*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 FL0Initializing 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" LDCreated PCaller Thread at 404514E0LBProtected caller Thread ID is 839ƿLhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" LDCreated PCaller Thread at 404814E0LBProtected caller Thread ID is 840*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 ƿLvSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandExec" *e code=006B elementURI="CommandExec.enableBroadcast" type=02 *a code=0003 owner=0008 element=006B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006C elementURI="NAL9602.strobeMode" type=02 *a code=0004 owner=0008 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *a code=0005 owner=0008 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=006E elementURI="Dock.docking_state" type=02 *a code=0006 owner=0008 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02 *a code=0007 owner=0008 element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0070 elementURI="IBIT.IBITRunning" type=02 *a code=0008 owner=0008 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0071 elementURI="GFScanner.GFActive" type=02 *a code=0009 owner=0008 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0072 elementURI="GFScanner.GFIsolationActive" type=02 *a code=000A owner=0008 element=0072 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=000B owner=0008 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0073 elementURI="CommandExec.platform_conversation" type=00 *a code=000C owner=0008 element=0073 universal=002B unitName="bool" type=02 size=0001 fl=05 *e code=0074 elementURI="CBIT.commandExecHeartbeat" type=02 *a code=000D owner=0008 element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿLdComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler" LDCreated PCaller Thread at 404B14E0LBProtected caller Thread ID is 841*n code=000A name="CommandLine" *e code=0075 elementURI="CommandLine.enableBroadcast" type=02 *a code=000E owner=000A element=0075 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿLdComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" LDCreated PCaller Thread at 404E14E0LBProtected caller Thread ID is 842*n code=000C name="logger" *e code=0076 elementURI="logger.enableBroadcast" type=02 *a code=000F owner=000C element=0076 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿLZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" LDCreated PCaller Thread at 405114E0LBProtected caller Thread ID is 843*n code=000E name="LogSplitter" *e code=0077 elementURI="LogSplitter.enableBroadcast" type=02 *a code=0010 owner=000E element=0077 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0078 elementURI="LogSplitter.platform_communications" type=00 *a code=0011 owner=000E element=0078 universal=002A unitName="bool" type=02 size=0001 fl=05 ƿLtSyncComponent "LogSplitter" handled in the control thread.NL\Looking for Config files in directory: Config/NLROpening Config file at: Config/secure.cfg*n code=000F name="Config/secure" *e code=0079 elementURI="Vehicle.dashIP" type=01 *a code=0012 owner=000F element=0079 universal=3FFF unitName="none" type=00 size=000B fl=05 IL 134.89.2.23*e code=007A elementURI="Vehicle.dashPath" type=01 *a code=0013 owner=000F element=007A universal=3FFF unitName="none" type=00 size=000B fl=05 iL /TethysDash*e code=007B elementURI="Vehicle.dashPort" type=01 *a code=0014 owner=000F element=007B universal=3FFF unitName="none" type=00 size=0003 fl=05 L443*e code=007C elementURI="Vehicle.dashSSL" type=01 *a code=0015 owner=000F element=007C universal=3FFF unitName="bool" type=02 size=0001 fl=05 L*e code=007D elementURI="Vehicle.hostname" type=01 *a code=0016 owner=000F element=007D universal=3FFF unitName="none" type=00 size=0009 fl=05 L localhost*e code=007E elementURI="Vehicle.imei" type=01 *a code=0017 owner=000F element=007E universal=3FFF unitName="none" type=00 size=000F fl=05 L000000000000000*e code=007F elementURI="Vehicle.imeiPassword" type=01 *a code=0018 owner=000F element=007F universal=3FFF unitName="none" type=00 size=0000 fl=05 L*e code=0080 elementURI="Vehicle.keyText" type=01 *a code=0019 owner=000F element=0080 universal=3FFF unitName="none" type=00 size=0010 fl=05 )LTethysEncryptionƿMLLoaded Config Component "Config/secureNMROpening Config file at: Config/Sensor.cfg*n code=0010 name="Config/Sensor" *e code=0081 elementURI="AHRS_M2.loadAtStartup" type=01 *a code=001A owner=0010 element=0081 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I6M*e code=0082 elementURI="AHRS_M2.simulateHardware" type=01 *a code=001B owner=0010 element=0082 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i8M*e code=0083 elementURI="AHRS_M2.boresightMatrix" type=01 *a code=001C owner=0010 element=0083 universal=3FFF unitName="none" type=00 size=002F fl=05 =M/f0.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f0.0*e code=0084 elementURI="AHRS_M2.magDeviation" type=01 *a code=001D owner=0010 element=0084 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ?M*e code=0085 elementURI="AHRS_M2.minNumPointsCal" type=01 *a code=001E owner=0010 element=0085 universal=3FFF unitName="count" type=0D size=0004 fl=05 CM*e code=0086 elementURI="AHRS_M2.power" type=01 *a code=001F owner=0010 element=0086 universal=3FFF unitName="watt" type=0B size=0003 fl=05 FMu=*e code=0087 elementURI="AHRS_M2.readAccelerations" type=01 *a code=0020 owner=0010 element=0087 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IM*e code=0088 elementURI="AHRS_M2.readAngularVelocities" type=01 *a code=0021 owner=0010 element=0088 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )KM*e code=0089 elementURI="AHRS_M2.readMagnetics" type=01 *a code=0022 owner=0010 element=0089 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IMM*e code=008A elementURI="AHRS_M2.verbosity" type=01 *a code=0023 owner=0010 element=008A universal=3FFF unitName="count" type=0D size=0004 fl=05 iPM*e code=008B elementURI="AMEcho.loadAtStartup" type=01 *a code=0024 owner=0010 element=008B universal=3FFF unitName="bool" type=02 size=0001 fl=05 RM*e code=008C elementURI="AMEcho.simulateHardware" type=01 *a code=0025 owner=0010 element=008C universal=3FFF unitName="bool" type=02 size=0001 fl=05 UM*e code=008D elementURI="AMEcho.enabled" type=01 *a code=0026 owner=0010 element=008D universal=3FFF unitName="bool" type=02 size=0001 fl=05 WM*e code=008E elementURI="AMEcho.depthThreshold" type=01 *a code=0027 owner=0010 element=008E universal=3FFF unitName="meter" type=0B size=0003 fl=05 ZMA*e code=008F elementURI="AcousticModem_Benthos_ATM900.loadAtStartup" type=01 *a code=0028 owner=0010 element=008F universal=3FFF unitName="bool" type=02 size=0001 fl=05 ]M*e code=0090 elementURI="AcousticModem_Benthos_ATM900.simulateHardware" type=01 *a code=0029 owner=0010 element=0090 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )_M*e code=0091 elementURI="AcousticModem_Benthos_ATM900.txPower" type=01 *a code=002A owner=0010 element=0091 universal=3FFF unitName="enum" type=02 size=0001 fl=05 IbM*e code=0092 elementURI="AcousticModem_Benthos_ATM900.localAddress" type=01 *a code=002B owner=0010 element=0092 universal=3FFF unitName="count" type=0D size=0004 fl=05 ieM*e code=0093 elementURI="AcousticModem_Benthos_ATM900.sbdAddress" type=01 *a code=002C owner=0010 element=0093 universal=3FFF unitName="enum" type=02 size=0001 fl=05 hM*e code=0094 elementURI="AcousticModem_Benthos_ATM900.transponderAddress" type=01 *a code=002D owner=0010 element=0094 universal=3FFF unitName="enum" type=02 size=0001 fl=05 jM*e code=0095 elementURI="AcousticModem_Benthos_ATM900.sendExpress" type=01 *a code=002E owner=0010 element=0095 universal=3FFF unitName="bool" type=02 size=0001 fl=05 mM*e code=0096 elementURI="AcousticModem_Benthos_ATM900.surfaceThreshold" type=01 *a code=002F owner=0010 element=0096 universal=3FFF unitName="meter" type=0B size=0003 fl=05 oM?*e code=0097 elementURI="AcousticModem_Benthos_ATM900.verbosity" type=01 *a code=0030 owner=0010 element=0097 universal=3FFF unitName="count" type=0D size=0004 fl=05 rM*e code=0098 elementURI="BackseatComponent.loadAtStartup" type=01 *a code=0031 owner=0010 element=0098 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )tM*e code=0099 elementURI="BackseatComponent.simulateHardware" type=01 *a code=0032 owner=0010 element=0099 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IvM*e code=009A elementURI="BackseatComponent.shutdownCmd" type=01 *a code=0033 owner=0010 element=009A universal=3FFF unitName="none" type=00 size=0008 fl=05 iyMshutdown*e code=009B elementURI="BackseatComponent.lcmListenerTimeout" type=01 *a code=0034 owner=0010 element=009B universal=3FFF unitName="second" type=0B size=0003 fl=05 {M @*e code=009C elementURI="BackseatComponent.verbosity" type=01 *a code=0035 owner=0010 element=009C universal=3FFF unitName="count" type=0D size=0004 fl=05 }M*e code=009D elementURI="BackseatComponent.alwaysOn" type=01 *a code=0036 owner=0010 element=009D universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=009E elementURI="BackseatComponent.needs24v" type=01 *a code=0037 owner=0010 element=009E universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=009F elementURI="BackseatComponent.poTimeout" type=01 *a code=0038 owner=0010 element=009F universal=3FFF unitName="second" type=0B size=0003 fl=05 MA*e code=00A0 elementURI="BackseatComponent.missionCritical" type=01 *a code=0039 owner=0010 element=00A0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )M*e code=00A1 elementURI="BioacousticsDataBridge.loadAtStartup" type=01 *a code=003A owner=0010 element=00A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IM*e code=00A2 elementURI="BPC1.loadAtStartup" type=01 *a code=003B owner=0010 element=00A2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iM*e code=00A3 elementURI="BPC1.simulateHardware" type=01 *a code=003C owner=0010 element=00A3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=00A4 elementURI="BPC1.batteryMissingStickThreshold" type=01 *a code=003D owner=0010 element=00A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 M*e code=00A5 elementURI="BPC1.batteryMuxCycleTime" type=01 *a code=003E owner=0010 element=00A5 universal=3FFF unitName="minute" type=0B size=0003 fl=05 MD*e code=00A6 elementURI="BPC1.batterySamplingInterval" type=01 *a code=003F owner=0010 element=00A6 universal=3FFF unitName="hour" type=0B size=0003 fl=05 MaE*e code=00A7 elementURI="BPC1.batteryStickCommsTimeout" type=01 *a code=0040 owner=0010 element=00A7 universal=3FFF unitName="hour" type=0B size=0003 fl=05 MF*e code=00A8 elementURI="BPCW.loadAtStartup" type=01 *a code=0041 owner=0010 element=00A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )M*e code=00A9 elementURI="BPCW.simulateHardware" type=01 *a code=0042 owner=0010 element=00A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IM*e code=00AA elementURI="BPCW.batterySamplingInterval" type=01 *a code=0043 owner=0010 element=00AA universal=3FFF unitName="minute" type=0B size=0003 fl=05 iM4C*e code=00AB elementURI="BPCW.batteryStickCommsTimeout" type=01 *a code=0044 owner=0010 element=00AB universal=3FFF unitName="minute" type=0B size=0003 fl=05 MD*e code=00AC elementURI="BR_Ping1D.loadAtStartup" type=01 *a code=0045 owner=0010 element=00AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=00AD elementURI="BR_Ping1D.interval" type=01 *a code=0046 owner=0010 element=00AD universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 M?*e code=00AE elementURI="BR_Ping1D.simulateHardware" type=01 *a code=0047 owner=0010 element=00AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=00AF elementURI="BR_Ping1D.verbosity" type=01 *a code=0048 owner=0010 element=00AF universal=3FFF unitName="count" type=0D size=0004 fl=05 M*e code=00B0 elementURI="BR_Ping1D.minRange" type=01 *a code=0049 owner=0010 element=00B0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ) M*e code=00B1 elementURI="BR_Ping1D.maxRange" type=01 *a code=004A owner=0010 element=00B1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I MA*e code=00B2 elementURI="BR_Ping1D.soundSpeed" type=01 *a code=004B owner=0010 element=00B2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 i MD*e code=00B3 elementURI="BR_Ping1D.autoMode" type=01 *a code=004C owner=0010 element=00B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=00B4 elementURI="BR_Ping1D.gainIndex" type=01 *a code=004D owner=0010 element=00B4 universal=3FFF unitName="count" type=0D size=0004 fl=05 M*e code=00B5 elementURI="BR_Ping1D.minConfidence" type=01 *a code=004E owner=0010 element=00B5 universal=3FFF unitName="percent" type=0B size=0003 fl=05 M?*e code=00B6 elementURI="BR_Ping1D.pingEnable" type=01 *a code=004F owner=0010 element=00B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=00B7 elementURI="BR_Ping1D.writeUniversal" type=01 *a code=0050 owner=0010 element=00B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M*e code=00B8 elementURI="DataOverHttps.loadAtStartup" type=01 *a code=0051 owner=0010 element=00B8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) M*e code=00B9 elementURI="DataOverHttps.simulateHardware" type=01 *a code=0052 owner=0010 element=00B9 universal=3FFF unitName="bool" type=02 size=0001 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P*e code=0172 elementURI="TrnDataBridge.simulateHardware" type=01 *a code=010B owner=0010 element=0172 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i!P*e code=0173 elementURI="TrnDataBridge.trn_lcm_channel" type=01 *a code=010C owner=0010 element=0173 universal=3FFF unitName="none" type=00 size=0004 fl=05 !P.TRN*e code=0174 elementURI="Waterlinked.loadAtStartup" type=01 *a code=010D owner=0010 element=0174 universal=3FFF unitName="bool" type=02 size=0001 fl=05 !P*e code=0175 elementURI="Waterlinked.simulateHardware" type=01 *a code=010E owner=0010 element=0175 universal=3FFF unitName="bool" type=02 size=0001 fl=05 !Pƿ[PLLoaded Config Component "Config/SensorN]PNOpening Config file at: Config/Dock.cfg*n code=0011 name="Config/Dock" *e code=0176 elementURI="Dock.lat" type=01 *a code=010F owner=0011 element=0176 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 !tPmp$?*e code=0177 elementURI="Dock.lon" type=01 *a code=0110 owner=0011 element=0177 universal=3FFF 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element=019D universal=3FFF unitName="meter" type=0B size=0003 fl=05 & Q@*e code=019E elementURI="Undock.undockRange" type=01 *a code=0137 owner=0011 element=019E universal=3FFF unitName="meter" type=0B size=0003 fl=05 & Q A*e code=019F elementURI="Undock.undockTimeout" type=01 *a code=0138 owner=0011 element=019F universal=3FFF unitName="second" type=0B size=0003 fl=05 'QA*e code=01A0 elementURI="Undock.reverseThrustTimeout" type=01 *a code=0139 owner=0011 element=01A0 universal=3FFF unitName="second" type=0B size=0003 fl=05 )'Q A*e code=01A1 elementURI="Undock.verbose" type=01 *a code=013A owner=0011 element=01A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I'Qƿ\QHLoaded Config Component "Config/DockN]QROpening Config file at: Config/Sample.cfg*n code=0012 name="Config/Sample" NQVOpening Config file at: Config/workSite.cfg*n code=0013 name="Config/workSite" *e code=01A2 elementURI="Config/workSite.initLat" type=00 *a code=013B owner=0013 element=01A2 universal=3FFF 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code=0250 owner=0017 element=02B7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 JV*e code=02B8 elementURI="Simulator.entrainedAir" type=01 *a code=0251 owner=0017 element=02B8 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )JV*e code=02B9 elementURI="Simulator.massPositionOffset" type=01 *a code=0252 owner=0017 element=02B9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 IJV*e code=02BA elementURI="Simulator.bottomLockGone" type=01 *a code=0253 owner=0017 element=02BA universal=3FFF unitName="meter" type=0B size=0003 fl=05 iJVB*e code=02BB elementURI="Simulator.numberOfHomingTragets" type=01 *a code=0254 owner=0017 element=02BB universal=3FFF unitName="count" type=0D size=0004 fl=05 JV*e code=02BC elementURI="Simulator.homingSensorTat" type=01 *a code=0255 owner=0017 element=02BC universal=3FFF unitName="second" type=0B size=0003 fl=05 JV>*e code=02BD elementURI="Simulator.dvlxScale" type=01 *a code=0256 owner=0017 element=02BD 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code=028F owner=0018 element=02F6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Q!X*e code=02F7 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex10" type=01 *a code=0290 owner=0018 element=02F7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 R$X*e code=02F8 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex10" type=01 *a code=0291 owner=0018 element=02F8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )R'XƿlXTLoaded Config Component "Config/DerivationNmXROpening Config file at: Config/logger.cfg*n code=0019 name="Config/logger" ƿ;YLLoaded Config Component "Config/loggerNYTOpening Config file at: Config/vehicle.cfg*n code=001A name="Config/vehicle" *e code=02F9 elementURI="Vehicle.name" type=01 *a code=0292 owner=001A element=02F9 universal=3FFF unitName="none" type=00 size=0006 fl=05 IRZtethys*e code=02FA elementURI="Vehicle.id" type=01 *a code=0293 owner=001A element=02FA universal=3FFF unitName="enum" type=02 size=0001 fl=05 iRZ*e code=02FB elementURI="Vehicle.kmlColor" type=01 *a code=0294 owner=001A element=02FB universal=3FFF unitName="none" type=00 size=0008 fl=05 R'Zff0055ff*e code=02FC elementURI="Vehicle.argoPlatform" type=01 *a code=0295 owner=001A element=02FC universal=3FFF unitName="none" type=00 size=0006 fl=05 R*Z000000*e code=02FD elementURI="Vehicle.argoProgram" type=01 *a code=0296 owner=001A element=02FD universal=3FFF unitName="none" type=00 size=0004 fl=05 RRZ0000*e code=02FE elementURI="Vehicle.checkMTQueue" type=01 *a code=0297 owner=001A element=02FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 RsZ*e code=02FF elementURI="Vehicle.sendDataToShore" type=01 *a code=0298 owner=001A element=02FF universal=3FFF unitName="bool" type=02 size=0001 fl=05 SuZ*e code=0300 elementURI="Vehicle.useTlLoader" type=01 *a code=0299 owner=001A element=0300 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )SZ*e code=0301 elementURI="AHRS_M2.loadControl" type=01 *a code=029A owner=001A element=0301 universal=3FFF unitName="none" type=00 size=000B fl=05 ISZ /dev/loadC5*e code=0302 elementURI="AHRS_M2.uart" type=01 *a code=029B owner=001A element=0302 universal=3FFF unitName="none" type=00 size=000A fl=05 iSZ /dev/ttyC5*e code=0303 elementURI="AHRS_M2.baud" type=01 *a code=029C owner=001A element=0303 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 SZ @*e code=0304 elementURI="Aanderaa_O2.loadControl" type=01 *a code=029D owner=001A element=0304 universal=3FFF unitName="none" type=00 size=000B fl=05 SZ /dev/loadB2*e code=0305 elementURI="Aanderaa_O2.uart" type=01 *a code=029E owner=001A element=0305 universal=3FFF unitName="none" type=00 size=000A fl=05 SZ /dev/ttyB2*e code=0306 elementURI="Aanderaa_O2.baud" type=01 *a code=029F owner=001A element=0306 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 S[@*e code=0307 elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01 *a code=02A0 owner=001A element=0307 universal=3FFF unitName="none" type=00 size=000B fl=05 T[ /dev/loadB1*e code=0308 elementURI="AcousticModem_Benthos_ATM900.uart" type=01 *a code=02A1 owner=001A element=0308 universal=3FFF unitName="none" type=00 size=000A fl=05 )T[ /dev/ttyB1*e code=0309 elementURI="AcousticModem_Benthos_ATM900.baud" type=01 *a code=02A2 owner=001A element=0309 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IT [@*e code=030A elementURI="AcousticModem_Benthos_ATM900.loadControl2" type=01 *a code=02A3 owner=001A element=030A universal=3FFF unitName="none" type=00 size=0009 fl=05 iT [ /dev/null*e code=030B elementURI="AMEcho.loadControl" type=01 *a code=02A4 owner=001A element=030B universal=3FFF unitName="none" type=00 size=000B fl=05 T[ /dev/loadB4*e code=030C elementURI="AMEcho.uart" type=01 *a code=02A5 owner=001A element=030C universal=3FFF unitName="none" type=00 size=000A fl=05 T[ /dev/ttyB4*e code=030D elementURI="AMEcho.baud" type=01 *a code=02A6 owner=001A element=030D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 T[@*e code=030E elementURI="BackseatComponent.loadControl" type=01 *a code=02A7 owner=001A element=030E universal=3FFF unitName="none" type=00 size=000B fl=05 T[ /dev/loadC4*e code=030F elementURI="BackseatComponent.loadControl2" type=01 *a code=02A8 owner=001A element=030F universal=3FFF unitName="none" type=00 size=0009 fl=05 U[ /dev/null*e code=0310 elementURI="BackseatComponent.uart" type=01 *a