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*a code=0398 owner=0020 element=0322 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0399 owner=0020 element=0321 universal=3FFF unitName="meter" type=0B size=0003 fl=04
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*a code=03A4 owner=0022 element=0335 universal=3FFF unitName="degree" type=2F size=0004 fl=04
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fSyncComponent "IBIT" handled in the control thread.*n code=0025 name="CBIT"
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*a code=0482 owner=002A element=00A7 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0483 owner=002A element=00A5 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0484 owner=002A element=00A4 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0485 owner=002A element=00AD universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0486 owner=002A element=00AC universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0487 owner=002A element=00B0 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*e code=0461 elementURI="ESPComponent.sampling" type=02
*a code=0488 owner=002A element=0461 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=0462 elementURI="ESPComponent.sample_number" type=02
*a code=0489 owner=002A element=0462 universal=3FFF unitName="count" type=0D size=0004 fl=05
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vSyncComponent "ESPComponent" handled in the control thread.*n code=002B name="PAR_Licor"
*a code=048A owner=002B element=00B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=048B owner=002B element=00B7 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=04
*a code=048C owner=002B element=00B8 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=048D owner=002B element=00BD universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=04
*a code=048E owner=002B element=00B9 universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04
*a code=048F owner=002B element=00BB universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04
*a code=0490 owner=002B element=00BA universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0491 owner=002B element=00BC universal=3FFF unitName="degree" type=2F size=0004 fl=04
*e code=0463 elementURI="PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water" type=00
*a code=0492 owner=002B element=0463 universal=0007 unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05
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��k��x
Q8*a code=0493 owner=002B element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0464 elementURI="PAR_Licor.adcCount" type=02
*a code=0494 owner=002B element=0464 universal=3FFF unitName="count" type=0D size=0004 fl=05
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pSyncComponent "PAR_Licor" handled in the control thread.*n code=002C name="WetLabsBB2FL"
*a code=0495 owner=002C element=00CF universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0496 owner=002C element=00DA universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0497 owner=002C element=00D4 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0498 owner=002C element=00D9 universal=3FFF unitName="none" type=00 size=000D fl=04
*a code=0499 owner=002C element=00D6 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04
*a code=049A owner=002C element=00D1 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=049B owner=002C element=00D7 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04
*a code=049C owner=002C element=00D2 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=049D owner=002C element=00D8 universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=04
*a code=049E owner=002C element=00D3 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=049F owner=002C element=00D0 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=04
*a code=04A0 owner=002C element=0057 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0465 elementURI="WetLabsBB2FL.Output470" type=02
*a code=04A1 owner=002C element=0465 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=0466 elementURI="WetLabsBB2FL.Output650" type=02
*a code=04A2 owner=002C element=0466 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=0467 elementURI="WetLabsBB2FL.OutputChl" type=02
*a code=04A3 owner=002C element=0467 universal=3FFF unitName="count" type=0D size=0004 fl=05
*e code=0468 elementURI="WetLabsBB2FL.VolumeScatCoeff117deg470nm" type=02
*a code=04A4 owner=002C element=0468 universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05
*e code=0469 elementURI="WetLabsBB2FL.VolumeScatCoeff117deg650nm" type=02
*a code=04A5 owner=002C element=0469 universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05
*e code=046A elementURI="WetLabsBB2FL.BackscatteringCoeff470nm" type=02
*a code=04A6 owner=002C element=046A universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05
*e code=046B elementURI="WetLabsBB2FL.BackscatteringCoeff650nm" type=02
*a code=04A7 owner=002C element=046B universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05
*e code=046C elementURI="WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water" type=02
*a code=04A8 owner=002C element=046C universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05
*e code=046D elementURI="WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water" type=02
*a code=04A9 owner=002C element=046D universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05
*e code=046E elementURI="WetLabsBB2FL.bin_variance_mass_concentration_of_chlorophyll_in_sea_water" type=02
*a code=04AA owner=002C element=046E universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05
*e code=046F elementURI="WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water" type=00
*a code=04AB owner=002C element=046F universal=001A unitName="microgram_per_liter" type=0B size=0003 fl=05
1����x

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fComponent "WetLabsBB2FL" handled in its own thread.*n code=002D name="WetLabsBB2FL ThreadHandler"
�����x
DCreated PCaller Thread at 4067D4E0�����x
BProtected caller Thread ID is 889�����x
pLoaded Module: Science (Contains the science components)�����x
JLoading Module at Modules/Guidance.so�����x
rLoaded Module: Guidance (Contains behaviors and commands)�����x
HLoading Module at Modules/Control.so*n code=002E name="VerticalControl"

