*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 Fr0Initializing 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" rDCreated PCaller Thread at 404514E0rDProtected caller Thread ID is 6004ƿrhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" rDCreated PCaller Thread at 404814E0rDProtected caller Thread ID is 6005*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 ƿrvSyncComponent "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="GFScanner.GFActive" type=02 *a code=0009 owner=0008 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0072 elementURI="GFScanner.GFIsolationActive" type=02 *a code=000A owner=0008 element=0072 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=000B owner=0008 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0073 elementURI="CommandExec.platform_conversation" type=00 *a code=000C owner=0008 element=0073 universal=002B unitName="bool" type=02 size=0001 fl=05 *e code=0074 elementURI="CBIT.commandExecHeartbeat" type=02 *a code=000D owner=0008 element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿrdComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler" rDCreated PCaller Thread at 404B14E0rDProtected caller Thread ID is 6006*n code=000A name="CommandLine" *e code=0075 elementURI="CommandLine.enableBroadcast" type=02 *a code=000E owner=000A element=0075 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿrdComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" rDCreated PCaller Thread at 404E14E0rDProtected caller Thread ID is 6007*n code=000C name="logger" *e code=0076 elementURI="logger.enableBroadcast" type=02 *a code=000F owner=000C element=0076 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿrZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" rDCreated PCaller Thread at 405114E0rDProtected caller Thread ID is 6008*n code=000E name="LogSplitter" *e code=0077 elementURI="LogSplitter.enableBroadcast" type=02 *a code=0010 owner=000E element=0077 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0078 elementURI="LogSplitter.platform_communications" type=00 *a code=0011 owner=000E element=0078 universal=002A unitName="bool" type=02 size=0001 fl=05 ƿrtSyncComponent "LogSplitter" handled in the control thread.Nr\Looking for Config files in directory: Config/NrZOpening Config file at: Config/Derivation.cfg*n code=000F name="Config/Derivation" *e code=0079 elementURI="DepthRateCalculator.loadAtStartup" type=01 *a code=0012 owner=000F element=0079 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ir*e code=007A elementURI="TempGradientCalculator.loadAtStartup" type=01 *a code=0013 owner=000F element=007A universal=3FFF unitName="bool" type=02 size=0001 fl=05 ir*e code=007B elementURI="TempGradientCalculator.binsizeDep" type=01 *a code=0014 owner=000F element=007B universal=3FFF unitName="meter" type=0B size=0003 fl=05 r?*e code=007C elementURI="TempGradientCalculator.depDeepBndForAvg" type=01 *a code=0015 owner=000F element=007C universal=3FFF unitName="meter" type=0B size=0003 fl=05 rA*e code=007D elementURI="TempGradientCalculator.depShallowBndForAvg" type=01 *a code=0016 owner=000F element=007D universal=3FFF unitName="meter" type=0B size=0003 fl=05 r A*e code=007E elementURI="TempGradientCalculator.extensionDep" type=01 *a code=0017 owner=000F element=007E universal=3FFF unitName="meter" type=0B size=0003 fl=05 r@*e code=007F elementURI="TempGradientCalculator.numConsecutiveDepths" type=01 *a code=0018 owner=000F element=007F universal=3FFF unitName="count" type=0D size=0004 fl=05 r*e code=0080 elementURI="TempGradientCalculator.numProfilesGap" type=01 *a code=0019 owner=000F element=0080 universal=3FFF unitName="count" type=0D size=0004 fl=05 ) r*e code=0081 elementURI="TempGradientCalculator.numProfilesLP" type=01 *a code=001A owner=000F element=0081 universal=3FFF unitName="count" type=0D size=0004 fl=05 I r*e code=0082 elementURI="TempGradientCalculator.threshDepChangeAbs" type=01 *a code=001B owner=000F element=0082 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ir?*e code=0083 elementURI="PitchRateCalculator.loadAtStartup" type=01 *a code=001C owner=000F element=0083 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0084 elementURI="SpeedCalculator.loadAtStartup" type=01 *a code=001D owner=000F element=0084 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0085 elementURI="SpeedCalculator.speedAccuracy" type=01 *a code=001E owner=000F element=0085 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 r?*e code=0086 elementURI="VerticalHomogeneityIndexCalculator.loadAtStartup" type=01 *a code=001F owner=000F element=0086 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0087 elementURI="VerticalHomogeneityIndexCalculator.depth1" type=01 *a code=0020 owner=000F element=0087 universal=3FFF unitName="meter" type=0B size=0003 fl=05 r@*e code=0088 elementURI="VerticalHomogeneityIndexCalculator.depth2" type=01 *a code=0021 owner=000F element=0088 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )r A*e code=0089 elementURI="VerticalHomogeneityIndexCalculator.depth3" type=01 *a code=0022 owner=000F element=0089 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I rA*e code=008A elementURI="VerticalHomogeneityIndexCalculator.depth4" type=01 *a code=0023 owner=000F element=008A universal=3FFF unitName="meter" type=0B size=0003 fl=05 i"rA*e code=008B elementURI="VerticalHomogeneityIndexCalculator.depthWindow" type=01 *a code=0024 owner=000F element=008B universal=3FFF unitName="meter" type=0B size=0003 fl=05 %r?*e code=008C elementURI="VerticalHomogeneityIndexCalculator.verbosity" type=01 *a code=0025 owner=000F element=008C universal=3FFF unitName="count" type=0D size=0004 fl=05 'r*e code=008D elementURI="VerticalHomogeneityIndexCalculator.medianFilterLengthSalt" type=01 *a code=0026 owner=000F element=008D universal=3FFF unitName="count" type=0D size=0004 fl=05 *r*e code=008E elementURI="YawRateCalculator.loadAtStartup" type=01 *a code=0027 owner=000F element=008E universal=3FFF unitName="bool" type=02 size=0001 fl=05 ,r*e code=008F elementURI="ElevatorOffsetCalculator.loadAtStartup" type=01 *a code=0028 owner=000F element=008F universal=3FFF unitName="bool" type=02 size=0001 fl=05 /r*e code=0090 elementURI="ElevatorOffsetCalculator.targetConfidenceLevel" type=01 *a code=0029 owner=000F element=0090 universal=3FFF unitName="percent" type=0B size=0003 fl=05 )1r?*e code=0091 elementURI="ElevatorOffsetCalculator.targetErrorBound" type=01 *a code=002A owner=000F element=0091 universal=3FFF unitName="degree" type=2F size=0004 fl=05 I4r:*e code=0092 elementURI="ElevatorOffsetCalculator.verbosity" type=01 *a code=002B owner=000F element=0092 universal=3FFF unitName="count" type=0D size=0004 fl=05 i6r*e code=0093 elementURI="ShortestDistanceToPolygonSidesCalculator.loadAtStartup" type=01 *a code=002C owner=000F element=0093 universal=3FFF unitName="bool" type=02 size=0001 fl=05 :r*e code=0094 elementURI="ShortestDistanceToPolygonSidesCalculator.verbosity" type=01 *a code=002D owner=000F element=0094 universal=3FFF unitName="count" type=0D size=0004 fl=05 =r*e code=0095 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex1" type=01 *a code=002E owner=000F element=0095 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Br*e code=0096 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex1" type=01 *a code=002F owner=000F element=0096 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Er*e code=0097 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex2" type=01 *a code=0030 owner=000F element=0097 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Hr*e code=0098 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex2" type=01 *a code=0031 owner=000F element=0098 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )Jr*e code=0099 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex3" type=01 *a code=0032 owner=000F element=0099 universal=3FFF unitName="degree" type=2F size=0004 fl=05 IMr*e code=009A elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex3" type=01 *a code=0033 owner=000F element=009A universal=3FFF unitName="degree" type=2F size=0004 fl=05 iPr*e code=009B elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex4" type=01 *a code=0034 owner=000F element=009B universal=3FFF unitName="degree" type=2F size=0004 fl=05 Sr*e code=009C elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex4" type=01 *a code=0035 owner=000F element=009C universal=3FFF unitName="degree" type=2F size=0004 fl=05 Vr*e code=009D elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex5" type=01 *a code=0036 owner=000F element=009D universal=3FFF unitName="degree" type=2F size=0004 fl=05 Yr*e code=009E elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex5" type=01 *a code=0037 owner=000F element=009E universal=3FFF unitName="degree" type=2F size=0004 fl=05 [r*e code=009F elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex6" type=01 *a code=0038 owner=000F element=009F universal=3FFF unitName="degree" type=2F size=0004 fl=05 ^r*e code=00A0 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex6" type=01 *a code=0039 owner=000F element=00A0 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )`r*e code=00A1 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex7" type=01 *a code=003A owner=000F element=00A1 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Icr*e code=00A2 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex7" type=01 *a code=003B owner=000F element=00A2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ifr*e code=00A3 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex8" type=01 *a code=003C owner=000F element=00A3 universal=3FFF unitName="degree" type=2F size=0004 fl=05 hr*e code=00A4 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex8" type=01 *a code=003D owner=000F element=00A4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 kr*e code=00A5 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex9" type=01 *a code=003E owner=000F element=00A5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 nr*e code=00A6 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex9" type=01 *a code=003F owner=000F element=00A6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 pr*e code=00A7 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex10" type=01 *a code=0040 owner=000F element=00A7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 sr*e code=00A8 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex10" type=01 *a code=0041 owner=000F element=00A8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )vrƿrTLoaded Config Component "Config/DerivationNrZOpening Config file at: Config/Estimation.cfg*n code=0010 name="Config/Estimation" *e code=00A9 elementURI="StratificationFrontDetector.loadAtStartup" type=01 *a code=0042 owner=0010 element=00A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ir*e code=00AA elementURI="StratificationFrontDetector.temperatureFront" type=01 *a code=0043 owner=0010 element=00AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 ir*e code=00AB elementURI="StratificationFrontDetector.salinityFront" type=01 *a code=0044 owner=0010 element=00AB universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=00AC elementURI="StratificationFrontDetector.highWaterMark" type=01 *a code=0045 owner=0010 element=00AC universal=3FFF unitName="count" type=0D size=0004 fl=05 r*e code=00AD elementURI="StratificationFrontDetector.threshold_VTHI" type=01 *a code=0046 owner=0010 element=00AD universal=3FFF unitName="celsius" type=0B size=0003 fl=05 rƈC*e code=00AE elementURI="StratificationFrontDetector.threshold_VSHI" type=01 *a code=0047 owner=0010 element=00AE universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 r8*e code=00AF elementURI="StratificationFrontDetector.verbosity" type=01 *a code=0048 owner=0010 element=00AF universal=3FFF unitName="count" type=0D size=0004 fl=05 r*e code=00B0 elementURI="DepAvgTempFrontDetector.loadAtStartup" type=01 *a code=0049 owner=0010 element=00B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) r*e code=00B1 elementURI="DepAvgTempFrontDetector.cntThreshold" type=01 *a code=004A owner=0010 element=00B1 universal=3FFF unitName="count" type=0D size=0004 fl=05 I r*e code=00B2 elementURI="DepAvgTempFrontDetector.tempHoriGradThreshold" type=01 *a code=004B owner=0010 element=00B2 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 i rC*e code=00B3 elementURI="DepAvgTempFrontDetector.verbosity" type=01 *a code=004C owner=0010 element=00B3 universal=3FFF unitName="count" type=0D size=0004 fl=05 rƿ2rTLoaded Config Component "Config/EstimationN3rROpening Config file at: Config/secure.cfg*n code=0011 name="Config/secure" *e code=00B4 elementURI="Vehicle.dashIP" type=01 *a code=004D owner=0011 element=00B4 universal=3FFF unitName="none" type=00 size=000B fl=05 Er 134.89.2.23*e code=00B5 elementURI="Vehicle.dashPath" type=01 *a code=004E owner=0011 element=00B5 universal=3FFF unitName="none" type=00 size=000B fl=05 Gr /TethysDash*e code=00B6 elementURI="Vehicle.dashPort" type=01 *a code=004F owner=0011 element=00B6 universal=3FFF unitName="none" type=00 size=0003 fl=05 Ir443*e code=00B7 elementURI="Vehicle.dashSSL" type=01 *a code=0050 owner=0011 element=00B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Kr*e code=00B8 elementURI="Vehicle.hostname" type=01 *a code=0051 owner=0011 element=00B8 universal=3FFF unitName="none" type=00 size=0009 fl=05 ) Mr localhost*e code=00B9 elementURI="Vehicle.imei" type=01 *a code=0052 owner=0011 element=00B9 universal=3FFF unitName="none" type=00 size=000F fl=05 I Pr000000000000000*e code=00BA elementURI="Vehicle.imeiPassword" type=01 *a code=0053 owner=0011 element=00BA universal=3FFF unitName="none" type=00 size=0000 fl=05 i Rr*e code=00BB elementURI="Vehicle.keyText" type=01 *a code=0054 owner=0011 element=00BB universal=3FFF unitName="none" type=00 size=0010 fl=05 UrTethysEncryptionƿrLLoaded Config Component "Config/secureNrTOpening Config file at: Config/vehicle.cfg*n code=0012 name="Config/vehicle" *e code=00BC elementURI="Vehicle.name" type=01 *a code=0055 owner=0012 element=00BC universal=3FFF unitName="none" type=00 size=0006 fl=05 rtethys*e code=00BD elementURI="Vehicle.id" type=01 *a code=0056 owner=0012 element=00BD universal=3FFF unitName="enum" type=02 size=0001 fl=05 r*e code=00BE elementURI="Vehicle.kmlColor" type=01 *a code=0057 owner=0012 element=00BE universal=3FFF unitName="none" type=00 size=0008 fl=05 rff0055ff*e code=00BF elementURI="Vehicle.argoPlatform" type=01 *a code=0058 owner=0012 element=00BF universal=3FFF unitName="none" type=00 size=0006 fl=05 r000000*e code=00C0 elementURI="Vehicle.argoProgram" type=01 *a code=0059 owner=0012 element=00C0 universal=3FFF unitName="none" type=00 size=0004 fl=05 ) r0000*e code=00C1 elementURI="Vehicle.checkMTQueue" type=01 *a code=005A owner=0012 element=00C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I r*e code=00C2 elementURI="Vehicle.sendDataToShore" type=01 *a code=005B owner=0012 element=00C2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i r*e code=00C3 elementURI="Vehicle.useTlLoader" type=01 *a code=005C owner=0012 element=00C3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=00C4 elementURI="AHRS_M2.loadControl" type=01 *a code=005D owner=0012 element=00C4 universal=3FFF unitName="none" type=00 size=000B fl=05 r /dev/loadC5*e code=00C5 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code=0084 owner=0012 element=00EB universal=3FFF unitName="bit" type=1F size=0008 fl=05 Xr?*e code=00EC elementURI="CBITWaterAlarmStern.adVref" type=01 *a code=0085 owner=0012 element=00EC universal=3FFF unitName="volt" type=0B size=0003 fl=05 ZrI@*e code=00ED elementURI="CBITWaterAlarmAux.ad" type=01 *a code=0086 owner=0012 element=00ED universal=3FFF unitName="none" type=00 size=0010 fl=05 ]r/dev/adlpc32xx_2*e code=00EE elementURI="CBITWaterAlarmAux.adRes" type=01 *a code=0087 owner=0012 element=00EE universal=3FFF unitName="bit" type=1F size=0008 fl=05 _r?*e code=00EF elementURI="CBITWaterAlarmAux.adVref" type=01 *a code=0088 owner=0012 element=00EF universal=3FFF unitName="volt" type=0B size=0003 fl=05 arI@*e code=00F0 elementURI="CTD_NeilBrown.loadControl" type=01 *a code=0089 owner=0012 element=00F0 universal=3FFF unitName="none" type=00 size=000B fl=05 )cr /dev/loadC4*e code=00F1 elementURI="CTD_NeilBrown.uart" type=01 *a code=008A owner=0012 element=00F1 universal=3FFF 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universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 r @*e code=00FF elementURI="Depth_Keller.loadControl" type=01 *a code=0098 owner=0012 element=00FF universal=3FFF unitName="none" type=00 size=000B fl=05 r /dev/loadA0*e code=0100 elementURI="Depth_Keller.ad" type=01 *a code=0099 owner=0012 element=0100 universal=3FFF unitName="none" type=00 size=000E fl=05 )r/dev/mcp3553A0*e code=0101 elementURI="Depth_Keller.adRes" type=01 *a code=009A owner=0012 element=0101 universal=3FFF unitName="bit" type=1F size=0008 fl=05 Ir@*e code=0102 elementURI="Depth_Keller.adTimeout" type=01 *a code=009B owner=0012 element=0102 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 ir>*e code=0103 elementURI="Depth_Keller.adVref" type=01 *a code=009C owner=0012 element=0103 universal=3FFF unitName="volt" type=0B size=0003 fl=05 r @*e code=0104 elementURI="DepthKeller33X.loadControl" type=01 *a code=009D owner=0012 element=0104 universal=3FFF unitName="none" type=00 size=000B fl=05 r /dev/loadB0*e code=0105 elementURI="DepthKeller33X.uart" type=01 *a code=009E owner=0012 element=0105 universal=3FFF unitName="none" type=00 size=000A fl=05 r /dev/ttyB0*e code=0106 elementURI="DepthKeller33X.baud" type=01 *a code=009F owner=0012 element=0106 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 r@*e code=0107 elementURI="DockingServo.loadControl" type=01 *a code=00A0 owner=0012 element=0107 universal=3FFF unitName="none" type=00 size=000B fl=05 r /dev/loadB1*e code=0108 elementURI="DockingServo.uart" type=01 *a code=00A1 owner=0012 element=0108 universal=3FFF unitName="none" type=00 size=000A fl=05 )r /dev/ttyB1*e code=0109 elementURI="DockingServo.baud" type=01 *a code=00A2 owner=0012 element=0109 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ir@*e code=010A elementURI="DockingStepper.loadControl" type=01 *a code=00A3 owner=0012 element=010A universal=3FFF unitName="none" type=00 size=000B fl=05 ir /dev/loadB1*e code=010B 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r*e code=0470 elementURI="NanoDVR.sampleTime" type=01 *a code=0409 owner=001E element=0470 universal=3FFF unitName="second" type=0B size=0003 fl=05 )rB*e code=0471 elementURI="Onboard.loadAtStartup" type=01 *a code=040A owner=001E element=0471 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ir*e code=0472 elementURI="Onboard.simulateHardware" type=01 *a code=040B owner=001E element=0472 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ir*e code=0473 elementURI="OnboardBattery.mainBatterySysNode" type=01 *a code=040C owner=001E element=0473 universal=3FFF unitName="none" type=00 size=0008 fl=05 rds2782-0*e code=0474 elementURI="OnboardBattery.backupBatterySysNode" type=01 *a code=040D owner=001E element=0474 universal=3FFF unitName="none" type=00 size=0008 fl=05 rds2782-1*e code=0475 elementURI="OnboardPressure.coefA0" type=01 *a code=040E owner=001E element=0475 universal=3FFF unitName="none" type=1F size=0008 fl=05 Ɂr@*e code=0476 elementURI="OnboardPressure.coefB1" type=01 *a code=040F owner=001E element=0476 universal=3FFF unitName="none" type=1F size=0008 fl=05 避r$c*e code=0477 elementURI="OnboardPressure.coefB2" type=01 *a code=0410 owner=001E element=0477 universal=3FFF unitName="none" type=1F size=0008 fl=05 r*e code=0478 elementURI="OnboardPressure.coefC12" type=01 *a code=0411 owner=001E element=0478 universal=3FFF unitName="none" type=1F size=0008 fl=05 )rkHcCG?*e code=0479 elementURI="Onboard.power" type=01 *a code=0412 owner=001E element=0479 universal=3FFF unitName="watt" type=0B size=0003 fl=05 Ir#<*e code=047A elementURI="OnboardPressure.intercept" type=01 *a code=0413 owner=001E element=047A universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 ir*e code=047B elementURI="OnboardPressure.slope" type=01 *a code=0414 owner=001E element=047B universal=3FFF unitName="pound_per_square_inch_per_volt" type=0B size=0003 fl=05 rHI*e code=047C elementURI="Phins_Multibeam.loadAtStartup" type=01 *a code=0415 owner=001E element=047C universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=047D elementURI="Phins_Multibeam.simulateHardware" type=01 *a code=0416 owner=001E element=047D universal=3FFF unitName="bool" type=02 size=0001 fl=05 ɂr*e code=047E elementURI="Power24vConverter.loadAtStartup" type=01 *a code=0417 owner=001E element=047E universal=3FFF unitName="bool" type=02 size=0001 fl=05 邿r*e code=047F elementURI="Power24vConverter.simulateHardware" type=01 *a code=0418 owner=001E element=047F universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0480 elementURI="PowerOnly.loadAtStartup" type=01 *a code=0419 owner=001E element=0480 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )r*e code=0481 elementURI="PowerOnly.simulateHardware" type=01 *a code=041A owner=001E element=0481 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ir*e code=0482 elementURI="PowerOnly.sampleTime" type=01 *a code=041B owner=001E element=0482 universal=3FFF unitName="second" type=0B size=0003 fl=05 irB*e code=0483 elementURI="PowerOnly.sampleTime1" type=01 *a code=041C owner=001E element=0483 universal=3FFF unitName="second" type=0B size=0003 fl=05 r*e code=0484 elementURI="PowerOnly.sampleTime2" type=01 *a code=041D owner=001E element=0484 universal=3FFF unitName="second" type=0B size=0003 fl=05 r*e code=0485 elementURI="PowerOnly.sampleTime3" type=01 *a code=041E owner=001E element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=05 Ƀr*e code=0486 elementURI="PNI_TCM.loadAtStartup" type=01 *a code=041F owner=001E element=0486 universal=3FFF unitName="bool" type=02 size=0001 fl=05 郿r*e code=0487 elementURI="PNI_TCM.simulateHardware" type=01 *a code=0420 owner=001E element=0487 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0488 elementURI="PNI_TCM.magDeviation" type=01 *a code=0421 owner=001E element=0488 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )r*e code=0489 elementURI="PNI_TCM.pitchOffset" type=01 *a code=0422 owner=001E element=0489 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Ir*e code=048A elementURI="PNI_TCM.power" type=01 *a code=0423 owner=001E element=048A universal=3FFF unitName="watt" type=0B size=0003 fl=05 irף=*e code=048B elementURI="PNI_TCM.readMagnetics" type=01 *a code=0424 owner=001E element=048B universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=048C elementURI="PNI_TCM.rollOffset" type=01 *a code=0425 owner=001E element=048C universal=3FFF unitName="degree" type=2F size=0004 fl=05 r*e code=048D elementURI="PNI_TCM.verbosity" type=01 *a code=0426 owner=001E element=048D universal=3FFF unitName="count" type=0D size=0004 fl=05 Ʉr*e code=048E elementURI="Radio_Surface.loadAtStartup" type=01 *a code=0427 owner=001E element=048E universal=3FFF unitName="bool" type=02 size=0001 fl=05 鄿r*e code=048F elementURI="Radio_Surface.simulateHardware" type=01 *a code=0428 owner=001E element=048F universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0490 elementURI="Radio_Surface.manageDockNetwork" type=01 *a code=0429 owner=001E element=0490 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )r*e code=0491 elementURI="Radio_Surface.power" type=01 *a code=042A owner=001E element=0491 universal=3FFF unitName="watt" type=0B size=0003 fl=05 Ir`@*e code=0492 elementURI="RDI_Pathfinder.loadAtStartup" type=01 *a code=042B owner=001E element=0492 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ir*e code=0493 elementURI="RDI_Pathfinder.simulateHardware" type=01 *a code=042C owner=001E element=0493 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0494 elementURI="RDI_Pathfinder.usePD6" type=01 *a code=042D owner=001E element=0494 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0495 elementURI="RDI_PathfinderUp.loadAtStartup" type=01 *a code=042E owner=001E element=0495 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ʌr*e code=0496 elementURI="RDI_PathfinderUp.simulateHardware" type=01 *a code=042F owner=001E element=0496 universal=3FFF unitName="bool" type=02 size=0001 fl=05 酿r*e code=0497 elementURI="Rowe_600.loadAtStartup" type=01 *a code=0430 owner=001E element=0497 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=0498 elementURI="Rowe_600.simulateHardware" type=01 *a code=0431 owner=001E element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )r*e code=0499 elementURI="Rowe_600.acousticBlankingDistance" type=01 *a code=0432 owner=001E element=0499 universal=3FFF unitName="meter" type=0B size=0003 fl=05 Ir?*e code=049A elementURI="Rowe_600.altitudeAccuracy" type=01 *a code=0433 owner=001E element=049A universal=3FFF unitName="meter" type=0B size=0003 fl=05 ir#<*e code=049B elementURI="Rowe_600.bottomTrackVelocityAccuracy" type=01 *a code=0434 owner=001E element=049B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 r;*e code=049C elementURI="Rowe_600.headingOffset" type=01 *a code=0435 owner=001E element=049C universal=3FFF unitName="degree" type=2F size=0004 fl=05 rI?*e code=049D elementURI="Rowe_600.maxSpeed" type=01 *a code=0436 owner=001E element=049D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 Ɇr?*e code=049E elementURI="Rowe_600.numberOfBeams" type=01 *a code=0437 owner=001E element=049E universal=3FFF unitName="count" type=0D size=0004 fl=05 醿r*e code=049F elementURI="Rowe_600.numberOfBins" type=01 *a code=0438 owner=001E element=049F universal=3FFF unitName="count" type=0D size=0004 fl=05 r*e code=04A0 elementURI="Rowe_600.pausePeriod" type=01 *a code=0439 owner=001E element=04A0 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 ) r>*e code=04A1 elementURI="Rowe_600.pitchOffset" type=01 *a code=043A owner=001E element=04A1 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Ir*e code=04A2 elementURI="Rowe_600.rollOffset" type=01 *a code=043B owner=001E element=04A2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ir*e code=04A3 elementURI="Rowe_600.sampleTime" type=01 *a code=043C owner=001E element=04A3 universal=3FFF unitName="second" type=0B size=0003 fl=05 rpA*e code=04A4 elementURI="Rowe_600.verbosity" type=01 *a code=043D owner=001E element=04A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 r*e code=04A5 elementURI="Rowe_600.waterReferenceLayerBin" type=01 *a code=043E owner=001E element=04A5 universal=3FFF unitName="count" type=0D size=0004 fl=05 ɇr*e code=04A6 elementURI="Rowe_600.waterTrackVelocityAccuracy" type=01 *a code=043F owner=001E element=04A6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 釿rL=*e code=04A7 elementURI="Rowe_600.writeAmplitudeProfile" type=01 *a code=0440 owner=001E element=04A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 r*e code=04A8 elementURI="Rowe_600.writeBeamVelocityProfile" type=01 *a code=0441 owner=001E element=04A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )"r*e code=04A9 elementURI="Rowe_600.writeCorrelationProfile" type=01 *a code=0442 owner=001E element=04A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I$r*e code=04AA elementURI="Rowe_600.writeEarthVelocityProfile" type=01 *a code=0443 owner=001E element=04AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 i'r*e code=04AB elementURI="Rowe_600.writeGoodBeamPingsProfile" type=01 *a code=0444 owner=001E element=04AB universal=3FFF unitName="bool" type=02 size=0001 fl=05 +r*e code=04AC elementURI="Rowe_600.writeGoodEarthPingsProfile" type=01 *a code=0445 owner=001E element=04AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 /r*e code=04AD elementURI="Rowe_600.writeInstrumentVelocityProfile" type=01 *a code=0446 owner=001E element=04AD universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ɉ2r*e code=04AE elementURI="Rowe_600.writeRawEnsemble" type=01 *a code=0447 owner=001E element=04AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 鈿5r*e code=04AF elementURI="SCPI.loadAtStartup" type=01 *a code=0448 owner=001E element=04AF universal=3FFF unitName="bool" type=02 size=0001 fl=05 8r*e code=04B0 elementURI="SCPI.simulateHardware" type=01 *a code=0449 owner=001E element=04B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ):r*e code=04B1 elementURI="SCPI.sampleTime" type=01 *a code=044A owner=001E element=04B1 universal=3FFF unitName="second" type=0B size=0003 fl=05 I=rC*e code=04B2 elementURI="Sonardyne_Nano.loadAtStartup" type=01 *a code=044B owner=001E element=04B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i@r*e code=04B3 elementURI="Sonardyne_Nano.simulateHardware" type=01 *a code=044C owner=001E element=04B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Br*e code=04B4 elementURI="Sonardyne_Nano.chargeMin" type=01 *a code=044D owner=001E element=04B4 universal=3FFF unitName="percent" type=0B size=0003 fl=05 Er3s?*e code=04B5 elementURI="Sonardyne_Nano.chargeMax" type=01 *a code=044E owner=001E element=04B5 universal=3FFF unitName="percent" type=0B size=0003 fl=05 ɉGr?*e code=04B6 elementURI="TrnDataBridge.loadAtStartup" type=01 *a code=044F owner=001E element=04B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 鉿Jr*e code=04B7 elementURI="TrnDataBridge.simulateHardware" type=01 *a code=0450 owner=001E element=04B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Lr*e code=04B8 elementURI="TrnDataBridge.trn_lcm_channel" type=01 *a code=0451 owner=001E element=04B8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )Or.TRN*e code=04B9 elementURI="Waterlinked.loadAtStartup" type=01 *a code=0452 owner=001E element=04B9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IQr*e code=04BA elementURI="Waterlinked.simulateHardware" type=01 *a code=0453 owner=001E element=04BA universal=3FFF unitName="bool" type=02 size=0001 fl=05 iSrƿrLLoaded Config Component "Config/SensorNrvLooking for Config files in directory: Config/lrauv-galene/NrlOpening Config file at: Config/lrauv-galene/secure.cfg) rlrauv-galene.shore.mbari.orgI r300234065065610i rOexCx0tcFOV86JXwNrnOpening Config file at: Config/lrauv-galene/vehicle.cfg rgalene r rff66FF66) r9228 r177270I r /dev/loadC4 r /dev/ttyC4 ?!r "r /dev/loadB0)$r/dev/mcp3553B0I?%ri?&r?'rI)r /dev/loadA6i*r /dev/ttyA6,r /dev/loadC7-r /dev/ttyC7?.ri0r /dev/loadC32r /dev/null3r /dev/null)4r /dev/loadC0I6r/dev/mcp3553C0i?7r?8r?:r;r /dev/loadB4 r /dev/loadA6?r /dev/ttyA6NrnOpening Config file at: Config/lrauv-galene/Battery.cfg*n code=001F name="Config/Battery" *e code=04BB elementURI="Config/Battery.stick1" type=00 *a code=0454 owner=001F element=04BB universal=3FFF unitName="none" type=00 size=0004 fl=05 r0226*e code=04BC elementURI="Config/Battery.stick2" type=00 *a code=0455 owner=001F element=04BC universal=3FFF unitName="none" type=00 size=0004 fl=05 r0244*e code=04BD elementURI="Config/Battery.stick3" type=00 *a code=0456 owner=001F element=04BD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɋr0268*e code=04BE elementURI="Config/Battery.stick4" type=00 *a code=0457 owner=001F element=04BE universal=3FFF unitName="none" type=00 size=0004 fl=05 銿r01F1*e code=04BF elementURI="Config/Battery.stick5" type=00 *a code=0458 owner=001F element=04BF universal=3FFF unitName="none" type=00 size=0004 fl=05 r01EE*e code=04C0 elementURI="Config/Battery.stick6" type=00 *a code=0459 owner=001F element=04C0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )r01D9*e code=04C1 elementURI="Config/Battery.stick7" type=00 *a code=045A owner=001F element=04C1 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ir0265*e code=04C2 elementURI="Config/Battery.stick8" type=00 *a code=045B owner=001F element=04C2 universal=3FFF unitName="none" type=00 size=0004 fl=05 ir028E*e code=04C3 elementURI="Config/Battery.stick9" type=00 *a code=045C owner=001F element=04C3 universal=3FFF unitName="none" type=00 size=0004 fl=05 r0211*e code=04C4 elementURI="Config/Battery.stick10" type=00 *a code=045D 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fl=05 ir0290*e code=04CB elementURI="Config/Battery.stick17" type=00 *a code=0464 owner=001F element=04CB universal=3FFF unitName="none" type=00 size=0004 fl=05 r0245*e code=04CC elementURI="Config/Battery.stick18" type=00 *a code=0465 owner=001F element=04CC universal=3FFF unitName="none" type=00 size=0004 fl=05 r01CA*e code=04CD elementURI="Config/Battery.stick19" type=00 *a code=0466 owner=001F element=04CD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɍr0252*e code=04CE elementURI="Config/Battery.stick20" type=00 *a code=0467 owner=001F element=04CE universal=3FFF unitName="none" type=00 size=0004 fl=05 錿r01E5*e code=04CF elementURI="Config/Battery.stick21" type=00 *a code=0468 owner=001F element=04CF universal=3FFF unitName="none" type=00 size=0004 fl=05 r01DB*e code=04D0 elementURI="Config/Battery.stick22" type=00 *a code=0469 owner=001F element=04D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 ) r02C5*e code=04D1 elementURI="Config/Battery.stick23" type=00 *a code=046A owner=001F element=04D1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I r02A0*e code=04D2 elementURI="Config/Battery.stick24" type=00 *a code=046B owner=001F element=04D2 universal=3FFF unitName="none" type=00 size=0004 fl=05 ir02BD*e code=04D3 elementURI="Config/Battery.stick25" type=00 *a code=046C owner=001F element=04D3 universal=3FFF unitName="none" type=00 size=0004 fl=05 r01EB*e code=04D4 elementURI="Config/Battery.stick26" type=00 *a code=046D owner=001F element=04D4 universal=3FFF unitName="none" type=00 size=0004 fl=05 r0C23*e code=04D5 elementURI="Config/Battery.stick27" type=00 *a code=046E owner=001F element=04D5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɍr0234*e code=04D6 elementURI="Config/Battery.stick28" type=00 *a code=046F owner=001F element=04D6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鍿r0221*e code=04D7 elementURI="Config/Battery.stick29" type=00 *a code=0470 owner=001F element=04D7 universal=3FFF unitName="none" type=00 size=0004 fl=05 r0235*e code=04D8 elementURI="Config/Battery.stick30" type=00 *a code=0471 owner=001F element=04D8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )!r02D2*e code=04D9 elementURI="Config/Battery.stick31" type=00 *a code=0472 owner=001F element=04D9 universal=3FFF unitName="none" type=00 size=0004 fl=05 I$r02C8*e code=04DA elementURI="Config/Battery.stick32" type=00 *a code=0473 owner=001F element=04DA universal=3FFF unitName="none" type=00 size=0004 fl=05 i)r0273*e code=04DB elementURI="Config/Battery.stick33" type=00 *a code=0474 owner=001F element=04DB universal=3FFF unitName="none" type=00 size=0004 fl=05 +r01B6*e code=04DC elementURI="Config/Battery.stick34" type=00 *a code=0475 owner=001F element=04DC universal=3FFF unitName="none" type=00 size=0004 fl=05 .r0260*e code=04DD elementURI="Config/Battery.stick35" type=00 *a code=0476 owner=001F element=04DD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɏ1r01F9*e code=04DE elementURI="Config/Battery.stick36" type=00 *a code=0477 owner=001F element=04DE universal=3FFF unitName="none" type=00 size=0004 fl=05 鎿4r025D*e code=04DF elementURI="Config/Battery.stick37" type=00 *a code=0478 owner=001F element=04DF universal=3FFF unitName="none" type=00 size=0004 fl=05 7r023C*e code=04E0 elementURI="Config/Battery.stick38" type=00 *a code=0479 owner=001F element=04E0 universal=3FFF unitName="none" type=00 size=0004 fl=05 ):r0201*e code=04E1 elementURI="Config/Battery.stick39" type=00 *a code=047A owner=001F element=04E1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I=r01F7*e code=04E2 elementURI="Config/Battery.stick40" type=00 *a code=047B owner=001F element=04E2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i@r01E9*e code=04E3 elementURI="Config/Battery.stick41" type=00 *a code=047C owner=001F element=04E3 universal=3FFF unitName="none" type=00 size=0004 fl=05 Cr024C*e code=04E4 elementURI="Config/Battery.stick42" type=00 *a code=047D owner=001F element=04E4 universal=3FFF unitName="none" type=00 size=0004 fl=05 Er0259*e code=04E5 elementURI="Config/Battery.stick43" type=00 *a code=047E owner=001F element=04E5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɏHr01F6*e code=04E6 elementURI="Config/Battery.stick44" type=00 *a code=047F owner=001F element=04E6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鏿Kr0264*e code=04E7 elementURI="Config/Battery.stick45" type=00 *a code=0480 owner=001F element=04E7 universal=3FFF unitName="none" type=00 size=0004 fl=05 Nr024D*e code=04E8 elementURI="Config/Battery.stick46" type=00 *a code=0481 owner=001F element=04E8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )Qr0261*e code=04E9 elementURI="Config/Battery.stick47" type=00 *a code=0482 owner=001F element=04E9 universal=3FFF unitName="none" type=00 size=0004 fl=05 ITr0255*e code=04EA elementURI="Config/Battery.stick48" type=00 *a code=0483 owner=001F element=04EA universal=3FFF unitName="none" type=00 size=0004 fl=05 iWr021B*e code=04EB elementURI="Config/Battery.stick49" type=00 *a code=0484 owner=001F element=04EB universal=3FFF unitName="none" type=00 size=0004 fl=05 Zr0283*e code=04EC elementURI="Config/Battery.stick50" type=00 *a code=0485 owner=001F element=04EC universal=3FFF unitName="none" type=00 size=0004 fl=05 \r025C*e code=04ED elementURI="Config/Battery.stick51" type=00 *a code=0486 owner=001F element=04ED universal=3FFF unitName="none" type=00 size=0004 fl=05 ɐ_r0256*e code=04EE elementURI="Config/Battery.stick52" type=00 *a code=0487 owner=001F element=04EE universal=3FFF unitName="none" type=00 size=0004 fl=05 鐿br01D0*e code=04EF elementURI="Config/Battery.stick53" type=00 *a code=0488 owner=001F element=04EF universal=3FFF unitName="none" type=00 size=0004 fl=05 er026B*e code=04F0 elementURI="Config/Battery.stick54" type=00 *a code=0489 owner=001F element=04F0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )hr020A*e code=04F1 elementURI="Config/Battery.stick55" type=00 *a code=048A owner=001F element=04F1 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ikr024B*e code=04F2 elementURI="Config/Battery.stick56" type=00 *a code=048B owner=001F element=04F2 universal=3FFF unitName="none" type=00 size=0004 fl=05 inr01FB*e code=04F3 elementURI="Config/Battery.stick57" type=00 *a code=048C owner=001F element=04F3 universal=3FFF unitName="none" type=00 size=0004 fl=05 qr0282*e code=04F4 elementURI="Config/Battery.stick58" type=00 *a code=048D owner=001F element=04F4 universal=3FFF unitName="none" type=00 size=0004 fl=05 tr0286*e code=04F5 elementURI="Config/Battery.stick59" type=00 *a code=048E owner=001F element=04F5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɑwr0BEB*e code=04F6 elementURI="Config/Battery.stick60" type=00 *a code=048F owner=001F element=04F6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鑿zr025A*e code=04F7 elementURI="Config/Battery.stick61" type=00 *a code=0490 owner=001F element=04F7 universal=3FFF unitName="none" type=00 size=0004 fl=05 }r0214*e code=04F8 elementURI="Config/Battery.stick62" type=00 *a code=0491 owner=001F element=04F8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )r027EƿrNLoaded Config Component "Config/BatteryNrnOpening Config file at: Config/lrauv-galene/Science.cfgi!?r!ri"r@"rr"r{$3?"rGjf"rSbwE!? #r#yľ)#r;On? &?r)&rI'rUWQ8594I&r3-i&r 'rC)'rK7?'?r'ri)r bb2flmba-1278 (r2I(r)i(r8(r+(rF7 )rw6))rTA?>r>?r??@ri@Br@CrIADriAErAHr>NrtOpening Config file at: Config/lrauv-galene/Navigation.cfg)CrdCrdNrrOpening Config file at: Config/lrauv-galene/Simulator.cfgIJ?rJ?rNLrfOpening Config file at: Config/lrauv-galene/BIT.cfg _^r)_arC`crbdr<9 der2.6.27.8)dgr'#2 PREEMPT Thu Jan 11 20:13:48 PST 2018NrlOpening Config file at: Config/lrauv-galene/Sensor.cfgk?r lrIl?rl?rl?r m?r p?r)prnrn?roror r)rIrT@irT@srs rIu? riu rr?r s?r)sr BIs?risrpBs?rx?r yr)y?rIy? riy!r`Fy#r"8iz?$rz&rz?'rz(r?*r+ri?,rI?.ri/rɁ0r@避2rqs** 3r|])5rDr@ri?Ar?BrICri?ErNrLooking for Config files in directory: Config/lrauv-galene/root/^rrReloading configuration overrides from Data/persisted.cfgIa?ria?rIrV@ ?r)?ri?r)/r9 3r`;IrrNLoading Module at Modules/Derivation.so*n code=0020 name="DepthRateCalculator" *e code=04F9 elementURI="DepthRateCalculator.enableBroadcast" type=02 *a code=0492 owner=0020 element=04F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0493 owner=0020 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04FA elementURI="DepthRateCalculator.depth_rate" type=00 *a code=0494 owner=0020 element=04FA universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 1rƿrSyncComponent "DepthRateCalculator" handled in the control thread.*n code=0021 name="PitchRateCalculator" *e code=04FB elementURI="PitchRateCalculator.enableBroadcast" type=02 *a code=0495 owner=0021 element=04FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0496 owner=0021 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04FC elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=0497 owner=0021 element=04FC universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 qrƿrSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0022 name="SpeedCalculator" *e code=04FD elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=0498 owner=0022 element=04FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0499 owner=0022 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04FE elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=049A owner=0022 element=04FE universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 r*e code=04FF elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=049B owner=0022 element=04FF universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 r*e code=0500 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *a code=049C owner=0022 element=0500 universal=002E unitName="meter" type=0B size=0003 fl=05 r*a code=049D owner=0022 element=0085 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=049E owner=0022 element=01DA universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 rƿr|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0023 name="YawRateCalculator" *e code=0501 elementURI="YawRateCalculator.enableBroadcast" type=02 *a code=049F owner=0023 element=0501 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04A0 owner=0023 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0502 elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=04A1 owner=0023 element=0502 universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 rƿrSyncComponent "YawRateCalculator" handled in the control thread.