code=02A9 owner=001A element=0310 universal=3FFF unitName="none" type=00 size=000A fl=05 )U[ /dev/ttyC4*e code=0311 elementURI="BackseatComponent.baud" type=01 *a code=02AA owner=001A element=0311 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IU"[ @*e code=0312 elementURI="BPC1A.uart" type=01 *a code=02AB owner=001A element=0312 universal=3FFF unitName="none" type=00 size=000B fl=05 iU%[ /dev/ttyTX0*e code=0313 elementURI="BPC1A.baud" type=01 *a code=02AC owner=001A element=0313 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 U'[@*e code=0314 elementURI="BPC1B.uart" type=01 *a code=02AD owner=001A element=0314 universal=3FFF unitName="none" type=00 size=000B fl=05 U*[ /dev/ttyTX2*e code=0315 elementURI="BPC1B.baud" type=01 *a code=02AE owner=001A element=0315 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 U-[@*e code=0316 elementURI="BPCWA.uart" type=01 *a code=02AF owner=001A element=0316 universal=3FFF unitName="none" type=00 size=000B fl=05 U0[ /dev/ttyTX0*e code=0317 elementURI="BPCWA.baud" type=01 *a code=02B0 owner=001A element=0317 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 VG[ @*e code=0318 elementURI="BPCWB.uart" type=01 *a code=02B1 owner=001A element=0318 universal=3FFF unitName="none" type=00 size=000B fl=05 )VJ[ /dev/ttyTX2*e code=0319 elementURI="BPCWB.baud" type=01 *a code=02B2 owner=001A element=0319 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IVL[ @*e code=031A elementURI="BuoyancyServo.loadControl" type=01 *a code=02B3 owner=001A element=031A universal=3FFF unitName="none" type=00 size=000B fl=05 iV\[ /dev/loadA2*e code=031B elementURI="BuoyancyServo.uart" type=01 *a code=02B4 owner=001A element=031B universal=3FFF unitName="none" type=00 size=000A fl=05 V_[ /dev/ttyA2*e code=031C elementURI="BuoyancyServo.baud" type=01 *a code=02B5 owner=001A element=031C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Vb[@*e code=031D elementURI="CANONSampler.loadControl" type=01 *a code=02B6 owner=001A element=031D universal=3FFF unitName="none" type=00 size=000B fl=05 Ve[ /dev/loadB1*e code=031E elementURI="CANONSampler.uart" type=01 *a code=02B7 owner=001A element=031E universal=3FFF unitName="none" type=00 size=000A fl=05 Vh[ /dev/ttyB6*e code=031F elementURI="CANONSampler.baud" type=01 *a code=02B8 owner=001A element=031F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Wj[@*e code=0320 elementURI="GFScanner.ad" type=01 *a code=02B9 owner=001A element=0320 universal=3FFF unitName="none" type=00 size=000E fl=05 )Wn[/dev/mcp3551-0*e code=0321 elementURI="GFScanner.adRes" type=01 *a code=02BA owner=001A element=0321 universal=3FFF unitName="bit" type=1F size=0008 fl=05 IWp[@*e code=0322 elementURI="GFScanner.adTimeout" type=01 *a code=02BB owner=001A element=0322 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 iWs[>*e code=0323 elementURI="GFScanner.adVref" type=01 *a code=02BC owner=001A element=0323 universal=3FFF unitName="volt" type=0B size=0003 fl=05 Wu[ A*e code=0324 elementURI="CBITWaterAlarmBow.ad" type=01 *a code=02BD owner=001A element=0324 universal=3FFF unitName="none" type=00 size=0010 fl=05 Wz[/dev/adlpc32xx_0*e code=0325 elementURI="CBITWaterAlarmBow.adRes" type=01 *a code=02BE owner=001A element=0325 universal=3FFF unitName="bit" type=1F size=0008 fl=05 W|[?*e code=0326 elementURI="CBITWaterAlarmBow.adVref" type=01 *a code=02BF owner=001A element=0326 universal=3FFF unitName="volt" type=0B size=0003 fl=05 W[I@*e code=0327 elementURI="CBITWaterAlarmStern.ad" type=01 *a code=02C0 owner=001A element=0327 universal=3FFF unitName="none" type=00 size=0010 fl=05 X[/dev/adlpc32xx_1*e code=0328 elementURI="CBITWaterAlarmStern.adRes" type=01 *a code=02C1 owner=001A element=0328 universal=3FFF unitName="bit" type=1F size=0008 fl=05 )X[?*e code=0329 elementURI="CBITWaterAlarmStern.adVref" type=01 *a code=02C2 owner=001A element=0329 universal=3FFF unitName="volt" type=0B size=0003 fl=05 IX[I@*e code=032A elementURI="CBITWaterAlarmAux.ad" type=01 *a code=02C3 owner=001A element=032A universal=3FFF unitName="none" type=00 size=0010 fl=05 iX[/dev/adlpc32xx_2*e code=032B elementURI="CBITWaterAlarmAux.adRes" type=01 *a code=02C4 owner=001A element=032B universal=3FFF unitName="bit" type=1F size=0008 fl=05 X[?*e code=032C elementURI="CBITWaterAlarmAux.adVref" type=01 *a code=02C5 owner=001A element=032C universal=3FFF unitName="volt" type=0B size=0003 fl=05 X[I@*e code=032D elementURI="CTD_NeilBrown.loadControl" type=01 *a code=02C6 owner=001A element=032D universal=3FFF unitName="none" type=00 size=000B fl=05 X[ /dev/loadC4*e code=032E elementURI="CTD_NeilBrown.uart" type=01 *a code=02C7 owner=001A element=032E universal=3FFF unitName="none" type=00 size=000A fl=05 X[ /dev/ttyC4*e code=032F elementURI="CTD_NeilBrown.baud" type=01 *a code=02C8 owner=001A element=032F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Y[@*e code=0330 elementURI="CTD_Seabird.loadControl" type=01 *a code=02C9 owner=001A element=0330 universal=3FFF unitName="none" type=00 size=000B fl=05 )Y[ /dev/loadC6*e code=0331 elementURI="CTD_Seabird.uart" type=01 *a code=02CA owner=001A element=0331 universal=3FFF unitName="none" type=00 size=000A fl=05 IY[ /dev/ttyC6*e code=0332 elementURI="CTD_Seabird.baud" type=01 *a code=02CB owner=001A element=0332 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 iY\@*e code=0333 elementURI="DAT.loadControl" type=01 *a code=02CC owner=001A element=0333 universal=3FFF unitName="none" type=00 size=000B fl=05 Y\ /dev/loadB3*e code=0334 elementURI="DAT.uart" type=01 *a code=02CD owner=001A element=0334 universal=3FFF unitName="none" type=00 size=000A fl=05 Y\ /dev/ttyB3*e code=0335 elementURI="DAT.baud" type=01 *a code=02CE owner=001A element=0335 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Y\ @*e code=0336 elementURI="DATMMP.loadControl" type=01 *a code=02CF owner=001A element=0336 universal=3FFF unitName="none" type=00 size=000B fl=05 Y\ /dev/loadB3*e code=0337 elementURI="DATMMP.uart" type=01 *a code=02D0 owner=001A element=0337 universal=3FFF unitName="none" type=00 size=000A fl=05 Z2\ /dev/ttyB3*e code=0338 elementURI="DATMMP.baud" type=01 *a code=02D1 owner=001A element=0338 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )Z5\ @*e code=0339 elementURI="DDM.loadControl" type=01 *a code=02D2 owner=001A element=0339 universal=3FFF unitName="none" type=00 size=000B fl=05 IZ7\ /dev/loadA6*e code=033A elementURI="DDM.uart" type=01 *a code=02D3 owner=001A element=033A universal=3FFF unitName="none" type=00 size=000A fl=05 iZM\ /dev/ttyA6*e code=033B elementURI="DDM.baud" type=01 *a code=02D4 owner=001A element=033B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ZP\ @*e code=033C elementURI="Depth_Keller.loadControl" type=01 *a code=02D5 owner=001A element=033C universal=3FFF unitName="none" type=00 size=000B fl=05 ZR\ /dev/loadA0*e code=033D elementURI="Depth_Keller.ad" type=01 *a code=02D6 owner=001A element=033D universal=3FFF unitName="none" type=00 size=000E fl=05 Z\/dev/mcp3553A0*e code=033E elementURI="Depth_Keller.adRes" type=01 *a code=02D7 owner=001A element=033E universal=3FFF unitName="bit" type=1F size=0008 fl=05 Z\@*e code=033F elementURI="Depth_Keller.adTimeout" type=01 *a code=02D8 owner=001A element=033F universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 [\>*e code=0340 elementURI="Depth_Keller.adVref" type=01 *a code=02D9 owner=001A element=0340 universal=3FFF unitName="volt" type=0B size=0003 fl=05 )[\ @*e code=0341 elementURI="DepthKeller33X.loadControl" type=01 *a code=02DA owner=001A element=0341 universal=3FFF unitName="none" type=00 size=000B fl=05 I[\ /dev/loadB0*e code=0342 elementURI="DepthKeller33X.uart" type=01 *a code=02DB owner=001A element=0342 universal=3FFF unitName="none" type=00 size=000A fl=05 i[\ /dev/ttyB0*e code=0343 elementURI="DepthKeller33X.baud" type=01 *a code=02DC owner=001A element=0343 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 [\@*e code=0344 elementURI="DockingServo.loadControl" type=01 *a code=02DD owner=001A element=0344 universal=3FFF unitName="none" type=00 size=000B fl=05 [\ /dev/loadB1*e code=0345 elementURI="DockingServo.uart" type=01 *a code=02DE owner=001A element=0345 universal=3FFF unitName="none" type=00 size=000A fl=05 [\ /dev/ttyB1*e code=0346 elementURI="DockingServo.baud" type=01 *a code=02DF owner=001A element=0346 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 [\@*e code=0347 elementURI="DockingStepper.loadControl" type=01 *a code=02E0 owner=001A element=0347 universal=3FFF unitName="none" type=00 size=000B fl=05 \\ /dev/loadB1*e code=0348 elementURI="DockingStepper.uart" type=01 *a code=02E1 owner=001A element=0348 universal=3FFF unitName="none" type=00 size=000A fl=05 )\\ /dev/ttyB1*e code=0349 elementURI="DockingStepper.baud" type=01 *a code=02E2 owner=001A element=0349 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I\\@*e code=034A elementURI="DUSBL_Hydroid.loadControl" type=01 *a code=02E3 owner=001A element=034A universal=3FFF unitName="none" type=00 size=000B fl=05 i\\ /dev/loadC4*e code=034B elementURI="DUSBL_Hydroid.uart" type=01 *a code=02E4 owner=001A element=034B universal=3FFF unitName="none" type=00 size=000A fl=05 \\ /dev/ttyC4*e code=034C elementURI="DUSBL_Hydroid.baud" type=01 *a code=02E5 owner=001A element=034C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 \\ @*e code=034D elementURI="DVL_micro.loadControl" type=01 *a code=02E6 owner=001A element=034D universal=3FFF unitName="none" type=00 size=000B fl=05 \\ /dev/loadB4*e code=034E elementURI="DVL_micro.uart" type=01 *a code=02E7 owner=001A element=034E universal=3FFF unitName="none" type=00 size=000A fl=05 \\ /dev/ttyB4*e code=034F elementURI="DVL_micro.baud" type=01 *a code=02E8 owner=001A element=034F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ]\@*e code=0350 elementURI="ElevatorServo.loadControl" type=01 *a code=02E9 owner=001A element=0350 universal=3FFF unitName="none" type=00 size=000B fl=05 )]\ /dev/loadA4*e code=0351 elementURI="ElevatorServo.uart" type=01 *a code=02EA owner=001A element=0351 universal=3FFF unitName="none" type=00 size=000A fl=05 I]\ /dev/ttyA4*e code=0352 elementURI="ElevatorServo.baud" type=01 *a code=02EB owner=001A element=0352 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i]\@*e code=0353 elementURI="ESPComponent.loadControl" type=01 *a code=02EC owner=001A element=0353 universal=3FFF unitName="none" type=00 size=000B fl=05 ]\ /dev/loadA6*e code=0354 elementURI="ESPComponent.loadControl2" type=01 *a code=02ED owner=001A element=0354 universal=3FFF unitName="none" type=00 size=000B fl=05 ]\ /dev/loadA7*e code=0355 elementURI="ESPComponent.uart" type=01 *a code=02EE owner=001A element=0355 universal=3FFF unitName="none" type=00 size=000B fl=05 ]\ /dev/ttyTX1*e code=0356 elementURI="ESPComponent.consoleUart" type=01 *a code=02EF owner=001A element=0356 universal=3FFF unitName="none" type=00 size=000A fl=05 ]\ /dev/ttyA6*e code=0357 elementURI="ESPComponent.baud" type=01 *a code=02F0 owner=001A element=0357 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ^\ @*e code=0358 elementURI="MassServo.loadControl" type=01 *a code=02F1 owner=001A element=0358 universal=3FFF unitName="none" type=00 size=000B fl=05 )^\ /dev/loadA5*e code=0359 elementURI="MassServo.uart" type=01 *a code=02F2 owner=001A element=0359 universal=3FFF unitName="none" type=00 size=000A fl=05 I^\ /dev/ttyA5*e code=035A elementURI="MassServo.baud" type=01 *a code=02F3 owner=001A element=035A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i^\@*e code=035B elementURI="Micromodem.loadControl" type=01 *a code=02F4 owner=001A element=035B universal=3FFF unitName="none" type=00 size=0009 fl=05 ^\ /dev/null*e code=035C elementURI="Micromodem.uart" type=01 *a code=02F5 owner=001A element=035C universal=3FFF unitName="none" type=00 size=0009 fl=05 ^\ /dev/null*e code=035D elementURI="Micromodem.baud" type=01 *a code=02F6 owner=001A element=035D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ^\@*e code=035E elementURI="MultiRay.loadControl" type=01 *a code=02F7 owner=001A element=035E universal=3FFF unitName="none" type=00 size=000B fl=05 ^\ /dev/loadC1*e code=035F elementURI="MultiRay.uart" type=01 *a code=02F8 owner=001A element=035F universal=3FFF unitName="none" type=00 size=000A fl=05 _\ /dev/ttyC1*e code=0360 elementURI="MultiRay.loadControl2" type=01 *a code=02F9 owner=001A element=0360 universal=3FFF unitName="none" type=00 size=000B fl=05 )_\ /dev/loadA6*e code=0361 elementURI="MultiRay.uart2" type=01 *a code=02FA owner=001A element=0361 universal=3FFF unitName="none" type=00 size=000A fl=05 I_\ /dev/ttyA6*e code=0362 elementURI="MultiRay.baud" type=01 *a code=02FB owner=001A element=0362 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i_\@*e code=0363 elementURI="NAL9602.loadControl" type=01 *a code=02FC owner=001A element=0363 universal=3FFF unitName="none" type=00 size=000B fl=05 _] /dev/loadB7*e code=0364 elementURI="NAL9602.uart" type=01 *a code=02FD owner=001A element=0364 universal=3FFF unitName="none" type=00 size=000A fl=05 _] /dev/ttyS2*e code=0365 elementURI="NAL9602.baud" type=01 *a code=02FE owner=001A element=0365 universal=3FFF unitName="bit_per_second" type=1F 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owner=001C element=03FB universal=3FFF unitName="microampere" type=0B size=0003 fl=05 r_e8*e code=03FC elementURI="GFScanner.gf12Offset" type=01 *a code=0395 owner=001C element=03FC universal=3FFF unitName="microampere" type=0B size=0003 fl=05 r_8*e code=03FD elementURI="GFScanner.gf5Offset" type=01 *a code=0396 owner=001C element=03FD universal=3FFF unitName="microampere" type=0B size=0003 fl=05 r_87*e code=03FE elementURI="GFScanner.gf3_3Offset" type=01 *a code=0397 owner=001C element=03FE universal=3FFF unitName="microampere" type=0B size=0003 fl=05 r_7*e code=03FF elementURI="GFScanner.gf3_15Offset" type=01 *a code=0398 owner=001C element=03FF universal=3FFF unitName="microampere" type=0B size=0003 fl=05 s_SI*e code=0400 elementURI="GFScanner.gfCommOffset" type=01 *a code=0399 owner=001C element=0400 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 )s_*e code=0401 elementURI="GFScanner.isolationThreshold" type=01 *a code=039A owner=001C element=0401 universal=3FFF 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unitName="part_per_billion_per_count" type=0B size=0003 fl=05 ~za*e code=045D elementURI="WetLabsBB2FL.serial" type=01 *a code=03F6 owner=001D element=045D universal=3FFF unitName="none" type=00 size=0000 fl=05 ~|a*e code=045E elementURI="WetLabsSeaOWL_UV_A.loadAtStartup" type=01 *a code=03F7 owner=001D element=045E universal=3FFF unitName="bool" type=02 size=0001 fl=05 ~a*e code=045F elementURI="WetLabsSeaOWL_UV_A.simulateHardware" type=01 *a code=03F8 owner=001D element=045F universal=3FFF unitName="bool" type=02 size=0001 fl=05 a*e code=0460 elementURI="WetLabsSeaOWL_UV_A.chlAccuracy" type=01 *a code=03F9 owner=001D element=0460 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 )a5*e code=0461 elementURI="WetLabsSeaOWL_UV_A.darkCounts700" type=01 *a code=03FA owner=001D element=0461 universal=3FFF unitName="count" type=0D size=0004 fl=05 Ia0*e code=0462 elementURI="WetLabsSeaOWL_UV_A.darkCountsChl" type=01 *a code=03FB owner=001D element=0462 universal=3FFF unitName="count" type=0D size=0004 fl=05 ia2*e code=0463 elementURI="WetLabsSeaOWL_UV_A.darkCountsFDOM" type=01 *a code=03FC owner=001D element=0463 universal=3FFF unitName="count" type=0D size=0004 fl=05 a2*e code=0464 elementURI="WetLabsSeaOWL_UV_A.darkCountsOil" type=01 *a code=03FD owner=001D element=0464 universal=3FFF unitName="count" type=0D size=0004 fl=05 a2*e code=0465 elementURI="WetLabsSeaOWL_UV_A.fdomAccuracy" type=01 *a code=03FE owner=001D element=0465 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 a 2*e code=0466 elementURI="WetLabsSeaOWL_UV_A.oilAccuracy" type=01 *a code=03FF owner=001D element=0466 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 acw1*e code=0467 elementURI="WetLabsSeaOWL_UV_A.period" type=01 *a code=0400 owner=001D element=0467 universal=3FFF unitName="second" type=0B size=0003 fl=05 a>*e code=0468 elementURI="WetLabsSeaOWL_UV_A.power" type=01 *a code=0401 owner=001D element=0468 universal=3FFF unitName="watt" type=0B size=0003 fl=05 )a@?*e code=0469 elementURI="WetLabsSeaOWL_UV_A.scaleFactor700" type=01 *a code=0402 owner=001D element=0469 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 Ia4*e code=046A elementURI="WetLabsSeaOWL_UV_A.scaleFactorChl" type=01 *a code=0403 owner=001D element=046A universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 ia6;*e code=046B elementURI="WetLabsSeaOWL_UV_A.scaleFactorFDOM" type=01 *a code=0404 owner=001D element=046B universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 am-*e code=046C elementURI="WetLabsSeaOWL_UV_A.scaleFactorOil" type=01 *a code=0405 owner=001D element=046C universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 aj@1*e code=046D elementURI="WetLabsSeaOWL_UV_A.serial" type=01 *a code=0406 owner=001D element=046D universal=3FFF unitName="none" type=00 size=0000 fl=05 ɀa*e code=046E elementURI="WetLabsSeaOWL_UV_A.timeout" type=01 *a code=0407 owner=001D element=046E universal=3FFF unitName="second" type=0B size=0003 fl=05 逿apA*e code=046F elementURI="WetLabsUBAT.loadAtStartup" type=01 *a code=0408 owner=001D element=046F universal=3FFF unitName="bool" type=02 size=0001 fl=05 a*e code=0470 elementURI="WetLabsUBAT.simulateHardware" type=01 *a code=0409 owner=001D element=0470 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )a*e code=0471 elementURI="WetLabsUBAT.serial" type=01 *a code=040A owner=001D element=0471 universal=3FFF unitName="none" type=00 size=0008 fl=05 IaUBAT####*e code=0472 elementURI="WetLabsUBAT.flowrateCalibCoeff" type=01 *a code=040B owner=001D element=0472 universal=3FFF unitName="none_float" type=0F size=0004 fl=05 ia9*e code=0473 elementURI="WetLabsUBAT.minFlowrate" type=01 *a code=040C owner=001D element=0473 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=05 aQ8*e code=0474 elementURI="WetLabsUBAT.optionalArgs" type=01 *a code=040D owner=001D element=0474 universal=3FFF unitName="none" type=00 size=0000 fl=05 a*e code=0475 elementURI="WetLabsUBAT.emulateHardware" type=01 *a code=040E owner=001D element=0475 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ɁaƿaNLoaded Config Component "Config/ScienceNbTOpening Config file at: Config/Control.cfg*n code=001E name="Config/Control" *e code=0476 elementURI="HorizontalControl.loadAtStartup" type=01 *a code=040F owner=001E element=0476 universal=3FFF unitName="bool" type=02 size=0001 fl=05 避b*e code=0477 elementURI="HorizontalControl.kdHeading" type=01 *a code=0410 owner=001E element=0477 universal=3FFF unitName="second" type=0B size=0003 fl=05 bL=*e code=0478 elementURI="HorizontalControl.kiHeading" type=01 *a code=0411 owner=001E element=0478 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 )b:*e code=0479 elementURI="HorizontalControl.kiwpHeading" type=01 *a code=0412 owner=001E element=0479 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 I!b:*e code=047A elementURI="HorizontalControl.kpHeading" type=01 *a code=0413 owner=001E element=047A universal=3FFF unitName="none" type=1F size=0008 fl=05 i%b?*e code=047B elementURI="HorizontalControl.kwpHeading" type=01 *a code=0414 owner=001E element=047B universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 (bL=*e code=047C elementURI="HorizontalControl.maxHdgAccel" type=01 *a code=0415 owner=001E element=047C universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=05 +b >*e code=047D elementURI="HorizontalControl.maxHdgInt" type=01 *a code=0416 owner=001E element=047D universal=3FFF unitName="radian" type=2F size=0004 fl=05 ɂ/b=*e code=047E elementURI="HorizontalControl.maxHdgRate" type=01 *a code=0417 owner=001E element=047E universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 邿2bwV>*e code=047F elementURI="HorizontalControl.maxKxte" type=01 *a code=0418 owner=001E element=047F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 5bI?*e code=0480 elementURI="HorizontalControl.rudDeadband" type=01 *a code=0419 owner=001E element=0480 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )9b5<*e code=0481 elementURI="HorizontalControl.rudLimit" type=01 *a code=041A owner=001E element=0481 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 I*e code=0482 elementURI="LoopControl.loadAtStartup" type=01 *a code=041B owner=001E element=0482 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i?b*e code=0483 elementURI="LoopControl.nominalDt" type=01 *a code=041C owner=001E element=0483 universal=3FFF unitName="second" type=0B size=0003 fl=05 Cb>*e code=0484 elementURI="SpeedControl.loadAtStartup" type=01 *a code=041D owner=001E element=0484 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Eb*e code=0485 elementURI="SpeedControl.propPitch" type=01 *a code=041E owner=001E element=0485 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=05 ɃHba=*e code=0486 elementURI="SpeedControl.rollOptimum" type=01 *a code=041F owner=001E element=0486 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 郿Jb?