*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 Fi0Initializing 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"  iDCreated PCaller Thread at 404514E0 iDProtected caller Thread ID is 5499ƿ ihComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler"  iDCreated PCaller Thread at 404814E0 iDProtected caller Thread ID is 5500*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 ƿivSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandExec" *e code=006B elementURI="CommandExec.enableBroadcast" type=02 *a code=0003 owner=0008 element=006B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006C elementURI="NAL9602.strobeMode" type=02 *a code=0004 owner=0008 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *a code=0005 owner=0008 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=006E elementURI="Dock.docking_state" type=02 *a code=0006 owner=0008 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02 *a code=0007 owner=0008 element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0070 elementURI="IBIT.IBITRunning" type=02 *a code=0008 owner=0008 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0071 elementURI="CBIT.GFActive" type=02 *a code=0009 owner=0008 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=000A owner=0008 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0072 elementURI="CommandExec.platform_conversation" type=00 *a code=000B owner=0008 element=0072 universal=002B unitName="bool" type=02 size=0001 fl=05 ƿ#idComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler" #iDCreated PCaller Thread at 404B14E0$iDProtected caller Thread ID is 5501*n code=000A name="CommandLine" *e code=0073 elementURI="CommandLine.enableBroadcast" type=02 *a code=000C owner=000A element=0073 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿidComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" iDCreated PCaller Thread at 404E14E0iDProtected caller Thread ID is 5504*n code=000C name="logger" *e code=0074 elementURI="logger.enableBroadcast" type=02 *a code=000D owner=000C element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿiZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" iDCreated PCaller Thread at 405114E0iDProtected caller Thread ID is 5505*n code=000E name="LogSplitter" *e code=0075 elementURI="LogSplitter.enableBroadcast" type=02 *a code=000E owner=000E element=0075 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0076 elementURI="LogSplitter.platform_communications" type=00 *a code=000F owner=000E element=0076 universal=002A unitName="bool" type=02 size=0001 fl=05 ƿitSyncComponent "LogSplitter" handled in the control thread.Ni\Looking for Config files in directory: Config/NiROpening Config file at: Config/secure.cfg*n code=000F name="Config/secure" *e code=0077 elementURI="Vehicle.dashIP" type=01 *a code=0010 owner=000F element=0077 universal=3FFF unitName="none" type=00 size=000B fl=05 i 134.89.2.23*e code=0078 elementURI="Vehicle.dashPath" type=01 *a code=0011 owner=000F element=0078 universal=3FFF unitName="none" type=00 size=000B fl=05 )i /TethysDash*e code=0079 elementURI="Vehicle.dashPort" type=01 *a code=0012 owner=000F element=0079 universal=3FFF unitName="none" type=00 size=0003 fl=05 Ii443*e code=007A elementURI="Vehicle.dashSSL" type=01 *a code=0013 owner=000F element=007A universal=3FFF unitName="bool" type=02 size=0001 fl=05 ii*e code=007B elementURI="Vehicle.hostname" type=01 *a code=0014 owner=000F element=007B universal=3FFF unitName="none" type=00 size=0009 fl=05 i localhost*e code=007C elementURI="Vehicle.imei" type=01 *a code=0015 owner=000F element=007C universal=3FFF unitName="none" type=00 size=000F fl=05 i000000000000000*e code=007D elementURI="Vehicle.imeiPassword" type=01 *a code=0016 owner=000F element=007D universal=3FFF unitName="none" type=00 size=0000 fl=05 i*e code=007E elementURI="Vehicle.keyText" type=01 *a code=0017 owner=000F element=007E universal=3FFF unitName="none" type=00 size=0010 fl=05 iTethysEncryptionƿ#iLLoaded Config Component "Config/secureN#iNOpening Config file at: Config/Dock.cfg*n code=0010 name="Config/Dock" *e code=007F elementURI="Dock.lat" type=01 *a code=0018 owner=0010 element=007F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 .imp$?*e code=0080 elementURI="Dock.lon" type=01 *a code=0019 owner=0010 element=0080 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )0i*e code=0081 elementURI="Dock.depth" type=01 *a code=001A owner=0010 element=0081 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I3i@@*e code=0082 elementURI="Dock.transponderCode" type=01 *a code=001B owner=0010 element=0082 universal=3FFF unitName="count" type=0D size=0004 fl=05 i5i*e code=0083 elementURI="Docked.dockingDepthOffset" type=01 *a code=001C owner=0010 element=0083 universal=3FFF unitName="meter" type=0B size=0003 fl=05 9i@*e code=0084 elementURI="Docked.dockRange" type=01 *a code=001D owner=0010 element=0084 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ;iA*e code=0085 elementURI="Docked.dockPitch" type=01 *a code=001E owner=0010 element=0085 universal=3FFF unitName="degree" type=2F size=0004 fl=05 >i¸>*e code=0086 elementURI="Docked.detachTimeout" type=01 *a code=001F owner=0010 element=0086 universal=3FFF unitName="second" type=0B size=0003 fl=05 BiC*e code=0087 elementURI="Docked.dockTimeout" type=01 *a code=0020 owner=0010 element=0087 universal=3FFF unitName="second" type=0B size=0003 fl=05 FiA*e code=0088 elementURI="Docked.dataTimeout" type=01 *a code=0021 owner=0010 element=0088 universal=3FFF unitName="second" type=0B size=0003 fl=05 )IiD*e code=0089 elementURI="Docked.verbose" type=01 *a code=0022 owner=0010 element=0089 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ILi*e code=008A elementURI="LineCapture.midcourseSpeed" type=01 *a code=0023 owner=0010 element=008A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 iPi?*e code=008B elementURI="LineCapture.midcourseDepth" type=01 *a code=0024 owner=0010 element=008B universal=3FFF unitName="meter" type=0B size=0003 fl=05 Si@*e code=008C elementURI="LineCapture.midcourseTimeout" type=01 *a code=0025 owner=0010 element=008C universal=3FFF unitName="hour" type=0B size=0003 fl=05 ViF*e code=008D elementURI="LineCapture.terminalRange" type=01 *a code=0026 owner=0010 element=008D universal=3FFF unitName="meter" type=0B size=0003 fl=05 [i"D*e code=008E elementURI="LineCapture.acousticTimeout" type=01 *a code=0027 owner=0010 element=008E universal=3FFF unitName="minute" type=0B size=0003 fl=05 aiC*e code=008F elementURI="LineCapture.armRange" type=01 *a code=0028 owner=0010 element=008F universal=3FFF unitName="meter" type=0B size=0003 fl=05 fi B*e code=0090 elementURI="LineCapture.armSpeed" type=01 *a code=0029 owner=0010 element=0090 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )ii?*e code=0091 elementURI="LineCapture.lockoutRange" type=01 *a code=002A owner=0010 element=0091 universal=3FFF unitName="meter" type=0B size=0003 fl=05 Imi@*e code=0092 elementURI="LineCapture.interceptTimeout" type=01 *a code=002B owner=0010 element=0092 universal=3FFF unitName="second" type=0B size=0003 fl=05 ipipB*e code=0093 elementURI="LineCapture.latchDelayTimeout" type=01 *a code=002C owner=0010 element=0093 universal=3FFF unitName="second" type=0B size=0003 fl=05 si*e code=0094 elementURI="LineCapture.rolloutDistance" type=01 *a code=002D owner=0010 element=0094 universal=3FFF unitName="meter" type=0B size=0003 fl=05 wiC*e code=0095 elementURI="LineCapture.rolloutSpeed" type=01 *a code=002E owner=0010 element=0095 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 zi?*e code=0096 elementURI="LineCapture.rolloutTimeout" type=01 *a code=002F owner=0010 element=0096 universal=3FFF unitName="minute" type=0B size=0003 fl=05 }iaD*e code=0097 elementURI="LineCapture.kpHeadingTerminalGuidance" type=01 *a code=0030 owner=0010 element=0097 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 iL?*e code=0098 elementURI="LineCapture.kiHeadingTerminalGuidance" type=01 *a code=0031 owner=0010 element=0098 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 )i;*e code=0099 elementURI="LineCapture.kpHeadingFinalApproach" type=01 *a code=0032 owner=0010 element=0099 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 Ii?*e code=009A elementURI="LineCapture.kiHeadingFinalApproach" type=01 *a code=0033 owner=0010 element=009A universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 iiD;*e code=009B elementURI="LineCapture.navigationGain" type=01 *a code=0034 owner=0010 element=009B universal=3FFF unitName="none" type=1F size=0008 fl=05 i@*e code=009C elementURI="LineCapture.verbose" type=01 *a code=0035 owner=0010 element=009C universal=3FFF unitName="bool" type=02 size=0001 fl=05 i*e code=009D elementURI="LineCapture.searchTimeout" type=01 *a code=0036 owner=0010 element=009D universal=3FFF unitName="hour" type=0B size=0003 fl=05 iaE*e code=009E elementURI="LineCapture.searchCircleRadius" type=01 *a code=0037 owner=0010 element=009E universal=3FFF unitName="meter" type=0B size=0003 fl=05 iA*e code=009F elementURI="SetNav.dockRange" type=01 *a code=0038 owner=0010 element=009F universal=3FFF unitName="meter" type=0B size=0003 fl=05 i@*e code=00A0 elementURI="SetNav.rangeTimeout" type=01 *a code=0039 owner=0010 element=00A0 universal=3FFF unitName="minute" type=0B size=0003 fl=05 )iC*e code=00A1 elementURI="Undock.undockDepth" type=01 *a code=003A owner=0010 element=00A1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 Ii@*e code=00A2 elementURI="Undock.undockRange" type=01 *a code=003B owner=0010 element=00A2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ii A*e code=00A3 elementURI="Undock.undockTimeout" type=01 *a code=003C owner=0010 element=00A3 universal=3FFF unitName="second" type=0B size=0003 fl=05 iA*e code=00A4 elementURI="Undock.reverseThrustTimeout" type=01 *a code=003D owner=0010 element=00A4 universal=3FFF unitName="second" type=0B size=0003 fl=05 i A*e code=00A5 elementURI="Undock.verbose" type=01 *a code=003E owner=0010 element=00A5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iƿiHLoaded Config Component "Config/DockNiZOpening Config file at: Config/Navigation.cfg*n code=0011 name="Config/Navigation" *e code=00A6 elementURI="DeadReckonUsingMultipleVelocitySources.loadAtStartup" type=01 *a code=003F owner=0011 element=00A6 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code=02CC elementURI="Config/Simulator.tMixed" type=00 *a code=0265 owner=0015 element=02CC universal=3FFF unitName="celsius" type=1F size=0008 fl=05 Li*e code=02CD elementURI="Config/Simulator.vertCurrent" type=00 *a code=0266 owner=0015 element=02CD universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 Li*e code=02CE elementURI="Config/Simulator.oceanModelData" type=00 *a code=0267 owner=0015 element=02CE universal=3FFF unitName="none" type=00 size=0021 fl=05 Li!Resources/2003080103_mb_l3_las.nc*e code=02CF elementURI="Config/Simulator.defaultDensity" type=00 *a code=0268 owner=0015 element=02CF universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 Mi@*e code=02D0 elementURI="Config/Simulator.centerHystMovableMass" type=00 *a code=0269 owner=0015 element=02D0 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 )Mi*e code=02D1 elementURI="Config/Simulator.speedMovableMass" type=00 *a code=026A owner=0015 element=02D1 universal=3FFF unitName="millimeter_per_second" type=1F size=0008 fl=05 IMiǺF?*e code=02D2 elementURI="Config/Simulator.wideHystMovableMass" type=00 *a code=026B owner=0015 element=02D2 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 iMi*e code=02D3 elementURI="Config/Simulator.centerHystBuoyancy" type=00 *a code=026C owner=0015 element=02D3 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 Mi*e code=02D4 elementURI="Config/Simulator.speedBuoyancy" type=00 *a code=026D owner=0015 element=02D4 universal=3FFF unitName="cubic_centimeter_per_second" type=1F size=0008 fl=05 MiTqs*>*e code=02D5 elementURI="Config/Simulator.wideHystBuoyancy" type=00 *a code=026E owner=0015 element=02D5 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 Mi*e code=02D6 elementURI="Config/Simulator.buoyancyNeutralOffset" type=00 *a code=026F owner=0015 element=02D6 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 Mi*e code=02D7 elementURI="Config/Simulator.entrainedAir" type=00 *a code=0270 owner=0015 element=02D7 universal=3FFF unitName="cubic_centimeter" type=1F size=0008 fl=05 Ni*e code=02D8 elementURI="Config/Simulator.massPositionOffset" type=00 *a code=0271 owner=0015 element=02D8 universal=3FFF unitName="millimeter" type=1F size=0008 fl=05 )Ni*e code=02D9 elementURI="Config/Simulator.bottomLockGone" type=00 *a code=0272 owner=0015 element=02D9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 INiY@*e code=02DA elementURI="Config/Simulator.homingSensorTat" type=00 *a code=0273 owner=0015 element=02DA universal=3FFF unitName="second" type=1F size=0008 fl=05 iNi@ƿCiRLoaded Config Component "Config/SimulatorNDiPOpening Config file at: Config/Servo.cfg*n code=0016 name="Config/Servo" *e code=02DB elementURI="BuoyancyServo.loadAtStartup" type=01 *a code=0274 owner=0016 element=02DB universal=3FFF unitName="bool" type=02 size=0001 fl=05 NOi*e code=02DC elementURI="BuoyancyServo.simulateHardware" type=01 *a code=0275 owner=0016 element=02DC universal=3FFF unitName="bool" type=02 size=0001 fl=05 NQi*e code=02DD elementURI="BuoyancyServo.accel" type=01 *a code=0276 owner=0016 element=02DD universal=3FFF unitName="none" type=1F size=0008 fl=05 NTi@*e code=02DE elementURI="BuoyancyServo.currLimit" type=01 *a code=0277 owner=0016 element=02DE universal=3FFF unitName="percent" type=0B size=0003 fl=05 NWi?*e code=02DF elementURI="BuoyancyServo.limitHi" type=01 *a code=0278 owner=0016 element=02DF universal=3FFF unitName="count" type=0D size=0004 fl=05 O[i *e code=02E0 elementURI="BuoyancyServo.limitLo" type=01 *a code=0279 owner=0016 element=02E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 )O_i*e code=02E1 elementURI="BuoyancyServo.overloadTimeout" type=01 *a code=027A owner=0016 element=02E1 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 IObi A*e code=02E2 elementURI="BuoyancyServo.pidW" type=01 *a code=027B owner=0016 element=02E2 universal=3FFF unitName="count" 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elementURI="BuoyancyServo.countsPerCC" type=01 *a code=0282 owner=0016 element=02E9 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=05 IP}i6*e code=02EA elementURI="BuoyancyServo.deviationVolume" type=01 *a code=0283 owner=0016 element=02EA universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 iPi'7*e code=02EB elementURI="BuoyancyServo.fastPumpCoefficient" type=01 *a code=0284 owner=0016 element=02EB universal=3FFF unitName="none" type=1F size=0008 fl=05 Pi@*e code=02EC elementURI="BuoyancyServo.fastPumpDepth" type=01 *a code=0285 owner=0016 element=02EC universal=3FFF unitName="meter" type=0B size=0003 fl=05 Pi?*e code=02ED elementURI="BuoyancyServo.offsetVolume" type=01 *a code=0286 owner=0016 element=02ED universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 Pix8*e code=02EE elementURI="DockingServo.loadAtStartup" type=01 *a code=0287 owner=0016 element=02EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 Pi*e code=02EF 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elementURI="MassServo.limitLo" type=01 *a code=02A8 owner=0016 element=030F universal=3FFF unitName="count" type=0D size=0004 fl=05 UiY*e code=0310 elementURI="MassServo.overloadTimeout" type=01 *a code=02A9 owner=0016 element=0310 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 )Ui?*e code=0311 elementURI="MassServo.powerOnTimeout" type=01 *a code=02AA owner=0016 element=0311 universal=3FFF unitName="second" type=0B size=0003 fl=05 IU iL?*e code=0312 elementURI="MassServo.velocity" type=01 *a code=02AB owner=0016 element=0312 universal=3FFF unitName="none" type=1F size=0008 fl=05 iU$iA*e code=0313 elementURI="MassServo.deviationDistance" type=01 *a code=02AC owner=0016 element=0313 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 U(iQ8*e code=0314 elementURI="MassServo.tksPerMM" type=01 *a code=02AD owner=0016 element=0314 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=05 U,iY&K*e code=0315 elementURI="MassServo.totalTks" type=01 *a 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elementURI="RudderServo.powerOnTimeout" type=01 *a code=02BB owner=0016 element=0322 universal=3FFF unitName="second" type=0B size=0003 fl=05 iWUi?