*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 FOM0Initializing 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" OMDCreated PCaller Thread at 404514E0OMDProtected caller Thread ID is 1923ƿOMhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" OMDCreated PCaller Thread at 404814E0OMDProtected caller Thread ID is 1924*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 ƿOMvSyncComponent "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 ƿ PMdComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler" PMDCreated PCaller Thread at 404B14E0PMDProtected caller Thread ID is 1925*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 ƿPMdComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" PMDCreated PCaller Thread at 404E14E0PMDProtected caller Thread ID is 1926*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 ƿPMZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" PMDCreated PCaller Thread at 405114E0PMDProtected caller Thread ID is 1927*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 ƿ"PMtSyncComponent "LogSplitter" handled in the control thread.N"PM\Looking for Config files in directory: Config/N$PMROpening 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 I>PM 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 i@PM /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 APM443*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 LPM*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 MPM 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 PPM000000000000000*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 RPM*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 )UPMTethysEncryptionƿPMLLoaded Config Component "Config/secureNPMROpening 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 IPM*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 iPM*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 PM/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 PM*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 PM*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 PMu=*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 PM*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 )PM*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 IPM*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 iQM*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 QM*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  QM*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  QM*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 QMA*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 QM*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 )QM*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 IQM*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 iQM*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 "QM*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 $QM*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 &QM*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 )QM?*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 3QM*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 )5QM*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 I7QM*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 i:QMshutdown*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 RM<*e code=00DB elementURI="DDM.PWMLimit" type=01 *a code=0074 owner=0010 element=00DB universal=3FFF unitName="count" type=0D size=0004 fl=05 IRM<*e code=00DC elementURI="DDM.verbosity" type=01 *a code=0075 owner=0010 element=00DC universal=3FFF unitName="count" type=0D size=0004 fl=05 KRM*e code=00DD elementURI="DUSBL_Hydroid.loadAtStartup" type=01 *a code=0076 owner=0010 element=00DD universal=3FFF unitName="bool" type=02 size=0001 fl=05 NRM*e code=00DE elementURI="DUSBL_Hydroid.simulateHardware" type=01 *a code=0077 owner=0010 element=00DE universal=3FFF unitName="bool" type=02 size=0001 fl=05 PRM*e code=00DF elementURI="DUSBL_Hydroid.defaultTurnAroundTime" type=01 *a code=0078 owner=0010 element=00DF universal=3FFF unitName="second" type=0B size=0003 fl=05 SRML=*e code=00E0 elementURI="DUSBL_Hydroid.defaultSoundSpeed" type=01 *a code=0079 owner=0010 element=00E0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )_RMD*e code=00E1 elementURI="DUSBL_Hydroid.detectionThreshold" type=01 *a code=007A owner=0010 element=00E1 universal=3FFF unitName="count" type=0D size=0004 fl=05 IbRMK*e code=00E2 elementURI="DUSBL_Hydroid.recieveTimeout" type=01 *a code=007B owner=0010 element=00E2 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 ifRM@*e code=00E3 elementURI="DUSBL_Hydroid.transmitLockout" type=01 *a code=007C owner=0010 element=00E3 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 jRM#=*e code=00E4 elementURI="DUSBL_Hydroid.transponderCode" type=01 *a code=007D owner=0010 element=00E4 universal=3FFF unitName="enum" type=02 size=0001 fl=05 mRM*e code=00E5 elementURI="DUSBL_Hydroid.numberOfPingsRequested" type=01 *a code=007E owner=0010 element=00E5 universal=3FFF unitName="count" type=0D size=0004 fl=05 xRM*e code=00E6 elementURI="DUSBL_Hydroid.verbosity" type=01 *a code=007F owner=0010 element=00E6 universal=3FFF unitName="enum" type=02 size=0001 fl=05 |RM*e code=00E7 elementURI="DUSBL_Hydroid.xCenter" type=01 *a code=0080 owner=0010 element=00E7 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 RM*e code=00E8 elementURI="DUSBL_Hydroid.yCenter" type=01 *a code=0081 owner=0010 element=00E8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )RM*e code=00E9 elementURI="Depth_Keller.loadAtStartup" type=01 *a code=0082 owner=0010 element=00E9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IRM*e code=00EA elementURI="Depth_Keller.simulateHardware" type=01 *a code=0083 owner=0010 element=00EA universal=3FFF unitName="bool" type=02 size=0001 fl=05 iRM*e code=00EB elementURI="Depth_Keller.maxPressBound" type=01 *a code=0084 owner=0010 element=00EB universal=3FFF unitName="decibar" type=0B size=0003 fl=05 RMJ*e code=00EC elementURI="Depth_Keller.minPressBound" type=01 *a code=0085 owner=0010 element=00EC universal=3FFF unitName="decibar" type=0B size=0003 fl=05 RMP*e code=00ED elementURI="Depth_Keller.offset" type=01 *a code=0086 owner=0010 element=00ED universal=3FFF unitName="decibar" type=0B size=0003 fl=05 RM*e code=00EE elementURI="Depth_Keller.power" type=01 *a code=0087 owner=0010 element=00EE universal=3FFF unitName="watt" type=0B size=0003 fl=05 RM;*e code=00EF elementURI="Depth_Keller.scale" type=01 *a code=0088 owner=0010 element=00EF universal=3FFF unitName="micropascal" type=0B size=0003 fl=05 RM7*e code=00F0 elementURI="DepthKeller33X.loadAtStartup" type=01 *a code=0089 owner=0010 element=00F0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )RM*e code=00F1 elementURI="DepthKeller33X.simulateHardware" type=01 *a code=008A owner=0010 element=00F1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IRM*e code=00F2 elementURI="DepthKeller33X.maxPressBound" type=01 *a code=008B owner=0010 element=00F2 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 iRMJ*e code=00F3 elementURI="DepthKeller33X.minPressBound" type=01 *a code=008C owner=0010 element=00F3 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 RMP*e code=00F4 elementURI="DepthKeller33X.offset" type=01 *a code=008D owner=0010 element=00F4 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 RM*e code=00F5 elementURI="DropWeight.loadAtStartup" type=01 *a code=008E owner=0010 element=00F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 RM*e code=00F6 elementURI="DropWeight.simulateHardware" type=01 *a code=008F owner=0010 element=00F6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 RM*e code=00F7 elementURI="DVL_micro.loadAtStartup" type=01 *a code=0090 owner=0010 element=00F7 universal=3FFF unitName="bool" type=02 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owner=0017 element=02C8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )L^Mƿ^MRLoaded Config Component "Config/SimulatorN^MZOpening Config file at: Config/Derivation.cfg*n code=0018 name="Config/Derivation" *e code=02C9 elementURI="DepthRateCalculator.loadAtStartup" type=01 *a code=0262 owner=0018 element=02C9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IL^M*e code=02CA elementURI="TempGradientCalculator.loadAtStartup" type=01 *a code=0263 owner=0018 element=02CA universal=3FFF unitName="bool" type=02 size=0001 fl=05 iL^M*e code=02CB elementURI="TempGradientCalculator.binsizeDep" type=01 *a code=0264 owner=0018 element=02CB universal=3FFF unitName="meter" type=0B size=0003 fl=05 L^M?*e code=02CC elementURI="TempGradientCalculator.depDeepBndForAvg" type=01 *a code=0265 owner=0018 element=02CC universal=3FFF unitName="meter" type=0B size=0003 fl=05 L^MA*e code=02CD elementURI="TempGradientCalculator.depShallowBndForAvg" type=01 *a code=0266 owner=0018 element=02CD 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elementURI="AMEcho.loadControl" type=01 *a code=02A4 owner=001A element=030B universal=3FFF unitName="none" type=00 size=000B fl=05 T`M /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`M /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`M@*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 TaM /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 UaM /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 )UaM /dev/ttyC4*e code=0311 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elementURI="CBITWaterAlarmBow.ad" type=01 *a code=02BD owner=001A element=0324 universal=3FFF unitName="none" type=00 size=0010 fl=05 W*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 )[aM @*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[aM /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[aM /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 [aM@*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 [aM /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 [aM /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 [aM@*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 \aM /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 )\aM /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\aM@*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\aM /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 \aM /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 \aM @*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 \aM /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 \aM /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 ]aM@*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 )]aM /dev/loadA4*e code=0351 elementURI="ElevatorServo.uart" type=01 *a code=02EA owner=001A element=0351 universal=3FFF 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unitName="bit_per_second" type=1F size=0008 fl=05 ^aM @*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 )^aM /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^aM /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^aM@*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 ^aM /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 ^aM /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 ^aM@*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 ^aM /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 _aM /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 )_aM /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_aM /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_aM@*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 _aM /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 _aM /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 size=0008 fl=05 _aM@*e code=0366 elementURI="NanoDVR.loadControl" type=01 *a code=02FF owner=001A element=0366 universal=3FFF unitName="none" type=00 size=000B fl=05 _aM /dev/loadC4*e code=0367 elementURI="NanoDVR.uart" type=01 *a code=0300 owner=001A element=0367 universal=3FFF unitName="none" type=00 size=000A fl=05 `aM /dev/ttyC4*e code=0368 elementURI="NanoDVR.baud" type=01 *a code=0301 owner=001A element=0368 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )`aM @*e code=0369 elementURI="OnboardHumidity.i2c" type=01 *a code=0302 owner=001A element=0369 universal=3FFF unitName="none" type=00 size=000A fl=05 I`aM /dev/i2c-0*e code=036A elementURI="OnboardHumidity.i2cAddr" type=01 *a code=0303 owner=001A element=036A universal=3FFF unitName="count" type=0D size=0004 fl=05 i`aM'*e code=036B elementURI="OnboardPressure.i2c" type=01 *a code=0304 owner=001A element=036B universal=3FFF unitName="none" type=00 size=000A fl=05 `aM /dev/i2c-0*e code=036C elementURI="OnboardPressure.i2cAddr" type=01 *a code=0305 owner=001A element=036C universal=3FFF unitName="count" type=0D size=0004 fl=05 `aM`*e code=036D elementURI="PAR_Licor.loadControl" type=01 *a code=0306 owner=001A element=036D universal=3FFF unitName="none" type=00 size=000B fl=05 `bM /dev/loadB0*e code=036E elementURI="PAR_Licor.ad" type=01 *a code=0307 owner=001A element=036E universal=3FFF unitName="none" type=00 size=000E fl=05 `bM/dev/mcp3553B0*e code=036F