordingEnabled = 0 bool]mHi%udDefineOutput lab_test_optim.LightsEnabled = 0 bool%}xInserting Stack from file: Missions/Insert/BackseatDriver.tl%}lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl@YiyGZ>%TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: aH%~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2=2Construct BackseatDriver. 5Construct Wait. 8 Construct Wait. :% $Construct Execute. $Construct Execute.? $Construct Execute.a!A F Construct Wait. G- Construct Wait.%u !O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =u Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optimr#D\,MrA) sj@/}@ْM:<9H ]? ?\( `Y?` R?@?sj@i^;C>Q=>D n?n?)lIlirJ 9r6=<ME=EDIQUE?yIIeM/EIYMnmM?92GQ:GQBGQJGQDYrDa2Da"DaJDaBDaEiEi@!1AGM>n D\,C rAj@?}@ْ:O<9H(]?@?+Y? - vSȝ?`?j@i _;Cb3=bCif=Id)9I9AAiEX 9E65MB=%9QU%>y))e-/E)Y57m5>Y2Gi:GiBGiJGiDrD2D"DJDBDEEZ@=R@=@G>3D\,@rAi@o|@ْ :<9H@[??=A@ 'X?`ftQBם? ?i@iF^;C2pY=2D)`I`ibC 9b6}<M}O=}ye/EYm>2G:GBGJGDrD 2D "D JD BD EE1@ 9GE>E\,VrAɑk@}@ْO:7s<9H@<^? 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Lb?Ɍ KU[??2o@i20_;0:pY=:DiBp=IB%=)pIpir 9r6%w;M-p=-d9QU-?y11e51E1Y5[:m5?95UDone Waiting.U 5U8Uninitialize Wait Component.U5UnAggregate::initialize lab_test_optim:Startup:UseMission1MqMHIDY2Da"DaJDaBDaEaEi@IYiGu>ɕ?~?T$!G\,ʄrAɑ&p@&ӂ@ْ&:&\:<9&H'g? $? @c?@Ō`U :??&p@i&^;&CN==NCPP)TITiV 9V6rBMrN=rl8QUv>yttev1EtYz&9mz>|H q 1H?HD92D9"DAJDABDAEAEI@!1IGU=:K'G\,rAm@v@ْ:E<9H@b?&? #@U_?`Sǝ??m@i_;C@@ F!>F>iJ9J6r%QUr>yppev1EtYv;mv>x=7 XDisabling Optim recording after 1.000000 s   H  3vInitialize ReadDataComponent to sense PowerOnly.sampleLoad1HD!2D!"D)JD)BD)E)E1J@9B@=nA@G=V>N>t-G\,prAm@q@ْǨ:r<9H@b?@&?-! H_? T@ӝ??m@i1_;C2!S=2D)4 6jA:2Powering down loadControl:: >>)>I>iB9Bo6V;MV<Z 8QUZ>yXXeZ1EXY^8ɶm^>`Hnn1n 8n4Initialize Wait Component.HlHpD2D!"D!JD!BD!E)E)@ 1G=>1_4G\,;VrA) p<x@Ċ@ْǣ:<9H`bu?`? @q?@xT ??x@i_;.(=2NCi6966nϼMnG=rr8QUr>yptev1EtYvH;mv>xHIMHIiI)! 9)QIʅ;ɁD2D"DJDBDEE@aqG>:G\,t&rA@u@ْ:<9H@R?b? V@?۷S ??@iX_;B\=BDppir9rg6%|<M%F=%GQU%>y))e-1E)Y5c;m5>9HiHiD2D"DJDBDEEZ@=R@=@QayG=nAG\,yrA9@@ْq*:]T<9H?? @?@MeS@z??9@i_;2 f=2t Di4I6=ir9r6En;MEH=EQUE>yIIeM1EIYU&;mU>YHHD2D"DJDBDEE@G>GG\,rAɑ@F@@ْ:<9H?1?, .h?!bR ֝? ?F@iXv_;C2r=25Dib9bF6]O;MeH=eQUe>yaiem1EiYmUo:mm>q8Done Waiting.1 88Uninitialize Wait Component.qHHD2D"DJDBDEE@G>TMG\,9rA@H@ْo:H<9H ?`?%j? m@Rѝ?`?@iOh_;C2!S=2D 6=6p;i:9:6nMnS=rQUr>yppev1EtYv ;mv>xH%q--H)H)DA2DA"DAJDABDAEIEIJ@sAB@|A@G=R>gTG\,SrA@r@ْk:"<9H;?`?/ ?a댿 RF? ?@i V_;C29=2C)6vA 6|Ai:9:_6nyMrJ=r8QUr>yptev1EtYv:mv>x=9-nPowering up Optim to try to tide over gap to handoff...-H)5-VCompleted lab_test_optim:Startup:UseMission-5-rAggregate::uninitialize lab_test_optim:Startup:UseMission1-595pAggregate::initialize lab_test_optim:Startup:UseBackdoor155H1DA2DA"DAJDIBDIEIEQ@QaqG}=ZG\,TrmrA) @M@ْE:M3<9H`?@Е?gƘ?ߌHS@Uŝ??@i"_;2O=2C6.Powering up loadControl)~i~9~>6%L<M==y8QU>ye1EYR :m>9tAggregate::uninitialize lab_test_optim:Startup:UseBackdoor1  ? pAggregate::initialize lab_test_optim:Startup:UseHardcode H D2D!"D!JD!BD!E!E)@ G>aG\,,IrA_@@ْCR:ٝ<9H2??@{@ݘ?@猿H*T?@?_@id+_;2H=2C88i<9yLLeN1ELYbDmb>dn ?~tAggregate::uninitialize lab_test_optim:Startup:UseHardcode~4~@Completed lab_test_optim:Startup1~ 4\Aggregate::uninitialize lab_test_optim:Startupq @PAggregate::initialize lab_test_optim:Run HD2D"DJDBDEEZ@=R@@QaqG}=@A@AgG\,p(rA8@@ْ :<9H??`{?@U??8@i A_;C2o=2DDi6a=I4)4I:i:9:O6r<MrE=r49QUv>yttev1EtYz9mz>|=A PTrying to run Optim and Multiray forreal  HD!2D!"D!JD)BD)E)E1@ G=mnG\,yrAɑ@@]@ْ~:K<9H? ?'ꙿ`? V@PVV?`?@i'O_;CF.5=JCnnAin{A)Ii96E MED=MN8QUM>yIQeU1EQYUֺmU>YHq u1!uHqD2D"DJDBDEE@)9QG]=atG\,rA_@@ْ:<9H``? ?噿@˙?u`}T??_@i/_;CB_=B D ~>~>)I ==i 9  6<MM=QU>y!)e-1E)Y5Mm5>1IM1!Mq!MHIDa2Da"DaJDaBDiEiEiJ@}|AB@}wA@)9IG]=R>"{G\,rAi@%@ْ:f<9H@ޙ?@?ruE? ̌``T`ǫ??i@i1_;CBQ=BD)FzA FwA)Ii 9 6u MJ=#QU%>y!!e%1E!Y-m->1 Iq!! C^Aggregate::initialize lab_test_optim:Run:setRed!3vInitialize ReadDataComponent to sense MultiRay.lightModeLogHD2D"DJDBDEE@G> G\,ǜrA) Ë@@ْT: <9H@?ʝ? ?R، j5T ? ?Ë@i:;_;C>@K=>C)DIDiF9F6NMRR=R߷QUR>yTTeV1ETYV_UmV>X!f CfbAggregate::uninitialize lab_test_optim:Run:setRed!fq"fDfbAggregate::initialize lab_test_optim:Run:setWhite"fHdDp2Dp"DpJDpBDpEtEt@G=)iG ) I5;1m5G\,n"rAM@ @ْP:ݢ<9H๐?`ɟ? (?<iS`I?`?M@ig_;CVQa=V D˅A˅A)́Iˁ́̅Ai96H<M9=9QU>ye1EYơm>IY@""HD2D"DJDBDEEZ@R@@AQaGu>AAAA _G\,^G<rA@>@ْ@:<9H`N? '?` ?@JɌT??@i_;CB*^=BDiqIu>)Ii96tMG=X9QU>y  e 1E Y vm >E5jSetting muliray white brightness to 100.000000 count "5D5JCompleted lab_test_optim:Run:setWhiteq"5D5fAggregate::uninitialize lab_test_optim:Run:setWhite1#5H9DY2Da"DaJDaBDaEaEi@G%>[GG\,#VrAɑm@)@ْ:o<9H ʉ?`? x8?`z>S [??m@i #_;CB#=B}C)DIHiJ9J6R"MRc=V._QUV>yTTeV1EXYZmZ>\=Fj8Recording for 1.000000 min 1#jq#jFj4Initialize Wait Component.HhDp2Dt"DtJDtBDtExEx@G=rG\,OprAҀ@@ْĤ:x<9H?`?`?`T?@?Ҁ@i{_;C>@K=BC >>)I ==i9-6<M4=%&?9QU%>y!)e-1E)Y-.8m->1HIDY2DY"DYJDYBDYEaEaJ@uvAB@q@aqG>]>ZG\,߉rA8@@ْ ?:<9Hk??`Dž?U輝??8@ir`;CB\=BD)|I|i9%6Eu8<MEY=M^49QUM>yIIeM1EIYUL:mU>YHiD2D"DJDBDEE@)9IGU=yG\,_rAz@@ْx:/<9H x?? 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U⬝??(l@i_;C2L=2C)0 0)8I8i>l 9>6Mc=  QU >y  e DE Yr;m>H1"IH9Da2Da"DaJDiBDiEiEq@)9IG]=~Z\,NirAi@|@ْ:<9H\?ݬ? ԯrX?`rS ??i@i_;CBO=BC)̹Iip 9L6%:M%9=-dQU->y))e-DE1Y5%m5>9HQ"IHYDy2Dy"DJDBDEE@)9IGm>Z\,*jrAɑ@bj@}@ْ:<9H\??@ UY?֩T???bj@iy_;CBpY=BD)DIDiJd 9J#6RK;MRf=VTw9QUV>yTTeVDETYZ89mZ>\Hd"I HlDp2Dt"DtJDtBDtExEx@QGe=Z\, 1jrA:i@{@ْu:<9HZ?.?JW?ن@wT@H??:i@i^;C^=b&DbnAboAblAbnA)I %>)>i%K 9%6u/<Mu0=}oBQU}>yyye}DEYm>ұH"IHD2D"DJDBDEE@G*>QU>Z\,GJjrA7l@~@ْK:)<9H5`?֫?@,@ʮ\?@ŌoiU@Q?`?7l@i _;C2>=2rC)pIpirG 9rU6LMP=9QU%>y!!e%DE!Y-s:m->1H"IHD2D"DJDBDEE@ GVØZ\,yyye}DEyYc;m>҉H"IH D!2D!"D!JD!BD!E)Ei@!G5.>ɕ??uZ\,)~jrAOi@ |@ْ :<9HZ? ?0@lW?@S+??Oi@it^;CnQa=r D)p p)tIxizF 9z<6e<Mm]=mQUm>yiqeuDEqYu#m>ҹH"IHaDy2D"DJDBDEEZ@=R@@IYiG}>MեZ\,\wjrAg@y@ْ:;<9HW??` S?`v@1S??g@i _;C2[=2D)̑I˙i* 96qMD=ҸQU>yeDEY%m> H9"I)HIDY2Da"DaJDaBDaEaEi@AQqG>Z\,QOjrAɑ)f@x@ْF:<9HZU?z?>`yQ?撌HSy۝??)f@i(_;CD=D))I1i5+ 956M"<MMS=UQUU>yeEEY1m>ҡH"I1HD!2D!"D!JD!BD!E)E)@)9IG]>Z\,k,jrAfd@"w@ْ:<9H1R?@G?(AN?@ lR@\??fd@i^;C2W=2D2oA2kA2nA2oA)]pA ]pA)aIa ae>im/ 9m6MʴMM;=M&aQUM>yQQeUEEQY]m]>aH"I HQDy2Dy"DyJDyBDyEE@G>>= got command stop= (Scheduling is pausedN ^Stop Mission called by CommandExec::commandStop7Z\,ʩjrAae@x@ْ~:wJ<9HS?֮?M/ѱeP?@y/R`:ȝ??ae@i _;C*F=*#C)hIhin. 9n6m3MmT=m7QUu>yqqeuEEqY}آ9m}>ҁH"IH%8MissionManager is completed.%JUninitializing Mission lab_test_optim 1LAggregate::uninitialize lab_test_optim1jAggregate::uninitialize lab_test_optim:BackseatDriver1q# G8Uninitialize Wait Component.a!A!eeae]mYmUmQmMmImEmAm=u9u5u1u-uD2D"DJDBDEE @AyG~>Z\,gkrA) c@Vv@ْ۰:eK<9HP?`?@- 3M? 6SXȝ?@?c@i_;C2pY=2D)lIlir: 9r6%o@<M%P=-n8QU->y))e-EE1Y5m5>9%M.Started mission DefaultFI1M *M:Aggregate::initialize DefaultU +U@Initialize GoToSurfaceComponent. +UNo depth rate setting specified. Using default value of nan m/s. +U~No pitch setting specified. Using default value of nan degrees. +]No speed setting specified. Using default value of 1.000000 m/s. +]No surface timeout specified. Using default value of 1000.000000 seconds.+]nReceived pitch timeout configuration 60.000000 seconds.qe*e4Initialize Wait Component.2Ga:GaBGaJGaDqrDq2Dy"DyJDyBDyEyE@AGU2> 4Sent LCM shutdown request. nShutdown requested. Waiting (18.00 sec to power down.).1AZ\,;krATh@{@ْz:<9H=Y?`?`U?@y>T޶?@?Th@i^;CB f=Bt D)D DFF)F F)))) )i=I=)1I199i=E 9=$6;M<8QU>yeEEYqi:m>ұ2G:GBGJGDrD2D"DJDBDE E Z@ =R@ =@9 I  G >+kZ\,f4krAe@x@ْyٔ:e<9HT??CMQ?@†.Rݝ??e@i _;5F=5#C)9IAiE4 9E6]AM]=]+QUe??yaaeeEEaYmmm@?ұ2G:GBGJGDrD2D"DJDBDEE@GF>oSZ\,,MkrAɑih@%{@ْ1:*f<9H cY?@?(%zU? 2T ˝?`?ih@i|_;CBIV=BD)DIDiJ* 9J6RG<MV=V9QUV ?yTXeZEEXYZ:mZ ?\2Gd:GhBGhJGhDprDp2Dp"DpJDpBDpEtEt@qG=~Z\,gkrAh@z@ْ$:S <9HX??7`@!U?ÌTs??h@i3^;C>b=B D)D D F>F?)DIHiJ+ 9J6VP;MVJ=V{QUV>yXXeZEEXYZm^>`2Gh:GhBGhJGhDprDp2Dp"DpJDpBDtEtEtJ@~pAB@~pA@G=Y>Y>TeZ\,krAh@_{@ْ:<9H Y?@l?@`3V?T`??h@iZ_;CR\=RD)\I\ibS 9b~6fwMfH=jW8QUj>yhhenEElYnT69mr>p2Gx:GxBG|JG|D rD 2D "D JD BD EE@G=pZ\,krA) 4<f@y@ْ :9U<9H@V?3? `%S?b$T?`?f@ix_;CBQa=B D)DIDiJY 9J6R=;MRM=RQUV>yTTeVEETYZ mZ>\2Gd:GdBGdJGdDlrDQ2DQ"DQJDQBDYEYEa@G%=)mhG ʁ)ʙI;Z\,W_krA'i@{@ْrz:J<9HZ?&?@%`W?`ŒM/T@yeEEY&:m>ҙ2G:GBGJGDrD2D"DJDBDEEZ@=R@=@G=AAZ\,>krAh@z@ْ:T<9H`X??F U?@S|??h@i^;Bxd=B| D)|I|ia 96E/MEN=MQUM>yIIeMEEIYUNmU>Y2Gi:GiBGiJGiDyrDy2D"DJDBDEE@ G >Z\,krAɑg@xz@ْ:<9H -X?˭?|1ưT?@ШSԝ?`?g@i _;CJo=JDD)|IiE 9$6E;MMJ=Mj8QUM>yIQeUEEQYUmU>Y2Gq:GqBGqJGqDrD2D"DJDBDEE@)9IG]=[\,plrA'b@t@ْC:KM<9H*N?9?@\? J?S P? ?'b@ih_;C&=&C)( ( .?.?),I, 2>2%>i6, 966:XrM>Y=> QU>>y@@eBEE@YBmF>D2GP:GPBGPJGPDTrDX2DX"DXJDXBDXE\E9J@AB@EoA@G=V>R> [\,lrAa@s@ْ:<9H2L?`?`.WH?@j@`bP#ߝ??a@i^;23i=2dD)8I8i>D 9> 6^?N=M^F=b JQUb>y``ebEEdYf5mf>h2Gp:GpBGpJGtDxrDx2D|"D|JD|BD|EE@G= [\,H6lrA) p<c@Yv@ْ5V:<9H`P??A >M?k` R@՝??c@i_;BgN=BC)HIHiNF 9N<6VSMVK=V!9QUV>yXXeZEEXY^K:m^>`2Gh:GhBGhJGhDprDt2Dt"DtJDtBDtExEx@G=E[\,PlrAe@Ox@ْ.*:;<9HMT??