*e code=0323 elementURI="ThrusterHE.loadAtStartup" type=01 *a code=02BC owner=0016 element=0323 universal=3FFF unitName="bool" type=02 size=0001 fl=05 WZi*e code=0324 elementURI="ThrusterHE.simulateHardware" type=01 *a code=02BD owner=0016 element=0324 universal=3FFF unitName="bool" type=02 size=0001 fl=05 W\i*e code=0325 elementURI="ThrusterHE.deviation" type=01 *a code=02BE owner=0016 element=0325 universal=3FFF unitName="count" type=0D size=0004 fl=05 W_i*e code=0326 elementURI="ThrusterHE.allowableBadVelocity" type=01 *a code=02BF owner=0016 element=0326 universal=3FFF unitName="count" type=0D size=0004 fl=05 Wci*e code=0327 elementURI="ThrusterHE.ratedSpeed" type=01 *a code=02C0 owner=0016 element=0327 universal=3FFF unitName="count" type=0D size=0004 fl=05 XfiX*e code=0328 elementURI="ThrusterHE.powerOnTimeout" type=01 *a code=02C1 owner=0016 element=0328 universal=3FFF unitName="second" type=0B size=0003 fl=05 )Xii@*e code=0329 elementURI="ThrusterServo.loadAtStartup" type=01 *a code=02C2 owner=0016 element=0329 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IXli*e code=032A elementURI="ThrusterServo.simulateHardware" type=01 *a code=02C3 owner=0016 element=032A universal=3FFF unitName="bool" type=02 size=0001 fl=05 iXni*e code=032B elementURI="ThrusterServo.accel" type=01 *a code=02C4 owner=0016 element=032B universal=3FFF unitName="none" type=1F size=0008 fl=05 Xri?*e code=032C elementURI="ThrusterServo.currLimit" type=01 *a code=02C5 owner=0016 element=032C universal=3FFF unitName="percent" type=0B size=0003 fl=05 Xwi?*e code=032D elementURI="ThrusterServo.overloadTimeout" type=01 *a code=02C6 owner=0016 element=032D universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 Xzi?*e code=032E elementURI="ThrusterServo.pidW" type=01 *a code=02C7 owner=0016 element=032E universal=3FFF unitName="count" type=0D size=0004 fl=05 X|i@*e code=032F elementURI="ThrusterServo.pidX" type=01 *a code=02C8 owner=0016 element=032F universal=3FFF unitName="count" type=0D size=0004 fl=05 Yid*e code=0330 elementURI="ThrusterServo.pidY" type=01 *a code=02C9 owner=0016 element=0330 universal=3FFF unitName="count" type=0D size=0004 fl=05 )Yi`*e code=0331 elementURI="ThrusterServo.powerOnTimeout" type=01 *a code=02CA owner=0016 element=0331 universal=3FFF unitName="second" type=0B size=0003 fl=05 IYi?*e code=0332 elementURI="ThrusterServo.allowableBadVelocity" type=01 *a code=02CB owner=0016 element=0332 universal=3FFF unitName="count" type=0D size=0004 fl=05 iYi*e code=0333 elementURI="ThrusterServo.deviation" type=01 *a code=02CC owner=0016 element=0333 universal=3FFF unitName="count" type=0D size=0004 fl=05 Yi*e code=0334 elementURI="ThrusterServo.encoderTks" type=01 *a code=02CD owner=0016 element=0334 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=05 YiB*e code=0335 elementURI="ThrusterServo.tksPerRev" type=01 *a code=02CE owner=0016 element=0335 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=05 Yi@ƿ iJLoaded Config Component "Config/ServoN iTOpening Config file at: Config/Control.cfg*n code=0017 name="Config/Control" *e code=0336 elementURI="HorizontalControl.loadAtStartup" type=01 *a code=02CF owner=0017 element=0336 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Yi*e code=0337 elementURI="HorizontalControl.kdHeading" type=01 *a code=02D0 owner=0017 element=0337 universal=3FFF unitName="second" type=0B size=0003 fl=05 ZiL=*e code=0338 elementURI="HorizontalControl.kiHeading" type=01 *a code=02D1 owner=0017 element=0338 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 )Zi:*e code=0339 elementURI="HorizontalControl.kiwpHeading" type=01 *a code=02D2 owner=0017 element=0339 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 IZ!i:*e code=033A 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unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 li*e code=03CD elementURI="WetLabsBB2FL.serial" type=01 *a code=0366 owner=0018 element=03CD universal=3FFF unitName="none" type=00 size=0000 fl=05 li*e code=03CE elementURI="WetLabsSeaOWL_UV_A.loadAtStartup" type=01 *a code=0367 owner=0018 element=03CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 li*e code=03CF elementURI="WetLabsSeaOWL_UV_A.simulateHardware" type=01 *a code=0368 owner=0018 element=03CF universal=3FFF unitName="bool" type=02 size=0001 fl=05 mi*e code=03D0 elementURI="WetLabsSeaOWL_UV_A.chlAccuracy" type=01 *a code=0369 owner=0018 element=03D0 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 )mi5*e code=03D1 elementURI="WetLabsSeaOWL_UV_A.darkCounts700" type=01 *a code=036A owner=0018 element=03D1 universal=3FFF unitName="count" type=0D size=0004 fl=05 Imi0*e code=03D2 elementURI="WetLabsSeaOWL_UV_A.darkCountsChl" type=01 *a code=036B owner=0018 element=03D2 universal=3FFF unitName="count" type=0D size=0004 fl=05 imi2*e code=03D3 elementURI="WetLabsSeaOWL_UV_A.darkCountsFDOM" type=01 *a code=036C owner=0018 element=03D3 universal=3FFF unitName="count" type=0D size=0004 fl=05 mi2*e code=03D4 elementURI="WetLabsSeaOWL_UV_A.darkCountsOil" type=01 *a code=036D owner=0018 element=03D4 universal=3FFF unitName="count" type=0D size=0004 fl=05 mi2*e code=03D5 elementURI="WetLabsSeaOWL_UV_A.fdomAccuracy" type=01 *a code=036E owner=0018 element=03D5 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 mi 2*e code=03D6 elementURI="WetLabsSeaOWL_UV_A.oilAccuracy" type=01 *a code=036F owner=0018 element=03D6 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 micw1*e code=03D7 elementURI="WetLabsSeaOWL_UV_A.period" type=01 *a code=0370 owner=0018 element=03D7 universal=3FFF unitName="second" type=0B size=0003 fl=05 ni>*e code=03D8 elementURI="WetLabsSeaOWL_UV_A.power" type=01 *a code=0371 owner=0018 element=03D8 universal=3FFF unitName="watt" type=0B size=0003 fl=05 )ni@?*e code=03D9 elementURI="WetLabsSeaOWL_UV_A.scaleFactor700" type=01 *a code=0372 owner=0018 element=03D9 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 Ini4*e code=03DA elementURI="WetLabsSeaOWL_UV_A.scaleFactorChl" type=01 *a code=0373 owner=0018 element=03DA universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 ini6;*e code=03DB elementURI="WetLabsSeaOWL_UV_A.scaleFactorFDOM" type=01 *a code=0374 owner=0018 element=03DB universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 nim-*e code=03DC elementURI="WetLabsSeaOWL_UV_A.scaleFactorOil" type=01 *a code=0375 owner=0018 element=03DC universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 nij@1*e code=03DD elementURI="WetLabsSeaOWL_UV_A.serial" type=01 *a code=0376 owner=0018 element=03DD universal=3FFF unitName="none" type=00 size=0000 fl=05 ni*e code=03DE elementURI="WetLabsSeaOWL_UV_A.timeout" type=01 *a code=0377 owner=0018 element=03DE universal=3FFF unitName="second" type=0B size=0003 fl=05 nipA*e code=03DF elementURI="WetLabsUBAT.loadAtStartup" type=01 *a code=0378 owner=0018 element=03DF universal=3FFF unitName="bool" type=02 size=0001 fl=05 oi*e code=03E0 elementURI="WetLabsUBAT.simulateHardware" type=01 *a code=0379 owner=0018 element=03E0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )oi*e code=03E1 elementURI="WetLabsUBAT.serial" type=01 *a code=037A owner=0018 element=03E1 universal=3FFF unitName="none" type=00 size=0008 fl=05 IoiUBAT####*e code=03E2 elementURI="WetLabsUBAT.flowrateCalibCoeff" type=01 *a code=037B owner=0018 element=03E2 universal=3FFF unitName="none_float" type=0F size=0004 fl=05 ioi9*e code=03E3 elementURI="WetLabsUBAT.minFlowrate" type=01 *a code=037C owner=0018 element=03E3 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=05 oiQ8*e code=03E4 elementURI="WetLabsUBAT.optionalArgs" type=01 *a code=037D owner=0018 element=03E4 universal=3FFF unitName="none" type=00 size=0000 fl=05 oi*e code=03E5 elementURI="WetLabsUBAT.emulateHardware" type=01 *a code=037E owner=0018 element=03E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 oiƿ&iNLoaded Config Component "Config/ScienceN'iZOpening Config file at: Config/Derivation.cfg*n code=0019 name="Config/Derivation" *e code=03E6 elementURI="DepthRateCalculator.loadAtStartup" type=01 *a code=037F owner=0019 element=03E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 o>i*e code=03E7 elementURI="TempGradientCalculator.loadAtStartup" type=01 *a code=0380 owner=0019 element=03E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 pEi*e code=03E8 elementURI="TempGradientCalculator.binsizeDep" type=01 *a code=0381 owner=0019 element=03E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )pHi?*e code=03E9 elementURI="TempGradientCalculator.depDeepBndForAvg" type=01 *a code=0382 owner=0019 element=03E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 IpJiA*e code=03EA elementURI="TempGradientCalculator.depShallowBndForAvg" type=01 *a code=0383 owner=0019 element=03EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 ipMi A*e code=03EB elementURI="TempGradientCalculator.extensionDep" type=01 *a code=0384 owner=0019 element=03EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 pOi@*e code=03EC elementURI="TempGradientCalculator.numConsecutiveDepths" type=01 *a code=0385 owner=0019 element=03EC universal=3FFF unitName="count" type=0D size=0004 fl=05 pRi*e code=03ED elementURI="TempGradientCalculator.numProfilesGap" type=01 *a code=0386 owner=0019 element=03ED universal=3FFF unitName="count" type=0D size=0004 fl=05 pTi*e code=03EE elementURI="TempGradientCalculator.numProfilesLP" type=01 *a code=0387 owner=0019 element=03EE universal=3FFF unitName="count" type=0D size=0004 fl=05 pWi*e code=03EF elementURI="TempGradientCalculator.threshDepChangeAbs" type=01 *a code=0388 owner=0019 element=03EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 qYi?*e code=03F0 elementURI="PitchRateCalculator.loadAtStartup" type=01 *a code=0389 owner=0019 element=03F0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )q\i*e code=03F1 elementURI="SpeedCalculator.loadAtStartup" type=01 *a code=038A owner=0019 element=03F1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Iq_i*e code=03F2 elementURI="SpeedCalculator.speedAccuracy" type=01 *a code=038B owner=0019 element=03F2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 iqai?*e code=03F3 elementURI="VerticalHomogeneityIndexCalculator.loadAtStartup" type=01 *a code=038C owner=0019 element=03F3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 qdi*e code=03F4 elementURI="VerticalHomogeneityIndexCalculator.depth1" type=01 *a code=038D owner=0019 element=03F4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 qgi@*e code=03F5 elementURI="VerticalHomogeneityIndexCalculator.depth2" type=01 *a code=038E owner=0019 element=03F5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 qii A*e code=03F6 elementURI="VerticalHomogeneityIndexCalculator.depth3" type=01 *a code=038F owner=0019 element=03F6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 qliA*e code=03F7 elementURI="VerticalHomogeneityIndexCalculator.depth4" type=01 *a code=0390 owner=0019 element=03F7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 rniA*e code=03F8 elementURI="VerticalHomogeneityIndexCalculator.depthWindow" type=01 *a code=0391 owner=0019 element=03F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )rqi?*e code=03F9 elementURI="VerticalHomogeneityIndexCalculator.verbosity" type=01 *a code=0392 owner=0019 element=03F9 universal=3FFF unitName="count" type=0D size=0004 fl=05 Irsi*e code=03FA elementURI="VerticalHomogeneityIndexCalculator.medianFilterLengthSalt" type=01 *a code=0393 owner=0019 element=03FA universal=3FFF unitName="count" type=0D size=0004 fl=05 irvi*e code=03FB elementURI="YawRateCalculator.loadAtStartup" type=01 *a code=0394 owner=0019 element=03FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 ryi*e code=03FC elementURI="ElevatorOffsetCalculator.loadAtStartup" type=01 *a code=0395 owner=0019 element=03FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 r|i*e code=03FD elementURI="ElevatorOffsetCalculator.targetConfidenceLevel" type=01 *a code=0396 owner=0019 element=03FD universal=3FFF unitName="percent" type=0B size=0003 fl=05 ri?*e code=03FE elementURI="ElevatorOffsetCalculator.targetErrorBound" type=01 *a code=0397 owner=0019 element=03FE universal=3FFF unitName="degree" type=2F size=0004 fl=05 ri:*e code=03FF elementURI="ElevatorOffsetCalculator.verbosity" type=01 *a code=0398 owner=0019 element=03FF universal=3FFF unitName="count" type=0D size=0004 fl=05 siƿiTLoaded Config Component "Config/DerivationNiVOpening Config file at: Config/workSite.cfg*n code=001A name="Config/workSite" *e code=0400 elementURI="Config/workSite.initLat" type=00 *a code=0399 owner=001A element=0400 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )siG|; ?*e code=0401 elementURI="Config/workSite.initLon" type=00 *a code=039A owner=001A element=0401 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 IsiYZt*e code=0402 elementURI="Config/workSite.startupScript" type=00 *a code=039B owner=001A element=0402 universal=3FFF unitName="none" type=00 size=0014 fl=05 isiMissions/Startup.xml*e code=0403 elementURI="Config/workSite.defaultScript" type=00 *a code=039C owner=001A element=0403 universal=3FFF unitName="none" type=00 size=0014 fl=05 siMissions/Default.xml*e code=0404 elementURI="Config/workSite.beaconLat" type=00 *a code=039D owner=001A element=0404 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 siG|; ?*e code=0405 elementURI="Config/workSite.beaconLon" type=00 *a code=039E owner=001A element=0405 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 s itg!Eu*e code=0406 elementURI="Config/workSite.beaconDepth" type=00 *a code=039F owner=001A element=0406 universal=3FFF unitName="meter" type=1F size=0008 fl=05 s#i9@*e code=0407 elementURI="Config/workSite.beacon2Lat" type=00 *a code=03A0 owner=001A element=0407 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 t'iN攧?*e code=0408 elementURI="Config/workSite.beacon2Lon" type=00 *a code=03A1 owner=001A element=0408 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )t*i~I*e code=0409 elementURI="Config/workSite.beacon2Depth" type=00 *a code=03A2 owner=001A element=0409 universal=3FFF unitName="meter" type=1F size=0008 fl=05 It-i9@*e code=040A elementURI="Config/workSite.beacon3Lat" type=00 *a code=03A3 owner=001A element=040A universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 it1iN攧?*e code=040B elementURI="Config/workSite.beacon3Lon" type=00 *a code=03A4 owner=001A element=040B universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 t4iv*e code=040C elementURI="Config/workSite.beacon3Depth" type=00 *a code=03A5 owner=001A element=040C universal=3FFF unitName="meter" type=1F size=0008 fl=05 t7i9@ƿiPLoaded Config Component "Config/workSiteNiVOpening Config file at: Config/Guidance.cfg*n code=001B name="Config/Guidance" NiROpening Config file at: Config/Sample.cfg*n code=001C name="Config/Sample" NHiROpening Config file at: Config/logger.cfg*n code=001D name="Config/logger" ƿviLLoaded Config Component "Config/loggerNviLOpening Config file at: Config/BIT.cfg*n code=001E name="Config/BIT" *e code=040D elementURI="CBIT.loadAtStartup" type=01 *a code=03A6 owner=001E element=040D universal=3FFF unitName="bool" type=02 size=0001 fl=05 ti*e code=040E elementURI="CBIT.simulateHardware" type=01 *a code=03A7 owner=001E element=040E universal=3FFF unitName="bool" type=02 size=0001 fl=05 ti*e code=040F elementURI="CBIT.stopDepth" type=01 *a code=03A8 owner=001E element=040F universal=3FFF unitName="meter" type=0B size=0003 fl=05 uiC*e code=0410 elementURI="CBIT.abortDepth" type=01 *a code=03A9 owner=001E element=0410 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )uiC*e code=0411 elementURI="CBIT.humidityThreshold" type=01 *a code=03AA owner=001E element=0411 universal=3FFF unitName="percent" type=0B size=0003 fl=05 Iui ?*e code=0412 elementURI="CBIT.pressureThreshold" type=01 *a code=03AB owner=001E element=0412 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 iuiE*e code=0413 elementURI="CBIT.tempThreshold" type=01 *a code=03AC owner=001E element=0413 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=05 uiC*e code=0414 elementURI="CBIT.navErrorThreshold" type=01 *a code=03AD owner=001E element=0414 universal=3FFF unitName="percent" type=0B size=0003 fl=05 ui?*e code=0415 elementURI="CBIT.runNavErrorCritical" type=01 *a code=03AE owner=001E element=0415 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ui*e code=0416 elementURI="CBIT.abortDepthTimeout" type=01 *a code=03AF owner=001E element=0416 universal=3FFF unitName="second" type=0B size=0003 fl=05 ui@*e code=0417 elementURI="CBIT.battFailReport" type=01 *a code=03B0 owner=001E element=0417 universal=3FFF unitName="count" type=0D size=0004 fl=05 vi *e code=0418 elementURI="CBIT.battTempThreshold" type=01 *a code=03B1 owner=001E element=0418 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 )viC*e code=0419 elementURI="CBIT.envTimeout" type=01 *a code=03B2 owner=001E element=0419 universal=3FFF unitName="second" type=0B size=0003 fl=05 Ivi A*e code=041A elementURI="CBIT.runElevOffsetCalc" type=01 *a code=03B3 owner=001E element=041A universal=3FFF unitName="bool" type=02 size=0001 fl=05 ivi*e code=041B elementURI="CBIT.runFaultClassifier" type=01 *a code=03B4 owner=001E element=041B universal=3FFF unitName="bool" type=02 size=0001 fl=05 vi*e code=041C elementURI="CBIT.vehicleOpen" type=01 *a code=03B5 owner=001E element=041C universal=3FFF unitName="bool" type=02 size=0001 fl=05 vi*e code=041D elementURI="CBIT.gfChanA0_Threshold" type=01 *a code=03B6 owner=001E element=041D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 vi7*e code=041E elementURI="CBIT.gfChanA1_Threshold" type=01 *a code=03B7 owner=001E element=041E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 v!i7*e code=041F elementURI="CBIT.gfChanA2_Threshold" type=01 *a code=03B8 owner=001E element=041F universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 w8i7*e code=0420 elementURI="CBIT.gfChanA3_Threshold" type=01 *a code=03B9 owner=001E element=0420 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 )w;iNihOpening Config file at: Config/lrauv-makai/Servo.cfgN?iNiPi@R?iRiS?iiT?iTiTiU?i ViViPwNilOpening Config file at: Config/lrauv-makai/Control.cfgi\ii9\iB)`i3"<`i#=`iTI_?i^i>]izD^ i#*a code=047B owner=0023 element=0498 universal=3FFF unitName="meter" type=0B size=0003 fl=04 iƿipSyncComponent "MassServo" handled in the control thread.iLoaded Module: Servo (This is the module containing motor controllers)i@Loading Module at Modules/BIT.so*n code=0024 name="SBIT" *e code=04AB elementURI="SBIT.enableBroadcast" type=02 *a code=047C owner=0024 element=04AB universal=3FFF unitName="bool" type=02 size=0001 fl=05 i@Construct Startup Built In Test.