*e code=0487 elementURI="VerticalControl.loadAtStartup" type=01 *a code=0420 owner=001E element=0487 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Mb*e code=0488 elementURI="VerticalControl.buoyancyDefault" type=01 *a code=0421 owner=001E element=0488 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )Pbw:*e code=0489 elementURI="VerticalControl.buoyancyLimitHiCC" type=01 *a code=0422 owner=001E element=0489 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 IUbXz:*e code=048A elementURI="VerticalControl.buoyancyLimitLoCC" type=01 *a code=0423 owner=001E element=048A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 iYbŧ8*e code=048B elementURI="VerticalControl.buoyancyNeutral" type=01 *a code=0424 owner=001E element=048B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ]b:*e code=048C elementURI="VerticalControl.buoyancyPumpDepth" type=01 *a code=0425 owner=001E element=048C universal=3FFF unitName="meter" type=0B size=0003 fl=05 abB*e code=048D elementURI="VerticalControl.depthBuoyDampConst" type=01 *a code=0426 owner=001E element=048D universal=3FFF unitName="count" type=0D size=0004 fl=05 Ʉeb*e code=048E elementURI="VerticalControl.depthDeadband" type=01 *a code=0427 owner=001E element=048E universal=3FFF unitName="meter" type=0B size=0003 fl=05 鄿hb#<*e code=048F elementURI="VerticalControl.depthRateDeadband" type=01 *a code=0428 owner=001E element=048F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 kbu<*e code=0490 elementURI="VerticalControl.depthRateSamples" type=01 *a code=0429 owner=001E element=0490 universal=3FFF unitName="count" type=0D size=0004 fl=05 )pbK*e code=0491 elementURI="VerticalControl.dropWtDepthExcursion" type=01 *a code=042A owner=001E element=0491 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ItbA*e code=0492 elementURI="VerticalControl.dropWtOverrideDelay" type=01 *a code=042B owner=001E element=0492 universal=3FFF unitName="minute" type=0B size=0003 fl=05 i{bC*e code=0493 elementURI="VerticalControl.elevDeadband" type=01 *a code=042C owner=001E element=0493 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 b5<*e code=0494 elementURI="VerticalControl.elevLimit" type=01 *a code=042D owner=001E element=0494 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 b >*e code=0495 elementURI="VerticalControl.elevTurnTime" type=01 *a code=042E owner=001E element=0495 universal=3FFF unitName="second" type=0B size=0003 fl=05 Ʌb@*e code=0496 elementURI="VerticalControl.excursionDepthTimeout" type=01 *a code=042F owner=001E element=0496 universal=3FFF unitName="second" type=0B size=0003 fl=05 酿b@*e code=0497 elementURI="VerticalControl.kdDepth" type=01 *a code=0430 owner=001E element=0497 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=05 b*e code=0498 elementURI="VerticalControl.kdDepthBuoy" type=01 *a code=0431 owner=001E element=0498 universal=3FFF unitName="second" type=0B size=0003 fl=05 )b*e code=0499 elementURI="VerticalControl.kdDepthRateBuoy" type=01 *a code=0432 owner=001E element=0499 universal=3FFF unitName="second" type=0B size=0003 fl=05 Ib*e code=049A elementURI="VerticalControl.kdPitchElevator" type=01 *a code=0433 owner=001E element=049A universal=3FFF unitName="second" type=0B size=0003 fl=05 ibL=*e code=049B elementURI="VerticalControl.kdPitchMass" type=01 *a code=0434 owner=001E element=049B universal=3FFF unitName="second" type=0B size=0003 fl=05 b?*e code=049C elementURI="VerticalControl.kiDepth" type=01 *a code=0435 owner=001E element=049C universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 b;*e code=049D elementURI="VerticalControl.kiDepthBuoy" type=01 *a code=0436 owner=001E element=049D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 Ɇb?*e code=049E elementURI="VerticalControl.kiDepthOff" type=01 *a code=0437 owner=001E element=049E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 醿b=*e code=049F elementURI="VerticalControl.kiDepthRateBuoy" type=01 *a code=0438 owner=001E element=049F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 bA*e code=04A0 elementURI="VerticalControl.kiPitchElevator" type=01 *a code=0439 owner=001E element=04A0 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 )b<*e code=04A1 elementURI="VerticalControl.kiPitchMass" type=01 *a code=043A owner=001E element=04A1 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 Ib?*e code=04A2 elementURI="VerticalControl.kpDepth" type=01 *a code=043B owner=001E element=04A2 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 ib\=*e code=04A3 elementURI="VerticalControl.kpDepthBuoy" type=01 *a code=043C owner=001E element=04A3 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 b B*e code=04A4 elementURI="VerticalControl.kpDepthRateBuoy" type=01 *a code=043D owner=001E element=04A4 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 bH*e code=04A5 elementURI="VerticalControl.kpPitchElevator" type=01 *a code=043E owner=001E element=04A5 universal=3FFF unitName="none" type=1F size=0008 fl=05 ɇb?*e code=04A6 elementURI="VerticalControl.kpPitchMass" type=01 *a code=043F owner=001E element=04A6 universal=3FFF unitName="none" type=1F size=0008 fl=05 釿b?*e code=04A7 elementURI="VerticalControl.limitDepthTrajectory" type=01 *a code=0440 owner=001E element=04A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 b*e code=04A8 elementURI="VerticalControl.massBackOnGoToSurface" type=01 *a code=0441 owner=001E element=04A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )b*e code=04A9 elementURI="VerticalControl.massDeadband" type=01 *a code=0442 owner=001E element=04A9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 IbQ8*e code=04AA elementURI="VerticalControl.massDefault" type=01 *a code=0443 owner=001E element=04AA universal=3FFF unitName="centimeter" type=0B size=0003 fl=05 ib*e code=04AB elementURI="VerticalControl.massFilterLimit" type=01 *a code=0444 owner=001E element=04AB universal=3FFF unitName="degree" type=2F size=0004 fl=05 b*e code=04AC elementURI="VerticalControl.massFilterWidth" type=01 *a code=0445 owner=001E element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=05 bA*e code=04AD elementURI="VerticalControl.massPositionLimitAft" type=01 *a code=0446 owner=001E element=04AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 Ɉb`*e code=04AE elementURI="VerticalControl.massPositionLimitFwd" type=01 *a code=0447 owner=001E element=04AE universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 鈿b`<*e code=04AF elementURI="VerticalControl.massTurnTime" type=01 *a code=0448 owner=001E element=04AF universal=3FFF unitName="second" type=0B size=0003 fl=05 bA*e code=04B0 elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *a code=0449 owner=001E element=04B0 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 )b9*e code=04B1 elementURI="VerticalControl.maxBuoyDiveRate" type=01 *a code=044A owner=001E element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 IbL=*e code=04B2 elementURI="VerticalControl.maxBuoyInt" type=01 *a code=044B owner=001E element=04B2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ibQ9*e code=04B3 elementURI="VerticalControl.maxDepthInt" type=01 *a code=044C owner=001E element=04B3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 b¸>*e code=04B4 elementURI="VerticalControl.maxDiveAccel" type=01 *a code=044D owner=001E element=04B4 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 b:*e code=04B5 elementURI="VerticalControl.maxDiveRate" type=01 *a code=044E owner=001E element=04B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ɉb>*e code=04B6 elementURI="VerticalControl.maxPitchElevatorInt" type=01 *a code=044F owner=001E element=04B6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 鉿b >*e code=04B7 elementURI="VerticalControl.maxPitchMassInt" type=01 *a code=0450 owner=001E element=04B7 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 b<*e code=04B8 elementURI="VerticalControl.maxPitchRate" type=01 *a code=0451 owner=001E element=04B8 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 )b=*e code=04B9 elementURI="VerticalControl.minAscendPitch" type=01 *a code=0452 owner=001E element=04B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 Ib¸=*e code=04BA elementURI="VerticalControl.minDepthExcursion" type=01 *a code=0453 owner=001E element=04BA universal=3FFF unitName="meter" type=0B size=0003 fl=05 ic?*e code=04BB elementURI="VerticalControl.pitchLimit" type=01 *a code=0454 owner=001E element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 c ?*e code=04BC elementURI="VerticalControl.pitchTimeoutGoToSurface" type=01 *a code=0455 owner=001E element=04BC universal=3FFF unitName="second" type=0B size=0003 fl=05 cpB*e code=04BD elementURI="VerticalControl.stopDepthExcursion" type=01 *a code=0456 owner=001E element=04BD universal=3FFF unitName="meter" type=0B size=0003 fl=05 Ɋc A*e code=04BE elementURI="VerticalControl.stopOverrideDelay" type=01 *a code=0457 owner=001E element=04BE universal=3FFF unitName="minute" type=0B size=0003 fl=05 銿cC*e code=04BF elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *a code=0458 owner=001E element=04BF universal=3FFF unitName="minute" type=0B size=0003 fl=05 cRD*e code=04C0 elementURI="VerticalControl.surfaceThreshold" type=01 *a code=0459 owner=001E element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )(c?*e code=04C1 elementURI="VerticalControl.useElevIntInDepthMode" type=01 *a code=045A owner=001E element=04C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I+c*e code=04C2 elementURI="VerticalControl.massOnlyForceInt" type=01 *a code=045B owner=001E element=04C2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i/cƿucNLoaded Config Component "Config/ControlNwcvLooking for Config files in directory: Config/lrauv-pontus/NyclOpening Config file at: Config/lrauv-pontus/secure.cfgclrauv-pontus.shore.mbari.orgc300234065069590 csWcqQBHne08b8iGdNdlOpening Config file at: Config/lrauv-pontus/Sensor.cfgI?did?d ? dI?!di?"d)$dI?%di?(d)d ,d) -d ?/d 0d) ?2di ?4d 6d B ?8d ;dpB ??dI?@diBd?Cd?DdFd@ Hd!%8)/JdI/Kd?LdNd ?Od)Qd?RdSdUd Vd )?XdI?Yd?Zd \d?]d_d)`d@Ibdqs**icd|]edD &dC&dpB&d@N1epOpening Config file at: Config/lrauv-pontus/workSite.cfgi'Geǟ8?'Ie/'Oe!Missions/underIce/StartupUnder.tl'Te&Missions/underIce/DefaultWithUndock.tlNejOpening Config file at: Config/lrauv-pontus/Servo.cfg*?e +ei+e%+e)-eQ9i/eL/et@/e*i0?e0ei1?e 2?e)2e3?e3e4?e 6?e)6eNfrOpening Config file at: Config/lrauv-pontus/Simulator.cfg7?(f 8?-fNsflOpening Config file at: Config/lrauv-pontus/logger.cfgNfnOpening Config file at: Config/lrauv-pontus/vehicle.cfgIRfpontusiRf Rfff66FF66Rf9228Rf177272Tf /dev/loadC4)Uf /dev/ttyC4IU?g`g /dev/loadC0`g/dev/mcp3553C0 a?g)a?gIa?gZ g /dev/loadB0Z g/dev/mcp3553B0Z? g [?g)[?g bg /dev/loadB1 gg /dev/loadC3)gg /dev/ttyC3NZgnOpening Config file at: Config/lrauv-pontus/Battery.cfg*n code=001F name="Config/Battery" *e code=04C3 elementURI="Config/Battery.stick1" type=00 *a code=045C owner=001F element=04C3 universal=3FFF unitName="none" type=00 size=0004 fl=05 rg02AF*e code=04C4 elementURI="Config/Battery.stick2" type=00 *a code=045D owner=001F element=04C4 universal=3FFF unitName="none" type=00 size=0004 fl=05 ug02A5*e code=04C5 elementURI="Config/Battery.stick3" type=00 *a code=045E owner=001F element=04C5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɋxg01F5*e code=04C6 elementURI="Config/Battery.stick4" type=00 *a code=045F owner=001F element=04C6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鋿{g02CF*e code=04C7 elementURI="Config/Battery.stick5" type=00 *a code=0460 owner=001F element=04C7 universal=3FFF unitName="none" type=00 size=0004 fl=05 ~g01D5*e code=04C8 elementURI="Config/Battery.stick6" type=00 *a code=0461 owner=001F element=04C8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )g02BA*e code=04C9 elementURI="Config/Battery.stick7" type=00 *a code=0462 owner=001F element=04C9 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ig02BB*e code=04CA elementURI="Config/Battery.stick8" type=00 *a code=0463 owner=001F element=04CA universal=3FFF unitName="none" type=00 size=0004 fl=05 ig022C*e code=04CB elementURI="Config/Battery.stick9" type=00 *a code=0464 owner=001F element=04CB universal=3FFF unitName="none" type=00 size=0004 fl=05 g01D1*e code=04CC elementURI="Config/Battery.stick10" type=00 *a code=0465 owner=001F element=04CC universal=3FFF unitName="none" type=00 size=0004 fl=05 g02AA*e code=04CD elementURI="Config/Battery.stick11" type=00 *a code=0466 owner=001F element=04CD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɍg02C0*e code=04CE elementURI="Config/Battery.stick12" type=00 *a code=0467 owner=001F element=04CE universal=3FFF unitName="none" type=00 size=0004 fl=05 錿g0218*e code=04CF elementURI="Config/Battery.stick13" type=00 *a code=0468 owner=001F element=04CF universal=3FFF unitName="none" type=00 size=0004 fl=05 g01C7*e code=04D0 elementURI="Config/Battery.stick14" type=00 *a code=0469 owner=001F element=04D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )g0204*e code=04D1 elementURI="Config/Battery.stick15" type=00 *a code=046A owner=001F element=04D1 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ig02CE*e code=04D2 elementURI="Config/Battery.stick16" type=00 *a code=046B owner=001F element=04D2 universal=3FFF unitName="none" type=00 size=0004 fl=05 ig0200*e code=04D3 elementURI="Config/Battery.stick17" type=00 *a code=046C owner=001F element=04D3 universal=3FFF unitName="none" type=00 size=0004 fl=05 g01D3*e code=04D4 elementURI="Config/Battery.stick18" type=00 *a code=046D owner=001F element=04D4 universal=3FFF unitName="none" type=00 size=0004 fl=05 g0275*e code=04D5 elementURI="Config/Battery.stick19" type=00 *a code=046E owner=001F element=04D5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɍg02C4*e code=04D6 elementURI="Config/Battery.stick20" type=00 *a code=046F owner=001F element=04D6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鍿g02C7*e code=04D7 elementURI="Config/Battery.stick21" type=00 *a code=0470 owner=001F element=04D7 universal=3FFF unitName="none" type=00 size=0004 fl=05 g022E*e code=04D8 elementURI="Config/Battery.stick22" type=00 *a code=0471 owner=001F element=04D8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )g02C1*e code=04D9 elementURI="Config/Battery.stick23" type=00 *a code=0472 owner=001F element=04D9 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ig0227*e code=04DA elementURI="Config/Battery.stick24" type=00 *a code=0473 owner=001F element=04DA universal=3FFF unitName="none" type=00 size=0004 fl=05 ig0281*e code=04DB elementURI="Config/Battery.stick25" type=00 *a code=0474 owner=001F element=04DB universal=3FFF unitName="none" type=00 size=0004 fl=05 g028D*e code=04DC elementURI="Config/Battery.stick26" type=00 *a code=0475 owner=001F element=04DC universal=3FFF unitName="none" type=00 size=0004 fl=05 g02C2*e code=04DD elementURI="Config/Battery.stick27" type=00 *a code=0476 owner=001F element=04DD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɏg01DD*e code=04DE elementURI="Config/Battery.stick28" type=00 *a code=0477 owner=001F element=04DE universal=3FFF unitName="none" type=00 size=0004 fl=05 鎿g02CC*e code=04DF elementURI="Config/Battery.stick29" type=00 *a code=0478 owner=001F element=04DF universal=3FFF unitName="none" type=00 size=0004 fl=05 g01CD*e code=04E0 elementURI="Config/Battery.stick30" type=00 *a code=0479 owner=001F element=04E0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )g029E*e code=04E1 elementURI="Config/Battery.stick31" type=00 *a code=047A owner=001F element=04E1 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ig022B*e code=04E2 elementURI="Config/Battery.stick32" type=00 *a code=047B owner=001F element=04E2 universal=3FFF unitName="none" type=00 size=0004 fl=05 ih021A*e code=04E3 elementURI="Config/Battery.stick33" type=00 *a code=047C owner=001F element=04E3 universal=3FFF unitName="none" type=00 size=0004 fl=05 h01A2*e code=04E4 elementURI="Config/Battery.stick34" type=00 *a code=047D owner=001F element=04E4 universal=3FFF unitName="none" type=00 size=0004 fl=05 h0285*e code=04E5 elementURI="Config/Battery.stick35" type=00 *a code=047E owner=001F element=04E5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɏ h0239*e code=04E6 elementURI="Config/Battery.stick36" type=00 *a code=047F owner=001F element=04E6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鏿h01FC*e code=04E7 elementURI="Config/Battery.stick37" type=00 *a code=0480 owner=001F element=04E7 universal=3FFF unitName="none" type=00 size=0004 fl=05 h023B*e code=04E8 elementURI="Config/Battery.stick38" type=00 *a code=0481 owner=001F element=04E8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )h01D2*e code=04E9 elementURI="Config/Battery.stick39" type=00 *a code=0482 owner=001F element=04E9 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ih0207*e code=04EA elementURI="Config/Battery.stick40" type=00 *a code=0483 owner=001F element=04EA universal=3FFF unitName="none" type=00 size=0004 fl=05 ih0263*e code=04EB elementURI="Config/Battery.stick41" type=00 *a code=0484 owner=001F element=04EB universal=3FFF unitName="none" type=00 size=0004 fl=05 h01ED*e code=04EC elementURI="Config/Battery.stick42" type=00 *a code=0485 owner=001F element=04EC universal=3FFF unitName="none" type=00 size=0004 fl=05 "h01E4*e code=04ED elementURI="Config/Battery.stick43" type=00 *a code=0486 owner=001F element=04ED universal=3FFF unitName="none" type=00 size=0004 fl=05 ɐ%h027A*e code=04EE elementURI="Config/Battery.stick44" type=00 *a code=0487 owner=001F element=04EE universal=3FFF unitName="none" type=00 size=0004 fl=05 鐿(h025E*e code=04EF elementURI="Config/Battery.stick45" type=00 *a code=0488 owner=001F element=04EF universal=3FFF unitName="none" type=00 size=0004 fl=05 +h02BF*e code=04F0 elementURI="Config/Battery.stick46" type=00 *a code=0489 owner=001F element=04F0 universal=3FFF unitName="none" type=00 size=0004 fl=05 ).h01C3*e code=04F1 elementURI="Config/Battery.stick47" type=00 *a code=048A owner=001F element=04F1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I1h0248*e code=04F2 elementURI="Config/Battery.stick48" type=00 *a code=048B owner=001F element=04F2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i4h0249*e code=04F3 elementURI="Config/Battery.stick49" type=00 *a code=048C owner=001F element=04F3 universal=3FFF unitName="none" type=00 size=0004 fl=05 7h01E2*e code=04F4 elementURI="Config/Battery.stick50" type=00 *a code=048D owner=001F element=04F4 universal=3FFF unitName="none" type=00 size=0004 fl=05 :h0254*e code=04F5 elementURI="Config/Battery.stick51" type=00 *a code=048E owner=001F element=04F5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɑ=h01AE*e code=04F6 elementURI="Config/Battery.stick52" type=00 *a code=048F owner=001F element=04F6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鑿Ah0209*e code=04F7 elementURI="Config/Battery.stick53" type=00 *a code=0490 owner=001F element=04F7 universal=3FFF unitName="none" type=00 size=0004 fl=05 Dh0258*e code=04F8 elementURI="Config/Battery.stick54" type=00 *a code=0491 owner=001F element=04F8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )Gh01C4*e code=04F9 elementURI="Config/Battery.stick55" type=00 *a code=0492 owner=001F element=04F9 universal=3FFF unitName="none" type=00 size=0004 fl=05 IJh0250*e code=04FA elementURI="Config/Battery.stick56" type=00 *a code=0493 owner=001F element=04FA universal=3FFF unitName="none" type=00 size=0004 fl=05 iMh01C8*e code=04FB elementURI="Config/Battery.stick57" type=00 *a code=0494 owner=001F element=04FB universal=3FFF unitName="none" type=00 size=0004 fl=05 Ph0270*e code=04FC elementURI="Config/Battery.stick58" type=00 *a code=0495 owner=001F element=04FC universal=3FFF unitName="none" type=00 size=0004 fl=05 Sh01EC*e code=04FD elementURI="Config/Battery.stick59" type=00 *a code=0496 owner=001F element=04FD universal=3FFF unitName="none" type=00 size=0004 fl=05 ɒVh022D*e code=04FE elementURI="Config/Battery.stick60" type=00 *a code=0497 owner=001F element=04FE universal=3FFF unitName="none" type=00 size=0004 fl=05 钿Yh01FD*e code=04FF elementURI="Config/Battery.stick61" type=00 *a code=0498 owner=001F element=04FF universal=3FFF unitName="none" type=00 size=0004 fl=05 \h02A9*e code=0500 elementURI="Config/Battery.stick62" type=00 *a code=0499 owner=001F element=0500 universal=3FFF unitName="none" type=00 size=0004 fl=05 )_h01E8ƿhNLoaded Config Component "Config/BatteryNhtOpening Config file at: Config/lrauv-pontus/Navigation.cfgghdihhdNifOpening Config file at: Config/lrauv-pontus/BIT.cfgni oiWC)oiCp ir"ig59s#i2.6.27.8 t%i'#1 PREEMPT Thu Feb 21 11:17:40 PST 2019NlinOpening Config file at: Config/lrauv-pontus/Science.cfgt?itit?itiu?iu?iv?iviwi@wi\(wi3?wij\wl xi!