elementURI="PAR_Licor.adRes" type=01 *a code=0308 owner=001A element=036F universal=3FFF unitName="bit" type=1F size=0008 fl=05 abM@*e code=0370 elementURI="PAR_Licor.adTimeout" type=01 *a code=0309 owner=001A element=0370 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 )abM>*e code=0371 elementURI="PAR_Licor.adVref" type=01 *a code=030A owner=001A element=0371 universal=3FFF unitName="volt" type=0B size=0003 fl=05 IabM @*e code=0372 elementURI="Phins_Multibeam.loadControl" type=01 *a code=030B owner=001A element=0372 universal=3FFF unitName="none" type=00 size=000B fl=05 iabM /dev/loadC6*e code=0373 elementURI="PNI_TCM.loadControl" type=01 *a code=030C owner=001A element=0373 universal=3FFF unitName="none" type=00 size=000B fl=05 abM /dev/loadC7*e code=0374 elementURI="PNI_TCM.uart" type=01 *a code=030D owner=001A element=0374 universal=3FFF unitName="none" type=00 size=000A fl=05 abM /dev/ttyC7*e code=0375 elementURI="PNI_TCM.baud" type=01 *a code=030E owner=001A element=0375 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 a bM@*e code=0376 elementURI="Power24vConverter.loadControl" type=01 *a code=030F owner=001A element=0376 universal=3FFF unitName="none" type=00 size=000B fl=05 a#bM /dev/loadB2*e code=0377 elementURI="PowerOnly.loadControl" type=01 *a code=0310 owner=001A element=0377 universal=3FFF unitName="none" type=00 size=000B fl=05 b%bM /dev/loadC1*e code=0378 elementURI="PowerOnly.loadControl2" type=01 *a code=0311 owner=001A element=0378 universal=3FFF unitName="none" type=00 size=0009 fl=05 )b(bM /dev/null*e code=0379 elementURI="PowerOnly.loadControl3" type=01 *a code=0312 owner=001A element=0379 universal=3FFF unitName="none" type=00 size=0009 fl=05 Ib*bM /dev/null*e code=037A elementURI="Radio_Surface.loadControl" type=01 *a code=0313 owner=001A element=037A universal=3FFF unitName="none" type=00 size=000B fl=05 ib,bM /dev/loadB6*e code=037B elementURI="RBRTridente.loadControl" type=01 *a code=0314 owner=001A element=037B universal=3FFF unitName="none" type=00 size=000B fl=05 b1bM /dev/loadC2*e code=037C elementURI="RBRTridente.uart" type=01 *a code=0315 owner=001A element=037C universal=3FFF unitName="none" type=00 size=000A fl=05 b3bM /dev/ttyC2*e code=037D elementURI="RBRTridente.baud" type=01 *a code=0316 owner=001A element=037D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 b6bM @*e code=037E elementURI="RDI_Pathfinder.loadControl" type=01 *a code=0317 owner=001A element=037E universal=3FFF unitName="none" type=00 size=000B fl=05 b8bM /dev/loadB4*e code=037F elementURI="RDI_Pathfinder.uart" type=01 *a code=0318 owner=001A element=037F universal=3FFF unitName="none" type=00 size=000A fl=05 c;bM /dev/ttyB4*e code=0380 elementURI="RDI_Pathfinder.baud" type=01 *a code=0319 owner=001A element=0380 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )c=bM @*e code=0381 elementURI="Rowe_600.loadControl" type=01 *a code=031A owner=001A element=0381 universal=3FFF unitName="none" type=00 size=000B fl=05 Ic?bM /dev/loadB4*e code=0382 elementURI="Rowe_600.uart" type=01 *a code=031B owner=001A element=0382 universal=3FFF unitName="none" type=00 size=000A fl=05 icBbM /dev/ttyB4*e code=0383 elementURI="Rowe_600.baud" type=01 *a code=031C owner=001A element=0383 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 cDbM @*e code=0384 elementURI="RudderServo.loadControl" type=01 *a code=031D owner=001A element=0384 universal=3FFF unitName="none" type=00 size=000B fl=05 cFbM /dev/loadA3*e code=0385 elementURI="RudderServo.uart" type=01 *a code=031E owner=001A element=0385 universal=3FFF unitName="none" type=00 size=000A fl=05 cHbM /dev/ttyA3*e code=0386 elementURI="RudderServo.baud" type=01 *a code=031F owner=001A element=0386 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 cKbM@*e code=0387 elementURI="SCPI.loadControl" type=01 *a code=0320 owner=001A element=0387 universal=3FFF unitName="none" type=00 size=000B fl=05 dMbM /dev/loadB2*e code=0388 elementURI="SCPI.uart" type=01 *a code=0321 owner=001A element=0388 universal=3FFF unitName="none" type=00 size=000A fl=05 )dObM /dev/ttyB2*e code=0389 elementURI="SCPI.baud" type=01 *a code=0322 owner=001A element=0389 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IdQbM@*e code=038A elementURI="Sonardyne_Nano.loadControl" type=01 *a code=0323 owner=001A element=038A universal=3FFF unitName="none" type=00 size=000B fl=05 idSbM /dev/loadC1*e code=038B elementURI="Sonardyne_Nano.uart" type=01 *a code=0324 owner=001A element=038B universal=3FFF unitName="none" type=00 size=000A fl=05 dVbM /dev/ttyC1*e code=038C elementURI="Sonardyne_Nano.baud" type=01 *a code=0325 owner=001A element=038C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 dXbM@*e code=038D elementURI="ThrusterServo.loadControl" type=01 *a code=0326 owner=001A element=038D universal=3FFF unitName="none" type=00 size=000B fl=05 dZbM /dev/loadA1*e code=038E elementURI="ThrusterServo.uart" type=01 *a code=0327 owner=001A element=038E universal=3FFF unitName="none" type=00 size=000A fl=05 d\bM /dev/ttyA1*e code=038F elementURI="ThrusterServo.baud" type=01 *a code=0328 owner=001A element=038F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 e^bM@*e code=0390 elementURI="ThrusterHE.loadControl" type=01 *a code=0329 owner=001A element=0390 universal=3FFF unitName="none" type=00 size=000B fl=05 )e`bM /dev/loadA1*e code=0391 elementURI="ThrusterHE.uart" type=01 *a code=032A owner=001A element=0391 universal=3FFF unitName="none" type=00 size=000A fl=05 IecbM /dev/ttyA1*e code=0392 elementURI="ThrusterHE.baud" type=01 *a code=032B owner=001A element=0392 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ieebM@*e code=0393 elementURI="VemcoVR2C.loadControl" type=01 *a code=032C owner=001A element=0393 universal=3FFF unitName="none" type=00 size=000B fl=05 egbM /dev/loadB3*e code=0394 elementURI="VemcoVR2C.uart" type=01 *a code=032D owner=001A element=0394 universal=3FFF unitName="none" type=00 size=000B fl=05 eibM /dev/ttyTX1*e code=0395 elementURI="VemcoVR2C.baud" type=01 *a code=032E owner=001A element=0395 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ekbM@*e code=0396 elementURI="Waterlinked.loadControl" type=01 *a code=032F owner=001A element=0396 universal=3FFF unitName="none" type=00 size=000B fl=05 embM /dev/loadB4*e code=0397 elementURI="Waterlinked.uart" type=01 *a code=0330 owner=001A element=0397 universal=3FFF unitName="none" type=00 size=000A fl=05 fobM /dev/ttyB4*e code=0398 elementURI="Waterlinked.baud" type=01 *a code=0331 owner=001A element=0398 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )fqbM@*e code=0399 elementURI="WetLabsBB2FL.loadControl" type=01 *a code=0332 owner=001A element=0399 universal=3FFF unitName="none" type=00 size=000B fl=05 IfsbM /dev/loadC2*e code=039A elementURI="WetLabsBB2FL.uart" type=01 *a code=0333 owner=001A element=039A universal=3FFF unitName="none" type=00 size=000A fl=05 ifubM /dev/ttyC2*e code=039B elementURI="WetLabsBB2FL.baud" type=01 *a code=0334 owner=001A element=039B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 fwbM@*e code=039C elementURI="WetLabsSeaOWL_UV_A.loadControl" type=01 *a code=0335 owner=001A element=039C universal=3FFF unitName="none" type=00 size=000B fl=05 fzbM /dev/loadB3*e code=039D elementURI="WetLabsSeaOWL_UV_A.uart" type=01 *a code=0336 owner=001A element=039D universal=3FFF unitName="none" type=00 size=000A fl=05 f|bM /dev/ttyB3*e code=039E elementURI="WetLabsSeaOWL_UV_A.baud" type=01 *a code=0337 owner=001A element=039E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 f~bM@*e code=039F elementURI="WetLabsUBAT.loadControl" type=01 *a code=0338 owner=001A element=039F universal=3FFF unitName="none" type=00 size=000B fl=05 gbM /dev/loadC1*e code=03A0 elementURI="WetLabsUBAT.uart" type=01 *a code=0339 owner=001A element=03A0 universal=3FFF unitName="none" type=00 size=000A fl=05 )gbM /dev/ttyC1*e code=03A1 elementURI="WetLabsUBAT.baud" type=01 *a code=033A owner=001A element=03A1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IgbM@ƿbMNLoaded Config 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type=2F size=0004 fl=05 IfM >*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 ifM*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 fM>*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 fM*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 ɃfMa=*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fM?*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 fM*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 )fMw:*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 IfMXz:*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 ifMŧ8*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 fM:*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 fMB*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 ɄfM*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fM#<*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 fMu<*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 )gMK*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 IgMA*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 gMC*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 gM5<*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 gM >*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 ɅgM@*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gM@*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 gM*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 )#gM*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 I&gM*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 i)gML=*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 ,gM?*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 /gM;*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 Ɇ2gM?*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5gM=*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 8gMA*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 ):gM<*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 I=gM?*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 i@gM\=*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 CgM 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 FgMH*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 ɇJgM?*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MgM?*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 XgM*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 )[gM*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 IngMQ8*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 iqgM*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 gM*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 gMA*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 ɈgM`*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gM`<*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 gMA*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 )gM9*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 IgML=*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 igMQ9*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 gM¸>*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 gM:*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 ɉgM>*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gM >*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 gM<*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 )gM=*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 IgM¸=*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 igM?*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 gM ?*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 gMpB*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 ɊhM 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 hMC*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 hMRD*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 )hM?*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 IhM*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 ihMƿehMNLoaded Config Component "Config/ControlNghMvLooking for Config files in directory: Config/lrauv-pontus/NhhMlOpening Config file at: Config/lrauv-pontus/secure.cfgxhMlrauv-pontus.shore.mbari.orgzhM300234065069590 |hMsWcqQBHne08b8iGdNhMlOpening Config file at: Config/lrauv-pontus/Sensor.cfgI?hMihM?hM ?hMI?hMi?hM)hMI?hMi?hMhM hM) hM ?hM hM) ?hMi ?hM hM B ?hM hMpB ?hMI?hMihM?hM?hMhM@ hM!%8)/hMI/iM?iMiM ?iM)iM?iMiM iM  iM )? iMI?iM?iM iM?iMiM)iM@IiMqs**iiM|]iMD &iMC&iMpB&iM@NiMpOpening Config file at: Config/lrauv-pontus/workSite.cfgi'iMǟ8?'jM/' jM!Missions/underIce/StartupUnder.tl' jM&Missions/underIce/DefaultWithUndock.tlNjMjOpening Config file at: Config/lrauv-pontus/Servo.cfg*?jM +jMi+jM%+jM)-jMQ9i/jML/jMt@/jM*i0?jM0jMi1?jM 2?jM)2jM3?jM3jM4?jM 6?jM)6jMNlMrOpening Config file at: Config/lrauv-pontus/Simulator.cfg7?!lM 8?