*n code=0024 name="ElevatorOffsetCalculator" *e code=0503 elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *a code=04A2 owner=0024 element=0503 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04A3 owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04A4 owner=0024 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04A5 owner=0024 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0504 elementURI="SpeedControl.speedCmd" type=02 *a code=04A6 owner=0024 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0505 elementURI="VerticalControl.pitchCmd" type=02 *a code=04A7 owner=0024 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0506 elementURI="VerticalControl.massPositionCmd" type=02 *a code=04A8 owner=0024 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04A9 owner=0024 element=0091 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=04AA owner=0024 element=0090 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=04AB owner=0024 element=0092 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=04AC owner=0024 element=0215 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0507 elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *a code=04AD owner=0024 element=0507 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0508 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=04AE owner=0024 element=0508 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0509 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=04AF owner=0024 element=0509 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=050A elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=04B0 owner=0024 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=050B elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=04B1 owner=0024 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=050C elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=04B2 owner=0024 element=050C universal=3FFF unitName="meter" type=0B size=0003 fl=05 1 rƿrSyncComponent "ElevatorOffsetCalculator" handled in the control thread.rLoaded Module: Derivation (Contains the base derivation components)rHLoading Module at Modules/Trigger.sor|Loaded Module: Trigger (Contains triggers for use in missions)rFLoading Module at Modules/Sample.so#rLoaded Module: Sample (This is a Sample Module of Sample Components)#rFLoading Module at Modules/Sensor.so*n code=0025 name="AHRS_M2" *e code=050D elementURI="AHRS_M2.enableBroadcast" type=02 *a code=04B3 owner=0025 element=050D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04B4 owner=0025 element=03C7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=050E elementURI="AHRS_M2.component_voltage" type=02 *a code=04B5 owner=0025 element=050E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=050F elementURI="AHRS_M2.component_avgVoltage" type=02 *a code=04B6 owner=0025 element=050F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0510 elementURI="AHRS_M2.component_current" type=02 *a code=04B7 owner=0025 element=0510 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0511 elementURI="AHRS_M2.component_avgCurrent" type=02 *a code=04B8 owner=0025 element=0511 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0512 elementURI="AHRS_M2.component_discreteIn" type=02 *a code=04B9 owner=0025 element=0512 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04BA owner=0025 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04BB owner=0025 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04BC owner=0025 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0513 elementURI="AHRS_M2.platform_magnetic_orientation" type=00 *a code=04BD owner=0025 element=0513 universal=0032 unitName="radian" type=2F size=0004 fl=05 *e code=0514 elementURI="AHRS_M2.platform_pitch_angle" type=00 *a code=04BE owner=0025 element=0514 universal=0036 unitName="radian" type=2F size=0004 fl=05 *e code=0515 elementURI="AHRS_M2.platform_roll_angle" type=00 *a code=04BF owner=0025 element=0515 universal=003B unitName="radian" type=2F size=0004 fl=05 *e code=0516 elementURI="AHRS_M2.platform_orientation" type=00 *a code=04C0 owner=0025 element=0516 universal=0034 unitName="radian" type=2F size=0004 fl=05 *e code=0517 elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003 *a code=04C1 owner=0025 element=0517 universal=0035 unitName="none" type=00 size=0000 fl=05 *e code=0518 elementURI="AHRS_M2.calibration_state" type=02 *a code=04C2 owner=0025 element=0518 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0519 elementURI="AHRS_M2.orientation_error" type=02 *a code=04C3 owner=0025 element=0519 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=051A elementURI="AHRS_M2.orientation" type=02 *a code=04C4 owner=0025 element=051A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=051B elementURI="AHRS_M2.temperature" type=02 *a code=04C5 owner=0025 element=051B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=051C elementURI="AHRS_M2.acceleration_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=04C6 owner=0025 element=051C universal=3FFF unitName="meter_per_second_squared" type=00 size=0000 fl=05 *e code=051D elementURI="AHRS_M2.angular_velocity_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=04C7 owner=0025 element=051D universal=3FFF unitName="radian_per_second" type=00 size=0000 fl=05 *e code=051E elementURI="AHRS_M2.magnetic_field_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=04C8 owner=0025 element=051E universal=3FFF unitName="milligauss" type=00 size=0000 fl=05 *e code=051F elementURI="AHRS_M2.number_of_calbration_points" type=02 *a code=04C9 owner=0025 element=051F universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=04CA owner=0025 element=03C8 universal=3FFF unitName="none" type=00 size=002F fl=04 *a code=04CB owner=0025 element=03C9 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=04CC owner=0025 element=03CA universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=04CD owner=0025 element=03CC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04CE owner=0025 element=03CD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04CF owner=0025 element=03CE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04D0 owner=0025 element=03CF universal=3FFF unitName="count" type=0D size=0004 fl=04 q rƿrlSyncComponent "AHRS_M2" handled in the control thread.*n code=0026 name="BackseatComponent" *e code=0520 elementURI="BackseatComponent.enableBroadcast" type=02 *a code=04D1 owner=0026 element=0520 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04D2 owner=0026 element=03DE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0521 elementURI="BackseatComponent.component_voltage" type=02 *a code=04D3 owner=0026 element=0521 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0522 elementURI="BackseatComponent.component_avgVoltage" type=02 *a code=04D4 owner=0026 element=0522 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0523 elementURI="BackseatComponent.component_current" type=02 *a code=04D5 owner=0026 element=0523 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0524 elementURI="BackseatComponent.component_avgCurrent" type=02 *a code=04D6 owner=0026 element=0524 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0525 elementURI="BackseatComponent.component_discreteIn" type=02 *a code=04D7 owner=0026 element=0525 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0526 elementURI="BackseatComponent.handled_message" type=02 *a code=04D8 owner=0026 element=0526 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0527 elementURI="Power24vConverter.power24vConverter" type=02 *a code=04D9 owner=0026 element=0527 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0528 elementURI="BackseatComponent.power_backseat" type=02 *a code=04DA owner=0026 element=0528 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04DB owner=0026 element=0526 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04DC owner=0026 element=03E0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04DD owner=0026 element=03DF universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=04DE owner=0026 element=03E1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=04DF owner=0026 element=03E2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04E0 owner=0026 element=03E3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04E1 owner=0026 element=03E4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04E2 owner=0026 element=03E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 .rƿ/rpComponent "BackseatComponent" handled in its own thread.*n code=0027 name="BackseatComponent ThreadHandler" 0rDCreated PCaller Thread at 408754E00rDProtected caller Thread ID is 6091*n code=0028 name="LcmUniversalReporter" *e code=0529 elementURI="LcmUniversalReporter.enableBroadcast" type=02 *a code=04E3 owner=0028 element=0529 universal=3FFF unitName="bool" type=02 size=0001 fl=05 1 3rƿ3rSyncComponent "LcmUniversalReporter" handled in the control thread.*n code=0029 name="BPC1" *e code=052A elementURI="BPC1.enableBroadcast" type=02 *a 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code=0698 elementURI="Depth_Keller.component_discreteIn" type=02 *a code=066F owner=002E element=0698 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0670 owner=002E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0699 elementURI="Depth_Keller.depth" type=00 *a code=0671 owner=002E element=0699 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=069A elementURI="Depth_Keller.sea_water_pressure" type=00 *a code=0672 owner=002E element=069A universal=005A unitName="decibar" type=0B size=0003 fl=05 isHC*a code=0673 owner=002E element=0432 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0674 owner=002E element=0434 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04 *a code=0675 owner=002E element=0430 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0676 owner=002E element=0431 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 sƿsvSyncComponent "Depth_Keller" handled in the control thread.*n code=002F name="DropWeight" *e code=069B elementURI="DropWeight.enableBroadcast" type=02 *a code=0677 owner=002F element=069B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=069C elementURI="DropWeight.dropWeightState" type=02 *a code=0678 owner=002F element=069C universal=3FFF unitName="bool" type=02 size=0001 fl=05 sƿsrSyncComponent "DropWeight" handled in the control thread.*n code=0030 name="MultiRay" *e code=069D elementURI="MultiRay.enableBroadcast" type=02 *a code=0679 owner=0030 element=069D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=069E elementURI="MultiRay.component_voltage" type=02 *a code=067A owner=0030 element=069E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=069F elementURI="MultiRay.component_avgVoltage" type=02 *a code=067B owner=0030 element=069F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06A0 elementURI="MultiRay.component_current" type=02 *a code=067C owner=0030 element=06A0 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06A1 elementURI="MultiRay.component_avgCurrent" type=02 *a code=067D owner=0030 element=06A1 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06A2 elementURI="MultiRay.component_discreteIn" type=02 *a code=067E owner=0030 element=06A2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=067F owner=0030 element=0461 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0680 owner=0030 element=0462 universal=3FFF unitName="none" type=1F size=0008 fl=04 *e code=06A3 elementURI="MultiRay.lightModeCommand" type=02 *a code=0681 owner=0030 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=06A4 elementURI="MultiRay.lightModeLog" type=02 *a code=0682 owner=0030 element=06A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 sXFound secondary power supply at: /dev/loadC71 sƿsnSyncComponent "MultiRay" handled in the control thread.*n code=0031 name="NAL9602" *e code=06A5 elementURI="NAL9602.enableBroadcast" type=02 *a code=0683 owner=0031 element=06A5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0684 owner=0031 element=0464 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06A6 elementURI="NAL9602.component_voltage" type=02 *a code=0685 owner=0031 element=06A6 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06A7 elementURI="NAL9602.component_avgVoltage" type=02 *a code=0686 owner=0031 element=06A7 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06A8 elementURI="NAL9602.component_current" type=02 *a code=0687 owner=0031 element=06A8 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06A9 elementURI="NAL9602.component_avgCurrent" type=02 *a code=0688 owner=0031 element=06A9 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06AA elementURI="NAL9602.component_discreteIn" type=02 *a code=0689 owner=0031 element=06AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=068A owner=0031 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=068B owner=0031 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=068C owner=0031 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=068D owner=0031 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=06AB elementURI="NAL9602.SNRSatellite_0" type=00 *a code=068E owner=0031 element=06AB universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06AC elementURI="NAL9602.SNRSatellite_1" type=00 *a code=068F owner=0031 element=06AC universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06AD elementURI="NAL9602.SNRSatellite_2" type=00 *a code=0690 owner=0031 element=06AD universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06AE elementURI="NAL9602.SNRSatellite_3" type=00 *a code=0691 owner=0031 element=06AE universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06AF elementURI="NAL9602.SNRSatellite_4" type=00 *a code=0692 owner=0031 element=06AF universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B0 elementURI="NAL9602.SNRSatellite_5" type=00 *a code=0693 owner=0031 element=06B0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B1 elementURI="NAL9602.SNRSatellite_6" type=00 *a code=0694 owner=0031 element=06B1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B2 elementURI="NAL9602.SNRSatellite_7" type=00 *a code=0695 owner=0031 element=06B2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B3 elementURI="NAL9602.SNRSatellite_8" type=00 *a code=0696 owner=0031 element=06B3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B4 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=0697 owner=0031 element=06B4 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B5 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=0698 owner=0031 element=06B5 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B6 elementURI="NAL9602.SNRSatellite_11" type=00 *a code=0699 owner=0031 element=06B6 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B7 elementURI="NAL9602.goodFix" type=02 *a code=069A owner=0031 element=06B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06B8 elementURI="NAL9602.numSatellites" type=02 *a code=069B owner=0031 element=06B8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06B9 elementURI="NAL9602.sigQuality" type=02 *a code=069C owner=0031 element=06B9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06BA elementURI="NAL9602.SOG" type=02 *a code=069D owner=0031 element=06BA universal=3FFF unitName="knot" type=0B size=0003 fl=05 *e code=06BB elementURI="NAL9602.COG" type=02 *a code=069E owner=0031 element=06BB universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06BC elementURI="NAL9602.time_fix" type=00 *a code=069F owner=0031 element=06BC universal=0065 unitName="second" type=1F size=0008 fl=05 *e code=06BD elementURI="NAL9602.latitude_fix" type=00 *a code=06A0 owner=0031 element=06BD universal=0018 unitName="degree" type=37 size=0006 fl=05 Q &s;4*e code=06BE elementURI="NAL9602.longitude_fix" type=00 *a code=06A1 owner=0031 element=06BE universal=001B unitName="degree" type=37 size=0006 fl=05 Q (s;4*e code=06BF elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=06A2 owner=0031 element=06BF universal=0019 unitName="degree" type=00 size=0000 fl=05 Q +s;4*e code=06C0 elementURI="NAL9602.platform_communications" type=00 *a code=06A3 owner=0031 element=06C0 universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=06A4 owner=0031 element=0215 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06A5 owner=0031 element=00C2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06A6 owner=0031 element=00C1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06A7 owner=0031 element=0465 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=06A8 owner=0031 element=0466 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=06A9 owner=0031 element=0469 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06AA owner=0031 element=046A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06AB owner=0031 element=046B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06AC owner=0031 element=046C universal=3FFF unitName="byte" type=1F size=0008 fl=04 q 0sƿ1slSyncComponent "NAL9602" handled in the control thread.*n code=0032 name="Onboard" *e code=06C1 elementURI="Onboard.enableBroadcast" type=02 *a code=06AD owner=0032 element=06C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06AE owner=0032 element=0472 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06C2 elementURI="Onboard.Pressure" type=02 *a code=06AF owner=0032 element=06C2 universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=06C3 elementURI="Onboard.Temperature" type=02 *a code=06B0 owner=0032 element=06C3 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=06C4 elementURI="Onboard.Humidity" type=02 *a code=06B1 owner=0032 element=06C4 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=06C5 elementURI="Onboard.platform_battery_voltage" type=00 *a code=06B2 owner=0032 element=06C5 universal=0026 unitName="volt" type=0B size=0003 fl=05 <s#<*e code=06C6 elementURI="Onboard.platform_vehicle_power" type=00 *a code=06B3 owner=0032 element=06C6 universal=0041 unitName="watt" type=0B size=0003 fl=05 >s#<*e code=06C7 elementURI="Onboard.platform_average_current" type=00 *a code=06B4 owner=0032 element=06C7 universal=0021 unitName="milliampere" type=0B size=0003 fl=05 As#<*e code=06C8 elementURI="Onboard.platform_average_power" type=00 *a code=06B5 owner=0032 element=06C8 universal=0022 unitName="watt" type=0B size=0003 fl=05 !Cs#<*e code=06C9 elementURI="Onboard.MainBatteryVoltage" type=02 *a code=06B6 owner=0032 element=06C9 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=06CA elementURI="Onboard.BackupBatteryVoltage" type=02 *a code=06B7 owner=0032 element=06CA universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=06CB elementURI="Onboard.BatteryCurrent" type=02 *a code=06B8 owner=0032 element=06CB universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=06B9 owner=0032 element=0475 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06BA owner=0032 element=0476 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06BB owner=0032 element=0477 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06BC owner=0032 element=0478 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06BD owner=0032 element=012D universal=3FFF unitName="count" type=0D size=0004 fl=04 MsƿNs\Component "Onboard" handled in its own thread.*n code=0033 name="Onboard ThreadHandler" OsDCreated PCaller Thread at 409054E0OsDProtected caller Thread ID is 6094*n code=0034 name="PowerOnly" *e code=06CC elementURI="PowerOnly.enableBroadcast" type=02 *a code=06BE owner=0034 element=06CC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06BF owner=0034 element=0527 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06CD elementURI="PowerOnly.samplePowerOnly" type=02 *a code=06C0 owner=0034 element=06CD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06C1 owner=0034 element=0482 universal=3FFF unitName="second" type=0B size=0003 fl=04 Us^Adding load control power supply at /dev/loadC3*a code=06C2 owner=0034 element=0481 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06CE elementURI="PowerOnly.component_voltage_loadControl" type=02 *a code=06C3 owner=0034 element=06CE universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06CF elementURI="PowerOnly.component_avgVoltage_loadControl" type=02 *a code=06C4 owner=0034 element=06CF universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06D0 elementURI="PowerOnly.component_current_loadControl" type=02 *a code=06C5 owner=0034 element=06D0 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06D1 elementURI="PowerOnly.component_avgCurrent_loadControl" type=02 *a code=06C6 owner=0034 element=06D1 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06D2 elementURI="PowerOnly.component_discreteIn_loadControl" type=02 *a code=06C7 owner=0034 element=06D2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06D3 elementURI="PowerOnly.sampleLoad1" type=02 *a code=06C8 owner=0034 element=06D3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06C9 owner=0034 element=0483 universal=3FFF unitName="second" type=0B size=0003 fl=04 1 bsƿbspSyncComponent "PowerOnly" handled in the control thread.*n code=0035 name="Power24vConverter" *e code=06D4 elementURI="Power24vConverter.enableBroadcast" type=02 *a code=06CA owner=0035 element=06D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06CB owner=0035 element=047F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06D5 elementURI="Power24vConverter.component_voltage" type=02 *a code=06CC owner=0035 element=06D5 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06D6 elementURI="Power24vConverter.component_avgVoltage" type=02 *a code=06CD owner=0035 element=06D6 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06D7 elementURI="Power24vConverter.component_current" type=02 *a code=06CE owner=0035 element=06D7 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06D8 elementURI="Power24vConverter.component_avgCurrent" type=02 *a code=06CF owner=0035 element=06D8 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06D9 elementURI="Power24vConverter.component_discreteIn" type=02 *a code=06D0 owner=0035 element=06D9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06D1 owner=0035 element=0527 universal=3FFF unitName="bool" type=02 size=0001 fl=05 q osƿosSyncComponent "Power24vConverter" handled in the control thread.*n code=0036 name="Radio_Surface" *e code=06DA elementURI="Radio_Surface.enableBroadcast" type=02 *a code=06D2 owner=0036 element=06DA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06D3 owner=0036 element=048F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06DB elementURI="Radio_Surface.component_voltage" type=02 *a code=06D4 owner=0036 element=06DB universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06DC elementURI="Radio_Surface.component_avgVoltage" type=02 *a code=06D5 owner=0036 element=06DC universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06DD elementURI="Radio_Surface.component_current" type=02 *a code=06D6 owner=0036 element=06DD universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06DE elementURI="Radio_Surface.component_avgCurrent" type=02 *a code=06D7 owner=0036 element=06DE universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06DF elementURI="Radio_Surface.component_discreteIn" type=02 *a code=06D8 owner=0036 element=06DF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06D9 owner=0036 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06E0 elementURI="VerticalControl.verticalMode" type=02 *a code=06DA owner=0036 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06DB owner=0036 element=0692 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=06DC owner=0036 element=0215 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06DD owner=0036 element=00BD universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06DE owner=0036 element=0490 universal=3FFF unitName="bool" type=02 size=0001 fl=04 sƿshComponent "Radio_Surface" handled in its own thread.*n code=0037 name="Radio_Surface ThreadHandler" sDCreated PCaller Thread at 409354E0sDProtected caller Thread ID is 6095slLoaded Module: Sensor (Contains the sensor components)sNLoading Module at Modules/Navigation.so*n code=0038 name="DeadReckonUsingMultipleVelocitySources" *e code=06E1 elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *a code=06DF owner=0038 element=06E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06E0 owner=0038 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06E1 owner=0038 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06E2 owner=0038 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06E3 owner=0038 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06E4 owner=0038 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06E5 owner=0038 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06E2 elementURI="SetNav.time_fix" type=02 *a code=06E6 owner=0038 element=06E2 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=06E3 elementURI="SetNav.latitude_fix" type=02 *a code=06E7 owner=0038 element=06E3 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=06E4 elementURI="SetNav.longitude_fix" type=02 *a code=06E8 owner=0038 element=06E4 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=06E5 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *a code=06E9 owner=0038 element=06E5 universal=0017 unitName="degree" type=37 size=0006 fl=05 s*e code=06E6 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *a code=06EA owner=0038 element=06E6 universal=001A unitName="degree" type=37 size=0006 fl=05 s*e code=06E7 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *a code=06EB owner=0038 element=06E7 universal=0006 unitName="meter" type=0B size=0003 fl=05 s*e code=06E8 elementURI="DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground" type=00 *a code=06EC owner=0038 element=06E8 universal=003E unitName="meter_per_second" type=0B size=0003 fl=05 s*e code=06E9 elementURI="DeadReckonUsingMultipleVelocitySources.platform_course" type=00 *a code=06ED owner=0038 element=06E9 universal=002C unitName="unspecified" type=0B size=0003 fl=05 s*e code=06EA elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=06EE owner=0038 element=06EA universal=0015 unitName="meter" type=0B size=0003 fl=05 s*e code=06EB elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=06EF owner=0038 element=06EB universal=000D unitName="meter" type=0B size=0003 fl=05 s*e code=06EC elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=06F0 owner=0038 element=06EC universal=000E unitName="meter" type=0B size=0003 fl=05 s*e code=06ED elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *a code=06F1 owner=0038 element=06ED universal=000F unitName="meter" type=0B size=0003 fl=05 s*e code=06EE elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *a code=06F2 owner=0038 element=06EE universal=0010 unitName="radian" type=2F size=0004 fl=05 s*e code=06EF elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *a code=06F3 owner=0038 element=06EF universal=0011 unitName="percent" type=0B size=0003 fl=05 s*a code=06F4 owner=0038 element=0283 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06F5 owner=0038 element=0280 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06F6 owner=0038 element=027F universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06F7 owner=0038 element=0281 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=06F8 owner=0038 element=0282 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06F9 owner=0038 element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FA owner=0038 element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FB owner=0038 element=04FE universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=06F0 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02 *a code=06FC owner=0038 element=06F0 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=06F1 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02 *a code=06FD owner=0038 element=06F1 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=06F2 elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02 *a code=06FE owner=0038 element=06F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06F3 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universal=3FFF unitName="radian" type=2F size=0004 fl=04 "sƿ#stSyncComponent "RudderServo" handled in the control thread.*n code=0048 name="ThrusterHE" *e code=076B elementURI="ThrusterHE.enableBroadcast" type=02 *a code=0890 owner=0048 element=076B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0891 owner=0048 element=026B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=076C elementURI="ThrusterHE.component_voltage" type=02 *a code=0892 owner=0048 element=076C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=076D elementURI="ThrusterHE.component_avgVoltage" type=02 *a code=0893 owner=0048 element=076D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=076E elementURI="ThrusterHE.component_current" type=02 *a code=0894 owner=0048 element=076E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=076F elementURI="ThrusterHE.component_avgCurrent" type=02 *a code=0895 owner=0048 element=076F universal=3FFF 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code=08A3 owner=0049 element=0776 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=0777 elementURI="VerticalControl.buoyancyCmd" type=02 *a code=08A4 owner=0049 element=0777 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08A5 owner=0049 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08A6 owner=0049 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0778 elementURI="LoopControl.periodCmd" type=02 *a code=08A7 owner=0049 element=0778 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08A8 owner=0049 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=08A9 owner=0049 element=01DD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08AA owner=0049 element=01DE universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08AB owner=0049 element=01DF universal=3FFF unitName="cubic_centimeter" 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elementURI="HorizontalControl.headingCmd" type=02 *a code=08FE owner=004A element=0785 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0786 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=08FF owner=004A element=0786 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0900 owner=004A element=06FE universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0787 elementURI="HorizontalControl.bearingCmd" type=02 *a code=0901 owner=004A element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0902 owner=004A element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0788 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=0903 owner=004A element=0788 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0789 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=0904 owner=004A element=0789 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=078A elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=0905 owner=004A element=078A universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0906 owner=004A element=01CC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0907 owner=004A element=01CD universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0908 owner=004A element=01CF universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0909 owner=004A element=01D0 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=090A owner=004A element=01CE universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=090B owner=004A element=01D1 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=090C owner=004A element=01D2 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=090D owner=004A element=01D3 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=090E owner=004A element=01D4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=090F owner=004A element=01D5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0910 owner=004A element=01D6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0911 owner=004A element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0912 owner=004A element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0913 owner=004A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0914 owner=004A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0915 owner=004A element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=078B elementURI="HorizontalControl.headingCmdInternal" type=02 *a code=0916 owner=004A element=078B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=078C elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *a code=0917 owner=004A element=078C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=078D elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=0918 owner=004A element=078D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=078E elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=0919 owner=004A element=078E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=078F elementURI="HorizontalControl.xteInternal" type=02 *a code=091A owner=004A element=078F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0790 elementURI="HorizontalControl.kxteInternal" type=02 *a code=091B owner=004A element=0790 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0791 elementURI="HorizontalControl.bearingInternal" type=02 *a code=091C owner=004A element=0791 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0792 elementURI="HorizontalControl.kpHeadingInternal" type=02 *a code=091D owner=004A element=0792 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=0793 elementURI="HorizontalControl.kiHeadingInternal" type=02 *a code=091E owner=004A element=0793 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *e code=0794 elementURI="HorizontalControl.kdHeadingInternal" type=02 *a code=091F owner=004A element=0794 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0920 owner=004A element=076A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0921 owner=004A element=076A universal=3FFF unitName="radian" type=2F size=0004 fl=04 sƿsSyncComponent "HorizontalControl" handled in the control thread.*n code=004B name="SpeedControl" *e code=0795 elementURI="SpeedControl.enableBroadcast" type=02 *a code=0922 owner=004B element=0795 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %s.Construct SpeedControl.*a code=0923 owner=004B element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0924 owner=004B element=01DA universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0925 owner=004B element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0926 owner=004B element=0772 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 sƿsvSyncComponent "SpeedControl" handled in the control thread.*n code=004C name="LoopControl" *e code=0796 elementURI="LoopControl.enableBroadcast" type=02 *a code=0927 owner=004C element=0796 universal=3FFF unitName="bool" type=02 size=0001 fl=05 &s,Construct LoopControl.*a code=0928 owner=004C element=0778 universal=3FFF unitName="second" type=0B size=0003 fl=04 1sƿstSyncComponent "LoopControl" handled in the control thread.sLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)sBLoading Module at Modules/Dock.soYsLoaded Module: Dock (Contains behaviors and commands for docking)YsLLoading Module at Modules/Simulator.sosLoaded Module: Simulator (This is the module containing the Simulator) sJLoading Module at Modules/Guidance.sosrLoaded Module: Guidance (Contains behaviors and commands)sNLoading Module at Modules/Estimation.sosLoaded Module: Estimation (Contains the base estimation components)*n code=004D name="MissionManager" *e code=0797 elementURI="MissionManager.enableBroadcast" type=02 *a code=0929 owner=004D element=0797 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=092A owner=004D element=06FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=092B owner=004D element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0798 elementURI="MissionManager.mission_started" type=00 *a code=092C owner=004D element=0798 universal=001C unitName="count" type=0D size=0004 fl=05 ƿszSyncComponent "MissionManager" handled in the control thread.*n code=004E name="Reporter" *e code=0799 elementURI="Reporter.enableBroadcast" type=02 *a code=092D owner=004E element=0799 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿsnSyncComponent "Reporter" handled in the control thread.*n code=004F name="NavChartDb" *e code=079A elementURI="NavChartDb.enableBroadcast" type=02 *a code=092E owner=004F element=079A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=079B elementURI="NavChartDb.closestDistance" type=02 *a code=092F owner=004F element=079B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=079C elementURI="NavChartDb.nextDistance" type=02 *a code=0930 owner=004F element=079C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=079D elementURI="NavChartDb.closestDepth" type=02 *a code=0931 owner=004F element=079D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=079E elementURI="NavChartDb.nextDepth" type=02 *a code=0932 owner=004F element=079E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0933 owner=004F element=02B2 universal=3FFF unitName="none" type=00 size=0023 fl=04 *a code=0934 owner=004F element=02B3 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿsbComponent "NavChartDb" handled in its own thread.*n code=0050 name="NavChartDb ThreadHandler" (sDCreated PCaller Thread at 40C654E0(sDProtected caller Thread ID is 6098Ns,Main Thread ID is 6003Fs&Running supervisor.s2Handler Thread ID is 6099sFInitializing the command executive.Կss2Handler Thread ID is 6100s2Handler Thread ID is 6101 s4Initializing ControlThread sBInitializing DepthRateCalculator.sBInitializing PitchRateCalculator. s:Initializing SpeedCalculator.s>Initializing YawRateCalculator. sLInitializing ElevatorOffsetCalculator.*a code=0935 owner=002F element=043B universal=3FFF unitName="bool" type=02 size=0001 fl=04 s>Initialize NavChart Navigation. shInitializing UniversalFixResidualReporter component.s4Initialize SBIT Component.s8git: 2025-04-24-1-gec19bf6cesdgit hash: ec19bf6ce20d9b6237853f6dbad1828ff6b92251s0Kernel Release: 2.6.27.8*a code=0936 owner=003B element=0386 universal=3FFF unitName="bool" type=02 size=0001 fl=04 sKernel 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 2021ssHBeginning SBIT in 40.000000 seconds.s4Initialize IBIT Component.)ss4Initialize CBIT Component.s2Handler Thread ID is 6102 s*Initialized mux pins. s@Initializing the watchdog timer. s2Handler Thread ID is 6103 sTLast reboot was NOT due to watchdog timer. s.Initializing heartbeat. s2Handler Thread ID is 6104 sPowering up  s"Initializing DAT.# s2Handler Thread ID is 6106*a code=0937 owner=002C element=03FE universal=3FFF unitName="bool" type=02 size=0001 fl=04 % sdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP6 s2Handler Thread ID is 6107տE sGG s2Handler Thread ID is 6108ֿH s}AֿL sfA?M s ׿W s; X s YֿX s}A X s2Handler Thread ID is 6109^ s2Initializing CTD_Seabird.!a s2Handler Thread ID is 6111 b s2b sd s8Deactivating emergency mode.(e s2Handler Thread ID is 6113'h sLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000'h stAlready Loaded Electronic Nav Chart data from US1WC07M.000'h sLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000'h stAlready Loaded Electronic Nav Chart data from US2WC11M.000'i sLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000'i stAlready Loaded Electronic Nav Chart data from US3CA52M.000'i sLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000'i stAlready Loaded Electronic Nav Chart data from US5CA50M.000!l sPowering up s$Backplane powered.  s,Initializing GFScanner  s2Deactivating GF circuits.$ sHInitialize VerticalControlComponent. % sLInitialize HorizontalControlComponent.% sBInitialize SpeedControlComponent. & s@Initialize LoopControlComponent.& s:Using TethysL tl-to-tx parser& s\Loading Mission from file: Missions/Startup.tl& sPTethyslAPI: loading: Missions/Startup.tl& shTethyslAPI: mission file loaded: Missions/Startup.tl? s& sTethyslAPI: Missions/Startup.tl translated into: *n code=0051 name="Startup" *n code=0052 name="Startup:A.GoToSurface" *e code=079F elementURI="GoToSurface.enableBroadcast" type=02 *a code=0938 owner=0052 element=079F universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) s,Construct GoToSurface.*a code=0939 owner=0052 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=093A owner=0052 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=093B owner=0052 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=093C owner=0052 element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=093D owner=0052 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=093E owner=0052 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=093F owner=0052 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0940 owner=0052 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0941 owner=0052 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0942 owner=0052 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0943 owner=0052 element=06FE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0944 owner=0052 element=0215 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0945 owner=0052 element=0210 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0946 owner=0052 element=01E1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0947 owner=0052 element=0202 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0948 owner=0052 element=01FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0949 owner=0052 element=0211 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0053 name="Startup:StartupSatComms" *n code=0054 name="Startup:StartupSatComms:A" *n code=0055 name="Startup:StartupSatComms:B" & s # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. 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 } } } & s\Loading Mission from file: Missions/Default.tl& sPTethyslAPI: loading: Missions/Default.tl& shTethyslAPI: mission file loaded: Missions/Default.tl? s?~ s sPowering up& s"TethyslAPI: Missions/Default.tl translated into: 0 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs *n code=0056 name="Default" *e code=07A0 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=094A owner=0056 element=07A0 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=094B owner=0056 element=07A0 universal=3FFF unitName="minute" type=1F size=0008 fl=05 ? sZJ s& svDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0057 name="Default:A.Wait" + sConstruct Wait.*n code=0058 name="Default:B.GoToSurface" *a code=094C owner=0058 element=079F universal=3FFF unitName="bool" type=02 size=0001 fl=05 , s,Construct GoToSurface.*a code=094D owner=0058 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=094E owner=0058 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=094F owner=0058 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0950 owner=0058 element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0951 owner=0058 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0952 owner=0058 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0953 owner=0058 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0954 owner=0058 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0955 owner=0058 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0956 owner=0058 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0957 owner=0058 element=06FE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0958 owner=0058 element=0215 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0959 owner=0058 element=0210 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=095A owner=0058 element=01E1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=095B owner=0058 element=0202 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=095C owner=0058 element=01FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=095D owner=0058 element=0211 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0059 name="Default:CheckIn" *n code=005A name="Default:CheckIn:Read_GPS" *n code=005B name="Default:CheckIn:Read_Iridium" *n code=005C name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=005D name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" . s$Construct Execute.*n code=005E name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=005F name="Default:CheckIn:C.Wait" / sConstruct Wait.*n code=0060 name="Default:CheckIn:D" *a code=095E owner=0060 element=07A0 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=095F owner=0060 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0061 name="Default:CheckIn:E" *n code=0062 name="Default:D" *n code=0063 name="Default:E.Execute" 1 s$Construct Execute.&" sU # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Default { arguments { ElapsedSinceDefaultStarted = 0 minute } behavior Guidance:Wait { """ Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. """ run in sequence set duration = 13 second } behavior Guidance:GoToSurface { run in progression } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P4H { behavior Guidance:Execute { run in sequence set command = "Burn on" } syslog critical "Dropped weight due to communications timeout." } Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started ) syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute } syslog important "Restarting logs and Default mission." behavior Guidance:Execute { run in sequence set command = "restart logs" } } & s-Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,v ,ܴA>*Initializing AHRS_M2.I~*a code=0960 owner=0029 element=03E8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 Initializing.6Powering up MultiRay LightsFPowering up secondary power supply.UPowering up.)Uz@]au n@]w->Depth measurement is not active߽߽!