*`P?nER??e@iM_;Ru=R%DiV=ITTT)XIXXXiZ& 9Z$6b0<MfH=fZ8QUf>yhhejEEhYj:mj>l2Gx:GxBGxJGxDrD2D"DJDBDE E Z@=R@=@G%=@A{[\,K\jlrAvb@2u@ْΈ:<9H`N?'?`@K?Q`Ĝ??vb@iz^;C2pY=2D)pIpiv 9v6%`M-D=-mQU->y11e5EE1Y5oom5>92GQ:GQBGQJGQDarDa2Da"DaJDaBDaEiEi@iyG=![\,8lrAɑ@b@Fu@ْ:<9H N??`$[K?=Q`A??b@i_;CBl=BD)1I1i=9=6t<MD=C8QU>yeEEYN7m>ҙ2G:GBGJGDrD2D"DJDBDEE@G>+'[\,lrAe@sx@ْR@:<9H T??`૱`Q?n SM? ?e@iW_;CBq=B=D)D FoA ~?~?)I %>)>i 9 6E8MMN=M`e9QUM>yIQeUEEQYUI:mU>2G:GBGJGDrD2D"DJDBDEEJ@ oAB@ lA@GR>N>U-[\,RlrA%g@y@ْ2ʝ:8<9H`W?? S?wFS?@?%g@i^;CBgN=BC)HIHiJ9J^6R鴼MRU=V$8QUV>yTXeZEEXYZ9mZ>\2Gd:GdBGhJGhDlrDp2Dp"DpJDpBDpEtEt@1GE==4[\,lrA) i@>|@ْM:D&<9H[[??`W?໰T@Ý?@?i@i _;C22=2C)8I8i:9:6bMbH=f89QUf>yddejEEhYjH9:mj>l2Gt:GtBGxJGxD|rD2D"DJDBDE E @)9IG]=i I sC)= gG Q )i Iʕ ˻;ɑ g:[\,UlrAj@}@ْ!:<9H]?o? b2Z?1"$U@?`?j@i_;CB&=B#DiF4=IF=HH)HIHHHiN 9N6Vt\=MVL=V8QUV>yXXeZEEXY^9m^>`2Gh:GhBGhJGhDarDa2Da"DiJDiBDiEiEqZ@}=R@}=@ 1GE=]OA[\,~mrAj@|@ْ^:T<9H@]\? Ȭ?X?@ U`??j@i^;CBl=BD)HIHiN 9N=6VMZJ=Z-pQUZ>y\\e^EE\Yb,}mb>`2Gl:GlBGlJGlDtrDt2Dt"DtJDtBDtExEx@G={G[\,cmrAɑ@h@{@ْB2:U<9H gZ?E?N9V?(GfTش??h@i'^;2b=2 D)4I4i6 966n MnG=nɸQUr>ypperEEpYvmv>x2G!:G!BG!JG!D1rD12DQ"DYJDYBDYEYEa@19IG]=M[\,.99mrAf@y@ْVʞ:ʇ<9H`V?,?e.' S?`䟌`JSϝ??f@iS_;RL=RC)VoA VnA ??)!I! %>%>i%9%6eQMeB=eQUe>yiiemEEiYumu>ҙ2G:GBGJGDrD2D"DJDBDEEJ@pAB@pA@AYiGu>Y>R>jT[\,SmrAd@Jw@ْ:<9HyR?1?Y=@/ N?炌 R ֝? ?d@i_;C2xd=2| D)lIpir9rN6]j<M]K=e0-QUe>yaaeeEEaYmt8mm>q2G:GBGJGDrD2D"DJDBDEE@IYiG=Z[\,lmrA) d@v@ْ3:Z<9HQ?@j? % aN?C S@??d@i^;2}=2D)`I`ib 9b6<MP=9QU>y  e EE Y m>2G:GBGJGDrD2D"DJDBDEE@G>a[\,ʆmrAi@@|@ْ:<9H^[??%W? ~͌4Uҝ??i@i; _;C2t0=2Ci6>I6=44)8I888i: 9:6nDAMrL=r܂9QUr>yttevEEtYvB:mv>x2G!:G)BG)JG)D1rDY2DY"DYJDYBDYEaEaZ@u=R@u=@GU=g[\,mrA1j@|@ْ]:<9H\??&௯X?Ό+U@ӝ?`?1j@i_;CB==BC)HIHiJ9Jg6V;MVN=ZQUZ>yXXeZEEXY^Y9m^>`2Gl:GlBGlJGlDrD 2D "D JD BD EE@G=+m[\,†mrAɑj@|@ْ$:#[<9H o\??`@X? U@Oʝ??j@i^;C.F=2#C)8I8i898;MC=%QU%>y!!e%EE)Y-kȷm->12Ga:GaBGaJGiDrD2D"DJDBDEE@IYiG}=yt[\,O[mrA+m@@ْL:8<9Ha?g?v ^ E^?猿 iV@Ν?`?+m@iP_;CBL=BC)FnA D HJ?)HIH J>J>iN 9N6V;MVR=V!9QUZ>yXXeZEEXY^{:mn>p2Gx:GxBGxJGxDrD2D"DJDBDEEJ@oAB@@G=R>N>/{[\,4mrAe@`x@ْҖ:!<9HlT?? *@ P?vTR!Ý??e@i<_;2g=2lD)`I`ib4 9b6%<M%C=-=QU->y))e-EE)Y5m5>92GI:GIBGQJGQDrD2D"DJDBDEE@iyG=[\,VnrA) "b@"t@ْ":"w<9"H N?@M?( GJ?T8]`Qܳ??"b@i"m^;"CB+=B.C)|Ii$ 96EMEH=MgQUM>yIIeMEEIYUemU>Y2Gi:GqBGqJGqDrD2D"DJDBDEE@)9YGm= [\,!nrAQc@ v@ْ:b<9H@P?`?@@ L? ~R؝??Qc@iF_;CRH=VCiZ=IZ=)!I!!%Ai- 9-6e<MeH=eB9QUm>yiiemEEiYu9mu>y2G:GBGJGDrD2D"DJDBDEEZ@=R@=)gG ) I=;A@G>?[\,*;nrAe@w@ْs8:^<9HkS??K#` O?`I gS ??e@i$_;Bb=B D)HIHiJ9JF6R!<MRW=V9QUV>yTTeZEEXYZ:mZ>\2Gd:GdBGhJGhDIrDI2DI"DIJDIBDIEQEQ@G%=([\,àUnrAɑe@w@ْ:<9HMS?`?`O?!s^=S@??e@i^;CB6=BC)DIDiJ9J6RڼMRJ=V{ηQUV>yTTeVEETYZimZ>\2Gd:GdBGdJGh*jDone Waiting.qj*j8Uninitialize Wait Component.DprDp2Dp"DpJDpBDpEtEt@G=N!>iR9R6vp3=MvF=v[@9QUv>yxxezEExYzW:m~>2G:GBGJG+JAggregate::initialize Default:CheckIn1D!rD!2D!"D)JD)BD)E)E1J@=pAB@9@)9QGe=Y>R>9[\,VnrAg@jz@ْj:p<9HX?׭?m̰`}T?`̔T:??g@i_;B(=BNC)HILiN9N6V^MVN=Z7QUZ>yXXeZEE\Y^pm>2G):G)BG)JG)D9rD92D9"D9JDABDAEAEI@G%=1d[\,+2nrA) <d@w@ْ:b<9HR??```tO?@iS4S@A? ?d@i^;C2b=2 D)8I8i:9:6F=MFM=F\QUF>yHHeJEEHYJ2cmN>P2GX:GXBGXJGXD`rD`2D`"D`JDdBDdEdEh@G=o[\, nrA^d@w@ْ:+<9H #R?H? 2@D`N?󯌿WT֝??^d@ie_;CBI=BCiF=IF=||)IAi 9 6esiMe==m(9QUm>yiiemFEqYu( mu>2G:GBGJGD rD 2D"DJDBDEEZ@-=R@-=@G>AAu[\,SnrAbe@x@ْ|:<9H`S? ֮?0@ѱZP? 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O?@ZRB??e@i _;CV#=Z}C)\I\ib9b6 M E= b9QU >yeGEY:m>2G1:G1BG1JG1DArDA2DA"DAJDABDIEIEI@)9IG]=̍Y]\,jhurA6mg@6)z@ْ6:6j<96HW?? C- T?S <̝?`?6mg@i6^;6CnIV=rD99)9IAAEAiE9E%6<M?= 8QU>yeGEY.:m>=rgot command load ./Missions/Engineering/lab_test_optim.tl%Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl%zTethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tlҹ%TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tlD2D"DJDBDEEZ@ =R@ =@G>t`]\,yurA;i@{@ْM}:~<9HZ?@'?r`EW? @oT@??;i@i_;2I=2Ci6R=I6>)pIpiv9v6 MK=9QU>yeGEY!:m>ҹD2D"DJDBDEE@G>%TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -G%nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1G%dDefineArg lab_test_optim.RecordTime = 1.000000 min5G%fDefineArg lab_test_optim.BackseatWait = 30.000000 s9 G % XDefineArg lab_test_optim.UseMission = 1 bool= H%ZDefineArg lab_test_optim.UseHardcode = 0 boolA-H)%-nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE=*H9%=jDefineArg lab_test_optim.SleepCycles = 3.000000 countIM:HI%MfDefineArg lab_test_optim.LightMode = 2.000000 countM]JHY%e~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32QmZHi%uzDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32U}bHy%rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countYrH%jDefineOutput lab_test_optim.RecordingEnabled = 0 bool]U HU %] dDefineOutput lab_test_optim.LightsEnabled = 0 bool%] xInserting Stack from file: Missions/Insert/BackseatDriver.tl%] lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%e TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl% TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: a H % ~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2 2Construct BackseatDriver.f]\,ǛurAɑi@{@ْ:%<9HZ?7?`+ W?@:TQ??i@i_;2>=2rC)pIpiv9v6 5=Construct Wait.}ڻMJ=7QU>yeGEYm#m> 8EConstruct Wait.DY2DY"DYJDYBDYEaEa :$Construct Execute. }$Construct Execute.?$Construct Execute.a!A@G%>FUConstruct Wait. GeConstruct Wait.%!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim)ɍKhG ʡ)ʹIl]\,urAe@x@ْ>b:v<9HT? ?" eQ?qGR[??e@i^;BT=BD J?J>)HIH N>N>iN9N6re<MrT=vQUv>yttevGExYzmz>|2G :G BGJGDrD!2D!"D!JD!BD!E)E)J@9B@9@G=R>԰s]\,zurAh@D{@ْ:<9HY?`u?@l V? 䖌`RS"??h@iM _;F f=Ft D)H H)LILiR9R6v+<MvJ=v$9QUv>yxxezGExYzN:m~>2G:GBGJGD!rD!2D!"D!JD!BD)E)E)@1G==Ay]\,KWurA) fh@"{@ْ:<9H]Y?? b{U?| 1]S@D??fh@ix_;CBT=BD)xIxi~9~6E&MMD=MضQUM>yIQeUGEQYUu#mU>Y2Gq:GqBGqJGqDrD2D"DJDBDEE@)9IGU>À]\,4vrAqj@-}@ْq:.<9H]??%@lY?@>mS??qj@i^;C2\=2Dll)pIpppiv9vF6mT;MmH=msp8QUm>yqqeuGEY:m>ҩ2G:GBGJGDrD2D"DJDBDEEZ@%=R@%=@G>@A]\,vrAl@~@ْ::<9H_? ߫?+ٮY\?ȌTp֝??l@i_;C.7@=.bCi0I2=)\I\ib9b6eƌMmK=9QU>yeGEY:m>2G:GBG JG D9rD92D9"D9JD9BD9EAEA@!G- >]\,6vrAɑl@~@ْd:T<9H `?۫?& ծt\?[@S@|ɝ??l@i" _;Cb>=brC)dIdij 9j6vցMvR=v'"QUv>yxxezGExYzT7m~>2Ga:GaBGaJGaDqrDq2D"DJDBDEE@qG=]\, PvrAi@|@ْ:<9H@;\?`Ϭ?@ƯX?ZS뻝?@?i@i^;2b=2 D 6>6>)4I8 : >:>i:9:F6%,<M%G=-CQU->y)1e5GE1Y5%m5>92GQ:GQBGQJGQDrD2D"DJDBDEEJ@B@@iyG==got command run=Running R>(]\,jvrA'i@{@ْ\œ:P]<9HZ?+?@k*&#W?@KS ʝ??'i@i_;2!S=2D)6A 4)8I8i> 9>6Va"MVR=V>QUZ>yXXeZGEXY^+m^>`1e *e>Aggregate::uninitialize Defaultm +mDUninitialize GoToSurfaceComponent.m+mNAggregate::uninitialize Default:CheckIn1m%mG]\,vrA) +l@~@ْ::h<9H `? ͫ? 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2T?z+U?@?:g@i:_;:CF3i=FdD)HIHiN 9N6V3MVJ=Z 9QUZ>yXXe^IE\Y^á9m^>`2Gh:GlBGlJGlDprDt2Dt"DtJDtBDtExExiɁIɁ@)%iG )1AAIQQG=r;x= _\,L~rA*h@*{@ْ*:*M<9*H@^Z?@E?@;V?ŌCUȝ??*h@i*1_;*CR!S=RDTT)TITTTiZ 9Z6 SMD=i7QU>yeIEY%9m%>!2G9:G9BG9JG9DIrDI2DI"DIJDIBDIEQEQZ@e=R@e=@G=AA[_\,~rAe@}x@ْ?֠:%<9HT? ?` Q?~T?`?e@i^;C>&*=>>C)@I@iF. 9F6NCҼMNR=N~>QUN>yPPeRIEPYVmV>T2G`:G`BG`JG`DhrDh2Dh"DlJDlBDlElEp@G=_\,Wβ~rAɑkf@'y@ْ"Н:<9HU?@g? \@BR?`S@??kf@i8 _;C&A=*RC)(I(i.) 9.n66n<M6N=:sQU:>y88e:JE8Y>V9m>>@2GH:GHBGHJGHDPrDP2DT"DTJDTBDTETEX@G=_\,?~rAh@{@ْ>:s<9HZ?V? `LV?箌`T?`?h@i_;CRr=R5D V>V>)TIT XZ!>iZ 9Z6bI<MbE=fb"9QUf>yddefJEdYjy8:mj>l2Gt:GtBGtJGxD|rD|2D"DJDBDEE J@oAB@oA@G=R>R>/_\,/~rAh@U{@ْ-Ϟ:]b<9H`Y?k?j)d#V?@@S6˝??h@i^;B3i=BdD)DIDiJ9J6nﹻMnI=rQUr>yppevJEtYvmv>x2G:GBG JG DrD2D"DJDBDE!E!@G_\,crA) j@}@ْg:O<9H]? l?`>j Z?1ΌwT??j@i _;RI=RC)TITiV9V6r[MvI=v8QUv>yxxezJExYz-:m~>a2Gq:GqBGqJGqDrD2D"DJDBDEE@G>6A_\,;rAh@{@ْ":k<9H Z?Y?`QvV? `QS?@?h@i_;22=2C44)4I488i:9:6b mMbM=bQUf>yddefJEhYjj"mj>2GI:GIBGIJGIDQrD2D"DJDBDEEZ@qR@u=@)9IIGU>l_\,4rA|k@8~@ْ7:˄<9H@^?%?" `F[?@x̌`&Uϝ?`?|k@i^;C2b=2 D)4I4i6 966F!<MFN=F;K9QUF>yHHeJJEHYNZ:mN>l2Gx:GxBGxJGxD!rD!2D!"D!JD!BD!E)E)@ G={T_\,MrAɑ@j@|@ْ :E<9HX\?࿬? kA@X?`S`??j@i_;C2j=2\D)0I4i6966~o;MC=4QU>y  e JE Y ٹm >2GI:GIBGIJGIDqrDy2Dy"DyJDyBDyEE@19QQG]=}_\,>grACg@y@ْ%:KR<9H@TW? ?/`S?@{ R4ɝ?@?Cg@i_;C2F=2#C 46>)4I4 6>6>i: 9:6%UM-H=-;QU->y11e5JE1Y5Zm5>Y2Gq:GqBGqJGqDrD2D"DJDBDEEJ@nAB@qA@iyG=]>V>d_\,~rAi@u|@ْ'j:\<9H[??0@$X?@MD T@u՝? ?i@i^;2x=2D)4I4i:9:6F[=MFU=JU9QUJ>yHHeJJEHYNM:mN>P2GX:GXBG\JG\DprDp2Dt"DtJDtBDtEtEx@G =_\,rA) "k@"~@ْ"r:"V<9"Hr_?@?A`[? eŌT?`?"k@i"&_;"C2A=2RC)4I4i696-6rMrE=rPr6QUr>yttevJEtYzJ:mz>x2G):G)BG)JG)DYrDY2DY"DYJDYBDYEaEa@ )1G==lPowering down and starting shutdown timer (18.00 sec).iɕ@Unsubscribing from LCM channels..Deactivating messaging.)ɵhG )I))۹_\,p`rAj@X}@ْ1_:<9HT]??`~BY?@挿 U@?`}?j@ie_;C2b=2 D44)4I488i: 9:w6 ܡ<M H= 9QU >yeJEYm=>A2GQ:GQBGQJGQDrD2D"DJDBDEEZ@=R@=@iyG=_\,~;rAh@{@ْ:M(<9H@^Z?=? <<V?I 4T??h@i_;2g=2lD)4I4i6 966n=;MrM=r QUr>yttevJEtYvmv>x2G:GBGJGDrD2D"DJDBDEE@IYiqGu=_\,rAɑ@fi@"|@ْ~:r<9H([??`1& W?g`T-͝??fi@i1_;C>A=BRC)@I@iF9F6bMbL=f>8QUf>yddejJEhYj 9mj>l2Gt:GxBGxJGxD|rD2D"DJDBDE E @G%==`\,rAxj@4}@ْ>=:<9H]?`?)`tY?Ɍ`UiZ9Z6b=MbK=b69QUf>yddefJEdYj9mj>l2Gt:GtBGtJGtD|rD|2D"DJDBDEE J@uAB@A@!11G==V>N>D`\,rAbg@z@ْ:a<9HW? 