*e code=04AC elementURI="SBIT.SBITRunning" type=02 *a code=047D owner=0024 element=04AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=04AD elementURI="VerticalControl.verticalMode" type=02 *a code=047E owner=0024 element=04AD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=04AE elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=047F owner=0024 element=04AE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0480 owner=0024 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04AF elementURI="VerticalControl.massPositionCmd" type=02 *a code=0481 owner=0024 element=04AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0482 owner=0024 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=04B0 elementURI="HorizontalControl.horizontalMode" type=02 *a code=0483 owner=0024 element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=04B1 elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=0484 owner=0024 element=04B1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0485 owner=0024 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0486 owner=0024 element=042F universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0487 owner=0024 element=0430 universal=3FFF unitName="none" type=00 size=0027 fl=04 *a code=0488 owner=0024 element=0352 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0489 owner=0024 element=036C universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=048A owner=0024 element=036B universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=048B owner=0024 element=0368 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=048C owner=0024 element=0341 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=048D owner=0024 element=0301 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=048E owner=0024 element=0313 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=048F owner=0024 element=031A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 1 iƿifSyncComponent "SBIT" handled in the control thread.*n code=0025 name="IBIT" *e code=04B2 elementURI="IBIT.enableBroadcast" type=02 *a code=0490 owner=0025 element=04B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iDConstruct Initiated Built In Test.*a code=0491 owner=0025 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0492 owner=0025 element=04AD universal=3FFF unitName="enum" 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code=0514 owner=0026 element=040F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0515 owner=0026 element=0411 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0516 owner=0026 element=0412 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0517 owner=0026 element=0413 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=0518 owner=0026 element=041C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0519 owner=0026 element=0416 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=051A owner=0026 element=0417 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=051B owner=0026 element=0419 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=051C owner=0026 element=041B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=051D owner=0026 element=041A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=051E owner=0026 element=0414 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=051F owner=0026 element=0415 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0520 owner=0026 element=0418 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0521 owner=0026 element=041D universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0522 owner=0026 element=041E universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0523 owner=0026 element=041F universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0524 owner=0026 element=0420 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0525 owner=0026 element=0421 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0526 owner=0026 element=0422 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0527 owner=0026 element=0423 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0528 owner=0026 element=0424 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0529 owner=0026 element=0425 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=052A owner=0026 element=0426 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=052B owner=0026 element=0427 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=052C owner=0026 element=0428 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=052D owner=0026 element=0429 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=052E owner=0026 element=042A universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=052F owner=0026 element=042B universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0530 owner=0026 element=042C universal=3FFF unitName="microampere" type=0B size=0003 fl=04 iƿifSyncComponent "CBIT" handled in the control thread.iLoaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)iHLoading Module at Modules/Science.so*n code=0027 name="Aanderaa_O2" *e code=050A elementURI="Aanderaa_O2.enableBroadcast" type=02 *a code=0531 owner=0027 element=050A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0532 owner=0027 element=0381 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=050B elementURI="Aanderaa_O2.component_voltage" type=02 *a code=0533 owner=0027 element=050B universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=050C elementURI="Aanderaa_O2.component_avgVoltage" type=02 *a code=0534 owner=0027 element=050C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=050D elementURI="Aanderaa_O2.component_current" type=02 *a code=0535 owner=0027 element=050D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=050E elementURI="Aanderaa_O2.component_avgCurrent" type=02 *a code=0536 owner=0027 element=050E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=050F elementURI="Aanderaa_O2.mass_concentration_of_oxygen_in_sea_water" type=00 *a code=0537 owner=0027 element=050F universal=001E unitName="microgram_per_liter" type=0B size=0003 fl=05 =;i9*e code=0510 elementURI="Aanderaa_O2.temperature" type=02 *a code=0538 owner=0027 element=0510 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0511 elementURI="Aanderaa_O2.airSaturation" type=02 *a code=0539 owner=0027 element=0511 universal=3FFF unitName="percent" type=0B size=0003 fl=05 @iƿ@itSyncComponent "Aanderaa_O2" handled in the control thread.*n code=0028 name="ESPComponent" *e code=0512 elementURI="ESPComponent.enableBroadcast" type=02 *a code=053A owner=0028 element=0512 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=053B owner=0028 element=03A0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0513 elementURI="ESPComponent.component_voltage" type=02 *a code=053C owner=0028 element=0513 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0514 elementURI="ESPComponent.component_avgVoltage" type=02 *a code=053D owner=0028 element=0514 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0515 elementURI="ESPComponent.component_current" type=02 *a code=053E owner=0028 element=0515 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0516 elementURI="ESPComponent.component_avgCurrent" type=02 *a code=053F owner=0028 element=0516 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0540 owner=0028 element=03A1 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0541 owner=0028 element=03A2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0542 owner=0028 element=03A3 universal=3FFF unitName="none" type=00 size=0057 fl=04 *a code=0543 owner=0028 element=03A4 universal=3FFF unitName="none" type=00 size=0000 fl=04 *a code=0544 owner=0028 element=03A6 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0545 owner=0028 element=03A7 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0546 owner=0028 element=03A8 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0547 owner=0028 element=03A9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0548 owner=0028 element=03AF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0549 owner=0028 element=03B0 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=054A owner=0028 element=03B1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=054B owner=0028 element=03B2 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=054C owner=0028 element=03B4 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *e code=0517 elementURI="ESPComponent.cartridge" type=02 *a code=054D owner=0028 element=0517 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0518 elementURI="ESPComponent.sampling" type=02 *a code=054E owner=0028 element=0518 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0519 elementURI="ESPComponent.sampleVolume" type=02 *a code=054F owner=0028 element=0519 universal=3FFF unitName="milliliter" type=0B size=0003 fl=05 *e code=051A elementURI="ESPComponent.sample_number" type=02 *a code=0550 owner=0028 element=051A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=051B elementURI="ESPComponent.stopSampling" type=02 *a code=0551 owner=0028 element=051B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0552 owner=0028 element=051B universal=3FFF unitName="bool" type=02 size=0001 fl=05 1 ^iƿ^ivSyncComponent "ESPComponent" handled in the control thread.*n code=0029 name="PAR_Licor" *e code=051C elementURI="PAR_Licor.enableBroadcast" type=02 *a code=0553 owner=0029 element=051C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0554 owner=0029 element=03B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=051D elementURI="PAR_Licor.component_voltage" type=02 *a code=0555 owner=0029 element=051D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=051E elementURI="PAR_Licor.component_avgVoltage" type=02 *a code=0556 owner=0029 element=051E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=051F elementURI="PAR_Licor.component_current" type=02 *a code=0557 owner=0029 element=051F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0520 elementURI="PAR_Licor.component_avgCurrent" type=02 *a code=0558 owner=0029 element=0520 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0559 owner=0029 element=03B7 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=04 *a code=055A owner=0029 element=03B8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=055B owner=0029 element=03BD universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=04 *a code=055C owner=0029 element=03BE universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=055D owner=0029 element=03B9 universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=055E owner=0029 element=03BB universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=055F owner=0029 element=03BA universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0560 owner=0029 element=03BC universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=0521 elementURI="PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water" type=00 *a code=0561 owner=0029 element=0521 universal=000A unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 Q niQ8*a code=0562 owner=0029 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0522 elementURI="PAR_Licor.adcCount" type=02 *a code=0563 owner=0029 element=0522 universal=3FFF unitName="count" type=0D size=0004 fl=05 q piƿpipSyncComponent "PAR_Licor" handled in the control thread.*n code=002A name="WetLabsSeaOWL_UV_A" *e code=0523 elementURI="WetLabsSeaOWL_UV_A.enableBroadcast" type=02 *a code=0564 owner=002A element=0523 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0565 owner=002A element=03CF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0524 elementURI="WetLabsSeaOWL_UV_A.component_voltage" type=02 *a code=0566 owner=002A element=0524 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0525 elementURI="WetLabsSeaOWL_UV_A.component_avgVoltage" type=02 *a code=0567 owner=002A element=0525 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0526 elementURI="WetLabsSeaOWL_UV_A.component_current" type=02 *a code=0568 owner=002A element=0526 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0527 elementURI="WetLabsSeaOWL_UV_A.component_avgCurrent" type=02 *a code=0569 owner=002A element=0527 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=056A owner=002A element=03DE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=056B owner=002A element=03D7 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=056C owner=002A element=03DD universal=3FFF unitName="none" type=00 size=0000 fl=04 *a code=056D owner=002A element=03D9 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04 *a code=056E owner=002A element=03D1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=056F owner=002A element=03DB universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=04 *a code=0570 owner=002A element=03D3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0571 owner=002A element=03DC universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=04 *a code=0572 owner=002A element=03DA universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=04 *a code=0573 owner=002A element=03D4 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0574 owner=002A element=03D2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0575 owner=002A element=03D5 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=04 *a code=0576 owner=002A element=03D6 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=04 *a code=0577 owner=002A element=03D0 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=04 *a code=0578 owner=002A element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0528 elementURI="WetLabsSeaOWL_UV_A.Output700" type=02 *a code=0579 owner=002A element=0528 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0529 elementURI="WetLabsSeaOWL_UV_A.OutputFDOM" type=02 *a code=057A owner=002A element=0529 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=052A elementURI="WetLabsSeaOWL_UV_A.OutputOil" type=02 *a code=057B owner=002A element=052A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=052B elementURI="WetLabsSeaOWL_UV_A.OutputChl" type=02 *a code=057C owner=002A element=052B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=052C elementURI="WetLabsSeaOWL_UV_A.VolumeScatCoeff117deg700nm" type=02 *a code=057D owner=002A element=052C universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=052D elementURI="WetLabsSeaOWL_UV_A.BackscatteringCoeff700nm" type=02 *a code=057E owner=002A element=052D universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *e code=052E elementURI="WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water" type=00 *a code=057F owner=002A element=052E universal=0005 unitName="part_per_billion" type=0B size=0003 fl=05 *e code=052F elementURI="WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=00 *a code=0580 owner=002A element=052F universal=001F unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *e code=0530 elementURI="WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water" type=00 *a code=0581 owner=002A element=0530 universal=001D unitName="microgram_per_liter" type=0B size=0003 fl=05 iƿirComponent "WetLabsSeaOWL_UV_A" handled in its own thread.*n code=002B name="WetLabsSeaOWL_UV_A ThreadHandler" iDCreated PCaller Thread at 406614E0iDProtected caller Thread ID is 5661ipLoaded Module: Science (Contains the science components)iNLoading Module at Modules/Derivation.so*n code=002C name="DepthRateCalculator" *e code=0531 elementURI="DepthRateCalculator.enableBroadcast" type=02 *a code=0582 owner=002C element=0531 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0583 owner=002C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0532 elementURI="DepthRateCalculator.depth_rate" type=00 *a code=0584 owner=002C element=0532 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 1 iƿiSyncComponent "DepthRateCalculator" handled in the control thread.*n code=002D name="PitchRateCalculator" *e code=0533 elementURI="PitchRateCalculator.enableBroadcast" type=02 *a code=0585 owner=002D element=0533 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0586 owner=002D element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0534 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=0587 owner=002D element=0534 universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 q iƿiSyncComponent "PitchRateCalculator" handled in the control thread.