@!@!@!@!@!@G%`;jG-ZG-G-zG-I-2I5 "=4Initializing EZServoServo.A "6Initializing BuoyancyServo."4Initializing EZServoServo."6Initializing ElevatorServo. #4Initializing EZServoServo. #=.Initializing MassServo.#E4Initializing EZServoServo.#}2Initializing RudderServo. $4Initializing EZServoServo. $0Initializing ThrusterHE.*e code=07A1 elementURI="controlThread.durationOfLastRun" type=00 *a code=0961 owner=0004 element=07A1 universal=3FFF unitName="second" type=07 size=0002 fl=05  KF>iԙ },QAy i@ e@-Pressure or depth reading out of range: 816.065491 decibar, 0.000000 m ϭ*DROP WEIGHT MISSING. Hardware Faultz@Vn@-]>Depth measurement is not activeeejGyZGyGyzGyI2I](Scheduling is pausedBCritical error at 20250425T221039NVStop Mission called by CBIT::checkCriticalsNHardware Fault in component: DropWeighta! NHardware Fault in component: DropWeight K>ԩ (,A i& e& e& 9&չ i& Y&Mz@.n@.TeeG}:jGyZGyGyzGyI2IBCritical error at 20250425T221039 Kj=1Y ,[A9"O&>z@*n@*u궙Ny;RJ=VVG`jG`ZG`G`zG`Id2Idl1 KO= 9a m,oA9"m (,DA9}Y©)-Az@-n@-#S=ߥߥGjGZGGzGI2I  KU=!Qy .,EA9}C:Y}@z@n@鶙E<U=QGYjGYZGaGazGaIa2Iiԁ!E B:ԩ)% f= % C vD QO=   K > G A - Y5 A 5 y5 a<5,\AԱ9;Y/9Bz@n@u궙& <3=ߝߝGjGZGGzGI2IvD-B= KA> 9 ;,7A9})م>z@n@붙{<Z=߽߽GjGZGGzG II2IQC5~AC5}AvDxr<  K%+>9ii ̣B, A 9}eI H,$AP9};Y}/9Bz@Nn@u𶙒Y=GjGZGGzGI!2I!CMCMDMCM  K>! N,>A9}3;Y}HBففz@gn@ y:J=GjGZGGzGI2IAAAA)@A@AQDDDDԁ !] D] i y y  K >U,vXA9%JH;Y%PA9z@5n@5 붙}L=? Y? y> G9jG9ZGAGAzGAIA2IIy K=iԑ \\,vrA9}B c,雌A9}/;Y}MAم>م>z@n@=K=A=Y9yAE?AIGjGZGGzGI2I!) K5 >!ڽe>ڽY>Iy +i,WwA9}eIԁԩ p,SA9#A 9b]:Ybt6Az@jn@j涙e:eM=eQm>am Yiyim4@i)u u> u ߙGjGZGGzGI2I K=qԙ`setting available, lastComms_.elapsed()=0.005738! A)̵ [P,C Aɖ@@6t[u@6@ٗ6e;6J96H ˜V?tx?`I$xkb &?6t[u@i6;6WCL9`Y`z@fn@f] Q>YyN@9X: >߱GjGZGGzGI 2I 9QY K=սG ;Y ! yʉ,)Ar^u@@ٗQ;c9H??@Iv/Jb0?r^u@it/;<9NYNgV >V >z@Vn@V涙bbYdydfg@h9j9 j>lGxjG1ZG1G9zG9I92IAԩ Cc6 Ua>UR>Ya KmV>9 z,2BAN^u@ﰁ@ٗp;99H`??I w`T벿@`@&5`?N^u@i;XC9n)Yqyqu@q9᧷ >ߡGjGZGGzGI!2I!C58AQQ K=ԁ ٖ,\A p<p<"bu@"0@ٗ"U;"f9"H (?O?`JK *u`@E@?"bu@i" ;"\C9JH;YPAz@ n@ D継E=]8Q>Yy@9/: >9GIjGQZGqGqzGqIy2IyRCAJCACU19Yiq K=a \,vAcu@@ٗ%Q;9H`e?;? 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S%߳๛n6n`? t@i&;C92;Y2IA 6=6=4z@rn@r붙E=T:Q>YyC9< >GajGaZGaGazGaIi2IiM]>MN>vDu \= Kb>.6,dA "p<&t@&@ٗ&';&.p9&Ha?Y? r #`bq{?&t@i&T;&C9Bw;YBBz@rn@rD継\<L=OjQ>YyC9; >GjGZGGzGI2IvD1=   K>X<,dA}s@@ٗp\;z9H' ?$$?ݳ k|`?}s@i7<;C92Y2g46Az@:n@:鶙~饼~W=Q6;Q>Yy C 9 û  >GIjGIZGIGIzGIIQ2IQvDu/C< K=CC, eAt@ @ٗ ;g9H@B`A?`? `@Z峿pZ$?t@iӣ;9 {6YqyquCq9}=*; >GjGZGGzGI!2I!ŭ=iŭ=vD "5:   K > G 5 ;Y1 jI,'eAɖ"s@"P@ٗ";"39"H5:?Ӷ?D :ptPJ?"s@i";"C(*C}AI*>)*Fi(),I.3}A.">ɭ.cF ,ɮ02}A0i2F0i06}A)4 6FI4 4)6|Aɯ6A`?:F88ɦ:\}Ai:>I:|F8Ir~A >r(?>ʗF)@Y@9R;YR/9Bz@Zn@Z~鶙fļf=f8Qf?YhyhjCh9jt n?G1jG1ZG1GzGI2IC C D C  KB>vRP,YAeAt@@ٗ;f9H!p?`׶?k":7soZ`?t@i;C9~]:Yt6A > >z@n@鶙E#EC=MO:QM>YQyC9v< >ߡG9jG9ZG9G9zG9IA2IA K=I%A)%A|V,4[eAJt@&'@ٗXd;Mk9HC??>@1泿r[?Jt@i;C9nJYr= pr=z@zn@z4涙cE=͹Q>YyC9%< >߱GjGZG G zG I 2I K=MR>MR>\,ueA "t@"$[@ٗ" }I;"mA9"H-?J?`gs/iU`>?"t@i";"C92?;Y2Bz@:n@:v継^<bY=by}Qb>YdydfCd9fN< f>hGjGZGGzGI2I9A KM=c,eA@t@hR@ٗ=;9H ?a?` 6FaKh?@t@ih^;C92z;Y2+B46Az@:n@:継^bJ=bQb>Y`ydfCd9~H, ~>GjGZGGzGI2I1 K==i,ŨeA"s@"@ٗ">"s9"HɄ ^?G? "`Wcut?oe@?"s@i";"C90Y046Az@:n@:fQf>YhyhjCh9n} ~>GjGZGGzGI2I!) Ku=IM@A}p,#eAɖ"r@"c@ٗ"Oj"?9"H`(?J?m@VҠV?H ?"r@i"O; 92,0YdydfCd9f1+ j>hGjGZGGzGI2I K=v,|eA"r@"@ٗ"-".9"H@`G?@? `g~F?d ?"r@i"tn;"C9B;YBޒBD5>1z@5n@5wᶉ]4=i]C=8=MK=Q>YyC9-<  > GajGaZGaGazGaIi2IiQQ K]=|,WeA6is@6@ٗ6M:696H_?L}?9 5I@-?6is@i6;6CE]>A9uX YyC9F< >ߑGjGZGGzGI2II K>I A) Aკ,GfA ((2s@2 À@ٗ2z--2&92H U?{? r0D@%?`@!?2s@i2;08 :|A:r?:}AI>>)>Fi<)@IB}AB?BF @@F|}AF?iFvFDiFCF}A)F ? JFIH H)J}AN?NbFLLN~~AiN9?INFPYP9ZVY!y!%C)9M^5 M>QGijGZGGzGI2I  K- >Ņ =iŅ =퐙,yCfAs@Uǀ@ٗg/;I9H`4R r??%+B eC ?s@iu;9beIYtytvCt9vhw z>xG)jG)ZG)G)zG1I12I K-=) =cGQa ם;Y֙I) )) &m TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into: 2 60 35 NaN NaN NaN NaN NaN NaN NaN 1 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 1 1 15 1 0.25 3 2 50 2 0 0 1 2 3 0 2 Camera and lights off, previous state was Moving to 13 Timed out while trying to reach target depth at current depth of stop Reached , settling for Reached depth, initial recording state is 0.0 3 NaN Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth *n code=0064 name="sci2_noyo_optim" *e code=07A2 elementURI="sci2_noyo_optim.MissionTimeout" type=00 *a code=0965 owner=0064 element=07A2 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0966 owner=0064 element=07A2 universal=3FFF unitName="hour" type=1F size=0008 fl=05 2K @& jDefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h*e code=07A3 elementURI="sci2_noyo_optim.NeedCommsTime" type=00 *a code=0967 owner=0064 element=07A3 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0968 owner=0064 element=07A3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 BK @& nDefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min*e code=07A4 elementURI="sci2_noyo_optim.Depth1" type=00 *a code=0969 owner=0064 element=07A4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=096A owner=0064 element=07A4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 RK A@& \DefineArg sci2_noyo_optim.Depth1 = 35.000000 m*e code=07A5 elementURI="sci2_noyo_optim.Depth2" type=00 *a code=096B owner=0064 element=07A5 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=096C owner=0064 element=07A5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 bK & PDefineArg sci2_noyo_optim.Depth2 = nan m*e code=07A6 elementURI="sci2_noyo_optim.Depth3" type=00 *a code=096D owner=0064 element=07A6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=096E owner=0064 element=07A6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 rK & PDefineArg sci2_noyo_optim.Depth3 = nan m*e code=07A7 elementURI="sci2_noyo_optim.Depth4" type=00 *a code=096F owner=0064 element=07A7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0970 owner=0064 element=07A7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 K &% PDefineArg sci2_noyo_optim.Depth4 = nan m*e code=07A8 elementURI="sci2_noyo_optim.Depth5" type=00 *a code=0971 owner=0064 element=07A8 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0972 owner=0064 element=07A8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 K5 &= PDefineArg sci2_noyo_optim.Depth5 = nan m*e code=07A9 elementURI="sci2_noyo_optim.Depth6" type=00 *a code=0973 owner=0064 element=07A9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0974 owner=0064 element=07A9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 KE &M PDefineArg sci2_noyo_optim.Depth6 = nan mTb,#xfAs@π@ٗOA=;9H@Kϒ?z?l`3%@ó'gOC?s@i);C9 3;Y HB>=z@%n@%߶*e code=07AA elementURI="sci2_noyo_optim.Depth7" type=00 *a code=0975 owner=0064 element=07AA universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0976 owner=0064 element=07AA universal=3FFF unitName="meter" type=1F size=0008 fl=05 K&PDefineArg sci2_noyo_optim.Depth7 = nan m*e code=07AB elementURI="sci2_noyo_optim.Depth8" type=00 *a code=0977 owner=0064 element=07AB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0978 owner=0064 element=07AB universal=3FFF unitName="meter" type=1F size=0008 fl=05 K&PDefineArg sci2_noyo_optim.Depth8 = nan m*e code=07AC elementURI="sci2_noyo_optim.DepthPerLeg" type=00 *a code=0979 owner=0064 element=07AC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=097A owner=0064 element=07AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 K &\DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool5=:Q>Y!y!%C!9%; %>)*e code=07AD elementURI="sci2_noyo_optim.Repeat" type=00 *a code=097B owner=0064 element=07AD universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=097C owner=0064 element=07AD universal=3FFF unitName="count" type=1F size=0008 fl=05 KE?&MbDefineArg sci2_noyo_optim.Repeat = 1.000000 count*e code=07AE elementURI="sci2_noyo_optim.Lat1" type=00 GjGZGGzGI2I*a code=097D owner=0064 element=07AE universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=097E owner=0064 element=07AE universal=3FFF unitName="degree" type=1F size=0008 fl=05 KU&]VDefineArg sci2_noyo_optim.Lat1 = nan arcdeg*e code=07AF elementURI="sci2_noyo_optim.Lat2" type=00 *a code=097F owner=0064 element=07AF universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0980 owner=0064 element=07AF universal=3FFF unitName="degree" type=1F size=0008 fl=05  K=L&VDefineArg sci2_noyo_optim.Lat2 = nan arcdeg*e code=07B0 elementURI="sci2_noyo_optim.Lat3" type=00 *a code=0981 owner=0064 element=07B0 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0982 owner=0064 element=07B0 universal=3FFF unitName="degree" type=1F size=0008 fl=05 L&VDefineArg sci2_noyo_optim.Lat3 = nan arcdeg*e code=07B1 elementURI="sci2_noyo_optim.Lat4" type=00 *a code=0983 owner=0064 element=07B1 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0984 owner=0064 element=07B1 universal=3FFF unitName="degree" type=1F size=0008 fl=05 "L5&=VDefineArg sci2_noyo_optim.Lat4 = nan arcdeg*e code=07B2 elementURI="sci2_noyo_optim.Lat5" type=00 *a code=0985 owner=0064 element=07B2 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0986 owner=0064 element=07B2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 2Lm&uVDefineArg sci2_noyo_optim.Lat5 = nan arcdeg*e code=07B3 elementURI="sci2_noyo_optim.Lat6" type=00 *a code=0987 owner=0064 element=07B3 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0988 owner=0064 element=07B3 universal=3FFF unitName="degree" type=1F size=0008 fl=05 BL&VDefineArg sci2_noyo_optim.Lat6 = nan arcdeg*e code=07B4 elementURI="sci2_noyo_optim.Lat7" type=00 *a code=0989 owner=0064 element=07B4 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=098A owner=0064 element=07B4 universal=3FFF unitName="degree" type=1F size=0008 fl=05 RL&VDefineArg sci2_noyo_optim.Lat7 = nan arcdeg*e code=07B5 elementURI="sci2_noyo_optim.Lat8" type=00 *a code=098B owner=0064 element=07B5 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=098C owner=0064 element=07B5 universal=3FFF unitName="degree" type=1F size=0008 fl=05 bL&VDefineArg sci2_noyo_optim.Lat8 = nan arcdeg*e code=07B6 elementURI="sci2_noyo_optim.Lon1" type=00 *a code=098D owner=0064 element=07B6 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=098E owner=0064 element=07B6 universal=3FFF unitName="degree" type=1F size=0008 fl=05 rL&VDefineArg sci2_noyo_optim.Lon1 = nan arcdeg*e code=07B7 elementURI="sci2_noyo_optim.Lon2" type=00 *a code=098F owner=0064 element=07B7 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0990 owner=0064 element=07B7 universal=3FFF unitName="degree" type=1F size=0008 fl=05 L&=VDefineArg sci2_noyo_optim.Lon2 = nan arcdeg*e code=07B8 elementURI="sci2_noyo_optim.Lon3" type=00 *a code=0991 owner=0064 element=07B8 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0992 owner=0064 element=07B8 universal=3FFF unitName="degree" type=1F size=0008 fl=05 L&VDefineArg sci2_noyo_optim.Lon3 = nan arcdeg*e code=07B9 elementURI="sci2_noyo_optim.Lon4" type=00 *a code=0993 owner=0064 element=07B9 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0994 owner=0064 element=07B9 universal=3FFF unitName="degree" type=1F size=0008 fl=05 L&VDefineArg sci2_noyo_optim.Lon4 = nan arcdeg*e code=07BA elementURI="sci2_noyo_optim.Lon5" type=00 *a code=0995 owner=0064 element=07BA universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0996 owner=0064 element=07BA universal=3FFF unitName="degree" type=1F size=0008 fl=05 L &VDefineArg sci2_noyo_optim.Lon5 = nan arcdeg*e code=07BB elementURI="sci2_noyo_optim.Lon6" type=00 *a code=0997 owner=0064 element=07BB universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0998 owner=0064 element=07BB universal=3FFF unitName="degree" type=1F size=0008 fl=05 L%&-VDefineArg sci2_noyo_optim.Lon6 = nan arcdeg*e code=07BC elementURI="sci2_noyo_optim.Lon7" type=00 *a code=0999 owner=0064 element=07BC universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=099A owner=0064 element=07BC universal=3FFF unitName="degree" type=1F size=0008 fl=05 L=&uVDefineArg sci2_noyo_optim.Lon7 = nan arcdeg*e code=07BD elementURI="sci2_noyo_optim.Lon8" type=00 *a code=099B owner=0064 element=07BD universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=099C owner=0064 element=07BD universal=3FFF unitName="degree" type=1F size=0008 fl=05 L&VDefineArg sci2_noyo_optim.Lon8 = nan arcdeg*e code=07BE elementURI="sci2_noyo_optim.FastSpeed" type=00 *a code=099D owner=0064 element=07BE universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=099E owner=0064 element=07BE universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 L?&5dDefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s*e code=07BF elementURI="sci2_noyo_optim.ApproachSpeed" type=00 *a code=099F owner=0064 element=07BF universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09A0 owner=0064 element=07BF universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 MM?&MlDefineArg sci2_noyo_optim.ApproachSpeed = 1.000000 m/s*e code=07C0 elementURI="sci2_noyo_optim.ApproachDepthTimeout" type=00 *a code=09A1 owner=0064 element=07C0 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09A2 owner=0064 element=07C0 universal=3FFF unitName="minute" type=1F size=0008 fl=05 M @&|DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min*e code=07C1 elementURI="sci2_noyo_optim.ApproachSettleTimePostDive" type=00 *a code=09A3 owner=0064 element=07C1 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09A4 owner=0064 element=07C1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 "M5N@&=DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 1.000000 min*e code=07C2 elementURI="sci2_noyo_optim.SlowSpeed" type=00 *a code=09A5 owner=0064 element=07C2 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09A6 owner=0064 element=07C2 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 2M?&dDefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s*e code=07C3 elementURI="sci2_noyo_optim.DepthDeviationSlow" type=00 *a code=09A7 owner=0064 element=07C3 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09A8 owner=0064 element=07C3 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BM@& rDefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m*a code=09A9 owner=0064 element=01E0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *e code=07C4 elementURI="sci2_noyo_optim.BuoyancyNeutral" type=00 *a code=09AA owner=0064 element=07C4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=09AB owner=0064 element=07C4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ZM% 9&M rDefineArg sci2_noyo_optim.BuoyancyNeutral = 417.101959 cc*a code=09AC owner=0064 element=01FF universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *e code=07C5 elementURI="sci2_noyo_optim.MassDefault" type=00 *a code=09AD owner=0064 element=07C5 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=09AE owner=0064 element=07C5 universal=3FFF unitName="centimeter" type=0B size=0003 fl=05 rMe `;& fDefineArg sci2_noyo_optim.MassDefault = 0.510797 cm*e code=07C6 elementURI="sci2_noyo_optim.MinAltitude" type=00 *a code=09AF owner=0064 element=07C6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09B0 owner=0064 element=07C6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 M @& dDefineArg sci2_noyo_optim.MinAltitude = 2.000000 m*e code=07C7 elementURI="sci2_noyo_optim.MaxDepth" type=00 *a code=09B1 owner=0064 element=07C7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09B2 owner=0064 element=07C7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 M I@& `DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m*e code=07C8 elementURI="sci2_noyo_optim.MinOffshore" type=00 *a code=09B3 owner=0064 element=07C8 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=09B4 owner=0064 element=07C8 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 M @@& fDefineArg sci2_noyo_optim.MinOffshore = 2.000000 km*e code=07C9 elementURI="sci2_noyo_optim.EnableRecording" type=00 *a code=09B5 owner=0064 element=07C9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B6 owner=0064 element=07C9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ME &E dDefineArg sci2_noyo_optim.EnableRecording = 1 bool*e code=07CA elementURI="sci2_noyo_optim.DiveMode" type=00 *a code=09B7 owner=0064 element=07CA universal=3FFF unitName="count" type=1F size=0008 fl=05 MU *a code=09B8 owner=0064 element=07CA universal=3FFF unitName="count" type=1F size=0008 fl=04 & lDefineOutput sci2_noyo_optim.DiveMode = 0.000000 count*e code=07CB elementURI="sci2_noyo_optim.DoingComms" type=00 *a code=09B9 owner=0064 element=07CB universal=3FFF unitName="count" type=1F size=0008 fl=05 M *a code=09BA owner=0064 element=07CB universal=3FFF unitName="count" type=1F size=0008 fl=04 & pDefineOutput sci2_noyo_optim.DoingComms = 0.000000 count*e code=07CC elementURI="sci2_noyo_optim.SpiralDive" type=00 *a code=09BB owner=0064 element=07CC universal=3FFF unitName="count" type=1F size=0008 fl=05 M ?*a code=09BC owner=0064 element=07CC universal=3FFF unitName="count" type=1F size=0008 fl=04 & pDefineOutput sci2_noyo_optim.SpiralDive = 1.000000 count*e code=07CD elementURI="sci2_noyo_optim.SettleAtDepth" type=00 *a code=09BD owner=0064 element=07CD universal=3FFF unitName="count" type=1F size=0008 fl=05 M @*a code=09BE owner=0064 element=07CD universal=3FFF unitName="count" type=1F size=0008 fl=04 & vDefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count*e code=07CE elementURI="sci2_noyo_optim.MaintainDepth" type=00 *a code=09BF owner=0064 element=07CE universal=3FFF unitName="count" type=1F size=0008 fl=05 M @*a code=09C0 owner=0064 element=07CE universal=3FFF unitName="count" type=1F size=0008 fl=04 &- vDefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count*e code=07CF elementURI="sci2_noyo_optim.LegDepth" type=00 *a code=09C1 owner=0064 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05  N} A@*a code=09C2 owner=0064 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=04 & fDefineOutput sci2_noyo_optim.LegDepth = 35.000000 m*e code=07D0 elementURI="sci2_noyo_optim.RecordingEnabled" type=00 *a code=09C3 owner=0064 element=07D0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N *a code=09C4 owner=0064 element=07D0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 & lDefineOutput sci2_noyo_optim.RecordingEnabled = 0 bool& jInserting Stack from file: Missions/Insert/Science.tl& ^TethyslAPI: loading: Missions/Insert/Science.tl&5 vTethyslAPI: mission file loaded: Missions/Insert/Science.tlKJ,fAss@@ٗ,4;W9HN[`?.Ƕ?@`#5`f `'?ss@i;C9R׻YRE Vp=Tz@Zn@Z$嶙ffb=f'ɹQf>YhyhjCh9j޻ n>9GQjGQZGGzGI2I K= R> N>]4=i]4=Ws,0իfA ks@@ٗ4;9HC^ ??9^8 a&?ks@i ;92Y)y)-C)95 5>9GjGZGGzGI2I) K=$\,5fA&9`s@&局@ٗ&";& 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NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. 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universal=3FFF unitName="minute" type=1F size=0008 fl=05 RN=&=DefineArg sci2_noyo_optim:Science.TimeWindowPeakReport = nan min*e code=07D4 elementURI="sci2_noyo_optim:Science.HighestChlPeakReportActive" type=00 *a code=09CB owner=0065 element=07D4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09CC owner=0065 element=07D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 bNU&UDefineArg sci2_noyo_optim:Science.HighestChlPeakReportActive = 0 bool*e code=07D5 elementURI="sci2_noyo_optim:Science.HighestSaltPeakReportActive" type=00 *a code=09CD owner=0065 element=07D5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09CE owner=0065 element=07D5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rN&DefineArg sci2_noyo_optim:Science.HighestSaltPeakReportActive = 0 bool*e code=07D6 elementURI="sci2_noyo_optim:Science.HighestOilPeakReportActive" type=00 *a code=09CF owner=0065 element=07D6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D0 owner=0065 element=07D6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N&DefineArg sci2_noyo_optim:Science.HighestOilPeakReportActive = 0 bool*e code=07D7 elementURI="sci2_noyo_optim:Science.PatchTracking" type=00 *a code=09D1 owner=0065 element=07D7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D2 owner=0065 element=07D7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N-&5pDefineArg sci2_noyo_optim:Science.PatchTracking = 0 bool*e code=07D8 elementURI="sci2_noyo_optim:Science.FilterWidthHorizontal" type=00 *a code=09D3 owner=0065 element=07D8 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=09D4 owner=0065 element=07D8 universal=3FFF unitName="count" type=1F size=0008 fl=05 NM@&UDefineArg sci2_noyo_optim:Science.FilterWidthHorizontal = 3.000000 count*e code=07D9 elementURI="sci2_noyo_optim:Science.NumProfilesSlidingwindow" type=00 *a code=09D5 owner=0065 element=07D9 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a 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type=02 size=0001 fl=04 *a code=09DC owner=0065 element=07DC universal=3FFF unitName="bool" type=02 size=0001 fl=05 N&|DefineArg sci2_noyo_optim:Science.PeakDetectOilActive = 0 bool*e code=07DD elementURI="sci2_noyo_optim:Science.PeakDetectFDOMActive" type=00 *a code=09DD owner=0065 element=07DD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09DE owner=0065 element=07DD universal=3FFF unitName="bool" type=02 size=0001 fl=05 N&~DefineArg sci2_noyo_optim:Science.PeakDetectFDOMActive = 0 bool*e code=07DE elementURI="sci2_noyo_optim:Science.PeakDetectSalinityActive" type=00 *a code=09DF owner=0065 element=07DE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09E0 owner=0065 element=07DE universal=3FFF unitName="bool" type=02 size=0001 fl=05 O]&eDefineArg sci2_noyo_optim:Science.PeakDetectSalinityActive = 0 bool*e code=07DF elementURI="sci2_noyo_optim:Science.PeakDetectPlanktivoreLMavgROIActive" type=00 *a code=09E1 owner=0065 element=07DF universal=3FFF 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*a code=09F2 owner=0065 element=07E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O & DefineArg sci2_noyo_optim:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=09F3 owner=0065 element=0162 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07E8 elementURI="sci2_noyo_optim:Science.EnabledAanderaaO2" type=00 *a code=09F4 owner=0065 element=07E8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09F5 owner=0065 element=07E8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O & xDefineArg sci2_noyo_optim:Science.EnabledAanderaaO2 = 0 bool*a code=09F6 owner=0065 element=016A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07E9 elementURI="sci2_noyo_optim:Science.EnabledNeilBrown" type=00 *a code=09F7 owner=0065 element=07E9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09F8 owner=0065 element=07E9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O & vDefineArg sci2_noyo_optim:Science.EnabledNeilBrown = 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elementURI="sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=0A00 owner=0065 element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A01 owner=0065 element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=05  P &U DefineArg sci2_noyo_optim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool*a code=0A02 owner=0065 element=01C4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07ED elementURI="sci2_noyo_optim:Science.EnabledWetLabsUBAT" type=00 *a code=0A03 owner=0065 element=07ED universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A04 owner=0065 element=07ED universal=3FFF unitName="bool" type=02 size=0001 fl=05 "P & zDefineArg sci2_noyo_optim:Science.EnabledWetLabsUBAT = 0 bool*e code=07EE elementURI="sci2_noyo_optim:Science.LowPassWindowLength" type=00 IŹ )Ź *a code=0A05 owner=0065 element=07EE universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0A06 owner=0065 element=07EE universal=3FFF unitName="count" type=1F size=0008 fl=05 2P 4@& DefineArg sci2_noyo_optim:Science.LowPassWindowLength = 20.000000 count*e code=07EF elementURI="sci2_noyo_optim:Science.MedianFilterLen" type=00 *a code=0A07 owner=0065 element=07EF universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0A08 owner=0065 element=07EF universal=3FFF unitName="count" type=1F size=0008 fl=05 BPE @&E DefineArg sci2_noyo_optim:Science.MedianFilterLen = 5.000000 count*e code=07F0 elementURI="sci2_noyo_optim:Science.ShallowBound" type=00 *a code=0A09 owner=0065 element=07F0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 b,CgAɖ"YxyxzCx9~ >!*a code=0A0A owner=0065 element=07F0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 RPm&ulDefineArg sci2_noyo_optim:Science.ShallowBound = nan mGyjGyZGyGyzGyI2I Ki=*e code=07F1 elementURI="sci2_noyo_optim:Science.DeepBound" type=00 *a code=0A0B owner=0065 element=07F1 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A0C owner=0065 element=07F1 universal=3FFF unitName="meter" type=1F size=0008 fl=05 bP&fDefineArg sci2_noyo_optim:Science.DeepBound = nan m*e code=07F2 elementURI="sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip" type=00 *a code=0A0D owner=0065 element=07F2 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A0E owner=0065 element=07F2 universal=3FFF unitName="meter" type=1F size=0008 fl=05 rP @&]DefineArg sci2_noyo_optim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m*e code=07F3 elementURI="sci2_noyo_optim:Science.OffPeakFractionVertical" type=00 *a code=0A0F owner=0065 element=07F3 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0A10 owner=0065 element=07F3 universal=3FFF unitName="percent" type=1F size=0008 fl=05 Pm&DefineArg sci2_noyo_optim:Science.OffPeakFractionVertical = nan %*e code=07F4 elementURI="sci2_noyo_optim:Science.ChlPeakThresh" type=00 *a code=0A11 owner=0065 element=07F4 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0A12 owner=0065 element=07F4 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 P&~DefineArg sci2_noyo_optim:Science.ChlPeakThresh = 0.000000 ug/l*e code=07F5 elementURI="sci2_noyo_optim:Science.ChlThreshTriggerActive" type=00 *a code=0A13 owner=0065 element=07F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A14 owner=0065 element=07F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 P&DefineArg sci2_noyo_optim:Science.ChlThreshTriggerActive = 0 bool*e code=07F6 elementURI="sci2_noyo_optim:Science.ChlLowerThresh" type=00 *a code=0A15 owner=0065 element=07F6 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0A16 owner=0065 element=07F6 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 P&vDefineArg sci2_noyo_optim:Science.ChlLowerThresh = nan ug/l*e code=07F7 elementURI="sci2_noyo_optim:Science.ChlUpperThresh" type=00 *a code=0A17 owner=0065 element=07F7 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0A18 owner=0065 element=07F7 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 P&vDefineArg sci2_noyo_optim:Science.ChlUpperThresh = nan ug/l*e code=07F8 elementURI="sci2_noyo_optim:Science.NumProfilesThresh" type=00 *a code=0A19 owner=0065 element=07F8 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0A1A owner=0065 element=07F8 universal=3FFF unitName="count" type=1F size=0008 fl=05 P@&DefineArg sci2_noyo_optim:Science.NumProfilesThresh = 5.000000 count*e code=07F9 elementURI="sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh" type=00 *a code=0A1B owner=0065 element=07F9 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0A1C owner=0065 element=07F9 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 P&%DefineArg sci2_noyo_optim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s*e code=07FA elementURI="sci2_noyo_optim:Science.PlanktivoreHMavgROIPeakThresh" type=00 *a code=0A1D owner=0065 element=07FA universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0A1E owner=0065 element=07FA universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 PU&]DefineArg sci2_noyo_optim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s*e code=07FB elementURI="sci2_noyo_optim:Science.PlanktivoreDiatomsPeakThresh" type=00 *a code=0A1F owner=0065 element=07FB universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0A20 owner=0065 element=07FB universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 Q&DefineArg sci2_noyo_optim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml*e code=07FC elementURI="sci2_noyo_optim:Science.PlanktivoreDinoflagellatesPeakThresh" type=00 *a code=0A21 owner=0065 element=07FC universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0A22 owner=0065 element=07FC universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 Q&DefineArg sci2_noyo_optim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml*e code=07FD elementURI="sci2_noyo_optim:Science.GoDown" type=00 *a code=0A23 owner=0065 element=07FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 Q*a code=0A24 owner=0065 element=07FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 &-hDefineOutput sci2_noyo_optim:Science.GoDown = 1 bool*e code=07FE elementURI="sci2_noyo_optim:Science.PeakChl" type=00 *a code=0A25 owner=0065 element=07FE universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *Q=*a code=0A26 owner=0065 element=07FE universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &nDefineOutput sci2_noyo_optim:Science.PeakChl = nan ug/l*e code=07FF elementURI="sci2_noyo_optim:Science.PeakChlDepth" type=00 *a code=0A27 owner=0065 element=07FF universal=3FFF unitName="meter" type=1F size=0008 fl=05 :Q*a code=0A28 owner=0065 element=07FF universal=3FFF unitName="meter" type=1F size=0008 fl=04 &rDefineOutput sci2_noyo_optim:Science.PeakChlDepth = nan m*e code=0800 elementURI="sci2_noyo_optim:Science.PeakChlTemperature" type=00 *a code=0A29 owner=0065 element=0800 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 JQ*a code=0A2A owner=0065 element=0800 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakChlTemperature = nan degC*e code=0801 elementURI="sci2_noyo_optim:Science.PeakChlLatitude" type=00 *a code=0A2B owner=0065 element=0801 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ZQ%*a code=0A2C owner=0065 element=0801 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &-DefineOutput sci2_noyo_optim:Science.PeakChlLatitude = nan arcdeg*e code=0802 elementURI="sci2_noyo_optim:Science.PeakChlLongitude" type=00 *a code=0A2D owner=0065 element=0802 universal=3FFF unitName="degree" type=1F size=0008 fl=05 jQ*a code=0A2E owner=0065 element=0802 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakChlLongitude = nan arcdeg*e code=0803 elementURI="sci2_noyo_optim:Science.EdgeChl" type=00 *a code=0A2F owner=0065 element=0803 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 zQ*a code=0A30 owner=0065 element=0803 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &nDefineOutput sci2_noyo_optim:Science.EdgeChl = nan ug/l*e code=0804 elementURI="sci2_noyo_optim:Science.EdgeChlDepth" type=00 *a code=0A31 owner=0065 element=0804 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Q*a code=0A32 owner=0065 element=0804 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &rDefineOutput sci2_noyo_optim:Science.EdgeChlDepth = nan m*e code=0805 elementURI="sci2_noyo_optim:Science.EdgeChlTemperature" type=00 *a code=0A33 owner=0065 element=0805 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 Q*a code=0A34 owner=0065 element=0805 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgeChlTemperature = nan degC*e code=0806 elementURI="sci2_noyo_optim:Science.EdgeChlLatitude" type=00 *a code=0A35 owner=0065 element=0806 universal=3FFF unitName="degree" type=1F size=0008 fl=05 Q*a code=0A36 owner=0065 element=0806 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgeChlLatitude = nan arcdeg*e code=0807 elementURI="sci2_noyo_optim:Science.EdgeChlLongitude" type=00 *a code=0A37 owner=0065 element=0807 universal=3FFF unitName="degree" type=1F size=0008 fl=05 Q*a code=0A38 owner=0065 element=0807 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &]DefineOutput sci2_noyo_optim:Science.EdgeChlLongitude = nan arcdegսVG^~A  ;Y ^~A*e code=0808 elementURI="sci2_noyo_optim:Science.PeakNO3" type=00 *a code=0A39 owner=0065 element=0808 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 Q5 *a code=0A3A owner=0065 element=0808 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 &= rDefineOutput sci2_noyo_optim:Science.PeakNO3 = nan umol/l*e code=0809 elementURI="sci2_noyo_optim:Science.PeakNO3Depth" type=00 *a code=0A3B owner=0065 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=05 QU *a code=0A3C owner=0065 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=04 & rDefineOutput sci2_noyo_optim:Science.PeakNO3Depth = nan m*e code=080A elementURI="sci2_noyo_optim:Science.PeakNO3Latitude" type=00 *a code=0A3D owner=0065 element=080A universal=3FFF unitName="degree" type=1F size=0008 fl=05 Q *a code=0A3E owner=0065 element=080A universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakNO3Latitude = nan arcdeg*e code=080B elementURI="sci2_noyo_optim:Science.PeakNO3Longitude" type=00 *a code=0A3F owner=0065 element=080B universal=3FFF unitName="degree" type=1F size=0008 fl=05 QE *a code=0A40 owner=0065 element=080B universal=3FFF unitName="degree" type=1F size=0008 fl=04 &U DefineOutput sci2_noyo_optim:Science.PeakNO3Longitude = nan arcdeg*e code=080C elementURI="sci2_noyo_optim:Science.PeakOil" type=00 *a code=0A41 owner=0065 element=080C universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05  R] *a code=0A42 owner=0065 element=080C universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 & pDefineOutput sci2_noyo_optim:Science.PeakOil = nan kg/m3*e code=080D elementURI="sci2_noyo_optim:Science.PeakOilDepth" type=00 *a code=0A43 owner=0065 element=080D universal=3FFF unitName="meter" type=1F size=0008 fl=05 R *a code=0A44 owner=0065 element=080D universal=3FFF unitName="meter" type=1F size=0008 fl=04 & rDefineOutput sci2_noyo_optim:Science.PeakOilDepth = nan m*e code=080E elementURI="sci2_noyo_optim:Science.PeakOilLatitude" type=00 *a code=0A45 owner=0065 element=080E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *R *a code=0A46 owner=0065 element=080E universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakOilLatitude = nan arcdeg*e code=080F elementURI="sci2_noyo_optim:Science.PeakOilLongitude" type=00 *a code=0A47 owner=0065 element=080F universal=3FFF unitName="degree" type=1F size=0008 fl=05 :R% *a code=0A48 owner=0065 element=080F universal=3FFF unitName="degree" type=1F size=0008 fl=04 &5 DefineOutput sci2_noyo_optim:Science.PeakOilLongitude = nan arcdeg*e code=0810 elementURI="sci2_noyo_optim:Science.PeakFDOM" type=00 *a code=0A49 owner=0065 element=0810 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 JRE *a code=0A4A owner=0065 element=0810 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 &M nDefineOutput sci2_noyo_optim:Science.PeakFDOM = nan ppb*e code=0811 elementURI="sci2_noyo_optim:Science.PeakFDOMDepth" type=00 *a code=0A4B owner=0065 element=0811 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ZR] *a code=0A4C owner=0065 element=0811 universal=3FFF unitName="meter" type=1F size=0008 fl=04 & tDefineOutput sci2_noyo_optim:Science.PeakFDOMDepth = nan m*e code=0812 elementURI="sci2_noyo_optim:Science.PeakFDOMTemperature" type=00 *a code=0A4D owner=0065 element=0812 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 jR *a code=0A4E owner=0065 element=0812 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakFDOMTemperature = nan degC*e code=0813 elementURI="sci2_noyo_optim:Science.PeakFDOMLatitude" type=00 *a code=0A4F owner=0065 element=0813 universal=3FFF unitName="degree" type=1F size=0008 fl=05 zR *a code=0A50 owner=0065 element=0813 universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakFDOMLatitude = nan arcdeg*e code=0814 elementURI="sci2_noyo_optim:Science.PeakFDOMLongitude" type=00 *a code=0A51 owner=0065 element=0814 universal=3FFF unitName="degree" type=1F size=0008 fl=05 RE *a code=0A52 owner=0065 element=0814 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &M DefineOutput sci2_noyo_optim:Science.PeakFDOMLongitude = nan arcdeg&,kgA"d;"C9JJH;YJPAPR>z@Vn@V⶙rZvJ=v@Qv>YtyxzCx9z z>*e code=0815 elementURI="sci2_noyo_optim:Science.PeakSalt" type=00 *a code=0A53 owner=0065 element=0815 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 R*a code=0A54 owner=0065 element=0815 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 & nDefineOutput sci2_noyo_optim:Science.PeakSalt = nan psu*e code=0816 elementURI="sci2_noyo_optim:Science.PeakSaltDepth" type=00 *a code=0A55 owner=0065 element=0816 universal=3FFF unitName="meter" type=1F size=0008 fl=05 R%*a code=0A56 owner=0065 element=0816 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &-tDefineOutput sci2_noyo_optim:Science.PeakSaltDepth = nan m9GQjGQZGQGYzGYIY2Ia*e code=0817 elementURI="sci2_noyo_optim:Science.PeakSaltTemperature" type=00 *a code=0A57 owner=0065 element=0817 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 R*a code=0A58 owner=0065 element=0817 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakSaltTemperature = nan degC*e code=0818 elementURI="sci2_noyo_optim:Science.PeakSaltLatitude" type=00 *a code=0A59 owner=0065 element=0818 universal=3FFF unitName="degree" type=1F size=0008 fl=05 R*a code=0A5A owner=0065 element=0818 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakSaltLatitude = nan arcdeg*e code=0819 elementURI="sci2_noyo_optim:Science.PeakSaltLongitude" type=00 *a code=0A5B owner=0065 element=0819 universal=3FFF unitName="degree" type=1F size=0008 fl=05 R-*a code=0A5C owner=0065 element=0819 universal=3FFF unitName="degree" type=1F size=0008 fl=04  K5=&UDefineOutput sci2_noyo_optim:Science.PeakSaltLongitude = nan arcdeg*e code=081A elementURI="sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI" type=00 *a code=0A5D owner=0065 element=081A universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 R}*a code=0A5E owner=0065 element=081A universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROI = nan count/s*e code=081B elementURI="sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth" type=00 *a code=0A5F owner=0065 element=081B universal=3FFF unitName="meter" type=1F size=0008 fl=05 R*a code=0A60 owner=0065 element=081B universal=3FFF unitName="meter" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROIDepth = nan m*e code=081C elementURI="sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature" type=00 *a code=0A61 owner=0065 element=081C universal=3FFF unitName="celsius" type=1F size=0008 fl=05  S*a code=0A62 owner=0065 element=081C universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &%DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROITemperature = nan degC*e code=081D elementURI="sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude" type=00 *a code=0A63 owner=0065 element=081D universal=3FFF unitName="degree" type=1F size=0008 fl=05 S5*a code=0A64 owner=0065 element=081D universal=3FFF unitName="degree" type=1F size=0008 fl=04 &=DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg*e code=081E elementURI="sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude" type=00 *a code=0A65 owner=0065 element=081E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *SM*a code=0A66 owner=0065 element=081E universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg*e code=081F elementURI="sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI" type=00 *a code=0A67 owner=0065 element=081F universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 :S*a code=0A68 owner=0065 element=081F universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROI = nan count/s*e code=0820 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth" type=00 *a code=0A69 owner=0065 element=0820 universal=3FFF unitName="meter" type=1F size=0008 fl=05 JS*a code=0A6A owner=0065 element=0820 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROIDepth = nan m*e code=0821 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature" type=00 *a code=0A6B owner=0065 element=0821 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 ZS*a code=0A6C owner=0065 element=0821 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROITemperature = nan degC*e code=0822 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude" type=00 *a code=0A6D owner=0065 element=0822 universal=3FFF unitName="degree" type=1F size=0008 fl=05 jS*a code=0A6E owner=0065 element=0822 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &%DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg*e code=0823 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude" type=00 *a code=0A6F owner=0065 element=0823 universal=3FFF unitName="degree" type=1F size=0008 fl=05 zS5*a code=0A70 owner=0065 element=0823 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &=DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg*e code=0824 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI" type=00 *a code=0A71 owner=0065 element=0824 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 Sm*a code=0A72 owner=0065 element=0824 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 &uDefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROI = nan count/s*e code=0825 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth" type=00 *a code=0A73 owner=0065 element=0825 universal=3FFF unitName="meter" type=1F size=0008 fl=05 S*a code=0A74 owner=0065 element=0825 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROIDepth = nan m*e code=0826 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature" type=00 *a code=0A75 owner=0065 element=0826 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 S*a code=0A76 owner=0065 element=0826 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROITemperature = nan degC*e code=0827 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude" type=00 *a code=0A77 owner=0065 element=0827 universal=3FFF unitName="degree" type=1F size=0008 fl=05 S=*a code=0A78 owner=0065 element=0827 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &EDefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg*e code=0828 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude" type=00 *a code=0A79 owner=0065 element=0828 universal=3FFF unitName="degree" type=1F size=0008 fl=05 SU*a code=0A7A owner=0065 element=0828 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &eDefineOutput sci2_noyo_optim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg*e code=0829 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreHMavgROI" type=00 *a code=0A7B owner=0065 element=0829 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 S*a code=0A7C owner=0065 element=0829 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreHMavgROI = nan count/s*e code=082A elementURI="sci2_noyo_optim:Science.EdgePlanktivoreHMavgROIDepth" type=00 *a code=0A7D owner=0065 element=082A universal=3FFF unitName="meter" type=1F size=0008 fl=05 S*a code=0A7E owner=0065 element=082A universal=3FFF unitName="meter" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreHMavgROIDepth = nan m*e code=082B elementURI="sci2_noyo_optim:Science.EdgePlanktivoreHMavgROITemperature" type=00 *a code=0A7F owner=0065 element=082B universal=3FFF unitName="celsius" type=1F size=0008 fl=05 S *a code=0A80 owner=0065 element=082B universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &5DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreHMavgROITemperature = nan degC*e code=082C elementURI="sci2_noyo_optim:Science.EdgePlanktivoreHMavgROILatitude" type=00 *a code=0A81 owner=0065 element=082C universal=3FFF unitName="degree" type=1F size=0008 fl=05  TE*a code=0A82 owner=0065 element=082C universal=3FFF unitName="degree" type=1F size=0008 fl=04 &MDefineOutput sci2_noyo_optim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg*e code=082D elementURI="sci2_noyo_optim:Science.EdgePlanktivoreHMavgROILongitude" type=00 *a code=0A83 owner=0065 element=082D universal=3FFF unitName="degree" type=1F size=0008 fl=05 T*a code=0A84 owner=0065 element=082D universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg*e code=082E elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDiatoms" type=00 *a code=0A85 owner=0065 element=082E universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 *T*a code=0A86 owner=0065 element=082E universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatoms = nan count/ml*e code=082F elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth" type=00 *a code=0A87 