&lMNlMlOpening Config file at: Config/lrauv-pontus/logger.cfgNmMnOpening Config file at: Config/lrauv-pontus/vehicle.cfgIRmMpontusiRmM RmMff66FF66RmM9228RmM177272TmM /dev/loadC4)UmM /dev/ttyC4IU?mM`mM /dev/loadC0`mM/dev/mcp3553C0 a?mM)a?mMIa?mMZmM /dev/loadB0ZmM/dev/mcp3553B0Z?mM [?mM)[?mM bmM /dev/loadB1 gmM /dev/loadC3)gmM /dev/ttyC3N nMnOpening 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 nM02AF*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 !nM02A5*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 ɋ$nM01F5*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'nM02CF*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 *nM01D5*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 )-nM02BA*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 I0nM02BB*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 iqM9i?qMK<@qMBLoading Module at Modules/Dock.soqMLoaded Module: Dock (Contains behaviors and commands for docking)qMHLoading Module at Modules/Control.so*n code=0020 name="VerticalControl" *e code=0502 elementURI="VerticalControl.enableBroadcast" type=02 *a code=049B owner=0020 element=0502 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rM4Construct VerticalControl.*e code=0503 elementURI="VerticalControl.verticalMode" type=02 *a code=049C owner=0020 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0504 elementURI="VerticalControl.depthCmd" type=02 *a code=049D owner=0020 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0505 elementURI="VerticalControl.depthRateCmd" type=02 *a code=049E owner=0020 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0506 elementURI="VerticalControl.pitchCmd" type=02 *a code=049F owner=0020 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0507 elementURI="VerticalControl.pitchRateCmd" type=02 *a code=04A0 owner=0020 element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=0508 elementURI="VerticalControl.buoyancyCmd" type=02 *a code=04A1 owner=0020 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *e code=0509 elementURI="VerticalControl.massPositionCmd" type=02 *a code=04A2 owner=0020 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=050A elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=04A3 owner=0020 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=050B elementURI="LoopControl.periodCmd" type=02 *a code=04A4 owner=0020 element=050B universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=050C elementURI="SpeedControl.speedCmd" type=02 *a code=04A5 owner=0020 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04A6 owner=0020 element=0488 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04A7 owner=0020 element=0489 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04A8 owner=0020 element=048A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04A9 owner=0020 element=048B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04AA owner=0020 element=048C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04AB owner=0020 element=048E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04AC owner=0020 element=048F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04AD owner=0020 element=0490 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=04AE owner=0020 element=0491 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04AF owner=0020 element=0492 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04B0 owner=0020 element=0493 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04B1 owner=0020 element=0494 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04B2 owner=0020 element=0495 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B3 owner=0020 element=0496 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B4 owner=0020 element=0498 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B5 owner=0020 element=0497 universal=3FFF unitName="radian_second_per_meter" type=0B size=0003 fl=04 *a code=04B6 owner=0020 element=0499 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B7 owner=0020 element=049A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B8 owner=0020 element=049B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B9 owner=0020 element=049D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04BA owner=0020 element=049C universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=04BB owner=0020 element=049E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04BC owner=0020 element=049F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04BD owner=0020 element=04A0 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04BE owner=0020 element=04A1 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04BF owner=0020 element=04A3 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=04C0 owner=0020 element=04A2 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=04C1 owner=0020 element=04A4 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=04C2 owner=0020 element=04A5 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04C3 owner=0020 element=04A6 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04C4 owner=0020 element=04A7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04C5 owner=0020 element=04A9 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04C6 owner=0020 element=04AA universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=04C7 owner=0020 element=04AB universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=04C8 owner=0020 element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04C9 owner=0020 element=04AE universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04CA owner=0020 element=04AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04CB owner=0020 element=04AF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04CC owner=0020 element=04B0 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=04CD owner=0020 element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04CE owner=0020 element=04B2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04CF owner=0020 element=04B3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D0 owner=0020 element=04B4 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=04D1 owner=0020 element=04B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04D2 owner=0020 element=04B6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D3 owner=0020 element=04B7 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04D4 owner=0020 element=04B8 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=04D5 owner=0020 element=04B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D6 owner=0020 element=04BA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04D7 owner=0020 element=0483 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04D8 owner=0020 element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04D9 owner=0020 element=04BD universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04DA owner=0020 element=04BE universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04DB owner=0020 element=04BF universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04DC owner=0020 element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04DD owner=0020 element=04C1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04DE owner=0020 element=04C2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04DF owner=0020 element=048D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=04E0 owner=0020 element=01EE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04E1 owner=0020 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E2 owner=0020 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E3 owner=0020 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E4 owner=0020 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E5 owner=0020 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E6 owner=0020 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04E7 owner=0020 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=050D elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=04E8 owner=0020 element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=050E elementURI="VerticalControl.depthErrorInternal" type=02 *a code=04E9 owner=0020 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=050F elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=04EA owner=0020 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0510 elementURI="VerticalControl.dtInternal" type=02 *a code=04EB owner=0020 element=0510 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0511 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=04EC owner=0020 element=0511 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0512 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=04ED owner=0020 element=0512 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0513 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=04EE owner=0020 element=0513 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0514 elementURI="VerticalControl.pitchInternal" type=02 *a code=04EF owner=0020 element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0515 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=04F0 owner=0020 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04F1 owner=0020 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0516 elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=04F2 owner=0020 element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0517 elementURI="VerticalControl.massPositionAction" type=02 *a code=04F3 owner=0020 element=0517 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0518 elementURI="VerticalControl.buoyancyAction" type=02 *a code=04F4 owner=0020 element=0518 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=04F5 owner=0020 element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04F6 owner=0020 element=0517 universal=3FFF unitName="meter" type=0B size=0003 fl=04 1BrMƿBrM|SyncComponent "VerticalControl" handled in the control thread.*n code=0021 name="HorizontalControl" *e code=0519 elementURI="HorizontalControl.enableBroadcast" type=02 *a code=04F7 owner=0021 element=0519 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ErM8Construct HorizontalControl.*e code=051A elementURI="HorizontalControl.horizontalMode" type=02 *a code=04F8 owner=0021 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=051B elementURI="HorizontalControl.latitudeCmd" type=02 *a code=04F9 owner=0021 element=051B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=051C elementURI="HorizontalControl.longitudeCmd" type=02 *a code=04FA owner=0021 element=051C universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=051D elementURI="HorizontalControl.headingCmd" type=02 *a code=04FB owner=0021 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=051E elementURI="HorizontalControl.headingRateCmd" type=02 *a code=04FC owner=0021 element=051E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=051F elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=04FD owner=0021 element=051F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0520 elementURI="HorizontalControl.bearingCmd" type=02 *a code=04FE owner=0021 element=0520 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04FF owner=0021 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0521 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=0500 owner=0021 element=0521 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0522 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=0501 owner=0021 element=0522 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=0523 elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=0502 owner=0021 element=0523 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0503 owner=0021 element=0477 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0504 owner=0021 element=0478 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0505 owner=0021 element=047A universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0506 owner=0021 element=047B universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0507 owner=0021 element=0479 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0508 owner=0021 element=047C universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=0509 owner=0021 element=047D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=050A owner=0021 element=047E universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=050B owner=0021 element=047F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=050C owner=0021 element=0480 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=050D owner=0021 element=0481 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=050E owner=0021 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=050F owner=0021 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0510 owner=0021 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0511 owner=0021 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0512 owner=0021 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0524 elementURI="HorizontalControl.headingCmdInternal" type=02 *a code=0513 owner=0021 element=0524 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0525 elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *a code=0514 owner=0021 element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0526 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=0515 owner=0021 element=0526 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0527 elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=0516 owner=0021 element=0527 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0528 elementURI="HorizontalControl.xteInternal" type=02 *a code=0517 owner=0021 element=0528 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0529 elementURI="HorizontalControl.kxteInternal" type=02 *a code=0518 owner=0021 element=0529 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052A elementURI="HorizontalControl.bearingInternal" type=02 *a code=0519 owner=0021 element=052A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052B elementURI="HorizontalControl.kpHeadingInternal" type=02 *a code=051A owner=0021 element=052B universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=052C elementURI="HorizontalControl.kiHeadingInternal" type=02 *a code=051B owner=0021 element=052C universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *e code=052D elementURI="HorizontalControl.kdHeadingInternal" type=02 *a code=051C owner=0021 element=052D universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=052E elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=051D owner=0021 element=052E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=051E owner=0021 element=052E universal=3FFF unitName="radian" type=2F size=0004 fl=04 qurMƿurMSyncComponent "HorizontalControl" handled in the control thread.