`#?)xidOӰ¾Ixi;On?){?iI{ii|iUWQ9985i{i2-{i)|i3:CI|ieS.?)}?iI}i~i bb2flmba-5407i}i2}i2}i'}i+I~iG7i~i6~iD< i)iIiUBAT0051ii9?iNjnOpening Config file at: Config/lrauv-pontus/Control.cfgj&w9ij̒8I j:)"js:i%j@;鈿'j#=Ɉ)j9^~jrReloading configuration overrides from Data/persisted.cfg*e code=0501 elementURI="CBIT.gf24Offset" type=01 *a code=049A owner=0004 element=0501 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 Ijg59I#j/jB@/j)j$j4j5<郿j3?i6j?j9ijKlƿ>lvSyncComponent "SpeedControl" handled in the control thread.*n code=0023 name="LoopControl" *e code=0531 elementURI="LoopControl.enableBroadcast" type=02 *a code=0524 owner=0023 element=0531 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Al,Construct LoopControl.*a code=0525 owner=0023 element=050B universal=3FFF unitName="second" type=0B size=0003 fl=04 BlƿBltSyncComponent "LoopControl" handled in the control thread.BlLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)ClNLoading Module at Modules/Derivation.so*n code=0024 name="DepthRateCalculator" *e code=0532 elementURI="DepthRateCalculator.enableBroadcast" type=02 *a code=0526 owner=0024 element=0532 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0527 owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0533 elementURI="DepthRateCalculator.depth_rate" type=00 *a code=0528 owner=0024 element=0533 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 1 lƿlSyncComponent "DepthRateCalculator" handled in the control thread.*n code=0025 name="PitchRateCalculator" *e code=0534 elementURI="PitchRateCalculator.enableBroadcast" type=02 *a code=0529 owner=0025 element=0534 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=052A owner=0025 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0535 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=052B owner=0025 element=0535 universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 q lƿlSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0026 name="SpeedCalculator" *e code=0536 elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=052C owner=0026 element=0536 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=052D owner=0026 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0537 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=052E owner=0026 element=0537 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 l*e code=0538 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=052F owner=0026 element=0538 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 l*e code=0539 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *a code=0530 owner=0026 element=0539 universal=002E unitName="meter" type=0B size=0003 fl=05 l*a code=0531 owner=0026 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0532 owner=0026 element=0485 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 lƿl|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0027 name="YawRateCalculator" *e code=053A elementURI="YawRateCalculator.enableBroadcast" type=02 *a code=0533 owner=0027 element=053A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0534 owner=0027 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=053B elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=0535 owner=0027 element=053B universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 lƿlSyncComponent "YawRateCalculator" handled in the control thread.*n code=0028 name="ElevatorOffsetCalculator" *e code=053C elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *a code=0536 owner=0028 element=053C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0537 owner=0028 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0538 owner=0028 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0539 owner=0028 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053A owner=0028 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=053B owner=0028 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=053C owner=0028 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=053D owner=0028 element=02E1 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=053E owner=0028 element=02E0 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=053F owner=0028 element=02E2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0540 owner=0028 element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=053D elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *a code=0541 owner=0028 element=053D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=053E elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=0542 owner=0028 element=053E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=053F elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=0543 owner=0028 element=053F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0540 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=0544 owner=0028 element=0540 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0541 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=0545 owner=0028 element=0541 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0542 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=0546 owner=0028 element=0542 universal=3FFF unitName="meter" type=0B size=0003 fl=05 1 lƿlSyncComponent "ElevatorOffsetCalculator" handled in the control thread.lLoaded Module: Derivation (Contains the base derivation components)lHLoading Module at Modules/Trigger.sol|Loaded Module: Trigger (Contains triggers for use in missions)lNLoading Module at Modules/Estimation.soImLoaded Module: Estimation (Contains the base estimation components)ImJLoading Module at Modules/Guidance.soprLoaded Module: Guidance (Contains behaviors and commands)pLLoading Module at Modules/Simulator.soqLoaded Module: Simulator (This is the module containing the Simulator)qFLoading Module at Modules/Sensor.so*n code=0029 name="AHRS_M2" *e code=0543 elementURI="AHRS_M2.enableBroadcast" type=02 *a code=0547 owner=0029 element=0543 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0548 owner=0029 element=0082 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0544 elementURI="AHRS_M2.component_voltage" type=02 *a code=0549 owner=0029 element=0544 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0545 elementURI="AHRS_M2.component_avgVoltage" type=02 *a code=054A owner=0029 element=0545 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0546 elementURI="AHRS_M2.component_current" type=02 *a code=054B owner=0029 element=0546 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0547 elementURI="AHRS_M2.component_avgCurrent" type=02 *a code=054C owner=0029 element=0547 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0548 elementURI="AHRS_M2.component_discreteIn" type=02 *a code=054D owner=0029 element=0548 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=054E owner=0029 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=054F owner=0029 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0550 owner=0029 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0549 elementURI="AHRS_M2.platform_magnetic_orientation" type=00 *a code=0551 owner=0029 element=0549 universal=0032 unitName="radian" type=2F size=0004 fl=05 *e code=054A elementURI="AHRS_M2.platform_pitch_angle" type=00 *a code=0552 owner=0029 element=054A universal=0036 unitName="radian" type=2F size=0004 fl=05 *e code=054B elementURI="AHRS_M2.platform_roll_angle" type=00 *a code=0553 owner=0029 element=054B universal=003B unitName="radian" type=2F size=0004 fl=05 *e code=054C elementURI="AHRS_M2.platform_orientation" type=00 *a code=0554 owner=0029 element=054C universal=0034 unitName="radian" type=2F size=0004 fl=05 *e code=054D elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003 *a code=0555 owner=0029 element=054D universal=0035 unitName="none" type=00 size=0000 fl=05 *e code=054E elementURI="AHRS_M2.calibration_state" type=02 *a code=0556 owner=0029 element=054E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=054F elementURI="AHRS_M2.orientation_error" type=02 *a code=0557 owner=0029 element=054F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0550 elementURI="AHRS_M2.orientation" type=02 *a code=0558 owner=0029 element=0550 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0551 elementURI="AHRS_M2.temperature" type=02 *a code=0559 owner=0029 element=0551 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0552 elementURI="AHRS_M2.acceleration_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=055A owner=0029 element=0552 universal=3FFF unitName="meter_per_second_squared" type=00 size=0000 fl=05 *e code=0553 elementURI="AHRS_M2.angular_velocity_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=055B owner=0029 element=0553 universal=3FFF unitName="radian_per_second" type=00 size=0000 fl=05 *e code=0554 elementURI="AHRS_M2.magnetic_field_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=055C owner=0029 element=0554 universal=3FFF unitName="milligauss" type=00 size=0000 fl=05 *e code=0555 elementURI="AHRS_M2.number_of_calbration_points" type=02 *a code=055D owner=0029 element=0555 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=055E owner=0029 element=0083 universal=3FFF unitName="none" type=00 size=002F fl=04 *a code=055F owner=0029 element=0084 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0560 owner=0029 element=0085 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0561 owner=0029 element=0087 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0562 owner=0029 element=0088 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0563 owner=0029 element=0089 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0564 owner=0029 element=008A universal=3FFF unitName="count" type=0D size=0004 fl=04 q fuƿfulSyncComponent "AHRS_M2" handled in the control thread.*n code=002A name="BackseatComponent" *e code=0556 elementURI="BackseatComponent.enableBroadcast" type=02 *a code=0565 owner=002A element=0556 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0566 owner=002A element=0099 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0557 elementURI="BackseatComponent.component_voltage" type=02 *a code=0567 owner=002A element=0557 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0558 elementURI="BackseatComponent.component_avgVoltage" type=02 *a 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type=0B size=0003 fl=04 *a code=082E owner=0040 element=0679 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082F owner=0040 element=067E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0830 owner=0040 element=0683 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0831 owner=0040 element=0688 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0832 owner=0040 element=068D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0833 owner=0040 element=0692 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0834 owner=0040 element=0697 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0835 owner=0040 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0836 owner=0040 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0837 owner=0040 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0838 owner=0040 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0839 owner=0040 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083A owner=0040 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083B owner=0040 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083C owner=0040 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0743 elementURI="CBIT.shorePowerOn" type=02 *a code=083D owner=0040 element=0743 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0744 elementURI="GFScanner.GFScanRequested" type=02 *a code=083E owner=0040 element=0744 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0745 elementURI="CBIT.ampHoursUsed" type=02 *a code=083F owner=0040 element=0745 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0746 elementURI="CBIT.platform_fault" type=00 *a code=0840 owner=0040 element=0746 universal=0030 unitName="enum" type=02 size=0001 fl=05 *e code=0747 elementURI="CBIT.platform_fault_leak" type=00 *a code=0841 owner=0040 element=0747 universal=0031 unitName="enum" type=02 size=0001 fl=05 *a code=0842 owner=0040 element=0741 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0748 elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=0843 owner=0040 element=0748 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0749 elementURI="CBIT.binnedDepthRate" type=02 *a code=0844 owner=0040 element=0749 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0845 owner=0040 element=03E0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0846 owner=0040 element=03DF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0847 owner=0040 element=03E1 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0848 owner=0040 element=03E2 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0849 owner=0040 element=03E3 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=084A owner=0040 element=03ED universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=084B owner=0040 element=03E6 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=084C owner=0040 element=03E8 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=084D owner=0040 element=03EA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=084E owner=0040 element=03EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=084F owner=0040 element=03EB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0850 owner=0040 element=03E4 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0851 owner=0040 element=03E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0852 owner=0040 element=03EE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0853 owner=0040 element=03EF universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0854 owner=0040 element=03E9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 1}ƿ}fSyncComponent "CBIT" handled in the control thread.*n code=0041 name="GFScanner" *e code=074A elementURI="GFScanner.enableBroadcast" type=02 *a code=0855 owner=0041 element=074A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0856 owner=0041 element=03F1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0857 owner=0041 element=03F2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0858 owner=0041 element=03F3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0859 owner=0041 element=03F4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=085A owner=0041 element=03F5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=085B owner=0041 element=03F6 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=085C owner=0041 element=03F7 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=085D owner=0041 element=03F8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=085E owner=0041 element=03F9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=085F owner=0041 element=03EF universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0860 owner=0041 element=03FA universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0861 owner=0041 element=03FB universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0862 owner=0041 element=03FC universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0863 owner=0041 element=03FD universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0864 owner=0041 element=03FE universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0865 owner=0041 element=03FF universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0866 owner=0041 element=0400 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0867 owner=0041 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=074B elementURI="GFScanner.GFCHANOpenCurrent" type=02 *a code=0868 owner=0041 element=074B universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=074C elementURI="GFScanner.GFCHANA0Current" type=02 *a code=0869 owner=0041 element=074C universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=074D elementURI="GFScanner.GFCHANA1Current" type=02 *a code=086A owner=0041 element=074D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=074E elementURI="GFScanner.GFCHANA2Current" type=02 *a code=086B owner=0041 element=074E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=074F elementURI="GFScanner.GFCHANA3Current" type=02 *a code=086C owner=0041 element=074F universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0750 elementURI="GFScanner.GFCHANB0Current" type=02 *a code=086D owner=0041 element=0750 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0751 elementURI="GFScanner.GFCHANB1Current" type=02 *a code=086E owner=0041 element=0751 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0752 elementURI="GFScanner.GFCHANB2Current" type=02 *a code=086F owner=0041 element=0752 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0753 elementURI="GFScanner.GFCHANB3Current" type=02 *a code=0870 owner=0041 element=0753 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0871 owner=0041 element=0744 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0872 owner=0041 element=0072 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0873 owner=0041 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0874 owner=0041 element=055D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0875 owner=0041 element=0401 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0876 owner=0041 element=0402 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0877 owner=0041 element=0403 universal=3FFF unitName="second" type=0B size=0003 fl=04 q~ƿ~pSyncComponent "GFScanner" handled in the control thread.~Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)~DLoading Module at Modules/Servo.so*n code=0042 name="BuoyancyServo" *e code=0754 elementURI="BuoyancyServo.enableBroadcast" type=02 *a code=0878 owner=0042 element=0754 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0879 owner=0042 element=01BF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0755 elementURI="BuoyancyServo.component_voltage" type=02 *a code=087A owner=0042 element=0755 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0756 elementURI="BuoyancyServo.component_avgVoltage" type=02 *a code=087B owner=0042 element=0756 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0757 elementURI="BuoyancyServo.component_current" type=02 *a code=087C owner=0042 element=0757 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0758 elementURI="BuoyancyServo.component_avgCurrent" type=02 *a code=087D owner=0042 element=0758 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0759 elementURI="BuoyancyServo.component_discreteIn" type=02 *a code=087E owner=0042 element=0759 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=087F owner=0042 element=01C9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0880 owner=0042 element=01C8 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0881 owner=0042 element=01C1 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0882 owner=0042 element=01C2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0883 owner=0042 element=01C3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0884 owner=0042 element=01C5 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0885 owner=0042 element=01C6 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0886 owner=0042 element=01C7 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0887 owner=0042 element=01C4 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0888 owner=0042 element=01C0 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0889 owner=0042 element=01CA universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=088A owner=0042 element=01CC universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=088B owner=0042 element=01CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=088C owner=0042 element=01CB universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=088D owner=0042 element=01D0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=088E owner=0042 element=01CF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=088F owner=0042 element=01CE universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0890 owner=0042 element=0488 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0891 owner=0042 element=048C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0892 owner=0042 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=075A elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=0893 owner=0042 element=075A universal=0029 unitName="cubic_centimeter" type=0B size=0003 fl=05 i~4*a code=0894 owner=0042 element=0518 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 ~ƿ~xSyncComponent "BuoyancyServo" handled in the control thread.