*n code=002E name="SpeedCalculator" *e code=0535 elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=0588 owner=002E element=0535 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0589 owner=002E element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0536 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=058A owner=002E element=0536 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 i*e code=0537 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=058B owner=002E element=0537 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 i*e code=0538 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *a code=058C owner=002E element=0538 universal=002E unitName="meter" type=0B size=0003 fl=05 i*a code=058D owner=002E element=03F2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=058E owner=002E element=0345 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 iƿi|SyncComponent "SpeedCalculator" handled in the control thread.*n code=002F name="TempGradientCalculator" *e code=0539 elementURI="TempGradientCalculator.enableBroadcast" type=02 *a code=058F owner=002F element=0539 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0590 owner=002F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0591 owner=002F element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=053A elementURI="TempGradientCalculator.upward_derivative_of_sea_water_temperature" type=00 *a code=0592 owner=002F element=053A universal=0066 unitName="celsius_per_meter" type=0B size=0003 fl=05 *e code=053B elementURI="TempGradientCalculator.thermoclineDepth" type=02 *a code=0593 owner=002F element=053B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=053C elementURI="TempGradientCalculator.targetDepth" type=02 *a code=0594 owner=002F element=053C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=053D elementURI="TempGradientCalculator.tempHoriGrad" type=02 *a code=0595 owner=002F element=053D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0596 owner=002F element=03E8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0597 owner=002F element=03EC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0598 owner=002F element=03EF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0599 owner=002F element=03EB universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=059A owner=002F element=03EA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=059B owner=002F element=03E9 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=059C owner=002F element=03EE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=059D owner=002F element=03ED universal=3FFF unitName="count" type=0D size=0004 fl=04 iƿiSyncComponent "TempGradientCalculator" handled in the control thread.*n code=0030 name="YawRateCalculator" *e code=053E elementURI="YawRateCalculator.enableBroadcast" type=02 *a code=059E owner=0030 element=053E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=059F owner=0030 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=053F elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=05A0 owner=0030 element=053F universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 1 iƿ iSyncComponent "YawRateCalculator" handled in the control thread.*n code=0031 name="ElevatorOffsetCalculator" *e code=0540 elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *a code=05A1 owner=0031 element=0540 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05A2 owner=0031 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A3 owner=0031 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A4 owner=0031 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A5 owner=0031 element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0541 elementURI="VerticalControl.pitchCmd" type=02 *a code=05A6 owner=0031 element=0541 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=05A7 owner=0031 element=04AF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=05A8 owner=0031 element=03FE universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=05A9 owner=0031 element=03FD universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05AA owner=0031 element=03FF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05AB owner=0031 element=037E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0542 elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *a code=05AC owner=0031 element=0542 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0543 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=05AD owner=0031 element=0543 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0544 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=05AE owner=0031 element=0544 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0545 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=05AF owner=0031 element=0545 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0546 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=05B0 owner=0031 element=0546 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0547 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=05B1 owner=0031 element=0547 universal=3FFF unitName="meter" type=0B size=0003 fl=05 q iƿiSyncComponent "ElevatorOffsetCalculator" handled in the control thread.iLoaded Module: Derivation (Contains the base derivation components) iBLoading Module at Modules/Dock.soiLoaded Module: Dock (Contains behaviors and commands for docking)iHLoading Module at Modules/Trigger.soi|Loaded Module: Trigger (Contains triggers for use in missions)iNLoading Module at Modules/Navigation.so*n code=0032 name="DeadReckonUsingMultipleVelocitySources" *e code=0548 elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *a code=05B2 owner=0032 element=0548 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05B3 owner=0032 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B4 owner=0032 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B5 owner=0032 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B6 owner=0032 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B7 owner=0032 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B8 owner=0032 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0549 elementURI="SetNav.time_fix" type=02 *a code=05B9 owner=0032 element=0549 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=054A elementURI="SetNav.latitude_fix" type=02 *a code=05BA owner=0032 element=054A universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=054B elementURI="SetNav.longitude_fix" type=02 *a code=05BB owner=0032 element=054B universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=054C elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *a code=05BC owner=0032 element=054C universal=0017 unitName="degree" type=37 size=0006 fl=05 1i*e code=054D elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *a code=05BD owner=0032 element=054D universal=001A unitName="degree" type=37 size=0006 fl=05 5i*e code=054E elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *a code=05BE owner=0032 element=054E universal=0006 unitName="meter" type=0B size=0003 fl=05 9i*e code=054F elementURI="DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground" type=00 *a code=05BF owner=0032 element=054F universal=003E unitName="meter_per_second" type=0B size=0003 fl=05 =i*e code=0550 elementURI="DeadReckonUsingMultipleVelocitySources.platform_course" type=00 *a code=05C0 owner=0032 element=0550 universal=002C unitName="unspecified" type=0B size=0003 fl=05 Ai*e code=0551 elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=05C1 owner=0032 element=0551 universal=0015 unitName="meter" type=0B size=0003 fl=05 E i*e code=0552 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=05C2 owner=0032 element=0552 universal=000D unitName="meter" type=0B size=0003 fl=05 I i*e code=0553 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=05C3 owner=0032 element=0553 universal=000E unitName="meter" type=0B size=0003 fl=05 Mi*e code=0554 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *a code=05C4 owner=0032 element=0554 universal=000F unitName="meter" type=0B size=0003 fl=05 Qi*e code=0555 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *a code=05C5 owner=0032 element=0555 universal=0010 unitName="radian" type=2F size=0004 fl=05 Ui*e code=0556 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *a code=05C6 owner=0032 element=0556 universal=0011 unitName="percent" type=0B size=0003 fl=05 Yi*a code=05C7 owner=0032 element=00AB universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05C8 owner=0032 element=00A8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05C9 owner=0032 element=00A7 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05CA owner=0032 element=00A9 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05CB owner=0032 element=00AA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05CC owner=0032 element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CD owner=0032 element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CE owner=0032 element=0536 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0557 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size=0000 fl=04 *e code=0563 elementURI="LBLNavigation.ping4TOF" type=02 *a code=05EE owner=0033 element=0563 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0564 elementURI="LBLNavigation.latitude_fix" type=00 *a code=05EF owner=0033 element=0564 universal=0018 unitName="degree" type=37 size=0006 fl=05 *e code=0565 elementURI="LBLNavigation.longitude_fix" type=00 *a code=05F0 owner=0033 element=0565 universal=001B unitName="degree" type=37 size=0006 fl=05 >iƿ>ixSyncComponent "LBLNavigation" handled in the control thread.*n code=0034 name="NavChart" *e code=0566 elementURI="NavChart.enableBroadcast" type=02 *a code=05F1 owner=0034 element=0566 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05F2 owner=0034 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05F3 owner=0034 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05F4 owner=0034 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05F5 owner=0034 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0567 elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=05F6 owner=0034 element=0567 universal=0055 unitName="meter" type=0B size=0003 fl=05 *e code=0568 elementURI="NavChart.height_above_sea_floor" type=00 *a code=05F7 owner=0034 element=0568 universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=0569 elementURI="NavChart.distance_from_shore" type=00 *a code=05F8 owner=0034 element=0569 universal=0009 unitName="meter" type=0B size=0003 fl=05  HiD*e code=056A elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02 *a code=05F9 owner=0034 element=056A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05FA owner=0034 element=00D9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 1 JiƿJinSyncComponent "NavChart" handled in the control thread.*n code=0035 name="UniversalFixResidualReporter" *e code=056B elementURI="UniversalFixResidualReporter.enableBroadcast" type=02 *a code=05FB owner=0035 element=056B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05FC owner=0035 element=00DD universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05FD owner=0035 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05FE owner=0035 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05FF owner=0035 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0600 owner=0035 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0601 owner=0035 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0602 owner=0035 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0603 owner=0035 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0604 owner=0035 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 q PiƿPiSyncComponent "UniversalFixResidualReporter" handled in the control thread.PiLoaded Module: Navigation (Contains the base navigation components)QiFLoading Module at Modules/Sensor.so*n code=0036 name="BackseatComponent" *e code=056C elementURI="BackseatComponent.enableBroadcast" type=02 *a code=0605 owner=0036 element=056C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0606 owner=0036 element=0104 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=056D elementURI="BackseatComponent.component_voltage" type=02 *a code=0607 owner=0036 element=056D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=056E elementURI="BackseatComponent.component_avgVoltage" type=02 *a code=0608 owner=0036 element=056E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=056F elementURI="BackseatComponent.component_current" type=02 *a code=0609 owner=0036 element=056F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0570 elementURI="BackseatComponent.component_avgCurrent" type=02 *a code=060A owner=0036 element=0570 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0571 elementURI="BackseatComponent.handled_message" type=02 *a code=060B owner=0036 element=0571 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=060C owner=0036 element=04BD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0572 elementURI="BackseatComponent.power_backseat" type=02 *a code=060D owner=0036 element=0572 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=060E owner=0036 element=0571 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=060F owner=0036 element=0106 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0610 owner=0036 element=0105 universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0611 owner=0036 element=0107 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0612 owner=0036 element=0108 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0613 owner=0036 element=0109 universal=3FFF unitName="bool" type=02 size=0001 fl=04 iƿipComponent "BackseatComponent" handled in its own thread.*n code=0037 name="BackseatComponent ThreadHandler" iDCreated PCaller Thread at 409D54E0iDProtected caller Thread ID is 5666*n code=0038 name="LcmUniversalReporter" *e code=0573 elementURI="LcmUniversalReporter.enableBroadcast" type=02 *a code=0614 owner=0038 element=0573 universal=3FFF unitName="bool" type=02 size=0001 fl=05 1iƿiSyncComponent "LcmUniversalReporter" handled in the control thread.*n code=0039 name="Depth_Keller" *e code=0574 elementURI="Depth_Keller.enableBroadcast" type=02 *a code=0615 owner=0039 element=0574 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0616 owner=0039 element=0140 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0575 elementURI="Depth_Keller.component_voltage" type=02 *a code=0617 owner=0039 element=0575 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0576 elementURI="Depth_Keller.component_avgVoltage" type=02 *a code=0618 owner=0039 element=0576 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0577 elementURI="Depth_Keller.component_current" type=02 *a code=0619 owner=0039 element=0577 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0578 elementURI="Depth_Keller.component_avgCurrent" type=02 *a code=061A owner=0039 element=0578 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=061B owner=0039 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0579 elementURI="Depth_Keller.depth" type=00 *a code=061C owner=0039 element=0579 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=057A elementURI="Depth_Keller.sea_water_pressure" type=00 *a code=061D owner=0039 element=057A universal=005A unitName="decibar" type=0B size=0003 fl=05 Q iHC*a code=061E owner=0039 element=0143 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=061F owner=0039 element=0145 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04 *a code=0620 owner=0039 element=0141 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0621 owner=0039 element=0142 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 q iƿ ivSyncComponent "Depth_Keller" handled in the control thread.*n code=003A name="DropWeight" *e code=057B elementURI="DropWeight.enableBroadcast" type=02 *a code=0622 owner=003A element=057B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0623 owner=003A element=049A universal=3FFF unitName="bool" type=02 size=0001 fl=05 iƿirSyncComponent "DropWeight" handled in the control thread.