*n code=0022 name="SpeedControl" *e code=052F elementURI="SpeedControl.enableBroadcast" type=02 *a code=051F owner=0022 element=052F universal=3FFF unitName="bool" type=02 size=0001 fl=05 wrM.Construct SpeedControl.*a code=0520 owner=0022 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0521 owner=0022 element=0485 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0522 owner=0022 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0530 elementURI="SpeedControl.propOmegaAction" type=02 *a code=0523 owner=0022 element=0530 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 zrMƿ{rMvSyncComponent "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 }rM,Construct LoopControl.*a code=0525 owner=0023 element=050B universal=3FFF unitName="second" type=0B size=0003 fl=04 ~rMƿ~rMtSyncComponent "LoopControl" handled in the control thread.rMLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)rMNLoading 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 rMƿrMSyncComponent "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 rMƿrMSyncComponent "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 rM*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 rM*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 rM*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 rMƿrM|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 rMƿrMSyncComponent "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 rMƿrMSyncComponent "ElevatorOffsetCalculator" handled in the control thread.rMLoaded Module: Derivation (Contains the base derivation components)rMHLoading Module at Modules/Trigger.sorM|Loaded Module: Trigger (Contains triggers for use in missions)rMNLoading Module at Modules/Estimation.so6sMLoaded Module: Estimation (Contains the base estimation components)6sMJLoading Module at Modules/Guidance.sotMrLoaded Module: Guidance (Contains behaviors and commands)tMLLoading Module at Modules/Simulator.so|uMLoaded Module: Simulator (This is the module containing the Simulator)|uMFLoading 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 zwMƿ{wMlSyncComponent "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 code=0568 owner=002A element=0558 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0559 elementURI="BackseatComponent.component_current" type=02 *a code=0569 owner=002A element=0559 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=055A elementURI="BackseatComponent.component_avgCurrent" 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code=06C4 elementURI="DAT.rangeSigma" type=02 *a code=06F1 owner=002E element=06C4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C5 elementURI="DAT.bearingSigma" type=02 *a code=06F2 owner=002E element=06C5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06F3 owner=002E element=00C1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 v{Mƿw{MTComponent "DAT" handled in its own thread.*n code=002F name="DAT ThreadHandler" x{MDCreated PCaller Thread at 40A194E0x{MDProtected caller Thread ID is 2016*n code=0030 name="DataOverHttps" *e code=06C6 elementURI="DataOverHttps.enableBroadcast" type=02 *a code=06F4 owner=0030 element=06C6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06C7 elementURI="DataOverHttps.platform_communications" type=00 *a code=06F5 owner=0030 element=06C7 universal=002A unitName="bool" type=02 size=0001 fl=05 ! ~{M*e code=06C8 elementURI="DataOverHttps.connectionStatus" type=02 *a code=06F6 owner=0030 element=06C8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06C9 elementURI="Radio_Surface.radio_surface_power" type=02 *a code=06F7 owner=0030 element=06C9 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06F8 owner=0030 element=02FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06F9 owner=0030 element=00BA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06FA owner=0030 element=00BB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06FB owner=0030 element=00BD universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=06FC owner=0030 element=00BE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06FD owner=0030 element=014B universal=3FFF unitName="bool" type=02 size=0001 fl=04 1 {Mƿ{MhComponent "DataOverHttps" handled in its own thread.*n code=0031 name="DataOverHttps ThreadHandler" {MDCreated PCaller Thread at 40A494E0{MDProtected caller Thread ID is 2017*n code=0032 name="Depth_Keller" *e code=06CA elementURI="Depth_Keller.enableBroadcast" type=02 *a code=06FE owner=0032 element=06CA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06FF owner=0032 element=00EA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06CB elementURI="Depth_Keller.component_voltage" type=02 *a code=0700 owner=0032 element=06CB universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06CC elementURI="Depth_Keller.component_avgVoltage" type=02 *a code=0701 owner=0032 element=06CC universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06CD elementURI="Depth_Keller.component_current" type=02 *a code=0702 owner=0032 element=06CD universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06CE elementURI="Depth_Keller.component_avgCurrent" type=02 *a code=0703 owner=0032 element=06CE universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06CF elementURI="Depth_Keller.component_discreteIn" type=02 *a code=0704 owner=0032 element=06CF 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size=0008 fl=05 *e code=06EA elementURI="NAL9602.latitude_fix" type=00 *a code=0729 owner=0033 element=06EA universal=0018 unitName="degree" type=37 size=0006 fl=05 D|M;4*e code=06EB elementURI="NAL9602.longitude_fix" type=00 *a code=072A owner=0033 element=06EB universal=001B unitName="degree" type=37 size=0006 fl=05 G|M;4*e code=06EC elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=072B owner=0033 element=06EC universal=0019 unitName="degree" type=00 size=0000 fl=05 I|M;4*e code=06ED elementURI="NAL9602.platform_communications" type=00 *a code=072C owner=0033 element=06ED universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=072D owner=0033 element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=072E owner=0033 element=02FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=072F owner=0033 element=02FE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0730 owner=0033 element=0120 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0731 owner=0033 element=0121 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0732 owner=0033 element=0124 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0733 owner=0033 element=0125 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0734 owner=0033 element=0126 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0735 owner=0033 element=0127 universal=3FFF unitName="byte" type=1F size=0008 fl=04 O|MƿO|MlSyncComponent "NAL9602" handled in the control thread.*n code=0034 name="Onboard" *e code=06EE elementURI="Onboard.enableBroadcast" type=02 *a code=0736 owner=0034 element=06EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0737 owner=0034 element=012D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06EF elementURI="Onboard.Pressure" type=02 *a code=0738 owner=0034 element=06EF universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=06F0 elementURI="Onboard.Temperature" type=02 *a code=0739 owner=0034 element=06F0 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=06F1 elementURI="Onboard.Humidity" type=02 *a code=073A owner=0034 element=06F1 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=06F2 elementURI="Onboard.platform_battery_voltage" type=00 *a code=073B owner=0034 element=06F2 universal=0026 unitName="volt" type=0B size=0003 fl=05  [|M#<*e code=06F3 elementURI="Onboard.platform_vehicle_power" type=00 *a code=073C owner=0034 element=06F3 universal=0041 unitName="watt" type=0B size=0003 fl=05  ]|M#<*e code=06F4 elementURI="Onboard.platform_average_current" type=00 *a code=073D owner=0034 element=06F4 universal=0021 unitName="milliampere" type=0B size=0003 fl=05  `|M#<*e code=06F5 elementURI="Onboard.platform_average_power" type=00 *a code=073E owner=0034 element=06F5 universal=0022 unitName="watt" type=0B size=0003 fl=05  b|M#<*e code=06F6 elementURI="Onboard.MainBatteryVoltage" type=02 *a code=073F owner=0034 element=06F6 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=06F7 elementURI="Onboard.BackupBatteryVoltage" type=02 *a code=0740 owner=0034 element=06F7 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=06F8 elementURI="Onboard.BatteryCurrent" type=02 *a code=0741 owner=0034 element=06F8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0742 owner=0034 element=0130 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0743 owner=0034 element=0131 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0744 owner=0034 element=0132 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0745 owner=0034 element=0133 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0746 owner=0034 element=036A universal=3FFF unitName="count" type=0D size=0004 fl=04 1 m|Mƿm|M\Component "Onboard" handled in its own thread.*n code=0035 name="Onboard ThreadHandler" n|MDCreated PCaller Thread at 40A794E0o|MDProtected caller Thread ID is 2018*n code=0036 name="Power24vConverter" *e code=06F9 elementURI="Power24vConverter.enableBroadcast" type=02 *a code=0747 owner=0036 element=06F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0748 owner=0036 element=013A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06FA elementURI="Power24vConverter.component_voltage" type=02 *a code=0749 owner=0036 element=06FA universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06FB elementURI="Power24vConverter.component_avgVoltage" type=02 *a code=074A owner=0036 element=06FB universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06FC elementURI="Power24vConverter.component_current" type=02 *a code=074B owner=0036 element=06FC universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06FD elementURI="Power24vConverter.component_avgCurrent" type=02 *a code=074C owner=0036 element=06FD universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06FE elementURI="Power24vConverter.component_discreteIn" type=02 *a code=074D owner=0036 element=06FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=074E owner=0036 element=055D universal=3FFF unitName="bool" type=02 size=0001 fl=05 }|Mƿ}|MSyncComponent "Power24vConverter" handled in the control thread.*n code=0037 name="Radio_Surface" *e code=06FF elementURI="Radio_Surface.enableBroadcast" type=02 *a code=074F owner=0037 element=06FF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0750 owner=0037 element=014A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0700 elementURI="Radio_Surface.component_voltage" type=02 *a code=0751 owner=0037 element=0700 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0701 elementURI="Radio_Surface.component_avgVoltage" type=02 *a code=0752 owner=0037 element=0701 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0702 elementURI="Radio_Surface.component_current" type=02 *a code=0753 owner=0037 element=0702 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0703 elementURI="Radio_Surface.component_avgCurrent" type=02 *a code=0754 owner=0037 element=0703 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0704 elementURI="Radio_Surface.component_discreteIn" type=02 *a code=0755 owner=0037 element=0704 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0756 owner=0037 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0757 owner=0037 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0758 owner=0037 element=06C9 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0759 owner=0037 element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=075A owner=0037 element=02FA universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=075B owner=0037 element=014B universal=3FFF unitName="bool" type=02 size=0001 fl=04 |Mƿ|MhComponent "Radio_Surface" handled in its own thread.