*n code=0043 name="ElevatorServo" *e code=075B elementURI="ElevatorServo.enableBroadcast" type=02 *a code=0895 owner=0043 element=075B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0896 owner=0043 element=01EB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=075C elementURI="ElevatorServo.component_voltage" type=02 *a code=0897 owner=0043 element=075C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=075D elementURI="ElevatorServo.component_avgVoltage" type=02 *a code=0898 owner=0043 element=075D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=075E elementURI="ElevatorServo.component_current" type=02 *a code=0899 owner=0043 element=075E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=075F elementURI="ElevatorServo.component_avgCurrent" type=02 *a code=089A owner=0043 element=075F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0760 elementURI="ElevatorServo.component_discreteIn" type=02 *a code=089B owner=0043 element=0760 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=089C owner=0043 element=01F6 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=089D owner=0043 element=01ED universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=089E owner=0043 element=01EF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=089F owner=0043 element=01F0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08A0 owner=0043 element=01F3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08A1 owner=0043 element=01F4 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08A2 owner=0043 element=01F5 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08A3 owner=0043 element=01F2 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=08A4 owner=0043 element=01EC universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=08A5 owner=0043 element=01F1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08A6 owner=0043 element=01EE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08A7 owner=0043 element=0493 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=0761 elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=08A8 owner=0043 element=0761 universal=002F unitName="radian" type=2F size=0004 fl=05 ~;*a code=08A9 owner=0043 element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=04 ~ƿ~xSyncComponent "ElevatorServo" handled in the control thread.*n code=0044 name="DockingStepper" *e code=0762 elementURI="DockingStepper.enableBroadcast" type=02 *a code=08AA owner=0044 element=0762 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08AB owner=0044 element=01E1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0763 elementURI="DockingStepper.component_voltage" type=02 *a code=08AC owner=0044 element=0763 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0764 elementURI="DockingStepper.component_avgVoltage" type=02 *a code=08AD owner=0044 element=0764 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0765 elementURI="DockingStepper.component_current" type=02 *a code=08AE owner=0044 element=0765 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0766 elementURI="DockingStepper.component_avgCurrent" type=02 *a code=08AF owner=0044 element=0766 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0767 elementURI="DockingStepper.component_discreteIn" type=02 *a code=08B0 owner=0044 element=0767 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08B1 owner=0044 element=01E8 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08B2 owner=0044 element=01E9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08B3 owner=0044 element=01E6 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08B4 owner=0044 element=01E7 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08B5 owner=0044 element=01E2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08B6 owner=0044 element=01E3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08B7 owner=0044 element=01E4 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08B8 owner=0044 element=01E5 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08B9 owner=0044 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0768 elementURI="DockingStepper.armValue" type=02 *a code=08BA owner=0044 element=0768 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0769 elementURI="Dock.dock_cable_present" type=02 *a code=08BB owner=0044 element=0769 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08BC owner=0044 element=0567 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=076A elementURI="DockingStepper.cableValue" type=02 *a code=08BD owner=0044 element=076A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=08BE owner=0044 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=076B elementURI="DockingStepper.armValueAction" type=02 *a code=08BF owner=0044 element=076B universal=3FFF unitName="count" type=0D size=0004 fl=04 1ƿzSyncComponent "DockingStepper" handled in the control thread.*n code=0045 name="MassServo" *e code=076C elementURI="MassServo.enableBroadcast" type=02 *a code=08C0 owner=0045 element=076C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08C1 owner=0045 element=01F8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=076D elementURI="MassServo.component_voltage" type=02 *a code=08C2 owner=0045 element=076D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=076E elementURI="MassServo.component_avgVoltage" type=02 *a code=08C3 owner=0045 element=076E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=076F elementURI="MassServo.component_current" type=02 *a code=08C4 owner=0045 element=076F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0770 elementURI="MassServo.component_avgCurrent" type=02 *a code=08C5 owner=0045 element=0770 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0771 elementURI="MassServo.component_discreteIn" type=02 *a code=08C6 owner=0045 element=0771 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08C7 owner=0045 element=01FE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08C8 owner=0045 element=01FA universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08C9 owner=0045 element=01FB universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08CA owner=0045 element=01FC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08CB owner=0045 element=01FD universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=08CC owner=0045 element=01F9 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08CD owner=0045 element=01FF universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08CE owner=0045 element=0202 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08CF owner=0045 element=0201 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=08D0 owner=0045 element=0200 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08D1 owner=0045 element=04A9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *e code=0772 elementURI="MassServo.platform_mass_position" type=00 *a code=08D2 owner=0045 element=0772 universal=0033 unitName="meter" type=0B size=0003 fl=05 *a code=08D3 owner=0045 element=0517 universal=3FFF unitName="meter" type=0B size=0003 fl=04 qƿpSyncComponent "MassServo" handled in the control thread.*n code=0046 name="RudderServo" *e code=0773 elementURI="RudderServo.enableBroadcast" type=02 *a code=08D4 owner=0046 element=0773 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08D5 owner=0046 element=0204 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0774 elementURI="RudderServo.component_voltage" type=02 *a code=08D6 owner=0046 element=0774 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0775 elementURI="RudderServo.component_avgVoltage" type=02 *a code=08D7 owner=0046 element=0775 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0776 elementURI="RudderServo.component_current" type=02 *a code=08D8 owner=0046 element=0776 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0777 elementURI="RudderServo.component_avgCurrent" type=02 *a code=08D9 owner=0046 element=0777 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0778 elementURI="RudderServo.component_discreteIn" type=02 *a code=08DA owner=0046 element=0778 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08DB owner=0046 element=020F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08DC owner=0046 element=0206 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08DD 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element=077D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=077E elementURI="ThrusterServo.component_avgCurrent" type=02 *a code=08EE owner=0047 element=077E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=077F elementURI="ThrusterServo.component_discreteIn" type=02 *a code=08EF owner=0047 element=077F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0780 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=08F0 owner=0047 element=0780 universal=0039 unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08F1 owner=0047 element=0530 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=08F2 owner=0047 element=021F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08F3 owner=0047 element=021A universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08F4 owner=0047 element=021C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08F5 owner=0047 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code=07B6 elementURI="WetLabsUBAT.enableBroadcast" type=02 *a code=095A owner=004D element=07B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=095B owner=004D element=0470 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07B7 elementURI="WetLabsUBAT.component_voltage" type=02 *a code=095C owner=004D element=07B7 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=07B8 elementURI="WetLabsUBAT.component_avgVoltage" type=02 *a code=095D owner=004D element=07B8 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=07B9 elementURI="WetLabsUBAT.component_current" type=02 *a code=095E owner=004D element=07B9 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=07BA elementURI="WetLabsUBAT.component_avgCurrent" type=02 *a code=095F owner=004D element=07BA universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=07BB elementURI="WetLabsUBAT.component_discreteIn" type=02 *a code=0960 owner=004D element=07BB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0961 owner=004D element=0472 universal=3FFF unitName="none_float" type=0F size=0004 fl=04 *a code=0962 owner=004D element=0473 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=04 *a code=0963 owner=004D element=0471 universal=3FFF unitName="none" type=00 size=0008 fl=04 *e code=07BC elementURI="WetLabsUBAT.average_bioluminescence" type=02 *a code=0964 owner=004D element=07BC universal=3FFF unitName="photon_per_second" type=0B size=0003 fl=05 *e code=07BD elementURI="WetLabsUBAT.flow_rate" type=02 *a code=0965 owner=004D element=07BD universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=05 *e code=07BE elementURI="WetLabsUBAT.hv_step_calibration_coefficient" type=02 *a code=0966 owner=004D element=07BE universal=3FFF unitName="none" type=1F size=0008 fl=05 *e code=07BF elementURI="WetLabsUBAT.record_number" type=02 *a code=0967 owner=004D element=07BF universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=07C0 elementURI="WetLabsUBAT.digitized_raw_ad_counts" type=12 blobType=04 fixedSize=003C *a code=0968 owner=004D element=07C0 universal=3FFF unitName="count" type=00 size=0000 fl=05 *a code=0969 owner=004D element=006F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=096A owner=004D element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05 RK̀q̀ƿ̀dComponent "WetLabsUBAT" handled in its own thread.*n code=004E name="WetLabsUBAT ThreadHandler" '΀DCreated PCaller Thread at 40C6C4E0'΀BProtected caller Thread ID is 938πpLoaded Module: Science (Contains the science components)*n code=004F name="MissionManager" *e code=07C1 elementURI="MissionManager.enableBroadcast" type=02 *a code=096B owner=004F element=07C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=096C owner=004F element=073C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=096D owner=004F element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07C2 elementURI="MissionManager.mission_started" type=00 *a code=096E owner=004F element=07C2 universal=001C unitName="count" type=0D size=0004 fl=05 ƿՀzSyncComponent "MissionManager" handled in the control thread.*n code=0050 name="Reporter" *e code=07C3 elementURI="Reporter.enableBroadcast" type=02 *a code=096F owner=0050 element=07C3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿ؀nSyncComponent "Reporter" handled in the control thread.*n code=0051 name="NavChartDb" *e code=07C4 elementURI="NavChartDb.enableBroadcast" type=02 *a code=0970 owner=0051 element=07C4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=07C5 elementURI="NavChartDb.closestDistance" type=02 *a code=0971 owner=0051 element=07C5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07C6 elementURI="NavChartDb.nextDistance" type=02 *a code=0972 owner=0051 element=07C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07C7 elementURI="NavChartDb.closestDepth" type=02 *a code=0973 owner=0051 element=07C7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07C8 elementURI="NavChartDb.nextDepth" type=02 *a code=0974 owner=0051 element=07C8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0975 owner=0051 element=03D6 universal=3FFF unitName="none" type=00 size=0023 fl=04 *a code=0976 owner=0051 element=03D7 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿbComponent "NavChartDb" handled in its own thread.*n code=0052 name="NavChartDb ThreadHandler" )DCreated PCaller Thread at 40C9C4E0)BProtected caller Thread ID is 939N*Main Thread ID is 829F&Running supervisor.0Handler Thread ID is 940FInitializing the command executive.Կ0Handler Thread ID is 9410Handler Thread ID is 942 4Initializing ControlThread HInitialize VerticalControlComponent.LInitialize HorizontalControlComponent. BInitialize SpeedControlComponent.@Initialize LoopControlComponent. BInitializing DepthRateCalculator.BInitializing PitchRateCalculator. :Initializing SpeedCalculator.>Initializing YawRateCalculator. LInitializing ElevatorOffsetCalculator. >Initialize NavChart Navigation.hInitializing UniversalFixResidualReporter component.4Initialize SBIT Component.=8git: 2025-06-05-2-g07de84f03dgit hash: 07de84f036b9b391a47d8c2a08834ee5eaa918cc=0Kernel Release: 2.6.27.8*a code=0977 owner=003E element=0405 universal=3FFF unitName="bool" type=02 size=0001 fl=04 Kernel Reporting Different Version From Configuration. Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019 Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021HBeginning SBIT in 93.000000 seconds.4Initialize IBIT Component.) 4Initialize CBIT Component.0Handler Thread ID is 943 *Initialized mux pins. @Initializing the watchdog timer.0Handler Thread ID is 944 TLast reboot was NOT due to watchdog timer. .Initializing heartbeat.0Handler Thread ID is 945 Powering up  "Initializing DAT.#0Handler Thread ID is 947*a code=0978 owner=0030 element=00B9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 %dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP.0Handler Thread ID is 948 =G?0Handler Thread ID is 949A(hA D^~A?M)Q ! Q yQ(hA! Q Q?$R0Handler Thread ID is 950 $S2Initializing CTD_Seabird.&V0Handler Thread ID is 952W%YPowering up'Z0Handler Thread ID is 954&]Powering up)^0Handler Thread ID is 956 d8Deactivating emergency mode.(hLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000(htAlready Loaded Electronic Nav Chart data from US1WC07M.000(iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000(itAlready Loaded Electronic Nav Chart data from US2WC11M.000(iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000(itAlready Loaded Electronic Nav Chart data from US3CA52M.000(iLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000(itAlready Loaded Electronic Nav Chart data from US5CA50M.000 $Backplane powered. ,Initializing GFScanner 2Deactivating GF circuits.':Using TethysL tl-to-tx parser'xLoading Mission from file: Missions/underIce/StartupUnder.tl'lTethyslAPI: loading: Missions/underIce/StartupUnder.tl'TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl?'TethyslAPI: Missions/underIce/StartupUnder.tl translated into: 'HTop node has no child nodes: Mission'>Could not load startup mission.'Loading Mission from file: Missions/underIce/DefaultWithUndock.tl'vTethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl'TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl??~̂Powering up??I?')CTethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into: 0 6 10 1 3 30 Timed out while trying to detach from dock at current depth of . Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs *n code=0053 name="DefaultWithUndock" *e code=07C9 elementURI="DefaultWithUndock.ElapsedSinceDefaultStarted" type=00 *a code=0979 owner=0053 element=07C9 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=097A owner=0053 element=07C9 universal=3FFF unitName="minute" type=1F size=0008 fl=05 Kʃ'˃DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min*e code=07CA elementURI="DefaultWithUndock.DetachTimeout" type=00 *a code=097B owner=0053 element=07CA universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=097C owner=0053 element=07CA universal=3FFF unitName="hour" type=1F size=0008 fl=05 K @' lDefineArg DefaultWithUndock.DetachTimeout = 6.000000 h*a code=097D owner=0053 element=0179 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=07CB elementURI="DefaultWithUndock.TransponderCode" type=00 *a code=097E owner=0053 element=07CB universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=097F owner=0053 element=07CB universal=3FFF unitName="count" type=0D size=0004 fl=05 K 2'lDefineArg DefaultWithUndock.TransponderCode = 50 count*e code=07CC elementURI="DefaultWithUndock.TrackingUpdatePeriod" type=00 *a code=0980 owner=0053 element=07CC universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0981 owner=0053 element=07CC universal=3FFF unitName="second" type=1F size=0008 fl=05  L)$@')|DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s*e code=07CD elementURI="DefaultWithUndock.NumberOfPings" type=00 *a code=0982 owner=0053 element=07CD universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0983 owner=0053 element=07CD universal=3FFF unitName="count" type=1F size=0008 fl=05 L,?'-tDefineArg DefaultWithUndock.NumberOfPings = 1.000000 count*e code=07CE elementURI="DefaultWithUndock.DriftTimeout" type=00 *a code=0984 owner=0053 element=07CE universal=3FFF unitName="minute" type=1F size=0008 fl=04 ?C*a code=0985 owner=0053 element=07CE universal=3FFF unitName="minute" type=1F size=0008 fl=05 *LDf@'EnDefineArg DefaultWithUndock.DriftTimeout = 3.000000 min*n code=0054 name="DefaultWithUndock:A.Wait" *FConstruct Wait.*n code=0055 name="DefaultWithUndock:LeaveDock" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *a code=0986 owner=0057 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0058 name="DefaultWithUndock:LeaveDock:A." *e code=07CF elementURI="TrackAcousticContact.enableBroadcast" type=02 *a code=0987 owner=0058 element=07CF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0988 owner=0058 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0989 owner=0058 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098A owner=0058 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098B owner=0058 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098C owner=0058 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098D owner=0058 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098E owner=0058 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098F owner=0058 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0990 owner=0058 element=06A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0991 owner=0058 element=06A5 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=07D0 elementURI="TrackAcousticContact.contact_label" type=02 *a code=0992 owner=0058 element=07D0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=07D1 elementURI="TrackAcousticContact.contact_rx_time" type=02 *a code=0993 owner=0058 element=07D1 universal=3FFF unitName="second" type=1F size=0008 fl=05 *e code=07D2 elementURI="TrackAcousticContact.contact_latitude" type=02 *a code=0994 owner=0058 element=07D2 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07D3 elementURI="TrackAcousticContact.contact_longitude" type=02 *a code=0995 owner=0058 element=07D3 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07D4 elementURI="TrackAcousticContact.eastings_to_contact" type=02 *a code=0996 owner=0058 element=07D4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07D5 elementURI="TrackAcousticContact.northings_to_contact" type=02 *a code=0997 owner=0058 element=07D5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07D6 elementURI="TrackAcousticContact.contact_depth" type=02 *a code=0998 owner=0058 element=07D6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07D7 elementURI="TrackAcousticContact.range_to_contact" type=02 *a code=0999 owner=0058 element=07D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07D8 elementURI="TrackAcousticContact.corrected_range_to_contact" type=02 *a code=099A owner=0058 element=07D8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07D9 elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 *a code=099B owner=0058 element=07D9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07DA elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *a code=099C owner=0058 element=07DA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07DB elementURI="TrackAcousticContact.heading_to_contact" type=02 ?