*n code=003B name="Micromodem" *e code=057C elementURI="Micromodem.enableBroadcast" type=02 *a code=0624 owner=003B element=057C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0625 owner=003B element=015B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=057D elementURI="Micromodem.component_voltage" type=02 *a code=0626 owner=003B element=057D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=057E elementURI="Micromodem.component_avgVoltage" type=02 *a code=0627 owner=003B element=057E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=057F elementURI="Micromodem.component_current" type=02 *a code=0628 owner=003B element=057F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0580 elementURI="Micromodem.component_avgCurrent" type=02 *a code=0629 owner=003B element=0580 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=062A owner=003B element=0159 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=062B owner=003B element=015C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=062C owner=003B element=015D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=062D owner=003B element=015E universal=3FFF unitName="enum" 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elementURI="Micromodem.pingsRequested" type=02 *a code=0642 owner=003B element=0582 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0583 elementURI="Micromodem.dusblPingCodeRequested" type=02 *a code=0643 owner=003B element=0583 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0644 owner=003B element=04BD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0584 elementURI="Micromodem.acoustic_wakeup" type=02 *a code=0645 owner=003B element=0584 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0585 elementURI="Micromodem.acoustic_receive_time" type=00 *a code=0646 owner=003B element=0585 universal=0000 unitName="epoch_second" type=0B size=0003 fl=05 *e code=0586 elementURI="Micromodem.acoustic_transmit_time" type=00 *a code=0647 owner=003B element=0586 universal=0001 unitName="epoch_second" type=0B size=0003 fl=05 *e code=0587 elementURI="Micromodem.range_request" type=02 *a code=0648 owner=003B element=0587 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0588 elementURI="Micromodem.remote_address" type=02 *a code=0649 owner=003B element=0588 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0589 elementURI="Micromodem.local_address" type=02 *a code=064A owner=003B element=0589 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=058A elementURI="Micromodem.range" type=02 *a code=064B owner=003B element=058A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=058B elementURI="Micromodem.platform_communications" type=00 *a code=064C owner=003B element=058B universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=064D owner=003B element=055D universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=064E owner=003B element=055F universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=064F owner=003B element=0561 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0650 owner=003B element=0563 universal=3FFF unitName="second" type=0B size=0003 fl=05 KiƿKirSyncComponent "Micromodem" handled in the control thread.*n code=003C name="NAL9602" *e code=058C elementURI="NAL9602.enableBroadcast" type=02 *a code=0651 owner=003C element=058C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0652 owner=003C element=0171 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=058D elementURI="NAL9602.component_voltage" type=02 *a code=0653 owner=003C element=058D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=058E elementURI="NAL9602.component_avgVoltage" type=02 *a code=0654 owner=003C element=058E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=058F elementURI="NAL9602.component_current" type=02 *a code=0655 owner=003C element=058F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0590 elementURI="NAL9602.component_avgCurrent" type=02 *a code=0656 owner=003C element=0590 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0657 owner=003C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0658 owner=003C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0659 owner=003C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=065A owner=003C element=006C universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0591 elementURI="NAL9602.SNRSatellite_0" type=00 *a code=065B owner=003C element=0591 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0592 elementURI="NAL9602.SNRSatellite_1" type=00 *a code=065C owner=003C element=0592 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0593 elementURI="NAL9602.SNRSatellite_2" type=00 *a code=065D owner=003C element=0593 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0594 elementURI="NAL9602.SNRSatellite_3" type=00 *a code=065E owner=003C element=0594 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0595 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element=033D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0707 owner=0043 element=033E universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0708 owner=0043 element=033F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0709 owner=0043 element=0340 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=070A owner=0043 element=0341 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=070B owner=0043 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070C owner=0043 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070D owner=0043 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070E owner=0043 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=070F owner=0043 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05D0 elementURI="HorizontalControl.headingInternal" type=02 *a code=0710 owner=0043 element=05D0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05D1 elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=0711 owner=0043 element=05D1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05D2 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=0712 owner=0043 element=05D2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05D3 elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=0713 owner=0043 element=05D3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05D4 elementURI="HorizontalControl.xteInternal" type=02 *a code=0714 owner=0043 element=05D4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05D5 elementURI="HorizontalControl.kxteInternal" type=02 *a code=0715 owner=0043 element=05D5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05D6 elementURI="HorizontalControl.bearingInternal" type=02 *a code=0716 owner=0043 element=05D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0717 owner=0043 element=0497 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0718 owner=0043 element=0497 universal=3FFF unitName="radian" type=2F size=0004 fl=04 iƿiSyncComponent "HorizontalControl" handled in the control thread.*n code=0044 name="SpeedControl" *e code=05D7 elementURI="SpeedControl.enableBroadcast" type=02 *a code=0719 owner=0044 element=05D7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 "i.Construct SpeedControl.*a code=071A owner=0044 element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=071B owner=0044 element=0345 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=071C owner=0044 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=071D owner=0044 element=0495 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 1iƿivSyncComponent "SpeedControl" handled in the control thread.*n code=0045 name="LoopControl" *e code=05D8 elementURI="LoopControl.enableBroadcast" type=02 *a code=071E owner=0045 element=05D8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 "i,Construct LoopControl.*a code=071F owner=0045 element=05BD universal=3FFF unitName="second" type=0B size=0003 fl=04 qiƿitSyncComponent "LoopControl" handled in the control thread.iLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)iFLoading Module at Modules/Sample.soiLoaded Module: Sample (This is a Sample Module of Sample Components)iJLoading Module at Modules/Guidance.soirLoaded Module: Guidance (Contains behaviors and commands)*n code=0046 name="MissionManager" *e code=05D9 elementURI="MissionManager.enableBroadcast" type=02 *a code=0720 owner=0046 element=05D9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0721 owner=0046 element=04AC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0722 owner=0046 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05DA elementURI="MissionManager.mission_started" type=00 *a code=0723 owner=0046 element=05DA universal=001C unitName="count" type=0D size=0004 fl=05 ƿizSyncComponent "MissionManager" handled in the control thread.*n code=0047 name="Reporter" *e code=05DB elementURI="Reporter.enableBroadcast" type=02 *a code=0724 owner=0047 element=05DB universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿinSyncComponent "Reporter" handled in the control thread.*n code=0048 name="NavChartDb" *e code=05DC elementURI="NavChartDb.enableBroadcast" type=02 *a code=0725 owner=0048 element=05DC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05DD elementURI="NavChartDb.closestDistance" type=02 *a code=0726 owner=0048 element=05DD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05DE elementURI="NavChartDb.nextDistance" type=02 *a code=0727 owner=0048 element=05DE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05DF elementURI="NavChartDb.closestDepth" type=02 *a code=0728 owner=0048 element=05DF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05E0 elementURI="NavChartDb.nextDepth" type=02 *a code=0729 owner=0048 element=05E0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=072A owner=0048 element=00DA universal=3FFF unitName="none" type=00 size=0035 fl=04 *a code=072B owner=0048 element=00DB universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ=ibComponent "NavChartDb" handled in its own thread.*n code=0049 name="NavChartDb ThreadHandler" $DiDCreated PCaller Thread at 40B3B4E0$DiDProtected caller Thread ID is 5676NIi,Main Thread ID is 5496FIi&Running supervisor.Ii2Handler Thread ID is 5678PiFInitializing the command executive.Ri2Handler Thread ID is 5679Xi2Handler Thread ID is 5680 Xi4Initializing ControlThreadYi6ExternalSim initializing...-hiEError making socket connection to simulation server at tellum.shore.mbari.org: Can not connect to invalid network address: tellum.shore.mbari.org oi(oceanModelVarCount=0*a code=072C owner=0020 element=034A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 {i2Handler Thread ID is 5681i2Handler Thread ID is 5682i2Handler Thread ID is 5683 i(beaconLat = 36.80340 i,beaconLon = -121.82230 i&beaconDepth = 25.00 i*Simulator initializedIiiiii2Handler Thread ID is 5684i> InternaEnvlSim initializing... i2Handler Thread ID is 5685$i2Handler Thread ID is 5686$iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000$itAlready Loaded Electronic Nav Chart data from US2MI01M.000$iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000$itAlready Loaded Electronic Nav Chart data from US4MI89M.000$iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000$itAlready Loaded Electronic Nav Chart data from US4MI11M.000$iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000$itAlready Loaded Electronic Nav Chart data from US5MI07M.000$iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000$itAlready Loaded Electronic Nav Chart data from US5OH07M.000$iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000$itAlready Loaded Electronic Nav Chart data from US5OH31M.000=LiInitializing YawRateCalculator.iLInitializing ElevatorOffsetCalculator. i>Initialize NavChart Navigation.ihInitializing UniversalFixResidualReporter component.*a code=072E owner=003A element=014C universal=3FFF unitName="bool" type=02 size=0001 fl=04 iĿi !iHInitialize VerticalControlComponent.!iLInitialize HorizontalControlComponent. "iBInitialize SpeedControlComponent."i@Initialize LoopControlComponent.#i^Loading Mission from file: Missions/Startup.xml*n code=004A name="Startup" *n code=004B name="Startup:A.GoToSurface" *e code=05E1 elementURI="GoToSurface.enableBroadcast" type=02 *a code=072F owner=004B element=05E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %i,Construct GoToSurface.*a code=0730 owner=004B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0731 owner=004B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0732 owner=004B element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0733 owner=004B element=05BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0734 owner=004B element=0541 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0735 owner=004B element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0736 owner=004B element=04AD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0737 owner=004B element=04AE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0738 owner=004B element=04AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0739 owner=004B element=037E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=073A owner=004B element=0379 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=073B owner=004B element=034B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=073C owner=004B element=036B universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=073D owner=004B element=0366 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=073E owner=004B element=037A universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004C name="Startup:StartupSatComms" *n code=004D name="Startup:StartupSatComms:A" *n code=004E name="Startup:StartupSatComms:B" #iA #i^Loading Mission from file: Missions/Default.xml*n code=004F name="Default" *e code=05E2 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=073F owner=004F element=05E2 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0740 owner=004F element=05E2 universal=3FFF unitName="minute" type=1F size=0008 fl=05 ji#kivDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0050 name="Default:A.Wait" (liConstruct Wait.*n code=0051 name="Default:B.GoToSurface" *a code=0741 owner=0051 element=05E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 (i,Construct GoToSurface.*a code=0742 owner=0051 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0743 owner=0051 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0744 owner=0051 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0745 owner=0051 element=05BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0746 owner=0051 element=0541 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0747 owner=0051 element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0748 owner=0051 element=04AD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0749 owner=0051 element=04AE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=074A owner=0051 element=04AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=074B owner=0051 element=037E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=074C owner=0051 element=0379 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=074D owner=0051 element=034B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=074E owner=0051 element=036B universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=074F owner=0051 element=0366 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0750 owner=0051 element=037A universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0052 name="Default:CheckIn" *n code=0053 name="Default:CheckIn:Read_GPS" *n code=0054 name="Default:CheckIn:Read_Iridium" *n code=0055 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0056 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" +i$Construct Execute.*n code=0057 name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=0058 name="Default:CheckIn:C.Wait" ,iConstruct Wait.*n code=0059 name="Default:CheckIn:D" *a code=0751 owner=0059 element=05E2 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0752 owner=0059 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005A name="Default:CheckIn:E" *n code=005B name="Default:D" *n code=005C name="Default:E.Execute" .i$Construct Execute. #i& 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs iComponent order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,7a(! ,->sAiza @)zǰięPowering up. ҭ->Depth measurement is not activeII 1@ 5@ 9@ =@ A@ E@)ޥ3"< ݥܥiݭIݭ 6Initializing BuoyancyServo..Initializing MassServo.] (Scheduling is pausedBCritical error at 20220220T181905NVStop Mission called by CBIT::checkCriticalsi*e code=05E3 elementURI="controlThread.durationOfLastRun" type=00 *a code=0753 owner=0004 element=05E3 universal=3FFF unitName="second" type=07 size=0002 fl=05 i>a(!, Aib)bi!-=>Depth measurement is not activeII iI ii=OFa(!,榆Ai)i4-b>Depth measurement is not activeIjIj aaiaIiiiii== xgot command maintain sensor NAL9602.latitude_fix 36.7 degree4.a(!,A )io) i4:A:A-b>Depth measurement is not activeIfIf ppitIttxii=*n code=005D name="Maintain_NAL9602.latitude_fix" *e code=05E4 elementURI="Maintain_NAL9602.latitude_fix.enableBroadcast" type=02 *a code=0754 owner=005D element=05E4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0755 owner=005D element=05A1 universal=3FFF unitName="degree" type=37 size=0006 fl=05 5SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.Xa(!,8چAi[) i0-B>Depth measurement is not activeIFIF PPiPIPTTi` ~Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,Maintain_NAL9602.latitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,i~=΃a(!,}􆡄AiN)i0ab ^P E?-b>Depth measurement is not activeIjIj ttitIttxiiU=Ija(!,SAi)2i0-6>Depth measurement is not activeI:I: DDiDIDHHiPi^<ha(!,#.(Ai)]i4P-R>Depth measurement is not activeIZIZ IIiIIIIQii===5 got command maintain sensor NAL9602.longitude_fix -122.19 degree*n code=005E name="Maintain_NAL9602.longitude_fix" *e code=05E5 elementURI="Maintain_NAL9602.longitude_fix.enableBroadcast" type=02 *a code=0756 owner=005E element=05E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0757 owner=005E element=05A2 universal=3FFF unitName="degree" type=37 size=0006 fl=05 M SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.