owner=0065 element=082F universal=3FFF unitName="meter" type=1F size=0008 fl=05 :T5*a code=0A88 owner=0065 element=082F universal=3FFF unitName="meter" type=1F size=0008 fl=04 &EDefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsDepth = nan m*e code=0830 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature" type=00 *a code=0A89 owner=0065 element=0830 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 JTU*a code=0A8A owner=0065 element=0830 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &eDefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsTemperature = nan degC*e code=0831 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude" type=00 *a code=0A8B owner=0065 element=0831 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ZT*a code=0A8C owner=0065 element=0831 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg*e code=0832 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude" type=00 *a code=0A8D owner=0065 element=0832 universal=3FFF unitName="degree" type=1F size=0008 fl=05 jTU *a code=0A8E owner=0065 element=0832 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &] DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg*e code=0833 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDiatoms" type=00 *a code=0A8F owner=0065 element=0833 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 zT *a code=0A90 owner=0065 element=0833 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDiatoms = nan count/ml*e code=0834 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDiatomsDepth" type=00 *a code=0A91 owner=0065 element=0834 universal=3FFF unitName="meter" type=1F size=0008 fl=05 T *a code=0A92 owner=0065 element=0834 universal=3FFF unitName="meter" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDiatomsDepth = nan m% %=i! *e code=0835 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDiatomsTemperature" type=00 *a code=0A93 owner=0065 element=0835 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 T5 *a code=0A94 owner=0065 element=0835 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &= DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDiatomsTemperature = nan degC*e code=0836 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDiatomsLatitude" type=00 *a code=0A95 owner=0065 element=0836 universal=3FFF unitName="degree" type=1F size=0008 fl=05 Tm *a code=0A96 owner=0065 element=0836 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &} DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg*e code=0837 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDiatomsLongitude" type=00 *a code=0A97 owner=0065 element=0837 universal=3FFF unitName="degree" type=1F size=0008 fl=05 T *a code=0A98 owner=0065 element=0837 universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg*e code=0838 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates" type=00 *a code=0A99 owner=0065 element=0838 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 T= *a code=0A9A owner=0065 element=0838 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 &E DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellates = nan count/ml*e code=0839 elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth" type=00 *a code=0A9B owner=0065 element=0839 universal=3FFF unitName="meter" type=1F size=0008 fl=05 TU *a code=0A9C owner=0065 element=0839 universal=3FFF unitName="meter" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m*e code=083A elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature" type=00 *a code=0A9D owner=0065 element=083A universal=3FFF unitName="celsius" type=1F size=0008 fl=05 T *a code=0A9E owner=0065 element=083A universal=3FFF unitName="celsius" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC*e code=083B elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude" type=00 *a code=0A9F owner=0065 element=083B universal=3FFF unitName="degree" type=1F size=0008 fl=05 T *a code=0AA0 owner=0065 element=083B universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg*e code=083C elementURI="sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude" type=00 *a code=0AA1 owner=0065 element=083C universal=3FFF unitName="degree" type=1F size=0008 fl=05  U *a code=0AA2 owner=0065 element=083C universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput sci2_noyo_optim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg*e code=083D elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellates" type=00 (,BgAt@Y!y)-C)9-oa= ->1*U=*a code=0AA6 owner=0065 element=083E universal=3FFF unitName="meter" type=1F size=0008 fl=04 &EDefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m*e code=083F elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesTemperature" type=00 *a code=0AA7 owner=0065 element=083F universal=3FFF unitName="celsius" type=1F size=0008 fl=05 :UU*a code=0AA8 owner=0065 element=083F universal=3FFF unitName="celsius" type=1F size=0008 fl=04 GjGZGGzGI&DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC*e code=0840 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesLatitude" type=00 *a code=0AA9 owner=0065 element=0840 universal=3FFF unitName="degree" type=1F size=0008 fl=05 JU*a code=0AAA owner=0065 element=0840 universal=3FFF unitName="degree" type=1F size=0008 fl=04 2I&DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg*e code=0841 elementURI="sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesLongitude" type=00 *a code=0AAB owner=0065 element=0841 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ZU *a code=0AAC owner=0065 element=0841 universal=3FFF unitName="degree" type=1F size=0008 fl=04 99 KM=&DefineOutput sci2_noyo_optim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg*e code=0842 elementURI="sci2_noyo_optim:Science.PatchChl" type=00 *a code=0AAD owner=0065 element=0842 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 jU}*a code=0AAE owner=0065 element=0842 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &pDefineOutput sci2_noyo_optim:Science.PatchChl = nan ug/l*e code=0843 elementURI="sci2_noyo_optim:Science.PatchChlDepth" type=00 *a code=0AAF owner=0065 element=0843 universal=3FFF unitName="meter" type=1F size=0008 fl=05 zU*a code=0AB0 owner=0065 element=0843 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &tDefineOutput sci2_noyo_optim:Science.PatchChlDepth = nan m*e code=0844 elementURI="sci2_noyo_optim:Science.PatchChlLatitude" type=00 *a code=0AB1 owner=0065 element=0844 universal=3FFF unitName="degree" type=1F size=0008 fl=05 U5*a code=0AB2 owner=0065 element=0844 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &EDefineOutput sci2_noyo_optim:Science.PatchChlLatitude = nan arcdeg*e code=0845 elementURI="sci2_noyo_optim:Science.PatchChlLongitude" type=00 *a code=0AB3 owner=0065 element=0845 universal=3FFF unitName="degree" type=1F size=0008 fl=05 Uu*a code=0AB4 owner=0065 element=0845 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &}DefineOutput sci2_noyo_optim:Science.PatchChlLongitude = nan arcdeg*e code=0846 elementURI="sci2_noyo_optim:Science.PatchChlDistance" type=00 *a code=0AB5 owner=0065 element=0846 universal=3FFF unitName="meter" type=1F size=0008 fl=05 U*a code=0AB6 owner=0065 element=0846 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &zDefineOutput sci2_noyo_optim:Science.PatchChlDistance = nan m*e code=0847 elementURI="sci2_noyo_optim:Science.PatchSalt" type=00 *a code=0AB7 owner=0065 element=0847 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 U*a code=0AB8 owner=0065 element=0847 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 &pDefineOutput sci2_noyo_optim:Science.PatchSalt = nan psu*e code=0848 elementURI="sci2_noyo_optim:Science.PatchSaltDepth" type=00 *a code=0AB9 owner=0065 element=0848 universal=3FFF unitName="meter" type=1F size=0008 fl=05 U*a code=0ABA owner=0065 element=0848 universal=3FFF unitName="meter" type=1F size=0008 fl=04 R> N>&5vDefineOutput sci2_noyo_optim:Science.PatchSaltDepth = nan m*e code=0849 elementURI="sci2_noyo_optim:Science.PatchSaltLatitude" type=00 *a code=0ABB owner=0065 element=0849 universal=3FFF unitName="degree" type=1F size=0008 fl=05 U=*a code=0ABC owner=0065 element=0849 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &mDefineOutput sci2_noyo_optim:Science.PatchSaltLatitude = nan arcdeg*e code=084A elementURI="sci2_noyo_optim:Science.PatchSaltLongitude" type=00 *a code=0ABD owner=0065 element=084A universal=3FFF unitName="degree" type=1F size=0008 fl=05 U}*a code=0ABE owner=0065 element=084A universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PatchSaltLongitude = nan arcdeg*e code=084B elementURI="sci2_noyo_optim:Science.PatchSaltDistance" type=00 *a code=0ABF owner=0065 element=084B universal=3FFF unitName="meter" type=1F size=0008 fl=05 U*a code=0AC0 owner=0065 element=084B universal=3FFF unitName="meter" type=1F size=0008 fl=04 &|DefineOutput sci2_noyo_optim:Science.PatchSaltDistance = nan m*e code=084C elementURI="sci2_noyo_optim:Science.PatchOil" type=00 *a code=0AC1 owner=0065 element=084C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05  V%*a code=0AC2 owner=0065 element=084C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 &5nDefineOutput sci2_noyo_optim:Science.PatchOil = nan psu*e code=084D elementURI="sci2_noyo_optim:Science.PatchOilDepth" type=00 *a code=0AC3 owner=0065 element=084D universal=3FFF unitName="meter" type=1F size=0008 fl=05 V*a code=0AC4 owner=0065 element=084D universal=3FFF unitName="meter" type=1F size=0008 fl=04 &tDefineOutput sci2_noyo_optim:Science.PatchOilDepth = nan m*e code=084E elementURI="sci2_noyo_optim:Science.PatchOilLatitude" type=00 *a code=0AC5 owner=0065 element=084E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *V*a code=0AC6 owner=0065 element=084E universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PatchOilLatitude = nan arcdeg*e code=084F elementURI="sci2_noyo_optim:Science.PatchOilLongitude" type=00 *a code=0AC7 owner=0065 element=084F universal=3FFF unitName="degree" type=1F size=0008 fl=05 :V*a code=0AC8 owner=0065 element=084F universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput sci2_noyo_optim:Science.PatchOilLongitude = nan arcdeg*e code=0850 elementURI="sci2_noyo_optim:Science.PatchOilDistance" type=00 *a code=0AC9 owner=0065 element=0850 universal=3FFF unitName="meter" type=1F size=0008 fl=05 JV *a code=0ACA owner=0065 element=0850 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &zDefineOutput sci2_noyo_optim:Science.PatchOilDistance = nan m*e code=0851 elementURI="sci2_noyo_optim:Science.TriggeredOnChl" type=00 *a code=0ACB owner=0065 element=0851 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ZV*a code=0ACC owner=0065 element=0851 universal=3FFF unitName="bool" type=02 size=0001 fl=04 &xDefineOutput sci2_noyo_optim:Science.TriggeredOnChl = 0 bool*e code=0852 elementURI="sci2_noyo_optim:Science.ChlTriggering" type=00 *a code=0ACD owner=0065 element=0852 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 jV*a code=0ACE owner=0065 element=0852 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &zDefineOutput sci2_noyo_optim:Science.ChlTriggering = nan ug/l*n code=0066 name="sci2_noyo_optim:Science:A" *n code=0067 name="sci2_noyo_optim:Science:B" *n code=0068 name="sci2_noyo_optim:Science:C" *n code=0069 name="sci2_noyo_optim:Science:D" *n code=006A name="sci2_noyo_optim:Science:E" *n code=006B name="sci2_noyo_optim:Science:F" *n code=006C name="sci2_noyo_optim:Science:Read_Oil" *n code=006D name="sci2_noyo_optim:Science:OceanCurrent" *n code=006E name="sci2_noyo_optim:Science:OceanCurrent:A." *a code=0ACF owner=006E element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD0 owner=006E element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD1 owner=006E element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD2 owner=006E element=04FE universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0853 elementURI="CurrentEstimator.current_speed_vehicle_frame" type=02 *a code=0AD3 owner=006E element=0853 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0854 elementURI="CurrentEstimator.current_speed_navigation_frame" type=02 *a code=0AD4 owner=006E element=0854 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0855 elementURI="CurrentEstimator.current_direction_vehicle_frame" type=02 *a code=0AD5 owner=006E element=0855 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0856 elementURI="CurrentEstimator.current_direction_navigation_frame" type=02 *a code=0AD6 owner=006E element=0856 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0857 elementURI="CurrentEstimator.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=0AD7 owner=006E element=0857 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0858 elementURI="CurrentEstimator.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=0AD8 owner=006E element=0858 universal=3FFF unitName="none" type=00 size=0000 fl=05 *n code=006F name="sci2_noyo_optim:Science:PeakDetectChl" *n code=0070 name="sci2_noyo_optim:Science:PeakDetectChl:A" *n code=0071 name="sci2_noyo_optim:Science:PeakDetectChl:B.PeakDetectVsDepth" 8 8Construct PeakDetectVsDepth.*a code=0AD9 owner=0071 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADA owner=0071 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADB owner=0071 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0072 name="sci2_noyo_optim:Science:PeakDetectChl:C" *n code=0073 name="sci2_noyo_optim:Science:EdgeDetectChl" *n code=0074 name="sci2_noyo_optim:Science:EdgeDetectChl:A" *n code=0075 name="sci2_noyo_optim:Science:EdgeDetectChl:B.EdgeDetectVsDepth" : 8Construct EdgeDetectVsDepth.*a code=0ADC owner=0075 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADD owner=0075 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADE owner=0075 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 ",gA "\ u@"v@ٗ"A;"V&9"H'`? 5?/` $@99h@=?"\ u@i"/b;"C92?;Y2Bz@:n@:䶙^ؠbP=bE:Qb>YdydfCd9ff< j>hGijGiZGiGizGiIq2Iy K=*n code=0076 name="sci2_noyo_optim:Science:EdgeDetectChl:C" *n code=0077 name="sci2_noyo_optim:Science:EdgeDetectChl:D" *n code=0078 name="sci2_noyo_optim:Science:HighestChlPeakReport" *n code=0079 name="sci2_noyo_optim:Science:HighestChlPeakReport:A.PeakDetectHorizontal" < >Construct PeakDetectHorizontal.*a code=0ADF owner=0079 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE0 owner=0079 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE1 owner=0079 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE2 owner=0079 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE3 owner=0079 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE4 owner=0079 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007A name="sci2_noyo_optim:Science:PeakDetectNO3" *n code=007B name="sci2_noyo_optim:Science:PeakDetectNO3:A" *n code=007C name="sci2_noyo_optim:Science:PeakDetectNO3:B.PeakDetectVsDepth" >8Construct PeakDetectVsDepth.*a code=0AE5 owner=007C element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE6 owner=007C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE7 owner=007C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007D name="sci2_noyo_optim:Science:PeakDetectNO3:C" *n code=007E name="sci2_noyo_optim:Science:PeakDetectOil" *n code=007F name="sci2_noyo_optim:Science:PeakDetectOil:A" *n code=0080 name="sci2_noyo_optim:Science:PeakDetectOil:B.PeakDetectVsDepth" @8Construct PeakDetectVsDepth.*a code=0AE8 owner=0080 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AE9 owner=0080 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AEA owner=0080 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0081 name="sci2_noyo_optim:Science:PeakDetectOil:C" *n code=0082 name="sci2_noyo_optim:Science:HighestOilPeakReport" *n code=0083 name="sci2_noyo_optim:Science:HighestOilPeakReport:A.PeakDetectHorizontal" A>Construct PeakDetectHorizontal.*a code=0AEB owner=0083 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AEC owner=0083 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AED owner=0083 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AEE owner=0083 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AEF owner=0083 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF0 owner=0083 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0084 name="sci2_noyo_optim:Science:PeakDetectFDOM" *n code=0085 name="sci2_noyo_optim:Science:PeakDetectFDOM:A" *n code=0086 name="sci2_noyo_optim:Science:PeakDetectFDOM:B.PeakDetectVsDepth" C8Construct PeakDetectVsDepth.*a code=0AF1 owner=0086 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF2 owner=0086 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF3 owner=0086 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0087 name="sci2_noyo_optim:Science:PeakDetectFDOM:C" *n code=0088 name="sci2_noyo_optim:Science:PeakDetectSalinity" *n code=0089 name="sci2_noyo_optim:Science:PeakDetectSalinity:A" *n code=008A name="sci2_noyo_optim:Science:PeakDetectSalinity:B.PeakDetectVsDepth" E8Construct PeakDetectVsDepth.*a code=0AF4 owner=008A element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF5 owner=008A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF6 owner=008A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008B name="sci2_noyo_optim:Science:PeakDetectSalinity:C" *n code=008C name="sci2_noyo_optim:Science:HighestSaltPeakReport" *n code=008D name="sci2_noyo_optim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" Fu>Construct PeakDetectHorizontal.*a code=0AF7 owner=008D element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF8 owner=008D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF9 owner=008D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AFA owner=008D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 Iő)ő*a code=0AFB owner=008D element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AFC owner=008D element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008E name="sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI" *n code=008F name="sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0090 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" H- 8Construct PeakDetectVsDepth.*a code=0AFD owner=0090 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AFE owner=0090 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AFF owner=0090 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0091 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0092 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0093 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0094 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" J 8Construct EdgeDetectVsDepth.*a code=0B00 owner=0094 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B01 owner=0094 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B02 owner=0094 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 L,gAt@y@ٗD ;39HD*?Ci?'`M_a^4?t@i{;9nOYn[vAvAz@vn@v,*n code=0095 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:C" ]]A=e&Qe>YayimCi9m-r m>*n code=0096 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0097 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI" *n code=0098 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:A" qGjGZGGzG*n code=0099 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" L8Construct PeakDetectVsDepth.*a code=0B03 owner=0099 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B04 owner=0099 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B05 owner=0099 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 I2I)aa Km=*n code=009A name="sci2_noyo_optim:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=009B name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreHMavgROI" *n code=009C name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=009D name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" N8Construct EdgeDetectVsDepth.*a code=0B06 owner=009D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B07 owner=009D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B08 owner=009D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009E name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=009F name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A0 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms" *n code=00A1 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00A2 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" Q8Construct PeakDetectVsDepth.*a code=0B09 owner=00A2 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B0A owner=00A2 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B0B owner=00A2 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00A3 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00A4 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDiatoms" *n code=00A5 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00A6 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" S8Construct EdgeDetectVsDepth.*a code=0B0C owner=00A6 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B0D owner=00A6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B0E owner=00A6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00A7 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00A8 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00A9 name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00AA name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00AB name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" U 8Construct PeakDetectVsDepth.*a code=0B0F owner=00AB element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B10 owner=00AB element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B11 owner=00AB element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00AC name="sci2_noyo_optim:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00AD name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00AE name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00AF name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" WE 8Construct EdgeDetectVsDepth.*a code=0B12 owner=00AF element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B13 owner=00AF element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B14 owner=00AF element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 4,hA'u@@ٗe?;~9H ' ??,9 LY`g'}?'u@iT;C92JH;Y2PA46Az@:n@:嶙V%<VW=V ;QZ>YXyXZCX9^|< ^>*n code=00B0 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDinoflagellates:C" !*n code=00B1 name="sci2_noyo_optim:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00B2 name="sci2_noyo_optim:Science:ChlThreshTrigger" G9jGZGGzGI2I*n code=00B3 name="sci2_noyo_optim:Science:ChlThreshTrigger:A.ValueDetect" Y,Construct ValueDetect.)) K==*n code=00B4 name="sci2_noyo_optim:Science:ChlThreshTrigger:B" *a code=0B15 owner=00B4 element=0851 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00B5 name="sci2_noyo_optim:Science:ChlThreshTrigger:C" &~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl&rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl&TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl AA AAC=i%=& TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 *n code=00B6 name="sci2_noyo_optim:StandardEnvelopes" *e code=0859 elementURI="sci2_noyo_optim:StandardEnvelopes.MinAltitude" type=00 *a code=0B16 owner=00B6 element=0859 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B17 owner=00B6 element=0859 universal=3FFF unitName="meter" type=1F size=0008 fl=05 X- @&5 DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m*e code=085A elementURI="sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore" type=00 *a code=0B18 owner=00B6 element=085A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B19 owner=00B6 element=085A universal=3FFF unitName="meter" type=1F size=0008 fl=05 XE &M DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m*e code=085B elementURI="sci2_noyo_optim:StandardEnvelopes.MaxDepth" type=00 *a code=0B1A owner=00B6 element=085B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B1B owner=00B6 element=085B universal=3FFF unitName="meter" type=1F size=0008 fl=05 X] i@& DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m*e code=085C elementURI="sci2_noyo_optim:StandardEnvelopes.MinOffshore" type=00 *a code=0B1C owner=00B6 element=085C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B1D owner=00B6 element=085C universal=3FFF unitName="meter" type=1F size=0008 fl=05 X @@& DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=00B7 name="sci2_noyo_optim:StandardEnvelopes:A.AltitudeEnvelope" [ 6Construct AltitudeEnvelope.*a code=0B1E owner=00B7 element=0210 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B1F owner=00B7 element=0206 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B20 owner=00B7 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B21 owner=00B7 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B22 owner=00B7 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B23 owner=00B7 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B24 owner=00B7 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B25 owner=00B7 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B26 owner=00B7 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B27 owner=00B7 element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B28 owner=00B7 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B29 owner=00B7 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B2A owner=00B7 element=0777 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ^ ,/hAɖ@"Eu@"@ٗ"RN;"g9"H@`? w?`WBjDXiZ+?"Eu@i"4;"C*n code=00B8 name="sci2_noyo_optim:StandardEnvelopes:B.DepthEnvelope" \%0Construct DepthEnvelope.*a code=0B2B owner=00B8 element=0210 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B2C owner=00B8 element=020A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B2D owner=00B8 element=0206 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B2E owner=00B8 element=01EA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B2F owner=00B8 element=0204 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B30 owner=00B8 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B31 owner=00B8 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B32 owner=00B8 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B33 owner=00B8 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B34 owner=00B8 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B35 owner=00B8 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B36 owner=00B8 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B37 owner=00B8 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B38 owner=00B8 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B39 owner=00B8 element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B3A owner=00B8 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00B9 name="sci2_noyo_optim:StandardEnvelopes:C.OffshoreEnvelope" \E6Construct OffshoreEnvelope.*a code=0B3B owner=00B9 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B3C owner=00B9 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0B3D owner=00B9 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0B3E owner=00B9 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B3F owner=00B9 element=0785 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B40 owner=00B9 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B41 owner=00B9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B42 owner=00B9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B43 owner=00B9 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B44 owner=00B9 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B45 owner=00B9 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B46 owner=00B9 element=0785 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B47 owner=00B9 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=00BA name="sci2_noyo_optim:C" *a code=0B48 owner=00BA element=0859 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00BB name="sci2_noyo_optim:D" *a code=0B49 owner=00BB element=085B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00BC name="sci2_noyo_optim:E" *a code=0B4A owner=00BC element=085C universal=3FFF unitName="meter" type=1F size=0008 fl=05 &nInserting Stack from file: Missions/Insert/NeedComms.tl&bTethyslAPI: loading: Missions/Insert/NeedComms.tl&mzTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl99Yi@م >م>z@n@~涙 =9Q>YyC9C; > GyjGZGGzGI2I9 K>E,IhAzu@/@ٗȈE;@9H`c@&? ҙ?R j3h@oj?zu@iE;(*G}AI* >)*Fi(),I.;}A.>ɭ.qF ,ɮ02}A2->i2F0i46}A)6p> 6FI4 :C):|Aɯ:`?:F88ɦ>h}Ai>>I>F1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 9f3;YfHB j=j=z@nn@nU⶙EJڼMC=Mr:QM>YIyQUCQ9U<*n code=00BD name="sci2_noyo_optim:NeedComms" *e code=085D elementURI="sci2_noyo_optim:NeedComms.DiveInterval" type=00 *a code=0B4B owner=00BD element=085D universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0B4C owner=00BD element=085D universal=3FFF unitName="hour" type=1F size=0008 fl=05 bZ @&zDefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 h*e code=085E elementURI="sci2_noyo_optim:NeedComms.WaitForPitchUp" type=00 *a code=0B4D owner=00BD element=085E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0B4E owner=00BD element=085E universal=3FFF unitName="minute" type=1F size=0008 fl=05 rZ@&DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 min*e code=085F elementURI="sci2_noyo_optim:NeedComms.SurfacePitch" type=00 *a code=0B4F owner=00BD element=085F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B50 owner=00BD element=085F universal=3FFF unitName="degree" type=1F size=0008 fl=05 Z DJW? >G1jG1ZGGzGI2I K=&DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0860 elementURI="sci2_noyo_optim:NeedComms.SurfaceDepthRate" type=00 *a code=0B51 owner=00BD element=0860 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0B52 owner=00BD element=0860 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 Z&-|DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/s*e code=0861 elementURI="sci2_noyo_optim:NeedComms.SurfaceSpeed" type=00 *a code=0B53 owner=00BD element=0861 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0B54 owner=00BD element=0861 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 ZE?&E~DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=0862 elementURI="sci2_noyo_optim:NeedComms.SurfacingTimeout" type=00 *a code=0B55 owner=00BD element=0862 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0B56 owner=00BD element=0862 universal=3FFF unitName="second" type=1F size=0008 fl=05 Z@@&DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 s*e code=0863 elementURI="sci2_noyo_optim:NeedComms.GPSTimeout" type=00 *a code=0B57 owner=00BD element=0863 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0B58 owner=00BD element=0863 universal=3FFF unitName="minute" type=1F size=0008 fl=05 Z@z@&zDefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min*e code=0864 elementURI="sci2_noyo_optim:NeedComms.CommsTimeout" type=00 V> R>*a code=0B59 owner=00BD element=0864 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0B5A owner=00BD element=0864 universal=3FFF unitName="minute" type=1F size=0008 fl=05 Z5 @&5DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min*a code=0B5B owner=00BD element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B5C owner=00BD element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00BE name="sci2_noyo_optim:NeedComms:A" *a code=0B5D owner=00BE element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00BF name="sci2_noyo_optim:NeedComms:B.GoToSurface" *a code=0B5E owner=00BF element=079F universal=3FFF unitName="bool" type=02 size=0001 fl=05 _-,Construct GoToSurface.*a code=0B5F owner=00BF element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B60 owner=00BF element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B61 owner=00BF element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B62 owner=00BF element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B63 owner=00BF element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B64 owner=00BF element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B65 owner=00BF element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B66 owner=00BF element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B67 owner=00BF element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B68 owner=00BF element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B69 owner=00BF element=06FE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B6A owner=00BF element=0215 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B6B owner=00BF element=0210 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B6C owner=00BF element=01E1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B6D owner=00BF element=0202 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0B6E owner=00BF element=01FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B6F owner=00BF element=0211 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=00C0 name="sci2_noyo_optim:NeedComms:C" *n code=00C1 name="sci2_noyo_optim:NeedComms:C:A_Timeout" *n code=00C2 name="sci2_noyo_optim:NeedComms:C:A_Timeout:A" *n code=00C3 name="sci2_noyo_optim:NeedComms:D" *n code=00C4 name="sci2_noyo_optim:NeedComms:D:A_Timeout" *n code=00C5 name="sci2_noyo_optim:NeedComms:D:A_Timeout:A" *n code=00C6 name="sci2_noyo_optim:NeedComms:E" *n code=00C7 name="sci2_noyo_optim:NeedComms:E:A_Timeout" *n code=00C8 name="sci2_noyo_optim:NeedComms:E:A_Timeout:A" *n code=00C9 name="sci2_noyo_optim:G" *a code=0B70 owner=00C9 element=085D universal=3FFF unitName="hour" type=1F size=0008 fl=05 *n code=00CA name="sci2_noyo_optim:H" *a code=0B71 owner=00CA element=085E universal=3FFF unitName="minute" type=1F size=0008 fl=05 &]xInserting Stack from file: Missions/Insert/BackseatDriver.tl&]lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl&eTethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl&U TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: *n code=00CB name="sci2_noyo_optim:BackseatDriver" *e code=0865 elementURI="sci2_noyo_optim:BackseatDriver.EnableBackseat" type=00 *a code=0B72 owner=00CB element=0865 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B73 owner=00CB element=0865 universal=3FFF unitName="bool" type=02 size=0001 fl=05 [ & DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool*n code=00CC name="sci2_noyo_optim:BackseatDriver:A.BackseatDriver" f 2Construct BackseatDriver.*a code=0B74 owner=00CC element=0528 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B75 owner=00CC element=0526 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B76 owner=00CC element=03E0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B77 owner=00CC element=0526 universal=3FFF unitName="bool" type=02 size=0001 fl=05 &] nInserting Stack from file: Missions/Insert/PowerOnly.tl&] bTethyslAPI: loading: Missions/Insert/PowerOnly.tl& zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl[,?}hA "&u@"[@ٗ"^h;"{9"H@,j@D?`xd?o D@` m``?"&u@i" ;"C9r9YyC9 ?;  >GjGZGGzGI2Iiy%=i= K>& qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 *n code=00CD name="sci2_noyo_optim:PowerOnly" *e code=0866 elementURI="sci2_noyo_optim:PowerOnly.SampleAll" type=00 *a code=0B78 owner=00CD element=0866 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B79 owner=00CD element=0866 universal=3FFF unitName="bool" type=02 size=0001 fl=05 [E &M lDefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 bool*e code=0867 elementURI="sci2_noyo_optim:PowerOnly.SampleLoad1" type=00 *a code=0B7A owner=00CD element=0867 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B7B owner=00CD element=0867 universal=3FFF unitName="bool" type=02 size=0001 fl=05 [ & pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 bool*e code=0868 elementURI="sci2_noyo_optim:PowerOnly.SampleLoad2" type=00 *a code=0B7C owner=00CD element=0868 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B7D owner=00CD element=0868 universal=3FFF unitName="bool" type=02 size=0001 fl=05 [ & pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 bool*e code=0869 elementURI="sci2_noyo_optim:PowerOnly.SampleLoad3" type=00 *a code=0B7E owner=00CD element=0869 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B7F owner=00CD element=0869 universal=3FFF unitName="bool" type=02 size=0001 fl=05 [E &M pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 bool*a code=0B80 owner=00CD element=0480 universal=3FFF unitName="bool" type=02 size=0001 fl=04 @%,hAv@ @ٗZ;9HS U?o?.E沿 Okp,@?v@ix;92VYIyIMCI9M< U>*n code=00CF name="sci2_noyo_optim:PowerOnly:B" *n code=00D0 name="sci2_noyo_optim:PowerOnly:C" QGjGZGGzGI*n code=00D1 name="sci2_noyo_optim:PowerOnly:D" *n code=00D2 name="sci2_noyo_optim:PowerOnly:E.Wait" iMConstruct Wait.2I*n code=00D3 name="sci2_noyo_optim:K" *a code=0B83 owner=00D3 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=00D4 name="sci2_noyo_optim:L" *a code=0B84 owner=00D4 element=045F universal=3FFF unitName="bool" type=02 size=0001 fl=04 99 KE=*n code=00D5 name="sci2_noyo_optim:M.Buoyancy" j]&Construct Buoyancy.*a code=0B85 owner=00D5 element=0227 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0B86 owner=00D5 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B87 owner=00D5 element=0777 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=00D6 name="sci2_noyo_optim:SetRecording" *n code=00D7 name="sci2_noyo_optim:SetRecording:A" *a code=0B88 owner=00D7 element=0865 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00D8 name="sci2_noyo_optim:SetRecording:B" *a code=0B89 owner=00D8 element=0867 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00D9 name="sci2_noyo_optim:SurfaceComms" *a code=0B8A owner=00D9 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00DA name="sci2_noyo_optim:SurfaceComms:A" *a code=0B8B owner=00DA element=07CA universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00DB name="sci2_noyo_optim:SurfaceComms:B" *n code=00DC name="sci2_noyo_optim:SurfaceComms:C" *a code=0B8C owner=00DC element=07D0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00DD name="sci2_noyo_optim:SurfaceComms:D" *n code=00DE name="sci2_noyo_optim:SurfaceComms:E" *a code=0B8D owner=00DE element=07CA universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00DF name="sci2_noyo_optim:DiveCmd" *n code=00E0 name="sci2_noyo_optim:DiveCmd:SpiralDive" *n code=00E1 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive" *n code=00E2 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:A.Mass" qConstruct.*a code=0B8E owner=00E2 element=025A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0B8F owner=00E2 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B90 owner=00E2 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=00E3 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:B" *n code=00E4 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth" *n code=00E5 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth:A.SetSpeed" r=Construct.*a code=0B91 owner=00E5 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B92 owner=00E5 element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B93 owner=00E5 element=0778 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00E6 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth:B.Point" sConstruct.*a code=0B94 owner=00E6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B95 owner=00E6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B96 owner=00E6 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B97 owner=00E6 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B98 owner=00E6 element=0785 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B99 owner=00E6 element=0786 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0B9A owner=00E6 element=06FE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B9B owner=00E6 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0B9C owner=00E6 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00E7 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth:C.Pitch" sConstruct.*a code=0B9D owner=00E7 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B9E owner=00E7 element=0774 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B9F owner=00E7 element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BA0 owner=00E7 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BA1 owner=00E7 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BA2 owner=00E7 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BA3 owner=00E7 element=0776 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0BA4 owner=00E7 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00E8 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth:C.Pitch:A_Timeout" *n code=00E9 name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth:C.Pitch:A_Timeout:A" *a code=0BA5 owner=00E9 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00EA name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepth:C.Pitch:A_Timeout:B.Execute" u-$Construct Execute.*n code=00EB name="sci2_noyo_optim:DiveCmd:SpiralDive:dive:D" *a code=0BA6 owner=00EB element=07CA universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00EC name="sci2_noyo_optim:DiveCmd:SettleAtDepth" *n code=00ED name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive" *n code=00EE name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:A" *a code=0BA7 owner=00EE element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00EF name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:B.Pitch" wConstruct.*a code=0BA8 owner=00EF element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BA9 owner=00EF element=0774 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BAA owner=00EF element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BAB owner=00EF element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BAC owner=00EF element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BAD owner=00EF element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BAE owner=00EF element=0776 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0BAF owner=00EF element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00F0 name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:C.Wait" xu Construct Wait.*n code=00F1 name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:EnableRecordingAtDepth" *n code=00F2 name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:EnableRecordingAtDepth:A" *n code=00F3 name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:EnableRecordingAtDepth:B" *a code=0BB0 owner=00F3 element=07D0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00F4 name="sci2_noyo_optim:DiveCmd:SettleAtDepth:dive:E" *a code=0BB1 owner=00F4 element=07CA universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00F5 name="sci2_noyo_optim:DiveCmd:MaintainDepth" *a code=0BB2 owner=00F5 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00F6 name="sci2_noyo_optim:DiveCmd:MaintainDepth:A" *a code=0BB3 owner=00F6 element=07D0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00F7 name="sci2_noyo_optim:DiveCmd:MaintainDepth:dive" *n code=00F8 name="sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive" *n code=00F9 name="sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:A.Mass" |M Construct.*a code=0BB4 owner=00F9 element=025A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0BB5 owner=00F9 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BB6 owner=00F9 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=00FA name="sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDive:B.SetSpeed" } Construct.*a code=0BB7 owner=00FA element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BB8 owner=00FA element=0504 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BB9 owner=00FA element=0778 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00FB name="sci2_noyo_optim:DiveCmd:MaintainDepth:dive:B.Pitch" } Construct.