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RmVT`L??]l@i_;CB9=BC DF?)DID HJ>iJ9J-6R MRK=R$9QUV>yTTeVNETYZ{9mZ>\2GA:GABGAJGADIrDQ2DQ"DQJDQBDQEYEYJ@mAB@i@G=]>V>c\,0CrAj@M}@ْ:W_<9H@]??G `Y?Tʝ??j@ib_;CBL=BC)DIDiJ9J6Rw;<MRJ=R8QUR>yTTeVNETYVtmZ>X2Gd:GdBGdJGdDhrDl2Dl"DlJDlBDlEpEp@G=[c\, ]rA) p<jf@&y@ْZ:=K<9HU?[?cG\5R?pSO??jf@i _;CBF=B#C)DIDiF9F6NyMRJ=RqQUR>yPTeVNETYVmV>X2G`:GdBGdJGdDhrDh2Dl"DlJDlBDlEpEp@G=c\,vrAc@v@ْf_:<9HiQ?r?hCrM?r+R؝??c@i_;CR==RCTT)TITTVAiZ9ZN6bMbH=bFQUf>yddefNEdYj$@mj>l2Gt:GtBGtJGtD|rD|2D"DJDBDEE Z@p=R@@!11G==@Ac\,vrAd@=w@ْ:+<9HbR?`>?+4N?rAS??d@i.^;B!S=BD)DIDiJ9J6nX<MnI=r0*9QUr>ypperNEpYv*9mv>x2G:GBGJGDrD2D"DJDBDEE!@G=c)c\,rAɑ@f@y@ْ~:ڡ<9H`V?!?+1 8S?Y`S`%ӝ??f@i_;CBO=BC)DIDiF9FF6NkMRN=R8QUR>yPTeVNETYVUG:mV>X2Gd:GdBGdJGdDhrDl2Dl"DlJDlBDlEpEp@G=zc\, {ďrAf@y@ْɟ:;<9HV?@.?"`&@S?BSThƝ??f@i_;CBL=BC F?F?)DID F>F>iJ9JV6R[MRJ=R8QUV>yTTeVNETYZϷmZ>\2Gd:GdBGdJGdDlrDl2Dl"DpJDpBDpEpEtJ@xB@x@qG=Y>Y>;c\,SޏrA e@w@ْ:f<9HWS??0@O? ņ@4S˝?? e@ih^;CFQ=FD)HIHiN9N6V:;MVJ=Vv1QUZ>yXXeZNEXY^Xm^>`2Gh:GhBGhJGhDprDp2Dp"DtJDtBDtEtEx@19QQG]==rgot command load ./Missions/Engineering/lab_test_optim.tl%Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl%zTethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl%TethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tliɁIɁ)KhG )I996fc\,Y3rA) g@y!!e-NE)Y-;:m->1Di2Dq"DqJDqBDqEE@IYiiGu=% TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -5 G1 %5 nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1E GA %M dDefineArg lab_test_optim.RecordTime = 1.000000 min5U GQ %] fDefineArg lab_test_optim.BackseatWait = 30.000000 s9e Ga %e XDefineArg lab_test_optim.UseMission = 1 bool=m  Hq %u ZDefineArg lab_test_optim.UseHardcode = 0 boolA} Hy % nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE *H % jDefineArg lab_test_optim.SleepCycles = 3.000000 countI :H % fDefineArg lab_test_optim.LightMode = 2.000000 countM JH % ~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32Q ZH % zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32U bH % rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countY rH % jDefineOutput lab_test_optim.RecordingEnabled = 0 bool] H % dDefineOutput lab_test_optim.LightsEnabled = 0 bool% xInserting Stack from file: Missions/Insert/BackseatDriver.tl% lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl% TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl;Nd\,rA k@}@ْZ:a<9H^?X?@;@O@yZ?@2׌U ˝?@? k@iW_;C2A=2RC44)4I444i: 9:w6b@<MbP=fze9QUf>yddefNEhYjT:mj>lDx2D|"D|JD|BD|EEZ@ =R@ =%TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: aH%~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 22Construct BackseatDriver.@G= 5Construct Wait. 8Construct Wait. :$Construct Execute. < $Construct Execute. >u$Construct Execute.?$Construct Execute.a!A%@AF Construct Wait. GConstruct Wait.%!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optimyw d\,+rAgh@#{@ْ+:\<9H_Y??`z@U?`ٝoET??gh@i^;C2[=2D)4I4i:9:>6FB~<MFN=JdQUJ>yHHeJNEHYN%UmN>P2GX:GXBGXJGXD`rD`2Dd"DdJDdBDdEdEh@G=f_d\,ErAɑ@"d@"w@ْ"-:"<9"H.S? ? 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?qd@i^;CBD=BD)DIDiJ9J6Rģ<MRJ=V8QUV>yTTeVPETYZ mZ>\HdDp2Dt"DtJDtBDtEtEx@G=e\,?rAe@Fx@ْ"N:+h<9H`=T?ʮ?@P?8j)S??e@i _;CB9=BC F>F>)DID J>HiJ9J6R+MRJ=V3O8QUV>yTTeVPETYZح9mZ>\HdDt2Dt"DtJDtBDtExExJ@nAB@lA@G=Y>> e\,rAf@jy@ْ:e<9HHV?R? @> R?Fn@yddefPEdYj9mj>hHtD2D "D JD BD E E@G=utAiunAye\,ؗrA) e@x@ْm:<9HU??@}Q?X`S ??e@i^;CBg=BlD)DIDiJ9J>6nӒ<MrH=r)7QUr>yttevPEtYv _mv>xH D!2D!"D)JD)BD)E)E1@)9IG]= e\,rA'd@v@ْEB:3<9HQ?@i? \>N?AK`HR@??'d@i _;BU8=BCDD)DIDHHiJ9J6RMRN=VtQUV>yTTeZPEXYZmZ>\HhDt2Dt"DtJDtBDtExExZ@yR@}=@IYiG}=f\, rA_@r@ْۆ:<9H`LJ?=?"3F?`~P@?@?_@i_;CB>=Bx,D)DIDiJ9JN6R:n=MRJ=R˄QUV>yTTeVPETYZämZ>\HdDt2Dt"DtJDtBDtExEx@G=[/ f\,M&rAɑ@"bc@"v@ْ"Ɣ:"i<9"H`_P?@?` L?W^טRڴ??"bc@i"^;"CBgN=BC)DIDiJ9J-6Rt7MRJ=Rى9QUR>yTTeVPETYV.:mZ>XHhDp2Dt"DtJDtBDtEtEx@G=f\,N`@rAa@Gt@ْ~ȑ:<9HM? ?I?y59R-?@?a@i_;V@K=VC XZ>)XIX Z%>Z%>i^9^6fMfH=fjQUf>yhhejPEhYnmn>pHxD2D "D JD BD E EJ@B@mA@GR>R>Af\,6;ZrAa@t@ْ: '<9H@M?v? e J?B%25R`ԃ?`?a@i_;CB7@=BbC)DIDiJ9J6REݻMRM=RQUV>yTTeVPETYZx8mZ>\5fDone Waiting.f 5f8Uninitialize Wait Component.j5jnAggregate::initialize lab_test_optim:Startup:UseMission1jqjHhD2D"DJDBDEE@iG=zkf\,trA) Vd@w@ْ>:<9H R?S?@i@H`N?B@'R ??Vd@i_;CBT=BD)DIDiJ9J6RJ<MRJ=VsQUV>yTTeVPETYZpG:mZ>\Hfqjj1jHj?HhDp2Dt"DtJDtBDtExEx@G=T#f\,rA&i@{@ْ:9<9H Z?`3? `&`"W?^C=BBCDDiF9Fx6N+MNJ=Rz9QUR>yPPeVPETYVǾ:mV>X=7fXDisabling Optim recording after 1.000000 s ffHdjj 3jvInitialize ReadDataComponent to sense PowerOnly.sampleLoad1HhD2D "D JD BD E EZ@=R@=@G=@A9})f\,̧rAi@{@ْ*:^<9HZ?`??`0V?棌dU ??i@i_;F==FCJ2Powering down loadControlJJ NN)NINiR9Rg6vtMvF=va8QUv>yxxezPExY~޷m~>H1 84Initialize Wait Component.HHDA2DA"DIJDIBDIEIEQ@!1G==)5KhG I)aIʕ˻;ɑZe0f\,rAɑl@e@ْ:s<9Ha? ?`n]? zT}??l@iFy_;C2*^=2Di696O6V/<MVN=V3QUZ>yXXeZPEXY^:m^>H15H1DA2DA"DIJDIBDIEIEQ@IYiG}=6f\,ۘrASy@@ْx:<9H@w?? t?xT@࡝? ?Sy@iY_;CB5=BD DF>iJ9JW6R<MRK=R)QUV>yTTeVPETYZi{;mZ>\HdHhDt2Dt"DtJDtBDtExExJ@B@pA@G=a>>K:|H<9H ?r?e@~?@񈌿R??@i)_;CBgN=BCir9r6-M-B=-a{QU->y11e5PE1Y5:m=>AHQHQD2D"DJDBDEE@ G>ɕ ? ?Cf\,:;rA) 4<@Ԛ@ْq:)<9H %?@s?@c?S`-??@i־_;CR&*=R>CV&NAL9602 initializediZ9Zh6bmMbQ=b6+9QUb>yddefPEdYj7;mj>h8vDone Waiting.1v 8v8Uninitialize Wait Component.qzHxHxD2D "D JD BD E E@!1G==If\,)rA/@띥@ْܜ:!<9H??`b?``S??/@iytxezPExYzq:mz>|HqHHD!2D)"D)JD)BD)E)E1Z@E=R@E=@G=AA@APf\,=BrAᏞ@@ْ/:NG<9H??>w?`ڌT`ا??Ꮮ@i`_;2b=2 Dib9b6=?M=E=E-:9QUE>yAAeMPEIYM:mM>Q=9mnPowering up Optim to try to tide over gap to handoff...mHi5mVCompleted lab_test_optim:Startup:UseMissionm5mrAggregate::uninitialize lab_test_optim:Startup:UseMission1mu9upAggregate::initialize lab_test_optim:Startup:UseBackdoor1uuHqD2D"DJDBDEE@G>Vf\,l\rAɑ`@@ْ:<9H ?P? 晿`=.?rS??`@i__;CRm=RLD.Powering up loadControl)̕i96;M@=QU>yePEY/9m> 9 tAggregate::uninitialize lab_test_optim:Startup:UseBackdoor1  ?pAggregate::initialize lab_test_optim:Startup:UseHardcodeHD2D"DJDBDEE@G )>]f\, vrA@|@ْ唐:<9H ?`?`@?͗`R)??@i/_;CB.=BC)FqA FA p;p;i9.6e"MeS=mQUm>yiqeuPEqYu)Nmu>y ?tAggregate::uninitialize lab_test_optim:Startup:UseHardcode4@Completed lab_test_optim:Startup1 4\Aggregate::uninitialize lab_test_optim:Startupq @PAggregate::initialize lab_test_optim:Run HD2D"DJDBDEEJ@}AB@A@G=R>R>5cf\,rA@X@ْ_:.<9Hp?֝?(Ѡ?`%Pĝ??@iE_;C2Qa=2 D)8I:i:9:6V=MVW=V;QUZ>yXXeZPEXY^yغm^>`=AjPTrying to run Optim and Multiray forreal j nHlD2D "D JD BD E E@G=jf\,]rA)D Fp?@?`i+?`\YQǝ??J[@iJT_;H~^C=BC) I i96EMEA=EOm8QUE>yIIeMPEIYMemU>QH 1!HD2D"DJDBDEE@qG=#qf\,:ęrA@@ْW:&<9H?@?K@ତ`d?^ R? ?@i,_;2Qa=2 Di6a=I6=)4I88:Ai:9:N6ŕ<M%L=%`8QU%>y))e-PE)Y->m5>1Im1!mq!mHiD2D"DJDBDEEZ@=R@=@)9IGU=@AAAW,wf\,+ޙrA@I@ْq:g<9H?@Ģ?K/?>R wӝ??@i,6_;Cr3 =riC z>z>)xIxi= 9=$6EPMMH=M?8QUM>yQQeUPEQYU%=m}>y Iq!! 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Using default value of nan m/s. +n~No pitch setting specified. Using default value of nan degrees. +nNo speed setting specified. Using default value of 1.000000 m/s. +rNo surface timeout specified. Using default value of 1000.000000 seconds.+rnReceived pitch timeout configuration 60.000000 seconds.qv*v4Initialize Wait Component.2Gt:GtBGtJGtD|rD|2D|"DJDBDEE @G=p\,urA`@Zs@ْsu:<9HiK?`?'QG?@ N =Н? ?`@i_;FH=FCDFoAFmAFmAJJ)J J)))) ))I4Sent LCM shutdown request.nShutdown requested. 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Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -mGi%unDefineArg lab_test_optim.MissionTimeout = 15.000000 min1}G%dDefineArg lab_test_optim.RecordTime = 1.000000 min5G%fDefineArg lab_test_optim.BackseatWait = 30.000000 s9G%XDefineArg lab_test_optim.UseMission = 1 bool) gG !)9=E HAI;N>N>%ZDefineArg lab_test_optim.UseHardcode = 0 boolAH%nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE*H %jDefineArg lab_test_optim.SleepCycles = 3.000000 countI:H%%fDefineArg lab_test_optim.LightMode = 2.000000 countM5JH1%=~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32QEZHA%zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UbH%rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countYrH%U jDefineOutput lab_test_optim.RecordingEnabled = 0 bool]] H] %e dDefineOutput lab_test_optim.LightsEnabled = 0 bool% xInserting Stack from file: Missions/Insert/BackseatDriver.tl% lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl% TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl% TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: a- H- %5 ~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 boolsv\,rA@g@y@ْ_E:|]<9HNW? ?-( S?` Tʝ??@g@iC_;C2 f=2t D)8I8i: 9:w6FMFR=F8QUJ>yHHeJ`EHYN9mN> 2V2Construct BackseatDriver.pD2D"DJDBDEE 5Construct Wait. 8}Construct Wait. :$Construct Execute. <%$Construct Execute.@IYGu= >$Construct Execute.?$Construct Execute.a!AFConstruct Wait. G%Construct Wait.%m!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =mLoaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optimj?yv\,rA) <f@y@ْC֣:#<9H V?-? l;+ R?@0ÌzT b??f@i_;CRgN=RC)XIXiZ9Z6rcMrE=vG8QUv>yttez`ExYz=mz>|2G :GBGJGDrD!2D!"D!JD!BD!E)E)Z@5=R@5=@)9G]=&v\,rAf@y@ْɰ:X<9H V?