#|a(!,BAIii)!i4`-b>Depth measurement is not activeIjIj ttitItxxiA u Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,i=ta(!,[AiB)3(iA06 2F-6>Depth measurement is not activeI>I> 1> 5B 9B EB 1B;4 1B >P E? 5B;4 5F >F 9FtI 9F ٷ> EF? EF 9>>N >N)>>g;4N$Reset ping filtersN Reset fix filterIVw: TTiTITXXipi=a(!,uAi)10i4PTIZIZXXٷX9XX X)XI yiyIyii=sa(!,ݚAi)i/i4@@ININLLٷL9LL L)LIh hhihIhyyiiE==]lgot command maintain sensor Depth_Keller.depth 1 meter*n code=005F name="Maintain_Depth_Keller.depth" *e code=05E6 elementURI="Maintain_Depth_Keller.depth.enableBroadcast" type=02 *a code=0758 owner=005F element=05E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0759 owner=005F element=0579 universal=3FFF unitName="meter" type=0B size=0003 fl=05 SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.a(!,vA)"i)o2i488``IjIjhhٷh9hh h)hII QQiQIi  Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,i>ia(!,*UÇAi)4iAM6Nmea out: $CCCFG,ALL,0*33  9?pL? I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)6Construct OffshoreEnvelope.*a code=07F0 owner=007C element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=07F1 owner=007C element=05C8 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=07F2 owner=007C element=05C9 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=07F3 owner=007C element=05CC universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=07F4 owner=007C element=05CA universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=07F5 owner=007C element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07F6 owner=007C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F7 owner=007C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F8 owner=007C element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F9 owner=007C element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07FA owner=007C element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07FB owner=007C element=05CA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07FC owner=007C element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=007D name="trackPatchOil:G.WaterDepthEnvelope" >=:Construct WaterDepthEnvelope.*a code=07FD owner=007D element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=07FE owner=007D element=05C8 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=07FF owner=007D element=05C9 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0800 owner=007D element=05CA universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0801 owner=007D element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0802 owner=007D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0803 owner=007D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0804 owner=007D element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0805 owner=007D element=0055 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0806 owner=007D element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0807 owner=007D element=05CA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0808 owner=007D element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=007E name="trackPatchOil:H.Pitch" ?5Construct.*a code=0809 owner=007E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=080A owner=007E element=05B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=080B owner=007E element=05BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=080C owner=007E element=04AE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=080D owner=007E element=04AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=080E owner=007E element=0541 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=080F owner=007E element=05BB universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0810 owner=007E element=04AD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=007F name="trackPatchOil:I.Buoyancy" ?&Construct Buoyancy.*a code=0811 owner=007F element=02EA universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0812 owner=007F element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0813 owner=007F element=05BC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 #lInserting Stack from file: Missions/Insert/Science.xmlW~b(!,(Ai)/Ki$0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)Construct PeakDetectHorizontal.*a code=08A8 owner=008E element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A9 owner=008E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AA owner=008E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AB owner=008E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AC owner=008E element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AD owner=008E element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008F name="trackPatchOil:Science:PeakDetectNO3" *n code=0090 name="trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth" H} 8Construct PeakDetectVsDepth.*a code=08AE owner=0090 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08AF owner=0090 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B0 owner=0090 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0091 name="trackPatchOil:Science:PeakDetectNO3:B" *n code=0092 name="trackPatchOil:Science:PeakDetectOil" *n code=0093 name="trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth" I 8Construct PeakDetectVsDepth.*a code=08B1 owner=0093 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B2 owner=0093 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B3 owner=0093 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 {b(!,cAi)i &6Nmea in: $CACFG,POW,20*0A *6Nmea out: $CCCFG,SRC,0*30 ((0094I>I><<ɷ<9<< <)Construct PeakDetectHorizontal.*a code=08B4 owner=0096 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B5 owner=0096 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B6 owner=0096 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B7 owner=0096 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B8 owner=0096 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B9 owner=0096 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0097 name="trackPatchOil:Science:PeakDetectFDOM" *n code=0098 name="trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth" L8Construct PeakDetectVsDepth.*a code=08BA owner=0098 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BB owner=0098 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BC owner=0098 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0099 name="trackPatchOil:Science:PeakDetectFDOM:B" *n code=009A name="trackPatchOil:Science:PeakDetectSalinity" *n code=009B name="trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth" M8Construct PeakDetectVsDepth.*a code=08BD owner=009B element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BE owner=009B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BF owner=009B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009C name="trackPatchOil:Science:PeakDetectSalinity:B" *n code=009D name="trackPatchOil:Science:HighestSaltPeakReport" *n code=009E name="trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" O5>Construct PeakDetectHorizontal.*a code=08C0 owner=009E element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C1 owner=009E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C2 owner=009E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C3 owner=009E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C4 owner=009E element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C5 owner=009E element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009F name="trackPatchOil:K.SetSpeed" OConstruct.*a code=08C6 owner=009F element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C7 owner=009F element=04BC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08C8 owner=009F element=05BD universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00A0 name="trackPatchOil:L.Pitch" PConstruct.*a code=08C9 owner=00A0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CA owner=00A0 element=05B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08CB owner=00A0 element=05BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08CC owner=00A0 element=04AE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08CD owner=00A0 element=04AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08CE owner=00A0 element=0541 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08CF owner=00A0 element=05BB universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08D0 owner=00A0 element=04AD universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00A1 name="trackPatchOil:PatchDetectHorizontal" *n code=00A2 name="trackPatchOil:PatchDetectHorizontal:PatchDetection" *n code=00A3 name="trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack" Q*Construct PatchTrack.*a code=08D1 owner=00A3 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D2 owner=00A3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D3 owner=00A3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D4 owner=00A3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D5 owner=00A3 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D6 owner=00A3 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D7 owner=00A3 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00A4 name="trackPatchOil:PatchDetectHorizontal:PatchDetection:B" *n code=00A5 name="trackPatchOil:PatchDetectHorizontal:PatchDetection:C" *n code=00A6 name="trackPatchOil:PatchDetectHorizontal:PatchDetection:AssignPatchDetectOff" *a code=08D8 owner=00A6 element=05FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A7 name="trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn" *a code=08D9 owner=00A7 element=05FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A8 name="trackPatchOil:PatchDetectHorizontal:C" *n code=00A9 name="trackPatchOil:PatchDetectHorizontal:CrossLeg" *n code=00AA name="trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint" U &Construct Waypoint.*a code=08DA owner=00AA element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DB owner=00AA element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DC owner=00AA element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DD owner=00AA element=05CC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08DE owner=00AA element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08DF owner=00AA element=05C8 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08E0 owner=00AA element=05C9 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00AB name="trackPatchOil:PatchDetectHorizontal:CrossLeg:B" *n code=00AC name="trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint" V &Construct Waypoint.*a code=08E1 owner=00AC element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E2 owner=00AC element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E3 owner=00AC element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E4 owner=00AC element=05CC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08E5 owner=00AC element=04B0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08E6 owner=00AC element=05C8 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08E7 owner=00AC element=05C9 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00AD name="trackPatchOil:PatchDetectHorizontal:CrossLeg:AssignPatchDetectOffInCrossLeg" *a code=08E8 owner=00AD element=05FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00AE name="trackPatchOil:PatchDetectHorizontal:CrossLeg:AssignWpDoneInCrossLeg" *a code=08E9 owner=00AE element=05FF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00AF name="trackPatchOil:PatchDetectHorizontal:AssignWpBearingForInLeg" *a code=08EA owner=00AF element=05FD universal=3FFF unitName="degree" type=1F size=0008 fl=05 *n code=00B0 name="trackPatchOil:PatchDetectHorizontal:F" *n code=00B1 name="trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint" X- &Construct Waypoint.lb(!,7n}Ai)Ni$0494I>I><<ɷ<9<< <) Vehicle runs at 3m depth (instead of yo-yos since oil concentration varies strongly with depth), with patch detect enabled for oil concentration. Suggested settings for simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData = "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3"; eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; // vel x wrto LV Config/sim/[username]/workSite.cfg: initLat = 71.2225805280196 arcdeg; // Initial latitude initLon = -163.5093252100575 arcdeg; // Initial longitude Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool; WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool; WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial = "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7 1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count; WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count; WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count; WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb; WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count; WetLabsSeaOWL_UV_A.darkCountsChl = 50 count; WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l; WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count; WetLabsSeaOWL_UV_A.darkCountsOil = 50 count; WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts = "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM"; Minimum altitude for the entire mission. 5 Maximum depth for the entire mission. 65 Minimum water depth for the entire mission. 10 Minimum offshore distance for the entire mission. 2000 Maximum time between surfacings for communications 180 Timeout for the entire mission 9 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Depth during sampling. 3.0 Vehicle speed. 1 Maximum length of each tracking leg 12000 Maximum duration of each tracking leg 12000 Set WaterFrame true to drive towards waypoints in the water frame of reference Maximum number of tracking legs 200 Amount to turn at each leg 90 Change in bearing which reverses vehicle direction 180 Applied to stop run-up of angles 360 Width of boxcar filter used in horizontal patch detection Set to 130 if Guidance:SetSpeed.period set to 800 msec 260 If non-NaN, sets threshold for starting horizontal patch detection 0.2 When filtered horizontal value is this fraction of the peak, consider it outside the patch. 10 If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point. Look for signal for this long. If none found, return to previous point. 15 Bearing being followed in the current leg. Set this to initialize start direction of patch tracking. 90 Mission sets this to true when the patch has been crossed. Mission sets this to true when the cross-patch waypoint has been reached. NaN NaN NaN NaN 0 20 1 20 1 0 10 NeedComms Timeout Surfacing Patch value is at ,distance = Bearing for CrossLeg: This is a long leg across the width of the patch. Also the first leg in a mission run. Two waypoints run in sequence: a short run to the surfacing point, and a longer run to the edge of the patch. Bearing for InLeg: Simply drive back towards the patch center Bearing for OutLeg: Drive outward until edge of patch is detected. =MXRunning ./Missions/Science/trackPatchOil.xmlꍥb(!,KAi)SQi$0094I:I:88ɷ8988 8)8IL LLiPIPTTi`i=&=b(!,&Ai)Qi$*p;(0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)Mc(!,ʌ7Ai)ei$0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)Nmea out: $CCCFG,FC0,14500*47 ,,0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)PNmea in: $CACLK,2022,02,20,18,19,54*44 `d9dInInllɷl9ll l)lI| iI i!i=!= d(!,zSAi)]iDTX9XI%I%!!ɷ!9!! !)!I iIii=d(!,1ȓAi)]i$((0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)Xi$pp9tI~I~||ɷ|9|| |)|I ݙܙiݙIݙii='8e(!,䔡Ai=)ZitYa9aIuIuqqɷq9qq q)qI1 11i1I1AAiYiu=>e(!,SxAi)^i$((@@9DININLLɷL9LL L)LIx xxixIx|ii5=Ee(!,RAi)]i 0094I:I:88ɷ8988 8)8I\ ))i)I)11iiil=Ke(!,*2Ai")7]i4``9dIjIjhhɷh9hh h)hI| ||i|I|AAQ=U*Beginning Startup BITɏUU >)eii=}6Beginning ground fault scanɠ}i=yRe(!,LAi)b^i $$0094I:I:88ɷ8988 8)8IL)N< N > ttitIxz >|ɏ ) i  ii-=Ye(!,eAIii )\_i &8Not Powering down - fast GPS* *)*I*i*i***** .).I.i....@@9DININLLɷL9LL L)LI\ \ \`i`I``dɏhl)lillipi}F=H2_e(!,Ai#)]i 0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <))>]idAA9AIUIUQQɷQ9QQ Q)QI  iIɏ)ii i5=5e(!,thAIii& )&\_i4@@9DIJIJHHɷH9HH H)HI\ \ \\i\I\``ɏhh)hihhili~= e(!,KAi)0^i088@D9DININLLɷL9LL L)LI\ \ \\i`I``dɏhh)lillipiu= e(!,W&Ai)]i$0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)e(!,_Ai!)P]i 0094I:I:88ɷ8988 8)8IL L LLiLILPPɏXX)XiX\i`in<e(!,epAi )i]i ((<@9@IJIJHHɷH9HH H)HIX X XXi\I\\`ɏdh)hihhiliz<R.e(!,H7Ai))\i$<<9@IJIJHHɷH9HH H)HIX X XXiXI\\`ɏdh)hihhiliu=e(!,)QAi&)\i 0494I>I><<ɷ<9<< <)nRe(!,Ai )C_i$0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)Ai)`i$<<9@IJIJHHɷH9HH H)HIX X XXiXIX\`ɏdh)hihhiliz<=$got command report# mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changesI><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)WetLabsSeaOWL_UV_A.power (watt)==WetLabsSeaOWL_UV_A.scaleFactor700 (reciprocal_meter_per_steradian_count)==WetLabsSeaOWL_UV_A.scaleFactorChl (microgram_per_liter_per_count)==~WetLabsSeaOWL_UV_A.scaleFactorFDOM (part_per_billion_per_count)=E|WetLabsSeaOWL_UV_A.scaleFactorOil (part_per_billion_per_count)=E@WetLabsSeaOWL_UV_A.serial (none)=EFWetLabsSeaOWL_UV_A.timeout (second)=RWetLabsSeaOWL_UV_A.enableBroadcast (bool)=VWetLabsSeaOWL_UV_A.component_voltage (volt)=\WetLabsSeaOWL_UV_A.component_avgVoltage (volt)=dWetLabsSeaOWL_UV_A.component_current (milliampere)=jWetLabsSeaOWL_UV_A.component_avgCurrent (milliampere)=HWetLabsSeaOWL_UV_A.Output700 (count)=JWetLabsSeaOWL_UV_A.OutputFDOM (count)=HWetLabsSeaOWL_UV_A.OutputOil (count)=HWetLabsSeaOWL_UV_A.OutputChl (count)=WetLabsSeaOWL_UV_A.VolumeScatCoeff117deg700nm (reciprocal_meter_per_steradian)=|WetLabsSeaOWL_UV_A.BackscatteringCoeff700nm (reciprocal_meter)=WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water (part_per_billion)=WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water (kilogram_per_cubic_meter)=WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water (microgram_per_liter)=ltrackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A (bool)=btrackPatchOil:Science.LowPassWindowLength (count)f(!,#Ai) `i$((0090I:I:88ɷ8988 8)8IH H HHiHILLPɏTT)TiTXiXij<Kg(!,cAi)ai 0094I:I:88ɷ8988 8)8IL p ttitIttxɏ)ii i-= g(!,!