*a code=099D owner=0058 element=07DB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07DC elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=099E owner=0058 element=07DC universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=07DD elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=099F owner=0058 element=07DD universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=07DE elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *a code=09A0 owner=0058 element=07DE universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=07DF elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *a code=09A1 owner=0058 element=07DF universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=07E0 elementURI="TrackAcousticContact.corrected_latitude" type=02 *a code=09A2 owner=0058 element=07E0 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07E1 elementURI="TrackAcousticContact.corrected_longitude" type=02 *a code=09A3 owner=0058 element=07E1 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07E2 elementURI="TrackAcousticContact.horizontal_range_to_contact_lowpass" type=02 *a code=09A4 owner=0058 element=07E2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07E3 elementURI="TrackAcousticContact.heading_to_contact_lowpass" type=02 *a code=09A5 owner=0058 element=07E3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07E4 elementURI="TrackAcousticContact.contact_latitude_lowpass" type=02 *a code=09A6 owner=0058 element=07E4 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07E5 elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 *a code=09A7 owner=0058 element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07E6 elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 *a code=09A8 owner=0058 element=07E6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09A9 owner=0058 element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" ,Construct.,dInitializing internal variables to default values.*a code=09AA owner=0059 element=019F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09AB owner=0059 element=019E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09AC owner=0059 element=01A0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09AD owner=0059 element=01A1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09AE owner=0059 element=018B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09AF owner=0059 element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09B0 owner=0059 element=04AA universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=09B1 owner=0059 element=048B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=09B2 owner=0059 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B3 owner=0059 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=07E7 elementURI="PowerOnly.samplePowerOnly" type=02 *a code=09B4 owner=0059 element=07E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07E8 elementURI="NanoDVR.sampleNanoDVR" type=02 *a code=09B5 owner=0059 element=07E8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B6 owner=0059 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09B7 owner=0059 element=0769 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B8 owner=0059 element=06BD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B9 owner=0059 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09BA owner=0059 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09BB owner=0059 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09BC owner=0059 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=09BD owner=0059 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09BE owner=0059 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=005A name="DefaultWithUndock:SurfaceDefault" ?*n code=005B name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *e code=07E9 elementURI="GoToSurface.enableBroadcast" type=02 *a code=09BF owner=005B element=07E9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 -",Construct GoToSurface.*a code=09C0 owner=005B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C1 owner=005B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C2 owner=005B element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C3 owner=005B element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09C4 owner=005B element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09C5 owner=005B element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09C6 owner=005B element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09C7 owner=005B element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09C8 owner=005B element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09C9 owner=005B element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09CA owner=005B element=051F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09CB owner=005B element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09CC owner=005B element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=09CD owner=005B element=048C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09CE owner=005B element=04AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=09CF owner=005B element=04A8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D0 owner=005B element=04BC universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" 0R$Construct Execute.*n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" 1aConstruct Wait.*n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *a code=09D1 owner=0063 element=07C9 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=09D2 owner=0063 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0065 name="DefaultWithUndock:D" *n code=0066 name="DefaultWithUndock:E.Execute" 3g$Construct Execute.?t?څ'1 # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission DefaultWithUndock { arguments { ElapsedSinceDefaultStarted = 0 minute DetachTimeout = 6 hour """ Maximum time duration for the vehicle to detach form the dock. """ TransponderCode = Dock:Dock.transponderCode """ Dock transponder address. """ TrackingUpdatePeriod = 10 second """ Time duration between acoustic range queries while the mission is detaching from the dock. """ NumberOfPings = 1 count """ Number of pings requested each time. """ DriftTimeout = 3 minute """ How long to allow vehicle to drift away from dock before retrying reverse """ } behavior Guidance:Wait { """ Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. """ run in sequence set duration = 30 second } aggregate LeaveDock { run in sequence timeout duration=DetachTimeout { syslog important "Timed out while trying to detach from dock at current depth of " + Universal:depth~meter + "." } # Acoustic tracking directives behavior Estimation:TrackAcousticContact { run while ( Universal:depth > Control:VerticalControl.surfaceThreshold ) set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } # Leave the dock behavior Dock:Undock { run in sequence set driftTimeout = DriftTimeout } } aggregate SurfaceDefault { run in sequence # This mission assumes open water so from here on it's the same old default that's always used behavior Guidance:GoToSurface { run in progression } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P2H { behavior Guidance:Execute { run in sequence set command = "Burn on" } syslog critical "Dropped weight due to communications timeout." } Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started ) syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute } } syslog important "Restarting logs and Default mission." behavior Guidance:Execute { run in sequence set command = "restart logs" } } uComponent order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,-ω ,za?'A*Initializing AHRS_M2.ɪe*a code=09D3 owner=002D element=00A3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 UInitializing.]Powering up.]e:Expecting PD13 message formatInitializing.II-qU I-->Depth measurement is not active@@@@@@iUKԡ 3ω, 7{?'A AM MKC EM MII]VI]=:uuI i"%StartingA1AyN=ԑ ω,?'A" ?"]WFI&I&B: R RX=! 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"c}@"Gk;) NuNoIV IV\:^ bI=yb-Q b>٥`d f CdfU> f>htItIt xxxxi|D_:)iAQAaNm=ԁԱ b؉,Bc'A9ӥ@Ӭ@Y0by*>HQ? ?`Ouѿ`Co?R ȿ`??1? ӥ@^+i;)BĽB%qIJ|IJp:Rš= RL=yR >Q V>٥TT V CTZS Z>\)I1I1 1119i9D_:!!)!i!)A)AANM=Ա I ) SC  G- gAA A ؉,\c'A)MygA9A9*׸@*@Y*!=y*s*x>*H^?O?`GÿR?Uɿ?(? *׸@*Pl;)*C:E :DI<)<)B= B=v/?|?5^ٿ'1Z?x)?;>)Iy/$?V-¿ʡEݿ&1>h B)BIBiBBI IG:> 8=y>z>Q >٥  C >II  iD_:)iA AN-=9a I ) ?A؉,vc'Ai 9"^@"@Y" =y"5>"H`p~??Ê ?Ŀ݄`?`? "^@"݁q;)"CBBÝJdSBD MO Status=2, MOMSN=48752, MT Status=2, MTMSN=0JZFailed to initiate SBD session. Error code: 2IR  IRՔ:Z  Z_=yZ=Q ^>٥\\ ^ C\bɻ b>dpIpIp ppptitD/`:)iAAN=iԙ )ؽ = ؽ <؉,uc'A9CG@F@YH=y!=H` ? ?ܩ]`? 䲿@Q? ? CG@@o;)PRyVI%\I%d:ed e?=ymGQ m>٥ii u CquB= u>yII iD`:)iAAN=) ؉,LPc'A9G@%G@Ym H @? ?Ŀ=@d? M q?`a@? G@zp;)CB8BcDDIJ IJ*:rx)= rS=yr,Q v>٥tt v CtzN9 z>|II !i!D`:)i  AA!N-=)Q! % Aԁ -؉,*c'AI)9"=@"=@Y"ay"֎>"H ?/h?h+п\?@&4?`?O? 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J@J? r;)H^HbQfIfIf(f:zZ= ~H=y RQ >٥!! -C)-W= ->1=?495#es?=?4Y5鍦 i5AEp?E?5wA5;5; ;5`H?4MB M#BMFJNQRNQ*NY2NY:NYBNYII iAA!Nm=AAiԙ h艅,'A96@6L@Y6 y6(>6H?? Dҿ`"@.?"xҿ ;?R?%? 6@6k;)4BBK)ID)Dm&1%C?ףp= ?mPmZd>m>)iIiymS-x&?m/=m5^m7= mB)mImBimBim8BI}I}q:hj= A=yiQ >٥饑 CE= >?49>s??4Y` i&+?9:HA?"A:s:V?4 BFJNRN*N2N:NBNII iAAN=qԡ 艅,҉'A9N@N@YN%yNB\>NH qi?J?Uӿ 6} Rs?@wͿ?ೞ?@? N@Nme;)NCZؽZ^Ib>IbvM:jUн jW=yjtQ n>٥ll rCpr= r>tz?49v+s?z?4Yv) iv xz>~?vvAv9:vn;vJd?4B -BFJN RN *N 2N:NBNII iAAN=Received command: load Transport/transit.tl;set transit.MissionTimeout 14 h;set transit.NeedCommsTime 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 0.5 m/s;set transit.MaxDepth 25 m;run=`got command load ./Missions/Transport/transit.tl'tLoading Mission from file: ./Missions/Transport/transit.tl'hTethyslAPI: loading: ./Missions/Transport/transit.tl'TethyslAPI: mission file loaded: ./Missions/Transport/transit.tlI] ?A)Y 艅,|'A(i(9FD@F @YF!fyFY>FH< ?? ͿP ?d?7BǿѬ?@r?? FD@F^c;)FCZ|ZUeIb,@IbD1:= E=y%=Q %>٥!! %C)-"O ->Q]?49Ur?]?4YU iU(Ye?e?U6AU:U:Ur?4i m%B%F5s:I1 999=iAAyAN= UGmfA )Q yfAA]艅,I2'A9>j@>(@Y>y>>H?o?ο p?@EP?`f?f? >j@>d;)>CNݽNRPRAIV<)V<IVY IV:r1 rN=yvQ v>٥tt vCxzku; z>%?492r?%?4Y” i!-?-?™A=::Ā?45B U.BUFaIa iiiiiqAA N='}?TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 *n code=0067 name="transit" *e code=07EB elementURI="transit.MissionTimeout" type=00 *a code=09D7 owner=0067 element=07EB universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09D8 owner=0067 element=07EB universal=3FFF unitName="minute" type=1F size=0008 fl=05 N @'`DefineArg transit.MissionTimeout = 60.000000 min*e code=07EC elementURI="transit.NeedCommsTime" type=00 *a code=09D9 owner=0067 element=07EC universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09DA owner=0067 element=07EC universal=3FFF unitName="minute" type=1F size=0008 fl=05 N @'^DefineArg transit.NeedCommsTime = 30.000000 min*e code=07ED elementURI="transit.Latitude" type=00 *a code=09DB owner=0067 element=07ED universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09DC owner=0067 element=07ED universal=3FFF unitName="degree" type=1F size=0008 fl=05 N'NDefineArg transit.Latitude = nan arcdeg*e code=07EE elementURI="transit.Longitude" type=00 *a code=09DD owner=0067 element=07EE universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09DE owner=0067 element=07EE universal=3FFF unitName="degree" type=1F size=0008 fl=05 N'PDefineArg transit.Longitude = nan arcdeg*e code=07EF elementURI="transit.Northings" type=00 *a code=09DF owner=0067 element=07EF universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09E0 owner=0067 element=07EF universal=3FFF unitName="meter" type=1F size=0008 fl=05 O 'PDefineArg transit.Northings = 0.000000 m*e code=07F0 elementURI="transit.Eastings" type=00 *a code=09E1 owner=0067 element=07F0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09E2 owner=0067 element=07F0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 O%'%NDefineArg transit.Eastings = 0.000000 m*e code=07F1 elementURI="transit.Depth" type=00 *a code=09E3 owner=0067 element=07F1 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09E4 owner=0067 element=07F1 universal=3FFF unitName="meter" type=1F size=0008 fl=05 "O=$@'=JDefineArg transit.Depth = 10.000000 m*e code=07F2 elementURI="transit.Speed" type=00 *a code=09E5 owner=0067 element=07F2 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09E6 owner=0067 element=07F2 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 2O?'LDefineArg transit.Speed = 1.000000 m/s*e code=07F3 elementURI="transit.MaxDepth" type=00 *a code=09E7 owner=0067 element=07F3 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09E8 owner=0067 element=07F3 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BO 4@'- PDefineArg transit.MaxDepth = 20.000000 m*e code=07F4 elementURI="transit.MinOffshore" type=00 *a code=09E9 owner=0067 element=07F4 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=09EA owner=0067 element=07F4 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 RO= @@'E VDefineArg transit.MinOffshore = 1.000000 km*e code=07F5 elementURI="transit.MinAltitude" type=00 *a code=09EB owner=0067 element=07F5 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EC owner=0067 element=07F5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 bOu @'} TDefineArg transit.MinAltitude = 7.000000 m*e code=07F6 elementURI="transit.MassHold" type=00 *a code=09ED owner=0067 element=07F6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09EE owner=0067 element=07F6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rO ' FDefineArg transit.MassHold = 1 bool*e code=07F7 elementURI="transit.BuoyancyHold" type=00 *a code=09EF owner=0067 element=07F7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09F0 owner=0067 element=07F7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O ' NDefineArg transit.BuoyancyHold = 1 bool' nInserting Stack from file: Missions/Insert/NeedComms.tl' bTethyslAPI: loading: Missions/Insert/NeedComms.tl' zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl!艅,"L'A9F@F@YF9 yFo>FH/2?}? ?п u?hfJ?X?`? F@F-f;)DG}RI  I :7]= 3=ya3Q >٥ CF > ?49r? ?4Y i"im@m?A)f<lf< ?4y }!B}FI iAiAyN>] >i] > 艅,e'AI)9>Z@>@Y>!(y><4>>He?@?K;˿@?@Oÿ>??~? >Z@>ORd;)>CRiRĹT㥛 ?|?5^"~ja? S#)IyFxѿV-?)\(这Ƌm=GA B)qBIBiBuBI I؛:e= ,=yK>Q >٥饱 CŽ >?49 r? ?4YA iE8 N? : ? ?6A%<%<&?4 BI i'1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout *n code=0068 name="transit:NeedComms" *e code=07F8 elementURI="transit:NeedComms.DiveInterval" type=00 *a code=09F1 owner=0068 element=07F8 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=09F2 owner=0068 element=07F8 universal=3FFF unitName="hour" type=1F size=0008 fl=05 O  @'jDefineArg transit:NeedComms.DiveInterval = 1.000000 h*e code=07F9 elementURI="transit:NeedComms.WaitForPitchUp" type=00 *a code=09F3 owner=0068 element=07F9 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09F4 owner=0068 element=07F9 universal=3FFF unitName="minute" type=1F size=0008 fl=05 O%@'-tDefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min*e code=07FA elementURI="transit:NeedComms.SurfacePitch" type=00 *a code=09F5 owner=0068 element=07FA universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09F6 owner=0068 element=07FA universal=3FFF unitName="degree" type=1F size=0008 fl=05 O=DJW?'EvDefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=07FB elementURI="transit:NeedComms.SurfaceDepthRate" type=00 *a code=09F7 owner=0068 element=07FB universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09F8 owner=0068 element=07FB universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 OU']lDefineArg transit:NeedComms.SurfaceDepthRate = nan m/s*e code=07FC elementURI="transit:NeedComms.SurfaceSpeed" type=00 *a code=09F9 owner=0068 element=07FC universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09FA owner=0068 element=07FC universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 Om?'unDefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=07FD elementURI="transit:NeedComms.SurfacingTimeout" type=00 *a code=09FB owner=0068 element=07FD universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=09FC owner=0068 element=07FD universal=3FFF unitName="second" type=1F size=0008 fl=05 O@@'xDefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s*e code=07FE elementURI="transit:NeedComms.GPSTimeout" type=00 *a code=09FD owner=0068 element=07FE universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09FE owner=0068 element=07FE universal=3FFF unitName="minute" type=1F size=0008 fl=05 O@z@'jDefineArg transit:NeedComms.GPSTimeout = 7.000000 min*e code=07FF elementURI="transit:NeedComms.CommsTimeout" type=00 *a code=09FF owner=0068 element=07FF universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A00 owner=0068 element=07FF universal=3FFF unitName="minute" type=1F size=0008 fl=05 P @'pDefineArg transit:NeedComms.CommsTimeout = 30.000000 min*a code=0A01 owner=0068 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A02 owner=0068 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0069 name="transit:NeedComms:A" *a code=0A03 owner=0069 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006A name="transit:NeedComms:B.GoToSurface" *a code=0A04 owner=006A element=07E9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 5,Construct GoToSurface.*a code=0A05 owner=006A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A06 owner=006A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A07 owner=006A element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A08 owner=006A element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A09 owner=006A element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A0A owner=006A element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A0B owner=006A element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A0C owner=006A element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A0D owner=006A element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A0E owner=006A element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A0F owner=006A element=051F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A10 owner=006A element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A11 owner=006A element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A12 owner=006A element=048C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A13 owner=006A element=04AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0A14 owner=006A element=04A8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A15 owner=006A element=04BC universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=006B name="transit:NeedComms:C" *n code=006C name="transit:NeedComms:C:A_Timeout" *n code=006D name="transit:NeedComms:C:A_Timeout:A" *n code=006E name="transit:NeedComms:D" *n code=006F name="transit:NeedComms:D:A_Timeout" *n code=0070 name="transit:NeedComms:D:A_Timeout:A" *n code=0071 name="transit:NeedComms:E" *n code=0072 name="transit:NeedComms:E:A_Timeout" *n code=0073 name="transit:NeedComms:E:A_Timeout:A" *n code=0074 name="transit:B" *a code=0A16 owner=0074 element=07F8 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *n code=0075 name="transit:C" *a code=0A17 owner=0075 element=07F9 universal=3FFF unitName="minute" type=1F size=0008 fl=05 >G [X=A A N >' ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl' rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl' TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl7艅,'A96i@6'@Y6JJ=y6x>6H@??@hƿ@+`R?@Ͽ F`? .? 6i@6ch;)6CNQN)P R=IV&IVC|:%< -=y-Q>Q -?٥)1 5C15= 5?y?49}r??4Y} i}fE??