*a code=0BBA owner=00FB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBB owner=00FB element=0774 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BBC owner=00FB element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BBD owner=00FB element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BBE owner=00FB element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BBF owner=00FB element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BC0 owner=00FB element=0776 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0BC1 owner=00FB element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00FC name="sci2_noyo_optim:DiveCmd:MaintainDepthSlow" +,ihA"Rv@"/+@ٗ"za;">9"H{:`[h? ?tQڲ8l5`?"Rv@i";"C9.5YyC9< >ߩ*n code=00FF name="sci2_noyo_optim:DiveCmd:MaintainDepthSlow:C" *a code=0BC7 owner=00FF element=01E3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=0100 name="sci2_noyo_optim:DiveCmd:MaintainDepthSlow:D.Buoyancy" &Construct Buoyancy.*a code=0BC8 owner=0100 element=0227 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 G!jG!ZG!G!zG)*a code=0BC9 owner=0100 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCA owner=0100 element=0777 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 I2I*n code=0101 name="sci2_noyo_optim:DiveCmd:MaintainDepthSlow:E.Pitch" eConstruct. K=*a code=0BCB owner=0101 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCC owner=0101 element=0774 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BCD owner=0101 element=0775 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BCE owner=0101 element=06FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BCF owner=0101 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BD0 owner=0101 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BD1 owner=0101 element=0776 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0BD2 owner=0101 element=06E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0102 name="sci2_noyo_optim:StartingMission" *n code=0103 name="sci2_noyo_optim:Lap" *n code=0104 name="sci2_noyo_optim:Lap:Dive" @A@A*n code=0105 name="sci2_noyo_optim:Lap:Dive:A" *n code=0106 name="sci2_noyo_optim:Lap:DepthByLap" *n code=0107 name="sci2_noyo_optim:Lap:DepthByLap:A" *a code=0BD3 owner=0107 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0108 name="sci2_noyo_optim:Lap:DepthByLap:Wpt1" *n code=0109 name="sci2_noyo_optim:Lap:DepthByLap:Wpt1:A.Waypoint" }&Construct Waypoint.*a code=0BD4 owner=0109 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD5 owner=0109 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD6 owner=0109 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD7 owner=0109 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BD8 owner=0109 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BD9 owner=0109 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0BDA owner=0109 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=010A name="sci2_noyo_optim:Lap:DepthByLap:Wpt2" *n code=010B name="sci2_noyo_optim:Lap:DepthByLap:Wpt2:A.Waypoint" &Construct Waypoint.*a code=0BDB owner=010B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDC owner=010B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDD owner=010B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDE owner=010B element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BDF owner=010B element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BE0 owner=010B element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0BE1 owner=010B element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=010C name="sci2_noyo_optim:Lap:DepthByLap:Wpt3" *n code=010D name="sci2_noyo_optim:Lap:DepthByLap:Wpt3:A.Waypoint" &Construct Waypoint.*a code=0BE2 owner=010D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE3 owner=010D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE4 owner=010D element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE5 owner=010D element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BE6 owner=010D element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BE7 owner=010D element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0BE8 owner=010D element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=010E name="sci2_noyo_optim:Lap:DepthByLap:Wpt4" *n code=010F name="sci2_noyo_optim:Lap:DepthByLap:Wpt4:A.Waypoint" &Construct Waypoint.*a code=0BE9 owner=010F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BEA owner=010F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BEB owner=010F element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BEC owner=010F element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BED owner=010F element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BEE owner=010F element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0BEF owner=010F element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0110 name="sci2_noyo_optim:Lap:DepthByLap:Wpt5" *n code=0111 name="sci2_noyo_optim:Lap:DepthByLap:Wpt5:A.Waypoint" &Construct Waypoint.*a code=0BF0 owner=0111 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF1 owner=0111 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF2 owner=0111 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF3 owner=0111 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BF4 owner=0111 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BF5 owner=0111 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0BF6 owner=0111 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0112 name="sci2_noyo_optim:Lap:DepthByLap:Wpt6" *n code=0113 name="sci2_noyo_optim:Lap:DepthByLap:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0BF7 owner=0113 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF8 owner=0113 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF9 owner=0113 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BFA owner=0113 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BFB owner=0113 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BFC owner=0113 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0BFD owner=0113 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0114 name="sci2_noyo_optim:Lap:DepthByLap:Wpt7" *n code=0115 name="sci2_noyo_optim:Lap:DepthByLap:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0BFE owner=0115 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BFF owner=0115 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C00 owner=0115 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C01 owner=0115 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C02 owner=0115 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C03 owner=0115 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C04 owner=0115 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0116 name="sci2_noyo_optim:Lap:DepthByLap:Wpt8" *n code=0117 name="sci2_noyo_optim:Lap:DepthByLap:Wpt8:A.Waypoint" e &Construct Waypoint.*a code=0C05 owner=0117 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C06 owner=0117 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C07 owner=0117 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C08 owner=0117 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C09 owner=0117 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C0A owner=0117 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C0B owner=0117 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0118 name="sci2_noyo_optim:Lap:DepthByLap:Leg2" *n code=0119 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:A" *n code=011A name="sci2_noyo_optim:Lap:DepthByLap:Leg2:B" *a code=0C0C owner=011A element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=011B name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1" *n code=011C name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt1:A.Waypoint" 5 &Construct Waypoint.*a code=0C0D owner=011C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C0E owner=011C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C0F owner=011C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C10 owner=011C element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C11 owner=011C element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C12 owner=011C element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C13 owner=011C element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=011D name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2" *n code=011E name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt2:A.Waypoint" &Construct Waypoint.*a code=0C14 owner=011E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C15 owner=011E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C16 owner=011E element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C17 owner=011E element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C18 owner=011E element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C19 owner=011E element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C1A owner=011E element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 :2,1hAɖ@/v@`G@ٗj;O9H# y?t?@5`^m`%?/v@iG;92<r>z@rn@rU*a code=0C20 owner=0120 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C21 owner=0120 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0121 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4" *n code=0122 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt4:A.Waypoint" U&Construct Waypoint.*a code=0C22 owner=0122 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C23 owner=0122 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C24 owner=0122 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C25 owner=0122 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C26 owner=0122 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 ¼J=G9Q>Yy!%C!9%S< %>)GAjGAZGAGAzGIII2IQ*a code=0C27 owner=0122 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C28 owner=0122 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0123 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5" *n code=0124 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt5:A.Waypoint" &Construct Waypoint. K=*a code=0C29 owner=0124 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C2A owner=0124 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C2B owner=0124 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C2C owner=0124 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C2D owner=0124 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C2E owner=0124 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C2F owner=0124 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0125 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6" *n code=0126 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0C30 owner=0126 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C31 owner=0126 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C32 owner=0126 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C33 owner=0126 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C34 owner=0126 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C35 owner=0126 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C36 owner=0126 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0127 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7" *n code=0128 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0C37 owner=0128 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C38 owner=0128 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C39 owner=0128 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C3A owner=0128 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C3B owner=0128 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C3C owner=0128 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C3D owner=0128 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0129 name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8" *n code=012A name="sci2_noyo_optim:Lap:DepthByLap:Leg2:Wpt8:A.Waypoint" &Construct Waypoint.*a code=0C3E owner=012A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C3F owner=012A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C40 owner=012A element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C41 owner=012A element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C42 owner=012A element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C43 owner=012A element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C44 owner=012A element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=012B name="sci2_noyo_optim:Lap:DepthByLap:Leg3" *n code=012C name="sci2_noyo_optim:Lap:DepthByLap:Leg3:A" *n code=012D name="sci2_noyo_optim:Lap:DepthByLap:Leg3:B" *a code=0C45 owner=012D element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=012E name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1" *n code=012F name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt1:A.Waypoint" 5&Construct Waypoint.*a code=0C46 owner=012F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C47 owner=012F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C48 owner=012F element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C49 owner=012F element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C4A owner=012F element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C4B owner=012F element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C4C owner=012F element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0130 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2" *n code=0131 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt2:A.Waypoint" 5&Construct Waypoint.*a code=0C4D owner=0131 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C4E owner=0131 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C4F owner=0131 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C50 owner=0131 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C51 owner=0131 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C52 owner=0131 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C53 owner=0131 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0132 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3" *n code=0133 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt3:A.Waypoint" &Construct Waypoint.*a code=0C54 owner=0133 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C55 owner=0133 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C56 owner=0133 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C57 owner=0133 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C58 owner=0133 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C59 owner=0133 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C5A owner=0133 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0134 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4" *n code=0135 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt4:A.Waypoint" }&Construct Waypoint.*a code=0C5B owner=0135 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C5C owner=0135 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C5D owner=0135 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C5E owner=0135 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C5F owner=0135 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C60 owner=0135 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C61 owner=0135 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0136 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5" *n code=0137 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt5:A.Waypoint" - &Construct Waypoint.*a code=0C62 owner=0137 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C63 owner=0137 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C64 owner=0137 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C65 owner=0137 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C66 owner=0137 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C67 owner=0137 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C68 owner=0137 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0138 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6" *n code=0139 name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0C69 owner=0139 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C6A owner=0139 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C6B owner=0139 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C6C owner=0139 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C6D owner=0139 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C6E owner=0139 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C6F owner=0139 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=013A name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7" *n code=013B name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0C70 owner=013B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C71 owner=013B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C72 owner=013B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C73 owner=013B element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C74 owner=013B element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C75 owner=013B element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C76 owner=013B element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=013C name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8" *n code=013D name="sci2_noyo_optim:Lap:DepthByLap:Leg3:Wpt8:A.Waypoint" ] &Construct Waypoint.*a code=0C77 owner=013D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C78 owner=013D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C79 owner=013D element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C7A owner=013D element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C7B owner=013D element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C7C owner=013D element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C7D owner=013D element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=013E name="sci2_noyo_optim:Lap:DepthByLap:Leg4" *n code=013F name="sci2_noyo_optim:Lap:DepthByLap:Leg4:A" *n code=0140 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:B" *a code=0C7E owner=0140 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0141 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1" *n code=0142 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt1:A.Waypoint" 8,PhAv@f@ٗY\;9H@H ?ۧ?J @gk >?v@i,;C922Y2z@:n@:㶙ZZ[=ZnQ^> b&Construct Waypoint.)d dY\-Gy)=CE}AY ׍;Y֍}A9E< >*a code=0C7F owner=0142 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C80 owner=0142 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C81 owner=0142 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C82 owner=0142 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C83 owner=0142 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C84 owner=0142 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C85 owner=0142 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 G9jG9ZG9G9zG9IA2IA*n code=0143 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2" *n code=0144 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt2:A.Waypoint" e&Construct Waypoint.*a code=0C86 owner=0144 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C87 owner=0144 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C88 owner=0144 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C89 owner=0144 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C8A owner=0144 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C8B owner=0144 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C8C owner=0144 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 ) K==*n code=0145 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3" *n code=0146 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt3:A.Waypoint" M&Construct Waypoint.*a code=0C8D owner=0146 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C8E owner=0146 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C8F owner=0146 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C90 owner=0146 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C91 owner=0146 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C92 owner=0146 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C93 owner=0146 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0147 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4" *n code=0148 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt4:A.Waypoint" &Construct Waypoint.*a code=0C94 owner=0148 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C95 owner=0148 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C96 owner=0148 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C97 owner=0148 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C98 owner=0148 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C99 owner=0148 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0C9A owner=0148 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0149 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5" *n code=014A name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt5:A.Waypoint" &Construct Waypoint.*a code=0C9B owner=014A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C9C owner=014A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C9D owner=014A element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C9E owner=014A element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C9F owner=014A element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CA0 owner=014A element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CA1 owner=014A element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=014B name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6" *n code=014C name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0CA2 owner=014C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA3 owner=014C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA4 owner=014C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA5 owner=014C element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CA6 owner=014C element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CA7 owner=014C element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CA8 owner=014C element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=014D name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7" *n code=014E name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0CA9 owner=014E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CAA owner=014E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CAB owner=014E element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CAC owner=014E element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CAD owner=014E element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CAE owner=014E element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CAF owner=014E element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=014F name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8" *n code=0150 name="sci2_noyo_optim:Lap:DepthByLap:Leg4:Wpt8:A.Waypoint" ]&Construct Waypoint.*a code=0CB0 owner=0150 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB1 owner=0150 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB2 owner=0150 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB3 owner=0150 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CB4 owner=0150 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CB5 owner=0150 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CB6 owner=0150 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0151 name="sci2_noyo_optim:Lap:DepthByLap:Leg5" *n code=0152 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:A" *n code=0153 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:B" *a code=0CB7 owner=0153 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0154 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1" *n code=0155 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt1:A.Waypoint" u&Construct Waypoint.*a code=0CB8 owner=0155 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB9 owner=0155 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CBA owner=0155 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CBB owner=0155 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CBC owner=0155 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CBD owner=0155 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CBE owner=0155 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0156 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2" *n code=0157 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt2:A.Waypoint" - &Construct Waypoint.*a code=0CBF owner=0157 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC0 owner=0157 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC1 owner=0157 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC2 owner=0157 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CC3 owner=0157 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CC4 owner=0157 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CC5 owner=0157 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0158 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3" *n code=0159 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt3:A.Waypoint" &Construct Waypoint.*a code=0CC6 owner=0159 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC7 owner=0159 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC8 owner=0159 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC9 owner=0159 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CCA owner=0159 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CCB owner=0159 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CCC owner=0159 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=015A name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4" *n code=015B name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt4:A.Waypoint" u &Construct Waypoint.*a code=0CCD owner=015B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCE owner=015B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCF owner=015B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CD0 owner=015B element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CD1 owner=015B element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CD2 owner=015B element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CD3 owner=015B element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=015C name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5" *n code=015D name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt5:A.Waypoint" - &Construct Waypoint.*a code=0CD4 owner=015D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CD5 owner=015D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CD6 owner=015D element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CD7 owner=015D element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CD8 owner=015D element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CD9 owner=015D element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CDA owner=015D element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=015E name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6" *n code=015F name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0CDB owner=015F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CDC owner=015F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CDD owner=015F element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CDE owner=015F element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CDF owner=015F element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CE0 owner=015F element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CE1 owner=015F element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0160 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7" >,hA4w@≂@ٗ\;9Hv@?Wͷ?`# QΙk`&?4w@i (;*n code=0161 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt7:A.Waypoint" r&Construct Waypoint.*a code=0CE2 owner=0161 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CE3 owner=0161 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CE4 owner=0161 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CE5 owner=0161 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CE6 owner=0161 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CE7 owner=0161 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CE8 owner=0161 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0162 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8" *n code=0163 name="sci2_noyo_optim:Lap:DepthByLap:Leg5:Wpt8:A.Waypoint" &Construct Waypoint.*a code=0CE9 owner=0163 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CEA owner=0163 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CEB owner=0163 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CEC owner=0163 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CED owner=0163 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CEE owner=0163 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CEF owner=0163 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0164 name="sci2_noyo_optim:Lap:DepthByLap:Leg6" *n code=0165 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:A" *n code=0166 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:B" *a code=0CF0 owner=0166 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0167 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1" *n code=0168 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt1:A.Waypoint" &Construct Waypoint.*a code=0CF1 owner=0168 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CF2 owner=0168 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 R> N>*a code=0CF3 owner=0168 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CF4 owner=0168 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CF5 owner=0168 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CF6 owner=0168 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CF7 owner=0168 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0169 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2" *n code=016A name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt2:A.Waypoint" &Construct Waypoint.*a code=0CF8 owner=016A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CF9 owner=016A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CFA owner=016A element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CFB owner=016A element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CFC owner=016A element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CFD owner=016A element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CFE owner=016A element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=016B name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3" *n code=016C name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt3:A.Waypoint" &Construct Waypoint.*a code=0CFF owner=016C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D00 owner=016C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D01 owner=016C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D02 owner=016C element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D03 owner=016C element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D04 owner=016C element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D05 owner=016C element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 BPC1B failed to parse battery data due to unrecognized msg size.9ΥYΥJ ѭp=Э=*n code=016D name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4" *n code=016E name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt4:A.Waypoint" &Construct Waypoint.A*a code=0D06 owner=016E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D07 owner=016E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D08 owner=016E element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D09 owner=016E element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D0A owner=016E element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D0B owner=016E element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D0C owner=016E element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=016F name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5" *n code=0170 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt5:A.Waypoint" e&Construct Waypoint.*a code=0D0D owner=0170 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D0E owner=0170 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 z@ n@ 䶙o=Q>YyC9;*a code=0D0F owner=0170 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D10 owner=0170 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D11 owner=0170 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D12 owner=0170 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D13 owner=0170 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05  >QGi*n code=0171 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6" *n code=0172 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0D14 owner=0172 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 jGiZGGzGI2I*a code=0D15 owner=0172 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D16 owner=0172 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D17 owner=0172 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D18 owner=0172 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D19 owner=0172 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D1A owner=0172 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05   K >*n code=0173 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7" *n code=0174 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0D1B owner=0174 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D1C owner=0174 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D1D owner=0174 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D1E owner=0174 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D1F owner=0174 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D20 owner=0174 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D21 owner=0174 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0175 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8" *n code=0176 name="sci2_noyo_optim:Lap:DepthByLap:Leg6:Wpt8:A.Waypoint" &Construct Waypoint.*a code=0D22 owner=0176 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D23 owner=0176 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D24 owner=0176 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D25 owner=0176 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D26 owner=0176 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D27 owner=0176 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D28 owner=0176 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0177 name="sci2_noyo_optim:Lap:DepthByLap:Leg7" *n code=0178 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:A" *n code=0179 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:B" *a code=0D29 owner=0179 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=017A name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1" *n code=017B name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt1:A.Waypoint" &Construct Waypoint.*a code=0D2A owner=017B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D2B owner=017B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D2C owner=017B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D2D owner=017B element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D2E owner=017B element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D2F owner=017B element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D30 owner=017B element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 E,,aiA <"Mw@"@ٗ"+Y;"y9"Hײ?`̷?` \^``%k Q?"Mw@i"c; *n code=017C name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2" *n code=017D name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt2:A.Waypoint" F&Construct Waypoint.*a code=0D31 owner=017D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D32 owner=017D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D33 owner=017D element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D34 owner=017D element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D35 owner=017D element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D36 owner=017D element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D37 owner=017D element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 9rչYrMz@zn@zD継E<M=MnQMc?YQyQUCQ9U#<*n code=017E name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3"  c?G*n code=017F name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt3:A.Waypoint" =&Construct Waypoint.*a code=0D38 owner=017F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D39 owner=017F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D3A owner=017F element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D3B owner=017F element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 jGQZGYGYzGYIY2Ia*a code=0D3C owner=017F element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D3D owner=017F element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D3E owner=017F element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0180 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4" *n code=0181 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt4:A.Waypoint"  K=5&Construct Waypoint.*a code=0D3F owner=0181 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D40 owner=0181 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D41 owner=0181 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D42 owner=0181 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D43 owner=0181 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D44 owner=0181 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D45 owner=0181 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0182 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5" *n code=0183 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt5:A.Waypoint" &Construct Waypoint.*a code=0D46 owner=0183 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D47 owner=0183 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D48 owner=0183 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D49 owner=0183 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D4A owner=0183 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D4B owner=0183 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D4C owner=0183 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0184 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6" *n code=0185 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt6:A.Waypoint" ]&Construct Waypoint.*a code=0D4D owner=0185 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D4E owner=0185 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D4F owner=0185 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D50 owner=0185 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D51 owner=0185 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D52 owner=0185 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D53 owner=0185 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0186 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7" *n code=0187 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0D54 owner=0187 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D55 owner=0187 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D56 owner=0187 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D57 owner=0187 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D58 owner=0187 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D59 owner=0187 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D5A owner=0187 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0188 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8" *n code=0189 name="sci2_noyo_optim:Lap:DepthByLap:Leg7:Wpt8:A.Waypoint" %&Construct Waypoint.*a code=0D5B owner=0189 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5C owner=0189 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5D owner=0189 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5E owner=0189 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D5F owner=0189 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D60 owner=0189 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D61 owner=0189 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=018A name="sci2_noyo_optim:Lap:DepthByLap:Leg8" *n code=018B name="sci2_noyo_optim:Lap:DepthByLap:Leg8:A" *n code=018C name="sci2_noyo_optim:Lap:DepthByLap:Leg8:B" *a code=0D62 owner=018C element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=018D name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1" *n code=018E name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt1:A.Waypoint" &Construct Waypoint.*a code=0D63 owner=018E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D64 owner=018E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D65 owner=018E element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D66 owner=018E element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D67 owner=018E element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D68 owner=018E element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D69 owner=018E element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=018F name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2" *n code=0190 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt2:A.Waypoint" e&Construct Waypoint.*a code=0D6A owner=0190 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D6B owner=0190 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D6C owner=0190 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D6D owner=0190 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D6E owner=0190 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D6F owner=0190 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D70 owner=0190 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0191 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3" *n code=0192 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt3:A.Waypoint" e&Construct Waypoint.*a code=0D71 owner=0192 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D72 owner=0192 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D73 owner=0192 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D74 owner=0192 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D75 owner=0192 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D76 owner=0192 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D77 owner=0192 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0193 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4" *n code=0194 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt4:A.Waypoint" E &Construct Waypoint.*a code=0D78 owner=0194 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D79 owner=0194 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D7A owner=0194 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D7B owner=0194 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D7C owner=0194 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D7D owner=0194 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D7E owner=0194 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0195 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5" *n code=0196 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt5:A.Waypoint" &Construct Waypoint.*a code=0D7F owner=0196 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D80 owner=0196 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D81 owner=0196 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D82 owner=0196 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D83 owner=0196 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D84 owner=0196 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D85 owner=0196 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0197 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6" *n code=0198 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt6:A.Waypoint" &Construct Waypoint.