<*Ai)i 0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)=I g(!,Ai)^i ((0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)IAi)^i 0090I:I:88ɷ8988 8)8IL L LLiLILPPɏXX)Xi\\i`in<]g(!,cAi)ai ((0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)uAi)^i$0090I:I:88ɷ8988 8)8IH H HLiLILLPɏXX)XiXXi\ij<mmh(!,QAi!)P]i ((0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)<=#J.Started mission StartupiJ yJJ %J:Aggregate::initialize StartupJ%J@Initialize GoToSurfaceComponent.%NNo depth rate setting specified. Using default value of nan m/s.%N~No pitch setting specified. Using default value of nan degrees.%RNo speed setting specified. Using default value of 1.000000 m/s.%RNo surface timeout specified. Using default value of 1000.000000 seconds.%RnReceived pitch timeout configuration 60.000000 seconds.VZZ Z1Z &ZZAggregate::initialize Startup:StartupSatCommsqZIbXz: ` `didIddhipi~=ih(!, Ai')\i ((0094I>I><<ɷ<9<< <)<*a code=08FE owner=004D element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 &NdInitialize ReadDataComponent to sense latitude_fixqNNLLP PIT T TXiXIXX\idir<h(!,oAi%)\i$0494I>I><<ɷ<9<< <)<*a code=08FF owner=004E element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 'NzInitialize ReadDataComponent to sense platform_communicationsLLP PIT T XXiXIXX\ihi >-h(!,'K"Ai"2)"[i$*.No more packets to send-. .0494I>I><<ɷ<9<< <)<J&JBCompleted Startup:StartupSatComms1J &J^Aggregate::uninitialize Startup:StartupSatCommsLLL L%N"Completed Startup#N*Startup is completed.#RAggregate::uninitialize StartupR%RDUninitialize GoToSurfaceComponent.IX \ \\i\I\``iliz<Wh(!,t'I><<ɷ<9<< <)<=#J:Started mission trackPatchOilyH1J 0JFAggregate::initialize trackPatchOilqJ0JJInitialize AltitudeEnvelopeComponent.J 1NDInitialize DepthEnvelopeComponent.1N >NJInitialize OffshoreEnvelopeComponent.qN>NNInitialize WaterDepthEnvelopeComponent.N ?NInitialize.R?RNUninitialize OffshoreEnvelopeComponent.q>RUninitialize WaterDepthEnvelopeComponent.?@Uninitialize Buoyancy Component.1  @ZAggregate::uninitialize trackPatchOil:Scienceq !1" DtAggregate::uninitialize trackPatchOil:Science:OceanCurrentq"'OUninitialize.1(*%M*!M*1M'a"Ua"Qa"Ma"Ia"Ea"A! =]! 9]! 5e! 1e! -e! )e! %e! !e! e! e! e! e! e! e! e! m! m! m! m! m! m! m! m! m! m! m! m! m! u! u! u! u! u! u! u! u! u! u! u! u! u! }! }! }! }! }! }! }! }}! y}! u}! q}! m}! i! e! a! ]! Y! U! Q! M! I! E! A! =!)951-)%!! ! ! !!!!!!!!!!!!!!!!!!!!!!!!!!%!%Iy ށ ݁܁i݁I݁ii>?h(!,%VAiz2)z[i!yy9yIIɷ9鹉 )=#-.Started mission Defaulty)-'-:Aggregate::initialize Defaultq-(-@Initialize GoToSurfaceComponent.(-No depth rate setting specified. Using default value of nan m/s.(5~No pitch setting specified. Using default value of nan degrees.(No speed setting specified. Using default value of 1.000000 m/s.(No surface timeout specified. Using default value of 1000.000000 seconds.(nReceived pitch timeout configuration 60.000000 seconds.1 (4Initialize Wait Component. )II  iIi!i}=vjh(!,oAi#)]i 0090I:I:88ɷ8988 8)8D D)DIDIH L LLiLILPPi\ij<Qh(!,IAIii"%)"\i044@@9DIJIJHHɷH9HH H)HX X)XIXI\ ` ``i`I`ddipi~=N{h(!,Ai&)\i8pp9tIzIzxxɷx9xx x)x) 1)1I1IY a aaiaIaiiiiw=h(!,sAi){^i 0090I:I:88ɷ8988 8)8H H)HIHIP P PPiPITppixi =h(!,HףAi!)P]i$(*A@@9@IJIJHHɷH9HH H)Ht t)tItI| | ||i|I iiE)=1h(!,#񣡄Ai)]i$0494I>I><<ɷ<9<< <)Ai)]i$0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)i(!,.wAi)^i 0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)<*a code=090C owner=0053 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 )r\Initialize ReadDataComponent to sense time_fixp p)pIpIx x xxixIx||ii-=i(!,[Ai)`i$0494I>I><<ɷ<9<< <)< )!I!I) ) 11i1I11Yiqi]=ti(!,%Ai)ai$0094I>I><<ɷ<9<< <)<) ))1I1I9 9 AAiAIAyyiia=_i(!,,Ai)`i$((0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)<) )))I)Ii i iiiiIiqqiiZ=Lj(!,%bAi<)Zi$((0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)j(!,=Ai)*_i(,,@@9DIJIJHHɷH9HH H)Hp p)tItIx x x|i|I||ii-=Ej(!,Ai)b^i$0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)

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I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)<\ \)`I`Id d hhihIhhliti=׺j(!,Ai)_i$0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)=3uk(!, ׭Ai )i]i ((0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)Ai)6ai$``9dInInllɷl9ll l)l )IIq y ݙܙiݙIݙiit=k(!, XAi)_i PP9PIZIZXXɷX9XX X)Xx x)xIxI   i I  i1iU.=k(!,rAi)abi(,,@@9@IJIJHHɷH9HH H)HX X)XIXI\ ` ``i`I`ddipi~=k(!,Ai)bi$0494I>I><<ɷ<9<< <)I><<ɷ<9<< <)Aid)oi$(*A@@9@IJIJHHɷH9HH H)HT X)XIXI\ \ ``i`I``diliz<9k(!,ڮAiK)+ri pp9tIzIzxxɷx9xx x)xI I)IIIIQ Y YYiYIYaaiiv=8dk(!,@󮡄AiP)qi$PT9TI^I^\\ɷ\9\\ \)\h h)hIlIt t ttitItxxi i%=Kk(!,V Aih)Woi(004494I>I><<ɷ<9<< <)oi 0090I:I:88ɷ8988 8)8D D)DIHIL L LPiPIPPTi\ij<=k(!,e[Ai) ki ((0094I:I:88ɷ8988 8)8l l)lIlIp t ttitItxxi i%=?k(!,@uAi)_ji <<9PIZIZXXɷX9XX X)Xx x)xIxIA A AAiAIAIIiai}G= k(!,LAi|)dmi 0094I:I:88ɷ8988 8)8H H)HIHIP P PPiPIPTTi)iE)==hgot command run ./Missions/Science/trackPatchOil.xml#~Loading Mission from file: ./Missions/Science/trackPatchOil.xmlk(!,QAIiit),ni ((0090I:I:88ɷ8988 8)8INw: LLiLIL|iiU=!#`DefineArg trackPatchOil.MinAltitude = 5.000000 m!#\DefineArg trackPatchOil.MaxDepth = 65.000000 m! #fDefineArg trackPatchOil.MinWaterDepth = 10.000000 m!I#fDefineArg trackPatchOil.MinOffshore = 2000.000000 m!# lDefineArg trackPatchOil.NeedCommsTime = 180.000000 min!#fDefineArg trackPatchOil.MissionTimeout = 9.000000 d!-))#5bDefineArg trackPatchOil.MassDefault = 0.990000 cm!=9#EnDefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc!MI#UTDefineArg trackPatchOil.Depth = 3.000000 m!] Y#eXDefineArg trackPatchOil.Speed = 1.000000 m/s!mIq#ulDefineArg trackPatchOil.WpMaxDistance = 12000.000000 m!#dDefineArg trackPatchOil.WpTimeout = 12000.000000 s!#VDefineArg trackPatchOil.WaterFrame = 1 bool! #bDefineArg trackPatchOil.Repeat = 200.000000 count!5I1#=^DefineArg trackPatchOil.Turn = 90.000000 arcdeg!EA#MfDefineArg trackPatchOil.Reverse = 180.000000 arcdeg!#bDefineArg trackPatchOil.TwoPi = 360.000000 arcdeg! #lDefineArg trackPatchOil.FilterWidth = 260.000000 count!I#nDefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3!-)#5jDefineArg trackPatchOil.OffPeakFraction = 10.000000 %!=9#ETDefineArg trackPatchOil.PatchMode = 0 bool!M I#UpDefineArg trackPatchOil.DetectOilTimeout = 15.000000 min!eIa#ehDefineArg trackPatchOil.WpBearing = 90.000000 arcdeg!mii#ubDefineOutput trackPatchOil.PatchDetectOn = 0 bool!}y# TDefineOutput trackPatchOil.WpDone = 0 bool!#\DefineOutput trackPatchOil.PatchOil = nan ug/l!U)Q#]`DefineOutput trackPatchOil.PatchOilDepth = nan m! eia#mpDefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg! uq#rDefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg!#pDefineOutput trackPatchOil.PatchOilDistance = 0.000000 m06Construct AltitudeEnvelope. 150Construct DepthEnvelope.#lInserting Stack from file: Missions/Insert/Surface.xml  # DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s  # DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg I # DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s!  # DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min%  # DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool 2 ,Construct GoToSurface.# RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg# RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s# RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool# lInserting Stack from file: Missions/Insert/Surface.xml) i # DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s-  #% DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg1- ) #5 DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s5= )9 #E DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min9M iI jk(!,¯Aih)Woi 0494I>I><<ɷ<9<< <)<#DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool 8E,Construct GoToSurface.IY YaiaIaaiiif=#-RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg#]RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s >6Construct OffshoreEnvelope.!)>:Construct WaterDepthEnvelope. ?-Construct.5E?U&Construct Buoyancy.]#]lInserting Stack from file: Missions/Insert/Science.xml! =% @! #- xDefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool! A5 @1 #= |DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min! EE @A #M DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool! IU @Q #] DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool! Me @a #e DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool! Qm @i #u lDefineArg trackPatchOil:Science.PatchTracking = 0 bool! U}  Ay # jDefineArg trackPatchOil:Science.DetectTrough = 0 bool! Y A # DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count! ] *A # DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count! a :A # DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %6k(!,ܯAiM)qi 0090I:I:88ɷ8988 8)8IH HHiLILLPiXijConstruct PeakDetectHorizontal. H 8Construct PeakDetectVsDepth.I 8Construct PeakDetectVsDepth. KE >Construct PeakDetectHorizontal.k(!,+Ai[)pi ((0094I>I><<ɷ<9<< <)Construct PeakDetectHorizontal.OConstruct.'% P-Construct.Q*Construct PatchTrack. U&Construct Waypoint.*1*!*% V&Construct Waypoint.X&Construct Waypoint.[&Construct Waypoint. #=C Vehicle runs at 3m depth (instead of yo-yos since oil concentration varies strongly with depth), with patch detect enabled for oil concentration. Suggested settings for simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData = "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3"; eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; // vel x wrto LV Config/sim/[username]/workSite.cfg: initLat = 71.2225805280196 arcdeg; // Initial latitude initLon = -163.5093252100575 arcdeg; // Initial longitude Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool; WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool; WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial = "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7 1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count; WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count; WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count; WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb; WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count; WetLabsSeaOWL_UV_A.darkCountsChl = 50 count; WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l; WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count; WetLabsSeaOWL_UV_A.darkCountsOil = 50 count; WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts = "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM"; Minimum altitude for the entire mission. 5 Maximum depth for the entire mission. 65 Minimum water depth for the entire mission. 10 Minimum offshore distance for the entire mission. 2000 Maximum time between surfacings for communications 180 Timeout for the entire mission 9 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Depth during sampling. 3.0 Vehicle speed. 1 Maximum length of each tracking leg 12000 Maximum duration of each tracking leg 12000 Set WaterFrame true to drive towards waypoints in the water frame of reference Maximum number of tracking legs 200 Amount to turn at each leg 90 Change in bearing which reverses vehicle direction 180 Applied to stop run-up of angles 360 Width of boxcar filter used in horizontal patch detection Set to 130 if Guidance:SetSpeed.period set to 800 msec 260 If non-NaN, sets threshold for starting horizontal patch detection 0.2 When filtered horizontal value is this fraction of the peak, consider it outside the patch. 10 If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point. Look for signal for this long. If none found, return to previous point. 15 Bearing being followed in the current leg. Set this to initialize start direction of patch tracking. 90 Mission sets this to true when the patch has been crossed. Mission sets this to true when the cross-patch waypoint has been reached. NaN NaN NaN NaN 0 20 1 20 1 0 10 NeedComms Timeout Surfacing Patch value is at ,distance = Bearing for CrossLeg: This is a long leg across the width of the patch. Also the first leg in a mission run. Two waypoints run in sequence: a short run to the surfacing point, and a longer run to the edge of the patch. Bearing for InLeg: Simply drive back towards the patch center Bearing for OutLeg: Drive outward until edge of patch is detected. =MXRunning ./Missions/Science/trackPatchOil.xmll(!,hAi)i0@@9@IJIJHHɷH9HH H)HZ'Z>Aggregate::uninitialize DefaultqZ(ZDUninitialize GoToSurfaceComponent.Z )ZNAggregate::uninitialize Default:CheckInZ=#Z:Started mission trackPatchOilyX1^ 0^FAggregate::initialize trackPatchOilq^0^JInitialize AltitudeEnvelopeComponent.^ 1^DInitialize DepthEnvelopeComponent.1b >bJInitialize OffshoreEnvelopeComponent.qb>bNInitialize WaterDepthEnvelopeComponent.b ?bInitialize.b?bMl(!,!wAi^)Qpi$&.No more packets to send(LL9LIVIVTTɷT9TT T)Tqffddd d0jFAltitude Measurement is not Active.Il p ppipIpttii=x6$l(!,mA )iv)mi ((0094I:I:88ɷ8988 8)8*a code=090F owner=006A element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 5JdInitialize ReadDataComponent to sense latitude_fixN3NVCompleted trackPatchOil:SurfaceCommsSplit:CN3NrAggregate::uninitialize trackPatchOil:SurfaceCommsSplit:CLLL L1RRCompleted trackPatchOil:SurfaceCommsSplitR1RnAggregate::uninitialize trackPatchOil:SurfaceCommsSplit1R 2RDUninitialize GoToSurfaceComponent.q(RPRrAggregate::initialize trackPatchOil:PatchDetectHorizontal)RIX \ \\i9I9AAiYiuA=%`*l(!,AIii) ki 0094I>I><<ɷ<9<< <)<FJ)N1*N1(NFNRFL'n:Fn?1 r!rq vv@tvj@v3" - -?-3I-i9 -5i1I11]SAiq)Ii)O4=9ih=)Ii9)Ii9) I! i! ! ! ! ! 9! G1l(!,^ŰAi)hi ``9dIjIjhhɷh9hh h)hT]NBearing for CrossLeg: 90.000000 arcdeg 1*]q*]T]Aggregate::initialize trackPatchOil:PatchDetectHorizontal:CrossLeg*] Ue:Initialize WaypointComponent.(m QmAggregate::initialize trackPatchOil:PatchDetectHorizontal:PatchDetection(mQmInitialize.Fq)Ii9RF:F@ j@ ])e> ae?e(Ia e,WaiiIiiqii=)!I!i!))))9))QIQiQQQQQ9Q) I i  9 &r7l(!,:߰Ai.).ciDHHlp9pIzIzxxɷx9xx x)xFFFRF:F!@)j@))> !?ȇI WiIii==)QIQiYYYYY9Y)Ii9)Ii9) I i  9 _=l(!,Ai.).mdi0 qu7?u`ܺIq ݝ/ܙiݙIݙiIie=)Ii9)Ii9) I i   9 )9 I9 i9 9 9 A A 9A sDl(!,A ) $i&)&di0DD9HIbIb``ɷ`9`` `)`FpFpFpRFp:Ft@xj@x;)> S? &I ƍiIii =)Ii9)9I9i99AAA9A)i Ii ii i i i i 9i Jl(!,,A )) I i $9$i)[ci(,.A@@9DIJIJHHɷH9HH H)HFXFXF\RF\:F\@`j@dn)nU> prp?raIp r_pipIpttii=)iIiiqqqqq9q)Ii9) I i  9 Ql(!,QFA )i)bi<)PIPiPPPPP9PTX9XIbIb``ɷ`9`` `)`FpFpFtRFt:Ft@xj@x ʬ) >  ?햻I 19iIi1iM-=)Ii9)YIYiYYYYY9a) I i  9 'Wl(!,#`A )i)zbi 0494I>I><<ɷ<9<< <)<FLFLFLRFL:FP@Tj@T^8)b> `b?bI` bO˃`idId9AiQ)iIiiiiiii9iif=)Ii9)Ii9) I i  9 K]l(!,W]zA )i)/bi$((0494I>I><<ɷ<9<< <)<FLFLFLRFL:FP@Tj@T^ )b> `b?bI` bG`idIddhipi=)Ii9)Ii9)Ii9)9 I9 iA A A A A 9A dl(!,7A )i)abi$4494I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@X-+)-> )-&?-5I) 5]1i1I199iQi =)Ii9)AIAiAAIII9I)qIqiqqqqq9q) I i  9 ojl(!,4AIi )i")"U`i@Ya9aIuIuqqɷq9qq q)qFFFRF:F@j@]H)%> !%h?%64I! %")i)I))1)qIqiqqyyy9yii=)Ii9)Ii9)9 I9 i9 9 9 9 A 9A ql(!,=DZA )iN)N_i199AI9IIuIuqqɷq9qq q)qFFFRF:F@j@ݽP|)ݽ^> ޹?SI ]MiIii=)Ii9)9I9i9AAAA9A)i Ii ii i i i i 9i xxl(!,ᱡA )),I,i,,,,,90i )\_i4@@9DIJIJHHɷH9HH H)HFXF\F\RF\:F`@dj@drϔ)rF> pr?vsIt v{titItxxi i%=)iIqiqqqqq9q)Ii9) I i  9 Z8~l(!,A )i)zbi4@@9DIJIJ)hIhihhhhh9lHHɷH9HH H)HFxFxF|RF|:F@ j@ e)> !%4?%I! %N!i!I))1iAie7=)Ii9)Ii9!)A IA iA A I I I 9I q l(!,ǀA )i)_i ((0094I>I><<ɷ<9<< <)<FHFHFLRFL:FL@Tj@T^ m)^> `b?bI` b`i`Iddhit)YIYiYYYaa9aih=)Ii9)Ii9) I i     9 uJl(!,u[/A )i )i]i$0094I>I><<ɷ<9<< <)<FLFLFLRFP:FP@Tj@Tbغ)b> `bׂ?bI` f#didIdhhiti=)Ii9)Ii    9 )1I1i1111191)Y IY iY a a a a 9a O2l(!,~6IA )i)iXaa9aIuIuqqɷq9qq q)qFFFRF:F@j@)9I9i9999999}I)}> y݅@?܅мIށ ݅GX ܁i݁I݁ii=)aIaiaaaai9i)Ii9) I i  9 \l(!,bcA )iE)YiX`bAYa9aIuIuqqɷq9qq q)qFFFRF:F@j@)f> ? I p iIi)Ii9i=)Ii9)Ii9) I i    ! 9! l(!,|A )i )i]i 0494I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@Tb )bJ> `b?b+Id f87didIdhhiih=)Ii9)Ii!!!!!9!)Q IQ iQ Q Q Q Q 9Q hnl(!,ǖA)Ii9 ) i"*)"o\iHTT9TI^I^\\ɷ\9\\ \)\FlFlFpRFp:Fp@tj@xǛ()$> e?  I  U i I i)iE)=)IIQiQQQQQ9Q)Ii9) I i  9 }l(!,AIi )i)^i088@@9DIJIJHHɷH9HH H)HFXFXF\)!I!i)))))9)RF\:F1@9j@9MpH:)U> QUل?U(IQ UvQiYIYaaiqiR=)IIIiIIIII9Q)qIqiyyyyy9y) I i  9 l(!,|ʲA )i)b^i$4494I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@TbqR)b> `fI?f5)Id f,didIdhhixi  =)Ii9)Ii9)Ii9= *got command get depth= depth 1.000000 m)! I! i! ! ! ! ! 9! jl(!,X䲡A )i)]i LP9PIZIZXXɷX9XX X)XFhFhFhRFh:Fl@pj@pz7`)~[> |~ƅ?