*n code=0038 name="Radio_Surface ThreadHandler" |MDCreated PCaller Thread at 40AA94E0|MDProtected caller Thread ID is 2019*n code=0039 name="RDI_Pathfinder" *e code=0705 elementURI="RDI_Pathfinder.enableBroadcast" type=02 *a code=075C owner=0039 element=0705 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=075D owner=0039 element=014E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0706 elementURI="RDI_Pathfinder.component_voltage" type=02 *a code=075E owner=0039 element=0706 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0707 elementURI="RDI_Pathfinder.component_avgVoltage" type=02 *a code=075F owner=0039 element=0707 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0708 elementURI="RDI_Pathfinder.component_current" type=02 *a code=0760 owner=0039 element=0708 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0709 elementURI="RDI_Pathfinder.component_avgCurrent" type=02 *a code=0761 owner=0039 element=0709 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=070A elementURI="RDI_Pathfinder.component_discreteIn" type=02 *a code=0762 owner=0039 element=070A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0763 owner=0039 element=055D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=070B elementURI="RDI_Pathfinder.height_above_sea_floor" type=00 *a code=0764 owner=0039 element=070B universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=070C elementURI="RDI_Pathfinder.platform_velocity_wrt_sea_water" type=12 blobType=11 fixedSize=0003 *a code=0765 owner=0039 element=070C universal=0043 unitName="meter_per_second" type=00 size=0000 fl=05 *e code=070D elementURI="RDI_Pathfinder.platform_x_velocity_wrt_sea_water" type=00 *a code=0766 owner=0039 element=070D universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=070E elementURI="RDI_Pathfinder.platform_y_velocity_wrt_sea_water" type=00 *a code=0767 owner=0039 element=070E universal=004A unitName="meter_per_second" type=0B size=0003 fl=05 *e code=070F elementURI="RDI_Pathfinder.platform_z_velocity_wrt_sea_water" type=00 *a code=0768 owner=0039 element=070F universal=0050 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0710 elementURI="RDI_Pathfinder.water_mass_velocity_flag" type=02 *a code=0769 owner=0039 element=0710 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0711 elementURI="RDI_Pathfinder.range_to_water_mass_center" type=02 *a code=076A owner=0039 element=0711 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0712 elementURI="RDI_Pathfinder.platform_velocity_wrt_ground" type=12 blobType=11 fixedSize=0003 *a code=076B owner=0039 element=0712 universal=0042 unitName="meter_per_second" type=00 size=0000 fl=05 *e code=0713 elementURI="RDI_Pathfinder.platform_x_velocity_wrt_ground" type=00 *a code=076C owner=0039 element=0713 universal=0045 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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 1o~Mƿo~MfSyncComponent "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~Mƿ~MpSyncComponent "GFScanner" handled in the control thread.~MLoaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)~MDLoading 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 iLM4*a code=0894 owner=0042 element=0518 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 MMƿMMxSyncComponent "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 dM;*a code=08A9 owner=0043 element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=04 eMƿeMxSyncComponent "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 1ـMƿـMzSyncComponent "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 qMƿMpSyncComponent "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 owner=0046 element=0208 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08DE owner=0046 element=0209 universal=3FFF 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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 RK2Mq2Mƿ2MdComponent "WetLabsUBAT" handled in its own thread.*n code=004E name="WetLabsUBAT ThreadHandler" '3MDCreated PCaller Thread at 40C6C4E0'4MDProtected caller Thread ID is 20224MpLoaded 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 ƿ;MzSyncComponent "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>MnSyncComponent "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 ƿIMbComponent "NavChartDb" handled in its own thread.*n code=0052 name="NavChartDb ThreadHandler" )JMDCreated PCaller Thread at 40C9C4E0)JMDProtected caller Thread ID is 2023NOM*Main Thread ID is 830FOM&Running supervisor.OM2Handler Thread ID is 2024PMFInitializing the command executive.ԿPMQM2Handler Thread ID is 2025SM2Handler Thread ID is 2026 TM4Initializing ControlThread UMHInitialize VerticalControlComponent.VMLInitialize HorizontalControlComponent. WMBInitialize SpeedControlComponent.WM@Initialize LoopControlComponent. XMBInitializing DepthRateCalculator.XMBInitializing PitchRateCalculator. YM:Initializing SpeedCalculator.YM>Initializing YawRateCalculator. YMLInitializing ElevatorOffsetCalculator. \M>Initialize NavChart Navigation.]MhInitializing UniversalFixResidualReporter component.]M4Initialize SBIT Component.=]M8git: 2025-06-05-2-g07de84f03^Mdgit hash: 07de84f036b9b391a47d8c2a08834ee5eaa918cc=^M0Kernel Release: 2.6.27.8*a code=0977 owner=003E element=0405 universal=3FFF unitName="bool" type=02 size=0001 fl=04 _MKernel 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 2021_M`MHBeginning SBIT in 93.000000 seconds.aM4Initialize IBIT Component.)aM bM4Initialize CBIT Component.cM2Handler Thread ID is 2027 nM*Initialized mux pins. nM@Initializing the watchdog timer.vM2Handler Thread ID is 2028 MTLast reboot was NOT due to watchdog timer. M.Initializing heartbeat.M2Handler Thread ID is 2029MPowering up M"Initializing DAT.M2Handler Thread ID is 2030*a code=0978 owner=0030 element=00B9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 MdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IPM2Handler Thread ID is 2031 翬MYGM2Handler Thread ID is 2032翰MaA 迲MyA?M)迹M! M y翹MaA! M 翹M@$M2Handler Thread ID is 2033 $M2Initializing CTD_Seabird.&ĂM2Handler Thread ID is 2034łM%ƂMPowering up ̂M8Deactivating emergency mode.'ЂM2Handler Thread ID is 2035&тMPowering up)؂M2Handler Thread ID is 2036(ۂMLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000(ۂMtAlready Loaded Electronic Nav Chart data from US1WC07M.000(ۂMLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000(ۂMtAlready Loaded Electronic Nav Chart data from US2WC11M.000(܂MLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000(܂MtAlready Loaded Electronic Nav Chart data from US3CA52M.000(܂MLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000(܂MtAlready Loaded Electronic Nav Chart data from US5CA50M.000 M$Backplane powered. M,Initializing GFScanner M2Deactivating GF circuits.'M:Using TethysL tl-to-tx parser'MxLoading Mission from file: Missions/underIce/StartupUnder.tl'MlTethyslAPI: loading: Missions/underIce/StartupUnder.tl'MTethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl'MTethyslAPI: Missions/underIce/StartupUnder.tl translated into: 'MHTop node has no child nodes: Mission'M>Could not load startup mission.'MLoading Mission from file: Missions/underIce/DefaultWithUndock.tl'MvTethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl'MTethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl?M?M?MrMPowering up?zM?M?EM'M)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 KM'MDefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min?M*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 KM@'MlDefineArg 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 KM2'MlDefineArg 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  LM$@'M|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 LM?'MtDefineArg 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 *a code=0985 owner=0053 element=07CE universal=3FFF unitName="minute" type=1F size=0008 fl=05 *LԅMf@'ՅMnDefineArg DefaultWithUndock.DriftTimeout = 3.000000 min*n code=0054 name="DefaultWithUndock:A.Wait" *օMConstruct 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 ?M*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 ?vM*n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" ,MConstruct.,MdInitializing 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 -M,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 ?ۆM*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" 0M$Construct Execute.*n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" 1MConstruct 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" 3M$Construct Execute.'M1 # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission 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" } } MuComponent 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,UX[F ,esoAJ*Initializing AHRS_M2.Yɪ~*a code=09D3 owner=002D element=00A3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 ]Initializing.ePowering up.ee:Expecting PD13 message formatmInitializing.Iq I->Depth measurement is not active%%}@}@}@}@}@}@iKԱ @[F,"oA A- -B E- -yII5 I5:ԹI9 999AiA"UStartingAAN=9 k[F,肧oA"w" I& I&a: R Ra=! 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J? 6@6 ];)4^4bqIf If:n> nM=yr!MQ r>٥pp vBtv} v>x~<499zg0?m<4Yz iz-@m7imk8m>m?z:@z1:H`?@G? #οf+@L?֓` ?:?? :x@:];):CF8Ja LLIR IR:Z ZM=yZQ Z>٥\\ ^B\b-= b>df<49f79?j<4Yf  if2@jw7hj?8jA>j?f˸@fb:fx@f<4rB r{BpxIx xxx|i|AA)N5=ԙA Y4aF,?҄A9>a@>@Y>ㅽy>1R>>H`??`oҿ@"? h? ?o? >a@>^;)>CJz.JIR IR :Z< ZJ=y^j>Q ^>٥\` bB`b= b>dj<49fA?j<4Yf if6@jH7ln8n>n?fK@f;f5Af<4rԐB r,BtxI| |||iAA)N=!=YԁԩI) ;:aF,A6HO?N?`ҿ@*? ,>1?0N?? 6젚@6Z`;)6CRR"aMeaMe aQeaQe aUeaUe aIeaIe aMe@ae aQm@am aUm@am aIm@am a-m@am eQ?A`"??eeL>)aIaieMb@Mb@Mb@aaa a)eIaieaeIIK~:\= ==y=Q >٥饙 Bվ ><49J?<4Y i;@"77>?@L ;A<4 BI iAA N=Ա 1 kAaF,{A96G@6KP@Y62y6Ar>6H@?@0j? ̿I l٥tt vBtz z>x<49znS?<4Yz iz?@77B>?za@z};z:Az7<4 $BEI iAAN-=9i GaF,NA 9:v@:@Y:Cry:Wq>:H@a?? GĿ,`vM?x?P?@2?ʔ? :v@:c;)8^&b7If If:nÎ rJ=yr/Q r>٥pt vBtvg< v>x~<49z\?~<4Yz izC@67>?z'@z;zAzS<4  'B I! !!!!i)AAAQNe7=iԡ >i > MaF,9AI)9B@B @YByB2P>BH?G?@z`?@?D?@? 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F @Flb;)DVxVI^l4 I^:fF fO=yft'>Q j>٥hh jBhnV n>pv<49rI?v<4Yr_ ir]@tvz?r@r:r,:r<4i m"BqI !i1A AN=! ס ס {aF, A 9:n@:転@Y:A y:.b>:HO?S?`Y˿H 2?0P`"??~4? :n@:a;)8FFpaM@a aQ@a aU@a aI@a 㥛 ڿ~jt?~jt?վ==)IiMb@Mb@Mb@© )xBIixBI-7 I-:=t; =C=yE)սQ E>٥AA MBIMq M>Q]<49U?]<4YU iUka@]+:ae;e䨽e?U[@U;U>U<4i m BiI iAAAQN}=iԙ jaF,ƆA96b@6 k@Y6oy6_ >6H.?? ÿ}???=? 6b@6*eb;)6CPfvjIr Ir:vW< zO=yzz٥|| ~B|̼ >  <49 쮖?<4Y  i rd@ ::? @ : P? <4! %B!1I1 1119iAAaAqN}G=I)@A) <  6Hv?o?`E_?, ]?N?? 6ƛ@6mna;)6CNRIV IV:vM^ vK=yv^٥xx zBx~<9 ]>am<49e?m<4Ye ieg@u9qu:u˕u?e@e<:eu?eZ<4}ҐB }BEI iAANr=qԑ i\aF,;<A96g@6Rp@Y6Bky6;`>6H"??`Zʿ-s:?@ t??@;? 6g@6 _;)4FvF2IJ<)J<INc IN:V< VN=yV٥XX ZBX^RK= ^>`f=49bd?f=4YbD ibj@f9df:jj?b@bs:b?b=4l nBltIt txxxi|AA!N-=ԙy}A DaF,;VA9f@f@YfV fH$"?@?ҿmG?`9 ]``M?@RF? f@fqb;)d%%%I]TA I]j:V ==yX=Q >٥饩 B|< >Qe=49U?˖?m=4YU iU[o@}9y}u:}˽?U@U;U@U=4 %BI iAANU=Aq>iԙ ]naF,oAI)@96U@6@Y6y6>6H ??iֿD? LÿS|?A?@8? 6U@6e;)6CFFaMMaMM aQMaQM aUMaUM aIMaIM aMM@aM aQM@aU aUU@aU aIU@aU MNbX9ؿ/$?QMžM>Mu)IIIiMMb@Mb@Mb@III I)MIM9BiIIM8BImsImy:u*< }K=y}Q }>٥饁 Ba= >=49Ӗ?=4Y is@o9F:˽?@ ;@h =4ѐB BEI iAAN=qԡ M nManaging dock network, ignoring radio surface power off IVaF,d͉A96}@6@Y61Oy6.>6H ? ?&J׿k|?u@O?6?? 6}@6Bh;)6C^Cb)fa= fa=IfIf8{:r< rT=yrQ r>٥tt vBtv[ = z>xm=49zۖ?m=4Yz izw@uB9qu :ufu?z@zH)AA 6Beginning ground fault scan:CNy=) )aF,A,9:@:x @Y:y:ޜ>:H@uz?@h? Uҿh?#|?G&?c? :@:Ge;):CI  I ;:yGQ %>٥!! %B!-= ->1==495䖜?==4Y5 i5^|@=99=:ENE?5S@5:5Q@5[=4I YYiI  >i1Y FEq9)iAANj>I)?Aԉ aF,A i 09B@B@YBEyBB>BH?5?ٹÿ1? 9'?@Ͱ??#? B@Bg;)BCJ`BPC1A got IPBS message with 6 sticks (min is 7).)JCIHLɰL LɱLR`AR#iPPiPP)T TIT T)Vv`AɲVV̾EXXɳZ`AiXIXXI\i^`A \\)\ٯ\f٥xx zBx~8 ~> =490햜? =4Y i-@ 8  9 4;?@: i@F=4 0B)I)I) 1111i9FE5g;)iAAԉN9>Թ aF,g׆Ad99՜@ݣ@Yyˢ=H@f?6=?@GbY`F?hQS?CO?P?? 9՜@骥k;)CH?<aMaM aQaQ aUaU% aI%aI% aM%@a% aQ%@a% aU%@a% aI%@a% a-%@a% %Pn?X9v?> ףp=?%>%=%Q>)!I!i%Mb@Mb@Mb@!!! !)!I%i!!%I==)==I= I=љ:M U)=yU}=Q U>٥YY ]BY]Z ]>am=49e?m=4Ye  ie&@u8qu9u̼u?ezAe ;e@eS=4y yEII iD]AD\AFEXh=)iAAN=r>A I! )% CaF,4GA , 8)R$yPR AG7eIq I:< h=yQ >٥ B >=495?=4Y iJ@89?A :A@=4 ,BII i FE V1=Aqi >ԙ >G aL; ) i A A N >YWaF,AI)9>Ü@> ̣@Y>k|y>>>HI??ӿJd C?μ@ ?yd?S? >Ü@>f;)>C ŪIlI.|:P= &=yH)=Q >٥ BAQ >=49 ?=4Ye iڄ@8`9?(A:l@=4 BII iD=D8>FE %>iF>G @<ԙ ) i A A Nm >aF,(A,9Bʜ@B-ӣ@YB7t yBg>BH S??`rҿ ]e?Vo??n? Bʜ@BZe;)BCLLIL)LiL)PIPPP PPPTiTTiTVE^A)T TIX X)XX\\\^M^Ai\I\\I`i` ``)`fC ddddٯdnnIv"Ivz:~< ~q=y~$gQ ~?٥ B =(;  ? =49 +?=4Y  i @[859? A : ߩ@ =4-АB -B-E9I9I9 9AAAiIFE-mF>Fe3<ԉ>GE5=AI)IiIIAQAaNm>Ա qaF,jAA96P˜@6ӣ@Y6N,y6o>6H`&S?`Xu?UͿ l[B;?@??? 6P˜@6 a;)6C`MMSI]C I]T:mXG mD=yuQ u>٥qq }By};9 }>=49?=4Y i`@189i??IA:;@r=4ɐB  BII iFEXiy>F}ߚ<>GMѺ=IQ)QiQQAYAiN]v>Iq)u@AI aF,|[A"Ü@>F̣@Y>-y>>>H`WE? ?