@'?n; %S? ԰SSߝ??f@iu^;CBxd=B| D J>J>)HIHHJAiN9Ng6V^<MVN=VxQUV>yXXeZ`EXY^v7m^>`2Gh:GhBGhJGhDYrDY2DY"DaJDaBDaEaEi@G=@APv\,|rAb@hu@ْ?:O9<9HO??@MK?uR ??b@i_;CB==BC)HIHiN9N6V¼MVJ=ZfYQUZ>yXXeZ`EXY^km^>`2Gh:GhBGhJGlDprDp2Dt"DtJDtBDtExEx@G=|v\,|_4rAɑd@ow@ْ:m<9HR?%? 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R9P?{Ì`T?`?e@iO_;B3=BCi96];MeK=evE7QUe>yiiemcEiYm8!9mm>q=7XDisabling Optim recording after 1.000000 s H 3vInitialize ReadDataComponent to sense PowerOnly.sampleLoad1HD2D"DJDBDEE@G >Umy\,rAɑf@x@ْ\:W&<9H2U?@?W@Q?< +yecEY9m>H1 84Initialize Wait Component.HHDA2DA"DAJDABDAEIEIJ@]nAB@Y@G>>ty\,rAk@~@ْ:H<9H_??  [? 錿 cVǝ??k@iE_;CBF=B#C J%>J%>iJ 9J6RiPMRa=VK9QUV>yTTeVcETYZX;mZ>\HhjHhDp2Dp"DpJDtBDtEtEx@G=N>gzy\,rAKu@@ْB:<9Hzp?ͧ?ª l? ]ʌT??Ku@iI_;FH=FCiN 9N6Vy:MVJ=V$eQUV>yXXeZcEXY^9;m^>`HhHlDp2Dt"DtJDtBDtEtEx@G=Oy\,rA) 4<~@j@ْW:<9HJ??W}?`挿T@ ҝ??~@i~_;CBb=B DiN 9N6V<MVJ=V+QUV>yXXeZcEXYZ9;m^>H)H1DA2DA"DIJDIBDIEIEQZ@e=R@e4=@ G5=yy\,[rA@f@ْ檜:<9H`7?h?@ @]`?\S c??@i׫_;ZgN=ZC``ib 9b$6j&HMjH=nIQUn>yllercEpYr:mr>t8Done Waiting.1 88Uninitialize Wait Component.qHHD2D"DJDBDEE@G>AAy\,69rA@ҙ@ْ0:R<9HW?ߟ?@p֢̌?Ӊ`R??@iq_;CB=BCi 96EMEC=MnnQUM>yIQeUcEQYUۂ:mU>YHuquuHqHqD2D!"D!JD!BD!E!E)@!)i ʁ)ʙI;G$>׋y\,SrAɑrI=rCie 9e6T<ME=QU>yecEYm>ұ=9nPowering up Optim to try to tide over gap to handoff...H5VCompleted lab_test_optim:Startup:UseMission5rAggregate::uninitialize lab_test_optim:Startup:UseMission19pAggregate::initialize lab_test_optim:Startup:UseBackdoor1HD2D"DJDBDE E J@xAB@}A@G*>y\,%lrAډ@@ْ:R3<9HJ??홿͑?TR`wQ]? ?ډ@ib_;C&T=&Dj.Powering up loadControl)] ]4=];ie9e6`;MH=QU>yecEYX:m>9tAggregate::uninitialize lab_test_optim:Startup:UseBackdoor1 ?pAggregate::initialize lab_test_optim:Startup:UseHardcodeHD2D"DJDBDE E @G>V>y\,PȆrA@C@ْ*:<9HyXXeZcEXYZ;m^>`j ?jtAggregate::uninitialize lab_test_optim:Startup:UseHardcoden4n@Completed lab_test_optim:Startup1n 4n\Aggregate::uninitialize lab_test_optim:Startupq n@nPAggregate::initialize lab_test_optim:Run nHpD2D"DJDBDEE@iyG= ȧy\,3rA) p<O@ @ْm:<9H??`{ `M?IȌ@S軝?@?O@iDI_;CBI=BC)F}A FA)HIJiN9N 6Vy <MVJ=V8QUV>yXXeZcEXYZκm^>`=AjPTrying to run Optim and Multiray forreal j jHhDp2Dt"DtJDtBDtExExZ@~=R@~=@G=y\,p|rA @ܙ@ْ(:qX<9H i?ڟ? Ѣˌ?ٌ5T ɝ?? @iS_;CFb=F D)Ii 9 6Em<MMA=Mt8QUM>yQQeUdEQYUƝmU>]nAi]wAaHy }1!}HyD2D"DJDBDEE@G=ٴy\,KYrAW@@ْ:.<9H??=. ?`RT`??W@i]_;C@@~A~A)Ii 9 6M8QUM>yIIeMdEQYUmU>YIm1!uq!uHqD2D"DJDBDEE@iyG=y\,+2rAɑ@ˑ@ْs:{`<9H?`k?<jX~?ڌvS?@?@i0_;C&F=*#C)`I`if9f6  M < $QU >yedEY֬m>ҁ Iq!! C^Aggregate::initialize lab_test_optim:Run:setRed!3vInitialize ReadDataComponent to sense MultiRay.lightModeLogHD2D"DJDBDEEJ@zAB@wA@G>y\,^rAF{@@ْ :<9H@1{??9 w? =S ?@?F{@i8_;CB&=F^C)LIL RC=R=iR 9RV6ZnMZP=Zy\\e^dE`Ybmb>d!n CnbAggregate::uninitialize lab_test_optim:Run:setRed!rq"rDrbAggregate::initialize lab_test_optim:Run:setWhite"rHpD2D "D JD BD E E@G=R>y\,!rAw@@ْH:/<9H7u??E@`q?)R??w@i>_;CBD=B2C e>e>)aIaim9m^6<M<=QU>yedEYum>ҹIY@""HDY2Da"DaJDaBDaEaEi@IYGu>1@y\,;rA) Fy@@ْф:o<9H w??"@t?ӽS̝?@?Fy@i?_;C2pY=2D)̹I˹i96 E<MD=9QU>y  e dE Y9m>E5jSetting muliray white brightness to 100.000000 count "5D5JCompleted lab_test_optim:Run:setWhiteq"DfAggregate::uninitialize lab_test_optim:Run:setWhite1#HDq2Dy"DyJDyBDyEyEZ@R@=@aqG:>(y\,UrA }@Ə@ْ:O<9H`Z~?e?䙿Pz?@ތ^V`?? }@i'_;CBD=B2C))I)-A)i5956etUMeU=mK9QUm>yiieudEqYu:mu>y=F8Recording for 1.000000 min 1#q#F4Initialize Wait Component.HD2D"DJDBDEE@G>AAARy\,(|orA}@@ْ@p:@<9H? ?w |?@Vǝ?@?}@i>_;CB[=BDAA)IIIiU9U6}H<M:=5QU>yedEYb9m>ґHD2D"DJDBDEE@aqG>iɽ>IɽxC) ) )A I} ˻;y n; *=:y\,ZrAɑ@x@O@ْYO:<9H`[v?`V?@M`r?a팿U Н?@?x@i_;C:O=>C)DIDiF9Fx6NMNo=RQUR?yPTeVdETYVmV?XHdDp2Dp"DtJDtBDtEtEx@G==BrC)aIi }=} >i96%M9=tQU>yedEY(m>HDy2Dy"DyJDyBDEE@aqG>y\,rAk@O~@ْP:<9H_??@+ v[?譌@ TН?@?k@i&`;CBW=BD)HIHiJ9J6R#<MV^=V8QUV>yXXeZdEXYZmZ>\HhDp2Dt"DtJDtBDtEtEx@IYGu=]vy\,)rA) Kp@@ْz:<9Hg?? @c?nT $??Kp@i_;CB=B*D)Ii9-6%=M%5=%s"7QU%>y))e-dE)Y-:m5>9HIDY2Da"DaJDaBDaEaEi@ G5 >oy\,rA.s@ꅥ@ْH:p<9H l??` i? 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"@"G?b@(S? ?&`@i_;CBH=BCiDIF%= |~?)Ii96EME[=M8QUM>yIQeUjEQYU:mU>H"IaHD2D"DJDBDE E @G >\,dYrA) "c@">v@ْ"ֱ:"g<9"HP? ?$M?:SY??"c@i"{^;"CB[=BD)aIii96H1<M?=ߔ8QU>yejEY{:m > H!"IH)D92DA"DAJDABDAEAEI@aqG> \,;7.rAd@w@ْ:נ<9H)S?@?zO?@@}BT`? ?d@i"_;CR^C=VBC)XIX\\i^9^_6fCMf_=jp8QUj>yhhejjElYn9mn>pH|"IIHD!2D!"D!JD)BD)E)E1@)9G]=\,HrAb@vu@ْq:Y<9H2O?@ ?``K?K]`0R@??b@iO_;CBQ=BD)D D)F; Fp;)đ đ)Ii9w6P<M9=^@QU>yejEY m > H!"IH)D92DA"DAJDABDAEAEI@G% >:\,)arAɑ c@u@ْ:<9HO??`@۲3L?NqsS-? ? c@i^;CB=B*C)HIHiN9N6Vx.MVb=Z8QUZ>yXXeZjEXY^8m^>`Hh"IHpD2D "D JD BD E E@G=A\,y{rAa@t@ْ:l<9H@M?b?@$ [*J?@{aS๾??a@i_;C>.5=BC)I >>i96<M5=%&QU%>y!)e-jE)Y-m->1HI"IHQDy2Dy"DyJDyBDyEE@aqG>iɩIɭ C) gG !)9I};y]>>i2(%\,MrAb@Xu@ْf:\<9H N? ?`0 gK? }`,S Vϝ??b@i_;CRD"=VCiXIZ= ??)!I!i%9%6mFMmW=myqqeujEqY}ol9m}>ҁH"IIHD2D"DJDBDEE@G>!S+\,rA) b@u@ْ:<9H }O??`K? uU@??b@i _;C25=2D)Ii 96](]=M]<=]A|9QU]>yaaeejEaYe8mm>iH"IH DQ2DY"DYJDYBDYEYEa@AQGu6><2\,arAa@t@ْ?:X&<9HM?Z? &&S`EJ?$ SÝ?`?a@i^;C.j=2\D)4I444i: 9:6nMnf=rQUr>ypperjEpYv&mv>xH)"I!H1D2D"DJDBDEE@G>@A@Ae8\,6rAa@nt@ْ:t<9H`XM??@NrI?cd T`??a@i6_;C2F=2#C)2< 2p<)64< 64<)) )11)9I9iU 9U 6M==kF8QU>yejEY/m>H "IHyD2D"DJDBDEE@AQGu>@>\,8rAɑ_@q@ْ:<9H H?? E?@=R ??_@i\_;C2+=2.C)8I8i: 9:6nMrZ=r~QUr>yttevjEtYv_mv>xH"I!HD2D"DJDBDEE@G=\wE\,WrA^@Bq@ْkɎ: !<9HG?ݱ?4 ڴ"D?@xM -Q Ý??^@i^;C2q=2=D)I >>i 9E6=M+=иQU>y!e%jE!Y%m%>)HA"IiHD2D"DJDBDEE@G J>R>N>K\,0rA]@p@ْdž:<9H JF? /?\J0`B?@}=@P`ҝ?@?]@i_;CVU8=VCiXIZ%= ^?^?)\I\ib. 9b6r*Mvv=v@QUv?ytxezjExYzmz?|H"IH9DI2DI"DIJDIBDIEQEY@ G==IY4R\,JrA) @^@p@ْ@m:`<9H*G??E@C?IA Qϝ??@^@ia_;C2A=2RC)IiI 965Q;M=7==7QU=>y9AeEjEAYE 9mE>IH"IHD2D"DJDBDEE@G)>>X\,}drAv`@2s@ْp:<9H!K? ?- G?@cV@.Rɾ??v`@i_;2T=2D)lIpppirG 9rU6sM<M%^=%C9QU%>y))e-jE)Y- @:m->1Hi"IHD2D"DJDBDEE9@G>AAAAh^\,Y~rA`@r@ْDnj:<9HQJ?7?/@2F?B@Q?`?`@i_;C2o=2DD)2p< 2p<)6; 6;)I MlA)̹I˹i5 96w<M==QU>ye jE Y $m >iH"IHD2D"DJDBDEE@G%>yttevjEtYv`:mz>xH"IHD2D"DJDBDEE@G=uk\,rA a@s@ْa:n<9H.L??@.H?PKQ`?? a@i^;2L=2C)1I1 5!>5%>iE 9E6J*<M8=1QU%>y!!e%jE!Y- um->1Ha"IiHD2D"DJDBDEE@ayG>= got command stopN^Stop Mission called by CommandExec::commandStopY>) hG ) IA A r\,%rA&d@&iw@ْ&:&T<9&HR?(? (!@O?S`|ɝ??&d@i& _;&C^|=bD`boAidId)hIlin 9nV6%<M%[=-9QU->y)1e5jE1Y5:m]>YHq"IQH%8MissionManager is completed.%JUninitializing Mission lab_test_optim 1LAggregate::uninitialize lab_test_optim1jAggregate::uninitialize lab_test_optim:BackseatDriver1q# G8Uninitialize Wait Component.a!A!ea]EYeUeQeMeIeEmAm=m9m5m1m-mDq2Dy"DyJDyBDyEyEM4Sent LCM shutdown request.MnShutdown requested. Waiting (18.00 sec to power down.).@YiGZ>y\,rA) \@o@ْH:@r<9HD??( A? P6??\@iG_;C2^C=2BC)4I4i:9:6 MK=%XQU%>y!!e-jE)Y-m->1%e.Started mission DefaultFa1m *m:Aggregate::initialize Defaultm +m@Initialize GoToSurfaceComponent. +mNo depth rate setting specified. Using default value of nan m/s. +m~No pitch setting specified. Using default value of nan degrees. +uNo speed setting specified. Using default value of 1.000000 m/s. +uNo surface timeout specified. 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H? ]oNS`#?`?:a@i^_;B+=B.C)Ii s 9 6MNMMJ=MCQUU>yQQeUoEQY]m]>a2G:GBGJGDrD2D"DJDBDEEJ@AB@A@iyG=@A޼^\,}rAn`@*s@ْ:wG<9H@K? ?@!`G?@_J"xRݧ??n`@i_;CB=BD)D D)IiW 96L^=MN=QU>yeoEYwm>ҡ2G:GBGJGDrD2D"DJDBDEE@G>*e\,urAɑ@X`@s@ْ0:[<9HJ?? Q gG?`L|Rf?`?X`@i^;CBL=BC)HIHiJL 9J6Ro MVR=V96QUV>yXXeZoEXYZpmZ>\2Gh:GhBGhJGhDprDp2Dp"DpJDpBDpEtEt@G=6k\,DrAPb@ u@ْ՜:t0<9HsN?@:? -`J? vkS??Pb@i_;CRD=R2C V>V>)XIX XZ>i^6 9^6fjMfH=f#/9QUf>yhhejoEhYnH:mn>p2G|:GBGJG D!rD)2D)"D)JD)BD)E1E1Z@E=R@E=@G=R>N>r\,crAxc@4v@ْ:<9HP?@?M @L?@<?SM? ?xc@iK_;CBA=FRC)zgG )%fAiER=IQQIE=)yIyiW 96M>=i8QU>yeoEY9m>ҩ2G:GBGJGDrD2D"DJDBDEE@iyG=Lx\,>rA) 4<f@y@ْxE:<9HV? 8?,@-R?ÌU@)??f@i_;CBW=BD)HIHiJe 9J<6^j<MbY=f 9QUf>yhhejoEhYj8:mn>p2Gx:GxBGxJGxDarDi2Di"DiJDiBDyEE@iyG= \,rA&Ig@&z@ْ&Ca:&<9&H^W?`?9`S?@H(lT !??&Ig@i&m_;&CFQ=JD||)Ii J 9 6EnMEA=MR)QUM>yIIeUoEQYUE 9mU>2G:GBGJGDrD2D"DJDBDEEJ@B@@G=AA'󅅰\,rAe@x@ْT:<9H`T?@?``Q?L TJ? ?e@i_;Zt0=ZC)bA `)I!i%N 9%65䤼M5L=5 sQU=>y99eEoEAYEmE>I2GY:GYBGaJGaDirDi2Dq"DqJDqBDqEqEy@)9G]=i\,B2rA ɑ 2pc@2,v@ْ2:2<92HxP?@?୲`L?`US`??2pc@i2^;2C>^C=>BC)pIpirR 9re6z?<MzN=~@QU~>yeoEY 0=m > 2G!:G!BG!JG!D1rD12D1"D1JD1BD1E9EA@G==]rgot command load ./Missions/Engineering/lab_test_optim.tl%]Loading Mission from file: ./Missions/Engineering/lab_test_optim.tl%]zTethyslAPI: loading: ./Missions/Engineering/lab_test_optim.tl%mTethyslAPI: mission file loaded: ./Missions/Engineering/lab_test_optim.tl \, LrA"b@"u@ْ":" <9"HO??_* L?Wk`>R`?@?"b@i" _;"C>M-=>C B>B>)@ID F >F >iFO 9F6j[MnK=nmpQUn>ypperoEpYrmr>tDy2Dy"DyJDyBDyEEZ@p=R@@aqG= Y> % TethyslAPI: ./Missions/Engineering/lab_test_optim.tl translated into: 15 1 30 1 3 2 100 100 0 Waiting for backseat to start up... Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for - G % nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1 G r/\,frAvb@2u@ْ:T<9H N?'?