~8I| ~niI ii=#=)Ii9)!I!i!!)))9))QIQiQQQYY9Y)y Iy iy  9 9Ծl(!,2A )i)iPTVAXX9\IbIb``ɷ`9`` `)`FF F RF :F @j@e(ks)e> amK?m~IIi miiiIiqqi i%=)YIYiYYYYY9Y)Ii9)Ii9) I i  9 ݼl(!,A )i){^id|9IIɷ9 )FqFqFyRFy:Fy@j@ݽkq)ݽ> Ԇ?ZI iIii=)Ii9)Ii9) I i   9 l(!,1A)Ii9 8)88i>)>*_i!119IIɷ9鹑 )FFFRF:F@j@By)> b?QlI iIii=)IIQiQQQQQ9Q)yIyi9) I i  9 l(!,KA )i)ai ((0094I>I>)@I@i@@DDD9D<<ɷ<9<< <)<FPFPFTRFT:FT@Xj@\f 5)f> hj?j|Ih hhihIhlpixi  =)Ii9)Ii9) I i  9 l(!,eA )i)]i 0094I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@TbȒ)b> `b|?fId ddidIdhh)pIpippppp9pi|i=) Ii9)9I9i99AAA9A)a Ia ia a i i i 9i "l(!,{A )i")7]i$0094I>I><<ɷ<9<< <)<FpFpFtRFt:Ft@xj@x ) >  ?I iIi1)9I9iAAAAA9Ai]4=)iIiiiiiii9i)Ii9) I i  9 A l(!,uUA )i)]i$(*A0094I>I><<ɷ<9<< <)<FHFHFLRFL:F@ j@ Y)%> !%?%țI! !!i)I))1iAie7=)Ii9)Ii9)Ii9)! I! i! ! ! ! ! 9! c4l(!,0AIi )i%)\i@pp9tI~I~||ɷ|9|| |)|FQFYFyRF:F@j@|)G> i?I iIi)Ii9im=)!I!i)))))9))QIQiQQQQQ9Y)y Iy iy  9 l(!,ͳA ()((i.#).]i@!!9!I5I511ɷ1911 1)1FQFQFRF:F@j@a»)> ?%I! !!i!I!))iA)QIQiQYYYY9Yiu=)Ii9)Ii9) I i   9 Fl(!,!泡A )i)]i8``dd9hIrIrppɷp9pp p)pF|FFRF:F@j@=7ٻ)=x> AE?EIA AAiAIAIIiai}G=)Ii9)Ii9)) I) i) ) ) ) 1 91 )Y IY iY Y Y Y Y 9Y (4m(!,A )i))\i,<<9 !%u?%VǽI) ))i)I)11iIie9=)!I!i)))))9))QIQiQQQQQ9Y=,got command show stack= Behavior Stack: =0XPriority 0: trackPatchOil:A.AltitudeEnvelope=0RPriority 1: trackPatchOil:B.DepthEnvelope=0XPriority 2: trackPatchOil:F.OffshoreEnvelope=0\Priority 3: trackPatchOil:G.WaterDepthEnvelope=0BPriority 4: trackPatchOil:H.Pitch=0HPriority 5: trackPatchOil:I.Buoyancy=@FPriority 6: trackPatchOil:Science:A=@TPriority 7: trackPatchOil:Science:Read_Oil=DbPriority 8: trackPatchOil:Science:OceanCurrent:A.=0HPriority 9: trackPatchOil:K.SetSpeed=0DPriority 10: trackPatchOil:L.Pitch=QPriority 11: trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrackTPriority 12: trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint)y I i  9 Xm(!,A )i)I^i )0I0i00000948898IBIB@@ɷ@9@@ @)@FTFTFTRFT:FT@\j@\f-g)j> hj+?jҽIh hhilIllpixi=)Ii9)Ii9) I i  9 m(!,y4A )i.) \i (*A0094I>I><<ɷ<9<< <)<FHFLFLRFL:FL@Tj@T^)^> `b?b޽I` ``i`I`)dIdidddhh9hllixi  =)Ii9)Ii9)A IA iA I I I I 9I kjm(!,SNA )i:)Zi$@@9DININLLɷL9LL L)LF\F\F\RF`:F`@dj@dr'W)r> pr?r(Ip ttitItxxi )I!i!!!!!9!i5=)IIIiIIIIQ9Q)qIqiyyyyy9y) I i  9 ۔m(!,0hA )i5)][i 0094I>I><<ɷ<9<< <)<FHFLFLRFq:Fq@yj@y)Ii9ݝƎ)ݝQ> ޡݥ?ܥIޡ ݡܡiݡIݡi)i}=)Ii9)Ii9) I i     9 | m(!,k A )i#)]i$((,,90I:I:88ɷ8988 8)8FHFLFLRFL:FL@Tj@T^)^-> `bL?baI` ``i`I`ii5=)Ii9)Ii    9 )1I1i1111199) I i  9 &m(!,K直A )i)]i0PP9PIZIZXXɷX9XX X)XF FFRF:F@!j@!5,+)=> 9=*?=U I9 AAiAIAAIiai}F=)Ii9)Ii9)Ii9) I i     9 ,m(!,AIi )i)]i4<<9@IJIJHHɷH9HH H)HF!F!F!RF!:F)@1j@1EpX )M> IM?M:II IIiQIQQYiiiL=)Ii9)Ii!!!!!9!)I II iI I Q Q Q 9Q r3m(!,ؚϴA )i,)=\i$(*A)0I0i00044948898IBIB@@ɷ@9@@ @)@FPFPFTRFT:FT@Xj@Xf+)f> dfޒ?fId hhihIhhlixij=)Ii9)Ii9) I i  9 9m(!,dw鴡A )i.) \i 0094I:I:88ɷ8988 8)8FHFHFLRFL:FL@Pj@T^0)b > `bÓ?bI` ddidId)`Ididdhhh9hllixi  =)IIIiIIQQQ9Q)qIyiyyyyy9y) I i  9 @m(!,RA )i)^i 0094I>I><<ɷ<9<< <)<FpFpFtRFt:Ft@xj@x MX6) >  ?%I iIi1iM-=)yIyiyyyy9)Ii9)Ii9) I i     9 Fm(!,,A )i)<`i$((PT9TI^I^\\ɷ\9\\ \)\FlFlFlRFl:Fp@tj@t-:@)-> )-?-C-I) )1i1I119iI)Ii9i =)Ii    9 )1I1i1111199)Y Ia ia a a a a 9a Mm(!,x 7A )i)#`i `d9dInInllɷl9ll l)lFYFYFaRFa:Fa@ij@iݥ"F)ݥ> ޡݥ?ܭD5Iީ ݩܩiݩIݩi)1I1i1999999i=)aIaiaaaai9i)Ii9) I i     9 4Tm(!,.PA )i)n`i$PP9TIZIZXXɷX9XX X)XFQFQFYRFY:FY@aj@a݅qS)݅> ށ݅?܅ =Iށ ݉܉i݉I݉ii|=)Ii9)Ii9)) I) i) 1 1 1 1 91 )Y IY iY Y Y Y Y 9Y A7Zm(!,+jA )i)^i,00489 dj?jDIh hhihIhlpixii=)!I!i!!!))9))QIQiQQQQQ9Q)y I i  9 am(!,[A )i)^i$)0I0i00000948898IBIB@@ɷ@9@@ @)@FPFPFTRFT:FT@Xj@\MK`)MK> IM?M!MII QQiQIQyyiin=)Ii9)Ii9) I i  9 Bgm(!,tA )i#)]i$0094I>I><<ɷ<9<< <)<FHFLFLRFL:FP@Tj@T)`I`i`````9`fIr)f> df?fUIh hhihIhllixi  =)Ii9)Ii9!)A IA iA I I I I 9I *mmm(!,PAIi )i"$)"]i044@@9DIJIJHHɷH9HH H)HF FFRF:F@!j@!))I)i1111191Egr)Ez> AE?E^II IIiIIIQQiiiJ=)IIIiIIIIQ9Q)qIqiyyyyy9y) I i  9 Ttm(!,R*ҵA )i.) \i$0494I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@Tb)bb> `bʜ?bWfI` ddidIdhh)yIyi9ii}=)Ii9)Ii9) I i     9 zm(!,O쵡A )i)_il9IIɷ9鹱 )FF)Ii9FRF:F@aj@au{)}> y}?}upIy yyi݁I݁ii=) I i     9 )1I1i1111191)Y IY iY a a a a 9a Tgm(!,"A )i)ai$((TT9TIvIvttɷt9tt t)tFYFYFaRFa:Fa@ij@i݅M[)݅ľ> ށ݅?܅xIށ ݉܉i݉I݉iij=)1I1i1999999)Ii9)Ii9) I i  9 pm(!,4A )i)ci 0094I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@XbV)bd> df-?fId ddidIdhliti  =)Ii9)Ii9)) I) i) ) 1 1 1 91 )Y IY iY Y Y Y Y 9Y m(!,9A )i6)6ai<\\9\IfIfddɷd9dd d)dFIFIFQRFQ:FQ@Yj@YuDА)u> quk?uIq yyiyIyiQiu=)!I!i!))))9))QIQiQQQQY9Y)y I i  9 ,m(!,\sSA )i)abi (()@I@i@@@@@9DDH9HIzIzxxɷx9xx x)xFFFRF:F@!j@!5ڛ)=g> 9=?=VI9 AAiAIAAIiYi}E=)Ii9)Ii9) I i  9 ̚m(!,LmA )i)ai$0494I>I><<ɷ<9<< <)<FLFLF\RF`:F`@dj@d)pIpippppp9pݍ챡)ݍ> މݍã?܍ Iމ ݑܑiݑIݑii =) Ii9=0got command get latitude=2latitude 36.700001 arcdeg)9I9i9999999)a Ia ia i i i i 9i )m(!,)A )i )_i 0090I:I:88ɷ8988 8)8FHFHFHRFH:FL@Pj@P^ܥ)^S> \^?^듾I` ``i`I`ddipi~=)9I9i99AAA9A)iIiiiiiii9i)Ii9) I i  9 #ߧm(!,A )i)]i$((pp9tIzIzxxɷx9xx x)xFIFIFQRFQ:FQ@aj@a}̥)}w> y}O?}>Iށ ݁܁i݁I݁)Ii9i9i]=)Ii9)Ii9) I! i! ! ! ! ! 9! m(!,PຶAIi )i"7)"+[iy9IIɷ9鹉 )FF)Ii9FRF:F@!j@!}2)}@> y}?}Iy y܁i݁I݁ii=)!I!i!!)))9))QIQiQQQQQ9Q)y Iy iy  9 m(!,ԶA ()((i.).{^ip1999IMIMIIɷI9II I)IFiFiFqRFq:Fq@yj@yݕ@)ݕ > ޑݕ?ܝIޙ ݙܙiݙIݙi1iU=)QIQiQYYYY9Y)Ii9)Ii9) I i  9 =m(!,hA )i")7]i$((0094I>I><<ɷ<9<< <)<FtFtFxRFx:Fx@|j@տ)> (?I iI!!i9iU1=)Ii9)Ii9) I i     9 )9 I9 i9 9 9 9 9 99 m(!,KrA )i*)o\i 0094I>I><<ɷ<9<< <)<FHFHFLRFL:FP@Tj@Tb]ļ)bV> `bu?f֭Id ddidIdhhiti=)Ii9)Ii9) I i  9 t-m(!,L"A )i)U`i 0094I>I><<ɷ<9<< <)<FLFLFLRFL:FP@Tj@T)XI\i\\\\\9\fhǼ)f> dfҬ?jJIh hhihIhllixi  =)Ii9)Ii9)! I! i! ) ) ) ) 9) 6Wm(!,-&ͼ)r`> pv6?vٸIt ttitItxx)|Ii9ii5=))I)i)))1191)QIYiYYYYY9Y) I i  9 2?m(!,VA )i)^i$@D9DININLLɷL9LL L)LFFF9RF9:FA@Ij@I)YIYiYaaaa9a݅qм)݅> ށ݅?܅Iށ ݉܉i݉I݉ii=)Ii9)Ii9) I i  9 im(!,LoA )i))\iPYa9aIuIuqqɷq9qq q)qFFFRF:F@j@)Ii9N׼)$> "?ľI iIii5=)Ii9)Ii9) I i  9 Rm(!,oA )i)]i088HL9LIVIVTTɷT9TT T)TFdFdFhRFh:Fh@lj@pz)z> xz{?~ɾI| ||i|I|ii5!=)qIqiqqqyy9y)Ii9)Ii9) I i  9 {m(!,A )i)b^i$PP9PIZIZXXɷX9XX X)XFhFhFlRFl:Fl@pj@t~T)~I> ?ϾI iI  i)iE)=)Ii9)Ii9=},got command show stack=} Behavior Stack: =0XPriority 0: trackPatchOil:A.AltitudeEnvelope=0RPriority 1: trackPatchOil:B.DepthEnvelope=0XPriority 2: trackPatchOil:F.OffshoreEnvelope=0\Priority 3: trackPatchOil:G.WaterDepthEnvelope=0BPriority 4: trackPatchOil:H.Pitch=0HPriority 5: trackPatchOil:I.Buoyancy=@FPriority 6: trackPatchOil:Science:A=@TPriority 7: trackPatchOil:Science:Read_Oil=DbPriority 8: trackPatchOil:Science:OceanCurrent:A.=0HPriority 9: trackPatchOil:K.SetSpeed=0DPriority 10: trackPatchOil:L.Pitch=QPriority 11: trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrackTPriority 12: trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint)) I) i) ) 1 1 1 91 )Y IY iY Y Y Y Y 9Y zm(!,AIi )i!)P]i,8<9 s?վI! !!i!I!))iAi}E=)!I!i!!)))9))QIQiQQQQQ9Y)y Iy iy  9 m(!,EJ׷A )i')\i ((0494I>I><<ɷ<9<< <)<)DIDiDDDDD9DFPFPFTRFT:FT@Xj@Xf})f> df?f۾Id hhihIhhliti  =)Ii9)Ii9) I i  9 m(!,|&񷡄A )i#)]i @@9DIJIJHHɷH9HH H)HFXF\F\RF\:F`@dj@d)pIpippppp9pvb)vQ> xzr?zIx xxixIx|ii5=) I i   9)1I9i9999999)a Ia ia a a i i 9i n(!, A )i)i ``9dInInllɷl9ll l)lF)F)F1RF1:F1)9I9i9AAAA9A@Qj@Q)> ?~I iIii=)iIiiiiiii9i)Ii9) I i  9 n(!,L$A )i)aiDHH!)9)I}I}yyɷy9yy y)y)Ii9FFFRF:F@j@Z)> ?I iIii=)Ii9)Ii9)y Iy i  9 n(!,|>A )i)Hbi068Not Powering down - fast GPS4 :):I8i8i::::: :)>I>i>>>>PP9PIZIZXXɷX9XX X)XFhFhFlRFl:Fl@pj@t~+ )~> *?I iI i!iE'=)QIQiQQYYY9Y)Ii9)Ii9) I i  9 n(!,}XA )i)_i 0494I>I><<ɷ<9<< <)<FtFtFtRFt:Fx@|j@|  )> Ⱦ?#I iI!i1iU.=)Ii9)Ii9) I i    9 )9 I9 i9 9 9 9 9 99 n(!,lrA )i:)Zi$((0094I>I><<ɷ<9<< <)<FHFHFLRFL:FL@Pj@T^f)^i> blb^?bI` ``i`I`ddiie=)Ii9)9IAiAAAAA9A)i Ii ii i i q q 9q "n(!,oHA ))0I0i0000094i)]i@``9`IjIjhhɷh9hh h)hFxFxF|RF:F@ j@ %V)%i> !%?%&I) ))i)I)11ii=)Ii9)Ii9) I i  9 )n(!,O"A )i)^i$0494I>I><<ɷ<9<< <)<)hIlilllll9lFIFIFQRFQ:FQ@Yj@aݥF )ݥe> ޡݭ?ܭIީ ݩܩiݩIݩii}=)Ii9)Ii9)A IA iA I I I I 9I 60n(!,AIi )i")"^i  )Ii!!!9!)191IIɷ9鹁 )FFFRF:F@j@)> ? I iIii=)IIIiIIIII9I)qIqiqyyyy9y) I i   9 )6n(!,@ٸA )i)]i$0494I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@Tb%)b&> `b?b3Id ddidIdhhiti=)Ii9)Ii    9 =$got command report#mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changes)1I1i1111199)Y IY ia a a a a 9a KT tv?vIx xxixIx|YiiiM=)1I1i1999999)aIaiaaaaa9i)Ii9) I i  9 ;Cn(!,: A )i.) \i ((0094I>I><<ɷ<9<< <)<FHFLFLRFL:FL@Tj@T^v')^> `b?b-I` ``i`I`dhipi=)Ii9)Ii9)Ii9) I i     9! fIn(!,k'A )i))\i 0094I:I:88ɷ8988 8)8FHFHFLRFL:FL@Pj@T^y@*)^> `b\?bI` ``i`Iddhipi=)Ii9)Ii!!!!!9!)I II iI I I I Q 9Q MPn(!,=FAA ))8I8i<<<<<9 T?I iIii=)Ii9)Ii9) I i  9 OxVn(!,#[A )i)`iPXX)\I`i`````9`AA9II]I]YYɷY9YY Y)YFqFyFyRFy:Fy@j@ݝρ4)ݝe> ޡݥ?ܥ7 Iޡ ݡܡiݡIݡii=)Ii9)Ii!9!)A II iI I I I I 9I K\n(!,tA )i")"Hbi0@D9DININLLɷL9LL L)LF\F\F\RF`:F`@dj@drW&<)rh> pr?r#Ip ttitItxxi )YIYiYYaaa9aiY=)Ii9)Ii9) I i  9 cn(!,׎A )i)ci$0494I>I><<ɷ<9<< <)<FdFdFhRFh:Fh@lj@pzG9)z,> x~?~j'I| ||i|I|ii5!=)Ii9)Ii9)Ii9)9 IA iA A A A A 9A in(!,A )i)bi$((0494I>I><<ɷ<9<< <)<FHFLFLRFL:FP@Tj@T-+H=)-C> )-?-=+I) 11i1I199iQiW=)Ii9)AIAiIIIII9I)qIqiqqqqq9q) I i  9 pn(!,ߌ¹AIi )i)ei0<<9@IJIJHHɷH9HH H)HFXFXFXRFX:F\@`j@`nE)n> lny?n.Ip ppipIpttii)qIqiyyyyy9y)Ii9)Ii9) I i  9 vn(!,8iܹA )i)fei$@@9DININLLɷL9LL L)LFXFXF\RF|:F|@j@ 3E)_> !%p?%2I! !!i!I!Yaiqim=)Ii9)Ii9)) I) i) ) ) 1 1 91 |n(!,xFA)Ii9 4)44i:):biptt||9|I I   ɷ 9   ) FiFiFqRFq:Fq@yj@ݕ;H)ݕ> ޑݝt?ܝ6Iޙ ݙܙiݙIݙiii)IIQiQQQQQ9Q)yIyiyyy9) I i  9 ׃n(!,KA )i)Oai$0090I:I:88)@I@i@@@DD9Dɷ8988 8)8F F FRF:F@!j@!5ASS)5> 9=\?=:I9 99iAIAAIiYi}E=)Ii9)Ii9) I i  9 9n(!,)A )i)ai4@@9DIJIJHHɷH9HH H)HFXFXF\RF\:F\@`j@d)lIpippppp9przvW)v> tvJ?v>It txixIxxiiq=) I i    9)9I9i999999A)a Ia ia a i i i 9i n(!,_CA )i)^i$((0094I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@XbY)bD> `fG?fBId ddidIdhhiti=)9I9i99AAA9A)Ii9)Ii9) I i     9 n(!,]A )i){^i 0494I>I><<ɷ<9<< <)<FhFhFhRFh:Fl@pj@t~|[)~> W?FI iI i!iE&=)Ii9)Ii     9 )1I1i1111199)Y IY ia a a a a 9a >n(!,wA )i)]i 0094I:I:88ɷ8988 8)8FhFhFhRFl:Fl@pj@p݅]q])݅> ށ݅{?܍JIމ ݉܉i݉I݉ii =)1I9i9999999)aIaiaaaaa9i)Ii9) I i  9 9&n(!,IgA )i" )"\_iTXX!!9!I5I511ɷ1911 1)1)Ii9F!F)F)RF):F1@9j@9ݭQX)ݭ> ޱݵ?ܵOIޱ ݱܱiݱIݱii>)Ii9)Ii9 `n(!,@A @)@@iF)F]iaq9IIɷ9鹱 )Fi)Ii9FqFRF:F@j@ݕbm)ݕ,> ޙݝ?ܝSIޙ ݙܙiݙIݙiiU>)Ii9) I i     9 )9 I9 i9 9 9 9 9 9A KHn(!,`źAIi )i"E)"Yi4@@9@IJIJHHɷH9HH H)HF1F1F1RF1:F9@Aj@A݅&cv)݅>> ށ݅?܅WIށ ݉܉i݉I݉)1I1i1111191IQiai>)aIaiaaaaa9a) I i  9 srn(!,:<ߺA ))0I0i0000090iO)Xi8<<@D9DININLLɷL9LL L)LF\F\F\RF\:F`@dj@d q)> $?I\I iIQii)Ii9i)Ii9) I i  9 n(!,A )iI)jYi0<<)Ii   9 9 IIɷ9鹩 )F)F)F)RF):F1@1j@9ݵ\zr)ݵ> ޹ݽr?ܽ`I޹ ݹܹiݹIݹ)IIIiIIQQQ9QQiiE0>)qIqiyyyyy9y) I i  9 n(!,A )i9)Zi 0094I:I:88ɷ8988 8)8FHFH)Ii9FLRF:F@ j@eކ)eθ> imd?mdIi iiiiIiii-=)!I!i!!)))9))QIQiQQQQQ9Q)y Iy iy  9 ]n(!,,A )i#)]i ((,L9PIVIVTTɷT9TT T)TFiFiFqRFq:Fq@yj@샽)g> ?  iI   i I )Ii9iqi=)Ii9)Ii9) I i     9! ~n(!,iGA )i)^iDaa9aIuIuqqɷq9qq q)q)Ii9FFFRF:F@j@C{)> ?mI iI  i!i}>)Ii9)I II iI I Q Q Q 9Q on(!,ADaA 8)88)@I@i@@@@D9Di>)> `iH``9dIjIjhhɷh9hh h)hF F F RF :F)Ii9@ j@%\)%\> !-n?-rI) ))i)I)99ii=.>)Ii9) I i     9 Xn(!,"{A )i)I^i$(*A,090I:I:88ɷ8988 8)8)AIAiAAAAI9IFFFRF:F@yj@yݕ0)ݕ> ޕ8ݕg?ܕvIޙ ݙܙiݙIݙi)i>)iIiiiiiii9q)Ii9) I i  9 n(!, A L)LL)Ii9iR)R0^iQ9IIɷ9鹡 )FFFRF:F@Aj@A s)>  ?|I iI)Ii   9 i1i=>)1I1i1111199:n(!,A ) i")"<`i0)`I`i`````9d9IIɷ9鹱 )FQFQFQRFY:FY@aj@aݝv)ݝv> ޙݥ@ܥIޡ ݡܡiݡIݡi)Ii9im>)Ii9!)A II iI I I I I 9I "n(!,ȻAI0i00 <)< .@]I iIii% >)QIQiYYYYY9Y)yIyiyyyyy9) I i  9 Ln(!,⻡A )i)]i ޑݕ9@ܕsIޙ ݙܙiݙIݙii=)Ii9)Ii9) I i     9 Zwn(!,A )i )_iP``9`IjIjhhɷh9hh h)hFxFxF|RF|:F|@j@ ߘ)N> S@I iI)Ii9!i1iU=)aIaiaaaai9i)Ii9) I i  9 }o(!,A )i )C_iPXZAy9IIɷ9鹑 )FFFRF:F@j@%!)% > !%@%%I) ))i)I)1)Ii9iii=)Ii9)i Ii ii i i i q 9q ) I i  9 o(!,o~1A 4)44i6)6_i @fI iI!!i9i=)AIAiAIIII9I)qIqiqqqqy9y) I i  9 = Jgot command get SpeedControl.speedCmd= DSpeedControl.speedCmd 1.000000 m/sۯo(!,EKA )i)b^i 0094I:I:88ɷ8988 8)8FHFHFLRFL:FL@Pj@T)lIlippppp9pz)z> xz@zoI| ||i|I|ii=) I i   9)yIyiyyyyy9y) I i  9 Yo(!,eA )i+)V\i $$(,9,I2I200ɷ0900 0)0F@F@FDRFD:FD@Hj@HV6졽)V> TV@VIX XXiXIX\\ihiv<)yIyiyy9)Ii9)Ii9) I i     9 o(!,@~A )i9)Zi 0094I>I><<ɷ<9<< <)<FdFdFhRFh:Fh@j@!5X)5> 1=@=ܑI9 99i9IAAIiYi}E=)Ii9))I)i)))))9))QIQiQQQQQ9Q)y Iy iy  9 R%o(!,טA )iF)Yi0@@9@IJIJHHɷH9HH H)HFXFXF\RF\:F\@`j@`nA)n > ln @rIp ppipIpAA)Ii9ii=)Ii9)Ii9) I i     9 8,o(!,歲A )i1)[i$((,090I:I:88ɷ8988 8)8FHFHFHRFH:FL@pj@p=Ʉ)=> 9= @EIA AAiAIAIIiY)Ii9i5=)9IAiAAAAA9A)i Ii ii i i q q 9q 2o(!,z̼AIi ))0I0i0000094i")"{^i89IIɷ9鹙 )F9F9F9RFA:FA@Ij@ID)> G @I iI)Ii9ii]>)Ii9) I i  9 '9o(!,Mf漡A )i")7]i$0094I:I:88ɷ8988 8)8FHFHFLRFL:FL@Tj@T)\I`i`````9`f)f> df% @fJId hhihIhllixi=)Ii9)Ii9)A IA iA I I I I 9I @o(!,JA )i*)*]i044<<9@IFIFDDɷD9DD D)DFTFTFTRFX:FX@\j@\j)jh> hj0@ja)Ii9!Iޱ ݱܱiݱIݱii=)AIAiAIIII9I)qIqiqqqqq9y) I i  9 f9Fo(!,3A )i)]ipxx9|IIɷ9 )F!F!F)RF):F)@1j@1m5)m> quD@uIq qqiq)yIyiyy9Iqii=)Ii9)Ii9) I i     9 cLo(!,I3A )i)]ia)Ii9iq9qIIɷ9鹁 )FQFQFQRFY:FY@aj@aݝ_)ݝ>> ޙݝu@ܝ꠿Iޙ ݙܡiݡIݡ i)Ii     9 i )>)1I1i1111999)Y Ia ia a a a a 9a SLSo(!,ZMA )i" )"\_i088@@9DININLLɷL9LL L)LFXF\F\RF\:F`@dj@d~"ͽ).> >@|I i I  i)1I1i1999999ie=)aIaiaaaai9i)Ii9) I i  9 uYo(!,gA ()((i.).]i0@@9DIJIJHHɷH9HH H)HF`F`F`RF`:Fd@hj@h2') >  @@ I  iI9iQiU=)Ii9)Ii9)Ii9) I i    ! 9! ]`o(!,LA )i)_iA))9)I=I=99ɷ9999 9)9FFFRF:F@j@ݭ0)ݭf> ީݵ]@ܵIޱ ݱܱiݱIݱ)Ii9ii=)I!i!!!!!9!)I II iI I Q Q Q 9Q Ƈfo(!,cA )) I i $9$i#)]i(,,PP9PIZIZXXɷX9XX X)XFxFxFxRF|:F@!j@!=>ǽ)x> 9@sI iI  ii]=)iIiiqqqqq9q)Ii9) I i  9 wlo(!,pAA $)$$)`I`i```dd9di*)*]ię9IIɷ9 )FIFIFqRFq:Fy@j@ݽW)ݽ> ޹ݽK@ܽI޹ iIii]=)Ii9)Ii9)A IA iA A I I I 9I tso(!, ϽAIi )i")"b^i0@@9@IJIJHHɷH9HH H)HFtFxFxRFx:Fx)Ii!!!!!9!@)j@)eʽ)e> ae(@mPIi iiiiIiqiiE=)IIIiIIIII9Q)qIqiyyyyy9y) I i  9 yo(!,轡A )i)`i $$0094I:I:88ɷ8988 8)8FHFHFLRFL:FL@Pj@Tnfǽ)n> pr @rIp ppipIpttia)yIyiyyyy9iN=)Ii9)Ii9) I i     9 o(!,5A 0)00i2!)2P]i!1191ImImiiɷi9ii i)iFFFRF:F)Ii9@yj@yݍU)f> @=I iIiYi>)I i     9 )1I1i1111999)Y Ia ia a a a a 9a Նo(!,A )i4)v[i 0094I>I><<ɷ<9<< <)<FLFLFPRFP:FP@Tj@T%mֽ)%> !%@%бI! ))i)I)11ii=)1I9i9999999)aIaiaaaii9i)Ii9) I i  9 7o(!,6A )i&)\i ((0094I:I:88ɷ8988 8)8FHFHFLRFL:FL@Pj@P^rȽ)^R> \^@bI` ``i`I`ddii=)Ii9)I!i!!!!!9!)I II iI I I Q Q 9Q o(!,aPA )i)]i 0094I>I><<ɷ<9<< <)<FLFL)PIPiPPPPP9PF\RF`:F`@dj@dE'ɽ)E_> AE@EuIA IIiIIIIQiai=)Ii9)Ii9)! 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[@I  iI!!iYi:>)Iir4?>9)Ii9) I i   9 _o(!,4뾡A h)lli~)~ciAai9iIIɷ9鹹 )F F F RF :F @1j@1M )M> IM @MII QQiQIQYYiq#mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.127195 kg/m3i=)Ii9)Ii9 )) I) i) 1 1 1 1 91 )Y IY iY Y Y Y a 9a No(!,[|A ,),,i2)2Oai8HH9LIVIVTTɷT9TT T)TF`FdFdRFd:Fd@lj@lvg)v> xz @zIx xxixI||iim>=)!I!i!!!))9))QIQiQQQQQ9Q)y Iy iy y  9 ro(!,=A ))0I0i0000090i)*_i8<<\`9`IfIfddɷd9dd d)dFtFtFxRFx:Fx@j@!5 _)5> 1}!@}[Iy yyiyIyi9i=)Ii9)Ii9) I i  9 o(!,9A )i2)[i0@@9DIJIJ)`I`i`````9`HHɷH9HH H)HFFFRF:F@j@u)ut> quu"@u Iy yyiyIyii=)Ii9)Ii9)A IA iA A I I I 9I o(!,{TA )) I i  9$i )i]i0@@9@IJIJHHɷH9HH H)HF F FRF:F@aj@a}O)}9> y}C#@܅ Iށ ݁܁i݁I݁ii5=)iIqiqqqqq9q)Ii9) I i  9 o(!,nA )i)i088@@9DIJIJ)PIPiPPPPP9PHHɷH9HH H)HFFFRF:F@j@^=)> $@NI iIi i%=)Ii9)Ii9)! 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I! i) ) ) ) ) 9) s(!,OϡA )i)bi@HH9LIVIVTTɷT9TT T)TFdFdFdRFd:Fd@lj@lv1Nٽ)z?> xz"@zĿIx xxi|I|)|Ii9  i!iE&=))I)i))11191)QIYiYYYYY9Y) I i  9 x>s(!,ϡA )i)]i @@9DIJIJHHɷH9HH H)HFXFXF\= got command stop=(Scheduling is pausedN^Stop Mission called by CommandExec::commandStop)yIyiyyy9RF\:F@j@#8MissionManager is completed.#HUninitializing Mission trackPatchOil1 0JAggregate::uninitialize trackPatchOilq0NUninitialize AltitudeEnvelopeComponent. 1Uninitialize.1 >NUninitialize OffshoreEnvelopeComponent.q>RUninitialize WaterDepthEnvelopeComponent.?@Uninitialize Buoyancy Component.1  @ZAggregate::uninitialize trackPatchOil:Scienceq !1" DtAggregate::uninitialize trackPatchOil:Science:OceanCurrentq"'OUninitialize.1(q(PvAggregate::uninitialize trackPatchOil:PatchDetectHorizontal( QAggregate::uninitialize trackPatchOil:PatchDetectHorizontal:PatchDetection(QUninitialize.q*TAggregate::uninitialize trackPatchOil:PatchDetectHorizontal:CrossLeg* U>Uninitialize WaypointComponent.*%u*!u*1u'a"Ua"Qa"Ma"Ia"Ea"A! =! 9! 5! 1! -! )! %! !! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! }! y! u! q! m! i)Ii9! e! a! ]! Y! U! Q! M! I! E! A! =!)951-)%!!e! e! e!e!m!m!m!m!m!m!m!m!m!m!m!m!m!m!u!u!u!u!u!u!u!u!u!u!u!u݅s=݅)݅ ? ލtݍ?܍9Iލ+9 ݉܍3i݉I݉i#mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3iF>z&s(!,ZhϡAi")7]i $$0094I>I><<ɷ<9<< <)<=#M.Started mission DefaultyIM'M:Aggregate::initialize DefaultqU(U@Initialize GoToSurfaceComponent.(UNo depth rate setting specified. Using default value of nan m/s.(U~No pitch setting specified. Using default value of nan degrees.(UNo speed setting specified. Using default value of 1.000000 m/s.(]No surface timeout specified. Using default value of 1000.000000 seconds.(]nReceived pitch timeout configuration 60.000000 seconds.1e (e4Initialize Wait Component.a e)aIeIXz:  iIi9i]=!Qs(!,EϡA )i)]i 0094I:I:88ɷ8988 8)8H H)HIHIP P PPiPITTXi`in<08t(!,iСAIii)]i4PP9TIZIZXXɷX9XX X)Xd h)hIhIl p ppipIpttii=bt(!,СAi)^i ((0494I>I><<ɷ<9<< <) t(!,8СAi$)]i$,,9@IJIJHHɷH9HH H)HT T)TIXI\ ` ``i`I`ddipi~=tt(!,կRСAi)i 0094I>I><<ɷ<9<< <)СAi8)[i$0094I>I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)I><<ɷ<9<< <)<\ \)\I\Id d ddihIhhlit -Component order: CycleStarter,ExternalSim,InternalEnvSim,Aanderaa_O2,ESPComponent,PAR_Licor,Depth_Keller,DropWeight,Micromodem,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,i-=n^ut(!,DŽѡAi+)V\i$I:I: 1:@ : 5:@ : 9:@ E>@ > @ @)@I@IH H HHiHIHLLiXif<{t(!,_ѡAi)]i$((I:I:@ @)@I@ID H HHiHIHLLiXif<gpt(!,: ҡAIii)_i$IJIJ| )II   iIi)iE(=_t(!,$ҡAi)6ai$I6I6< <)Aggregate::uninitialize Defaultq ( DUninitialize GoToSurfaceComponent.  ) NAggregate::uninitialize Default:CheckIn a a a   ! 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