޹ÿ`^Ra?S:?@(?V? >Ü@>b;)>C!--aMaM aQaQ aUaU aIaI aM@a aQ@a aU@a aI@a a-a- /$ƿ{Gzx&1?&1#A`>)IiMb@Mb@Mb@ )wBIiBBI I:]88 ]<=y] Q e>٥aa eBamu m>q=49u&?=4Yu iu @88 ?u6 Auf:uC@u=4 BII iDDIFE>yFk<F]AF\A>G5>)iAAԡ N >aF,uA96g@6Ip@Y6/y6>6Ho? )?S¿փL?@z;ޢ?Qg?B? 6g@60b;)6CB0FID)DIJhM IJ:Ve Vk=yV~GJ>)iAAN > aF,nA96D@6{L@Y6Wxy6W>6H^? ?`ɿx B??N? ?I? 6D@6{r`;)6CBz6BiIJ5 IJݍ:R} RJ=yV@=Q V>٥TT ZBXZc1 Z>\b=49^8?b=4Y^ i^@f7df8f玽f?^ A\^3@^=4h j$BjEpItIt tttxixFQ<>Ghi>)iAAN9>u >iq1Y ;aF,JAI)96X@6wa@Y6ay6Tj>6H? e3?ѿ@@?t8? ?? 6X@6`;)6CFG5FIJ^ IJӄ:R>; VJ=yVP;Q V>٥TX ZBXZ; Z>\b=49^@?b=4Y^Z i^@f7df}8ff?^4A^:^#@^8=4h j#BltItIt tttxixF<F0>F0>1>G0>)iAAJC7RC3ZC{6bC<4jCx5rC3zC8O6C=5BC6 No ground fault detected mA: CHAN A0 (Batt): 0.007858 CHAN A1 (24V): 0.000067 CHAN A2 (12V): 0.004485 CHAN A3 (5V): 0.000395 CHAN B0 (3.3V): 0.000928 CHAN B1 (3.15aV): 0.000074 CHAN B2 (3.15bV): 0.003088 CHAN B3 (GND): 0.000708 OPEN: 0.005503 Full Scale: +/- 1 mA:CN=aԉԹ aF,$ÇA9>Ҵ@>L@Y>y>E>>H,-?@Ww?`տ+h`-?? 9?? >Ҵ@>e;)>CJ0JĉNa=iN=IVxIV٥dd fBdfz< j>hn=49jI?r=4Yj ij2@rw7prM8r@r?jAj7;j*@j{=4t z!BxII  i F<ԑסץAԹ>G3\>)iAANk> !aF,u݇AF+aMaM aQaQ aUaU aIaI aM@a aQ@a aU@a aI@a a-@a /$X9v?5^I ˿&1>X)IiMb@Mb@Mb@ )IiIN) I:/< ;=yQ >٥ B >=49R?=4Y i@H7&8?A;A=4ȐB BEII iFS<>G;a>) i  AA!N-p>Iq)qI aF,Ai 9:'@:@Y:Ľy:>:H??@V3?٥XX ^B\^AV ^>`f=49bZ?f=4Yb ibS@f"7hj8jtj?b$Ab:bzAb=4l lptIxIx xxxqiyFUά<FYFYi>Gu+W>y)iAԙAN_> bF,A9:@:@Y:|۽y:+>:H?C?ǿA ??!b?j?:n? :@:5c;):CPR;RIT)VAIZ IZݔ:b bI=yfdQ f>٥dd jBhjA)< j>lr=49n6d?r=4Yn in@r7tv7v'v?nAn:nAn=4x z&BxI I    iFP<>Gy)iAAN! p& bF,*A9>q@>z@Y>aBҽy>(6=>H\?n??o]r.?~?{q@>"Ng;)>CJ8JaIRv IR:Z]< ZK=y^7٥\` bB`b4 b>dj=49fm?j=4Yf ifw@j6ln7n>n?fAfa;fkAf=4p r$BtxI||I i F<) 5YGI Y)hoyRA>GM>!!)!i!!A)AANMR>Qqiu>ԁ bF,lDAI)9> @>2@Y>fLy>'>>H?`-?ijſ Ң 9?HR?`}?l? > @>@f;)Q  >٥ B >!-=49%Jw?-=4Y%& i%@-6)-7-Kb-?%A%:% A%3=4=ǐB =B=EIIIII IQQQYiYF5<F=>F= >ԁ>G->)iAANc>Ա 8bF,G^A96-@6<6@Y69ϻy68T>6HG6?`v?gп`@b?` "{y??Y? 6-@6Dc;)6C^B bͨĝb8Not Powering down - fast GPSibbbbff f)fIfifffff f)jIjhij<)p pԹaMaM aQaQ aUaU aIaI a-a- kt?{GzV-? =ףm>)IyQ?-?K߿(>5>^ B)BIBiB܍BIY6 Iΐ:%= %:=y-=Q ->٥)) 5B15< 5>9E=49=s?E=4Y= i=@MT:M?M:M<M?=A= :=7:=,=4Q U BYaIiIi iiiqiqFmb<FuFuFuFu)i!!A)A9NEs>9 hbbF,d#xA96@6a@Y68N6H? 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Using default value of nan m/s.- ~No pitch setting specified. Using default value of nan degrees.- No speed setting specified. Using default value of 1.000000 m/s.-No surface timeout specified. Using default value of 1000.000000 seconds.-No altitude timeout specified. Using default value of 600.000000 seconds.-nReceived pitch timeout configuration 60.000000 seconds.%s:I! !!))i)ԉDVD:E!EEEE0EAAN> ץ Aץ A G ! )M 2ʿyQ U ܰARMhF,L7A96S-@65@Y6K?8y6^>6H@i?@n?`7ѿ@RB?JĿ?;?b? 6S-@6y`;)6CBEFIJ IJ:RC VL=yVѽQ V>٥TX ZBCXZ` Z>| D49כ? 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B6H@B];)BCNRIVIV[:v %a=y%٥)) -C)- 5>1]F495צ?]F4Y5t i5@e :aey:e ?e?5B5;5DT?5F4i uBqJNRN*N2N:NBNII )ؽ= ؽ4=iAԑAN=Թ хpF,jiA5= ae@AImjImX:}6; }=y}Q }>٥饡 C >F49ܦ?F4Yo ik@9J:?B:?-F4ƏB BEJNRN*N2N:NBN!I!I! !)))i1AiAy!NeU>I @>@Y>нy>9~>>H@?S?Tп"?@?3J?? >@>U];)>CDDIFD)DiD)HIHHH HLLNDiLLiRCP)P PIP T)TTTTTZ_AiZ^IXXIXiX X\)\\ \```ٯ`n nIvEIv)N:   =y 5=Q  ?٥ C ?amF49e{ߦ?mF4Yek ie0@m9im#:m?u?eXBe:e?e"F4 BJNRN*N2N:NBNII iA9AIN=Iyԩ kpF,XLA96 @6<@Y6Խy6Kt>6H]?@C?{Jп` Ll?롿;?@?`? 6 @6T];)6C@~~dI <I i:e; eD=ymӨQ m>٥ii uCqu= u>F49㦜?F4Y g i@9:??B;@'F4 BJNRN*N!2N!:N!BN!)I)IQ QQQYiYAAN=ԩ ) < <t pF,eA9:X@:a@Y:y:zX>:H€?@? 24ο#%?靂`?`ϥ?Q? :X@:];):C|aMaM aQaQ aUaU aIaI aM@a aQ@a aU@a aI@aU x&MbX?"~j?7 J>S=)IiMb@Mb@Mb@ )wBIBiǁBImImY:f< 8=yQ >٥饡 CI >F49覜?F4Y6b i~@o996?%?B: @,F4) -B)JN1RN1*N12N1:N9BN9AIAIA IIIIiQAiAy)Nm>Qԁ 6pF,FA96Q@6˳@Y6ҽy61*;>6H ??!ʿ} `?qN?r$?@L? 6Q@6hQ];)6CF3FINtIN~:  g=y%٥!! -C)-t< ->1Y]F495릜?eF4Y5^ i5@eB9ae9e?e?5m B5;5W6@5.F4q u BqJNRN*N2N:NBNII iAA N5=ԉԱM AI pF,A96@6z@Y6jjy6!V>6H ~T?~?`̿ <_|?LR Ŷ?? ,? 6@6a,];)6CN8RaIVFIVj:f2 fP=yfq=Q f>٥hh jChn< n>F49? F4YZ i$|@ 9  9 ? ?!B:~O@m1F4Ա "BJNRN*N2N:NBNII iAYAiN=9 lMpF,A٥)) -C)- ->Q]F49UX?]F4YUrU iUr@e8aed9ae?U!BU:Uj@U3F4mŏB  BEJNRN*N2N:NBN)IiIi iqqqiyAAN=9aԑ 0pF,VbA96@6r @Y6y6t>6H ?`?@˿j u?:Ĺ?S?~? 6@6];)6CBE%B@IJIJ^:R= VS=yV>>Q V>٥TX ZCXZk Z>\bF49^?bF4Y^P i^ k@f8df89f?f?^"B^:^S@^=5F4h jBlJN9RN9*NA2NA:NABNAIIIIQ QQQYiYAiAN]=qԱ [pF,d=A96<@6&E@Y66HҾ?@?Xƿ`\R?@/`Tr@>a?@?? 6<@6d_;)4^x bXaMuaMu aQuaQ} aU}aU} aI}aI} }:vI +?:v?}T}94<}T>)yIyy}?MbX9? rh?}̌>}?}C > y)}{BI}Bi}B}}BI I,:90< ;=y=Q >٥饩 Cmc >F49 ?F4YSQ iq@T:?:Dr?#B: :yDF4 BJNRN*N2N:NBNII iAA!N-=Iyԩ I ) dC  G- /aA A )} /"y} /aA} ABpF, AI)@@= =ĉE=iE4=)Ea= Ea=IMm IMӱ:]{: eO=yeQ e>٥ii mCim m>qF49u#?F4YuQ iuw@?u[$BuE;uF;uKRF4 BEJNRN*N2N:NBNII iAAN=5Received command: sched 20250702T0430 "load Science/sci2.tl;set sci2.MissionTimeout 18 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.91 degree;set sci2.Lon1 -121.9 degree;set sci2.Lat2 36.91 degree;set sci2.Lon2 -122.11 degree;set sci2.Speed 1.1 m/s" 3ne9c 1 2=5got command schedule 20250702T043000 "load Science/sci2.tl;set sci2.MissionTimeout 18 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.91 degree;set sci2.Lon1 -121.9 degree;set sci2.Lat2 36.91 degree;set sci2.Lon2 -122.11 degree;set sci2.Speed 1.1 m/s" 3ne9c 1 2.000000=PScheduling command #1 of 2 with id=3ne9c=yScheduled #1 (#1 of 2 with id='3ne9c'): "load Science/sci2.tl;set sci2.MissionTimeout 18 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.91 degree;set sci2.Lon1 -121.9 degree;set sci2.Lat2 36.91 degree;set sci2.Lon2 -122.11 degree;set sci2.Speed 1.1 m/s", AT TIME: 2025-07-02T04:30:00Z lpF,(A9:;ǟ@:Ϧ@Y:^L=y:[n>:H@ҫ?@}?mƿa :?nÿ %ތ?`:? :;ǟ@:=^;):CbwfIjt pIj:vC< vR=yz=}=Q z>٥xx zC|~1= ~> F49-? 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Tn?J? ̥? 6Cc@6rCa;)4uѧAaMEaME aQEaQE aUEaUE aIEaIE aME@aE aQE@aE aUE@aE aIM@aM EI +Zd;?ʡE?E9Ey=E>)AIAiEMb@Mb@Mb@AAA A)EuBIEiEBAEB aaIebIes:uA u%=y}ƲQ }>٥yy Ct >K49ګ?K4Y iՕA8|9I??Bn:@3K4 ̏BJNRN*N2N:NBNII iAAN>1Y ʚ^uF,A}A6H` ?Ì? ĿJ?Wz? ?? 6 ߗ@6a;)4~~I Ɋ I : < C=yQ >٥饉 CW;< >K49諜?K4Y iA[8%9hM??BH:@K4 яBJNQRNQ*NQ2NQ:NQBNYaIaIi iiiqiyA)AyN=Yԉ lkuF,A,9:9@:B@Y:y:~>:H ??Lп6E?P~N?б?\?? :9@:w_;):C~~pI ) I I T:e eL=ym"Q m>٥ii uCqun< u> K49? K4Ys iA 18 9N??WB!;j@K49 =ՏB=uEJNARNA*NA2NI:NIBNIqIyIy yyyiAAN=ԉԹ y )'yA ,ruF,(A9>@>@Y>ky>'ǖ>>H"?`? ҿ {`\?,o??@`? >@>h`;)>CNR\IZϦ IZۈ:f; fT=yj'=Q j>٥hl nCl~== > K49? K4Y iyA88oY??B:+@^K4i uԏBJNRN*N2N:NBNII iAAN=i>A VxuF,uA96gx@6ဠ@Y6hy6닅>6H 4?]?п@[}]??;? `z?@!? 6gx@6U`;)6CNz0R!aMaM aQaQ aUaU aIaI aM@a aQ@a aU@a aI@a Q?J +?Zd;Ͽ<H=~)IiMb@Mb@Mb@ )wBIiwBI I: ET  8=y}:Q 5>٥19 =C9= =>AMK49E?MK4YE iEhAU7Q 8X??EBEIqԡ ~uF,A9: (@:0@Y:4zy:J=>:H`{? W?`:ȿ@,?q? O?{?[e? : (@:gd_;):CN8Ra TVAAIZIZ|: ]=ySAQ >٥    C ۼ >yK49?K4YÖ iIA78V??BD<@AK4 BJNRN*N2N:NBNII iA)AYNm=ԡ)= = }хuF,^gA96bޚ@6@Y676H#?@A?Ŀ@"U?~ 1?? 6bޚ@6~_;)6CI?A)CIM9|IMp:] ]=y]A>Q e>٥饁 Cs= >K49?K4Y? i&A7g8e??wB5<2@K4) -B)JN1RN1*N12N1:N1BN9aIaIa iiiiiqAANE>1Y uF,C2A9Vb@VNk@YVUVH`w?(? sʿn H?@I?? Vb@V5];)VC\\I^)\i\)`Ib_A`` `dfG_Adiddidh)h hIh h)hhllln_Ain9IppIpirV^A pp)pt vxAtttٯt ?I-I-~:58> ]=y]i=Q ]?٥aa eCae[= m?iuK49m?K4Ym, imAw7;8.i??mBm;mr@mK4B ͏BrEJNRN*N12Nq:NqBNqyIyI iAAN=a=A9ԉԹ ruF,5CLA96ћ@6vڢ@Y6Һy6W>6H? ?ɿc`P?hY?t? I? 6ћ@6ڗ];)4  )= %=I<)I I:u uE=yuQ }>٥yy }Cy= >K49?K4YR iAH788l??BL:AK4B ȏBqEJNRN*N2N:NBNII    iԁAANE=Ա uF,eAI@)96 ϛ@6ע@Y6 y6O2>6H?O>?ƿl`5?k㔠? 9*?? 6 ϛ@6?^;)6C--aM aM aQaQ aUaU5 aI5aI5 5Clӿ\(\?I +?5;5z>594<)1I1y5p= ף?Mb?MbX9?5>5>5ʡ> 1)5{BI5ڒBi5B55‡BIMIMw:]1 ]==y]Q e>٥aa eCamT m>)5K49-(?5K4Y-> i-jA=T:=?=:=1<=?->B-:-":-K4A M͏BIJNQRNQ*NQ2NQ:NQBNQaIaIa aaiiAAN>e>i)ة ح<I ;uF,A9:@:2@Y:W5y:#>:H ?q?SÿO`?5ժ?Nf?@ɖ? :@:X^;)8JCNIRt IR:bH~< bh=ybw=Q b>٥dd fCdj2 j>|~K49~O2?K4Y~B i~hAo?~xB~:~:~K4  5ɏB5nEJN9RN9*N92N9:N9BN9IIIII I  iAiAyN=Aqԙ uF,CA9:즛@:f@Y:y:(@;>@:H :?rG?ƿ`(?`Ǩ?`E?u? :즛@:^;):CJDJIL)LPRAIV,IV}:Zy ^L=y^Q ^>٥`` bC`f; f>djK49f=?nK4YfE ifAlr :r?fBf;f;fwK4t vˏBtJNxRNx*Nx2Nx:N|BN|II    iA)A9NM*=ԩ IuF,#A6H@b?@? :Ͽ`*?&R;P? t?? 6L@6];)6CxzE%z@I I: D=y=۽Q >٥! %C!%-G= %>)5L49-VH?5L4Y- i-A9=;==?-B-3;-;-L4A EӏBAJNIRNI*NQ2NQ:NQBNQaIaIa aaaiiiAANZ=I@A) 1M ^Received command: sched 20250702T0430 "ubat on"= \got command schedule 20250702T043000 "ubat on"= lScheduled #4: "ubat on", AT TIME: 2025-07-02T04:30:00Zԁ 1uF,bA96@6)@Y6Ry6ّ>6H(? t?nѿ@}La`?@##Y?@F?p? 6@6_;)6C^b*IfVEIf9nU= nN=yr٥pp vCtvD= v>x~L49z R?~L4Yz izHA<?z:Bz;zo;zL4 B ȏB kEJNRN*N2N9)y }%=:NBNII iAAN%=iԑ *[uF, >A96D@6 @Y6Dgy6 ٍ>6H? %?@Cп>L`? 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AB 2; n> ыN4I MBIJNqRNq*Nq2Nq:NqBNyII iAAyN=1Y wF,HA96ӥ@6۬@Y6D#y6v>6H Z?q?`ڻ`M5?寳`h??? 6ӥ@6%e;)6C٥)%= %=I-<))I- I- :E\< EW=yE=Q E>٥II MCIM< U>Q]N49U?eN4YU, iUAe :ae:e?e?U|BUT ;UJ?UN4i uBqJNyRNy*Ny2Ny:NyBNyII iAANq=1aԑׅ Aׁ Թ xF,"AI)@96b@6ܬ@Y67;y6->6H6?y?-"?ܠu|`?@}? 6b@6b;)6C^w^IfIfZ:KD M=y%_-=Q %>٥!) -C)-k ->1=N495y?=N4Y5 i5̡AE9AE:E(?E?5B5* ;5%?5N4I MBIJNQRNQ*NY2NY:NYBNYiIiIi iiiqiqAANo=ԑi>i s xF,1A96ʥ@69Ӭ@Y6f1ɼy6z>6HR? ?`ɿ ?`KX %?@? ? 6ʥ@6;\`;)6C^Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 8.5 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.903 degree;set keepstation.Longitude -122.11055 degree;set keepstation.Depth 25 m;runby(b/Ijb IjH:rR  rN=yrȢQ v>٥tt vCtzA< z>|N49~0?N4Y~ i~A9:X? ?~B~X ;~?~N4[B B٥)) -C)5 5>YeN49]?eN4Y] i]Ae9aeq:am?]8B]Q:] @]N4q B%s:I! !!!-iiAAN=xF,eAi9>B@>K@Y>jy> >>H@5n?m?eѿ =n?3ʿl?`b?? >B@>uc;)>CVxVaMaM aQaQ aUaU aIaI v/?$C?HzG?xi>>= >)IyCl?rh|?S㥛п;_>>$ ){BI+BiBBI}IW:< 5=yƈQ >٥饙 Cx= >N49 ?N4Y iAT:8?:>?Bh;;N4 BI !i!I?A)?AA)A9NM>UAUA'xF,ޑA96@6 @Y6M&.6HA?`J?sgʿo`M?@4ɿą<=?Ϋ? 6@6B2a;)6CNx RXIVIVyy:zB ~i=y =Q >٥!! %C!- ->)5N49-i?]N4Y- i-DAY]}>]?-B-C;-;-N4eZB im9EI iAAN='͸TethyslAPI: ./Missions/Transport/keepstation.tl translated into: 4 45 NaN NaN 30 15 4 0.75 200 10 10 45 2 0 0 1 2 3 NaN 0 Sinking to Timed out while trying to reach target sink depth at current depth of *n code=0067 name="keepstation" *e code=07EB elementURI="keepstation.MissionTimeout" type=00 *a code=09D7 owner=0067 element=07EB universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=09D8 owner=0067 element=07EB universal=3FFF unitName="hour" type=1F size=0008 fl=05 N% @'-bDefineArg keepstation.MissionTimeout = 4.000000 h*e code=07EC elementURI="keepstation.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=@'EfDefineArg keepstation.NeedCommsTime = 45.000000 min*e code=07ED elementURI="keepstation.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 NU']VDefineArg keepstation.Latitude = nan arcdeg*e code=07EE elementURI="keepstation.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 Nm'uXDefineArg keepstation.Longitude = nan arcdeg*e code=07EF elementURI="keepstation.Depth" 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%>@'%RDefineArg keepstation.Depth = 30.000000 m*e code=07F0 elementURI="keepstation.ApproachDepth" 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 O5.@']bDefineArg keepstation.ApproachDepth = 15.000000 m*e code=07F1 elementURI="keepstation.DepthDeadband" 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 "Ou@'u`DefineArg keepstation.DepthDeadband = 4.000000 m*e code=07F2 elementURI="keepstation.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?'TDefineArg keepstation.Speed = 0.750000 m/s*e code=07F3 elementURI="keepstation.Radius" 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 BOi@'VDefineArg keepstation.Radius = 200.000000 m*e code=07F4 elementURI="keepstation.SinkOffSurface" type=00 *a code=09E9 owner=0067 element=07F4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09EA owner=0067 element=07F4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ROE'EZDefineArg keepstation.SinkOffSurface = 0 bool*e code=07F5 elementURI="keepstation.SinkDepth" 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 bO}$@'ZDefineArg keepstation.SinkDepth = 10.000000 m*e code=07F6 elementURI="keepstation.SinkDepthTimeout" type=00 *a code=09ED owner=0067 element=07F6 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09EE owner=0067 element=07F6 universal=3FFF unitName="minute" type=1F size=0008 fl=05 rO@'lDefineArg keepstation.SinkDepthTimeout = 10.000000 min*e code=07F7 elementURI="keepstation.MaxDepth" type=00 *a code=09EF owner=0067 element=07F7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F0 owner=0067 element=07F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 OF@'XDefineArg keepstation.MaxDepth = 45.000000 m*e code=07F8 elementURI="keepstation.MinOffshore" type=00 *a code=09F1 owner=0067 element=07F8 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=09F2 owner=0067 element=07F8 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 O@@'%^DefineArg keepstation.MinOffshore = 2.000000 km*e code=07F9 elementURI="keepstation.DiveMode" type=00 *a code=09F3 owner=0067 element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 O*a code=09F4 owner=0067 element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=04 'dDefineOutput keepstation.DiveMode = 0.000000 count*e code=07FA elementURI="keepstation.DoingComms" type=00 *a code=09F5 owner=0067 element=07FA universal=3FFF unitName="count" type=1F size=0008 fl=05 O*a code=09F6 owner=0067 element=07FA universal=3FFF unitName="count" type=1F size=0008 fl=04 'hDefineOutput keepstation.DoingComms = 0.000000 count*e code=07FB elementURI="keepstation.SurfaceSink" type=00 *a code=09F7 owner=0067 element=07FB universal=3FFF unitName="count" type=1F size=0008 fl=05 O?