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4Construct VerticalControl.*a code=04AC owner=002E element=03FA universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0470 elementURI="VerticalControl.depthCmd" type=02
*a code=04AD owner=002E element=0470 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=0471 elementURI="VerticalControl.depthRateCmd" type=02
*a code=04AE owner=002E element=0471 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04AF owner=002E element=03F1 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0472 elementURI="VerticalControl.pitchRateCmd" type=02
*a code=04B0 owner=002E element=0472 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=0473 elementURI="VerticalControl.buoyancyCmd" type=02
*a code=04B1 owner=002E element=0473 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04B2 owner=002E element=03F2 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04B3 owner=002E element=03FB universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0474 elementURI="LoopControl.periodCmd" type=02
*a code=04B4 owner=002E element=0474 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04B5 owner=002E element=03F0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04B6 owner=002E element=0100 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04B7 owner=002E element=0101 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04B8 owner=002E element=0102 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04B9 owner=002E element=0103 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04BA owner=002E element=0104 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04BB owner=002E element=0105 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04BC owner=002E element=0106 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04BD owner=002E element=0107 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=04BE owner=002E element=0108 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04BF owner=002E element=0109 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04C0 owner=002E element=010A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04C1 owner=002E element=010B universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04C2 owner=002E element=010C universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04C3 owner=002E element=010D universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04C4 owner=002E element=010F universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04C5 owner=002E element=010E universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04
*a code=04C6 owner=002E element=0110 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04C7 owner=002E element=0111 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04C8 owner=002E element=0112 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04C9 owner=002E element=0114 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04CA owner=002E element=0113 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=04CB owner=002E element=0115 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04CC owner=002E element=0116 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04CD owner=002E element=0117 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04CE owner=002E element=0118 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=04CF owner=002E element=011A universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=04D0 owner=002E element=0119 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=04D1 owner=002E element=011B universal=3FFF unitName="ratio" type=0B size=0003 fl=04
*a code=04D2 owner=002E element=011C universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04D3 owner=002E element=011D universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=04D4 owner=002E element=011E universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04D5 owner=002E element=0120 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04D6 owner=002E element=0121 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04
*a code=04D7 owner=002E element=0122 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=04D8 owner=002E element=0123 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04D9 owner=002E element=0125 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04DA owner=002E element=0124 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04DB owner=002E element=0126 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04DC owner=002E element=0127 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=04DD owner=002E element=0128 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04DE owner=002E element=0129 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=04DF owner=002E element=012A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04E0 owner=002E element=012B universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04
*a code=04E1 owner=002E element=012C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=04E2 owner=002E element=012D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04E3 owner=002E element=012E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=04E4 owner=002E element=012F universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=04E5 owner=002E element=0130 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04E6 owner=002E element=0131 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04E7 owner=002E element=00FC universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=04E8 owner=002E element=0132 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04E9 owner=002E element=0134 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04EA owner=002E element=0135 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04EB owner=002E element=0136 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=04EC owner=002E element=0137 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=04ED owner=002E element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=04EE owner=002E element=02EF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=04EF owner=002E element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F0 owner=002E element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F1 owner=002E element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F2 owner=002E element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F3 owner=002E element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F4 owner=002E element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04F5 owner=002E element=0025 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0475 elementURI="VerticalControl.depth2buoyIntInternal" type=02