`/K? bw S ??vb@i_;CuD=u2C%EdDefineArg lab_test_optim.RecordTime = 1.000000 min5G%fDefineArg lab_test_optim.BackseatWait = 30.000000 s9Giĥ4=Iĥ=)̡Iˡio 946%XDefineArg lab_test_optim.UseMission = 1 bool= H%ZDefineArg lab_test_optim.UseHardcode = 0 boolAHX<M;=Rq8QU>yeoEY0m>%nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sE*H% jDefineArg lab_test_optim.SleepCycles = 3.000000 countD2D"DI:H%fDefineArg lab_test_optim.LightMode = 2.000000 countMJH%~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32JDBDEEQZH%zDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UbH%rDefineOutput lab_test_optim.CyclesWaited = 0.000000 countYrH%jDefineOutput lab_test_optim.RecordingEnabled = 0 bool]-H-%5dDefineOutput lab_test_optim.LightsEnabled = 0 bool%5xInserting Stack from file: Missions/Insert/BackseatDriver.tl%5lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%=TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl@G?>%ETethyslAPI: Missions/Insert/BackseatDriver.tl translated into: aH%~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2 2Construct BackseatDriver. 5 Construct Wait. 8 Construct Wait. : $Construct Execute.\,IdrA) p<e@_x@ْ6: ,<9HjT?༮?`P?(@݆Tlĝ? ?e@i^;C2Q=2D)4I4i:t 9:6n<Mr\=rq9QUr>yttevoEtYv:mv>x < $Construct Execute.D12D1"D1JD1BD1 >$Construct Execute.EE?$Construct Execute.a!A@)9G]=FConstruct Wait. GConstruct Wait.%!O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } =Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optimA\,:?rAHc@v@ْq:<9H0P?@˯?'@L?򂌿@<T??Hc@i_;C0088)8I8< 9>6bȖQUb>yddefoEdYfl<mj>h2G :G BG JG D9rD92D9"D9JD9BD9EAEAJ@UAB@Q@G=@Ak\,rA_@q@ْw: L<9HH??/%E?`y@.S`oȝ?@?_@i_;C@@)FA D)HIHiN 9N6V; QUV>yXXeZpEXY^m^>p2Gx:GxBGxJGxD!rD!2D!"D!JD)BD)E)E1@1AGU=S\,rAɑ@_@r@ْ:UC<9HI?@P?`+@J]F?0S Vǝ??_@i^;C2@K=2C)`I`if 9f6]NM]<e8QUe>yaaeepEaYmL9mm>q2G:GBGJGDrD2D"DJDBDEE@G= ~\,_rA_\@o@ْ:<9H@C? 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Qf@bTS@??_@i!_;C2!S=2D)pIpir9r 6]MeK=edQUe>yiiemsEiYm mm>qHq1H?HD2D"DJDBDEE@G>\,{&rAɑcY@l@ْU:/<9Hp>?$?@/ `:? bP`??cY@i_;C2*^=2D):nA :hAi>9>6 V;M P=eQU>yeUsEQY]m]>a=7XDisabling Optim recording after 1.000000 s mHiuu 3uvInitialize ReadDataComponent to sense PowerOnly.sampleLoad1HqD2D"DJDBDEEZ@=R@=@G>>۩\,?W&rA[@n@ْE5:<9H C??`??,`Q??[@i_;CBm=BLDJ2Powering down loadControlJJ JJ)JIJ N%>N%>iN 9N$6V!<MVQ=Zw9QUZ>yXXeZtEXY^hj:m}>yH1 84Initialize Wait Component.HHD2D"DJDBDEE@G>V>R>ð\,<2&rAc@}v@ْd:<9H Q??@ `M?#@Q`??c@iͷ_;CBq=B=DiJ 9J6Rg:MRK=RDQUV>yTTeVtETYZ;mZ>\HdjHhDt2Dt"DtJDtBDtExEx@G=M\, &rA) xq@4@ْ:'<9Hi??`ꙿuf?@OYS#SӃ?@?xq@i_;CBW=BDiDIDiN 9N6VyMVJ=V4t9QUZ>yXXeZtEXY^q;m^>`HhHlD2D "D JD BD E EJ@mAB@jA@G=\,>&rAc}@@ْ:<9H~?;?&@)i{?#T,??c}@i>_;RF=R#CXXiZ9Z6bI*MbI=f9QUf>yddejtEhYjj;mj>lHxHxD2D "D JD BD EE@G=AA lAi nAIÉ\,'rAу@@ْ:q<9H}?_?晿K? Ѣ?T@_??у@i_;CB==BCi9g6E䳻MMB=M7QUM>yIQeUtEQYU:mU>Y8uDone Waiting.1u 8u8Uninitialize Wait Component.quHqHyD2D"DJDBDEE@G=c)ʉ\,*'rAɑ@{@7@ْ:}<9H ֒?L?dޙ7 B? YT??{@ir_;CBr=B5D)JuA J|Ai= 9=6=MF=8QU>yetEY!:m>ҙHqHHD2D"DJDBDEEZ@=R@=@G>щ\,xD'rAЉ@@ْˠ:<9H8? ? ?@ TS`%??Љ@if_;CB=FC p=p;i9-6EnMMN=MgQUM>yQQeUtEQYU>9mU>ҹ=9nPowering up Optim to try to tide over gap to handoff...H5VCompleted lab_test_optim:Startup:UseMission5rAggregate::uninitialize lab_test_optim:Startup:UseMission19pAggregate::initialize lab_test_optim:Startup:UseBackdoor1HD2D"DJDBDE E @G!>)ɭiG )I;]>h;׉\,\U^'rA@@ْ@:s<9H?Ӝ? ğ ?`zԌ@Tj??@i`_;CB3i=BdDJ.Powering up loadControl)i%9%%6}O=MG=E;9QU>yetEYs:m>ґ9tAggregate::uninitialize lab_test_optim:Startup:UseBackdoor1 ?pAggregate::initialize lab_test_optim:Startup:UseHardcodeHDy2Dy"DyJDBDEE@iyG>xe݉\,<0x'rA) ō@@ْd:<9HL?? ڙڟఘ?^݌ LUN??ō@iL5_;V9=VCiZa=IZ=ib9b6fMjV=j99QUj>yllentElYrVmr>p~ ?~tAggregate::uninitialize lab_test_optim:Startup:UseHardcode~4~@Completed lab_test_optim:Startup1~ 4~\Aggregate::uninitialize lab_test_optim:Startupq @PAggregate::initialize lab_test_optim:Run HD!2D!"D)JD)BD)E)E1J@=|AB@=A@QYG}=M䉰\, 'rA@@@ْ":<<9H@?ܟ?Йâ ? :ʌ`]U?@?@@i9D_;C2T=2D >)@@iB 9B6f<MfK=f7QUf>yhhejtEhYnkmn>A=AUPTrying to run Optim and Multiray forreal ] ]HYD2D"DJDBDEE@iG=wꉰ\,'rA"@ޓ@ْ(ݩ:<9H ?? ҙ} ?@;Uੁ?`?"@iY_;CB!S=FD)HIHiN9N6VP|MVL=V᪸QUZ>yXXeZtEXY^m^>`Hh j1!jHlDp2Dt"DtJDtBDtEtEx@G=`\,'rAɑ"?~@"@ْ":"a<9"H?ԣ? Ǧ|?ьUY??"?~@i"fZ_;"CB =BC)F|A FxA)|I|i96Mu.MM@=MjQUM>yQQeUtEQY]cYm]>aIu1!uq!}HyD2D"DJDBD!E!E!Z@1R@5=@G>\,I'rAy@@ْt:(<9H $w?#?s?@.S`ĝ?@?y@i4_;CF.=FC~A~A)I %==i 9 6]%<MeI=etcQUe>yaiemtEiYm/κmm>q Iq!! C^Aggregate::initialize lab_test_optim:Run:setRed!3vInitialize ReadDataComponent to sense MultiRay.lightModeLogHD2D"DJDBDEE@iyG=V>\,!x'rAs@@ْ"9:h<9Hhl?Ϩ?pūh? T$Q ? ?s@i:;_;CBb=B D)Ii 9 >6E=MML=MИQUM>yIQeUtEQYU#mU>Y!u CubAggregate::uninitialize lab_test_optim:Run:setRed!uq"uDubAggregate::initialize lab_test_optim:Run:setWhite"uHyD2D"DJDBDEE@G=:\,;V(rA) t@[@ْ:I#<9H`Fo?`?@.` k?`fSX??t@iB_;CB(=BNCiYIY)aIaim9m63 MD=9QU>yetEYm9m>ҹIY@""HD2D"DJDBDEE J@yAB@vA@G> \,{.-(rAs@@ْ:sA<9Hm?r?` e@^j?@ي S@??s@i!!_;C2*^=2D)QIYimAi9V6=MG=YQU>yetEY6km>EjSetting muliray white brightness to 100.000000 count "DJCompleted lab_test_optim:Run:setWhiteq"DfAggregate::uninitialize lab_test_optim:Run:setWhite1#H D!2D!"D!JD!BD!E)E)@IYGu>@AZ\,G(rA_s@@ْ:<9H m?`?Cwi?`Sव??_s@i-_;CVx=nD)xIxi~9~^6M̊<MMT=MCC7QUM>yQQeUtEQYU$m]>ҁ=F8Recording for 1.000000 min 1#q#F4Initialize Wait Component.HD2D"DJDBDE E ɕ?e?@)9GU>&\,`(rAɑr@t@ْ:p<9Hk?`?Eh?T@?`?r@i_;C26=2C)AIAi]9]6MC=;9QU>yetEYAGm>H D2D!"D!JD!BD!E!E)Z@R@a=@G!>F\,z(rAs@b@ْC:/<9H m? ?:}i?@n~Tĝ??s@i+Z`;CRO=RCRtARtAVqAVrA)9I9 E=AiE9EV67~<MN=:QU>yetEY9m>ҹHD2D"DJDBDEE@G=Y>>i I sC)m UiG ʑ )ʡ I o; 6$\,R(rAj@}@ْ[:<9H`]?p?f&Z?ݬT?@?j@iea;C2.5=2C)̹I˹i96=zM=?==S7QU=>yAAeEtEAYE$mM>IHD2D"DJDBDEE@aqG>R+\,dx(rA) <"i@"O|@ْ":"B<9"Hy[?? 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F`P? ?m@i)_;B^C=BBC)D F;)̡I˩i 968;M6=QU>y  e tE Y|m>H)D92DA"DAJDABDAEAEI@)9G]>^\,/O})rAq@f@ْ6:rW<9Hi?l?@ _ nf?*~yXXeZtEXYZ:m^>`HhDp2Dt"DtJDtBDtExEx@G=utAiurAe\,*)rAɑr@̈́@ْ:m<9Hj?A?t1#g?@㊌QS}? ?r@i_;V|;=VC)ĕsA đ)Ii 96vM7=F8QU>yetEY8m> HaDy2Dy"DJDBDEEZ@R@=@IYGu>-k\,)rAs@S@ْ0b:Û<9H@mm??`i?njElUe? ?s@ib _;CB==BCFqAFqA)HIH J=J=iN9N6VS:MVb=V9QUZ>yXXeZtEXY^:m^>`HhDY2DY"DYJDYBDYEaEa@G=R>Y>br\,n)rAp@@ْ D:<9Hch?Ω? Ĭd?!T??p@i`_;C&M-=&C)̩I˩i96M8=eQU>yetEYJm>HD!2D!"D!JD!BD!E)E))hG Q)qIʥ;ɡ@G>{x\,)rA) o@@ْyب:<9Hf?:?@p`,$c? ޶U??o@i _;C2gN=2Ci6a=I6=)lIlir 9r6=ܬ<M=U=E8QUE>yAAeMtEIYMdmM>QHiD2D"DJDBDEEJ@B@rA@G=~\,)rANn@ @ْ`:<9Hc?`?` ݭ@]`?@bTe??Nn@i_;CFu=F%D)H H)Ii96]<M]:=]ѸQU]>yaaeetEaYmmm>iHD2D"DJDBDEE@G>Ӆ\,q*rAm@@ْi: <9Ha?t?7`d@^?˒;mT??m@ie^;CBZ=BJC)HIHiN9N6V蒽MVj=V 6QUV?yXXeZtEXY^ڹm^?H1DA2DA"DIJDIBDIEIEQ@IYGu=\,L2*rAɑm@[@ْAP:k<9Hb?y  e tE Y 9m>H1DY2Da"DaJDaBDaEaEiZ@u=R@u=@)9G]>撊\,(L*rAn@@ْu:%b<9He?`?ٙ@ha? nV6??n@i _;CBu=B%DFoAFoA)LIL N>N >iR9R6ZZ<MZc=Z9QUZ>y\\e^tE\Yb9mb>dHlD2D "D JD BD E E@G=Y>a>\,Cf*rAEl@@ْH:m<9H`N`?ث?ꙿ Į@\?5U ??El@i^;CRT=RD)́Iˉi96M7= QU>yetEY<m> H!D92DA"DAJDABDAEAEI@QqG>9\,@*rA) 4<j@a}@ْߡ:<9Hd]?`?`|Y?@^;T??j@i^;C&gN=*Ci,I,)lIlir9r56%ԅM%Y=-1rQU->y))e-tE)Y5 m5>9HQDa2Da"DiJDiBDiEiEq@QaG}="\,*rAMk@ ~@ْ!:<9H^??? 2@Z?垌7T??Mk@i _;B>=BrC)D D)1I999i= 9=6} M6=!8QU>yetEYD;9m>HD2D"DJDBDEE@G)>EL\,͔*rARi@|@ْ{:Q<9H [?%? W?dYxoS1??Ri@i^;CB9=BC)Ii9F6EOMMa=M>QUM>yIQeUuEQYU.mU>ҹHD2D"DJDBDEE@G >ɕ {? z?<4\,Pp*rAɑ"(j@"|@ْ"k:"'<9"H\?`Ȭ?ꙿ Y?hY}S ポ? ?"(j@i"=_; B2=BC)eoA eoA)́Iˁi 956qM?=f7QU>y e uE Y Fz9m >H)D92DA"DAJDABDAEAEI@iyG>9^\,J*rAj@L}@ْ9:<9H@?]?`?ᙿ`Y?T 9S`rz?`?j@i*_;CVO=VCZnAZnA)\I\ b!>b%>ib 9b6jԣ<Mj`=jÌ7QUn>ylleruEpYr9mr>tHD!2D!"D)JD)BD)E)E1@)9G]=R>R>F\,%+rAl@~@ْ:<9H `?@?`h֮x\?`U|S2?`?l@i_;CB@K=BC)IiU 9U6n M=7QU>yeuEY}9m}>ґHD2D"DJDBDEEiaIe C@)iG ) G>I9A?pƊ\,?+rA) p<sn@/@ْ:J<9H6d?@۪? ̭`?̗@\T G??sn@i^;2M-=2Ci:p=I:=)IV=BD)B4< B4<)aIaqqi 96N<M7=eQU>y!!e%uE!Y%eim%>)HADY2DY"DYJDYBDYEaEa@AQGm>[ӊ\,N+rAj@Q}@ْ˦:<9H H]?`?2ϙY?-m`T uo??j@i_;CFt0=FC)|Ii 96EȼMEY=M 9QUM>yIQeUuEQYUMmU>YHqD2D"DJDBDEE@)9G]=ي\,h+rAɑi@|@ْkL:;<9H[??<`ݯ@ZX? 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HR$??'i@i_;CBj=B\D)HIHiN; 9N,6Vs<MV^=V9QUV>yXXeZuEXYZ_9m^>`HhDp2Dt"DtJDtBDtExEx@IYGu=_\,x,rAɑ@l@@ْ^F:{<9H@2a??&]?`+`hT ??l@i^;CBW=BD)IiT 96Mb%MM3=Mt9QUU>yQYe]uEYY]x|:m]>aHyD2D"DJDBDEE@AYmpAimnAG}> \,,rAh@^{@ْޝ:><9HY?`w?@ᙿ`FV?S Sy??h@i_;B.5=BCFlAFhA)|I >>iP 946EMM]=MrQUM>yIQeUuEQYUmU>YHqD2D"DJDBDEE@G>V>R> 6 \,i7,rAh@r{@ْ;y:`<9H`Y?l?w虿X hV?0]'S~??h@ik _;&b=& D)̙I˙i9<MA= 77QU>yeuEY7m>HDY2DY"DYJDYBDYEaEa@IYGu>\,HQ,rA)hG )()< >pR? 6\R@j? ?Jf@iJ_;JCVgN=VC)\I\ibW 9b6j&^Mj^=je{QUj>ylle]uEYY]X(me>aHyD2D"DJDBDEE@IYGu=H\,!k,rAve@2x@ْ]H:o<9HT? ݮ?3ꙿȱP? E` Q l??ve@i^;CB=B!D)F< F<)F; F;)IAiN 96E<ME5=E;QUE>yIIeMuEIYMmU>YHiDy2Dy"DJDBDEE@IQG}>=Likshana: running backseat application.IAA2!\,,rAg@z@ْ$:<9H]X?Э??噿T?"*R`Dt??g@id_;>W=BD)HIHiNG 9NU6V&MVh=V9QUZ>yXXeZuEXY^W:m^>`HpD 2D"DJDBDEE@G=C['\,ڞ,rAɑ@]i@|@ْRP:<9H[??,@W? 8o R??]i@iR_;CFgN=FC)́Iˁi< 9E6M8=8QU>yeuEY9m>1HADY2DY"DYJDaBDaEaEi@aqG>-\,W,rAih@%{@ْ<:v#<9HcY?~?/`z U?od@GRZÝ??ih@i^;B3=BCJoAJoARmARnA)I! %>%>i%S 9%~6e#MeS=mQUm>yiieuuEqYu9mu>yHD2D"DJDBDEE@iyG=l4\,X,rAi@|@ْ:sB<9H 4\?լ? ȯ X? |S@=??i@i _;CFO=FC)IiM 96e<Me;=em9QUm>yiiemuEiYu*9mu>yHD2D"DJDBDEE@G>ؖ:\,j,rA) 2Rh@2{@ْ2":2t<92H@:Y? ? U?