*a code=09F8 owner=0067 element=07FB universal=3FFF unitName="count" type=1F size=0008 fl=04 ' jDefineOutput keepstation.SurfaceSink = 1.000000 count*e code=07FC elementURI="keepstation.TransitToStation" type=00 *a code=09F9 owner=0067 element=07FC universal=3FFF unitName="count" type=1F size=0008 fl=05 O @*a code=09FA owner=0067 element=07FC universal=3FFF unitName="count" type=1F size=0008 fl=04 'M tDefineOutput keepstation.TransitToStation = 2.000000 count*e code=07FD elementURI="keepstation.StationKeep" type=00 *a code=09FB owner=0067 element=07FD universal=3FFF unitName="count" type=1F size=0008 fl=05 OU @*a code=09FC owner=0067 element=07FD universal=3FFF unitName="count" type=1F size=0008 fl=04 'e jDefineOutput keepstation.StationKeep = 3.000000 count*e code=07FE elementURI="keepstation.OnStation" type=00 *a code=09FD owner=0067 element=07FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 O *a code=09FE owner=0067 element=07FE universal=3FFF unitName="bool" type=02 size=0001 fl=04 ' VDefineOutput keepstation.OnStation = 0 bool' nInserting Stack from file: Missions/Insert/NeedComms.tl' bTethyslAPI: loading: Missions/Insert/NeedComms.tl'% zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl-&xF,LnA96(@611@Y66H]?m? AA( U?@&? m? 6(@6Q`;)6C^4^qĉb٥饡 CT5< >N49[)?N4Y iA{>%?cBe<F:N4) -B)yIy yyi>G V=AANn>' 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="keepstation:NeedComms" *e code=07FF elementURI="keepstation:NeedComms.DiveInterval" type=00 *a code=09FF owner=0068 element=07FF universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0A00 owner=0068 element=07FF universal=3FFF unitName="hour" type=1F size=0008 fl=05 P @' rDefineArg keepstation:NeedComms.DiveInterval = 1.000000 h*e code=0800 elementURI="keepstation:NeedComms.WaitForPitchUp" type=00 *a code=0A01 owner=0068 element=0800 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A02 owner=0068 element=0800 universal=3FFF unitName="minute" type=1F size=0008 fl=05 P= @'E |DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min*e code=0801 elementURI="keepstation:NeedComms.SurfacePitch" type=00 *a code=0A03 owner=0068 element=0801 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0A04 owner=0068 element=0801 universal=3FFF unitName="degree" type=1F size=0008 fl=05 "PU DJW?'] ~DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0802 elementURI="keepstation:NeedComms.SurfaceDepthRate" type=00 *a code=0A05 owner=0068 element=0802 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0A06 owner=0068 element=0802 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 2Pm 'u tDefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s*e code=0803 elementURI="keepstation:NeedComms.SurfaceSpeed" type=00 *a code=0A07 owner=0068 element=0803 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0A08 owner=0068 element=0803 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 BP ?' vDefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=0804 elementURI="keepstation:NeedComms.SurfacingTimeout" type=00 *a code=0A09 owner=0068 element=0804 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0A0A owner=0068 element=0804 universal=3FFF unitName="second" type=1F size=0008 fl=05 RP @@' DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s*e code=0805 elementURI="keepstation:NeedComms.GPSTimeout" type=00 *a code=0A0B owner=0068 element=0805 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A0C owner=0068 element=0805 universal=3FFF unitName="minute" type=1F size=0008 fl=05 bP @z@' rDefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min*e code=0806 elementURI="keepstation:NeedComms.CommsTimeout" type=00 *a code=0A0D owner=0068 element=0806 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A0E owner=0068 element=0806 universal=3FFF unitName="minute" type=1F size=0008 fl=05 rP @' xDefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min*a code=0A0F owner=0068 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A10 owner=0068 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0069 name="keepstation:NeedComms:A" *a code=0A11 owner=0069 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006A name="keepstation:NeedComms:B.GoToSurface" *a code=0A12 owner=006A element=07E9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 5 ,Construct GoToSurface.*a code=0A13 owner=006A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A14 owner=006A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A15 owner=006A element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A16 owner=006A element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A17 owner=006A element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A18 owner=006A element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A19 owner=006A element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A1A owner=006A element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A1B owner=006A element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A1C owner=006A element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A1D owner=006A element=051F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A1E owner=006A element=04C0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 9,xF,GAI)9:}@:@Y: 9ټy:>:H?@f6?QiX?`S&?C1?`? :}@:fc;)8^y&^*a code=0A1F owner=006A element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A20 owner=006A element=048C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A21 owner=006A element=04AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0A22 owner=006A element=04A8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A23 owner=006A element=04BC universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=006B name="keepstation:NeedComms:C" *n code=006C name="keepstation:NeedComms:C:A_Timeout" *n code=006D name="keepstation:NeedComms:C:A_Timeout:A" IfD If:*n code=006E name="keepstation:NeedComms:D" *n code=006F name="keepstation:NeedComms:D:A_Timeout" *n code=0070 name="keepstation:NeedComms:D:A_Timeout:A" = J=ycQ >٥饩 C= >*n code=0071 name="keepstation:NeedComms:E" *n code=0072 name="keepstation:NeedComms:E:A_Timeout" *n code=0073 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0074 name="keepstation:B" N498?N4Y *a code=0A24 owner=0074 element=07FF universal=3FFF unitName="hour" type=1F size=0008 fl=05 '~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl'rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl' TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tliA15Zq>5?ÞB'<L'<N4EYB EBE6EI i{>iV>>G3=AAN >'5TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 *n code=0075 name="keepstation:StandardEnvelopes" *e code=0807 elementURI="keepstation:StandardEnvelopes.MinAltitude" type=00 *a code=0A25 owner=0075 element=0807 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A26 owner=0075 element=0807 universal=3FFF unitName="meter" type=1F size=0008 fl=05 2Qu@'}DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m*e code=0808 elementURI="keepstation:StandardEnvelopes.MaxDepthIgnore" type=00 *a code=0A27 owner=0075 element=0808 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A28 owner=0075 element=0808 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BQ?'DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m*e code=0809 elementURI="keepstation:StandardEnvelopes.MaxDepth" type=00 *a code=0A29 owner=0075 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A2A owner=0075 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=05 RQi@'~DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m*e code=080A elementURI="keepstation:StandardEnvelopes.MinOffshore" type=00 *a code=0A2B owner=0075 element=080A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A2C owner=0075 element=080A universal=3FFF unitName="meter" type=1F size=0008 fl=05 bQ@@' DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=0076 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" ;56Construct AltitudeEnvelope.*a code=0A2D owner=0076 element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A2E owner=0076 element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A2F owner=0076 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A30 owner=0076 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A31 owner=0076 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A32 owner=0076 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A33 owner=0076 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A34 owner=0076 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A35 owner=0076 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A36 owner=0076 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A37 owner=0076 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A38 owner=0076 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A39 owner=0076 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0077 name="keepstation:StandardEnvelopes:B.DepthEnvelope" ;0Construct DepthEnvelope.*a code=0A3A owner=0077 element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A3B owner=0077 element=04B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A3C owner=0077 element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A3D owner=0077 element=0495 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A3E owner=0077 element=04AF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A3F owner=0077 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A40 owner=0077 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A41 owner=0077 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A42 owner=0077 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A43 owner=0077 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A44 owner=0077 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A45 owner=0077 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A46 owner=0077 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A47 owner=0077 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A48 owner=0077 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A49 owner=0077 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0078 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" <% 6Construct OffshoreEnvelope.*a code=0A4A owner=0078 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A4B owner=0078 element=051B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A4C owner=0078 element=051C universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A4D owner=0078 element=0520 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A4E owner=0078 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A4F owner=0078 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A50 owner=0078 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A51 owner=0078 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A52 owner=0078 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A53 owner=0078 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A54 owner=0078 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A55 owner=0078 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A56 owner=0078 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0079 name="keepstation:D" *a code=0A57 owner=0079 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=007A name="keepstation:E" *a code=0A58 owner=007A element=080A universal=3FFF unitName="meter" type=1F size=0008 fl=05 ' xInserting Stack from file: Missions/Insert/BackseatDriver.tl' lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'E TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl' TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: *n code=007B name="keepstation:BackseatDriver" *e code=080B elementURI="keepstation:BackseatDriver.EnableBackseat" type=00 *a code=0A59 owner=007B element=080B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5A owner=007B element=080B universal=3FFF unitName="bool" type=02 size=0001 fl=05 R ' xDefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool*n code=007C name="keepstation:BackseatDriver:A.BackseatDriver" >% 2Construct BackseatDriver.*a code=0A5B owner=007C element=055E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5C owner=007C element=055C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5D owner=007C element=009B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A5E owner=007C element=055C universal=3FFF unitName="bool" type=02 size=0001 fl=05 'E nInserting Stack from file: Missions/Insert/PowerOnly.tl'E bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'U zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl@"3xF,$A96Q@6aZ@Y6Fy6m!>6H %{?X?;i`XL?@\@֕??