*a code=04F6 owner=002E element=0475 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*e code=0476 elementURI="VerticalControl.depthErrorInternal" type=02
*a code=04F7 owner=002E element=0476 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0477 elementURI="VerticalControl.depthIntegralInternal" type=02
*a code=04F8 owner=002E element=0477 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0478 elementURI="VerticalControl.dtInternal" type=02
*a code=04F9 owner=002E element=0478 universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=0479 elementURI="VerticalControl.elevatorIntegralInternal" type=02
*a code=04FA owner=002E element=0479 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=047A elementURI="VerticalControl.massIntegralInternal" type=02
*a code=04FB owner=002E element=047A universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=047B elementURI="VerticalControl.massPitchErrorInternal" type=02
*a code=04FC owner=002E element=047B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=047C elementURI="VerticalControl.pitchInternal" type=02
*a code=04FD owner=002E element=047C universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=047D elementURI="VerticalControl.smoothDepthInternal" type=02
*a code=04FE owner=002E element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=04FF owner=002E element=03F0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=047E elementURI="VerticalControl.elevatorAngleAction" type=02
*a code=0500 owner=002E element=047E universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=047F elementURI="VerticalControl.massPositionAction" type=02
*a code=0501 owner=002E element=047F universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0480 elementURI="VerticalControl.buoyancyAction" type=02
*a code=0502 owner=002E element=0480 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=0503 owner=002E element=047E universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0504 owner=002E element=047F universal=3FFF unitName="meter" type=0B size=0003 fl=04
�����x

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|SyncComponent "VerticalControl" handled in the control thread.*n code=002F name="HorizontalControl"
�����x
8Construct HorizontalControl.*a code=0505 owner=002F element=03FC universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=0481 elementURI="HorizontalControl.latitudeCmd" type=02
*a code=0506 owner=002F element=0481 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=0482 elementURI="HorizontalControl.longitudeCmd" type=02
*a code=0507 owner=002F element=0482 universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=0483 elementURI="HorizontalControl.headingCmd" type=02
*a code=0508 owner=002F element=0483 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0484 elementURI="HorizontalControl.headingRateCmd" type=02
*a code=0509 owner=002F element=0484 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=050A owner=002F element=03FD universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0485 elementURI="HorizontalControl.bearingCmd" type=02
*a code=050B owner=002F element=0485 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=050C owner=002F element=00F0 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=050D owner=002F element=00F1 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=050E owner=002F element=00F3 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=050F owner=002F element=00F4 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=0510 owner=002F element=00F2 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=0511 owner=002F element=00F5 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04
*a code=0512 owner=002F element=00F6 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0513 owner=002F element=00F7 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=0514 owner=002F element=00F8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0515 owner=002F element=00F9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0516 owner=002F element=00FA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0517 owner=002F element=0030 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0518 owner=002F element=0048 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0519 owner=002F element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=051A owner=002F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=051B owner=002F element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0486 elementURI="HorizontalControl.headingInternal" type=02
*a code=051C owner=002F element=0486 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0487 elementURI="HorizontalControl.smoothHeadingInternal" type=02
*a code=051D owner=002F element=0487 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0488 elementURI="HorizontalControl.headingIntegralInternal" type=02
*a code=051E owner=002F element=0488 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0489 elementURI="HorizontalControl.xteIntegralInternal" type=02
*a code=051F owner=002F element=0489 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=048A elementURI="HorizontalControl.xteInternal" type=02
*a code=0520 owner=002F element=048A universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=048B elementURI="HorizontalControl.kxteInternal" type=02
*a code=0521 owner=002F element=048B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=048C elementURI="HorizontalControl.bearingInternal" type=02
*a code=0522 owner=002F element=048C universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=048D elementURI="HorizontalControl.rudderAngleAction" type=02
*a code=0523 owner=002F element=048D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0524 owner=002F element=048D universal=3FFF unitName="radian" type=2F size=0004 fl=04
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�SyncComponent "HorizontalControl" handled in the control thread.*n code=0030 name="SpeedControl"