*a code=0D86 owner=0198 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D87 owner=0198 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D88 owner=0198 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D89 owner=0198 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D8A owner=0198 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D8B owner=0198 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D8C owner=0198 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0199 name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7" *n code=019A name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0D8D owner=019A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D8E owner=019A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D8F owner=019A element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D90 owner=019A element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D91 owner=019A element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D92 owner=019A element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D93 owner=019A element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 PK, =2iAw@=̂@ٗW;9HϸH? ? [Oj x"`?w@i;C*n code=019B name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8" *n code=019C name="sci2_noyo_optim:Lap:DepthByLap:Leg8:Wpt8:A.Waypoint" 6&Construct Waypoint.*a code=0D94 owner=019C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 9b*Ybz@jn@j⶙vvP=vMQv>YxyxzCx9~W5<*a code=0D95 owner=019C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D96 owner=019C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D97 owner=019C element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D98 owner=019C element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D99 owner=019C element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D9A owner=019C element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05  ]>aGqjGyZGyGyzGyI2I*n code=019D name="sci2_noyo_optim:Lap:DepthByLeg" *n code=019E name="sci2_noyo_optim:Lap:DepthByLeg:Leg1" *n code=019F name="sci2_noyo_optim:Lap:DepthByLeg:Leg1:A" *a code=0D9B owner=019F element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05  K=*n code=01A0 name="sci2_noyo_optim:Lap:DepthByLeg:Leg1:B.Waypoint" %&Construct Waypoint.*a code=0D9C owner=01A0 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D9D owner=01A0 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D9E owner=01A0 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D9F owner=01A0 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DA0 owner=01A0 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DA1 owner=01A0 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DA2 owner=01A0 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01A1 name="sci2_noyo_optim:Lap:DepthByLeg:Leg2" *n code=01A2 name="sci2_noyo_optim:Lap:DepthByLeg:Leg2:A" *n code=01A3 name="sci2_noyo_optim:Lap:DepthByLeg:Leg2:B" *a code=0DA3 owner=01A3 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01A4 name="sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2" *n code=01A5 name="sci2_noyo_optim:Lap:DepthByLeg:Leg2:Wpt2:A.Waypoint" =&Construct Waypoint.*a code=0DA4 owner=01A5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DA5 owner=01A5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DA6 owner=01A5 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DA7 owner=01A5 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DA8 owner=01A5 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DA9 owner=01A5 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DAA owner=01A5 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01A6 name="sci2_noyo_optim:Lap:DepthByLeg:Leg3" *n code=01A7 name="sci2_noyo_optim:Lap:DepthByLeg:Leg3:A" *n code=01A8 name="sci2_noyo_optim:Lap:DepthByLeg:Leg3:B" *a code=0DAB owner=01A8 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01A9 name="sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3" *n code=01AA name="sci2_noyo_optim:Lap:DepthByLeg:Leg3:Wpt3:A.Waypoint" u&Construct Waypoint.*a code=0DAC owner=01AA element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DAD owner=01AA element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DAE owner=01AA element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DAF owner=01AA element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DB0 owner=01AA element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DB1 owner=01AA element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DB2 owner=01AA element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01AB name="sci2_noyo_optim:Lap:DepthByLeg:Leg4" *n code=01AC name="sci2_noyo_optim:Lap:DepthByLeg:Leg4:A" *n code=01AD name="sci2_noyo_optim:Lap:DepthByLeg:Leg4:B" *a code=0DB3 owner=01AD element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01AE name="sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4" *n code=01AF name="sci2_noyo_optim:Lap:DepthByLeg:Leg4:Wpt4:A.Waypoint" e&Construct Waypoint.*a code=0DB4 owner=01AF element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DB5 owner=01AF element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DB6 owner=01AF element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DB7 owner=01AF element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DB8 owner=01AF element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DB9 owner=01AF element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DBA owner=01AF element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01B0 name="sci2_noyo_optim:Lap:DepthByLeg:Leg5" *n code=01B1 name="sci2_noyo_optim:Lap:DepthByLeg:Leg5:A" *n code=01B2 name="sci2_noyo_optim:Lap:DepthByLeg:Leg5:B" *a code=0DBB owner=01B2 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01B3 name="sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5" *n code=01B4 name="sci2_noyo_optim:Lap:DepthByLeg:Leg5:Wpt5:A.Waypoint" 5&Construct Waypoint.*a code=0DBC owner=01B4 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DBD owner=01B4 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DBE owner=01B4 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DBF owner=01B4 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DC0 owner=01B4 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DC1 owner=01B4 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DC2 owner=01B4 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01B5 name="sci2_noyo_optim:Lap:DepthByLeg:Leg6" *n code=01B6 name="sci2_noyo_optim:Lap:DepthByLeg:Leg6:A" *n code=01B7 name="sci2_noyo_optim:Lap:DepthByLeg:Leg6:B" *a code=0DC3 owner=01B7 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01B8 name="sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6" *n code=01B9 name="sci2_noyo_optim:Lap:DepthByLeg:Leg6:Wpt6:A.Waypoint" ܅ &Construct Waypoint.*a code=0DC4 owner=01B9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC5 owner=01B9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC6 owner=01B9 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC7 owner=01B9 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DC8 owner=01B9 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DC9 owner=01B9 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DCA owner=01B9 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01BA name="sci2_noyo_optim:Lap:DepthByLeg:Leg7" *n code=01BB name="sci2_noyo_optim:Lap:DepthByLeg:Leg7:A" *n code=01BC name="sci2_noyo_optim:Lap:DepthByLeg:Leg7:B" *a code=0DCB owner=01BC element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01BD name="sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7" *n code=01BE name="sci2_noyo_optim:Lap:DepthByLeg:Leg7:Wpt7:A.Waypoint" &Construct Waypoint.*a code=0DCC owner=01BE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DCD owner=01BE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DCE owner=01BE element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DCF owner=01BE element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DD0 owner=01BE element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DD1 owner=01BE element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DD2 owner=01BE element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=01BF name="sci2_noyo_optim:Lap:DepthByLeg:Leg8" *n code=01C0 name="sci2_noyo_optim:Lap:DepthByLeg:Leg8:A" *n code=01C1 name="sci2_noyo_optim:Lap:DepthByLeg:Leg8:B" *a code=0DD3 owner=01C1 element=07CF universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=01C2 name="sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8" *n code=01C3 name="sci2_noyo_optim:Lap:DepthByLeg:Leg8:Wpt8:A.Waypoint" &Construct Waypoint.*a code=0DD4 owner=01C3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DD5 owner=01C3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DD6 owner=01C3 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DD7 owner=01C3 element=0787 universal=3FFF unitName="radian" type=2F size=0004 fl=05 kR,&LiA"7w@"d@ٗ"uR;"j9"H\??{/kRjq?"7w@i"@;"C92b:>z@>n@>⶙F$=FP=FYQJ>YHyHJCH9N<*a code=0DD8 owner=01C3 element=06FD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DD9 owner=01C3 element=0783 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DDA owner=01C3 element=0784 universal=3FFF unitName="degree" type=37 size=0006 fl=05  ~>GjGZGyGyzGyIy2I   Ku= AA AA&e # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission sci2_noyo_optim { """ Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on. By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications. """ arguments { MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ How often to surface for commumications """ Depth1 = 35 meter """ Depth of flat and level flight during the mission for the first transit leg or lap. """ Depth[2..8] = NaN meter """ Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN. """ DepthPerLeg = false """ Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). """ Repeat = 1 count """ Number of times the vehicle should try to cycle through waypoints. """ Lat[1..8] = NaN degree """ Latitude of waypoint {$}. If nan, waypoint is skipped. """ Lon[1..8] = NaN degree """ Longitude of waypoint {$}. If nan, waypoint is skipped. """ FastSpeed = 1 meter_per_second """ Speed while transiting to waypoint. """ ApproachSpeed = 1 meter_per_second """ Speed while descending to target depth. """ ApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth """ ApproachSettleTimePostDive = 1 minute """ Time duration for the vehicle to settle *AFTER* reaching the target depth. """ SlowSpeed = 0.25 meter_per_second """ Set this to something other than Nan if slow speed filming with a wide depth deadband is desired. """ DepthDeviationSlow = 3 meter """ Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set. """ BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral """ Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. """ MassDefault = Control:VerticalControl.massDefault """ Static setting for mass during the mission. Set to NaN mm for active mass position. """ MinAltitude = 2 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 50 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ EnableRecording = true """ Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings. """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ SpiralDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to spiral down to initial depth. """ SettleAtDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. """ MaintainDepth = 3 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ LegDepth = Depth1 """ Mission variable to track the current depth for the current leg. """ RecordingEnabled = false """ Mission variable to track whether payloads (camera and lights) should be on """ } # Mission timeout timeout duration=MissionTimeout # Science! insert Insert/Science.tl { """ Run the science sensors. """ } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl assign in sequence Sensor:MultiRay.lightModeCommand = 2 count readData strategy="MinError" { while ( Sensor:MultiRay.loadAtStartup and RecordingEnabled ) Sensor:MultiRay.lightModeLog } behavior Guidance:Buoyancy { run in parallel set position = BuoyancyNeutral } aggregate SetRecording { """ Controls state of camera (via backseat and poweronly) and lights """ run in parallel assign in parallel BackseatDriver:EnableBackseat = RecordingEnabled assign in parallel PowerOnly:SampleLoad1 = RecordingEnabled } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms syslog info "Camera and lights off, previous state was " + RecordingEnabled~bool assign in sequence RecordingEnabled = false call refId="NeedComms" assign in sequence DiveMode = SpiralDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between dive modes. """ run when ( called ) aggregate SpiralDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == SpiralDive ) aggregate dive { run in sequence behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } syslog "Moving to " + LegDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = ApproachSpeed } behavior Guidance:Point { run in parallel set rudderAngle = 13 degree } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = LegDepth } } assign in sequence DiveMode = SettleAtDepth } } aggregate SettleAtDepth { """ Take a few more moments here to make sure the vehicle is settled at the target depth. """ run while ( DiveMode == SettleAtDepth ) aggregate dive { run in sequence syslog info "Reached " + Universal:depth~meter + ", settling for " + ApproachSettleTimePostDive~minute behavior Guidance:Pitch { run in parallel set depth = LegDepth } behavior Guidance:Wait { run in sequence set duration = ApproachSettleTimePostDive } aggregate EnableRecordingAtDepth { run in sequence syslog info "Reached depth, initial recording state is " + EnableRecording~bool assign in sequence RecordingEnabled = EnableRecording } assign in sequence DiveMode = MaintainDepth } } aggregate MaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and ( ( Universal:depth > ( LegDepth + DepthDeviationSlow ) ) or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) ) or isNaN ( SlowSpeed ) ) ) assign in parallel RecordingEnabled = EnableRecording aggregate dive { run in parallel aggregate ThrusterDive { run while ( FastSpeed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } behavior Guidance:SetSpeed { run in parallel set speed = FastSpeed } } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } aggregate MaintainDepthSlow { """ Cruise slow at the target depth. """ run while ( ( not isNaN ( SlowSpeed ) ) and ( DiveMode == MaintainDepth ) and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) ) and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) ) ) assign in parallel RecordingEnabled = EnableRecording behavior Guidance:SetSpeed { run in parallel set speed = SlowSpeed } # Let's make sure the vertical control depth deadband doesn't interfere with our mission # level version of the deadband. And we'll add an extra 3m so we don't trigger any # faults inside vertical control when attempting to regain the commanded depth. assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m ) behavior Guidance:Buoyancy { run in parallel set position = NaN cc } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } # Start mission sequence call id="StartingMission" refId="SurfaceComms" aggregate Lap { run in sequence repeat=Repeat aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call refId="DiveCmd" } # Default behavior: Depths correspond to laps # Run through all waypoints at each depth aggregate DepthByLap { run in sequence break if ( DepthPerLeg ) assign in sequence LegDepth = Depth1 aggregate Wpt1 { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } macro $j = 2..8 { aggregate Leg$j { run in sequence break if ( isNaN ( Depth[$j] ) ) syslog important "Transiting waypoints at depth " + Depth[$j]~meter assign in sequence LegDepth = Depth[$j] macro $i = 1..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } # Non-default behavior: depth by leg # Transit to waypoint at corresponding depth, repeat per lap # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on) aggregate DepthByLeg { run in sequence break if ( not DepthPerLeg ) aggregate Leg1 { run in sequence assign in sequence LegDepth = Depth1 behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Leg$i { run in sequence break if ( isNaN ( Depth[$i] ) ) syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter assign in sequence LegDepth = Depth[$i] aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } } =~Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optimԩԱ  Y,eiAɖ"%x@"[ @ٗ"[;",~9"Hz ??`Na` vk@?"%x@i";"C92;Y2)Bz@:n@:඙nnE=r89Qr>YpytvCt9v(< v>xJAJAJAJAJAJAGUY:GQjGQZGGzGIPwV=2I   KU=ԱI1)5A 1 7_,iAkKx@~'@ٗ-a;H9H@n`?!?(K%l"?kKx@ii;C92;Y2ޒBz@:n@:n嶙^0;bL=bZ9Qb>Y`ydfCd9f < f>hJJJJJJGGjGZGGYzGYIY2Ia K}=Ai &f,iA "+lx@"7@ٗ"P;"X9"H aB?@`,?`1=@jj`4@$?"+lx@i"; 92N$Y2 6=6=88z@:n@:嶙^/^J=b Qb>Y`ydfCd9f; f>hJJJJJJGGjGZGGYzGYIY2Ia K=i Y> ]>ԡ Hl,…iA "x@"I@ٗ"ET;"089"HRj? 0?<@/汿Ej%@3?"x@i"Y;"C92OY2[z@:n@:Lb?<bJ=b-9Qb>YdydfCd9f4; j>hJJJJJ J GGjGZGYGYzGYIa2IavD2; K>>! 0s,biAQx@qS@ٗGX;`X9H`Ja?@?`A'Zұk]?Qx@i#;92;Y2/9B4|z@rn@r ⶙1L<==9Q>YyC96; >߱JJJJJJGGQjGQZGQGQzGYIY2IavD< K>)Qԁ Zy,=iAx@S@ٗ~O;l9H\J?`D?AR' Ɀi`"?x@i4;C9R % >z@%n@%Y} <}L=Q>YyC9p8 >ߑJJJJJJGGjG9ZG9G9zG9I92IAvDU&t@=Yiq K}=  ԁԱ B,7jAɖ@"|x@""@@ٗ"^;"h99"H`WZ ?@?6`60^k5?"|x@i"?;"C92:Y2{tA4z@rn@r嶙{H=Z:Q>YyC9L >߱ԹJJJJJJG G jGZGQGQzGQIY2IYDmp=Cm=qiu4=vD}&V= K^>9 m,jA":x@"@ٗ"S;"\9"H@u?@6?#`RX}j`x9`?":x@i"";"C92a;Y2 Bz@bn@b⶙};}L=}ӹQ>YyC9& >ߑJJJJJJGGjGZG1G1zG1I92I9CICIDMCMI KM>%cG=^~AQ ׁYօ^~Aiԙ ,4jASw@@ٗXW;{9H??Fdj&j!?Sw@i ;C92*Y2 6p=6=8:Az@:n@:嶙ne~U=~ 9Q>YyC9 .  >JJ!J!J!J!J!G)G1jG1ZG1G1zG1I92IAQ KP=IA)qԡ I~,NjA p<w@@ٗID;9H@ ??0h \?w@iۓ;9B9YBi@z@Jn@J趙Rо;RN=V BQV>YTyTZCX9Z( Z>\JdJdJdJdJdJdGlGljGlZGpGpzGpIp2It| KU=) .,DhjA"Yw@"uт@ٗ"+2;"g9"H`@? ? 4@+`nEf` ?"Yw@i" ձ;"C*=i*a=9R;YR8wBz@Zn@Z涙bh<bH=b1Qb>YdydfCd9fVѻ j>hJpJpJpJpJtJtGxGxjG|ZG|G|zG|I2I)) K=!=)Yԉ O,F]jA)uw@]@ٗQ;9HR?@ ׷?G E|0j@j?)uw@ḭ;C09J9YJi@LLz@Rn@RU嶙ZkZK=^ț:Q^>Y`y`bC`9b|ѻ f>dJlJlJlJlJpJpGtGtjGxZGxGxzGxIx2I|!! 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J@ehG+ ?"z@i밤;C92/;Y2MA 46<:>:>z@:n@:<嶙%\ֻ%F=-'Q->Y)y)5D195ع 5>9JIJIJIJIJIJIGGjGZGGzGI2I  K=V>N>=|got command maintain sensor NAL9602.latitude_fix 36.797 degree*n code=01C4 name="Maintain_NAL9602.latitude_fix" *e code=086B elementURI="Maintain_NAL9602.latitude_fix.enableBroadcast" type=02 *a code=0DDC owner=01C4 element=086B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0DDD owner=01C4 element=06BD universal=3FFF unitName="degree" type=37 size=0006 fl=05 SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.=got command maintain sensor NAL9602.longitude_fix -121.847 degree*n code=01C5 name="Maintain_NAL9602.longitude_fix" *e code=086C elementURI="Maintain_NAL9602.longitude_fix.enableBroadcast" type=02 *a code=0DDE owner=01C5 element=086C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0DDF owner=01C5 element=06BE universal=3FFF unitName="degree" type=37 size=0006 fl=05 %SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.=-dgot command set NAL9602.time_fix 1745619566 seconda - -A11I Iť A)š , {A !z@@ٗjH;29HUK?? @Y`RPi[-?!z@i;C$92{YXyXZDX9^_= ^>`JhJhJhJhJhJhGG jG ZG G zG I2I Ya ! 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K5=)Yԉ ,B1[A0>Nez@>4@ٗ>DW;>9>H ׏O?n? k ɱw/?>Nez@i>;<9^]:Ybt6Az@%Cn@%ضnanimf;m?=mQu>YqyquDq9}_< }>߁9݁Y݁i݁݉݉݁߅:߅:߁JJJJJJGGjGZGGzGI2Ia Km=ԉԹ   ,zK[Aɖ6^hz@6I6@ٗ6@;6596H`ϔ?`CB?`@i`{% ?6^hz@i6ӳ;49BʻYBy\>>z@n@ܶnn=P=E,;Q%>Y!y!%D!9- 9 ->191Y1i19915{:5:1JIJIJIJIJIJIGYGYjGYZGaGazGaIa2Ii KW= 4=i =A ,fe[A6z@6M@ٗ6;696H{Ң? ?``X^@yᠽ?6z@i6H;6uC9N;YR/9B TT1z@=!n@= ܶnn<C=ՉQ>YyD9; >ߡ9ݡYݡiݡݩݩݡߥի:ߥ,:ߡJJJJJJGGjGZGGzGI2I K =Iqԡ o,?[A:{@:@ٗ:sx;:l9:H`H@?y?%Ak@/we?:{@i:Ų;:vC9F;YFIAz@Nn@NݶnTnTVDɻZY=Z QZ>Y\y\^D\9b%< f>d9dYdidlldf:f:dJpJtJtJtJtJtGxG|jG|ZG|G|zG|I2I) K="=ԙ V> ! h,[A B[{@B@ٗBl;B+9BH[(H?@ ?ϱxy_?B[{@iB';BzC9NO\YdyhjDh9j<< j>l9lYlilptlnh:n|:lJxJxJxJ|J|J|GG jG ZG G zG I2I)9 KM*=!Iԁ ',[A6Z|@6l/@ٗ6B;6F96H8n?F?AF.KJx,?6Z|@i6;6xC9BY|y|~D|9= > 9 Y i    Z: J!J!J!J!J!J!G1G1jG1ZG1G1zG1I92IAQi KuA=Q)q q_G -;Y)ԁԩ ,F[A6q|@6:@ٗ6o;6 96HS??`BL'@Vn m|^?6q|@i6 ;49B YXyX^D\9^^j; ^>`9`Y`i`dd`b%:b9:`JlJlJlJpJpJpGtGtjGxZGxGxzGxI|2Iy Kn=Ա  AA AA9 9,[Aɖ@6w}@6@ٗ6<696H@BNd?|?C,``н?6w}@i6K;6vC9B YB >>z@An@ضnAnIMMA=UF;QU>YQyQUD9r= >9Yi::JJJJJJGGjGZGGzGI2I) K==IEA)A9i ,j\A >z~@>@ٗ>$<>p9>H ߿֎?^}?`p߿``y@!?>z~@i>o;>xC9J,0YqyquDq9}< }>߁9݁Y݁i݁݉݉݁߅:߅:߁JJJJJJGGjGZGGzGI2IY Km=qԙ J,d\A6~@6eQ@ٗ6,<696H߿`4??@; <߿ %OĽ`?6~@i6;6wCd9f]:Yft6Az@E:n@Eٶnn$H=M:Q>YyD9< >ߡ9ݡYݡiݡݩݩݡߥ:ߥE:ߡJJJJJJGGjGZGGzGI2I K = R> N>A u ,?4\A 60~@6c@ٗ6u\<696Hd߿Y?Jո?`R5߿9`}˂QϽ?60~@i6;6yC9^?;YbBddz@j7n@jٶnpnprv<vU=vhQv>YxyxzDx9z@; ~>9y9yYyiy݁݁y}:}:yJJJJJJGGjGZGGzGI2I K{=iԑ \,N\A6~@6z@ٗ6;6 96H{<߿O?e? ޿5@`!z?6~@i6;49@Y@HJAz@N n@NݶnpnpvgQv>YtytzDx9z; z>|9|Y|i||~::~:|JJJJJJG)G)jG)ZG)G)zG)I12I1Iԙ K~=I)A ,#g\A>@>뎆@ٗ>e;>9>H߿?R? ޿ {e`?>@i>[];>xC9չYMM >M>z@Mn@M$nYnYeeYiyimDi9u; u>y9yYyiy݁݁y}s;};yJJJJJJG)GjGZGGzGI2I KI>Q  y o ,Ձ\Aɖ@65?@6@ٗ6@;6oF96H޿?]?@޿` xA׽?65?@i6;6vCB=i@D F}AFV?FEFɻDDJ}AIJS?)JRFiH)HIJ}AJI ?ɼNpF LɽLN}AN?iRcFPiPP)R? RxFIP T)V}AɾVC ?VFTXɿZ}AiZx?IZFXI\i^A 19)9Y99Ε?;YΝBz@n@޶nnk<= Q ?YyD9;  ?9Yi!J:s:J)J)J)QJ1JqJqGyGjGZGGzGI2I K=ԁ= lgot command load ./Missions/Science/sci2_noyo_optim.tl& Loading Mission from file: ./Missions/Science/sci2_noyo_optim.tl& tTethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl&u TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tl&,n0\A6r@6@ٗ6_;6EG96H`]޿? ,p?3 `޿=Y+x ^׽?6r@i61;6wC9~չY~M <z@n@޶nanaeDe==m5ٹQm>YiyqD9; >ߙ9ݙYݙiݙݩݩݙߝ\:ߝ:ߙG:jGZGGzGI 2I q K>,,oK\A6@6u׆@ٗ6;6%96Hv޿`k?@$x?@{[޿R RwhϽ ?6@i6$<6xC9})YyD9< >9Yi!::GQjGYZGYGYzGYIY2Ia) K5.>ڭ e>ڭ ]>a3,h\A6@6{@ٗ6-/;6R96He޿ j?k?(`/'޿@宿`Ew`ؽ?6@i6t<6wC9b;Yb]Bz@,n@ڶn9n9E6EN=EQE>YIyIMDI9U< U>y9yYyiy݁݁y}x:}ϸ:yGjGZGGzGI2Iiy K>"#:,DŽ\A63@6M@ٗ6L;6̢96H-޿% ?`?7@ݿ v`⽿?63@i6c}<49JH;YPA%A!z@5Cn@5ضnnmT=Q>YyD9x#< >9Yi:Գ:GjGZGGzGI2I1vD=׿Q=IY K]>= G֙ ֱ Y A,]A6Q4@6k6@ٗ6Զ;6796H'ݿ??G`ݿ`Inv|ս ?6Q4@i6O<6yC9~?;Y~B>z@5n@ڶnnZ<C=-A9Q>YyD9U< U>Y9YYYiYaaY]:]8:YGyjGZGGzGI2IvD$= Km>I]A)Y_TG,]A6:Y@6T[@ٗ6;696H@ױݿ@)?zٹ?X^tݿ H v콿?6:Y@i6\<6xC9O\YyD98< >9Yi::,:GjGZGGzGI2IvDr; K J>)M,8]A:;}@:U@ٗ:?;:9:H@qݿ`z:? ̹?`Vi =5ݿ 5wͽ)?:;}@i: <89n/;YrMA tv=z@&n@۶nyny}ɼ:=C9Q>YyD9"< >!9!Y!i!))!%:%ِT,R]A6@6@ٗ6E;6;96H)ݿ L??{@/ܿY v὿?6@i6[ <6zC9f*Yf٩٩z@n@>ܶninq2A=PQ>YyD9I< > 9 Y i ݱݱ  )< < GjG ZG G zG I2IvDqy K>mZ,Qm]A:Ѐ@:҇@ٗ:ۈ;:\9:Hqܿ@_?S?Xܿ\xvڽ?:Ѐ@i: <:yC9nYnz@#n@۶nnԉ_=8Q>YyD9BR< >9Yit:g:GYjGYZGYGazGaIa2IivD K >a,0]A6@6@ٗ6s;6z96Hܿs?@8? zOܿI?uv`w?6@i6Z <6xC9^ϯ;Yb5XBddz@j!n@j ܶn!n)-<-Q=5MQ5>Y1y1=Dq9uk< }>y9yYyiy݉݉y}}:}p:yGjGZGGzGI2IvDrg: Kew>g,M]A6~-@6/@ٗ6(l;696HP7ܿ!?? ʸۿv@q`Fn?6~-@i6N <6zC9;Y/9B->- >z@5*n@5-۶nnZ=='Q>ŕ4=iŕ4=YyD9b< >ߩ9ݩYݩiݩ11ݩ߭ޏ<߭\<ߩGIjGIZGGzGI2IvD!1 K=>b*n,'j]A6P@6R@ٗ6~;6,96Hۿ`l?`ƺ?Qۿor@'S =?6P@i6a<6vC9n/;YrMAz@z2n@zgڶnn4J=m9Q>YyDQ9]1< ]>a9aYaiaiiae1:e:aGjGZGGzGI 2I vD!A KI>#u,]A6!@6;@ٗ6S;6m96H!ۿ?Ck?BHZۿJSC|vY?6!@i6N<6xC9ε;Yε/9B %=z@ n@%ܶnn;7=;Q>YyD9F<  >I9IYIiIYYIMJ:M:IGyjGZGGzGI2IvD- yb]:1 A  K >[{,w]A6{@6@ٗ6U;6 96Hbۿg?@?)ۿ t`ｿ?6{@i6r<6yC9έ Y y e %=ie < D 9 w;  > 9 Y i   '< < G1 jG1 ZG1 G1 zG I 2I C C D C  K?=,^A $$Aǁ@[Ɉ@ٗM;9H"ۿ ?)UFiQ)QIUX}AU >ɨ]LF YɩY]V~A]>i]+FYia}A)A> FI )}AɪW?Fɫ}Ai>IFIi~A ?pF) YɬYYY9e<YyimDi9u/< u>y9yYyiy݁݁y}:}N:yGjGZGGzGI2Ii K}z>C,.^A6@6@ٗ6F;696H ڿ`L? P? t ڿw* `?6@i6#<6yC9~JH;Y~PA  z@Bn@ضnAnAEM=M S;QM?YQyQD9rt< !?ߙ9ݙYݙiݙݩݩݙߝt:ߝ$:ߙGjGZGGzGI2I  K">)  խG M;YI,H^A9ΝYΝ٩٭>z@'n@w۶nnμN=Q>YyD9 >ߙ9ݙYݙiݙݡݩݙߝٮ:ߝ0:ߙGjGZGGzGI 2I au@Au@A K!>&TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into: 2 60 35 NaN NaN NaN NaN NaN NaN NaN 1 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 1 1 15 1 0.25 3 2 50 2 0 0 1 2 3 0 2 Camera and lights off, previous state was Moving to 13 Timed out while trying to reach target depth at current depth of stop Reached , settling for Reached depth, initial recording state is 0.0 3 NaN Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth !U 2KQ &] jDefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h! BK @& nDefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min! RK A@& \DefineArg sci2_noyo_optim.Depth1 = 35.000000 m!U bKQ &] PDefineArg sci2_noyo_optim.Depth2 = nan m! rK & PDefineArg sci2_noyo_optim.Depth3 = nan m! K xN,b^Aɖ@rI@rK@ٗrDT;r79rH4ڿQ?I?1ٿ`z{@ԕ?rI@ir;rzC&=PDefineArg sci2_noyo_optim.Depth4 = nan m!EKA&MPDefineArg sci2_noyo_optim.Depth5 = nan m!K&PDefineArg sci2_noyo_optim.Depth6 = nan m!K9C:Y@z@n@ݶnn<7=% ;Q%>Y!y!-D)&MPDefineArg sci2_noyo_optim.Depth7 = nan m!]9-< ]>KY&PDefineArg sci2_noyo_optim.Depth8 = nan m!K&\DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool9Yi::!K&bDefineArg sci2_noyo_optim.Repeat = 1.000000 countGjGZGGzGI2I!mKm&uVDefineArg sci2_noyo_optim.Lat1 = nan arcdeg!}Ly&=VDefineArg sci2_noyo_optim.Lat2 = nan arcdeg!MLI&UVDefineArg sci2_noyo_optim.Lat3 = nan arcdeg K`>!"L&VDefineArg sci2_noyo_optim.Lat4 = nan arcdeg!2L&VDefineArg sci2_noyo_optim.Lat5 = nan arcdeg!}BLy&VDefineArg sci2_noyo_optim.Lat6 = nan arcdeg!RL&VDefineArg sci2_noyo_optim.Lat7 = nan arcdeg!bL&%VDefineArg sci2_noyo_optim.Lat8 = nan arcdeg!-rL-&VDefineArg sci2_noyo_optim.Lon1 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lon2 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon3 = nan arcdeg!5 L1 &= VDefineArg sci2_noyo_optim.Lon4 = nan arcdeg!E LA & VDefineArg sci2_noyo_optim.Lon5 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon6 = nan arcdeg!e La &m VDefineArg sci2_noyo_optim.Lon7 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon8 = nan arcdeg!= L9 & dDefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s! M & lDefineArg sci2_noyo_optim.ApproachSpeed = 1.000000 m/s#,b|^Azς@zщ@ٗz8'YyD9+= >ߩ&rDefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m!ZM& rDefineArg sci2_noyo_optim.BuoyancyNeutral = 417.101959 cc9ݩYݩiݩݱݱݩ߭ =߭ =ߩG!rM&fDefineArg sci2_noyo_optim.MassDefault = 0.510797 cmjGZG G zG I2I!}My&dDefineArg sci2_noyo_optim.MinAltitude = 2.000000 mAY!mMi&u`DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m K5O>!!=M9&EfDefineArg sci2_noyo_optim.MinOffshore = 2.000000 km!%MMI&UdDefineArg sci2_noyo_optim.EnableRecording = 1 bool!)M&lDefineOutput sci2_noyo_optim.DiveMode = 0.000000 count!-M&upDefineOutput sci2_noyo_optim.DoingComms = 0.000000 count!1M&pDefineOutput sci2_noyo_optim.SpiralDive = 1.000000 count!5M&vDefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count!9%M!&-vDefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count!= N&fDefineOutput sci2_noyo_optim.LegDepth = 35.000000 m!AN& lDefineOutput sci2_noyo_optim.RecordingEnabled = 0 bool& ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl& rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl& TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl䀥,Q^Aj@j@ٗj[MYayaeDa9mo< m>q9qYqiqyyquF:u9:qGIjGQZGQGQzGQIQ2IY K>& TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 -e! X @& DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m-i! X ש,^AbaM@b{O@ٗb ʻJ?baM@ibl;byC9rYrJ&%DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m-m!-X-i@&5DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 mz@n@,䶡-q!X&DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m[6Construct AltitudeEnvelope.n9nAEL<EL=MQM>YIyIMDI9U?< U>Y9YYYiYaaY]:]Գ:Y- \0Construct DepthEnvelope.GjGZGGzGI2I a K>\-6Construct OffshoreEnvelope.a.U*n code=01C6 name="sci2_noyo_optim:B" *a code=0DE6 owner=01C6 element=0859 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0DE7 owner=00BA element=085B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0DE8 owner=00BB element=085C universal=3FFF unitName="meter" type=1F size=0008 fl=05 &5nInserting Stack from file: Missions/Insert/NeedComms.tl&5bTethyslAPI: loading: Missions/Insert/NeedComms.tl&zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tlŽ 4=iŽ R=[,B^AfTJ@fnL@ٗfblYIyI D 9R >9Yi!!}::GyjGZG G zG I 2Iq K{>ڸ,y$^A:ar@:{t@ٗ:~<:9:H%ؿ'z?? #׿@3 @ a>?:ar@i:s;:yC9b2Yfz@n@]nInIM?jUY=UbQ]>YYyY]DY9eb< e>i9iYiiiimI A) A,hA^Aɖ6͓@6畊@ٗ6 ;696H.׿ n?c?@@/׿ͧ~ ma`F?6͓@i6 L;6vC9~C:Y~@z@n@enn<O=#Q>YyD9%!< >ߙ9ݙYݙiݙݡݩݙߝt:ߝ:ߙGjGZGGzGI2I y K5->&M1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout a/u!bZ @&zDefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 ha/y!rZ@&=DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 mina/}!MZI&UDefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdega/!Z&|DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/sa/!Z&~DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/sa/!uZq&}DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 sa/!Z& zDefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 mina/! Z & DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min_% ,Construct GoToSurface.N ,^_A:@:,@ٗ:;:۴Ͻ9:H@׿@?`M? 0׿ 6빿@?:@i:@;:xC9zBYQyQD9л >9YiW:4:*n code=01C7 name="sci2_noyo_optim:F" *a code=0DE9 owner=01C7 element=085D universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0DEA owner=00C9 element=085E universal=3FFF unitName="minute" type=1F size=0008 fl=05 GjGZGGzGI2I&xInserting Stack from file: Missions/Insert/BackseatDriver.tl&lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl&TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl K]>&TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2!%[!&-DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool f}2Construct BackseatDriver.& nInserting Stack from file: Missions/Insert/PowerOnly.tl& bTethyslAPI: loading: Missions/Insert/PowerOnly.tl& zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlF,z3_A6i@6@ٗ6<6T\ؽ96H@׿?`U,?ඎ׿ b \`?6i@i61;6wC9r=:YrAAٙٙz@n@nn.R=;Q]>YYyY]Da9e!< e>i9iYiiiimݰ& qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a3!5 [1 &5 lDefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 boola3! [ & pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 boola3! [ & pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 boola3! 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FI )}Aɾ ?ǖFCɿ}Aiw?IFIiA )Y9u;Y}8wBz@n@nn<=X:Q?YyD9 = &?ߙ9ݙYݙiݙݙߝ<ߝ<ߙGjGZGGzGI2IYq K>& ) # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission sci2_noyo_optim { """ Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on. By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications. """ arguments { MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ How often to surface for commumications """ Depth1 = 35 meter """ Depth of flat and level flight during the mission for the first transit leg or lap. """ Depth[2..8] = NaN meter """ Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN. """ DepthPerLeg = false """ Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). """ Repeat = 1 count """ Number of times the vehicle should try to cycle through waypoints. """ Lat[1..8] = NaN degree """ Latitude of waypoint {$}. If nan, waypoint is skipped. """ Lon[1..8] = NaN degree """ Longitude of waypoint {$}. If nan, waypoint is skipped. """ FastSpeed = 1 meter_per_second """ Speed while transiting to waypoint. """ ApproachSpeed = 1 meter_per_second """ Speed while descending to target depth. """ ApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth """ ApproachSettleTimePostDive = 1 minute """ Time duration for the vehicle to settle *AFTER* reaching the target depth. """ SlowSpeed = 0.25 meter_per_second """ Set this to something other than Nan if slow speed filming with a wide depth deadband is desired. """ DepthDeviationSlow = 3 meter """ Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set. """ BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral """ Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. """ MassDefault = Control:VerticalControl.massDefault """ Static setting for mass during the mission. Set to NaN mm for active mass position. """ MinAltitude = 2 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 50 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ EnableRecording = true """ Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings. """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ SpiralDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to spiral down to initial depth. """ SettleAtDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. """ MaintainDepth = 3 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ LegDepth = Depth1 """ Mission variable to track the current depth for the current leg. """ RecordingEnabled = false """ Mission variable to track whether payloads (camera and lights) should be on """ } # Mission timeout timeout duration=MissionTimeout # Science! # insert Insert/Science.tl { # """ # Run the science sensors. #""" # } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl assign in sequence Sensor:MultiRay.lightModeCommand = 2 count readData strategy="MinError" { while ( Sensor:MultiRay.loadAtStartup and RecordingEnabled ) Sensor:MultiRay.lightModeLog } behavior Guidance:Buoyancy { run in parallel set position = BuoyancyNeutral } aggregate SetRecording { """ Controls state of camera (via backseat and poweronly) and lights """ run in parallel assign in parallel BackseatDriver:EnableBackseat = RecordingEnabled assign in parallel PowerOnly:SampleLoad1 = RecordingEnabled } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms syslog info "Camera and lights off, previous state was " + RecordingEnabled~bool assign in sequence RecordingEnabled = false call refId="NeedComms" assign in sequence DiveMode = SpiralDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between dive modes. """ run when ( called ) aggregate SpiralDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == SpiralDive ) aggregate dive { run in sequence behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } syslog "Moving to " + LegDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = ApproachSpeed } behavior Guidance:Point { run in parallel set rudderAngle = 13 degree } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = LegDepth } } assign in sequence DiveMode = SettleAtDepth } } aggregate SettleAtDepth { """ Take a few more moments here to make sure the vehicle is settled at the target depth. """ run while ( DiveMode == SettleAtDepth ) aggregate dive { run in sequence syslog info "Reached " + Universal:depth~meter + ", settling for " + ApproachSettleTimePostDive~minute behavior Guidance:Pitch { run in parallel set depth = LegDepth } behavior Guidance:Wait { run in sequence set duration = ApproachSettleTimePostDive } aggregate EnableRecordingAtDepth { run in sequence syslog info "Reached depth, initial recording state is " + EnableRecording~bool assign in sequence RecordingEnabled = EnableRecording } assign in sequence DiveMode = MaintainDepth } } aggregate MaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and ( ( Universal:depth > ( LegDepth + DepthDeviationSlow ) ) or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) ) or isNaN ( SlowSpeed ) ) ) assign in parallel RecordingEnabled = EnableRecording aggregate dive { run in parallel aggregate ThrusterDive { run while ( FastSpeed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } behavior Guidance:SetSpeed { run in parallel set speed = FastSpeed } } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } aggregate MaintainDepthSlow { """ Cruise slow at the target depth. """ run while ( ( not isNaN ( SlowSpeed ) ) and ( DiveMode == MaintainDepth ) and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) ) and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) ) ) assign in parallel RecordingEnabled = EnableRecording behavior Guidance:SetSpeed { run in parallel set speed = SlowSpeed } # Let's make sure the vertical control depth deadband doesn't interfere with our mission # level version of the deadband. And we'll add an extra 3m so we don't trigger any # faults inside vertical control when attempting to regain the commanded depth. assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m ) behavior Guidance:Buoyancy { run in parallel set position = NaN cc } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } # Start mission sequence call id="StartingMission" refId="SurfaceComms" aggregate Lap { run in sequence repeat=Repeat aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call refId="DiveCmd" } # Default behavior: Depths correspond to laps # Run through all waypoints at each depth aggregate DepthByLap { run in sequence break if ( DepthPerLeg ) assign in sequence LegDepth = Depth1 aggregate Wpt1 { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } macro $j = 2..8 { aggregate Leg$j { run in sequence break if ( isNaN ( Depth[$j] ) ) syslog important "Transiting waypoints at depth " + Depth[$j]~meter assign in sequence LegDepth = Depth[$j] macro $i = 1..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } # Non-default behavior: depth by leg # Transit to waypoint at corresponding depth, repeat per lap # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on) aggregate DepthByLeg { run in sequence break if ( not DepthPerLeg ) aggregate Leg1 { run in sequence assign in sequence LegDepth = Depth1 behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Leg$i { run in sequence break if ( isNaN ( Depth[$i] ) ) syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter assign in sequence LegDepth = Depth[$i] aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } } = ~Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim  T,P!`AN/%@NI'@ٗNm 9Կ@{u"9` ?N/%@iNq;L99Yi@m>m>AAAAz@mn@m<n9n9=E=E{9QE ?YIyIMDI9f3< ?߱9ݱYݱiݱݱߵ:ߵ:߱JyJyJyJyJyJyGY:GjGZGGzGIPwV=2I! 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;?k ȿ@ e7?6@i6z;6{C9v2Yv z=x>>z@ 7n@ ٶnnͼM=%[f;Q%>Y!y!-D)9-b3; ->191Y1i199154:5:1M +M>Aggregate::uninitialize Default1M ,MDUninitialize GoToSurfaceComponent.qM,MNAggregate::uninitialize Default:CheckInM&M>Started mission sci2_noyo_optimfII1M 2UJAggregate::initialize sci2_noyo_optim-U [UnAggregate::initialize sci2_noyo_optim:StandardEnvelopes-U[UJInitialize AltitudeEnvelopeComponent.1.U \UDInitialize DepthEnvelopeComponent.q.U\UJInitialize OffshoreEnvelopeComponent.2]e]hAggregate::initialize sci2_noyo_optim:BackseatDriver13]q3]f]^Aggregate::initialize sci2_noyo_optim:PowerOnly3]3]14]q4]4] i]4Initialize Wait Component.4eqreeYhylnDl9n"/ r>p9pYpiptxpr:r:pmdCamera and lights off, previous state was 0 bool 6 17 J\ B\ zo :oI@..GjGZGGzGI2Iq K=ԩ]4=i]%= p,h$A6˜@6ܚ@ٗ6{@G;6M96Hȿ@<2?@Ƽ?g~gȿ곙 hx~?6˜@i6sȩ;49B*YBz@JTn@J׶ndndft fJ=jw:Qj>YhylnDll9rq r>t9tYtitxxtv::v:tb\ 17 q7 n hAggregate::initialize sci2_noyo_optim:SurfaceComms:DJ\ B\zoBo.qG)jG)ZG)G)zG1I12I1IY Km<= ڭ]>ک1a ۲,ˆA > @>$@ٗ>m;>t9>H ȿ@0??d`Ǔȿ#Fm>@S?> @i>;>C9J;YJ)BPPz@R;n@RٶnXnX^y{<^L=^):Qb>Y`y`bD`9fj f>h9hYhihllhj:j:hJ\tB\tzoxJoz @q~q2~q/~^~^Aggregate::initialize sci2_noyo_optim:NeedComms/~_~@Initialize GoToSurfaceComponent._HReceived depth rate setting nan m/s._RReceived pitch setting 19.999999 degrees._HReceived speed setting 1.000000 m/s._ jReceived surface timeout setting 1000.000000 seconds._ No altitude timeout specified. 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ZNavigating to waypoint: 36.000000,-121.0000001A `Aggregate::uninitialize sci2_noyo_optim:Lap:DiveqAdAggregate::uninitialize sci2_noyo_optim:Lap:Dive:A7o%ZAggregate::initialize sci2_noyo_optim:DiveCmd18% p%pAggregate::initialize sci2_noyo_optim:DiveCmd:SpiralDiveq8%p%zAggregate::initialize sci2_noyo_optim:DiveCmd:SpiralDive:dive8% q%Initialize.8-1;- v-vAggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepthq;-v-Aggregate::initialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive;-w5Initialize.;5q=5z5vAggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth=5=5{5Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive1>5 |=Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDiveq>=|=Initialize.>= }=Initialize.>=}=Initialize.1?= ~=~Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepthSlowq?E?E EInitialize.?E1@E EU |UAggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDiveq>U|UUninitialize.>U }UUninitialize.>U1;] v]zAggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepthq;]v]Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepth:dive;];]18] p]tAggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDiveq8]p]~Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDive:dive8] q]Uninitialize.8]medCamera and lights off, previous state was 0 bool 6e17em%=iiJ\qB\qzoqB[yJ[y"[y*[y2[y:[yGGjGZGGzGI2I1i Ku6>9a n+S,bKMA:ei@:k@ٗ:]d;:9:HiVɿ'?!?]ɿ'৔lG潿`?:ei@i:R&;:C9^]:Y^t6Af>f>z@fdn@fTnlnlrKrH=r&O9Qr>YtytvDt9z z>x9xYxixxz:z:x%ZNavigating to waypoint: 36.000000,-121.000000^%^%~@^%v/?^%rb\)17-q7-n-hAggregate::initialize sci2_noyo_optim:SurfaceComms:DJ\)B\1zo19B[=J[A"[A*[A2[A:[AGYGYjGYZGYGYzGYIa2Iay KV=aE@AE@AԑԹ "TY, gAɖ6g@6j@ٗ6p;696HB\ɿ@'? ?]"ɿ7Bn@ɽN?6g@i6;6}C9B YXyXZDX9Z ^>9Yi!):$:^e^a^a^aJ\iB\izoiB[uJ[q"[q*[q2[:[ԙGGjGZGGzGI2I K-=IA) $<`,@A6d@6f@ٗ6$:W;6c96H`Eiɿ@&?t?`\`0ɿ_`Aj`ڽ`?6d@i6;6C9B9YBi@z@Jn@JmnPnPVVJ=VlvQV>YXyXZDX9ZV ^>`9`Y`i`dd`b:b:`^r^p^t^tJ\xB\xzoxB[~J[|"[|*[|2[:[GGjGZGGzGI2I Ks=!Qy yff,AؚA6 c@6'e@ٗ6E;696HKoɿ;&?(? \h7ɿǚ`h`l轿?6 c@i6U;6~C9B;YB/9BDDz@Jn@JnTn\bO*<bI=j)Qn>Ypyp%D!MGa9U m>ֱ Y 9Yi!!b;];Y^u^q^y^yJ\B\zoB[J["[*[2[:[GGjGZGGzGI2I K=EV>E{>ԁԩ l,A B)g@BCi@ٗBB;B9BH`/_ɿ '?$$?k]'ɿ 4Xh`?⽿ ?B)g@iBN٦;BC9N;YN]Bz@Vn@V~n\n\b ;bJ=bQb>YdydfDd9fM: j>h9hYhihpphjf:j:h^~^|^|^|J\B\zo B[ J["[*[2[:[G)G)jG)ZG)G)zG)I12I1IY Km<=Ա 9 xs,ҎΑA6'm@6Ao@ٗ6Ho;6iX96HGɿ(?`?^ ɿ9dmٽ?6'm@i6;6C9fYxyx~D|9~: >9Yi  t::^-^)^)^)J\1B\1zo1B[=J[9"[9*[A2[A:[AGQGQjGQZGYGYzGYIa2Iay KS=9i wy,iA069r@6St@ٗ6R~;6R96H3ɿ )??_Fȿ`a%o@ؽ?69r@i6IŦ;6C=BPC1A failed to parse battery data due to unrecognized msg size.9EJH;YEPAQU>z@Un@Unanamm4=m:Qm>YqyquDq9}L: }>߁9݁Y݁i݁݉݉݁߅:߅9:߁^e^a^a^aJ\iB\qzoqB[}J[y"[y*[y2[y:[yԉGGjGZGGzGI2I K>EAAEAAԹ e =ie R=牀,hBAɖ@6eo@6q@ٗ6l;6_96H@>ɿk)?`?_ɿ љm?6eo@i6ͦ;6C\9Yz@-n@-n9n9ECQE>YIyIMDI9Mw U>Q9QYQiQQUYyyy}Dy99 >߉9݉Y݉i݉ݑݑ݉ߍ:ߍ,:߉^^^^J\B\zoB[J["[*[2[:[GqGqjGyZGyGyzGyIy2I K=IqIA)ԡ ތ,5A64s@6Nu@ٗ6"v;696H/ɿ)?e?`_ ȿEn὿?64s@i6!;49B)YtytzDx9zcb: z>|9|Y|i||~>:~:|^^!^!^)J\QB\QzoQB[]J[Y"[Y*[Y2[a:[aGqGqyjGqZGyGyzGI2I Kg=ԡAEV> Ɠ,OA 6/x@6Iz@ٗ6ċ;6r96Hfɿq+?`s?`9ȿ`xq@}?6/x@i6¦;6CBPC1B failed to parse battery data due to unrecognized msg size.92Yz@n@^nnl-=d:Q>YyD9: > 9 Y i   : : ^-^)^)^1J\1B\9zo9`EJTimed out from 2025-04-25T22:35:48.0Zq0E`EvAggregate::initialize sci2_noyo_optim:NeedComms:C:A_Timeout0E=aE0first GPS update timeout0E`M^Completed sci2_noyo_optim:NeedComms:C:A_Timeout10M0MB[MJ[I"[I*[Q2[Q:[QGaGajGaZGiGizGiIq2Iq K===i==1Y ,iA6y@62{@ٗ6E;6&96Hɿ@+?`&?`ȿ@Rw@ԉԹ ؠ,"A>l@>@ٗ>;>9>Hbȿ-?p?c@ȿ`t~3r ý\?>l@i>;>}C9;YIA% >%>z@-n@-]n9n9E[<EJ=E:QE>YIyIMDI9M5`; U>Q9QYQiQaaQUͭ:U:Q^}^y^y^yJ\B\zoB[J["[*[2[:[GGjGZGGzGI2Iԑ K=AE@AIš)šԹ ,fAɖ6w@6y@ٗ6+q;6W96Hoɿ+??`@ȿ@w%n?6w@i6@;49za;Yz Bz@ n@ nnj=;M=%Q%>Y!y)-D)9-o ->191Y1i19915`:5s:1^U^Q^Y^YJ\aB\azoaB[mJ[i"[i*[i2[i:[qGGjGZGGzGI2I Km=I ,,AA Nk@N4m@ٗNz;NR9NHOɿ)?h?@(^ɿSqy`q?Nk@iN_;NC9Z;YZ)Bz@b n@bݶndnhj:jO=n:Qn>YlyprDp9r~ r>t9tYtitxxtv:v:t^ ^^^J\B\zoB[J["[*[2[:[GGjGZGGzGI2I K==iԙ ,.ђAF``@Fzb@ٗFg;F9FHyɿ.&??[R8ɿW@ev轿?F``@iFŧ;FCP9Va;YV BXZAz@^n@^ݶn`ndfKfK=jA;Qj>YhyhnDl9nT n>p9pYpipttpr}:rp:p^^ ^ ^ J\B\zoB[J["[*[2[!:[!G1G1jG1ZG1G9zG9I92IAYi KuB=AA)֩ ֩ G!9 u;Yq! 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K5=iց֙ ;Y ] ,N.A6*d@6Df@ٗ6Lr;696H`jɿ&? .?\ 0ɿ [InͽYxyxzDx9z: z>9Yi  :|:^^^^J\B\zoB[J["[1*[12[1:[1GIGIjGIZGIGIzGII2IoN AQi Ku=%R>%R>IŅ A)Ł ,1(HA <6i@6k@ٗ69p;6_96H Tɿ )(?? ]%ɿ9 0n@ƽV?6i@i6mM;49>=KYBz@Fn@F>ܶn`n`bI|<fL=fQf>YhyhjDh9j: n>999Y9i9AA9=S:=g:9^]^Y^Y^YJ\aB\azoiB[mJ[i"[q*[q2[q:[qGGjGZGGzGI2Io> A K=,bA>8t@>Rv@ٗ>Iu;>9>H@+ɿ*?Z ?_&ȿ`/`nQν`:?>8t@i>;>C9N;YR/9BV>V>z@Z1n@Zڶndndj<jJ=j]9Qj>Ylyl~D|9~K; >9Yi}:p:^-^)^)^)J\1B\1zo1B[]J[Y"[a*[a2[a:[aGqGjGZGGzGI2IoN A K=i%= Sending 110 bytes from file Logs/20250425T221027/Express0014.lzmaGE,{A6}@6@ٗ6/Ox;696HMɿ ,??`a@ȿv oQʽ I?6}@i6I;6C9BYBgz@J$n@J۶nn!%q6%E=-(8Q->Y)y)5D195;; 5>Y9YYYiYaaY]_:]:Y^^^^J\B\zoB[J["[*[2[:[GGjGZGGzGI2IoB A1a Ku=!%@A;.,Aɖ6@6@ٗ6z;696H`?ȿ`-?h?@c`ȿ@@^o`н`1?6@i6;6C9NudYRy z@Vn@V޶ndndfSjP=j8Qj>YhylnD|9~.; >9Yi:|:^^^^J\B\zoB[J["[*[2[:[G!G!jG)ZG)G)zG)I)2IQoN Ai K=I]A)YW,:A6Q@6k@ٗ6͌~;696Hȿ@ /?d?`d`ȿ``oĽ]?6Q@i6W^;6C9BYBJ©DFAz@Jn@J ߶=fngot command report mod sci2_noyo_optim.RecordingEnabled*a code=0DF5 owner=004E element=07D0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 hhnlnprxrI=v> 9Qv>YtytzDx9z; z>|9|Y|i|||~:|^%^!^!^!J\)B\)zo)B[5J[1"[1*[12[1:[9GIGIjGIZGQGQzGQIQ2IYoB AqA'MNsci2_noyo_optim.RecordingEnabled 0 bool KU=}xMoved sent file to Logs/20250425T221027/Express0014.lzma.bak$SBD MOMSN=24733046A @,rɣA6>@6X@ٗ6Ԁ;696H@QȿJ0??4ftȿ@G뚿pwн0?6>@i6Ϫ;6C9>;YB]Bz@Fn@F޶n|n<H= 8Q >Y y D9; >!9!Y!i!))!%t:%:!^E^A^A^IJ\IB\QzoQB[]J[Y"[Y*[Y2[Y:[YGqGqjGqZGqGyzGyIy2Io> A Kf=I%]>!iYdydfDd9j: j>l9lYlilpplnI:n:l^~y^|^y^yJ\B\zoB[J["[*[2[:[GGjGZGGzGI2IoN AA KU=ԡ ٓ,$A6㜉@6@ٗ6w;6|(96Hcȿ1??g@vSȿ Knӽ@&?6㜉@i6#;6C9BYBIDF>z@J n@J%ܶn`n`f}JfJ=fnQf>YhyhjDh9j: n>9Yi  l::^E^A^A^AJ\IB\IzoQB[UJ[Y"[Q*[Q2[Q:[YGiGijGiZGiGqzGqI2IoB A KU=I-A)) q1Y 6|,A6@6@ٗ6`r;6 F96Hqȿ@`2?@?`uh`GȿlLnK׽?6@i6%;6C9V:YZ{tAz@^,n@^ڶnn  < F=4TQ>YyD9k: >!9!Y!i!))!%ͭ:%:!^E^A^I^IJ\QB\QzoQa]JTimed out from 2025-04-25T22:36:34.1Z11] bevAggregate::initialize sci2_noyo_optim:NeedComms:D:A_Timeoutq1ebeVComms timed out after 0.500000 min minutesq1ebm^Completed sci2_noyo_optim:NeedComms:D:A_Timeout0m1mB[mJ[i"[i*[i2[i:[qGGjGZGGzGI2IoV A Ky=1!