}3A};};}?4B  BF1I1 1999iA'TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 *n code=0076 name="transit:StandardEnvelopes" *e code=0800 elementURI="transit:StandardEnvelopes.MinAltitude" type=00 *a code=0A18 owner=0076 element=0800 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A19 owner=0076 element=0800 universal=3FFF unitName="meter" type=1F size=0008 fl=05 P@'xDefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m*e code=0801 elementURI="transit:StandardEnvelopes.MaxDepthIgnore" type=00 *a code=0A1A owner=0076 element=0801 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A1B owner=0076 element=0801 universal=3FFF unitName="meter" type=1F size=0008 fl=05 P5?'=~DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m*e code=0802 elementURI="transit:StandardEnvelopes.MaxDepth" type=00 *a code=0A1C owner=0076 element=0802 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A1D owner=0076 element=0802 universal=3FFF unitName="meter" type=1F size=0008 fl=05 PUi@']vDefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m*e code=0803 elementURI="transit:StandardEnvelopes.MinOffshore" type=00 *a code=0A1E owner=0076 element=0803 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A1F owner=0076 element=0803 universal=3FFF unitName="meter" type=1F size=0008 fl=05 P@@'~DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=0077 name="transit:StandardEnvelopes:A.AltitudeEnvelope" ;6Construct AltitudeEnvelope.*a code=0A20 owner=0077 element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A21 owner=0077 element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A22 owner=0077 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A23 owner=0077 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A24 owner=0077 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A25 owner=0077 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A26 owner=0077 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A27 owner=0077 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A28 owner=0077 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A29 owner=0077 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A2A owner=0077 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A2B owner=0077 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A2C owner=0077 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0078 name="transit:StandardEnvelopes:B.DepthEnvelope" <0Construct DepthEnvelope.*a code=0A2D owner=0078 element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A2E owner=0078 element=04B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A2F owner=0078 element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A30 owner=0078 element=0495 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A31 owner=0078 element=04AF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A32 owner=0078 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A33 owner=0078 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A34 owner=0078 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A35 owner=0078 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A36 owner=0078 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A37 owner=0078 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A38 owner=0078 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A39 owner=0078 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A3A owner=0078 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A3B owner=0078 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A3C owner=0078 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0079 name="transit:StandardEnvelopes:C.OffshoreEnvelope" <-6Construct OffshoreEnvelope.*a code=0A3D owner=0079 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A3E owner=0079 element=051B universal=3FFF unitName="degree" type=37 size=0006 fl=04 D=Ӄ:*a code=0A3F owner=0079 element=051C universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A40 owner=0079 element=0520 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A41 owner=0079 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A42 owner=0079 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A43 owner=0079 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A44 owner=0079 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A45 owner=0079 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A46 owner=0079 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A47 owner=0079 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A48 owner=0079 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A49 owner=0079 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 >G2=A!A9NEs>*n code=007A name="transit:E" *a code=0A4A owner=007A element=0800 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=007B name="transit:F" *a code=0A4B owner=007B element=0802 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=007C name="transit:G" *a code=0A4C owner=007C element=0803 universal=3FFF unitName="meter" type=1F size=0008 fl=05 'xInserting Stack from file: Missions/Insert/BackseatDriver.tl'lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl'TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: *n code=007D name="transit:BackseatDriver" *e code=0804 elementURI="transit:BackseatDriver.EnableBackseat" type=00 *a code=0A4D owner=007D element=0804 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A4E owner=007D element=0804 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rR= 'E pDefineArg transit:BackseatDriver.EnableBackseat = 0 bool*n code=007E name="transit:BackseatDriver:A.BackseatDriver" ?} 2Construct BackseatDriver.*a code=0A4F owner=007E element=055E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A50 owner=007E element=055C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A51 owner=007E element=009B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A52 owner=007E element=055C universal=3FFF unitName="bool" type=02 size=0001 fl=05 ' nInserting Stack from file: Missions/Insert/PowerOnly.tl' bTethyslAPI: loading: Missions/Insert/PowerOnly.tl' zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl艅,l'A96U @6(@Y6=y6>6H?@c?`ȿ]+?7Կ`=?g? 6U @6(;)4^v^[%If\(IfJ:] ]G=yes=Q e>٥ai mCimZ< m>q?49ur??4Yu iuNVf??uAue;u:u?4 BI 1i1Dʃ:>Gh<AA N>'qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 *n code=007F name="transit:PowerOnly" *e code=0805 elementURI="transit:PowerOnly.SampleAll" type=00 *a code=0A53 owner=007F element=0805 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A54 owner=007F element=0805 universal=3FFF unitName="bool" type=02 size=0001 fl=05 R'\DefineArg transit:PowerOnly.SampleAll = 0 bool*e code=0806 elementURI="transit:PowerOnly.SampleLoad1" type=00 *a code=0A55 owner=007F element=0806 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A56 owner=007F element=0806 universal=3FFF unitName="bool" type=02 size=0001 fl=05 R '5`DefineArg transit:PowerOnly.SampleLoad1 = 0 bool*e code=0807 elementURI="transit:PowerOnly.SampleLoad2" type=00 *a code=0A57 owner=007F element=0807 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A58 owner=007F element=0807 universal=3FFF unitName="bool" type=02 size=0001 fl=05 RE'M`DefineArg transit:PowerOnly.SampleLoad2 = 0 bool*e code=0808 elementURI="transit:PowerOnly.SampleLoad3" type=00 *a code=0A59 owner=007F element=0808 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5A owner=007F element=0808 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Re'm`DefineArg transit:PowerOnly.SampleLoad3 = 0 bool*a code=0A5B owner=007F element=013B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0809 elementURI="transit:PowerOnly.EnabledPowerOnly" type=00 *a code=0A5C owner=007F element=0809 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5D owner=007F element=0809 universal=3FFF unitName="bool" type=02 size=0001 fl=05 R'jDefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool*n code=0080 name="transit:PowerOnly:A" *n code=0081 name="transit:PowerOnly:B" *n code=0082 name="transit:PowerOnly:C" *n code=0083 name="transit:PowerOnly:D" *n code=0084 name="transit:PowerOnly:E.Wait" BeConstruct Wait.*n code=0085 name="transit:BuoyancyHold.Buoyancy" B&Construct Buoyancy.*a code=0A5E owner=0085 element=01CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A5F owner=0085 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A60 owner=0085 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0A61 owner=0085 element=048B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=0086 name="transit:MassHold.Pitch" CConstruct.*a code=0A62 owner=0086 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A63 owner=0086 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A64 owner=0086 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A65 owner=0086 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A66 owner=0086 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A67 owner=0086 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A68 owner=0086 element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A69 owner=0086 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A6A owner=0086 element=04AA universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=0087 name="transit:Transit" *n code=0088 name="transit:Transit:A.Pitch" DU Construct.*a code=0A6B owner=0088 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A6C owner=0088 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A6D owner=0088 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A6E owner=0088 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A6F owner=0088 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A70 owner=0088 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A71 owner=0088 element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A72 owner=0088 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0089 name="transit:Transit:B.SetSpeed" D Construct.*a code=0A73 owner=0089 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A74 owner=0089 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A75 owner=0089 element=050B universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=008A name="transit:Transit:Wpt1.Waypoint" E &Construct Waypoint.*a code=0A76 owner=008A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A77 owner=008A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A78 owner=008A element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A79 owner=008A element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7A owner=008A element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7B owner=008A element=0520 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A7C owner=008A element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A7D owner=008A element=051B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0A7E owner=008A element=051C universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0A7F owner=008A element=01B2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *n code=008B name="transit:Transit:PhoneHome" '] 8 # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission transit { """ Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold mass or buoyancy. """ arguments { MissionTimeout = 60 minute """ Maximum duration of mission """ NeedCommsTime = 30 minute """ How often to surface for commumications """ Latitude = NaN degree """ Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """ Longitude = NaN degree """ Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """ Northings = 0 meter """ Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Eastings = 0 meter """ Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Depth = 10 meter """ Depth of flat and level flight during the mission. """ Speed = 1 meter_per_second """ Speed of vehicle (relative to water) during the mission. """ MaxDepth = 20 meter """ Maximum depth for the entire mission. """ MinOffshore = 1 kilometer """ Minimum distance offshore for the entire mission. """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Buoyancy id="BuoyancyHold" { run while ( BuoyancyHold ) set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch id="MassHold" { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } aggregate Transit { run in sequence behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude set northingsDelta = Northings set eastingsDelta = Eastings } call id="PhoneHome" priorityHere=false refId="NeedComms" } } = bLoaded ./Missions/Transport/transit.tl id=transitI艅,/'Ai<96疩@6@Y6]=y6 >6H??ܧĿ G?pҿ Za?m4? 6疩@6 ;)6C^(^Ýb8Not Powering down - fast GPSibbbbbf f)fIfifffff f)fIjInIn$:Er{= ML=yMQ M>٥QQ UCQU= >?49r??4YG igG !W7AA)N5 >o1艅,dͣ'A9m@mΙ@Ym9=ym\>mH??#ǿ d7=?п`vO? O? m@m%;)mCଽTy}Au/$jtĿ^I +?u\u uXy?)qIqyuT㥛 ?S㥛 rh?u>udul? uHB)qIuBiuBquBIj I: &=yQ >٥ CG= >)5?49-͏r?5?4Y- i-U=?=:=k=?-A-v:-<:-?4EB e!BmFJNiRNq*Nq2Nq:NqBNqyII i>G V8A A) N5 >[艅,?'A96H@6@Y6^C=y6V>6H%s??@Lɿb?`п oe ?.? 6H@6;t;)6CNNcR IZLIZ* :ft= f=yf G\;AAN=wC鉅,'AI)@96@6 @Y6K=y6m>6H9?L@?ƿ( Y ? ̿1w_?? 6@6p;)4NhRIVh^IV4:f+> fJ=yf/;Q f>٥hh jChn n>?49or? ?4Yo iS;  0 ?AW::?4 FJNRN*N2N:NBNI I    i1FEcAFEcA>GL=AA)NU=n鉅,'A96@6>@Y6MFy6}C>6H?`?@/aƿ@?;?t;Ǩ?`B?`a? 6@6l;)4NN)R= RR=IV IV>:r rH=yvnvQ v>٥tt zCxz z>|?49~|[r??4Y~} i~'   ?~G]WV=AaAyN[> 鉅,g4'A96 @6@Y61y6=6HO? -?8ǿJ?@`"?u?;?m? 6 @6p;)6C^PbIftIf:v vJ=yvtQ v>٥xx zCx~ >!%@49%Fr?-@4Y% i%)-l -?%A%:%:% @41 ]9B]FJNaRNa*Na2Na:NaBNaqIqIq iCCCCFFFFAQ Ai Nu >Ia )e ?A*鉅,^N'AXiZ<9 @@Yzy>H@-?`J? ɿŢॎ?z? {/?f?'_?  @ r;)C]]ĹV-Dl?A`"O >)Iymx&1ԿV-?οAm= B)IBiBBIU@ IU: =y&2Q >٥饩 CIo= >@49{ r?@4Y i ?: @ ?lAL'<:; @4B 鉅,h'AI4)4 jGzgA )5ly5gA5VA9-@-ѡ@Y-py-=>-H??M̿HW?@ᣡ`S?c?4? -@-/n;)-C}}Oĉ%=i=AIiI%@49q?@4YE i @?lA^<~<-@4 9BFJNRN*N2N:NBNIIIIQ QQQQiYAANb>~ 鉅,j'A96Х@6ج@Y6 뜽y6{>6H?I? 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C4Y{ i  '@ ?B::C4 9=FJNARNA*NA2NA:NABNAQIQIQ QiAQAaNu=  ) (y  A >i >Ƭꉅ,'A96T}@6@Y6,Oy6PG>6H`ry?dp?ǿ g?@: ??`^[? 6T}@6 d;)6CN|R)Va= Vp=IT)V<IZ IZ:f= fJ=yf6>Q f>٥hh jChn = n>YeC49] n?mC4Y]% i],im)@m?]B]:]:]JC4uB BFJNRN*N2N:NBNII iAyAN==\got command set transit.MissionTimeout 14 hourN@=^got command set transit.NeedCommsTime 60 minuteN @=\got command set transit.Latitude 36.797 degreeNdwt#?=bgot command set transit.Longitude -121.847 degreeN'/JW=dgot command set transit.Speed 0.5 meter_per_second2O?=Rgot command set transit.MaxDepth 25 meterBO9@=got command run=Running ! ס ס ꉅ,Ϫ'A9]@]@Y] y]SOg>]H?-?ǿ`_g?`@?Ǫ?@/? ]@]d|;)]Cu਽}O٥饡 CL< >C49n?C4Y iSfn>d;??D B::C4 B)RAggregate::uninitialize DefaultWithUndock -pAggregate::uninitialize DefaultWithUndock:SurfaceDefault-DUninitialize GoToSurfaceComponent.1 .Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn'.Started mission transitvK3:Aggregate::initialize transit ;^Aggregate::initialize transit:StandardEnvelopes;JInitialize AltitudeEnvelopeComponent.1 <DInitialize DepthEnvelopeComponent.q<JInitialize OffshoreEnvelopeComponent.q>XAggregate::initialize transit:BackseatDriver?NAggregate::initialize transit:PowerOnly1 q   1! 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Using default value of 600.000000 seconds.5nReceived pitch timeout configuration 60.000000 seconds.qrPzPRPZPbPjP4last time_fix was: 1750638204.000000 second since 1970/01/01T00:00:00Z q:II PwV=iD=D=iFE=4x>GA!A1NUu>ԑ ?Ȋ,] +A9R@R³@YR1yR>RH ??@^ӿ@Mx`? 6-?N?`C? R@Rw;)R+CZ!`^ É`i`If2If/:nՏ nI=ynQ r>٥pp rwErDv܈< v>xz(59zac?~(5Yzl izcA|~sx@z^DzH;z;z(5  B SSSSS?SbS2SK<SrP-zP)RP-ZP-bP)jP-5ԙII iFEbm>bGZGrGjGGAANb> Ȋ,c +AI,).@9J;@JAC@YJ.?yJϩ>JH Vl?~A?(jӿc??CY?@\? J;@JKu|;)J)CV䬼VTI^"zI^9fŖ fK=yf3Q f>٥jj jwEhn% n>pv(59rmc?v(5Yr irAtv{vx@rfDr:r;r0(5| ~B|SSSSS ?S bS 2S K<S *a code=0A80 owner=006B element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 5%\Initialize ReadDataComponent to sense time_fixrP%zP!RP%ZP%bP!jP%1I1I9 9999iAFE-4|E>AAAQN=Aq 3 Ȋ,^7 +A96ڜ@6`@Y69=y6*q>6H+??п`2 :?D@?`?`}? 6ڜ@6n;)6*Cf̻f |InKIn9vm= vI=yv >Q z>٥xx zwEx~ ~> (59zwc? (5Y iA  x@nDp:[:!(5B B*FS%S!S)S)S-?S-bS)2S-K<S1rP=zP9RPEZPEbPAjPEIIQIQ QQQYiYDiDiQFE>ԁ>i>>GIAANb>ԩ hȊ,9Q +A9:j*@:1@Y:۬y:+>:H?@?`{ƿ`[ ? Y┵?D?p? :j*@:-k;):)C^䬼bTù}:v?+߿&1?}<}v}>)yIyy}L7A`堿EԸK?}+}ƽ}^:> }B)}ЮBI}Bi}GBy}BII# :? ?=yL=Q >٥饩 wEؽ >(59sc?(5Yo iDAU>~;,x@pD::z%(5 BSSSSS?SbS2SK<SrPzPRPZPbPjPI I    iFEN =1>G hAA)N5 >Yԑ UG eA  )M yM eAM AGȊ,k +A:Hb? g?`ǿ.?uQ?N?d? :@:o;)8^^XI%-I%6/:e' eN=yeQ m>٥ii mwEiu'= u>y(59}oc?(5Y} i}A -x@}qD}:}w:}((5B !B*FSSSSS?S%bS!2S%K<S!rPUzPQRPUZPUbPQjPUaIaIa aiiiiԉԹD9D=D%>FE8<FaAFaA>GnEAAN> .!Ȋ, +A9:ON@:U@Y:iҽy:Ü>:H y?$?cпN7Q?G L? C?G? :ON@:h;):(CDDRParsing RMC sentence: $GPRMC,012329.00,A,3651.24867,N,12206.29377,W,1.166,172.96,230625,,,A*7D iRR@$+A9R O?YRP. yRubTmB@Si^ZhGPS fix at 20250623T012329: (36.854144, -122.104896)R?R2A@\IbIbT9yj#Q j>٥ll nxElr0^= r>tzx@z vsDzx@~ vgD~x@~ 9vQB~x@~ YvӸr= yv=;49v O?;4YvP. tIiv  ( ?vv;vm;v>g;42B ^B1+F%YFix residual: 7.7 %DT, over the last 1379.6 m. Residual distance 106.2 m at bearing -54.3 degrees. 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B)ZBIBiZBBI-E I-͟:= =C=y=Q E>٥AA EEAM; M>Q]^49U8?]^4YUI iU]T:]?eS:e<e?UlCU;U;Uq^4i mBiSuSqSSS?SbS2SK<SrPzPRP5ZP5bP1jP5AIAIA AAIIiQAAN=ԩ ZG )"yA =؊,c+A9:쓞@:e@Y:y:~>:H{Y? ?ƿWhOK?@'? ?`J?p? :쓞@:4;):&CF܀FxIN INV:VWK= VT=yZ2Q Z>٥XX ZEX^H< ^>`f^49b!7?f^4YbJ ibrdjCj?bCb:b:b^4lnB rBr7,FSvStStStSz?SzbSx2SzK<SxrPzPRPZPbPjP II !i!A9AINU2=A 1a 6ي,nd+AI)Received command: load Transport/transit.tl;set transit.MissionTimeout 14 h;set transit.NeedCommsTime 60 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 0.5 m/s;set transit.MaxDepth 25 m;run9肠@a@Yw y3{>H ?@a?ѿ{d?LJ˷?? ? 肠@骽T;)JC*IʎI:= )=y4Q >٥   E=`got command load ./Missions/Transport/transit.tl'Aggregate::uninitialize transit1 4RAggregate::uninitialize transit:NeedComms 5DUninitialize GoToSurfaceComponent.q ;bAggregate::uninitialize transit:StandardEnvelopes%;%NUninitialize AltitudeEnvelopeComponent.1% <%Uninitialize.q%<%NUninitialize OffshoreEnvelopeComponent.q%>%\Aggregate::uninitialize transit:BackseatDriver%%?%RAggregate::uninitialize transit:PowerOnly1!% B%8Uninitialize Wait Component.q!-B-@Uninitialize Buoyancy Component.!E!ECENAggregate::uninitialize transit:Transit1"Eq"EDEUninitialize."E EE>Uninitialize WaypointComponent. M= U>Y]^49]7?e^4Y]K i]ae=e?]C]R:];])^4B B9,F"q "m " a"-!!s:I! )))-i1% m! m m m ma uau}AAN"> e e e e!}!!!!!!!'tLoading Mission from file: ./Missions/Transport/transit.tl'hTethyslAPI: loading: ./Missions/Transport/transit.tl'TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl__ ي,-/d+A9:7@:@Y:QLy:#ي>:Hn\?c%?@ ѿ KfuY?@#? ?? :7@:;):'C^Ps^IjIj: :-|  -m=y5)>Q 5?٥1Y ]EYe!5= e?iu^49m7?u^4YmM imq8?mFCmu;m;m^4B B:,FI iAaAN=Fي,Id+A96@6+@Y6&׼y6l=6H ?÷??㟢x?6?`? 6@6t};)6(CN|RUeIj1IjN:- -K=y-c=Q 5>٥ E ͖ > ^497?]^4Y6O iY]:e?C]<7Z<^4i BI  i AAN-,>>qي,hcd+Ai~~ҽ~nĹE&1ʿ/$ٿ@5^I ?EPE1ȾEb0?)AIAyE$C?333333?MbE>E>E EB)EګBIEBiEbBAEBII:%Ƽ )=yQ >٥! %E! >^49d7?^4YR i>:W6?C::^4B ;,FI Qi>G W=A A N >ي,B}d+A96P@6ɤ@Y6&y6&<6H?@G?@mæ ??Ф?*?;? 6P@6C;)6)CNRIZYIZ!:}u? t=y/Q ?٥饉 E">  ?9E^49=7?E^4Y=:U i=AM,,M?=C=:=:=X^4 BI iD=ʃ:>G(=AA1N=>Ą%ي,%d+A96nC@6J@Y6phy6M G>6H6q?@?jɿ!2?9; ?`?R? 6nC@6\z;)4RR5mIZ%IZR.:1}= P=y%Q %>٥)) -E)5S= 5>9E_49=7?E_4Y=W i=AM"M?=C=y:=d:=V _4UB B:,FI iiqDI>G%y<A1AANM>+ي,/d+A9Rɢ@Rgѩ@YR?yRyw>RHN??տޚE ?\?? ?? Rɢ@Rkn;)P^z^VIf 4IfJL:v< vN=yvQ v>٥xx zExz)= ~>9E_49=7?M_4Y=Z i=IMM?=AC=:= :=u_4Q BI iDŃ:>GxCAAN='E}?TethyslAPI: ./Missions/Transport/transit.tl translated into: 60 30 NaN NaN 0 0 10 1 20 1 7 1 N @'`DefineArg transit.MissionTimeout = 60.000000 minN @'^DefineArg transit.NeedCommsTime = 30.000000 minN'NDefineArg transit.Latitude = nan arcdegN'PDefineArg transit.Longitude = nan arcdeg O '5PDefineArg transit.Northings = 0.000000 m=O9'ENDefineArg transit.Eastings = 0.000000 mU"OY']JDefineArg transit.Depth = 10.000000 mm2Om?'LDefineArg transit.Speed = 1.000000 m/sBO4@'PDefineArg transit.MaxDepth = 20.000000 m RO ' VDefineArg transit.MinOffshore = 1.000000 km% bO! '- TDefineArg transit.MinAltitude = 7.000000 m5 rO1 '= FDefineArg transit.MassHold = 1 boolE O ' NDefineArg transit.BuoyancyHold = 1 bool' nInserting Stack from file: Missions/Insert/NeedComms.tl' bTethyslAPI: loading: Missions/Insert/NeedComms.tl' zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl >i >=2ي,od+A9^*~@^@Y^6y^[V&>^HE?`5?`ҿ@k9x?\?c??`G?? ^*~@^cq;)^(C=ES)U= Up=E?rh|?+>=_)Iy:v٥99 E"= >_49.7?_4YR iGe?l:@?C1-<`-<+_4 9I9 9AAAiICUbACUaAD]:>G] 6Ai Ay N >e8ي,d+A9E@E:@YEQDyE'+>EH@'? u?(Ͽ?@; =ym>Q ?٥ EUX U?Ye_49]_7?_4Y]L i]r@?]C]f<]g<]6_4B BI    iD:FQFQFYFY'1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout ! O ']jDefineArg transit:NeedComms.DiveInterval = 1.000000 h!eOe@'mtDefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min!uOq'}vDefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg!O'lDefineArg transit:NeedComms.SurfaceDepthRate = nan m/s!O'nDefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s!O'xDefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s!O'jDefineArg transit:NeedComms.GPSTimeout = 7.000000 minAA!e Pa 'm pDefineArg transit:NeedComms.CommsTimeout = 30.000000 minN > 5M ,Construct GoToSurface.'% ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl'% rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl'- TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl>ي,Hd+A*vH?h?