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.Construct SpeedControl.*a code=0525 owner=0030 element=03F0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0526 owner=0030 element=00FE universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
*a code=0527 owner=0030 element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=048E elementURI="SpeedControl.propOmegaAction" type=02
*a code=0528 owner=0030 element=048E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
1�ƌ�x

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vSyncComponent "SpeedControl" handled in the control thread.*n code=0031 name="LoopControl"
��nj�x
,Construct LoopControl.*a code=0529 owner=0031 element=0474 universal=3FFF unitName="second" type=0B size=0003 fl=04
q�nj�x

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tSyncComponent "LoopControl" handled in the control thread.��Ȍ�x
�Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)��Ɍ�x
NLoading Module at Modules/Estimation.so��+��x
�Loaded Module: Estimation (Contains the base estimation components)��,��x
DLoading Module at Modules/Servo.so*n code=0032 name="BuoyancyServo"
*a code=052A owner=0032 element=02D9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=052B owner=0032 element=02E3 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=052C owner=0032 element=02E2 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=052D owner=0032 element=02DB universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=052E owner=0032 element=02DC universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=052F owner=0032 element=02DD universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0530 owner=0032 element=02DF universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0531 owner=0032 element=02E0 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0532 owner=0032 element=02E1 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0533 owner=0032 element=02DE universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0534 owner=0032 element=02DA universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0535 owner=0032 element=02E4 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0536 owner=0032 element=02E6 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04
*a code=0537 owner=0032 element=02E7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0538 owner=0032 element=02E5 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=0539 owner=0032 element=02EA universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=053A owner=0032 element=02E9 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=053B owner=0032 element=02E8 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=053C owner=0032 element=0100 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=053D owner=0032 element=0104 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=053E owner=0032 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=048F elementURI="BuoyancyServo.platform_buoyancy_position" type=00
*a code=053F owner=0032 element=048F universal=0025 unitName="cubic_centimeter" type=0B size=0003 fl=05
�=����x
�4*a code=0540 owner=0032 element=0480 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
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xSyncComponent "BuoyancyServo" handled in the control thread.*n code=0033 name="ElevatorServo"
*a code=0541 owner=0033 element=02EC universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0542 owner=0033 element=02F7 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0543 owner=0033 element=02EE universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0544 owner=0033 element=02F0 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0545 owner=0033 element=02F1 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0546 owner=0033 element=02F4 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0547 owner=0033 element=02F5 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0548 owner=0033 element=02F6 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0549 owner=0033 element=02F3 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=054A owner=0033 element=02ED universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=054B owner=0033 element=02F2 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=054C owner=0033 element=02EF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=054D owner=0033 element=010A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=0490 elementURI="ElevatorServo.platform_elevator_angle" type=00
*a code=054E owner=0033 element=0490 universal=002B unitName="radian" type=2F size=0004 fl=05
�A����x
�;*a code=054F owner=0033 element=047E universal=3FFF unitName="radian" type=2F size=0004 fl=04
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xSyncComponent "ElevatorServo" handled in the control thread.*n code=0034 name="MassServo"
*a code=0550 owner=0034 element=02F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0551 owner=0034 element=02FF universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0552 owner=0034 element=02FB universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0553 owner=0034 element=02FC universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0554 owner=0034 element=02FD universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0555 owner=0034 element=02FE universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0556 owner=0034 element=02FA universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0557 owner=0034 element=0300 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0558 owner=0034 element=0303 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0559 owner=0034 element=0302 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04
*a code=055A owner=0034 element=0301 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=055B owner=0034 element=0120 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*e code=0491 elementURI="MassServo.platform_mass_position" type=00
*a code=055C owner=0034 element=0491 universal=002F unitName="meter" type=0B size=0003 fl=05
*a code=055D owner=0034 element=047F universal=3FFF unitName="meter" type=0B size=0003 fl=04
1
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pSyncComponent "MassServo" handled in the control thread.*n code=0035 name="RudderServo"