%AAaԉԹ ,<0Aɖ>K@>e@ٗ>i};>9>Hbkȿ3? ?zi e2ȿ2:o ѽ@/?>K@i>4T;>C9^ʻYbyb8Not Powering down - fast GPSIdiffddff f)fIfijjjjj j)jz@}:n@}ٶnn핼B=9Q>YyD9 : >9YiF:Z:^ ^ ^ ^ J\B\1zo1B[=J[9"[9*[A2[A:[AGyGjGZGGzGIŕ=iŕ=ԙ2Io^ A K== ݍ,JA6䩉@6@ٗ6;6G96HTYȿm4? ?`Zj^ ȿ@+oAν`9?6䩉@i6-;6C9B=:YBAADFAz@JPn@J׶nPnPR԰<VZ=V8QV>YXyXZDX9Z: Z>\9\Y\i\dd\^:^:\^r^p^p^pJ\tB\tzotB[zJ[x"[x*[x2[|:[|G G jGZGGzGI2IoB A1 K=I ) f= 1 I a ׍ ;Y։ ,dA6F@6`@ٗ6};6(96H@ Lȿ4? ? j6ȿ`̸oӽ`%?6F@i6;6C9Bz;YB+Bz@NFn@NxضnPnTV~;VH=Z`QZ>YXyX^D\9^: ^>`9`Y`i`dd`b1:bg:`Ip)rA^z^x^x^xJ\|B\|zo|B[J[ "[ *[ 2[ :[ GG!jG!ZG!G!zG!I)2I)oB AAY Km;=Q R> ԁԩ ,;o~A Bj@B@ٗBe ;B9BH?ȿ5?$?`kȿ`:}jp`rν8?Bj@iBkܨ;BCL9R<YyD9h: >9Yi:˵:^^^^J\B\zoB[J["[*[2[:[GGjGZGGzGI2IoR AIY K>! 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K5=! )S,CMA6@62@ٗ6Iw;696H ȿ78?w?,nǿ(@nU̽A?6@i6A,;4|)]BPC1A failed to parse battery data due to unrecognized msg size.9]:Yt6A%@A%@Ai<z@ un@ Ӷn)n)535==bmQ]>YayaeDa9ez m>i9iYiiiyyimR;ms;i^^^^J\B\zocJTimed out from 2025-04-25T22:37:04.4Z1cvAggregate::initialize sci2_noyo_optim:NeedComms:E:A_Timeout12=d2second GPS update timeout12c^Completed sci2_noyo_optim:NeedComms:E:A_Timeout1B[J["[*[2[:[^FCompleted sci2_noyo_optim:NeedCommsq/Q^bAggregate::uninitialize sci2_noyo_optim:NeedComms/_DUninitialize GoToSurfaceComponent.GGjGZGGzGI2Io A9I K>ԁ ;UY,)%gAɖ@6{@6@ٗ6\_z;6b96Hȿ`s8?@B?@onoǿ0Ko`eν9?6{@i6+;6C9~#HAHA2IAo~ Aaq K=ԁԱ ?`, A6Y@6s@ٗ6~w;696H`ȿL8?? 9nǿx%@nɽ`K?6Y@i6L.;6CԱ%BPC1B failed to parse battery data due to unrecognized msg size.9΅;Y΅)Bّّz@Cn@ضnnxJ/=LŸQ>YyD9J >9Yi::,:^^^^j\?7lLCompleted sci2_noyo_optim:SurfaceCommsq6lhAggregate::uninitialize sci2_noyo_optim:SurfaceCommsJ\B\zoG!jG!ZG!G!zG)H)H)H1H55 H1I54>H1H12I9o AYIeA)eAy K> 9 Zff,ךA>@>@ٗ>+x{;>89>H`# ȿ 8??nǿ=`ooZѽ@.?>@i>.;>C9Ygz@-'n@-w۶n9nAE'VE|=MzD9QM ?YIyIMDI9U U ?Y9YYYiYaaY]:]:Y^^^^1A \Aggregate::initialize sci2_noyo_optim:Lap:DiveqA`Aggregate::initialize sci2_noyo_optim:Lap:Dive:A18 ppAggregate::initialize sci2_noyo_optim:DiveCmd:SpiralDiveq8pzAggregate::initialize sci2_noyo_optim:DiveCmd:SpiralDive:dive8 qInitialize.8q.Moving to 10.000000 m 819 rAggregate::initialize sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepthq9rInitialize.9 sInitialize.9sInitialize.\`;q6ldAggregate::initialize sci2_noyo_optim:SurfaceComms6Z\66J\B\zoGjGZGGzGHHHHHI)P>HH2Io A K=G 5;Y1%R>%N>Aiԙ l,A 6ʺ@6伐@ٗ6uv;6+96Hȿ}7?@c?m ǿ8nӽ %?6ʺ@i6Q;6C9{YIyIMDI9UY9YYYiYaaY]:]:Y^^^^1A `Aggregate::uninitialize sci2_noyo_optim:Lap:DiveqAdAggregate::uninitialize sci2_noyo_optim:Lap:Dive:A18 ptAggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDiveq8 p ~Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDive:dive8  q Uninitialize.19  r Aggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDive:dive:ApproachDepthq9 r Uninitialize.9 9 mdCamera and lights off, previous state was 0 bool 617J\B\zoG)jG1ZG1G1zG1H9H9H9H=T,HAIEpt>HAHA2IAo Aq=i%=ԡvD}|^= K^> ys,1ΥA>z@>@ٗ>Wz;>9>H ȿ7?V? mǿ@bKJoн0?>z@i>$;>C9Jhz@V n@V%ܶnXn\^1CbS=b 9Qb>YdydfDd9f> f>h9hYhihlphj:j:h^|^|^|^|b\17q7nhAggregate::initialize sci2_noyo_optim:SurfaceComms:DJ\ B\ zo G!jG!ZG!G!zG!H)H)H)H5!H1I5 >H1H12I9oJ AvD5|=AQ Ke=) @y,4hA :k@:@ٗ:|;:9:H (ȿ 6?@v?`l`ǿW`o ɽ J?:k@i:i{;:C9Fϯ;YF5XBz@N"n@N۶npnpvQvH=v8Qv>YxyxzDx9~! ~>9Yi  ::^!^!^!^!J\)B\)zo1q/5^5^Aggregate::initialize sci2_noyo_optim:NeedComms/5_5@Initialize GoToSurfaceComponent.IA)A_EHReceived depth rate setting nan m/s._MRReceived pitch setting 19.999999 degrees._MHReceived speed setting 1.000000 m/s._MjReceived surface timeout setting 1000.000000 seconds._UNo altitude timeout specified. 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RK A@&\DefineArg sci2_noyo_optim.Depth1 = 35.000000 m!bK&EPDefineArg sci2_noyo_optim.Depth2 = nan m!MrKI&UPDefineArg sci2_noyo_optim.Depth3 = nan m!]KY&PDefineArg sci2_noyo_optim.Depth4 = nan m!K&PDefineArg sci2_noyo_optim.Depth5 = nan mڥAAڥ@A!K&PDefineArg sci2_noyo_optim.Depth6 = nan m!K&%PDefineArg sci2_noyo_optim.Depth7 = nan mvD5":AY Kmx>!K&PDefineArg sci2_noyo_optim.Depth8 = nan m!K&\DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool!K&bDefineArg sci2_noyo_optim.Repeat = 1.000000 count!K &MVDefineArg sci2_noyo_optim.Lat1 = nan arcdeg!]LY&]VDefineArg sci2_noyo_optim.Lat2 = nan arcdeg!mLi&VDefineArg sci2_noyo_optim.Lat3 = nan arcdeg!"L&VDefineArg sci2_noyo_optim.Lat4 = nan arcdeg!2L&VDefineArg sci2_noyo_optim.Lat5 = nan arcdeg!BL&VDefineArg sci2_noyo_optim.Lat6 = nan arcdeg!m RLi &u VDefineArg sci2_noyo_optim.Lat7 = nan arcdeg!} bLy & VDefineArg sci2_noyo_optim.Lat8 = nan arcdeg! rL & VDefineArg sci2_noyo_optim.Lon1 = nan arcdeg! L &% VDefineArg sci2_noyo_optim.Lon2 = nan arcdeg!5 L1 &5 VDefineArg sci2_noyo_optim.Lon3 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon4 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon5 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon6 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lon7 = nan arcdeg!% L! &- VDefineArg sci2_noyo_optim.Lon8 = nan arcdeg!5 kLa&dDefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s,Aɖ,.@Nt@N@ٗNNNT9NH6SĿ _?ӽ? @7Ŀdڐ(b??Nt@iN3;NC9bYq!yqD"M&DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 1.000000 min! E2MA&EdDefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s! U9b9 u>y9yYyiy݁݁y}1:}|:yGjGZGGzGI2Iob ABMQ&rDefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m!%ZM!&-rDefineArg sci2_noyo_optim.BuoyancyNeutral = 417.101959 ccC5AC1!rM&fDefineArg sci2_noyo_optim.MassDefault = 0.510797 cm!-M)&5dDefineArg sci2_noyo_optim.MinAltitude = 2.000000 m!=M9&E`DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m!!M&fDefineArg sci2_noyo_optim.MinOffshore = 2.000000 km!%M&dDefineArg sci2_noyo_optim.EnableRecording = 1 bool!)M&lDefineOutput sci2_noyo_optim.DiveMode = 0.000000 count!-eMa&mpDefineOutput sci2_noyo_optim.DoingComms = 0.000000 count!1}My&pDefineOutput sci2_noyo_optim.SpiralDive = 1.000000 count!5M&vDefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count!9%M!&-vDefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count!=5 N5A@&fDefineOutput sci2_noyo_optim.LegDepth = 35.000000 m!ANvD0::!1'ENsci2_noyo_optim.RecordingEnabled 0 bool KMt>&]lDefineOutput sci2_noyo_optim.RecordingEnabled = 0 bool&m~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl&urTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl&TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tlz,gA6@6ٯ@ٗ62غ6R96H YĿ_??Ǘ4<Ŀ(u @[? `W?6@i62;6C9n9Yni@tz@ehn@e.նnn A= :Q >YyDq9 >ߙ9ݙYݙiݙݡݡݙߝ:ߝ:ߙGjGZGGzGI2Ion A&uTethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 -e!X@& DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m-i!X&DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m-m!mXmi@&mDefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m-q!}Xy%=iR=&DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m[6Construct AltitudeEnvelope.-U \0Construct DepthEnvelope.vD Kg>\6Construct OffshoreEnvelope.a.&nInserting Stack from file: Missions/Insert/NeedComms.tl&bTethyslAPI: loading: Missions/Insert/NeedComms.tl&zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl,z5A6Ȯ@6Ⱁ@ٗ6 696HUĿN_?ܽ?@ 9Ŀ]b8a?@)?6Ȯ@i6#;49^C:Y^@z@-fn@-_նnn:Q=Q>YyD99 >9YiԳ:GYjGYZGYGYzGYIa2Iao^ AڥV>ڥx>vD?B:  K%o>& 1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout a/u! bZ @&E zDefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 ha/y!M rZM @&U DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 mina/}!] ZY & DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdega/! Z & |DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/sa/!E ZA &M ~DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/sa/!U ZQ & DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 sa/! Z @z@& zDefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 min_,;SOA 6q@6@ٗ66t96HOOĿ^??`33Ŀ yb?[i`?6q@i6);6C9NJH;YRPATa/!ZZZ @&ZDefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min% >%>z@%Qn@%g׶nAnIM;MP=U/QU>YQyQUD9: >9YiF:9:GAjGAZGAGIzGIII2IQ_u,Construct GoToSurface.oN AD>C >I-A))&xInserting Stack from file: Missions/Insert/BackseatDriver.tl&lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl&TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tlvD  Km>&UTethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2!e[a&eDefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool f2Construct BackseatDriver.&U nInserting Stack from file: Missions/Insert/PowerOnly.tl&U bTethyslAPI: loading: Missions/Insert/PowerOnly.tl&] zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlPљ,-iA6ޭ@6@ٗ6o+6(96HyYĿ`^?I$?ȗ>Ŀa@ e? +l?6ޭ@i6/;6C9w;YB -=)z@Bn@ضn!n!%"/<-==-zQ->Y1y1D9@ >ߙ9ݙYݙiݙݩݩݙߝ|:ߝn:ߙGjGZGGzGI 2I o AvD50::Aa Kmx>&qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a3![&lDefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 boola3![&pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 boola3![&%pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 boola3!-[)&UpDefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 boola3!e\a&ezDefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool iConstruct Wait.!r  &Construct Buoyancy.v, A6@6@ٗ6:6196HmbĿ-`?@F?o@|7ĿQ^?6@i6F;6C9N)Y1reConstruct.a9uy9D9@ >9Yi1:$: sConstruct.9 GAjGAZGAGIzGIII9 u9}sConstruct.92IQoN A9= u$Construct Execute.wConstruct. x-Construct Wait.ڡڥAAvD Kg>|EConstruct. }Construct.}Construct. Construct. ] &Construct Buoyancy. Construct. &Construct Waypoint.aB  &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.= &Construct Waypoint.>,眺Aɖ@6@6@ٗ6/6E96H`RĿ U_??3Ŀ\W?6?6@i6 u;6C9^CYyD9?: >߱9ݱYݱiݱݱߵX&<ߵ.'<߱}&Construct Waypoint.GjGZGGzGI2Io^ A&Construct Waypoint.CCA &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. M&Construct Waypoint. &Construct Waypoint. 5&Construct Waypoint. &Construct Waypoint.vDvт:)9 KMt> &Construct Waypoint.&Construct Waypoint.M&Construct Waypoint.- &Construct Waypoint. &Construct Waypoint.} &Construct Waypoint.E &Construct Waypoint. &Construct Waypoint.Y,¶A6@6@ٗ6ɺ6]g96H@KĿ_??a,Ŀ :@]6Y?:?6@i6;49^OY^[bAbAz@jen@jxնnpntvBvV=zIqQz>Yxyx~DI=A)9u&Construct Waypoint.q9} : }>߁9݁Y݁i݁݉݉݁߅:߅:߁GjGZGGzGI2Io^ A E&Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. %&Construct Waypoint. &Construct Waypoint. &Construct Waypoint. ]&Construct Waypoint.vDEq:Qa KuW>&Construct Waypoint.&Construct Waypoint.-&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.e &Construct Waypoint. &Construct Waypoint. U &Construct Waypoint. &Construct Waypoint. - &Construct Waypoint. U &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.,кA6@6۸@ٗ6|+6}L96Hb6Ŀg`?f?4 Ŀ`Tn\?@y7?6@i6D;6C9NYNgz@VMn@V׶n9n9E,:EE=EoQM>YIyIMDI9U: U> &Construct Waypoint.9YiM&Construct Waypoint.:\_<GajGaZGiGizGiIi2IoN A&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.5&Construct Waypoint.e&Construct Waypoint. &Construct Waypoint.U&Construct Waypoint.ڹڽN> &Construct Waypoint.vD Kj> 5&Construct Waypoint. }&Construct Waypoint. ʭ&Construct Waypoint. -&Construct Waypoint. ̵&Construct Waypoint. &Construct Waypoint. ΍ &Construct Waypoint.  &Construct Waypoint.)1 5 CՕ G֩  ;Y u ;} a=ҭ &Construct Waypoint. ,wA ,,J@JÑ@ٗJSJm9JHĿ `?M? Қ`ÿ@a3@J^P?`R?J@iJV;JC9^Y^Mf>f>z@jJn@jضnnƼN= :Q >Y yD9 N; > &Construct Waypoint.Y9YYYiYaaY]:]E:YGjGZGGzGI2Io^ ADM >CI&Construct Waypoint. }&Construct Waypoint.&Construct Waypoint. ߥ&Construct Waypoint.E&Construct Waypoint.vD]vт:iy KZ>&- ) # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission sci2_noyo_optim { """ Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on. By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications. """ arguments { MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ How often to surface for commumications """ Depth1 = 35 meter """ Depth of flat and level flight during the mission for the first transit leg or lap. """ Depth[2..8] = NaN meter """ Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN. """ DepthPerLeg = false """ Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). """ Repeat = 1 count """ Number of times the vehicle should try to cycle through waypoints. """ Lat[1..8] = NaN degree """ Latitude of waypoint {$}. If nan, waypoint is skipped. """ Lon[1..8] = NaN degree """ Longitude of waypoint {$}. If nan, waypoint is skipped. """ FastSpeed = 1 meter_per_second """ Speed while transiting to waypoint. """ ApproachSpeed = 1 meter_per_second """ Speed while descending to target depth. """ ApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth """ ApproachSettleTimePostDive = 1 minute """ Time duration for the vehicle to settle *AFTER* reaching the target depth. """ SlowSpeed = 0.25 meter_per_second """ Set this to something other than Nan if slow speed filming with a wide depth deadband is desired. """ DepthDeviationSlow = 3 meter """ Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set. """ BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral """ Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. """ MassDefault = Control:VerticalControl.massDefault """ Static setting for mass during the mission. Set to NaN mm for active mass position. """ MinAltitude = 2 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 50 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ EnableRecording = true """ Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings. """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ SpiralDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to spiral down to initial depth. """ SettleAtDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. """ MaintainDepth = 3 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ LegDepth = Depth1 """ Mission variable to track the current depth for the current leg. """ RecordingEnabled = false """ Mission variable to track whether payloads (camera and lights) should be on """ } # Mission timeout timeout duration=MissionTimeout # Science! # insert Insert/Science.tl { # """ # Run the science sensors. #""" # } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl assign in sequence Sensor:MultiRay.lightModeCommand = 2 count readData strategy="MinError" { while ( Sensor:MultiRay.loadAtStartup and RecordingEnabled ) Sensor:MultiRay.lightModeLog } behavior Guidance:Buoyancy { run in parallel set position = BuoyancyNeutral } aggregate SetRecording { """ Controls state of camera (via backseat and poweronly) and lights """ run in parallel assign in parallel BackseatDriver:EnableBackseat = RecordingEnabled assign in parallel PowerOnly:SampleLoad1 = RecordingEnabled } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms syslog info "Camera and lights off, previous state was " + RecordingEnabled~bool assign in sequence RecordingEnabled = false call refId="NeedComms" assign in sequence DiveMode = SpiralDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between dive modes. """ run when ( called ) aggregate SpiralDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == SpiralDive ) aggregate dive { run in sequence behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } syslog "Moving to " + LegDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = ApproachSpeed } behavior Guidance:Point { run in parallel set rudderAngle = 13 degree } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = LegDepth } } assign in sequence DiveMode = SettleAtDepth } } aggregate SettleAtDepth { """ Take a few more moments here to make sure the vehicle is settled at the target depth. """ run while ( DiveMode == SettleAtDepth ) aggregate dive { run in sequence syslog info "Reached " + Universal:depth~meter + ", settling for " + ApproachSettleTimePostDive~minute behavior Guidance:Pitch { run in parallel set depth = LegDepth } behavior Guidance:Wait { run in sequence set duration = ApproachSettleTimePostDive } aggregate EnableRecordingAtDepth { run in sequence syslog info "Reached depth, initial recording state is " + EnableRecording~bool assign in sequence RecordingEnabled = EnableRecording } assign in sequence DiveMode = MaintainDepth } } aggregate MaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and ( ( Universal:depth > ( LegDepth + DepthDeviationSlow ) ) or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) ) or isNaN ( SlowSpeed ) ) ) assign in parallel RecordingEnabled = EnableRecording aggregate dive { run in parallel aggregate ThrusterDive { run while ( FastSpeed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } behavior Guidance:SetSpeed { run in parallel set speed = FastSpeed } } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } aggregate MaintainDepthSlow { """ Cruise slow at the target depth. """ run while ( ( not isNaN ( SlowSpeed ) ) and ( DiveMode == MaintainDepth ) and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) ) and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) ) ) assign in parallel RecordingEnabled = EnableRecording behavior Guidance:SetSpeed { run in parallel set speed = SlowSpeed } # Let's make sure the vertical control depth deadband doesn't interfere with our mission # level version of the deadband. And we'll add an extra 3m so we don't trigger any # faults inside vertical control when attempting to regain the commanded depth. assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m ) behavior Guidance:Buoyancy { run in parallel set position = NaN cc } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } # Start mission sequence call id="StartingMission" refId="SurfaceComms" aggregate Lap { run in sequence repeat=Repeat aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call refId="DiveCmd" } # Default behavior: Depths correspond to laps # Run through all waypoints at each depth aggregate DepthByLap { run in sequence break if ( DepthPerLeg ) assign in sequence LegDepth = Depth1 aggregate Wpt1 { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } macro $j = 2..8 { aggregate Leg$j { run in sequence break if ( isNaN ( Depth[$j] ) ) syslog important "Transiting waypoints at depth " + Depth[$j]~meter assign in sequence LegDepth = Depth[$j] macro $i = 1..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } # Non-default behavior: depth by leg # Transit to waypoint at corresponding depth, repeat per lap # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on) aggregate DepthByLeg { run in sequence break if ( not DepthPerLeg ) aggregate Leg1 { run in sequence assign in sequence LegDepth = Depth1 behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Leg$i { run in sequence break if ( isNaN ( Depth[$i] ) ) syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter assign in sequence LegDepth = Depth[$i] aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } } =5 ~Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim1 9 Q  ,!\A6Ȋ@6ʑ@ٗ6V6@96Hÿb?V?@ÿbJ?UG?6Ȋ@i6O;6C9fJYf= j=j=z@r@n@r ٶnn O< J= 9Q >YyDq9}; }>߁9݁Y݁i݁݉݉݁߅h:߅Z:߁JJJJJJGY:GjGZGGzGIPwV=2Iof A)vDUΒ{:aqy Kԡ 22,.A6@6‘@ٗ69696H`Ŀ +`?`wY? ÿ`c-rQ?į?6@i6c;4<9NʻYRyz@Zn@ZܶndndfNfN=j"Qj>Yhyl]DY9]I- ]>a9aYaiaiiae5:ek:aJJJJJJGGjGZGGzGI2IoN AvD`;! 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",|\A6m@6o@ٗ6m\696H`Ժ@2?C?@,ຍk?`GʽL?6m@i6 ;6ŔC9NBZ!>z@Z)n@ZF۶bJ9bH=bC+:Qf>YdydfEfЯB9j9: j>lr79nI7 ?r7YnD`rtIin>tvֿvBnׯBn ;n/;nF7^^^^  ^]]]]J\B\!zo!GM:@GMGQbGUGQjGUS9ZGQGQzGUF`HH8DH7BHHIH!H!2I!Ա11.C=KCDD K> >(,h\Al@n@ٗtfA9H@9ۺ?ࡺ?9Ǻ`&䁿 l?̽`B?l@i";9-?;Y5B Y Yz@en@eݶuϻu@=uXQ>YyEB9;q >ߩ79ݭ3 ?7YݭO`tIiݭr>ֿBݭB߭6;߭-;߭7=ngot command run ./Missions/Engineering/multiray_test.tl&LUninitializing Mission sci2_noyo_optim^^ ^ ^  ^]]]]J\B\zo1 2NAggregate::uninitialize sci2_noyo_optim- [rAggregate::uninitialize sci2_noyo_optim:StandardEnvelopes-[NUninitialize AltitudeEnvelopeComponent.1. \Uninitialize.q.\NUninitialize OffshoreEnvelopeComponent.2elAggregate::uninitialize sci2_noyo_optim:BackseatDriver13q3fbAggregate::uninitialize sci2_noyo_optim:PowerOnly34 i8Uninitialize Wait Component.4qr@Uninitialize Buoyancy Component.5 khAggregate::uninitialize sci2_noyo_optim:SetRecording5167o^Aggregate::uninitialize sci2_noyo_optim:DiveCmd18 ptAggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDive1; vzAggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepthq=zzAggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth=={Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive1> |Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDiveq>|Uninitialize.> }Uninitialize.>@VAggregate::uninitialize sci2_noyo_optim:Lap1A `Aggregate::uninitialize sci2_noyo_optim:Lap:DiveqAdAggregate::uninitialize sci2_noyo_optim:Lap:Dive:AA lAggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap1B vAggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1qB>Uninitialize WaypointComponent.GD@G-撾GbGGjGZGGzGp _H H 7DHm)%BHiHqIqHqHq2IqByByBBC5GaBe K>9% 9% 9U 9 U 9U a9U !r a3! a3! a3! a3! a3! 2! a/! a/! a/! a/! a/! a/}! a/y! a/u! a. - -q! -m! -i! -e! !AM !=M !9M !5M !1U !-U !)U !%U !!U !U !U !U !U ! U ! U !U !U !U !] !] !] !] !} !} !} !} !} !} !} !} !} ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! & Loading Mission from file: ./Missions/Engineering/multiray_test.tl& xTethyslAPI: loading: ./Missions/Engineering/multiray_test.tl& TethyslAPI: mission file loaded: ./Missions/Engineering/multiray_test.tlzi.,r\A6mh@6j@ٗ6m65 96H ??`E@@逿஭p?:н0?6mh@i6;6ĔC9>HYBZF>D D Dz@JBn@JضxR=Q>Y y  E jB9 ô >7920 ?7YY`tIi;>ݡݥֿBpB;<<07G:jGZGGzGI2IC2Qi'uHVerticalControl.depthCmd 10.000000 m'}Nsci2_noyo_optim.RecordingEnabled 1 bool'}Nsci2_noyo_optim.DiveMode 3.000000 count K=& U?TethyslAPI: ./Missions/Engineering/multiray_test.tl translated into: 5 5 0 1 2 *n code=01CC name="multiray_test" *e code=086F elementURI="multiray_test.MissionTimeout" type=00 *a code=0DFB owner=01CC element=086F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0DFC owner=01CC element=086F universal=3FFF unitName="minute" type=1F size=0008 fl=05 o r@& jDefineArg multiray_test.MissionTimeout = 5.000000 min*e code=0870 elementURI="multiray_test.LightDuration" type=00 *a code=0DFD owner=01CC element=0870 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0DFE owner=01CC element=0870 universal=3FFF unitName="second" type=1F size=0008 fl=05 o% @&- dDefineArg multiray_test.LightDuration = 5.000000 s*e code=0871 elementURI="multiray_test.LightMode0" type=00 *a code=0DFF owner=01CC element=0871 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E00 owner=01CC element=0871 universal=3FFF unitName="count" type=1F size=0008 fl=05 p= &E fDefineArg multiray_test.LightMode0 = 0.000000 count*e code=0872 elementURI="multiray_test.LightMode1" type=00 *a code=0E01 owner=01CC element=0872 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E02 owner=01CC element=0872 universal=3FFF unitName="count" type=1F size=0008 fl=05 pU ?&] fDefineArg multiray_test.LightMode1 = 1.000000 count*e code=0873 elementURI="multiray_test.LightMode2" type=00 *a code=0E03 owner=01CC element=0873 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E04 owner=01CC element=0873 universal=3FFF unitName="count" type=1F size=0008 fl=05 "pu @&u fDefineArg multiray_test.LightMode2 = 2.000000 count*a code=0E05 owner=01CC element=045F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0874 elementURI="multiray_test.EnabledMultiray" type=00 *a code=0E06 owner=01CC element=0874 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E07 owner=01CC element=0874 universal=3FFF unitName="bool" type=02 size=0001 fl=05 :p & `DefineArg multiray_test.EnabledMultiray = 1 bool*n code=01CD name="multiray_test:A" *n code=01CE name="multiray_test:B" *a code=0E08 owner=01CE element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 s *n code=01CF name="multiray_test:C.Wait" Construct Wait.*n code=01D0 name="multiray_test:D" *a code=0E09 owner=01D0 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01D1 name="multiray_test:E.Wait" Construct Wait.*n code=01D2 name="multiray_test:F" *a code=0E0A owner=01D2 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01D3 name="multiray_test:G.Wait" Construct Wait.*n code=01D4 name="multiray_test:H" *a code=0E0B owner=01D4 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01D5 name="multiray_test:I.Wait"  Construct Wait.*n code=01D6 name="multiray_test:J" *a code=0E0C owner=01D6 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01D7 name="multiray_test:K.Wait" Construct Wait.*n code=01D8 name="multiray_test:L" *a code=0E0D owner=01D8 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01D9 name="multiray_test:M.Wait" M Construct Wait. R5,P\A6:f@6Zh@ٗ66196HII?? juӳq?̽`:?6:f@i6- ;49N;YNޒB T TTVAz@ZLn@Z׶*n code=01DA name="multiray_test:N" *a code=0E0E owner=01DA element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01DB name="multiray_test:O.Wait" -Construct Wait.*n code=01DC name="multiray_test:P" *a code=0E0F owner=01DC element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01DD name="multiray_test:Q.Wait" mConstruct Wait.}<}C=}#Q}>YyE=B9' >ߑ*n code=01DE name="multiray_test:U" *a code=0E10 owner=01DE element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01DF name="multiray_test:R.Wait" Construct Wait.79ݕ, ?7YݕKd`tIiݕ$>ֿBݕCBߕi<ߕj<ߕM7*n code=01E0 name="multiray_test:S" *a code=0E11 owner=01E0 element=06A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=01E1 name="multiray_test:T.Wait" EConstruct Wait.GQjGQZGQGYzGYIY2Ia&M1- # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission multiray_test { """ This mission is designed to run in the lab only. Cycles through MultiRay light modes """ arguments { MissionTimeout = 5 minute """ How long to let the mission run. """ LightDuration = 5 second """ How long to wait before changing light modes """ LightMode0 = 0 count """ Light mode = 0 """ LightMode1 = 1 count """ Light mode = 1 """ LightMode2 = 2 count """ Light mode = 2 """ EnabledMultiray = Sensor:MultiRay.loadAtStartup """ Automatically set to true if the Multiray is enabled. """ } timeout duration=MissionTimeout readData strategy="MinError" { while ( EnabledMultiray ) Sensor:MultiRay.lightModeLog } # # # assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode1 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode2 behavior Guidance:Wait { run in sequence set duration = LightDuration } assign in sequence Sensor:MultiRay.lightModeCommand = LightMode0 behavior Guidance:Wait { run in sequence set duration = LightDuration } } =e^Running ./Missions/Engineering/multiray_test.tlaCm qDDDDԡD59Q K]v> M|;,,\A6g@6i@ٗ6696H; n?C? 2xq?`(Ͻ3?6g@i6;6ŔC9>̺YB{ D Dz@J6n@JڶLRSRY=V9QV>YVyZZEX9Z: Z>\b79\b7Y\btIi\ff?ffB\^:^:^^g7&j:Started mission multiray_testfIh1sn nFAggregate::initialize multiray_testqsnsnBprsrsrr4Initialize Wait Component.qsr*a code=0E12 owner=01CD element=06A4 universal=3FFF unitName="count" type=0D size=0004 fl=04 vvInitialize ReadDataComponent to sense MultiRay.lightModeLogGxjGxZG|G|zG|I|2ICB  K-=Iť A)ť A! bB,K ]A6h@6j@ٗ6@6\96H`@?@ſ?O꺿SрDp?ν8?6h@i6;6ĔC9TYTXiX X Xz@^7n@^ٶf`9Qf>YhyhjEh9j[9 n>pr79pv7YpvtIipttvBpr(:r:r77|G jG ZG G zG I2IC)vD.ą>)9 KMR>Qԁ ͌H,#]Aɖ:j@:l@ٗ::9:H`캿@?@½?@ۺ. p?ѽ,?:j@i:;:ǔC9FչYFMY4Sent LCM shutdown request.nShutdown requested. Waiting (18.00 sec to power down.).  %>z@kn@Զˬ:<9Q>YyE99 >797YtIiB: :57GjGZGGzGI 2IbC=ZC=C ԁvDC}> K)>Թ4=i%= ׶N,E=]A6k@6m@ٗ6u696H d㺿? ?Ѻr`n?ɽL?6k@i61;6ƔC9BYBg ى ؑz@@n@ ٶ:W=9Q>YyE9 ~9  >797YtIi%B::7G9jG9ZG9G9zG9IA2IAB}9CUD]=C]=vD5C>9Q K]>9 iU,W]A6j@6 m@ٗ6X6x96H 꺿ۚ??غ5" p?`nʽG?6j@i6";6ÔC9>a;YB B=F.MultiRay all lights OFFHJ> H Hz@N>n@N>ٶR<Vb=VQV>YXyXZEX9^ ^>`b79`b7Y`ftIi`ddfB`b:b:b՛7GpjGpZGtGtzGtIt2Ix BCvDU#> K>9IuA)uAiԑ [,mq]A>Wj@>wl@ٗ>>9>Hǚ?@7?y@޺ Pt_p?˽`D?>Wj@i>;<9DYDJPowering downiHIHHHq-$Powering down LCB2i)I)))ԡ ٹ عAz@(n@_۶Q>YyE!9% %>)579)57Y)5tIi)19=B)-3:-:-7GjGZGGzGI2IB 9C `ӻvD] =i y  K > b,H]A6.k@6Nm@ٗ6;~696H线?N? ֺ+ Bo?@ŽX?6.k@i6U;6ǔC9B0YB D Dz@J!n@J ܶRR%=i)A ECեGֹ  h@>k@ٗ>׊>9>H`?E?P@Y뺿`Zq?f?>h@i>;>ȔC9FʻYFy L Lz@Nn@NܶV:<VJ=ZaQZ>YXyX^E\9^3 ^>`f79`f7Y`ftIi`hhjB`b:b:bm(7GtjGtZGtGtzGxIx2IxB9CŻQvD׮< K>yԩ o,]A>ol@@>n@ٗ>g~>9>Hݺ`?@ս?̺'o?`Xͽol@i>~;>ŔC9JYJ L Lz@Rn@R඙Z<ZJ=Za:Q^>Y\y\^E`9bq: b>dj79dj7YdjtIidhhjBdf:dfD7GxjGxZGxGxzGxI|2I|B?9C溻))ԩvD?B: Kg> u,E]A:bm@:o@ٗ:S{:9:H^ֺ`?`W?ĺ7@%vo?@˽E?:bm@i:;89FJYF= H Hz@Nn@N,䶙V;;VK=Za8QZ>YXyXZEX9^Ֆ9 ^>`f79`f7Y`ftIi`dhjB`b:b:b_7lGtjGxZGxGxzGxI|2I|B9C= vD0::!19 KEs>a |,]A6fm@6o@ٗ6{696H@>ֺ`=?? ĺ1@qo?½@e?6fm@i6b;49>9YBi@ D Dz@Jn@J~涙nv;nG=r6Qr>YpypvEt9v6 v>x~79x~7Yx~tIix|Bxz{:zz:z{7GjGZGGzGI!2I!AB9CivD  K%o>ԑ ,6 ^A p<6ol@6n@ٗ66u96Hݺ?ڶ?@Oͺ68p?Ž`X?6ol@i6;6ƔC9BBYTyXZEX9Z Z>\b79\b7Y\btIi\ddfB\^k:^:^7GpjGpZGpGpzGtIt2IxAz^AAzZAԙB549C_=;>=?>vD1AQ Kuy> ),k&^AIA)A:l@:n@ٗ:z?:dz9:Hܺ?ڵ? ˺ *p?!Ž[?:l@i:;:ǔC9FOYF[ H Hz@Nn@Nv継VlҼVJ=V8QZ>YXyXZEX9^Ζ8 ^>`f79`f7Y`ftIi`ddfB``b:bI7GtjGtZGtGtzGtIx2IxBu9Cd!vD K-o>Iy ,F@^A>m@>p@ٗ>w>9>H@ѺG?n?L`n?Ľ^?>m@i> ;>ŔC9F;YF/9BLiL L Lz@Rn@R継ZZ<ZJ=Zʬ9QZ>Y\y\^E\9b9 b>df79dj7YdjtIidhhjBdf:f]:f͜7GtjGxZGxGxzGxIx2I|B9QCmԁvD K>ԩ :,!Z^Aɖ6Sn@6sp@ٗ6pv6c96H κW?@β?@켺@P@n?½d?6Sn@i6;6ƔC9Bϯ;YB5XB D Dz@Jn@J涙v*:vG=z8Qz>YxyxzEx9~8 ~> 79 7Y tIi  B::7Done Waiting.s%%8Uninitialize Wait Component.1t%G)jG)ZG1G1zG1I12I9AE?AE:?B%9bC=ZC=ԱCxvD?B:!1 KEs> 9 YBJ D Dz@Jn@J嶙R׼RO=Vr9QV>YTyTZEX9Z3]: Z>\b79\b7Y\btIi\`dfB\^+:^:^7Jpj1tjqtnn4Initialize Wait Component.GpjGtZGtGtzGtIt2IxBf9Cc9vD0::!1 KAIM A)M Ai L,؍^A :Tn@:tp@ٗ:w:9:Hκ *? ?@q逿@Np?yͽ;?:Tn@i:#;:ŔC9B]:YFt6AJ>J> H Hz@Nn@NE䶙VUy<VJ=VQV>YXyXZEX9^W ^>`b79`f7Y`ftIi`ddfB`b4:b:b 7GtjGtZGtGtzGtIx2IxB9COiԙvD?B:!9 KA z,L§^A :pq@:s@ٗ:f:Px9:Hě??;n@@ l?½`z?:pq@i:5;:ȔC9Jk;LYJgB y yz@}n@}$⶙+<:=m:Q>YyE9b: >)579)57Y)=tIi)99=B)-b:-:-k?7GQjGQZGYGYzGYIY2IaAm]AAm\ABM9RCU]AJCU\ACeL8Ce]ACe_AvD0:: K> ^,*^A6 q@6,s@ٗ6&n696H8`? ?0`l Pm?񿽿 q?6 q@i6;6ƔC9BչYBM Y Yz@un@uwᶙC{L=$Q>YyE9 >797YtIiB4:v:Z7GjGZGGzGI2IBi9C,$)YvD?B: K>ԁ ,k^AɅG"^~A*A @YB^~Afnp@fr@ٗftfĶ9fH!?A?@ JS Yn?Ž[?fnp@if ;fɔC9nYnJ‰tit t tz@zn@zY]@]P=eQe>YayamEi9mH m>q}79q}7Yq}tIiqy݁Bqu:us:ut7GjGZGGzGI2IBu9Cm;ԁvDu0:: K>Ա @,D^Aɖ6po@6q@ٗ6y&~696Hƺm?ȴ?@`Mo? 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Wҽ'?>|@i>a;> C9N;YR/9Bz@Vn@V趙f䜻fK=jQj>Yhyhj.Eh9n" n>pv 89pv 8YpvtIipttzVCpr:r<:rE 8G!jG)ZG)G)zG)I)2I1i K]=35,?A p<6}@6!@ٗ6F6K96HZ?a?h{Li`bq?`d˽ A?6}@i6i;49B=KYBpir=z@Jn@JD継zzH=~7Q~>YYyY].EY9eJr8 e>im 89iu 8YiutIiiqquVCimZ:m:m T 8GjGZGGzGI2I-V>-e>vDXR= KE>u5,ϡYA6w~@6@ٗ6K6pL96H qN?{˽? &@=! q?ؽ`?6w~@i60o;49>CYtytv.Et9z9 z>|] 89|] 8Y|etIi|aaeVC|~:~:~Wa 8GjGZGGzGI2IvD)= K=Iŭ A)ŭ AoF5,R|sA6~@6–@ٗ66/96HL`? ǽ?`\=1>@׾p?Խ@ ?6~@i6v;49>]:YBt6Az@Fn@F鶙r}ڼvJ=&)9Q >Y!y)5.E1MՄGay ׽;Yֹ9[8 > 89 8YtIiVCk:]:p 8GajGaZGaGizGiIi2IqD}C=C}p=vDM0;Yi K}=&TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into: 2 60 35 NaN NaN NaN NaN NaN NaN NaN 1 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 1 1 15 1 0.25 3 2 50 2 0 0 1 2 3 0 2 Camera and lights off, previous state was Moving to 13 Timed out while trying to reach target depth at current depth of stop Reached , settling for Reached depth, initial recording state is 0.0 3 NaN Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Yy.E9Յ >߱&lDefineOutput sci2_noyo_optim.RecordingEnabled = 0 bool&~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl&rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl&TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 89ݱ 8YݱtIiݱVCݱߵe<ߵf<ߵ} 8GjGZGGzGI2I))vDrg:!1'ENsci2_noyo_optim.RecordingEnabled 0 bool'MNsci2_noyo_optim.DiveMode 0.000000 count KMt>&MTethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 -e!eXe@&DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m-i!X&DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m-m!Xi@&DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m-q!X&DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m[ 6Construct AltitudeEnvelope.-5  \E 0Construct DepthEnvelope.\ 6Construct OffshoreEnvelope.a. & nInserting Stack from file: Missions/Insert/NeedComms.tl& bTethyslAPI: loading: Missions/Insert/NeedComms.tl& zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl %=i 4= X)5,0A:Z~@:z@ٗ::9:H`XO@Ԝ?`?`@b9p?X̽??:Z~@i:,q;: C9Nw;YRBz@Vn@V鶙v)=vV=vq?9Qv>Yxyxz.Ex9~9 ~>a 89a 8YatIiaݡݡVCae& 1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout a/u!- bZ- @&5 zDefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 ha/y!= rZ= @&E DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 mina/}!U ZQ &] DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdega/!e Za &m |DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/sa/!u Zq &} ~DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/sa/! Z & DefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 sa/! Z @z@& zDefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 mina/! Z @& DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min_ ,Construct GoToSurface.&- xInserting Stack from file: Missions/Insert/BackseatDriver.tl&- lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl@05,IA:~@:@ٗ:m:_9:HM`??>_@mp?@ʽ`F?:~@i:z;:C9NCYtytv.Et9zGZ8 z>&~TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tlx= 89x= 8YxEtIixAAEVCxz:z>:z~ 8GjGZGGzGI2ICACA&TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2![&DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool f52Construct BackseatDriver.&EnInserting Stack from file: Missions/Insert/PowerOnly.tl&EbTethyslAPI: loading: Missions/Insert/PowerOnly.tl&mzTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlvDrg: ) K=P>&qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a3![&lDefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 boola3![&pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 boola3![&pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 boola3! [ &pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 boola3!\!&%zDefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool i]Construct Wait.IuA)uA!ru&Construct Buoyancy. q Construct.rE Construct.a9  s Construct.9 9  9 s Construct.9 9  u $Construct Execute.w Construct. x Construct Wait.fj65,A 4<6~@6>@ٗ636A96H5Q ?@Ľ?eB D`÷p?`ѽ*?6~@i6o;6C9^̺Y^{z@fn@f 趙][eC=e0Qe>Yayim.Ei9m m>q} 89q} 8Yq}tIiq݁݁WCqu:u:uԦ 8|Construct.GjGZGGzGI2I }uConstruct.}Construct. Construct.-R>-R> 5&Construct Buoyancy.mConstruct.&Construct Waypoint.aB%=&Construct Waypoint.&Construct Waypoint. &Construct Waypoint.vD)A'UHVerticalControl.depthCmd 10.000000 m K]U>&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.m&Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. E&Construct Waypoint. u&Construct Waypoint. &Construct Waypoint.  &Construct Waypoint. E &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.M &Construct Waypoint. &Construct Waypoint.  &Construct Waypoint. 5 &Construct Waypoint.ڔ<5,;A6G~@6g@ٗ61696HO?Ž?@xM cp?Kҽ(?6G~@i6t;6 C9RYRz@Zn@Zn嶙f fT=fS8Qf>Yhyhj.Eh9nU8 v&Construct Waypoint. >  89  8Y tIi  &Construct Waypoint.ݱWC  .< < ) 8GjGZGGzGI2I M&Construct Waypoint. &Construct Waypoint. &Construct Waypoint.e&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.E&Construct Waypoint. &Construct Waypoint. &Construct Waypoint.vDy K`>=i= &Construct Waypoint. M&Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.]&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.m &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.5 &Construct Waypoint. } &Construct Waypoint.  &Construct Waypoint. - &Construct Waypoint. ] &Construct Waypoint. ˅ &Construct Waypoint. ̭ &Construct Waypoint. &Construct Waypoint.  &Construct Waypoint.{C5,A6~@6怓@ٗ6*6Y96HKଜ?̽?>=@-?`Op?ٽ ?6~@i6^x;6 C9^eI=6Q>Yy.E949 > 8&Construct Waypoint.9 8YtIiWC];e; 8GjGZGAGAzGAII2IID}=C}= ՝&Construct Waypoint.&Construct Waypoint. &Construct Waypoint.5&Construct Waypoint. }&Construct Waypoint.&Construct Waypoint.vD Kc>&  # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission sci2_noyo_optim { """ Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on. By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications. """ arguments { MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ How often to surface for commumications """ Depth1 = 35 meter """ Depth of flat and level flight during the mission for the first transit leg or lap. """ Depth[2..8] = NaN meter """ Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN. """ DepthPerLeg = false """ Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). """ Repeat = 1 count """ Number of times the vehicle should try to cycle through waypoints. """ Lat[1..8] = NaN degree """ Latitude of waypoint {$}. If nan, waypoint is skipped. """ Lon[1..8] = NaN degree """ Longitude of waypoint {$}. If nan, waypoint is skipped. """ FastSpeed = 1 meter_per_second """ Speed while transiting to waypoint. """ ApproachSpeed = 1 meter_per_second """ Speed while descending to target depth. """ ApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth """ ApproachSettleTimePostDive = 1 minute """ Time duration for the vehicle to settle *AFTER* reaching the target depth. """ SlowSpeed = 0.25 meter_per_second """ Set this to something other than Nan if slow speed filming with a wide depth deadband is desired. """ DepthDeviationSlow = 3 meter """ Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set. """ BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral """ Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. """ MassDefault = Control:VerticalControl.massDefault """ Static setting for mass during the mission. Set to NaN mm for active mass position. """ MinAltitude = 2 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 50 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ EnableRecording = true """ Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings. """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ SpiralDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to spiral down to initial depth. """ SettleAtDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. """ MaintainDepth = 3 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ LegDepth = Depth1 """ Mission variable to track the current depth for the current leg. """ RecordingEnabled = false """ Mission variable to track whether payloads (camera and lights) should be on """ } # Mission timeout timeout duration=MissionTimeout # Science! # insert Insert/Science.tl { # """ # Run the science sensors. #""" # } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl assign in sequence Sensor:MultiRay.lightModeCommand = 2 count readData strategy="MinError" { while ( Sensor:MultiRay.loadAtStartup and true ) Sensor:MultiRay.lightModeLog } behavior Guidance:Buoyancy { run in parallel set position = BuoyancyNeutral } aggregate SetRecording { """ Controls state of camera (via backseat and poweronly) and lights """ run in parallel assign in parallel BackseatDriver:EnableBackseat = RecordingEnabled assign in parallel PowerOnly:SampleLoad1 = RecordingEnabled } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms syslog info "Camera and lights off, previous state was " + RecordingEnabled~bool assign in sequence RecordingEnabled = false call refId="NeedComms" assign in sequence DiveMode = SpiralDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between dive modes. """ run when ( called ) aggregate SpiralDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == SpiralDive ) aggregate dive { run in sequence behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } syslog "Moving to " + LegDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = ApproachSpeed } behavior Guidance:Point { run in parallel set rudderAngle = 13 degree } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = LegDepth } } assign in sequence DiveMode = SettleAtDepth } } aggregate SettleAtDepth { """ Take a few more moments here to make sure the vehicle is settled at the target depth. """ run while ( DiveMode == SettleAtDepth ) aggregate dive { run in sequence syslog info "Reached " + Universal:depth~meter + ", settling for " + ApproachSettleTimePostDive~minute behavior Guidance:Pitch { run in parallel set depth = LegDepth } behavior Guidance:Wait { run in sequence set duration = ApproachSettleTimePostDive } aggregate EnableRecordingAtDepth { run in sequence syslog info "Reached depth, initial recording state is " + EnableRecording~bool assign in sequence RecordingEnabled = EnableRecording } assign in sequence DiveMode = MaintainDepth } } aggregate MaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and ( ( Universal:depth > ( LegDepth + DepthDeviationSlow ) ) or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) ) or isNaN ( SlowSpeed ) ) ) assign in parallel RecordingEnabled = EnableRecording aggregate dive { run in parallel aggregate ThrusterDive { run while ( FastSpeed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } behavior Guidance:SetSpeed { run in parallel set speed = FastSpeed } } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } aggregate MaintainDepthSlow { """ Cruise slow at the target depth. """ run while ( ( not isNaN ( SlowSpeed ) ) and ( DiveMode == MaintainDepth ) and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) ) and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) ) ) assign in parallel RecordingEnabled = EnableRecording behavior Guidance:SetSpeed { run in parallel set speed = SlowSpeed } # Let's make sure the vertical control depth deadband doesn't interfere with our mission # level version of the deadband. And we'll add an extra 3m so we don't trigger any # faults inside vertical control when attempting to regain the commanded depth. assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m ) behavior Guidance:Buoyancy { run in parallel set position = NaN cc } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } # Start mission sequence call id="StartingMission" refId="SurfaceComms" aggregate Lap { run in sequence repeat=Repeat aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call refId="DiveCmd" } # Default behavior: Depths correspond to laps # Run through all waypoints at each depth aggregate DepthByLap { run in sequence break if ( DepthPerLeg ) assign in sequence LegDepth = Depth1 aggregate Wpt1 { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } macro $j = 2..8 { aggregate Leg$j { run in sequence break if ( isNaN ( Depth[$j] ) ) syslog important "Transiting waypoints at depth " + Depth[$j]~meter assign in sequence LegDepth = Depth[$j] macro $i = 1..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } # Non-default behavior: depth by leg # Transit to waypoint at corresponding depth, repeat per lap # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on) aggregate DepthByLeg { run in sequence break if ( not DepthPerLeg ) aggregate Leg1 { run in sequence assign in sequence LegDepth = Depth1 behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Leg$i { run in sequence break if ( isNaN ( Depth[$i] ) ) syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter assign in sequence LegDepth = Depth[$i] aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } } = ~Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim ! 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Ž?`E5 2m@o?ҽ(?6N@i6w;6&C9N]:YNt6Az@,n@ڶ=EQ=EQE>YIyIM9EI9McG M>Q#89Q#8YQtIiQxCQUaYhyhj9Eh9j6 n>#89#8Y tIi   xC: :#8GAjGAZGAGAzGAII2IIvDuX< K=\(?,?pA6烌@6@ٗ6696H,#`u??:42pp?ȽM?6烌@i6Qr;6"C9>BYayae9Ea9mN m>q#89q#8YqtIiqݹݹxCqu!& TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into: 2 60 35 NaN NaN NaN NaN NaN NaN NaN 1 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 1 1 15 1 0.25 3 2 50 2 0 0 1 2 3 0 2 Camera and lights off, previous state was Moving to 13 Timed out while trying to reach target depth at current depth of stop Reached , settling for Reached depth, initial recording state is 0.0 3 NaN Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth !U 2KQ &] jDefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h! BK @& nDefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min! RK A@& \DefineArg sci2_noyo_optim.Depth1 = 35.000000 m! bK & PDefineArg sci2_noyo_optim.Depth2 = nan m! rK R?,LA p<6@66@ٗ6696H!`i?@?$`6`qp?ͽYQyQU9EQ9Te8 >ߡ#89ݡ#8Yݡ&PDefineArg sci2_noyo_optim.Depth3 = nan mtIiݡxCݡߥ{<ߥ&|<ߥ7#8!K&%PDefineArg sci2_noyo_optim.Depth4 = nan m!-K)GAjGAZGAGAzGAII2II&PDefineArg sci2_noyo_optim.Depth5 = nan m!K&PDefineArg sci2_noyo_optim.Depth6 = nan m!K&PDefineArg sci2_noyo_optim.Depth7 = nan m!K&5PDefineArg sci2_noyo_optim.Depth8 = nan m!=K9&=\DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool!MKI&bDefineArg sci2_noyo_optim.Repeat = 1.000000 count!K&VDefineArg sci2_noyo_optim.Lat1 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lat2 = nan arcdeg!L&EVDefineArg sci2_noyo_optim.Lat3 = nan arcdeg!U"LQ&]VDefineArg sci2_noyo_optim.Lat4 = nan arcdeg!e2LaeY>eR>&VDefineArg sci2_noyo_optim.Lat5 = nan arcdeg!BL&VDefineArg sci2_noyo_optim.Lat6 = nan arcdeg!RL&VDefineArg sci2_noyo_optim.Lat7 = nan arcdeg!-bL)&-VDefineArg sci2_noyo_optim.Lat8 = nan arcdeg!