`hV [R??`?2Rh@i2^;2C>Q=>D)pIpirn 9r6%:M-a=- QU->y)1e5uE1Y5.m5>AHQDa2Da"DaJDaBDiEiEq@G>~A\,NE-rA2h@2{{@ْ2:2I<92HY?X? d/@TpV?@xoR'ȝ??2h@i2a_;2C:.5=>C)>p< >p;)B4< B;)̑I˙̩̭Ais 96nM@=)QU>y))e-uE)Y58m5>9HIDy2Dy"DyJDBDEE@ayG>ɕM ?M ?I G\,1 -rAi@{@ْȕ:&<9H`Z?@4?-%@-W?7sR`ѽ??i@i>_;C>cw=>D)DIDiJ\ 9J]6jE1=Mj[=n7QUn>ylperuEpYr8mr>tH!e2~Created data writer for _.data_dir_logging_rate with code: 1881"IqHD!2D!"D!JD)BD)E)E1@G=I1#M\,79-rAɑ@f@fy@ْ$:W<9HBV?L? `@R?2C $Rڞ?@?f@i^;CBT=BD)Iii 96M:=;QU>yeuEY0m>HD92DA"DAJDABDAEAEI@G >кT\,S-rAwg@3z@ْ':<9HW?`?@`(T?@chDRﳝ? ?wg@i6^;CB5=BDFpAFpAFnAFnA)I !>!>i d 9 #6E<MMV=M8QUM>yIQeUuEQYU9mU>H"IHD2D"DJDBDE E @GR>V>Z\,m-rAf@y@ْ:<9H@V? '? gFS?Rp R~? ?f@i _;CBL=BC)Ii] 9v6%M%==%QU%>y))e-uE)Y-Om5>9HI"IHYDy2Dy"DJDBDEE@aqG>a\,-rA) g@Wz@ْb:/<9HW??`հnT?PlRv??g@i^;C27@=6bC)8I8i>r 9>~6f Mfc=f8QUf>yhhejuEhYne9mn>pHx"IyHD!2D!"D)JD)BD)E)E1@)9G]=iqIq)gG )I11g\,g-rAg@z@ْLP:`*<9H`X? ? @T?j@ JS@;??g@i^;CBIV=BD)Fp< Fp<)F; Fp;)̡I˩̹̽Aiq 9e6F<M8=x8QU>y  e uE Y68m>H1"I1H9DY2Da"DaJDaBDaEaEi@G"> n\,B-rAf@y@ْ:<9HV?$?k$`IS?`\b7R뷝?`?f@i _;C2m=2LD)8I8i>_ 9>6Fׄ<MFf=F@QUJ>yHHeJuEHYNmN>PHX"IH`Dp2Dt"DtJDtBDtExEx@G= nAi mA>u\,r4-rAɑ@Bg@y@ْ:<9HRW?@? $S?fR??Bg@i_;C>Q=>D)qIyiw 96xM3= 8QU>y!e%uE!Y%8m%>)HA"IHIDq2Dq"DqJDqBDqEyEy@AQGu>{2{\,-rAUd@w@ْ*:~<9HR?`T?`HN? VEQ??Ud@i^;C&!S=*D*oA*oA*nA()LIL PR>iRv 9R6Z6:MZe=^\QU^>y\`ebuE`Ybmb>dHp"I9HtD2D "D JD BD EE@GE=a>>\,^.rAg@z@ْ:P3<9H sX?`ȭ?T?:G@`S\??g@it_;CBb=B D)Iil 96 <M%5=%u9QU%>y))e-uE)Y-y|:m->1HI"IHD2D"DJDBDEEJ@qAB@qA@AQG}>E\,ɯ".rA) <|g@8z@ْ<:D<9HW? ?@4T?@[@S?@?|g@i_;CB[=BD)|IiS 9~6e$MeW=e7QUe>yiiemuEiYumu>yH"I1HD2D"DJDBDEE@G>1o\,Š<.rA"h@z@ْ\:c<9HX?@?^U?\S@n?`?"h@i^;CBb=BܽC)F4< Fp<)Ii1 9462M@=N8QU >y  e uE YvC9m>H)"IH9DY2Da"DaJDaBDaEaEi@)9G]> W\,eV.rAh@{@ْ:q<9H@EZ? Q?`B@V?@qg`^TS >?`?h@i9_;CR f=Rt D)XIXi^I 9^6fP=Mfa=fQUf>yhhejuEhYji9mn>pHx"I!HD!2D!"D)JD)BD)E)E1Z@==R@==@G%=I90\,Ap.rAɑk@~@ْ(:ڕ<9H i_? ?[?@T਱??k@i!_;CBo=BDD)aIiiT 96~;M;=8QU>yeuEYaR:m>H"IHD2D!"D!JD!BD!E)E)@aqG>h\,.rA+h@z@ْؒ:N<9H@X?@? rU?L[R9??+h@i^;Bcw=BDFpAFpA)JpA JqA)PIPiR= 9R]6ZΪ;MZ]=^DQU^>y\`ebuE`Ybmb>dHp"IaHtDy2Dy"DyJDBDEE@!GE=%\,.rAm@k@ْuު:#<9Hb?1? ) #;_?@[U?`?m@i_;CB6=BC)IiN 96M7= 9QU>y  e vE Y:m>H)"I H9DY2Da"DaJDaBDaEiEi@ G= >`\,ҽ.rA) "4m@"@ْ"܎:"r<9"Ha?i?= Z`^?P qU@L?`?"4m@i"@_; 2W=2D)pIpir\ 9r]6%<M-Y=-j7QU->y)1e5vE1Y5#m5>9HQ"IHYD2D"DJDBDEE@QaG=)ɡ ʹ ) I ; 3\,.rAr^C=rBC)r< r<)v; v;)QIYY]Ai]s 9]6W5M5=QU>yevEYm>ұH"IAHD2D"DJDBDEE@G)>@ADϻ\,.rAak@~@ْ*:=<9H^?1? N@)@[? MOTƝ??ak@i^;CB3i=BdD) I i~ 96E,<MMc=MD$QUM>yIQeUvEQYU'"mU>YHq"IHyD2D"DJDBDEE@G=ɕv?l?-‹\,c /rAɑi@i|@ْ:<9H@[??!X? d`_SD??i@i _;C2A=2RC)̩I˱ii 96ҹMA=,QU>yevEY}m>H "IHD92DA"DAJDABDAEAEI@G >ȋ\,1E%/rAh@f{@ْ|6: <9HY?j?R ]OV?g@&S` ? ?h@i^;C>W=BD@@FnAFnA)HIH HJ)>iN9 9N6Vpr<MV`=VQUV>yXXeZvEXYZֱm^>`Hh"IHpD2D"DJDBD E E @G=V>a> ϋ\,?/rAg@Az@ْI: <9HW??@߰HT?@RKhVR@'??g@i^;CF==FC)́Iˉi; 9,6-nM6=kQU>y!e%vE!Y%m%>)HA"IHIDY2Da"DaJDaBDaEiEi@IYG}>0Ջ\,X/rA) 4<%g@y@ْ[:`<9HW??H `S?@@ R@??%g@i_;CBo=BDD)HIHiNC 9N6V =MVd=VMH8QUZ>yXXeZvEXY^7m^>!H9"IAHADa2Da"DiJDiBDiEiEq@)AGe=U܋\,r/rAf@y@ْ_T:8<9HV?'?PNS? \R ?`?f@i%_;BgN=BC)Fp< Fp; ̥>˥>)̩I˱i? 96%M%5=%7QU%>y))e-vE)Y5y5m5>9HI"IHYD2D"DJDBDEE@)9Ge>T㋰\,/rACh@z@ْ*":<9H Y?@?`0`U?TfDS??Ch@i^;CBO=BCFJGPS failed to acquire within timeout. 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Z@ŒR ??^@i_;CBg=BlD)Ii96}8<M}Y=QU>ye~EYlm>ґH"IQHD2D"DJDBDEE@G>]5X\,mbQrAa@t@ْ1:w<9H M? i?c_J?؛T`ۼ??a@i_;CB.=BC)Fp< Fp<)F; F;)IAi%9%6eMe==e[9QUe>yiiem~EiYmk:mu>yH"IHD2D"DJDBDE!E!@G5.>a^\,@O|QrA^@q@ْ?:{<9HwH??8D?q'RdΝ??^@i*^;>!S=BD)D D)HIHiN9N6RY<MVk=VѫQUV?yXXeZ~EXYZmZ?\Hh"IHlD2D"DJDBD E E @G= He\,&QrAɑ`@hs@ْ:<9H`K? ?;G?p@7S֝??`@i~ _;CFIV=FD)́Iˉi96:M5=8QU>ye~E!Y%9m%>)H"IHD2D"DJDBDEE@G!>qk\,iQrA}`@9s@ْ:<9H.K?@?@{ @G?vsS??}`@i_;@@FoAFpAFnAFnA)LIL PR)>iR9RN6Z(8QUZ>y\e~EYY~m>!H1"IHADa2Da"DaJDaBDiEiEi@iyG== got command stopN^Stop Mission called by CommandExec::commandStop]>Yr\,DQrAe@x@ْZ:d<9HT?? @6Q? J#V??e@i_;CBF=B#Ciča=Iĉ)̡I˩i96ěM%<%9QU%>y))e-~E)Y-:m->1HI"IYHQ%u8MissionManager is completed.%uJUninitializing Mission lab_test_optimu 1uLAggregate::uninitialize lab_test_optimu1ujAggregate::uninitialize lab_test_optim:BackseatDriver1uq}}}#} G}8Uninitialize Wait Component.a!A!ea]YUQMIEA=951-D)2D)"D)JD)BD)E1E1@GG>I 4Sent LCM shutdown request.nShutdown requested. Waiting (18.00 sec to power down.).)UiG i)yIʹɹx\,QrA) `@{s@ْ:h<9HK??`޳H?t{~S`:??`@i_;C>D=B2C)|I|i966EMMY=MQUM>yIQeU~EQYUzٺm]>Y%u.Started mission DefaultFq1u *u:Aggregate::initialize Defaultu +u@Initialize GoToSurfaceComponent. +}No depth rate setting specified. Using default value of nan m/s. +}~No pitch setting specified. Using default value of nan degrees. +}No speed setting specified. Using default value of 1.000000 m/s. +}No surface timeout specified. Using default value of 1000.000000 seconds.+nReceived pitch timeout configuration 60.000000 seconds.q*4Initialize Wait Component.2G:GBGJGDrD2D"DJDBDE!E!@G>s~\,QrAK_@r@ْ+:<<9H I?? E?Z^ uES? ?K_@i_;CV!S=VD)V< V<)Z4< Z;ZZ)Z Z)))) ))1I115Ai=9=6;M<yQU>ye~EYm>ҩ2G:GBGJGDrD2D"DJDBDEE@a q G >\,iRrA a@s@ْkF:!<9H@)L?ϰ? 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Disabling Optim recording after Powering up Optim to try to tide over gap to handoff... ! echo 1 > /dev/loadC3 Optim power on. Spinning for cycles. 1 ! echo 0 > /dev/loadC3 Optim power off. Spinning again. 1 ! echo 1 > /dev/loadC3 Optim power on. Handing off to mission. ! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3 Hardcoded Optim command sent. Good luck. Trying to run Optim and Multiray forreal 1 Setting multiray red brightness to 2 Setting muliray white brightness to Recording for -G%nDefineArg lab_test_optim.MissionTimeout = 15.000000 min1G%dDefineArg lab_test_optim.RecordTime = 1.000000 min5G%fDefineArg lab_test_optim.BackseatWait = 30.000000 s9G%XDefineArg lab_test_optim.UseMission = 1 bool=-  H) %- ZDefineArg lab_test_optim.UseHardcode = 0 boolA= H9 %= nDefineArg lab_test_optim.InitialSampleTime = 1.000000 sEm *Hi %m jDefineArg lab_test_optim.SleepCycles = 3.000000 countI} :Hy ƨ7\, xrA2^@2q@ْ2ś:2<92H @H?±?`D?`[xS?@?2^@i2`^;2CB*^=BD)HIH%NfDefineArg lab_test_optim.LightMode = 2.000000 countMVJHT%Z~DefineArg lab_test_optim.BrightnessWhite = 100.000000 n/a int32Q^ZH\iJ9J6 M R= 98QU >yeEYlm>%EzDefineArg lab_test_optim.BrightnessRed = 100.000000 n/a int32UMbHI%UrDefineOutput lab_test_optim.CyclesWaited = 0.000000 countyYrH%jDefineOutput lab_test_optim.RecordingEnabled = 0 bool]H%dDefineOutput lab_test_optim.LightsEnabled = 0 boolD2D"DJDBDEE%xInserting Stack from file: Missions/Insert/BackseatDriver.tl%5lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl%=TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl@G>%=TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: aH%~DefineArg lab_test_optim:BackseatDriver.EnableBackseat = 0 bool 2-2Construct BackseatDriver. 5Construct Wait. 8Construct Wait. := $Construct Execute. < $Construct Execute. > $Construct Execute.? $Construct Execute.a!Au F Construct Wait. GE Construct Wait.% !O mission lab_test_optim { arguments { MissionTimeout = 15 minute """ Backseat will stay on for this duration, independent of Optim state """ RecordTime = 1 minute """ How long to record after startup sequence (hopefully) turns on Optim camera """ BackseatWait = 30 second """ How long to wait for the backseat to power up before attempting to power the Optim """ UseMission = true """ If true, tries to go through the application and use components/behaviors for commands. Set InitialSampleTime to change delays. If false, backdoors app. Use SleepCycles to change delays. Optim must be on C3. """ UseHardcode = false """ If true, backdoors app with a powercycle and a hardcoded sleep 1. Try the two other modes first? Optim must be on C3. """ InitialSampleTime = 1 second """ PowerOnly sample time for initial record. Will go back to continuous after startup. """ SleepCycles = 3 count """ How many vehicle computation cycles to wait before commanding the Optim off on initial record """ LightMode = 2 count """ Mode for Multiray lights. 