*a code=055E owner=0035 element=0305 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=055F owner=0035 element=0310 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0560 owner=0035 element=0307 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0561 owner=0035 element=0309 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0562 owner=0035 element=030A universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0563 owner=0035 element=030D universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0564 owner=0035 element=030E universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0565 owner=0035 element=030F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0566 owner=0035 element=030C universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0567 owner=0035 element=0306 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=0568 owner=0035 element=030B universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0569 owner=0035 element=0308 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=056A owner=0035 element=00F9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=0492 elementURI="RudderServo.platform_rudder_angle" type=00
*a code=056B owner=0035 element=0492 universal=0039 unitName="radian" type=2F size=0004 fl=05
*a code=056C owner=0035 element=048D universal=3FFF unitName="radian" type=2F size=0004 fl=04
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tSyncComponent "RudderServo" handled in the control thread.*n code=0036 name="ThrusterServo"
*a code=056D owner=0036 element=0312 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0493 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00
*a code=056E owner=0036 element=0493 universal=0035 unitName="radian_per_second" type=0B size=0003 fl=05
*a code=056F owner=0036 element=048E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=0570 owner=0036 element=0319 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0571 owner=0036 element=0314 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0572 owner=0036 element=0316 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0573 owner=0036 element=0317 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0574 owner=0036 element=0318 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0575 owner=0036 element=0315 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0576 owner=0036 element=0313 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0577 owner=0036 element=031C universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04
*a code=0578 owner=0036 element=031D universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04
*a code=0579 owner=0036 element=031B universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=057A owner=0036 element=031A universal=3FFF unitName="count" type=0D size=0004 fl=04
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xSyncComponent "ThrusterServo" handled in the control thread.��ɍ�x
�Loaded Module: Servo (This is the module containing motor controllers)��ɍ�x
NLoading Module at Modules/Navigation.so*n code=0037 name="DeadReckonUsingSpeedCalculator"
*a code=057B owner=0037 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=057C owner=0037 element=0015 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=057D owner=0037 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=057E owner=0037 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=057F owner=0037 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0580 owner=0037 element=0031 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0494 elementURI="DeadReckonUsingSpeedCalculator.latitude" type=00
*a code=0581 owner=0037 element=0494 universal=0014 unitName="degree" type=37 size=0006 fl=05
�
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�*e code=0495 elementURI="DeadReckonUsingSpeedCalculator.longitude" type=00
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�
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�*e code=0496 elementURI="DeadReckonUsingSpeedCalculator.depth" type=00
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�
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�*e code=0497 elementURI="DeadReckonUsingSpeedCalculator.horizontal_path_length_since_last_fix" type=00
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�
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�*e code=0498 elementURI="DeadReckonUsingSpeedCalculator.fix_distance_made_good" type=00
*a code=0585 owner=0037 element=0498 universal=000A unitName="meter" type=0B size=0003 fl=05
�
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�*e code=0499 elementURI="DeadReckonUsingSpeedCalculator.fix_horizontal_path_length_since_last_fix" type=00
*a code=0586 owner=0037 element=0499 universal=000B unitName="meter" type=0B size=0003 fl=05
�
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�*e code=049A elementURI="DeadReckonUsingSpeedCalculator.fix_residual_distance" type=00
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�
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�*e code=049B elementURI="DeadReckonUsingSpeedCalculator.fix_residual_bearing" type=00
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�
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�*e code=049C elementURI="DeadReckonUsingSpeedCalculator.fix_residual_percent_distance_traveled" type=00
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�
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�*a code=058A owner=0037 element=0342 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=058B owner=0037 element=033F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=058C owner=0037 element=033E universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=058D owner=0037 element=0340 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=058E owner=0037 element=0341 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=058F owner=0037 element=03E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*e code=049D elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_orientation_read" type=02
*a code=0590 owner=0037 element=049D universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=049E elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_velocity_read" type=02
*a code=0591 owner=0037 element=049E universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=049F elementURI="DeadReckonUsingSpeedCalculator.latitude_accuracy" type=02
*a code=0592 owner=0037 element=049F universal=3FFF unitName="radian" type=2F size=0004 fl=05