=rL=&}VDefineArg sci2_noyo_optim.Lon1 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lon2 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lon3 = nan arcdeg!ELA&MVDefineArg sci2_noyo_optim.Lon4 = nan arcdegvDy K]>!L&VDefineArg sci2_noyo_optim.Lon5 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lon6 = nan arcdeg!}L&VDefineArg sci2_noyo_optim.Lon7 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lon8 = nan arcdeg!L&dDefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s!5M1&=lDefineArg sci2_noyo_optim.ApproachSpeed = 1.000000 m/s!EMA&|DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min!"M&DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 1.000000 min! 5 2M1 &= dDefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s! E BMA & rDefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m! ZM & rDefineArg sci2_noyo_optim.BuoyancyNeutral = 417.101959 cc!m rMi &u fDefineArg sci2_noyo_optim.MassDefault = 0.510797 cm!} My & dDefineArg sci2_noyo_optim.MinAltitude = 2.000000 m! M & `DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m!!] MY &e fDefineArg sci2_noyo_optim.MinOffshore = 2.000000 km!%m Mi &u dDefineArg sci2_noyo_optim.EnableRecording = 1 bool!) M & lDefineOutput sci2_noyo_optim.DiveMode = 0.000000 count!- M &5 pDefineOutput sci2_noyo_optim.DoingComms = 0.000000 count!1E MA &M pDefineOutput sci2_noyo_optim.SpiralDive = 1.000000 count:?,%A6Ճ@6@ٗ6E6Q96H #k? ɽ?6qp?ʽE?6Ճ@i6=~;6#C9R;YR]Bz@Z<n@Zoٶ!5bM`&jvDefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count!9n%<%M=%I.Q->Y)y)-9E)95b 5>9E$899E$8Y9EtIi9AAEyC9=V:=H:=$8MlGjGZGG&vDefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count!= N&fDefineOutput sci2_noyo_optim.LegDepth = 35.000000 mzGI2I!AENA&MlDefineOutput sci2_noyo_optim.RecordingEnabled = 0 bool&u~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl&urTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl&}TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tlIő)ővDΒ{:)9'ENsci2_noyo_optim.RecordingEnabled 0 bool'MNsci2_noyo_optim.DiveMode 0.000000 count KMS>&e TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 -e!} X} @& DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m-i! X & DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m-m! X i@&e DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m-q!m Xi &u DefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m[ 6Construct AltitudeEnvelope.c?,A6れ@6@ٗ6Y696H@+V??`: q? ȽK?6れ@i6}t;6$C9B{6<vN=vQz>Yxyxz9Ex\6Construct OffshoreEnvelope.9~y >$89$8YtIiyCY:*:$8GAjGAZGAGAzGAII2IIC]AC]Aa.&nInserting Stack from file: Missions/Insert/NeedComms.tl&bTethyslAPI: loading: Missions/Insert/NeedComms.tl&%zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tlvD}vт: K_>?,Aɖ@:E@:e@ٗ:":9:H5(W? ?@`Qp? ˽A?:E@i:Hy;:"C9NYRz@Zhn@Z.նnrK=r 09Qr>Ytytv9Et9vF8 z>|i~%=xM$89xU$8YxUtIixݙݙyCxz& 1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout a/u!u bZu @&} zDefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 ha/y! rZ @& DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 mina/}! Z & DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdega/! Z & |DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/sa/! Z & ~DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/s v?,AB9@BY@ٗB򝆻BD9BH(B?*Ľ? A p?@н@.?B9@iB[;B$C9^ Yy9E9p\ >$8a/!Z&DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min9E$8YEtIiAIMyC?<@<*$8GjGZGGzGI2I_-,Construct GoToSurface.&%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: 2![&DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool f2Construct BackseatDriver.&nInserting Stack from file: Missions/Insert/PowerOnly.tl&bTethyslAPI: loading: Missions/Insert/PowerOnly.tlvD9!1 Kex>&zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl?,>,A6h@6@ٗ6N 696H*`?Ľ?`-@OAp?ѽ+?6h@i6@v;6%C9z;Y~8wB ==z@8n@ٶN=Ϲ9Q>Yy9E99 >$89$8YtIiyC::i8$8GYjGYZGYGYzGaIi2IiCCDC&qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a3! [ &lDefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 boola3![&%pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 boola3!M[I&UpDefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 boola3!][Y&epDefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 boola3!M\I&UzDefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 boolAY KmW> iConstruct Wait.!r=&Construct Buoyancy. qConstruct.r% Construct.a9u  s} Construct.9 9  9 s Construct.9 9  uU $Construct Execute.w% Construct. xe Construct Wait.|% Construct.y?,&nFA "4<>9@>Y@ٗ>`>r9>H@F?` ѽ?B[ NLp?j޽?>9@i>z;<9N=KYRz@jn@jݶ }~Construct.}mConstruct.}K= ѷQ>Yy9E99 >ߑ$89ݑ$8YݑtIiݑݡݡyCݑߕ:ߕ:ߕE$8G9jG9ZG9G9zG9IA2IA Construct.)'=HVerticalControl.depthCmd 10.000000 m KE= e&Construct Buoyancy.Construct.&Construct Waypoint.aB&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.}&Construct Waypoint.&Construct Waypoint.U&Construct Waypoint.&Construct Waypoint. &Construct Waypoint. m &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.% &Construct Waypoint.U &Construct Waypoint.Ѳ?,4J`A6@6ׅ@ٗ6R6-U96H`$1?`R̽?` 6'Rp?)ٽ?6@i6ŀ;49^3;Y^HBdz@En@Eܶ<F=dQ>Yy9E9O >&Construct Waypoint.$89$8YtIiyCQ:G;S$8E&Construct Waypoint.GYjGYZGYGYzGYIa2IiYm&Construct Waypoint. K>&Construct Waypoint.&Construct Waypoint.&Construct Waypoint. m&Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. 5&Construct Waypoint. &Construct Waypoint. &Construct Waypoint.&Construct Waypoint. &Construct Waypoint.= &Construct Waypoint. &Construct Waypoint.- &Construct Waypoint.?,B!zANـ@N@ٗN?N9NHy;!?l?@@.aq?ǽ@N?Nـ@iNB|;N$C9r;Yr8wBxzA&Construct Waypoint.z@!n@ ܶ&Construct Waypoint.5;D=%RQ%>Y!y)-9E)9-b\ ->M&Construct Waypoint.q}$89q}$8Yq}tIiqy݁yCqu+:u?:upb$8GjGZGGzGI2I ]&Construct Waypoint.y &Construct Waypoint.  K > &Construct Waypoint. 5&Construct Waypoint. ]&Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.&Construct Waypoint.}&Construct Waypoint.&Construct Waypoint.U&Construct Waypoint.&Construct Waypoint. &Construct Waypoint.Å &Construct Waypoint. &Construct Waypoint. m &Construct Waypoint. ȥ &Construct Waypoint.  &Construct Waypoint. } &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.?,Aɖ@B@^Ɂ@^郓@ٗ^Q^9^H4R?䵽? \&`-*q? e?^Ɂ@i^~;^"C9<Yy9E99 >$89$8YtIiݙݙyC::o$8 &Construct Waypoint.GjGZGGzGI2IY҅&Construct Waypoint. K e&Construct Waypoint.ڭAAک&Construct Waypoint. ڥ&Construct Waypoint.-&Construct Waypoint. ߭&Construct Waypoint.e&Construct Waypoint.& ) # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission sci2_noyo_optim { """ Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on. By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications. """ arguments { MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ How often to surface for commumications """ Depth1 = 35 meter """ Depth of flat and level flight during the mission for the first transit leg or lap. """ Depth[2..8] = NaN meter """ Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN. """ DepthPerLeg = false """ Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). """ Repeat = 1 count """ Number of times the vehicle should try to cycle through waypoints. """ Lat[1..8] = NaN degree """ Latitude of waypoint {$}. If nan, waypoint is skipped. """ Lon[1..8] = NaN degree """ Longitude of waypoint {$}. If nan, waypoint is skipped. """ FastSpeed = 1 meter_per_second """ Speed while transiting to waypoint. """ ApproachSpeed = 1 meter_per_second """ Speed while descending to target depth. """ ApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth """ ApproachSettleTimePostDive = 1 minute """ Time duration for the vehicle to settle *AFTER* reaching the target depth. """ SlowSpeed = 0.25 meter_per_second """ Set this to something other than Nan if slow speed filming with a wide depth deadband is desired. """ DepthDeviationSlow = 3 meter """ Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set. """ BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral """ Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. """ MassDefault = Control:VerticalControl.massDefault """ Static setting for mass during the mission. Set to NaN mm for active mass position. """ MinAltitude = 2 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 50 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ EnableRecording = true """ Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings. """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ SpiralDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to spiral down to initial depth. """ SettleAtDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. """ MaintainDepth = 3 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ LegDepth = Depth1 """ Mission variable to track the current depth for the current leg. """ RecordingEnabled = false """ Mission variable to track whether payloads (camera and lights) should be on """ } # Mission timeout timeout duration=MissionTimeout # Science! # insert Insert/Science.tl { # """ # Run the science sensors. #""" # } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl assign in sequence Sensor:MultiRay.lightModeCommand = 2 count readData strategy="MinError" { while ( Sensor:MultiRay.loadAtStartup and RecordingEnabled ) Sensor:MultiRay.lightModeLog } behavior Guidance:Buoyancy { run in parallel set position = BuoyancyNeutral } aggregate SetRecording { """ Controls state of camera (via backseat and poweronly) and lights """ run in parallel assign in parallel BackseatDriver:EnableBackseat = RecordingEnabled assign in parallel PowerOnly:SampleLoad1 = RecordingEnabled } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms syslog info "Camera and lights off, previous state was " + RecordingEnabled~bool assign in sequence RecordingEnabled = false call refId="NeedComms" assign in sequence DiveMode = SpiralDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between dive modes. """ run when ( called ) aggregate SpiralDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == SpiralDive ) aggregate dive { run in sequence behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } syslog "Moving to " + LegDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = ApproachSpeed } behavior Guidance:Point { run in parallel set rudderAngle = 13 degree } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = LegDepth } } assign in sequence DiveMode = SettleAtDepth } } aggregate SettleAtDepth { """ Take a few more moments here to make sure the vehicle is settled at the target depth. """ run while ( DiveMode == SettleAtDepth ) aggregate dive { run in sequence syslog info "Reached " + Universal:depth~meter + ", settling for " + ApproachSettleTimePostDive~minute behavior Guidance:Pitch { run in parallel set depth = LegDepth } behavior Guidance:Wait { run in sequence set duration = ApproachSettleTimePostDive } aggregate EnableRecordingAtDepth { run in sequence syslog info "Reached depth, initial recording state is " + EnableRecording~bool assign in sequence RecordingEnabled = EnableRecording } assign in sequence DiveMode = MaintainDepth } } aggregate MaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and ( ( Universal:depth > ( LegDepth + DepthDeviationSlow ) ) or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) ) or isNaN ( SlowSpeed ) ) ) assign in parallel RecordingEnabled = EnableRecording aggregate dive { run in parallel aggregate ThrusterDive { run while ( FastSpeed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } behavior Guidance:SetSpeed { run in parallel set speed = FastSpeed } } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } aggregate MaintainDepthSlow { """ Cruise slow at the target depth. """ run while ( ( not isNaN ( SlowSpeed ) ) and ( DiveMode == MaintainDepth ) and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) ) and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) ) ) assign in parallel RecordingEnabled = EnableRecording behavior Guidance:SetSpeed { run in parallel set speed = SlowSpeed } # Let's make sure the vertical control depth deadband doesn't interfere with our mission # level version of the deadband. And we'll add an extra 3m so we don't trigger any # faults inside vertical control when attempting to regain the commanded depth. assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m ) behavior Guidance:Buoyancy { run in parallel set position = NaN cc } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } # Start mission sequence call id="StartingMission" refId="SurfaceComms" aggregate Lap { run in sequence repeat=Repeat aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call refId="DiveCmd" } # Default behavior: Depths correspond to laps # Run through all waypoints at each depth aggregate DepthByLap { run in sequence break if ( DepthPerLeg ) assign in sequence LegDepth = Depth1 aggregate Wpt1 { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } macro $j = 2..8 { aggregate Leg$j { run in sequence break if ( isNaN ( Depth[$j] ) ) syslog important "Transiting waypoints at depth " + Depth[$j]~meter assign in sequence LegDepth = Depth[$j] macro $i = 1..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } # Non-default behavior: depth by leg # Transit to waypoint at corresponding depth, repeat per lap # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on) aggregate DepthByLeg { run in sequence break if ( not DepthPerLeg ) aggregate Leg1 { run in sequence assign in sequence LegDepth = Depth1 behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Leg$i { run in sequence break if ( isNaN ( Depth[$i] ) ) syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter assign in sequence LegDepth = Depth[$i] aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } } = ~Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optimԩ ԩ g?,RAB@Bʂ@ٗBBa9BH <'??/@[q?1Ž X?B@iB+x;B&C9z)N=VQ>Yy9E9޴ >߱$89ݱ$8YݱtIiݱݹݹyCݱߵ:ߵ:ߵ6}$8JJJJJJGY:GjGZGGzGI-PwV=2I1 K=ԡ=i< ?,A6@6Ȃ@ٗ6ō696H<??`A0V q?Tɽ H?6@i6};6%C9Nϯ;YN5XB Va=V=z@Znn@ZԶrWvW=vQv>Yxyxz9Ex9zm( ~>|$89|$8Y| tIi|   yC|~:~:~.$8JJJJJJGGjGZGGzGI2I K=1Y ?,ڐA p<6ꀌ@6 @ٗ6祏696H:?ƽ?`.@% q? ѽ (?6ꀌ@i6n;6&C9Na;YR Bz@ZIn@Z.ضffL=fQf>Yhyhj9Eh9n8 n>$89$8Y tIi   yC ::$8J9J9J9J9J9J9GIGIjGIZGIGIzGQIQ2I 1A K=کڭi>IeA)eAiԉԹ *?,hA>@>@ٗ>x>9>HJ58?@?@'*^q?zǽO?>@i>t;<9bOYy9E9\9 >9E$899E$8Y9EtIi9IIMyC99=:=$8JQJYJyJyJyJyGGjGZGGzGI2IԑvDr;  K-N> @,FA6p@6@ٗ6696H. 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Oɽ?`&`rl$q?Խ?J=@iJp;J6C9^̺Y^{z@f n@fݶI= Q >Y y  @E 9V >%389%38Y%tIi!!%C:3:i38JJJJJJGGjGZGGzGI2IQ Km=)=i%=Yԁ ) A C^F,A <8>@>ن@ٗ>/>m9>H?஽?4q? ɽG?>@i>;<9jC:Yj@p~ZA %;Y!z@-n@-޶Ek;EF=E9QE>YIyIM@EI9]9 ]>ae389ae38YamtIiaiimCae:eL:ew38JyJyJyJyJyJyGGjGZGGzGI2I Kw=ԡyy F,$A6߄@6@ٗ66 696H`v`? Ľ? 8 f `}p?ʽ G?6߄@i6;64C9B*YB F=F=z@Hn@HRRU=Vy8QV>YTyTZ@EX9Z(G8 Z>\b389\b38Y\btIi\ddfC\^I:^r:^38JhJhJlJlJlJllGtGtjGxZGxGxzGxIx2I| Kb= Ii)mA1F,N_A:@:@ٗ: :9:H`x?ý?O`s >p?н/?:@i:};:5C9R;YRIAz@Zn@Zv䶙z&< D= %9Q >Yy@E99 >9E3899E38Y9EtIi9IIMC9=:=U:=T38JQJyJyJyJyJyGGjGZGGzGI2I K=VG,AAɖ6y@6@ٗ6:̈6O(96H q?`ǽ?G`@q? ӽ#?6y@i6ヨ;64C9neIY)y)-@E)95 5>Y]389Ye38YYetIiYaaeCY]:]]:]@38JqJJJJJGGjGZGGzGI2I K-=%=iC=څAAځ G,]-A6Z@6z@ٗ6K6,96H@P?Ƚ?)@Vjaq?@Խ ?6Z@i65;67C9N9YRi@TTz@Zn@Z㶙rvN=vw6Qv>Yxyxz@Ex9z- ~>Ye389Ye38YYmtIiYiimCY]:]:] 38JJJJJJGGjGZGGzGI2I! 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Qɽ H?6m@i6);49>0YB D DDDz@Jn@JM㶙R_RO=R QV>YTyTVNET9Z Z>\^Q89\bQ8Y\btIi\``bC\^:^e:^Q8JhJhJhJhJhJhGpGpjGtZGtGtzGtIx2IxA}yAA}wAB=z:Yq K}=9i 4CBU,[} UAɖ : n@:,p@ٗ::r9:HѺ"?`?º 'T~q? i˽@?: n@i:/;:VC9F9YFi@ H Hz@Nn@Nn嶙V<VJ=Vq(9QV>YXyXZNEX9Z9 ^>`bR89`fR8Y`ftIi`ddfC`b:b:bR8JlJlJlJlJlJpGtGtjGtZGxGxzGxIx2I|BR|:  K5=iڡڥ;>ԙ XmHU,X#UA:m@:p@ٗ::9:H Ѻ ?@?`ú@Jt@wCq? -ν7?:m@i:{%;89FX Y\y\^NE\9by b>dfR89djR8YdjtIidhhjCdfR:f:fR8JpJpJpJpJpJtGxGxjGxZG|G|zG|I2IBr}:!1 K}=! vNU,3=UA6(m@6Io@ٗ6C696H غ %??@ɺhVq?`Ľ@Z?6(m@i6o*;6SC9r:Yr{tA x xz>z>|z@~n@~鶙  E=8Q>YyNE9.z >!-R89!-R8Y!-tIi!115C!%:%]:%R8J9JAJAJAJAJAGIGQjGQZGQGQzGQIY2IYAe?Ae7?B5,:I K=)Qԁ ZUU,WUA6l@6n@ٗ66G96Hۺ&? ? @_ͺc`aq?@@h?6l@i61;6UC9NYRg T Tz@Zn@Z궙bbO=bQb>YdydfOEd9f j>hnR89hnR8YhrtIihpprChj:j]:j!*R8JxJxJxJxJxJxGGjGZGGzG I 2IYBU&:iy K=ԉڡڥAAԱ)ֱ ֵ C ՄG- AA i Ym A E C=iE R=[U,pUA6k@6m@ٗ6/쌻6Z96H5庿 ? /?1׺N`q? ڿk?6k@i6(;6TC9B:YB{tAF&Powering up NAL9602J>J> H Hz@Nn@N涙VW{;VL=VQZ>YXyXZOEX9^\ ^>`fR89`fR8Y`ftIi`ddfC`b:bU:b7R8JpJpJpJpJpJpGxGxjGxZGxG|zG|I|2IԹB:)9 K}=9 bU,NJUA: m@:+o@ٗ:㈻:9:Hٺ`???`!ʺ]q?`ǽO?: m@i:g+;:UC9^eIYtytvOEt9v9 z>x~R89x~R8YxtIixCxz:z:zER8JJJJJJG)G9jGAZGIGIzGIIQ2IQAYA]{ABu: K=Aiԙ hU,젤UA6yk@6m@ٗ6"ފ6O96H庿@ ?? ׺n[q?k?6yk@i6{1;6VC9N)YYyY]OEY9e e>imR89imR8YiutIiiqquCim:mQ:m"TR8JJJJJJGGjGZGGzGI2IBb:!1 KE==mlgot command load ./Missions/Science/sci2_noyo_optim.tl&uLoading Mission from file: ./Missions/Science/sci2_noyo_optim.tl&}tTethyslAPI: loading: ./Missions/Science/sci2_noyo_optim.tl&TethyslAPI: mission file loaded: ./Missions/Science/sci2_noyo_optim.tlکڭ?>[nU,~UA6k@6m@ٗ6@696H㺿??`պ`\q?MʽD?6k@i6&;6TC9Nz;YN+BTiT T Tz@Zn@Z~涙e݃eI=eQe>YiyimOEi9u=8 u>ߙR89ݙR8YݙtIiݙݡݡCݙߝ:ߝ:ߝ$bR8G:jGZGGzGI2IB=:Ia KmV>0uU,YUA6k@6m@ٗ6~696H !㺿ݚ??`sԺ@e~Oq? ν`7?6k@i6+;6VC9>F>z@Jn@J4鶙r2=rS=r%9Qr>YtytvOEt9zŹ7 z>|R89|%R8Y|%tIi|!!%C|~:~:~9oR8GYjGYZGYGYzGYIa2IaAm*?Am ?B: KE>R{U,4UARlk@Rm@ٗRWR9RH 庿͚?@n½?:׺`Qq?Ͻ 1?Rlk@iRj%;RSC9^/;Y^MA d dz@fn@fL鶙%x3%F=-Q->Y)y15OE195ڸ 5>YeR89YeR8YYetIiYiimCY]:Y]u}R8GjGZGGzGI2IB: K=ڡڡU,= VAFl@Fn@ٗF]YF9FH+ܺ`?X½?}ͺ{{@(Kq?Ͻ1?Fl@iF(;FVC9JY%=->-> ) )z@5n@5鶙EEH=M~7QM>YIyQUOEQ9Uf9 U>yR89yR8YytIiy݉݉Cy}:}:}bR8GjGZGGzGI2IB:vD% (a=1 A  KU >W U, %VAFl@Fo@ٗFF=9FHٺ?Ľ? ˺9Bq?ѽ@)?Fl@iF,;FSC9^XY)y15OE1958 5>߹R89ݹR8YݹtIiݹCݹ߽V:߽:߽rR8GjGZGGzGI2IvD -tY=) KU=G?U,?VA6l@6n@ٗ6Nɋ6w496Hbؚܺ?$Ƚ?ͺi@&yq?ս?6l@i6 ;6VC9F YF H Hz@Nn@N4鶙^^P=^ Qb>Y`ytvOEt9v5Ӹ z>x~R89x~R8Yx~tIix%Cxz;z;zvR8G9jG9ZG9G9zG9Ia2IavD=&TethyslAPI: ./Missions/Science/sci2_noyo_optim.tl translated into: 2 60 35 NaN NaN NaN NaN NaN NaN NaN 1 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN 1 1 15 1 0.25 3 2 50 2 0 0 1 2 3 0 2 Camera and lights off, previous state was Moving to 13 Timed out while trying to reach target depth at current depth of stop Reached , settling for Reached depth, initial recording state is 0.0 3 NaN Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting waypoints at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth Transiting to next waypoint at depth !2K&jDefineArg sci2_noyo_optim.MissionTimeout = 2.000000 h!BK @&nDefineArg sci2_noyo_optim.NeedCommsTime = 60.000000 min! RK A@& \DefineArg sci2_noyo_optim.Depth1 = 35.000000 m! bK & PDefineArg sci2_noyo_optim.Depth2 = nan m!% rK! &- PDefineArg sci2_noyo_optim.Depth3 = nan m!5 K1 &= PDefineArg sci2_noyo_optim.Depth4 = nan m!E KA &M PDefineArg sci2_noyo_optim.Depth5 = nan m!U KQ &] PDefineArg sci2_noyo_optim.Depth6 = nan m!e Ka &m PDefineArg sci2_noyo_optim.Depth7 = nan m!5 K1 &= PDefineArg sci2_noyo_optim.Depth8 = nan m!E KA &M \DefineArg sci2_noyo_optim.DepthPerLeg = 0 bool! K & bDefineArg sci2_noyo_optim.Repeat = 1.000000 count! K & VDefineArg sci2_noyo_optim.Lat1 = nan arcdeg! L & VDefineArg sci2_noyo_optim.Lat2 = nan arcdeg!M LI &] VDefineArg sci2_noyo_optim.Lat3 = nan arcdeg! "L & VDefineArg sci2_noyo_optim.Lat4 = nan arcdeg! 2L & VDefineArg sci2_noyo_optim.Lat5 = nan arcdeg! BL U,YVA6Vl@6wn@ٗ6NJ6_#96H޺ך? Tƽ?`к4R Fq? ҽ $?6Vl@i6$;49^չYbMdid d d&rVDefineArg sci2_noyo_optim.Lat6 = nan arcdeg!vRLt&zVDefineArg sci2_noyo_optim.Lat7 = nan arcdeg!bL&%VDefineArg sci2_noyo_optim.Lat8 = nan arcdeg!-rL-&5VDefineArg sci2_noyo_optim.Lon1 = nan arcdegz@jn@j継Y<<=uݸQ>YyOE9Ω >R89R8YtIiC4::'R8!-L)&]VDefineArg sci2_noyo_optim.Lon2 = nan arcdeg!eLa&mVDefineArg sci2_noyo_optim.Lon3 = nan arcdegGyjGyZGyGyzGI2I!L&VDefineArg sci2_noyo_optim.Lon4 = nan arcdeg!L&VDefineArg sci2_noyo_optim.Lon5 = nan arcdegC~ACA!ULQ&]VDefineArg sci2_noyo_optim.Lon6 = nan arcdeg!mvDq: K>L&MVDefineArg sci2_noyo_optim.Lon7 = nan arcdeg!ULQ&]VDefineArg sci2_noyo_optim.Lon8 = nan arcdeg!eLa&dDefineArg sci2_noyo_optim.FastSpeed = 1.000000 m/s!M&lDefineArg sci2_noyo_optim.ApproachSpeed = 1.000000 m/s!%M)&-|DefineArg sci2_noyo_optim.ApproachDepthTimeout = 15.000000 min!="M9&=DefineArg sci2_noyo_optim.ApproachSettleTimePostDive = 1.000000 min! 2M&dDefineArg sci2_noyo_optim.SlowSpeed = 0.250000 m/s! BM&rDefineArg sci2_noyo_optim.DepthDeviationSlow = 3.000000 m!ZM&rDefineArg sci2_noyo_optim.BuoyancyNeutral = 417.101959 cc!rM&%fDefineArg sci2_noyo_optim.MassDefault = 0.510797 cm!-M)&5dDefineArg sci2_noyo_optim.MinAltitude = 2.000000 m!M&`DefineArg sci2_noyo_optim.MaxDepth = 50.000000 m!!M&fDefineArg sci2_noyo_optim.MinOffshore = 2.000000 km!% M &dDefineArg sci2_noyo_optim.EnableRecording = 1 bool!)]M]&elDefineOutput sci2_noyo_optim.DiveMode = 0.000000 count!-mMq&pDefineOutput sci2_noyo_optim.DoingComms = 0.000000 count!1M&pDefineOutput sci2_noyo_optim.SpiralDive = 1.000000 count!5M&vDefineOutput sci2_noyo_optim.SettleAtDepth = 2.000000 count!9-M)&UvDefineOutput sci2_noyo_optim.MaintainDepth = 3.000000 count!=e NeA@&mfDefineOutput sci2_noyo_optim.LegDepth = 35.000000 m!A5 N5 &= lDefineOutput sci2_noyo_optim.RecordingEnabled = 0 bool&E ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl&E rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl& TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl^FU, |sVA:Rl@:sn@ٗ:q:9:H޺@?޹?@ Ϻ8 1.q?`AǽQ?:Rl@i:';:UC9BVJ>z@Nn@Nu궙z==X=='9Q=>YAyAEOEA9M| M>IUR89IUR8YItIiIݙݙCIM7" 5 0 200 2000 -e!}X}@&DefineArg sci2_noyo_optim:StandardEnvelopes.MinAltitude = 5.000000 m-i!X&DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m-m!Xi@&DefineArg sci2_noyo_optim:StandardEnvelopes.MaxDepth = 200.000000 m-q!%X!&MDefineArg sci2_noyo_optim:StandardEnvelopes.MinOffshore = 2000.000000 m[U6Construct AltitudeEnvelope.- \0Construct DepthEnvelope.\M6Construct OffshoreEnvelope.a.&nInserting Stack from file: Missions/Insert/NeedComms.tl&bTethyslAPI: loading: Missions/Insert/NeedComms.tlvD0::)9'MNsci2_noyo_optim.RecordingEnabled 0 bool'MNsci2_noyo_optim.DiveMode 0.000000 count KUS>&]zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tlP.U,yWVA 6Lk@6mm@ٗ6|6996H溿@? ?Tغ@#x Wq?)ǽ Q?6Lk@i6 ;49nY1y15OE19] ]>amR89amR8YamtIiaiiuCae:e:e5R8GjGZGGzGI2IAAAAڡڡ&-1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout a/u!mbZm @&uzDefineArg sci2_noyo_optim:NeedComms.DiveInterval = 1.000000 ha/y!}rZ@&DefineArg sci2_noyo_optim:NeedComms.WaitForPitchUp = 10.000000 mina/}!Z&DefineArg sci2_noyo_optim:NeedComms.SurfacePitch = 20.000000 arcdega/!Z&|DefineArg sci2_noyo_optim:NeedComms.SurfaceDepthRate = nan m/sa/!ZD=C >&~DefineArg sci2_noyo_optim:NeedComms.SurfaceSpeed = 1.000000 m/sa/!eZa&mDefineArg sci2_noyo_optim:NeedComms.SurfacingTimeout = 1000.000000 sa/!Z@z@&zDefineArg sci2_noyo_optim:NeedComms.GPSTimeout = 7.000000 mina/!Z @&DefineArg sci2_noyo_optim:NeedComms.CommsTimeout = 30.000000 min_,Construct GoToSurface.&xInserting Stack from file: Missions/Insert/BackseatDriver.tl&lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl&TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl&u TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2! [ & DefineArg sci2_noyo_optim:BackseatDriver.EnableBackseat = 0 bool f 2Construct BackseatDriver.& nInserting Stack from file: Missions/Insert/PowerOnly.tl& bTethyslAPI: loading: Missions/Insert/PowerOnly.tlvD  K >& zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlXU,3VA6j@6l@ٗ6-696H뺿?? ;ݺs`eq?@ĽY?6j@i6-%;6XC9PYPTT T Xz@Zn@ZՅRGֵ~A YyOE9' >!-R89!mR8Y!mtIi!qquC!%"<%#<%R8GjGZGGzGI2I&qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a3![&lDefineArg sci2_noyo_optim:PowerOnly.SampleAll = 0 boola3![&pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad1 = 0 boola3![&pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad2 = 0 boola3![&pDefineArg sci2_noyo_optim:PowerOnly.SampleLoad3 = 0 boola3!\&%zDefineArg sci2_noyo_optim:PowerOnly.EnabledPowerOnly = 1 bool i]Construct Wait.!rm&Construct Buoyancy. q=Construct.vD K>rConstruct.a9 s-Construct.9]9 e9esConstruct.99 u $Construct Execute.w] Construct. x Construct Wait.| Construct. } Construct.}- Construct. 5 Construct. U &Construct Buoyancy.e Construct. &Construct Waypoint.aB M &Construct Waypoint.n@U,=VA6j@6l@ٗ6B|696H캿? ؿ? }a޺@voq?̽@;?6j@i6"+;6VCIL)NA9V?;YVB X X\\z@bn@b~鶙f=j&Construct Waypoint.u&Construct Waypoint.&Construct Waypoint.% &Construct Waypoint.u &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. = &Construct Waypoint. m &Construct Waypoint. &Construct Waypoint. - &Construct Waypoint. } &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.jU,VAɖ00N,j@NMl@ٗNN9NHﺿේ?`A?s eếvuq?`V̽=?N,j@iN ;L9z9Yzi@ | z@n@継ˁF=&Construct Waypoint.=uQ=>Y9yAEOEA9E E>IUR89IUR8YIUtIm&Construct Waypoint.iIyy}CIMe;Mm;MyR8GjGZGGzGI2ICAC%&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.M&Construct Waypoint.&Construct Waypoint.&Construct Waypoint. &Construct Waypoint. 5&Construct Waypoint. e&Construct Waypoint. &Construct Waypoint.ڡڡ &Construct Waypoint. &Construct Waypoint. &Construct Waypoint. &Construct Waypoint.vD0::  K-N>m&Construct Waypoint.&Construct Waypoint.&Construct Waypoint.-&Construct Waypoint.U&Construct Waypoint.…&Construct Waypoint.í&Construct Waypoint.&Construct Waypoint. %&Construct Waypoint. ȭ&Construct Waypoint. &Construct Waypoint.  &Construct Waypoint. 5 &Construct Waypoint. ] &Construct Waypoint. ͍ &Construct Waypoint. ν &Construct Waypoint. E &Construct Waypoint.ҍ &Construct Waypoint. &Construct Waypoint.5 &Construct Waypoint. ڽ &Construct Waypoint. &Construct Waypoint.U,VA6i@6k@ٗ66396HR?)Ƚ?j1亿;bmq?Խ?6i@i6%;49n Y)y15OE195ĸ 5>YeS89YeS8YYetIiYiimCY]:]:]WS8&Construct Waypoint.GjGZGGzGI2I& # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission sci2_noyo_optim { """ Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on. By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications. """ arguments { MissionTimeout = 2 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ How often to surface for commumications """ Depth1 = 35 meter """ Depth of flat and level flight during the mission for the first transit leg or lap. """ Depth[2..8] = NaN meter """ Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN. """ DepthPerLeg = false """ Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). """ Repeat = 1 count """ Number of times the vehicle should try to cycle through waypoints. """ Lat[1..8] = NaN degree """ Latitude of waypoint {$}. If nan, waypoint is skipped. """ Lon[1..8] = NaN degree """ Longitude of waypoint {$}. If nan, waypoint is skipped. """ FastSpeed = 1 meter_per_second """ Speed while transiting to waypoint. """ ApproachSpeed = 1 meter_per_second """ Speed while descending to target depth. """ ApproachDepthTimeout = 15 minute """ Maximum time duration for the vehicle to reach the target depth """ ApproachSettleTimePostDive = 1 minute """ Time duration for the vehicle to settle *AFTER* reaching the target depth. """ SlowSpeed = 0.25 meter_per_second """ Set this to something other than Nan if slow speed filming with a wide depth deadband is desired. """ DepthDeviationSlow = 3 meter """ Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set. """ BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral """ Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. """ MassDefault = Control:VerticalControl.massDefault """ Static setting for mass during the mission. Set to NaN mm for active mass position. """ MinAltitude = 2 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 50 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ EnableRecording = true """ Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings. """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this to mode when doing surface comms. """ SpiralDive = 1 count """ Mission variable (don't change). The mission will run in this mode after surface comms are done to spiral down to initial depth. """ SettleAtDepth = 2 count """ Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. """ MaintainDepth = 3 count """ Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. """ LegDepth = Depth1 """ Mission variable to track the current depth for the current leg. """ RecordingEnabled = false """ Mission variable to track whether payloads (camera and lights) should be on """ } # Mission timeout timeout duration=MissionTimeout # Science! # insert Insert/Science.tl { # """ # Run the science sensors. #""" # } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = MissionTimeout assign in sequence NeedComms:WaitForPitchUp = 0 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl assign in sequence Sensor:MultiRay.lightModeCommand = 2 count readData strategy="MinError" { while ( RecordingEnabled ) Sensor:MultiRay.lightModeLog } behavior Guidance:Buoyancy { run in parallel set position = BuoyancyNeutral } aggregate SetRecording { """ Controls state of camera (via backseat and poweronly) and lights """ run in parallel assign in parallel BackseatDriver:EnableBackseat = RecordingEnabled assign in parallel PowerOnly:SampleLoad1 = RecordingEnabled } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms syslog info "Camera and lights off, previous state was " + RecordingEnabled~bool assign in sequence RecordingEnabled = false call refId="NeedComms" assign in sequence DiveMode = SpiralDive } aggregate DiveCmd { """ Called when the vehicle should be underwater. Arbitrates between dive modes. """ run when ( called ) aggregate SpiralDive { """ Descend from the surface to target depth, limit pitch and depth-rate. """ run while ( DiveMode == SpiralDive ) aggregate dive { run in sequence behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } syslog "Moving to " + LegDepth~meter aggregate ApproachDepth { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = ApproachSpeed } behavior Guidance:Point { run in parallel set rudderAngle = 13 degree } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out while trying to reach target depth at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = LegDepth } } assign in sequence DiveMode = SettleAtDepth } } aggregate SettleAtDepth { """ Take a few more moments here to make sure the vehicle is settled at the target depth. """ run while ( DiveMode == SettleAtDepth ) aggregate dive { run in sequence syslog info "Reached " + Universal:depth~meter + ", settling for " + ApproachSettleTimePostDive~minute behavior Guidance:Pitch { run in parallel set depth = LegDepth } behavior Guidance:Wait { run in sequence set duration = ApproachSettleTimePostDive } aggregate EnableRecordingAtDepth { run in sequence syslog info "Reached depth, initial recording state is " + EnableRecording~bool assign in sequence RecordingEnabled = EnableRecording } assign in sequence DiveMode = MaintainDepth } } aggregate MaintainDepth { """ Cruise at the target depth. """ run while ( DiveMode == MaintainDepth and ( ( Universal:depth > ( LegDepth + DepthDeviationSlow ) ) or ( Universal:depth < ( LegDepth - DepthDeviationSlow ) ) or isNaN ( SlowSpeed ) ) ) assign in parallel RecordingEnabled = EnableRecording aggregate dive { run in parallel aggregate ThrusterDive { run while ( FastSpeed > 0.0 meter_per_second ) behavior Guidance:Mass { run in parallel set position = MassDefault } # behavior Guidance:Buoyancy { # run in parallel # set position = BuoyancyNeutral # } behavior Guidance:SetSpeed { run in parallel set speed = FastSpeed } } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } aggregate MaintainDepthSlow { """ Cruise slow at the target depth. """ run while ( ( not isNaN ( SlowSpeed ) ) and ( DiveMode == MaintainDepth ) and ( Universal:depth <= ( LegDepth + DepthDeviationSlow ) ) and ( Universal:depth >= ( LegDepth - DepthDeviationSlow ) ) ) assign in parallel RecordingEnabled = EnableRecording behavior Guidance:SetSpeed { run in parallel set speed = SlowSpeed } # Let's make sure the vertical control depth deadband doesn't interfere with our mission # level version of the deadband. And we'll add an extra 3m so we don't trigger any # faults inside vertical control when attempting to regain the commanded depth. assign in parallel Control:VerticalControl.depthDeadband = ( DepthDeviationSlow + 3 m ) behavior Guidance:Buoyancy { run in parallel set position = NaN cc } behavior Guidance:Pitch { run in parallel set depth = LegDepth } } } # Start mission sequence call id="StartingMission" refId="SurfaceComms" aggregate Lap { run in sequence repeat=Repeat aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call refId="DiveCmd" } # Default behavior: Depths correspond to laps # Run through all waypoints at each depth aggregate DepthByLap { run in sequence break if ( DepthPerLeg ) assign in sequence LegDepth = Depth1 aggregate Wpt1 { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } macro $j = 2..8 { aggregate Leg$j { run in sequence break if ( isNaN ( Depth[$j] ) ) syslog important "Transiting waypoints at depth " + Depth[$j]~meter assign in sequence LegDepth = Depth[$j] macro $i = 1..8 { aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } # Non-default behavior: depth by leg # Transit to waypoint at corresponding depth, repeat per lap # (e.g. Transit to waypoint 1 at depth 1, waypoint 2 at depth 2, and so on) aggregate DepthByLeg { run in sequence break if ( not DepthPerLeg ) aggregate Leg1 { run in sequence assign in sequence LegDepth = Depth1 behavior Guidance:Waypoint { run in sequence set latitude = Lat[1] set longitude = Lon[1] } } macro $i = 2..8 { aggregate Leg$i { run in sequence break if ( isNaN ( Depth[$i] ) ) syslog info "Transiting to next waypoint at depth " + Depth[$i]~meter assign in sequence LegDepth = Depth[$i] aggregate Wpt$i { run in sequence behavior Guidance:Waypoint { run in sequence set latitude = Lat[$i] set longitude = Lon[$i] } } } } } } } =~Loaded ./Missions/Science/sci2_noyo_optim.tl id=sci2_noyo_optim  vD=rg:IY KuX>1a {U,AWA9i@/k@ٗy",9H` ?5? 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[˽B?>@i>?;>C9JudYJy L Pz@Rn@R=߶oZ A^Q^>Y\y\bhEbW*C9bd b>dj89f0?j8YfihjtIif3?lnտnCfZ*Cfg:f;f8^x^x^x^x^b^R^:^ *^ ^ J\ B\ zo9Y!Y!Y%Y!rG5>G5ԾG1G1jG9ZG9G9zG9HAHE>DHE tBHAHAIIHIHI2IIqD K>ԡ5 GI a ב Y֑ n, ƺA6@6(@ٗ6&696H@ sຟ?`?YeY~p?ĽZ?6@i6-";6C9>z;YB+BDiD D DHJAz@Jn@Joz Az#Q~>Y!y!%hE%q*C9-V ->15895Z~?=8Y5h=tIi53?9=տEC5t*C5;5 ;5 !8^Y^Y^Y^Y^mb^iR^m:^i*^i^qJ\qB\qzou9YYYYrG>GԾGGjGZGGzGHH>DHoBHHIHH2ID<DI)= got command stopN^Stop Mission called by CommandExec::commandStop=4got command maintain clearD)1A }-Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,MultiRay,NAL9602,PowerOnly,Power24vConverter,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter, K}>) зn,;Aɖ@ :8@:]@ٗ:F;:n9:H`P x?`4?`+ t~e'q?ɽ@G?:8@i:;:C9^:Yb{tA d dz@jn@j߶r r8rNuQv>YtytvhEv*C9z z>|89~}?8Y~~htIi~3?տ C~*C~H;~ ;~'8^!^!^!^!1?5 ~5Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepthSlowq?5?5 5Uninitialize.?51@5 5@Uninitialize Buoyancy Component.q@5q=5z5vAggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth=5=5{=Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive1>= |Aggregate::initialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDiveq>|Initialize.> }Initialize.>}Initialize.q==> ^]1>>]?q>]`;=]J\B\zo&8MissionManager is completed.&LUninitializing Mission sci2_noyo_optim1 2NAggregate::uninitialize sci2_noyo_optim- [rAggregate::uninitialize sci2_noyo_optim:StandardEnvelopes-[NUninitialize AltitudeEnvelopeComponent.1. \Uninitialize.q.\NUninitialize OffshoreEnvelopeComponent.2elAggregate::uninitialize sci2_noyo_optim:BackseatDriver13q3fbAggregate::uninitialize sci2_noyo_optim:PowerOnly34 i8Uninitialize Wait Component.4qr@Uninitialize Buoyancy Component.5 khAggregate::uninitialize sci2_noyo_optim:SetRecording5167o^Aggregate::uninitialize sci2_noyo_optim:DiveCmd18 ptAggregate::uninitialize sci2_noyo_optim:DiveCmd:SpiralDive1; vzAggregate::uninitialize sci2_noyo_optim:DiveCmd:SettleAtDepthq=zzAggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth=={Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive1> |Aggregate::uninitialize sci2_noyo_optim:DiveCmd:MaintainDepth:dive:ThrusterDiveq>|Uninitialize.> }Uninitialize.>@VAggregate::uninitialize sci2_noyo_optim:Lap1A `Aggregate::uninitialize sci2_noyo_optim:Lap:DiveqAdAggregate::uninitialize sci2_noyo_optim:Lap:Dive:AA lAggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap1B vAggregate::uninitialize sci2_noyo_optim:Lap:DepthByLap:Wpt1qB>Uninitialize WaypointComponent.qԙaB9]9]9e9 e9ea9m!ra3!a3!a3!a3!a3!2! a/!Ea/!Ea/!Ea/!Ma/!Ma/}!Ma/y!Ma/u!Ma.u--q!-m!-i!-e!!A!=!9!5!1!-!)!%!!!!!!! ! !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!G =|8G `;G bG :G 9jG ZG- /G- zG) 2I5 SA D9 I Y 'm HVerticalControl.depthCmd 10.000000 m'm Nsci2_noyo_optim.RecordingEnabled 1 bool'u Nsci2_noyo_optim.DiveMode 3.000000 count Ku >zn,jA6@6@ٗ6޿696H4~@?뾽?5q೑~q?ɽ H?6@i6;4P9RYdyhjhEj*C9j8 j>!-89%|?-8Y% h-tIi%3?)-տ-C%*C%o:%:%.8&E.Started mission DefaultfIAE +E:Aggregate::initialize Default1M ,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. ,MNo speed setting specified. Using default value of 1.000000 m/s. ,UNo surface timeout specified. Using default value of 1000.000000 seconds. ,UNo altitude timeout specified. Using default value of 600.000000 seconds.,UnReceived pitch timeout configuration 60.000000 seconds.+4Initialize Wait Component.JJPwV=JJJJGY:GjGZGGzGIPwV=2I Powering upDaq K>! n,A6@6@ٗ6G6.96Hn ?`ɽ?gTa~p?`jԽ ?6@i6%;6C9>;YB8wBF>F> D DJ>J!>z@Jn@JEᶙVܻVL=V9QV>YXyXZhEZ*C9Z: ^>`b89b{?f8Yb~hftIib3?dfտfCb*Cbg:b:b}58JlJlJYJYJYJYGiGijGiZGiGizGqIq2IyDDDDQD KB>qԡ n,Y.A <6,@6Q@ٗ6i 6;96Hy o?Ƚ?@CmO~)aq?vҽ&?6,@i6;49B#YVyVVhET9Zg۹ Z>\b89\b8Y\btIi\bb?ffC\^~:^j;^^<8JhJhJhJhJlJlGpGtjGtZGtGtzGtIx2Ix  K-=yԩ n,,EHA6@6ϛ@ٗ66S96Hud? Fν? PZi@}~4q?ؽ?6@i6} ;6C9Z;Y^)B ` `z@fn@fᶙn nG=n!8Qn>YpyprhEp9r 9 v>tz89tz8Yt~tIit||~Ctv:v:vdC8JJ J J J J GGjGZGG!zG!I!2I).C=)Y i]  K >Sgn,O?cA2%@2J@ٗ22=H92Hqx?.̽?`]d~p?׽?2%@i2%;09VCYhylnhEl9nP9 n>pv89pv8YpvtIiptxzCpr:r:rJ8J|J|J|JJJG GjGZGGzGI2Iԡ.C%D~CvDeX>i K}>= 4Sent LCM shutdown request.= nShutdown requested. Waiting (18.00 sec to power down.).) xn,|Aɖ@B˙@B@ٗB%eBJ9BHt@j?ͽ?Rh@C~ lq?׽ ?B˙@iB>;@9RJH;YRPA X Xz@^n@^涙fⴼfL=f,Qf>YhyhjhEh9j n>pr89pr8YpvtIipttvCpr:r:rhQ8JxJ|J|J|J|J|G G jG ZG G zGI2IAB9BmABlA.C=nBCiɼvD[> K>IUA)UAiԙ 7on,.˖A6@6$@ٗ6 ׀6k596H@c?ɽ?`T@kp?9ս?6@i6N;6C9BuYtyxzhEx9z,: z>|89|8Y|tIi|   C|~I:~:~]X8JJJJJJG)G)jG)ZG)G)zG)I12I1B9q.C5CǼCpACjAvD8> K%>ԡ ܙn,~A6@6@ٗ6씻696H@g`?ֽ?j|A}@r?޽?6@i6';6C9BB D DJ>J>z@Jn@J涙R^RN=VʺQV>YTyTZhEX9Z Z>\b89\b8Y\btIi\`dfC\\^Q:^_8JhJhJhJlJlJlGpGtjGtZGtGtzGtIx2IxB59.CrݽCļvDj> K) n,ʻA p<:@:×@ٗ:邗:9:H7??ఌ[|Xr?@ƽO?:@i: ;89B׻YBE H Hz@Nn@N<趙R#VJ=VLQV>YXyXZhEX9Z ^>`b89`b8Y`ftIi`ddfC`bw:b3:bf8JhJlJlJlJlJlGtGtjGtZGtGtzGxIx2I|A=A]>B9.C}1Cmg¼vDe=q K>Yԁ n,-_A0>@>֚@ٗ>莊>#9>H}`h?ƽ? 7Oqc~Qq?ѽ,?>@i>5;>C9F2YJ L Lz@Rn@R涙Z<ZJ=Z:QZ>Y\y\^hE\9br: b>df89df8YdjtIidhhjCdf:fr:fl8JpJpJpJpJpJpGxGxjGxZGxG|zG|I|2IB9.CawԑCD=C>vD|^= K%>= got command quitԹn,m<A61@6V@ٗ6<(6;96Hy??Dl ~`p?ͽ Y1y15hE1959 ]>Ye89Ye8YYmtIiYiimCY]I:]':](t8JJJJJJGGjGZGGzG) I2IG1I yYyBMQ9.CuU;9bC}=ZC}=CU/vD -tY=  K >o,;Aɖ@6㘌@6@ٗ6gX696H`{? ?<`Xoஒ~ q? Ľ@Z?6㘌@i6;6C9B*YB H Hz@Jn@J㶙RyRJ=VǻQV>YTyXZhEX9Z Z>\b89\b8Y\btIi\`dfC\^:^#:^z8JQJQJQJQJQJQGaGajGaZGiGizGiIq2IqA}hAA}]ABE9BMBMBIBIC̹CCDCy  K >- NUninitializing protected caller thread.- JUninitializing the command executive.- JUninitializing the command scheduler.- "Thread cancelled.& o,2A6g@6@ٗ6<6M96Hw@?b?`J j`~`p?ǽP?6g@i6;6C9BYB D Dz@Hn@HRzRK=R 9QV>YTyTVhET9ZK$9 Z>\b89\b8Y\btIi\``bC\^:^:^ځ8JhJhJhJhJhJhGpGpjGtZGtGtzGtIx2IxB59CMYq K}=F jUninitializing supervisor and starting cleanup. Bye! LShutting down NavChartDb ThreadHandler( "Thread cancelled.' JJoin timeout helper Thread ID is 6341o,LA6@6@ٗ6P62296Hg?Ƚ?X(c *p? Խ@ ?6@i6;6C9NV> T TTV0>z@Zn@Z䶙b<bH=b9Qf>YdydfhEd9j-&: j>lr89lr8YlrtIilpprClnE:n8:nӈ8JxJxJxJxJxJ|GGjG ZG G zG I2IB9Cq(NUninitializing protected caller thread.("Thread cancelled. K= PShutting down WetLabsBB2FL ThreadHandler! "Thread cancelled.!JJoin timeout helper Thread ID is 6342iu2Radio surface powered ON.!NUninitializing protected caller thread.!Powering down@@@@!"Thread cancelled.NShutting down CTD_Seabird ThreadHandler "Thread cancelled.JJoin timeout helper Thread ID is 63438o,:fA 6[@6@ٗ6696H@Dx?`?H`k~5q?@ɽH?6[@i6;4NPowering downiLILPP ~NUninitializing protected caller thread.Powering downiI9ʻYy ) )z@5n@5䶙E|EC=EQE>YIyIMhEI9MO% U> ]"Thread cancelled.eRShutting down Radio_Surface ThreadHandlere"Thread cancelled.eJJoin timeout helper Thread ID is 6344Qm89Qm8YQmtIiQiiuCQU:U:U8JyJyJJJJGGjGZGGzGI2IA>A*?Bu9Powering downiNUninitializing protected caller thread.%"Thread cancelled.CuuFShutting down Onboard ThreadHandleru"Thread cancelled.}JJoin timeout helper Thread ID is 6345 K=r" o,yA6@6@ٗ6696Hs@?`Ż?@Xcf~p? ǽR?6@i6;6C9^/;Y^MA ` dz@fn@f4㶙n"<nQ=rH9Qr>YpyprhEp9v9>9 v>x~89x~8Yx~tIix||Cxz:z:z8J J J J JJGGjGZGGzGI2IB9Cm y K=J&o,cA6 @61@ٗ660&96Hr`?#Ƚ?Z`e ~2p?`Tӽ$?6 @i6;6C9BʻYBy‰DiD D DHJAz@Jn@J ⶙R߶RN=ViQV>YTyTZhEX9Z: 8 Z>\b89\b8Y\btIi\ddfC\^:^:^o8JhJhJlJlJlJlGtGtjGtZGtGtzGtIx2IxB[9C K=Et,o,<Aɖ>Ɩ@>똓@ٗ>e>9>H@Ό?Gؽ?`ea|@r? Sཿ?>Ɩ@i>!;>C9^Ybg d dz@jn@j޶r#u<rG=r@Qr>YtytvhEt9z~ z>x~89x8YxtIixCxz;z;zt8JJJJJJG!G!jG)ZG)G)zG)I)2I1A=_AA=dAB=9C!1 K==IA)v\3o, μA6@6ݗ@ٗ6[қ6x96H2ў?Wڽ? `@ |Fzs?`὿?6@i6%;6C9b=Yf h hz@n!n@n ܶvvJ=vQv>YxyxzhEx9z ~>89 8Y tIi   C::_8JJJJJJG)G)jG)ZG)G1zG1I12I9B9Cr1 K==9o,A6@6@ٗ626TA96H@0?@ͽ?`@B|%}@Qr?ֽ?6@i6;6C9N9YRi@V>V> T TZ)>Z!>z@Z+n@Z۶b<bM=f::Qf>YdydfhEh9j: j>lr89lr8YlrtIilptvCln:n':n.8JxJxJxJ|J|J|GGjGZGGzGI2IBu9CUĥYq K}=n@o,A 6+@6P@ٗ66P96H [? ƽ? )v~q?н -?6+@i6';6C9B=YB D Hz@Jn@JgݶRLRL=V9QV>YTyTZhEX9Z|J9 Z>\b89\b8Y\btIi\ddfC\^^:^r:^8JhJhJhJlJlJlGtGtjGtZGtGtzGtIx2IxA~&?A~E?B{9CN K%=RFo,A: @:1@ٗ:?:F9:Hz? 6?@@nX~Gq?ǽ`O?: @i::;:C9FC:YF@ H Hz@Nn@No߶V&<VJ=VT9QZ>YXyXZhEX9^9 ^>`f89`f8Y`ftIi`ddjC`b:b#:b쿄8JlJlJlJlJpJpGtGtjGxZGxGxzGxI|2I|B&:Cmy K=Lo,I5A6@6+@ٗ6~6]!96Hj`?ǽ?s`]@~p?ҽ&?6@i6T&;49B]:YBt6ADiD D DHHz@Jn@J㶙v{t:zF=z9Qz>Y|y|~hE|9/: >  89  8Y tIi C  : : Ƅ8J!J!J!J!J!J!G1G1jG1ZG1G9zG9I92IAB:bCZC=C K=NUninitializing protected caller thread."Thread cancelled.ΥRShutting down DataOverHttps ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 6346So,bOAɖF@F6@ٗFXF}9FH j?@?t_] ~p?ʽD?F@iF&;D9bOYxyxziEx=%=i=a=9~OZ7 u>y}89y8YytIiy݁݉Cy};}L;}΄8JJJJJJGGjGZGGzGI2IB6:NUninitializing protected caller thread."Thread cancelled.>Shutting down DAT ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 6347CW K=Powering downI)i% NUninitializing protected caller thread.% Powering downI! )! ! i! - "Thread cancelled.ν ZShutting down BackseatComponent ThreadHandler "Thread cancelled. JJoin timeout helper Thread ID is 6348 NUninitializing protected caller thread. "Thread cancelled.Yo,;iAZDShutting down logger ThreadHandlerZ"Thread cancelled.ZJJoin timeout helper Thread ID is 6349r`@r@ٗr^r9rH &p@?? bc M~`Cq?{ʽD?r`@ir;p9}]:Y}t6A ى ؉z@n@䶝NUninitializing protected caller thread."Thread cancelled.ܼ?=Q>YyiE9M >898YtIiC;;-Մ8JJJJJJGGjGZGGzGI 2I =NShutting down CommandLine ThreadHandler="Thread cancelled.EJJoin timeout helper Thread ID is 6350NUninitializing protected caller thread."Thread cancelled.B_:NShutting down CommandExec ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 6351 RShutting down controlThread ThreadHandler "Thread cancelled.JJoin timeout helper Thread ID is 6352C K>NUninitializing protected caller thread. 8Uninitializing ControlThreadPowering downɖ ]$Powering down LCB2iaIaaaePowering down.iaIaaamPowering downmm mm }FUninitializing DepthRateCalculator. PUninitializing ElevatorOffsetCalculator.BUninitialize NavChart Navigation.&Aggregate::uninitialize Default+8Uninitialize Wait Component.1 ,DUninitialize GoToSurfaceComponent.!!!}$LUninitialize VerticalControlComponent. %PUninitialize HorizontalControlComponent.%FUninitialize SpeedControlComponent. &DUninitialize LoopControlComponent. "8Uninitialize Buoyancy Servo."Powering downAAAA" 8Uninitialize Elevator Servo." Powering downB B B B # 0Uninitialize Mass Servo.# Powering downRC JC bC ZC # 4Uninitialize Rudder Servo.# Powering downC C D C $ 8Uninitialize Thruster Servo.$ Powering downD D D D  8Uninitialize SBIT Component.  8Uninitialize IBIT Component. 8Uninitialize CBIT Component. &Powering off loads.= Disabling WDT.  BUninitialize GFScanner component.  DOpening all GF detection circuits.  "Thread cancelled.! 1 ! - ! ) ! % ! ! !  !             a a a ! ! !  "Thread cancelled. I  }  y  u  q  m  i a  a e a a a ] a Y a U a Q ! M ! I ! E ! 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"Thread cancelled.        a }a ya ua qa ma ia ea aa ]a  a Ya  a Ua  a Qa  a Ma  a Ia Ea Aa =a 9a 5aaaaa!!!!!!!!!!! !! !! !!! !! ! BUninitialize GFScanner component. DOpening all GF detection circuits.UQMIEA=951a- a) a a%a!a aaaa!!%%%%%%!U"Thread cancelled.)]%]!]]eee e eeeeeeeemmmmmmmmauauau auauauauauau u"Thread cancelled.}}yuqmiea]Y!! !!!!!! mm m}mymumqmmmaeuau aaua]uaYuaUuaQuaMu!E}!} !A}!=}!9}!5}!1}!-}!YUQMIEA=951- aIaaiaaaaaaaaaaa("Thread cancelled.yuqmieaaa a]}yuqmiea]YUQMIEA=951-)%!  aUaUa Ua UaUaUaUaUaUaUaUa]a]a]a]a]555"Thread cancelled.