0 is off, 1 is red, 2 is white """ BrightnessWhite = 100 none_int """ White Multiray LED brightness, 0-100 """ BrightnessRed = 100 none_int """ Red Multiray LED brightness, 0-100 """ } output { CyclesWaited = 0 count RecordingEnabled = false LightsEnabled = false } timeout duration=MissionTimeout insert Insert/BackseatDriver.tl assign in parallel BackseatDriver:EnableBackseat = true readData strategy="MinError" { while ( RecordingEnabled ) Sensor:PowerOnly.sampleLoad1 } readData strategy="MinError" { while ( LightsEnabled ) Sensor:MultiRay.lightModeLog } aggregate Startup { run in sequence syslog important "Waiting " + BackseatWait~s + " for backseat to start up..." behavior Guidance:Wait { run in sequence set duration = BackseatWait } aggregate UseMission { run in sequence break if ( not UseMission or UseHardcode ) assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime assign in sequence RecordingEnabled = true syslog important "Disabling Optim recording after " + InitialSampleTime~s assign in sequence RecordingEnabled = false behavior Guidance:Wait { run in sequence set duration = InitialSampleTime } assign in sequence RecordingEnabled = true syslog important "Powering up Optim to try to tide over gap to handoff..." } aggregate UseBackdoor { run in sequence break if ( UseMission or UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Spinning for " + SleepCycles~count + " cycles." aggregate WaitForStop { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 0 > /dev/loadC3" } syslog important "Optim power off. Spinning again." aggregate WaitForStart { run in sequence repeat=SleepCycles assign in sequence CyclesWaited = CyclesWaited + 1 count } behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3" } syslog important "Optim power on. Handing off to mission." } aggregate UseHardcode { run in sequence break if ( not UseHardcode ) behavior Guidance:Execute { run in sequence set command = "! echo 1 > /dev/loadC3; sleep 1; echo 0 > /dev/loadC3; sleep 1; echo 1 > dev/loadC3" } syslog important "Hardcoded Optim command sent. Good luck." } } aggregate Run { run in sequence syslog important "Trying to run Optim and Multiray forreal" assign in sequence RecordingEnabled = true assign in sequence LightsEnabled = true assign in sequence Sensor:MultiRay.lightModeCommand = LightMode aggregate setRed { run in sequence break if ( LightMode != 1 count ) assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed syslog info "Setting multiray red brightness to" + BrightnessRed~count } aggregate setWhite { run in sequence break if ( LightMode != 2 count ) assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite syslog info "Setting muliray white brightness to" + BrightnessWhite~count } syslog important "Recording for " + RecordTime~min behavior Guidance:Wait { run in sequence set duration = RecordTime } } behavior Guidance:Wait { run in sequence set duration = MissionTimeout } } = Loaded ./Missions/Engineering/lab_test_optim.tl id=lab_test_optim=\,xrAɑ&\@&fo@ْ&є:&)<9&HQD??` @?D:R,??&\@i&_;&CU\=]D)iIiiu9u6eM:=UQU>ye%E!Y%m%>)2GY:GYBGaJGaDrD2D"DJDBDEE@aqG>D\,wyrA:^@p@ْc :<9H`G? ? )C?@o L!S@?`?:^@i_;2gN=2C44)4I8 :>:>i:9:6rMra=r8QUr>yttevEtYv] :mz>x2G):G)BG)JG)DYrDY2DY"DYJDYBDYEaEaJ@qB@q@G=5V>5R>{J\,-yrAU`@s@ْk:U<9H@J??%@ SG?S??U`@i4^;C2Q=2D)pIpiv9v6e):MeC=e8QUe>yiiemEiYmf :mu>q2G:GBGJGDrD2D"DJDBDEE@G>`Q\,&GyrA) ]@p@ْi:<9HmF?`0?`' B? 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C`C?UR@??<^@iU^;CRD=R2C >?)!I!!!i- 9-6r;M<NոQU>yeEYm>ҙ1 *>Aggregate::uninitialize Default +DUninitialize GoToSurfaceComponent.+NAggregate::uninitialize Default:CheckIn1% 9>w6b-<MbW=br8QUf>yddefEdYj=9mj>lHtD2D "D JD BD E EGg=&\,6̜|rAɑ+a@s@ْ͛:u<9H@fL?@?1H?܉yS`͝? ?+a@i_;CB@K=BC)HIHiJH 9Jn6R|MRL=VK88QUV>yTTeZEXYZ9mZ>\HhDp2Dt"DtJDtBDtEtEx "~4Initializing EZServoServo. 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T`w?`?a@i _;C2z=2 D)AIIie9eg6<MA=(9QU>yeEY3:m> H!"IH1D92DA"DAJDABDAEIEI@ G= >:b\,KZrA) 4< b@t@ْڣ:<9H`M?P?`r3`LXJ? cX{T؝?? b@i'_;CVj=V\D)\I\ib9b6j('MjY=jQUj>ylperEpYr> 9mr>tH"IH D!2D!"D!JD)BD)E)E1@)9G]=:dh\,Q2rAb@u@ْF:ą<9H^O??$`K? nj`sUϝ?`?b@i_;CBgN=BCFnAFmA)̙Iˡi9%6!M8=N 9QU >y  e E Yjd9m>i!I!1)ɑ )IH!"IH)DY2DY"DYJDYBDYEaEaZ@u=R@u=@!%AAG=/>n\,ErA|^@8q@ْ:G<9HG??!`޴ D?fSϧ??|^@i?_;CBD=B2C)LILiR 9R6VѻMZc=ZQUZ>yX\e^E\Y^umb>`Hl"IHpD2D "D JD BD E E@G%=yu\,֑rAɑ]@Fp@ْ:?<9HE?`Y?@I`B?G/4S9??]@in#_;C>t0=>C)YIai} 9}56e8M8=MUQU>yeEYm>H"IH!D92D9"D9JD9BD9EAEA@AQGu>inAr{\,rAV_@r@ْ-:c<9HI??@ %~ E?`q@S`x??V_@i_;CE7@=EbC)M< M<)M; M4<)̱I˱ ͽ>̽>i 96<M9=8QU>ye%E!Y%B:m%>)HA"IHIDq2Dy"DyJDyBDyEE-R>-V>@G?>\,ǝ rA_@r@ْ>:$<<9HJ?S?@E rF?ׂ`ǃT`s??_@i_;C%YCɶ%sAi!I!)I-fCi) ))))5sC 5uA51ɷ199I9)=nFi9)E̔CIE"sAAɸA AɹEfCEuAIiIIiM&CI)I III C)ɺFT=D)IIIiU 9U 65<M4=8QU>yeEY\ 9m>ҩH"IaHD2D"DJDBDEE@Gd>n\,Sz$rA) p<]@p@ْ|:ߌ<9H`F?`!?7C?:@3S`Н?`?]@i_;CI$i&sA $$)$$ (((ɞ(((I(),i,),I.sA,ɟ, 0ɠ2C2uA0i00i46dsA)4 4I4 8)8ɡ888:LCɧ8i܎\,U>rA\a@t@ْQ:c<9HL?? 'I?ɟ UY? ?\a@i_;C=@K==CEoAEpA)AIAi] 9]6MI=.9QU>yeEYJ:m>ҡH"IHD2D"DJDBDEE@G >!!ĕ\,.XrA_@r@ْ##:f<9H J?Q?DnF?PdT`Z?`?_@i6_;~T=D)Ii 96%+;M-d=-QU->y)1e5E1Y5m5>9HQ"IqHYD2D"DJDBDEE@IaG=\, rrAɑG`@s@ْ%:+<9H@J? ?`7G?T??G`@i_;CBk%=BmC)yIˁi 9V6ܼM?=QU>yeEY9m>H "I9HDy2D"DJDBDEE@)9G]>Y֢\,拒rAa@t@ْ}ا:><9HM?c?@X+J?@Tt??a@iz^;CBT=BD)Fp< Fp<)F; F)HIH N>N>iN9N6V=MV`=Z,8QUZ>yXXeZE\Y^$:m^>`Hl"IHpD2D"DJDBDEE@)9Ge=Iq%]>%R>\,rAb@Hu@ْɦ:<9H@N??`@GK?>T??b@i_;CBx=BC)Ii9%6=)M=4==QUE>yAAeEEAYM-9mM>QHa"IHqD2D"DJDBDEE@aqG>*\,ÚrA) <"6`@"r@ْ"=M:"W<9"HJ?&?$G? xj`S橝?`?"6`@i"_;"C.==.C)`I`ib9b6 =M `= eQU >yeEYLm>! %-%Software Fault --Software FaultH9"IIHADa2Da"DiJDiBDiEiEq@Qi-Software Fault in component: DeadReckonUsingMultipleVelocitySources-vSoftware Fault in component: DeadReckonUsingSpeedCalculatorG=z\,wْrA/c@u@ْ(ʦ:<9HP? ί?`5@ʲ dL?xŒDTcݝ? ?/c@in!_;CR&=R^CTT)Ii9665GM59===9QU=>y99e=E9YEV:mE>HQ"I9HaD2D"DJDBDEE@aqClearing failed state for component DeadReckonUsingMultipleVelocitySources Clearing failed state for component DeadReckonUsingSpeedCalculator G>99)EKhG Y)qIʝ;əG<\,QrAs_@/r@ْ,:z<9HPI? |? q`E?lS1?`?s_@i_;C2L=2C)8I8i>9> 6V<MVg=V*pQUZ>yXXeZEXY^m^>blInitializing DeadReckonUsingSpeedCalculator component.Hh"IAHlDQ2DQ"DQJDQBDYEYEa@G%=<%ä\,f1 rAɑb@u@ْq:<9H O??. L?᥌m"U,??b@i_;CBu=B%D)̩I˩i96<M5=d9QU>y!!e%E!Y-z:m->-HA"IHIDy2Dy"DyJDyBDEE@AQG>&Nɤ\,t'rA(c@u@ْ\:[B<9HO? ׯ?@ͲWL?`Č U6ǝ?@?(c@i$_;*L=.C).< .<)2; 2p;)4I8 :%>:0>i: 9: 6BMFh=F~8QUF>yHHeJEHYJy8mN>LHX"I1H\Dt2Dt"DtJDtBDtExEx@G=%R>!ɕ]z?]o?7Ф\,@rA_@;r@ْ:6<9H`fI?k?Fk E?*S??_@i_;C2IV=2D)aIii 966;M8=SQU>yeEYm>H"IHIDy2Dy"DyJDBDEE@IQG>0a֤\,ZrA) p< `@r@ْT:4<9H^J?6?@c#.F?u T`nŝ?? `@ij_;RyxxezExYz79m~>ҙH"IHD2D"DJDBDEE@G >Iܤ\,trA[@m@ْLj: <9H@yA?f?`'_=?<@IQ@?`?[@i!_;2F=2#C6pA6mA˹˹)̹I˹i96ϼM:=QU>y  e E Y Am>H)"IHYDa2Da"DiJDiBDiEiEq@)QGu>!%@A'r㤰\,trA]@o@ْm:c<9HE?}?` D }A?8nmR ם??]@i_;CBA=BRC)Ii9F6esEMeU=ex8QUe>yiiemEiYmZ':mu>qH"IHD)2D)"D1JD1BD1E1E9@GE>C餰\,HSrAɑ^@p@ْD:fl<9HF??`6`.C?oRw̝??^@i_;C2x=2D)̙I˙i 9=6X=MC=X8QU>yeEY9m>H!"IHD2D"DJDBDEE@G%>>\,.“rA[@n@ْư:<9HB??K@@r??CQh՝??[@ir_;C2@K=2C)6p< 6p<)6; 64<)8I8 :>:>i>9>6nMr\=r$QUr>yptevEtYv4mv>xH"IHD2D"DJDBDEE@iG=%Y>!k\,5 ܓrA[@rn@ْLj:i<9H B??tC`??Y;Q&̝??[@is^;2Q=2D)Ii96e;M:=5QU>yeEY%ram%>)HY"IAHiDy2Dy"DyJDBDEE@)9GU>Ii\,;rA) [@wn@ْk:*<9H B?? ) @)??+% 3Q??[@iz_;CR.=RC)XIXi^9^6%M%Y=%7QU%>y))e-E)Y-6m5>1Hi"I HD2D"DJDBDEE=} got command stopN^Stop Mission called by CommandExec::commandStop@GE>%\,UrA[@Rn@ْ-:<9HbB?,?(&@>?@+`eQⰝ? ?[@i_;CB*^=BDDFqAFnAFoA)́Iˉ̙̙i96<M?=7QU>yeEY,m>H "IH%58MissionManager is completed.%5JUninitializing Mission lab_test_optim5 15LAggregate::uninitialize lab_test_optim=1=jAggregate::uninitialize lab_test_optim:BackseatDriver1=q===q =@=TAggregate::uninitialize lab_test_optim:Runq#=F=8Uninitialize Wait Component.a!AM!ea] Y U Q M I E A = 9 5 1 - D2D"DJDBDE!E))-AA@G J>iɩ Iɩ ) gG ! )9 \,)rA"]@"^p@ْ":"q<9"HF?A?9>B?@gR@)͝?@?"]@i"-^;"CI$(BF=B#C)Ii  9 6RoMO=29QU>yeEY%:m>ұ%.Started mission DefaultF1 *:Aggregate::initialize Default +@Initialize GoToSurfaceComponent. +No depth rate setting specified. Using default value of nan m/s. +~No pitch setting specified. Using default value of nan degrees. +No speed setting specified. Using default value of 1.000000 m/s. +No surface timeout specified. Using default value of 1000.000000 seconds.+nReceived pitch timeout configuration 60.000000 seconds.q*4Initialize Wait Component.2G:GBGJGDrD2D"DJDBDEE@)9Gu>\,ytCrAɑ@_@q@ْY:h<9HH?`?5D?rJR̝??_@i_;CFA=JRCJJ)N N)))) ))1I1i=9=6M=8QU>yeEY.9m>ҙ2G:GBGJGDrD2D"DJDBDEEJ@B@@i y G >\,'O]rA^@p@ْ::,<9HF??v- 8C?T`VGR@??^@i_;BD=B2C)Ii9 6}-;M=MQU?yeEYZ6m?ґ2G:GBGJGDrD2D"DJDBDEE@G>%V>!'\,*wrA _@q@ْKӛ:g<9H H??( E? h izSѫ?? _@i%_;B.5=BC)HIHiJ9J6R'MRY=VL9QUV>yTTeZEXYZi9mZ>\2Gd:GdBGhJGhDlrDp2Dp"DpJDpBDpEtEt@qG=4Sent LCM shutdown request.nShutdown requested. Waiting (18.00 sec to power down.).]$\, rA) `@s@ْD : <9H K?`а?@"@ȳkH?ɍ T M??`@i2_;C>O=BCiF=IF=DD)HIHiJ9J6Vb<MVJ=V8QUV>yXXeZEXY^:m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDpBDtEtEx@G=8*\,ߪrAI`@s@ْ:+-<9HJ?@?`, CG?t`S@ĝ?@?I`@ih_;CVj=V\D)\I`ib9b6j<MjH=nQUn>ypperEpYr*Mmr>t2G:GBGJGD rD2D"DJDBDEE@G=%@A%@A 1\,ĔrA`@ws@ْǘ:z<9H@K??. ` H?`CSTyTTeZEXYZU9mZ>\2Gd:GdBGdJGhDIrDQ2DQ"DQJDQBDQEYEY@G%=K7\,$ޔrAɑ._@q@ْ@:-<9H H?? 3 DE?S`?@?._@i_;CBO=BC)|I !>!>i96)<M<=vQU>yeEYm>ҡ2G:GBGJGDrD2D"DJDBDEE@G>au=\,rrAjZ@&m@ْ:<9H`H@?௳? (/શyIQeUEQYUmU>a2Gq:GqBGqJGqDrD2D"DJDBDEE@G>!!]D\, MrA]@cp@ْ :<9HF? D?%<`B?@X௡RB?`?]@i!_;CFA=FRC)|Ii96Ec7MMJ=ME9QUM>yIQeUEQYU>:mU>a2Gq:GqBGqJGqDrD2D"DJDBDEE@iyG=J\, (,rA) ]@mp@ْ:k<9H)F?B?{ 8B?Q`R l??]@i^;CBQ=BD)HIHLLiN9N6V$<MVU=Zy7QUZ>yXXeZE\Y^:P7m>!2G1:G1BG1JG1DArDA2DA"DIJDIBDIEIEQZ@]=R@]=@G=nQ\,FrAa@Pt@ْJb:\<9H"M?`?Z3 I?UH,T@U՝? ?a@ij_;Cuq=u=D)́Iˁi96<M/=C9QU>yeEY6:m>ҩ2G:GBGJGD rD2D"DJDBDEE@G)>%AA!W\,]_rA$^@p@ْ\:(<9HF? ? $`@oC?