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�SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.*n code=0038 name="NavChart"
*a code=0593 owner=0038 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0594 owner=0038 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0595 owner=0038 element=0015 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0596 owner=0038 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=04A0 elementURI="NavChart.sea_floor_depth_below_geoid" type=00
*a code=0597 owner=0038 element=04A0 universal=0050 unitName="meter" type=0B size=0003 fl=05
*e code=04A1 elementURI="NavChart.height_above_sea_floor" type=00
*a code=0598 owner=0038 element=04A1 universal=0011 unitName="meter" type=0B size=0003 fl=05
*e code=04A2 elementURI="NavChart.distance_from_shore" type=00
*a code=0599 owner=0038 element=04A2 universal=0006 unitName="meter" type=0B size=0003 fl=05
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nSyncComponent "NavChart" handled in the control thread.*n code=0039 name="UniversalFixResidualReporter"
*a code=059A owner=0039 element=035F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=059B owner=0039 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=059C owner=0039 element=0015 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=059D owner=0039 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=059E owner=0039 element=000B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=059F owner=0039 element=000A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05A0 owner=0039 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05A1 owner=0039 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05A2 owner=0039 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04
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�SyncComponent "UniversalFixResidualReporter" handled in the control thread.��J��x
�Loaded Module: Navigation (Contains the base navigation components)*n code=003A name="MissionManager"
*a code=05A3 owner=003A element=03F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05A4 owner=003A element=0064 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=04A3 elementURI="MissionManager.mission_started" type=00
*a code=05A5 owner=003A element=04A3 universal=0019 unitName="count" type=0D size=0004 fl=05
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zSyncComponent "MissionManager" handled in the control thread.*n code=003B name="Reporter"
ƿN��x
nSyncComponent "Reporter" handled in the control thread.*n code=003C name="NavChartDb"
*e code=04A4 elementURI="NavChartDb.closestDistance" type=02
*a code=05A6 owner=003C element=04A4 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04A5 elementURI="NavChartDb.nextDistance" type=02
*a code=05A7 owner=003C element=04A5 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04A6 elementURI="NavChartDb.closestDepth" type=02
*a code=05A8 owner=003C element=04A6 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04A7 elementURI="NavChartDb.nextDepth" type=02
*a code=05A9 owner=003C element=04A7 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=05AA owner=003C element=035C universal=3FFF unitName="none" type=00 size=0047 fl=04
*a code=05AB owner=003C element=035D universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
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bComponent "NavChartDb" handled in its own thread.*n code=003D name="NavChartDb ThreadHandler"
��U��x
DCreated PCaller Thread at 407D74E0��U��x
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4Initializing ControlThread��^��x
BInitializing DepthRateCalculator.
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�_��x
HInitializing TempGradientCalculator.��_��x
>Initializing YawRateCalculator.
�`��x
LInitializing ElevatorOffsetCalculator.��`��x
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0Kernel Release: 2.6.27.8*a code=05AC owner=0023 element=037F universal=3FFF unitName="bool" type=02 size=0001 fl=04
��b��x
�Kernel Reporting Different Version From Configuration.
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�2�~��x
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������x
*e code=04A9 elementURI="WetLabsBB2FL.component_avgVoltage" type=00
*a code=05AE owner=002C element=04A9 universal=3FFF unitName="volt" type=07 size=0002 fl=05
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*e code=04AA elementURI="WetLabsBB2FL.component_current" type=00
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TLast reboot was NOT due to watchdog timer.�����x
.Initializing heartbeat.*a code=05AF owner=0026 element=04AB universal=3FFF unitName="second" type=07 size=0002 fl=05
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0Handler Thread ID is 897鵿���x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000����x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000����x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000����x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000����x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000����x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000����x
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�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000����x
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2Deactivating GF circuits.��ю�x
8Deactivating emergency mode.鵿َ�x
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HInitialize VerticalControlComponent.�����x
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BInitialize SpeedControlComponent.�����x
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>Initialize NavChart Navigation.�����x
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JLoading Mission: Missions/Startup.xml鵿
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                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

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         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
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                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

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    </Guidance:GoToSurface>

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        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
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        </Guidance:Wait>

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