#{ɿoH`{3?@5L?@?+T? v @v>y;)v)Cx=ĉ%=i<I5HI5D:E< EF=yM~>Q M>٥IQ uEqu; u>y_49}M7?_4Y}vE i}@?}1C}d:}:}=D_4 BI   )i1D:AAN>'TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000  P@'xDefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m P' ~DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m Pi@'vDefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m %P%@@'-~DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m;56Construct AltitudeEnvelope. <0Construct DepthEnvelope.< 6Construct OffshoreEnvelope.au%'exInserting Stack from file: Missions/Insert/BackseatDriver.tl'elTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'mTethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl' TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: a rR ' pDefineArg transit:BackseatDriver.EnableBackseat = 0 bool ? 2Construct BackseatDriver.' nInserting Stack from file: Missions/Insert/PowerOnly.tl' bTethyslAPI: loading: Missions/Insert/PowerOnly.tl' zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlEي,de+A9:探@:_@Y:ؼy:mI3>:H(?&? hĿ@Vɔ?'?I?`? :探@:R;):&CnrSIzIz: W=y >Q >٥饑 E' >_497?_4YE> iA@?C:I:Q_4B uBu<,FI iAA N>'qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999  R'\DefineArg transit:PowerOnly.SampleAll = 0 bool R'`DefineArg transit:PowerOnly.SampleLoad1 = 0 bool R'`DefineArg transit:PowerOnly.SampleLoad2 = 0 bool! R'`DefineArg transit:PowerOnly.SampleLoad3 = 0 bool% %R!'-jDefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool B]Construct Wait.Bm&Construct Buoyancy. CConstruct.!! DConstruct.D Construct.a"-  E] &Construct Waypoint." "m "q ' 8 # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission transit { """ Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold mass or buoyancy. """ arguments { MissionTimeout = 60 minute """ Maximum duration of mission """ NeedCommsTime = 30 minute """ How often to surface for commumications """ Latitude = NaN degree """ Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """ Longitude = NaN degree """ Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """ Northings = 0 meter """ Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Eastings = 0 meter """ Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """ Depth = 10 meter """ Depth of flat and level flight during the mission. """ Speed = 1 meter_per_second """ Speed of vehicle (relative to water) during the mission. """ MaxDepth = 20 meter """ Maximum depth for the entire mission. """ MinOffshore = 1 kilometer """ Minimum distance offshore for the entire mission. """ MinAltitude = 7 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 1 second insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Buoyancy id="BuoyancyHold" { run while ( BuoyancyHold ) set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch id="MassHold" { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } aggregate Transit { run in sequence behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude set northingsDelta = Northings set eastingsDelta = Eastings } call id="PhoneHome" priorityHere=false refId="NeedComms" } } = bLoaded ./Missions/Transport/transit.tl id=transit`Lي,22e+AI0)6C ~"G ))wyE^A9,ߣ@@YH)3=y >H-?[?,޴@b,~?߼Uc !?I? ,ߣ@骥;)UXUIe:Iec:i= 3=y>Q >٥ E\= E>IU_49M7?U_4YM5 iMY] @]?MCM:M:Ma_4a B'BStarted mission DefaultWithUndockvK)NAggregate::initialize DefaultWithUndock1 *4Initialize Wait Component.I iAA)N5.>Sي,2Le+AId)f@9=+@=>3@Y=>y=g:>=H`?#? ?簿H?ʿH ?8? =+@=p;)='CDĹktƿEȿK7? 0FIl?)Iy> ףp=?K7ٿS㥛?1?I̾$? xB)BIʿBiB=BI.IG9MV M)=yU,>Q U>٥Yy }Ey= >_49$7?_4Y A iu?]:?S C,=,=dr_4 BIIQ QQQYiYAANM>;Yي,Mfe+A9>@>@Y> X=y>8\Y>>H?5? `@} ?@=8ſ`g@? @>5Ӎ;)<~޽~ЈI IF:}ܽ =yQ ?٥饉 EX  ?_497?_4YmG iƿ? 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UB)UګBIU}BiU}BQUBI/I9] N=y٥ E= >b495?b4Yv* i™?I: , ?1C"<[N<\|b4=tB =B=O,FIII QiA)AANM=ڊ,j+A96>ذ@6߷@Y6tLy6>6H`f?Vh?@пQ`?5ҿ?`/? ^? 6>ذ@62k;)6'CBNBIFIF/!:rG= rY=yrQ r>٥tt vEtz z>xb49z15?b4Yz. iz™5,?z-2Cz@6Ha ?༶?`פҿM ?Qѿ6?l`?\? 6`N@6We;)6%CBŽBsĉB٥tt vEtz* z>xb49z5?%b4Yz2 iz!%Y.%?z2Cz;z6;zb4-lB 5B5S,FaIa aaaqi1AIAN=I! )! ڊ,Y2k+A9: D@:K@Y:ɥy:N>:HC?Ϟ?ރɿ` ?J0ǿBq??8? : D@:b;):(CF{Fi`ININ9~4< ~H=y=Q >٥   E  R  >Mb49ّ5?Ub4Y5 iQU2U?2C <M<b4y BI iAAN=ڊ,Lk+A99@@Yȅy)_>H|j?-?Lƿ@?O¿?? ,-? 9@m^a;)m8mcùuX9v?p= ףʡE?u=uu>)qIqyuu! u B)uIuBiu{BqukBIVdI:׶= %=y;Q >٥!! %E!-Y ->15b495c5?=b4Y5z2 i5=(?]:]U?]?53C5;5`;5b4i mBiI iAAN+>,ڊ,{fk+AI)@n -=y-Q - ?٥11 5E1] ]?aeb49e<5?mb4Yev0 ie3™iim?e.3Ce:e6:eub4q aBI iAAN%= !=AfA Y)yAfAp A% i>i% l>ڊ,;Vk+A9N@N"@YNnNH` ?? ƿo?п`>͘?db? N@NJMf;)N)C^x=bDIfFIf:%D= -J=y-'c>Q ->٥)1 5E15> 5>9Eb49=35?Mb4Y=C- i=™IMh?M?=V3C= := :=mb4UqB URBR,F I    i1AIAN=Eڊ,^Lk+A9F_@F6g@YFFHL?@p? V`]?33ǿ ? +8? F_@FWv;)F'CjE=jWD lnBAIrxIrM9zr= zM=yz9Q z>٥|| ~E|# >-b49K5?5b4Y* i™15`?5?w3C;;[b4=sB =GBEP,FqIq qqqyiyA1AAN=#iڊ, k+A96y@6@Y6 y6$mI>6Hc?Z?rƿ Iv??H?K? 6y@6{;)6*CR,=RCPiR=IZGIZB:f߽ fN=yf{Q f>٥hh jEhj1> n>Yeb49]X5?eb4Y]*( i]™imD?m?]3C]9:]$:]b4q ]BI iAAN==\got command set transit.MissionTimeout 14 hourN@=^got command set transit.NeedCommsTime 60 minuteN @= \got command set transit.Latitude 36.797 degreeN dwt#?= bgot command set transit.Longitude -121.847 degreeN '/JW= dgot command set transit.Speed 0.5 meter_per_second2O ?= Rgot command set transit.MaxDepth 25 meterBO 9@= got command run=- Running ) ) I! )! Y MZڊ,k+A9M텮@Me@YM^$8yMc>MH@?0? M텮@M?s;)M'C]t=]/CUw/俁Cl?/$տU&U;>U)QIQyUQ޿X9v1Zd?UUSU"> UB)UBIU>BiUZBQUBIeGIe:u٥饁 E-v= >b495?b4Y- i™?J:+?4Cz ; ;b4qB _BR,F)RAggregate::uninitialize DefaultWithUndock1 *8Uninitialize Wait Component.'.Started mission transitvK3:Aggregate::initialize transit ;^Aggregate::initialize transit:StandardEnvelopes;JInitialize AltitudeEnvelopeComponent.1 <DInitialize DepthEnvelopeComponent.q<JInitialize OffshoreEnvelopeComponent.q>XAggregate::initialize transit:BackseatDriver?NAggregate::initialize transit:PowerOnly1 q   1! B4Initialize Wait Component.q!BIq 1|ڊ,k+A96z@6.@Y66H+? ?m׿`<?@0ʿ?\5?? 6z@6!n;)6(C<^=^rDIfUIf:nF> n=ynQ r ?٥pp rEpvYӽ v ?x~c49zoy5?~c4Yz1 iz™|~,?zn4Cz/;z;zc4 jB 9B U,F2SSP%?q%%1I1 1119i9AYAiNuC=ԩ Gbۊ,4l+A9:M@:U@Y:y:Ri>:HR?N?տD P?ȿB??@n? :M@:W%n;)8F=FWdDIH)HININ:Vba VM=yZ=Q Z>٥XX ^E\^@ ^>`fc49b)Y5?fc4Yb6 ib™hj/j?b4Cb:bI:byc4lriB r:BrV,F2StSxRRz@z~ I    iA)AANU/= 1% l>i% V>a Vۊ,wl+A96}@6r@Y6y6 7>6H? N?@Wtѿż`>?˽ ??? 6}@6r;)6%CN،٥ Ei<  > c49 75?c4Y e: i ™/? G5C e;  ; $c4%gB -^B-X,F2S1S19ZRE9@E1EQIQ QQQYiaAqANR=iԑ ۊ,R5l+A96ҫ@6*ڲ@Y6?y6&(>6H *?p? Ͽ@O?ց?`?+? 6ҫ@6wq;)6)CN弼RMhIV.IVO/:^Ͻ ^N=yb|ԽQ b>٥`d fEdfW f>hnc49jC5?nc4Yj> ij9™pr.3r?j5Cj;j;j2c4vfB vrBvY,F2S|S|bR@@1!CJAggregate::initialize transit:Transit1" DInitialize.q"D Initialize."  E :Initialize WaypointComponent.=EZNavigating to waypoint: 36.797001,-121.847000ԙI iDс:AA NL>! ۊ,:Ol+ADiD9jR@jZ@YjWyj>jH?? Ͽ'? mm)iIiymS㥫Zd;?x&1࿙m/]m=mA mB)mImBimBimBIZOI:Ƃ 9=yEXQ >٥ Eڽ >c49Z5?c4Y< i™?:m??5C2;0;+Bc4  B EZNavigating to waypoint: 36.797001,-121.847000SS_?S!S!q"%S%?1"%S%bS!2S)S) E@EnIE4)EAIM MIM{{ɢUg1GU; B Uϑ?U?Y] i]'@)]'@i]S{ADḿ:AAN=II! )! q yۊ,il+A9>@>@Y>< zy>BME>>Hd?,?"qӿ ]`??@?`?y? >@>o;)>(C^vbG*IfIf&:n4 r\=yrQ r>٥pt vEtv酽 v>x~c49zh#5?~c4Yz; iz™??z5Cz;z;z)Oc4  B SSSSS!S!bS!2S!S! =|?=IA)EAIE#jú AAE0) ɢMEM B M?U>?QQiQ)QiYQD]:AAN=ԁԱ ۊ,l+A96Ω@6zհ@Y6ey6>6H`??8}ֿXn?2e?`M?? 6Ω@6ik;)6)CBxBBIFIF#:ü H=yDM=Q >٥    E  ΢< >%c49*5?-c4Y9 i~™)-~#?-?5CD;TE;o]c41 5B9SASASASISISIbSI2SISI eh?mIi)miImM iqu5Oɢ})C} B }?}A?yyi)iCbACbADU :ԱAAN= 9 &ۊ,l+AI)@96@6@Y6]y6c>6H.?G?׿Ќj?^Zſ0]?R ?A? 6@6,Sk;)6(CBټBޅID)DIJIJ-&:f> fN=yf]9>Q f>٥hh jEhnK n>pvc49r.25?vc4Yr7 ir)™tv>?v?r6Crl:r:rPkc4zgB ~uB~X,FSSS S S S bS 2S S .?靥I7 ;)Ist kZɢG :A A N >I ) ZG  -ۊ,$l+A0)2/(y06FA9R@RG@YR{9yRh>RH?r?Fҿ+D ?\ʿp-?@c?? 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Ŀ#`?8? ?? :@:(y;):&CrHreaIztIz: E=y Q  >٥    E D/ >%c493R5?%c4Y[ i™!--?7CB:*c45cB 5B5W,FSASASASASASAbSI2SISI eV?eIa)eiIm qR iimA:ɢuh9uj B uPw?u8?yyiy)yiyCCaADz:FEM<>Gm}4GAAIAaNm5>1Y RMۊ,7m+A96@6@Y6<սy6 =6H`k9?M?^.Ŀ]:?t5? 9?@f?@? 6@6Γn;)6'CBB5IJ?IJ8:R} RQ=yRQ V>٥TT VEVDZj Z>\bc49^QU5?bc4Y^e i^™`bb?^ 8C^;^U;^׿c4h jBhSlSpSpSpSpSpbSp2StSt ?݌!IJ8<)I onl   :ɢ.G70 B ? ?i)i9Dumy:D}aAD}aAaFE<F=F?>>GUqGԑAAN> :Tۊ,UQm+A96O@6V@Y6+0y6rSH>6H ?=?Umп??%??Â?? 6O@6l;)6)CBBĹ7A`Mbp?S㥛v;D)Iy rhV-׿e;O?t> ^B)BIBizBBIpIS:-ͼ -B=y-&Q 5>٥11 5E5"D= =>AMc49Es/5?Mc4YE\ iE™UY?U#:U"@U?E8CED;E;Ec4]`B ]BeZ,FSiSiSiSiSiSqbSq2SqSq ? siI -E)  I⩄ f:ɢ%\5B '?%v?!!i!)!i!ԑDw:FEhW<>GGAAN=> dZۊ,km+A9>Ӊ@>K@Y>Qy>*>>H`?ō?uֿ /[??Ά?@w? >Ӊ@>Cl;)٥\\ ^Eb(Db= b>djc49f 5?jc4YfU if™hji%@n?f9Cf:f;f)c4r_B rBr\,FSxSxSxSxSxSxbS|2S|S| R?S(I)dIL :ɢ%!3%jB %?-q?))i)))i1DUv: 5nManaging dock network, ignoring radio surface power offFE]HG NbG aAZG Gi Aq A N >Laۊ,rm+Ai<9:O@:W@Y:y:;_>:H@??`.ٿ! a^? 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Fgj@F2;)F&CN8Rc)R= R=VI6{It9Ee)< ME=yMY>Q M>٥IQ UEQU< U>YeW49]DA ?eW4Y]a΍ i]3OimHm?]LB]:][:]W4uB uB}5.FJNRN*N2N:NBNII iAANs=5a>i5V>yԙ Ki,+AI)@9>@>%@Y>/]=y>>>H0? -?ֿ I78?@I6ʿ.Gr?O? >@>Q;)Q M>٥QQ UEQU$= U>YeW49] ?mW4Y]΍ i]NimyGm?]#B]:]:]W4uB u#B}7.FJNRN*N2N:NBNII iAANA l3p,+A9>V:@>A@Y>ny>Wv=>H?@@?`o`L}?.@?Y?t? >V:@>;)>)C^b<IjjIj:rT rQ=yr4@Q r>٥tt vEtv] z>x9eW49ze ?eW4Yz͍ iz%MimC@m?zBz'vԹ٥ E > W49p ? W4Ypˍ iI +: %::@?B;> W4=B =PB=9.FJNARNA*NI2NI:NIBNIqII iAAN=9 |,+Ai<9J'@J@YJ yJuHJHg,? ,?`&? 7 ^?@r?@Ep?`ȿ? J'@J7;)HR,RI^I^p:j jU=yj"Q j>٥ll nElr= r>tzW49v ?zW4Yvqɍ ivFz :xz:zm:@z?vbBv:vN?vW4B rB;.FJN RN *N 2N :NBNII! !!!)i)AAAQNe7=Aqԙ o,h+A9>ꊛ@>[@Y>m/y>򻹪>H 2??髿Mk F??[? }k? >ꊛ@>P;)٥xx zEx~> ~> W49w ? W4YBȍ iD 9 9A@?C;?W4"B hB<.FJN!RN!*N)2N):N)BN)1I1I9 999AiAAYAiN}D=qԡ ,D(+A9J屝@JV@YJZyJ >JH??dп^.???:? J屝@J;)J%CnݽnR)r= rp=IzIz:E͌= EE=yEo>Q E>٥II MEIM%> U>Q]W49U{ ?eW4YUȍ iUCe9ae9eFe?UCUP ;U?U\W4m)B u`Bu>.FJNyRNy*Ny2Ny:NyBNyII iAANp=) ,B+AI)@ 9j@j%@Yj#-=yj>jH}?gL?@DֿE ?%̿ˢ &? ? j@j#ӂ;)j$C%%ué)IxI96> ?=yI>Q  >٥    E }= >%X49#V ?%X4Yɍ iC%9)-9-QD-?C:@X4=0B =@BE?.FJNARNI*NI2NI:NIBNIYIYIY YYYaiaAyAN=qԙ ,+[+A9BQ@B@YBi=yBs7>BH^?#)IiMb@Mb@Mb@ )IiIEI9a N=yR=Q >٥ Eu= u>yX49}1 ?X4Y}ʍ i}VCo9g9$C?}eC}:}u@}X46B RBA.FJNRN*N2N:NBNII iA9AiNu==2SBD MTMSN=20250623T013536! ՜,Eu+A9>e8@>?@Y>y>z>>H t?@S?@0Ϳ`?߶!??@y? >e8@>Ҋ;)>'CFI3F{JAAJAAIrIr\:v< zY=yzQ z>٥x| ~E|| g= >)5X49- ?=X4Y-ˍ i-pB=B99=;9=AE?-C-;-5@-X4M=B MTBMB.FJNQRNQ*NQ2NQ:NQBNYaIaIi iiiiiqAAN[=)Qԁ ,+A٥II MEIU< U>YQeX49U< ?eX4YU̍ iU@m9im9m4Dm?U-CU:UO@U= X4uDB uSB}D.FJNRN*N2N:NBNII iAANt=ԁԱ a a ,7+A9R9@R @YRyR=RHm?nU?' ub?6k{?q*?? R9@Rif;)P^F^IfIfDA:n rQ=yr>Q r>٥pt vEtv= v>x~X49z ?~X4Yz͍ iz>88@?zCz;zh@zK X4 RB eBG.FJNRN*N2N:NBN)I)I) )))1i1AQԹAN}=9 ϰ,d+A9V{@V@YVL4yV>>VH:??Vѿ@p` ?<?@?`/g? V{@Vr;)V%CbEfC)f= f=In"Inf:v{ɽ vJ=yvkQ v>٥xx zEx~> ~> X49O ? X4YЍ in> 88;?C:d@X4SB {B%I.FJN!RN)*N)2N):N)BN)1I9I9 999AiAAYAqN}E=Iqԙ .,T+AI)9^^d@^k@Y^y^>^H? ?@ܿ@ H?V0?`T'?o:? ^^d@^q;)^#Cfdf ĉn%=in;aMUaM] aQ]aQ] aU]aU] aI]aI] a-]a-] ])YIYy]Mb?Sۿ+?]>]ھ]= ]B)]BI]Bi]B]]BIuyIu:S= @=y77Q >٥饉 EC >X49 ?X4Yԍ i?T:\?:?1C;;X4 oBJNRN*N2N:NBNII iAAN=iԙ #,G+A9R@R,@YRyR>RHw}??`ؿ Y`٥AA EEAM< M>Q]X49Ub ?]X4YUSٍ iUk?aee?UcCU5;U;U*X4i mtBqJNyRNy*Ny2Ny:NyBNyII iAANo=) G )- b#y) - AQ ,+A9FW~@Fȅ@YF yF>2>FHM?`?ȿ@ڌ@?Rp?@nx?1?9b? FW~@Fk;)F%CR~νR}TV@AI^Z6I^9fo fQ=yfu=Q j>٥hh jEhnlc n>pvX49r< ?vX4Yrݍ irA?tv3 z?rCr:r:r@8X4| ~B|JNRN*N2N:N BN II !i!A9AINT=1Yԁ 5,g*+A٥19 =E9=S; E>AMX49Eo ?MX4YEk iE>Qu u?ECE;E.;EGX4}ZB }BK.FJNRN*N2N:NBNII iAAN= 9a I,İD+A9^@^@Y^y^@L=^H? r?8 =P??o?ƹ?r? ^@^h;)^&Crur[IzdIz9%< -V=y-ŞQ ->٥)1 5E15V 5>9YeX49]V ?eX4Y]m i]x>im m?]C]B:]:]UX4q uBJNRN*N2N:NBNII iAA1N=iԑ fH,ۋ^+A9V@@V.H@YV쥄yVzA>VH???`-ɿws1?ő?`?U]? V@@Vle;)V$C^bȊ)b= b>ԙoʡտx& B)[BI[BipBkBIIIX2: G=  ==y A4=Q >٥11 5E9='= =>AMX49Ej ?MX4YE iE(=M?M:UA@u?E=CE;Em;E*dX4}aB }B}L.FJNRN*N2N:NBNQIQIQ QYYYiaAyAN> r,w@>@Y>,y>$y>>H@=p? 9?KSϿ@D?@W ?f? ? >w@>pc;)>%CRHRQfIZ{" IZ:vQ= v_=yv8Q v>٥xx zExz ~>AMX49E:Y ?MX4YE iE0jHm?`?CѿXh@80?! Ŋ?t? ? j@jc;)j'C~̽~{ĩIeUIe=:^ >=yʼnQ >٥ E= >=X49D ?=X4Y i5;9=SD@=?Cqe<e<X4MhB MBMN.FYJNqRNq*Nq2Nq:NqBNyII iAAN=ԁԩ ,B#+A9:Ơ@:yͧ@Y:ٻy:G>:Hn7?`S?Nzп@l? n¿U9{? ?@t? :Ơ@:tc;):&CbȽb wf@AdIEIE#:}; J=y&>Q >٥ Eh> >X49L1 ?X4Y i8:H?CP;:X4 B JNRN*N2N:NBNԩII iAI))-@AAIN]= 1 l,+Ai9nh@nYp@Ynh=yn->nH?K"?@ǿ@eQ ?ſ`s?#? nh@ne;)n%C-ߜ-@I=3TI=9[= L=yL">Q >٥饩 E >X49 ?X4Y i8  H ?'C:1:TX45oB 5B=O.FJN9RNA*NA2NI:NIBNQyIyI iAAN}>9q ,+A 9BOΟ@Bզ@YBx=yB%=BHw?@?@&?m4-?@? BOΟ@B}f;)B$CRIR ùeQ?333333ӿ ףp= ?e\=eeQ8?)aIaye9v?X9v?"~ʿe>e=eS eB)eBIeBieBaeBIVI9= E=yH=Q >٥ E+:  > 5X49 & ?=X4Y x i Y:=>= ;==? GC ; ; X4A EBIJNQRNq*Nq2Nq:NqBNqII iAAN=iԙ ,+AL9nş@nͦ@Ynz=ynN=nH@? ?'^ 7 :?ɛ^K.?s? nş@nCe;)n#C~T~) =I<1I9E! EV=yMEqQ M>٥IQ UEQUN6 U>X49/ ?X4YI i;?fCW:d:"X4 BJNRN*N2N:NBNII i!A9AIN=! s,+AI)9>d @>'@Y>;y>b$<>>H O? Tt?#Ŀ`º?,"vb?u? >d @>zd;)>'CRDR/0TVAIZIZ :v; vP=yv,Q v>٥xx zExz< ~>|X49e8 ?X4Y( i<?Cw;;)X4hB BN.FJNRN*N2N:NBNII   iAIAyN=)Qԁ 2 , c-+A9v @v|@Yv펋yv>vH ? ?Lѿ }?sin?_?? v @vcc;)v$CY]~eIuoIu':u< ==y.Q >٥ E >X49B ?X4Y- i=?C::X4  B JN1RN1*N92N9:N9BN9AIIII IIIQiqAAN=ԁԱ ,S>G+A9>О@>إ@Y>кy> >>H?`?ӿ?M? ?.Z?@wd? >О@>4Ze;)>&CRhRVAATIZWIZ:bp< f\=yf\Q f>٥dh jEhj# j>lrX49nK ?rX4Yn in>tvv?nCn:n:nX4x zB|JNRN*N2N:NBNII i!A1AINU/=ԹI)  )#y%oAe :Received command: restart app=M >got command restart applicationI ,a+A{@>@Y>Py><[>>H@$J?@?}Iп`*?ѕ?W??L? >{@>Mg;)>$Cn\nIp)pmw/sh|?K7A`m&mmk)iIiym(\ˡEi|?5?mm什mq= mGB)mBImBimBimBII?: ; ;=y]sQ >٥ EBý >X498 ?X4Y ip?K?G:@?DC::X4 BJNRN*N2N:NBNII i!A9AIN]=,,z+A9NCl@Ns@YNL[yNup=NH`4??@*Ŀ??@~?`$?@6?`y? NCl@Ng;)N&C^x^BIfIfa,:n n[=yrPT٥pp vEtv v>x~X49zj( ?~X4Yzgڍ iz@'@?zCz;z;zX4 oB B O.FJNRN*N2N:NBN!I)I) )))1i1AIAYNm;=$, ϔ+A9>@>@Y>y>>>H?@]? Sɿ ?Eɪ?`JR??R? >@>`f;)>$CFFIRIR*:V' ZM=yZ٥\\ ^E\b'J> b>`fY49b ?jY4Yb+э ib@hjN @j?bCb:b :b Y49 =BAJNIRNI*NI2NI:NIBNIQIyIy yyiAAN=NUninitializing protected caller thread.JUninitializing the command executive.JUninitializing the command scheduler."Thread cancelled.FjUninitializing supervisor and starting cleanup. Bye!εLShutting down NavChartDb ThreadHandler)"Thread cancelled.(JJoin timeout helper Thread ID is 1582 +,+AI))2NUninitializing protected caller thread.)2"Thread cancelled.9:@:u@Y:Yʽy:TN>:HE? o?CԿ q_`Z?@?@?#?BNShutting down WetLabsUBAT ThreadHandler'B"Thread cancelled.&BJJoin timeout helper Thread ID is 1583 :@:?d;):%CRRĩV|i~=I I q9M@= M3=yU=Q U>٥YY ]EY]= ]>amY49e ?mY4Yeƍ ieLAqu @u?eCeL;e;eY4}{B }BP.FJNRN*N2N:NBNII iAA1N==' NUninitializing protected caller thread.& Powering downJ J J J ' "Thread cancelled. PShutting down WetLabsBB2FL ThreadHandler& "Thread cancelled.% JJoin timeout helper Thread ID is 158482,eR+A&NUninitializing protected caller thread.%Powering downIIII&"Thread cancelled.NNShutting down CTD_Seabird ThreadHandler$R"Thread cancelled.$RJJoin timeout helper Thread ID is 15859g@n@Y:y(e>HP?`uz? ֿ)? YxſI?8?Y? g@j;)#C=nEI/Ip/:%(> M8=yU >Q ]>٥YY eEaev e>Y49* ?Y4Yg iYA @?C::+Y4B BQ.FJNRN*N2N:NBNII  i AAAYNe>a8,%+A96\f@6m@Y6>=y6'i>6H?@v8? Cƿln`?mÿ֧_?"? 6\f@6>Rr;)6&CbFbMĹMDl?~jtS㥛?MO ?MDM$>)IIIyM"~?MbX?V-㿙M>M=M M`B)MBIMBiMrBIMBI]fjI]MR:m: mk=yuG`>Q u?٥qq }Ey}2ݹ }?Y49j ?Y4YX iD ??:5?5C::7Y4{B BP.FJNRN*N2N:NBNII iAAN=I)?AA>,u+AAǠ@>Χ@Y> c=y>=>H22?v?ې {?@1]n??? >AǠ@>\t;)<^ bŪId)dIj"IjU:%  -O=y-٥11 5E15k< 5>9EY49=I ?MY4Y= i=|HIM&M?=_C=F:=:=REY4Q UBYJNaRNa*Na2Na:NaBNaqIqIq qqqyiAANb=$%Powering downH!G!H! H!$NUninitializing protected caller thread.$Powering downHGH H$"Thread cancelled.RShutting down Radio_Surface ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 1586csE,+A9:@:@Y:1y:bG=:H@?5?żk?@P@E? ս?9? :@:m;):%CRRIZYIZ9brH= bQ=ybIQ f>٥dd fEdj; j>lrY49n ?rY4YnÍ in*Lprg/v?nCn;nd:nRY4x zBxJN|RN|*N|2N|:NBN I I iA1AN^=Powering downI)i NUninitializing protected caller thread."Thread cancelled.UFShutting down Onboard ThreadHandlerU"Thread cancelled.]JJoin timeout helper Thread ID is 1587"K,0+A96@6+@Y6y6=6H ?z?w@`?E|?V5?[?h? 6@6+j;)4NнNrIVIVg9:^= ^J=ybӽQ b>٥`d fEdf f>hnY49j ?nY4YjyǍ ijOprCr?jCj;j;jaY4vtB vBvN.FJNxRN|*N|2N|:N|BN|I I    iA)A9NM+=(R,J+AI()*@9Zpk@Zr@YZ#yZA=ZHi??@꾿 @C?@>2? ?@x?? Zpk@Zf;)Z$Cz~٥ĉ٥饁 EG >Y49 ?Y4Ypˍ iSN?CB/<2<(pY4 BJNRN*N2N:NBNII iA)AaNm=7X,ld+A96G@6 O@Y68+_y6Ļ$>6H?{E?qſ$.?Lb?`x?9? 6G@6~d;)6&C^DbĹuV-?B`"ktƿu=uu 0)qIqyuˡEԿ^I +׿A`"?u茶uXu= uIB)uBIuwBiunBquBII@*:  G=y6=Q >٥饡 E!= >Y49 ?Y4Yʍ iS>:7@?' C;;O~Y4{B BP.FJNRN*N2N:NBNII iA AN-=Z^,H~+A9:@:@Y:z8:H {q?`U?˿}?`ؼ ??? :@:bd;)8F|FUeIN0IN:V2> V[=yV4>Q Z>٥XX ZEX^ ^>`fY49bj ?fY4Ybȍ ibvSdf7@f?bW Cb:b:bZY4l nBlJNpRNp*Np2Np:NtBNtxIxIx |||iAA)N5!==NUninitializing protected caller thread.="Thread cancelled.RShutting down DataOverHttps ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 1588e,*+Ai<96d?@6F@Y6z'=y6Òk>6H@%?(?]ȿ`-a?N)?{!? 6d?@6Sg;)6%CNNAPRAAIZ:IZI:bk = bI=yb7=Q b>٥dd fEdj\ j>hrY49j ?rY4Yj'Ǎ ij=SprF6@r?j Cj:j:jY4zB xzQ.FJN|RN|*N|2N|:N|BN I I  iA1AANM-=NUninitializing protected caller thread."Thread cancelled.>Shutting down DAT ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 1589MPowering downMM)U UNUninitializing protected caller thread.Powering downׁׁ)؁ ؁"Thread cancelled.ZShutting down BackseatComponent ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 1590 NUninitializing protected caller thread. "Thread cancelled. DShutting down logger ThreadHandler "Thread cancelled. JJoin timeout helper Thread ID is 1591= NUninitializing protected caller thread.= "Thread cancelled. NShutting down CommandLine ThreadHandler "Thread cancelled. JJoin timeout helper Thread ID is 1592}k,+A"NUninitializing protected caller thread.""Thread cancelled.9:О@:=إ@Y:+:H`v?@?"ʿ`i`-?F-œ?? :О@:f;):#CRFRMIZ IZ+:bNShutting down CommandExec ThreadHandlerb"Thread cancelled.fJJoin timeout helper Thread ID is 1593rRShutting down controlThread ThreadHandlerr"Thread cancelled.vJJoin timeout helper Thread ID is 1594v; vH=yzXQ z>٥xx zE|~;= ~> Y49S ? Y4Yō iS[9@? C::Y4 BJN!RN)*N)2N):N)BN)1I9I9 999AiAAaAqN}F=}NUninitializing protected caller thread. 8Uninitializing ControlThreadPowering downI)iPowering down) Powering down)% %%Powering down %%I-)-  FUninitializing DepthRateCalculator.  PUninitializing ElevatorOffsetCalculator.  BUninitialize NavChart Navigation.' PUninitializing Mission DefaultWithUndock ) RAggregate::uninitialize DefaultWithUndock  - pAggregate::uninitialize DefaultWithUndock:SurfaceDefault - DUninitialize GoToSurfaceComponent.1  . Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn  1 8Uninitialize Wait Component.- - 5 a!5 !E !E !E !E !E !E !E !}E !yE !uM !qM !mM !iM !eM !aM !]M !YM !UM !QM !MM !IM !EM !AM !U !U !=U 9] 5] 1] -] )] %]  ] LUninitialize VerticalControlComponent.e PUninitialize HorizontalControlComponent. e FUninitialize SpeedControlComponent.e DUninitialize LoopControlComponent. !m 8Uninitialize Buoyancy Servo.!m Powering downCi Ci Ci Ci ! 8Uninitialize Elevator Servo.! Powering downD D D D " :Uninitialize Docking Stepper." Powering downjE bE zE rE " 0Uninitialize Mass Servo." Powering downF F *F "F # 4Uninitialize Rudder Servo.# Powering downF F F F # 8Uninitialize Thruster Servo.# Powering downbG ZG rG jG  8Uninitialize SBIT Component. 8Uninitialize IBIT Component. 8Uninitialize CBIT Component. &Powering off loads. = Disabling WDT. BUninitialize GFScanner component. DOpening all GF detection circuits.:C  "Thread cancelled.   a a a a a% a% a% a% a% a% a% ae% !a= !]= !Y= !1= !U= !Q= !M= !I= !E= !A= !== !9= !5= ! = ! e ! e ! e ! e ! e ! e ! e  e  e e  m  m m  m  m m a m a m a m ! m ! m ! m U U }] y] u] q] m] ai] ae] aa] a]] aY] aU] ae aQe ae aMe ae aIe ae aEe aAe a=e ae a9e ae a5e ae a1m am a-m am a)m a%m a!m am am am u "Thread cancelled. %}  }  }  }  }  }    u              "Thread cancelled.!  !  !  !  ! !  ! !  ! !  ! !  !  !  !                               }  y  u  q  m  i  e  a  ]  Y  U  Q  M  I  E  A   =  9  5  1  -  )  "Thread cancelled.! ! !  !   "Thread cancelled.                                                              } y a ua qa ma ia ea aa ]a Ya Ua Qa Ma Ia E%a A%a =%a 9%a 5%a 1%a -%a )-a %-a !-a -a -a 5a 5a 5a 5a 5a 5a 5a =a =a =a =a =a =a =a Ea Ea Ea Ea Ea Ea Ea Ma Ma Ma Ma Ma Ma Ua Ua Ua Ua Ua Ua Ua ]a ]a ]a ]a }]a y]a u]a q]a mea iea eea aea ]ea Yea Uea Qma Mma Ima Ema Ama =ma 9ma 5ua 1ua -ua )ua %ua !ua ua ua }a }a }a }a }a }a }a }a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a }a ya ua qa ma ia ea aa ]a Ya Ua Qa Ma Ia Ea Aa =a 9a 5a 1a -a )a %a !a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a }a ya ua qa ma ia ea aa ]a Ya Ua Qa Ma Ia Ea Aa =a 9a 5a 1a -a )a %a !a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a  a  a } a y a u a q a m a i a e a a a ] a Y a Ua Qa Ma Ia Ea Aa =a 9a 5a 1a -a )a %a !a a a a a a a a a a a a a %a %a %a %a %a %a %a %a %a %a %a %a %a -a -a -a -a -a -a -a -a -a -a -a -a -a 5! }55"Thread cancelled. q= y= mE iE eE aE ]E YEa UEa QMa MMa IMa EMa AMa =Ma 9Ma 5Ma M a 1Ma M a -Ma U a )Ua U a %Ua U a !Ua Ua Ua Ua Ua Ua ! ! !  !!! !     %% %% %% %% %% %% % EBUninitialize GFScanner component. EDOpening all GF detection circuits.:CAaMaMMaIMaEMaAUa=Ua9Ua5Ua1Ua-UaUa)U!%u!!u!u!}!}!}!}! }!}}i%)   aa aaaaaa!!!!!!!!!!! }yuqmi ea]YUQ'-"Thread cancelled.a-a-a5a5a5a5a5a5a5a5a5&5"Thread cancelled.=EEEEEEEEEEEEMMMMMMMMM}MyMuUqUU mUiUeUaU]UYU$]"Thread cancelled.!Ue!Qe!Me!Ie!Ee!Ae!=e!9e!5e!1e!-e!)e!%m!!m!m!m!m!m! m! m!m)"Thread cancelled.a!eaeamamam! m uu uuu}}yuqmiea]YUQMIEA=951-)%! }}}}}}}}}}"Thread cancelled.