@^@KR@?@?$^@i_;C]sCɶYiYIYYI]sCieGsA aa)aeC ae`廉iɷiiiIi)iii)}ٔCI}&sAyɸy yɹ}sCyii3C) I )9Aɺ麉b= D)̉Iˑi96HM6=AQU>yeEYrum>)uiG2Gq:GyBGy ʉJG)ʙI;DrD!2D)"D)JD)BD)E)E1@1AGew><]\,yrAɑ@a@zt@ْ:<9HmM?w?`m I?@PT? ?a@i_;CIFfCiD DH)HJsC JuAJDHɣLLN`uAIL)LiL)PIRvAPɤP PɥVCV\uATiTTiXZsA)X XIX Z3C)Xɦ\^yF\bfCɧbAidIdhh}L=}C)9I9 =%>=>iE 9E6arM`=9QU>yeEYC:m>2G:GBGJGDrD2D"DJDBDEEJ@ oAB@ @G>fd\,ݕrA]@p@ْB:<9HF?@ ?<  C? p]Rѝ?@?]@i_;C}[=}D)Ii 956U<MUQ=]#QU]>yYYe]EaYe9me>i2Gy:GyBGyJGyDrD2D"DJDBDEE@)9G]>%R>%N>Vj\,7prA]@o@ْ^N:K<9HD??`Z5cA? cˉRhȝ?`?]@i&_;Cr|;=rC)tItiz9z6=$ME^=EQUE>yAIeMEIYM|mM>Q2Ga:GiBGiJGiDqrDy2Dy"DyJDyBDyEE@IYG}=q\,8IǕrA)T T=>c@=u@ْ=s:=?<9=H`P? կ? .ò L?@@VѦ??=>c@i=_;=CU9=UC)qIqy}Ai}9}6aM7=9QU>yeEEIYM:mM>Q2Gi:GiBGiJGiDyrDy2Dy"DJDBDEE Z@=R@=@iyG>w\,$rAb>=brC)hIhij9jN6r{X;Mvj=vQUv?ytxezExYzmz?|2G :G BGJGD!rD!2D!"D!JD)BD)E)E1@G=!%AAZ~\,*rA2s_@2/r@ْ2!S=>D)\I`ib9b6j&L<MjL=j$͹QUn>yllenEpYr mr>t2G|:G|BG|JG|D rD 2D "DJDBDEE@G=\,rAɑ"^@"Jq@ْ":"Q<9"HG?`۱?50`ִ&D?]{`PBSɝ? ?"^@i" _;"C>pY=>D)DID F>DiJ9JN6R!};MRM=RΆQUR>yTTeVETYVmZ>X2Gd:GdBGdJGdDIrDQ2DQ"DQJDQBDQEYEYJ@epAB@a@ G==#\,.rA\@ao@ْ:Ϸ<9HHD?`?EF@? [Q՝?`?\@i_;Bt0=BC)|Ii96}.M}>=}MQU>yeEY m>ґ2G:GBGJGDrD2D"DJDBDEE@G=%]>%R>F \,(HrA`@Zs@ْ>: _<9H@iK??) G?GTʝ??`@i~%_;C>Qa=> D)|I|i96E<MEN=E9QUM>yIIeMEIYU:mU>Y2Gi:GiBGiJGiDyrDy2Dy"DJDBDEE@G>n5\, nbrA) <[@n@ْ: [<9H B? ? @` `V??@VQMʝ?@?[@i_;CF\=JD)|IAi9N6EM;MMJ=MQUM>yIQeUEQYUmU>Y2Gi:GqBGqJGqDyrD2D"DJDBDEEZ@=R@@IYG}=D_\,G|rA[@Hn@ْ:'O<9HPB?+?@B*>?1Pȝ??[@id_;*6=*C)0I0i292g6:ȼM:Y=>IQU>>y<@eBE@YBqɸmB>D2GL:GPBGPJGPDTrDT2DX"DXJDXBDXE\E\@G=!%@AjG\,>$rA]@np@ْ*-:<9H`+F?>?@{*7B?4UeR`?`?]@i _;CBb=B D)HIHiN9N6V<MVG=VKm9QUV>yXXeZEXYZ':m^>`2Gh:GhBGhJGhDprDp2Dp"DpJDpBDpEtEt@GiI)E hG Y )i Iʙ ə q\,rAɑI\@o@ْ2:<9HC?߲?8 ׵@?TAR`>??I\@i_;CB =BZC)HIH N>LiR9R6VORMVJ=Zn8QUZ>yXXe^E\Y^޹m^>`2Gh:GhBGlJGlDtrDt2Dt"DtJDtBDxExExJ@B@@G=HY\,ɖrAC\@n@ْm :Y<9HC?ܲ? :ڵ@?`X`M!R ʝ? ?C\@iU_;CR&*=R>C)XIXiZ9Zw6bg<MbI=fʸQUf>ydhejEhYjmj>l2Gt:GtBGxJGxD|rD2D"DJDBDE E @G%=%R>!\,̵rA^@q@ْ:0<9H@bH? ?`D? ]n}S3??^@i_;B9=BC)|Ii96E<MEB=MO9QUM>yIQeUEQYU K:mU>Y2Gi:GqBGqJGqDrD2D"DJDBDEE@)9G]=\,rA) p<a@t@ْ饨:6<9HM?c?7@X +J?`U`?`?a@i+^;CB^C=BBC)1I115Ai=9=V6;MF=$w9QU>yeEYi:m>ҙ2G:GBGJGDrD2D"DJDBDEEZ@=R@=@G>ť\,jrA_]@p@ْ.f:k<9HE?_?@m:\ B?``LR^̝??_]@i_;C&M-=&C)`I`if9f56 rcM S= OQU >yeEY建m>!2G1:G1BG1JG1DArDA2DA"DAJDABDIEIEQ@G>!%AA˥\,F1rA\@Bo@ْl0:W<9H@D?@?8``@?q\@ FRɝ?@?\@iO_;B=BC)HIHiJ9J6R!MRQ=VYQUV>yTTeZEXYZmZ>\2Gd:GdBGhJGhDlrDp2Dp"DpJDpBDpEtEt@G%=ҥ\,F"KrAɑY\@o@ْ :[<9HC?`ղ?.@е`<@?H`cR@x?`?Y\@ih&_;CVgN=VC)\I\ b!>b!>ib 9b6jv<MjG=j'QUn>yllenElYr[mr>t2G|:G|BG|JG|D rD 2D "D JD BD EEJ@!B@!@G=?إ\,drAZ@l@ْV: s<9H??޳?`W)`ضyXXeZEXYZ;mZ>\2Gh:GhBGhJGhDIrDI2DI"DIJDQBDQEQEY@G==%V>!ޥ\,~rAp]@,p@ْf:!<9HE?Y??1T,B?V\lR(Ý??p]@i'_;CBgN=BC)HIHiN9N^6V:MZJ=Zc9QUZ>yX\e^E\Y^E:mb>`2Gh:GlBGlJGl*nDone Waiting.qn*n8Uninitialize Wait Component.DtrDt2Dt"DtJDtBDxExE|@G=9奰\,#rA) <\@o@ْ|:fm<9HD?@?`i=`4A?UQ̝??\@iX#_;C>=B94D)DIDHJAiJ9J6R W=MRK=VtQUV>yTTeVEXYZ},mZ>\2Gd:GdBGdJGdj+jJAggregate::initialize Default:CheckIn1jDlrDp2Dp"DpJDpBDpEtEtZ@~=R@~=@G=o 쥰\,?rA_@kr@ْp:iz<9HI?Z?4V@,F?r.S8Ν? ?_@i_;CV*^=VD)!I!i%9%N6e%Me?=m:9QUm>yiiemEiYuP:mu>y2G:GBGJGDrD2D"DJDBDEE@IYG}=!%@A\, j̗rA_@q@ْ4:<9HH??@(`E?uFS i??_@i_;CB9=BC) I i96euMeJ=er7QUm>yiiemEiYu:mu>}2G:GBGJGDrD2D"DJDBDEE@G=\,DrAɑ@8^@p@ْfD:`<9HG? ?$` C?@THS |??8^@iI!_;CB=BC)I >)ɥgG ʹ)Ii 9 6E?ME==E5QUE>yIIeMEIYUmU>ґ2G:GBGJGDrD2D"DJDBDEEJ@oAB@nA@G>9 \,&rA\@n@ْܘ:<9H C? ?'䙿`??`%Sq??\@i_;C>L=BC)DIDiJ9JN6R|=MRh=VQUV>yTTeVEXYZImZ>\2Gd:GdBGdJGhDlrDp2Dp"DpJDpBDpEtEt@G=%R>%N>1\,rAW@{j@ْ:<9H~;? ?p@ط8?@PQ??W@i_;CV =VC)XIXi^9^g6f׼MfH=j˹QUj>yhhejEhYnmn>p2Gx:GxBG|JG|DrD2D "D JD BD EE@G=[ \, 3rA) 'Z@l@ْ8:<9H??ӳ?@`ȶ`Vy\\e^E\Y^S@:mb>`2Gh:GlBGlJGlDYrDY2Da"DaJDaBDaEiEiZ@u=R@u=@iyG=C\,ѰMrA\@o@ْa:u<9HD? ?@IA? KૃR࠭??\@i_;C26=2C)8I8i>9>6Fh<MFL=J9QUJ>yHLeNELYN^:mR>P2G\:G\BG\JG\DdrDd2Dd"DdJDdBDdEhEh@qG=!%AAwo\,2grA4[@m@ْ#p:m<9HA?`N?@SQ 2>?A6@P؝??4[@iD_;C2.5=2C)pIpir9r6%nM%A=-QU->y))e-E)Y5m5>92GI:GIBGQJGQDYrDa2Da"DaJDaBDaEiEi@IYG}=U \,grAɑ@\@o@ْ:a<9HD??`;`@?UQ`"˝??\@ir_;CF#=J}C)|I >>i 96M)MMH=Ma9QUM>yQQeUEQY]9m]>a2Gq:GqBGqJGqDrD2D"DJDBDEEJ@B@pA@)9Ge=&\,>BrA,]@o@ْDc:;<9H;E?}?@r`A? I@hR`j?`?,]@i)_;BD=B2C)Ii 96M<MMJ=M8QUM>yQQeUEQY]8m]>a2Gq:GqBGqJGqDrD2D"DJDBDEE@G=%]>%t>},\,rA]@Hp@ْ<:,<9H@E?S?`HdB?HR??]@i _;C >= rC)Ii%9%-65.JM5$=5,QU5>y99e=E9Y=8mE>A2G:GBGJGDrD2D"DJDBDEEZ@=R@=@9IGuW>#3\,+ΘrA) p<^@p@ْ :D<9H`F? ?@1C?@}U@@S??^@il_;CI$i&sA $$)$*C *uA*(ɣ((.duAI,),i,).CI,0ɤ0 0ɥ02XuA0i04i46sA)4 4I4 :@C):uAɦ888<ɧ>Ai?@@]R??[@i (_;C=j=E\D)QIQiU 9U$6<MA=QU>yeEY:m>ҙ2G:GBGJGDrD2D"DJDBDEE@G>!!N@\,WrA\@n@ْ!A:o<9H)C?? i@??P#R??\@i_;C==C)%oA ! -?-?))I)i5956}M}K=}8QU}>yeEY^9m>҉2G:GBGJGDrD2D"DJDBDE E J@pAB@qA@aqG>lPowering down and starting shutdown timer (18.00 sec).iɕ@Unsubscribing from LCM channels..Deactivating messaging. F\,ڎrAɑ@\@>o@ْD:ܣ<9H D?Ͳ?@ཱུ@?II@HSl??\@i*_;CBm=BLD)Ii 9 6%<M%P=-O8QU->y))e5E1Y59m5>y2G:GBGJGDrD2D"DJDBDE E @G>i I)}gG ʑ)ʩIL\,o6rA]@Qp@ْ}D:E<9H@E?U?@DnB?[c@T@??]@i _;C.W=2D)lIpir9r6\ML= 8QU >y  e E Y۫9m>2G1:G1BG1JG1DArDA2DA"DAJDABDAEIEI@ G==%R>%N>S\,pCPrA\@Ko@ْ):A<9H`!D?ò?7` @?"5R7?`?\@i"_;F=FCiJa=IH||)Ii96%&M-H=-ҕQU->y)1e5E1Y5m5>A2GQ:GYBGYJGYDarDa2Di"DiJDiBDiEiEqZ@yR@}=@IYGu=a Z\,jrA) <^@>q@ْG}:<9HG?? ۴D?rRR??^@i_;C2gN=2C)8I9>.6F=MFU=J8QUJ>yHHeNELYNO":mN>P2GX:G\BG\JG\DirDi2Di"DiJDiBDiEqEq@IYGq`\,'rA_@r@ْom:m<9H I?O?^(IeF?wMSY??_@i] _;C2 f=2t D)4I8i:9:o6Bj<MBK=F8QUF>yDDeFEHYJ9mJ>L2GT:GTBGTJGXD|rD|2D"DJDBDEE @G=)-@Ag\,=֝rA#^@p@ْ~:<9H F? ?*oC?T_R??#^@i^;2j=2\D)6yA 6A n?n?)pIpir9r63;M B=  QU >y eEYm>2G1:G1BG1JG1D9rDA2DA"DAJDABDAEIEIJ@]yAB@]A@ GE=Fm\,}rAɑ@*[@m@ْ8:<9HA?@Z? 2 V!>?4 gQ@ݻ??*[@i _;CFO=FC)Iiy9h6%\M-H=-QU->y11e5E1Y5%im5>92GQ:GQBGQJGQDarDa2Da"DaJDaBDaEiEi@)9G]=/t\,љrAJ\@o@ْ:<9HC?߲?@ֵ@??UR*??J\@i_;2F=2#C)tItiz9z6)ML= d9QU >y  eEY9m>2G):G1BG1JG1D9rDA2DA"DAJDABDAEIEI@G=%V>%R> Yz\,frA_@r@ْ$:hx<9H=J?B?@6F? `$T?@?_@i}^;C2u=2%Di4I4<<)yLLeNELYR:mR>T2G\:G\BG\JG\DrD2D "D JD BD E EZ@p=R@p=@G=@\,@rA) a@t@ْ۠:*<9HM?j?"bJ?@`wT ??a@i _;C2(=2NC)8I8i:9:O6B?MFK=FԴQUF>yDHeJEHYJ,:mJ>L2GX:GXBGXJGXDrD2D"DJD BD E E@!G==j\,rAa@et@ْ~:l<9H@HM?|?@-wI?`oS{̝?`?a@i_;2Zl=2TD)pIpir9rW62!=M B= ̷QU >y eEYZm>2G1:G1BG1JG1DArDA2DA"DAJDABDAEIEI@G==!%AA"\,'8rAaa@t@ْ):r'<9H L??0"0I?@?eTÝ?@?aa@ig$_;C2F=2#C)6A 4 pr?)pIpiv9vo6FM J= 8QU >yeEY2m>2G):G1BG1JG1D9rDA2DA"DAJDABDAEIEIJ@UAB@Q@iyG=~\,RrAɑ_@r@ْH: <9H J?I?`>F?@u@S@/? ?_@i_;C.Zl=.TD)lIpir9r6]F<M]E=].QUe>yaaeeEaYmAmm>q2G:GBGJGDrD2D"DJDBDEE@G=)5 iG A )Y Iʍ ;ɉ \,OlrAe_@!r@ْC:<9H7I?@z?@9wE?%y R@,ѝ?`?e_@i_;C2IV=2D)8I8i>9>-6FCjMFY=FQUF>yHHeJEHYN,+mN>P2GX:GXBGXJGXDrD2D"DJDBD E E@G=-N>-N>\,jrA`@Qs@ْ:m<9H YK??@G?`WTY?@?`@i_;2W=2Di6=I6>88)8I8i>9>w6Fy:MFJ=Ftf9QUF>yHHeJEHYJ19mN>P2GX:GXBGXJGXDrD2D"DJD BD E EZ@=R@=@ G5=Q\,werA) p<b@|u@ْȩ:<9Hy eEY%:m>2G1:G1BG1JG1DArDA2DA"DAJDABDAEIEI@IYG}=㭦\,?rA`_@r@ْ+:<9H.I?? yE?`RZ`uES ҡ?@?`_@i9_;C2g=2lD) I i966%YXM-H=-QU->y)1e5E1Y5Wm5>92GQ:GQBGQJGQDYrDa2Da"DaJDaBDaEiEi@G=!!c˴\,ԚrA`@hs@ْɢ:<9H`K?@? 癿 G?@"_`!YT`??`@i_;C27@=2bC)4 4 r?r?)pIp r>r >iv9v6yüM%K=%*9QU%>y))e-E)Y-9m5>12G:GBGJGDrD2D"DJDBDEEJ@1B@1@G>?\,@rAɑ=a@s@ْ뎝:<9HL??@H? a ݱS ?@?=a@i^;C2#=2}C)4I8i898FjMFT=F=ٸQUF>yHHeJEHYNR<9m^>`2Gh:GhBG|JG|DrD 2D "D JD BD EE@)9G=\,crAc@u@ْ :<9HO?? ݲ L? 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"Thread cancelled.΅ DShutting down logger ThreadHandler "Thread cancelled. JJoin timeout helper Thread ID is 3915 NUninitializing protected caller thread. "Thread cancelled.ν NShutting down CommandLine ThreadHandler "Thread cancelled. JJoin timeout helper Thread ID is 3916w^\,zrA^@Xq@ْ:x<9H G?ױ?e$@дBD?o bBS? ?^@i_;CB*^=BDiFR=IF<RNUninitializing protected caller thread.R"Thread cancelled.||)I=NShutting down CommandExec ThreadHandler="Thread cancelled.EJJoin timeout helper Thread ID is 3917MRShutting down controlThread ThreadHandlerM"Thread cancelled.UJJoin timeout helper Thread ID is 3918i 9 6}Ew;M}H=QU>yeEYom>ґ2G:GBGJGDrD2D"DJDBDEEZ@=R@=@G>NUninitializing protected caller thread. 8Uninitializing ControlThreadPowering downɑ) Powering down.)   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U U U U U U ] ] ] ] ] ] ] ]e"Thread cancelled.! e! e! e! e! m ! m! m ! m! m! m ! m! m! m! m u u u u u u u u u } } } } }} y} u} q} m} i} e} a} ]} Y} U} Q} M I E = 9 5 1 -a )a %! !!  ! !  ! ! ! ! ! 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"Thread cancelled.              a  a  a  a  a  a  a  a  a  a a  a a  a a  a a  a a  a  a  a  a  a ! ! ! ! !                          }  y  u  q  m  i  e  a  ]  Y  U  Q  M  I  E  A  =  9  ) !- !) ! !% !! ! !% !% !% ! % ! % !% !% !% !% !% !% !% !% - - 5 5 }5 5 %5 5 5  e "Thread cancelled.!m !m !m !m !m !m !m !m !m !u !u !u !u !u !u !u !u !u !u !u !u } } } } } } }   "Thread cancelled.a} ay au aq am ai ae aa a] aY aU aQ aM aI aE aA a= a9 a5 a1 u  q m i e a aY a aU aQ aM aI aE !=e!e !9e!5e!1m!-m!)m!mm mmmu uuu uuu}}aya!]!!!!!!!! A%u}'"Thread cancelled.aaaaa !  A=951-)%!  }yuqmiea]YUQMa5a5a5a5a5a5a=a=a=a=a}=ay=au=aq=am=ai="Thread cancelled.