@G? 6Q@6b;)6Ce m @AI% I%t:f/= =y ٥ CW` > UN49 O?UN4Y  i AQUmn>U? RB #< $< ;N4a eBaI i' qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 *n code=007D name="keepstation:PowerOnly" *e code=080C elementURI="keepstation:PowerOnly.SampleAll" type=00 *a code=0A5F owner=007D element=080C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A60 owner=007D element=080C universal=3FFF unitName="bool" type=02 size=0001 fl=05 S] ' dDefineArg keepstation:PowerOnly.SampleAll = 0 bool*e code=080D elementURI="keepstation:PowerOnly.SampleLoad1" type=00 *a code=0A61 owner=007D element=080D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A62 owner=007D element=080D universal=3FFF unitName="bool" type=02 size=0001 fl=05 S ' hDefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool*e code=080E elementURI="keepstation:PowerOnly.SampleLoad2" type=00 *a code=0A63 owner=007D element=080E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A64 owner=007D element=080E universal=3FFF unitName="bool" type=02 size=0001 fl=05 "S ' hDefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool*e code=080F elementURI="keepstation:PowerOnly.SampleLoad3" type=00 *a code=0A65 owner=007D element=080F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A66 owner=007D element=080F universal=3FFF unitName="bool" type=02 size=0001 fl=05 2S ' hDefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool*a code=0A67 owner=007D element=013B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0810 elementURI="keepstation:PowerOnly.EnabledPowerOnly" type=00 *a code=0A68 owner=007D element=0810 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A69 owner=007D element=0810 universal=3FFF unitName="bool" type=02 size=0001 fl=05 JS} ' rDefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool*n code=007E name="keepstation:PowerOnly:A" D ʃ:F ]AF ]A*n code=007F name="keepstation:PowerOnly:B" *n code=0080 name="keepstation:PowerOnly:C" *n code=0081 name="keepstation:PowerOnly:D" *n code=0082 name="keepstation:PowerOnly:E.Wait" Am Construct Wait.*n code=0083 name="keepstation:H.Pitch" A Construct.*a code=0A6A owner=0083 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A6B owner=0083 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A6C owner=0083 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A6D owner=0083 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A6E owner=0083 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A6F owner=0083 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A70 owner=0083 element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A71 owner=0083 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A72 owner=0083 element=04AA universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=0084 name="keepstation:SurfaceComms" *a code=0A73 owner=0084 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0085 name="keepstation:SurfaceComms:A" *a code=0A74 owner=0085 element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=0086 name="keepstation:SurfaceComms:B" *n code=0087 name="keepstation:SurfaceComms:setTransit" *n code=0088 name="keepstation:SurfaceComms:setTransit:A" *a code=0A75 owner=0088 element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=0089 name="keepstation:SurfaceComms:setStation" *n code=008A name="keepstation:SurfaceComms:setStation:A" *a code=0A76 owner=008A element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=008B name="keepstation:SurfaceComms:setSink" *n code=008C name="keepstation:SurfaceComms:setSink:A" *a code=0A77 owner=008C element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=008D name="keepstation:StartingMission" *n code=008E name="keepstation:DiveCmd" *n code=008F name="keepstation:DiveCmd:SurfaceSink" *n code=0090 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=0091 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" Hm&Construct Buoyancy.*a code=0A78 owner=0091 element=01CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A79 owner=0091 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7A owner=0091 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0092 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" IConstruct.*a code=0A7B owner=0092 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7C owner=0092 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A7D owner=0092 element=050B universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0093 name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=0094 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" JConstruct.*a code=0A7E owner=0094 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7F owner=0094 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A80 owner=0094 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A81 owner=0094 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A82 owner=0094 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A83 owner=0094 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A84 owner=0094 element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A85 owner=0094 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0095 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=0096 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *a code=0A86 owner=0096 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0097 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=0098 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *a code=0A87 owner=0098 element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=0099 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" >G6^$:AAN%?;xF,AfH ??¿@K`q? 9¿sx?@;V? f@f `;)fC)CI!ɿ! !%C!!i!)i-C*n code=009E name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" O5Construct.-5`A)I IIQ UC)QQQQYYi]lI]VEYIaia ae̬E)amC m`Aii*a code=0A8D owner=009E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A8E owner=009E element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A8F owner=009E element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A90 owner=009E element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A91 owner=009E element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A92 owner=009E element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A93 owner=009E element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 iٯDh*a code=0A94 owner=009E element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=009F name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" OConstruct.*a code=0A95 owner=009F element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A96 owner=009F element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A97 owner=009F element=050B universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00A0 name="keepstation:DiveCmd:StationKeep" *n code=00A1 name="keepstation:DiveCmd:StationKeep:A" *a code=0A98 owner=00A1 element=048E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=00A2 name="keepstation:DiveCmd:StationKeep:B.Pitch" QConstruct.*a code=0A99 owner=00A2 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9A owner=00A2 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A9B owner=00A2 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A9C owner=00A2 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A9D owner=00A2 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A9E owner=00A2 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A9F owner=00A2 element=0507 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0AA0 owner=00A2 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00A3 name="keepstation:DiveCmd:StationKeep:C.KeepStation" Q=,Construct KeepStation.*a code=0AA1 owner=00A3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 aM]@a] aQ]@a] aU]@a] aI]@a] ]$Cۿv/?Cl?]ھ]xi>];>)YIYi]Mb@Mb@Mb@]©]] Y)]}BI]i]B]]BI}w I}C:*a code=0AA2 owner=00A3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA3 owner=00A3 element=048B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0AA4 owner=00A3 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AA5 owner=00A3 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AA6 owner=00A3 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AA7 owner=00A3 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=00A4 name="keepstation:TransitToStation" *n code=00A5 name="keepstation:TransitToStation:Dive" *n code=00A6 name="keepstation:TransitToStation:Dive:A" E E:=yE=Q E>٥II MCIU3= U>*n code=00A7 name="keepstation:TransitToStation:Wpt1.Waypoint" Se&Construct Waypoint.*a code=0AA8 owner=00A7 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA9 owner=00A7 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAA owner=00A7 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAB owner=00A7 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAC owner=00A7 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 YO49]K`?O4Y]d i]]A+::R>?]B]1;]>]O4*a code=0AAD owner=00A7 element=0520 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AAE owner=00A7 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AAF owner=00A7 element=051B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0AB0 owner=00A7 element=051C universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0AB1 owner=00A7 element=01B2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *n code=00A8 name="keepstation:TransitToStation:C"  B3E I    *a code=0AB2 owner=00A8 element=07F9 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00A9 name="keepstation:TransitToStation:D" *a code=0AB3 owner=00A9 element=07FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00AA name="keepstation:OnStation" iQ*n code=00AB name="keepstation:KeepStation" *n code=00AC name="keepstation:KeepStation:Dive" *n code=00AD name="keepstation:KeepStation:Dive:A" *n code=00AE name="keepstation:KeepStation:B.Wait" WConstruct Wait.DF%F%F!F!'y # 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 keepstation { """ Vehicle transits to desired waypoint (or stays put if none is commanded) and stays within the specified radius. """ arguments { MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 45 minute """ How often to surface for communications """ Latitude = NaN degree """ Latitude of waypoint to hold. If NaN, hold the latitude at start of mission. """ Longitude = NaN degree """ Longitude of waypoint to hold. If NaN, hold the longitude at start of mission. """ Depth = 30 meter """ Depth held during drift mode """ ApproachDepth = 15 meter """ Depth for initial approach to station. """ DepthDeadband = 4 meter """ How much vertical drift from the specified depth is allowed in drift mode """ Speed = 0.75 meter_per_second """ Vehicle transit speed. """ Radius = 200 meter """ Radius of circle around waypoint to hold. """ SinkOffSurface = false """ If true, use buoyancy only to decend to SinkDepth before driving to first target depth """ SinkDepth = 10 meter """ Initial depth to decend using only buoyancy before driving """ SinkDepthTimeout = 10 minute """ Max wait time for the vehicle to reach the target depth """ MaxDepth = 45 meter """ Maximum allowable depth during the mission. """ MinOffshore = 2 kilometer """ Minimum distance from the shoreline to maintain """ } output { DiveMode = 0 count """ Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. """ DoingComms = 0 count """ Mission variable (don't change). The mission will run in this mode when doing surface comms. """ SurfaceSink = 1 count """ Mission variable (don't change). The mission will run in this mode when sinking from the surface using only buoyancy. """ TransitToStation = 2 count """ Mission variable (don't change). The mission will run in this mode when performing the transit to station """ StationKeep = 3 count """ Mission variable (don't change). The mission will run in this mode when keeping station """ OnStation = false """ Mission variable (don't change). Determines last mode (Transit or StationKeep) to resume after needcomms """ } timeout duration=MissionTimeout insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } aggregate SurfaceComms { run when ( called or ( elapsed ( Universal:time_fix ) > NeedCommsTime ) ) assign in sequence DiveMode = DoingComms call priorityHere=false refId="NeedComms" aggregate setTransit { run in sequence break if ( SinkOffSurface or OnStation ) assign in sequence DiveMode = TransitToStation } aggregate setStation { run in sequence break if ( SinkOffSurface or not OnStation ) assign in sequence DiveMode = StationKeep } aggregate setSink { run in sequence break if ( not SinkOffSurface ) assign in sequence DiveMode = SurfaceSink } } call id="StartingMission" priorityHere=false refId="SurfaceComms" aggregate DiveCmd { run when ( called ) aggregate SurfaceSink { run while ( DiveMode == SurfaceSink ) aggregate sink { run in sequence behavior Guidance:Buoyancy id="BuoyancyHold" { run in parallel set position = NaN cc } behavior Guidance:SetSpeed { run in parallel set speed = 0 m/s } syslog info "Sinking to " + SinkDepth~meter behavior Guidance:Pitch { run in sequence timeout duration=SinkDepthTimeout { syslog important "Timed out while trying to reach target sink depth at current depth of " + Universal:depth~meter } set depth = SinkDepth } # Once we've sunk, either resume transit or station keeping depths and speeds aggregate sinkToTransit { run in sequence break if ( OnStation ) assign in sequence DiveMode = TransitToStation } aggregate sinkToStation { run in sequence break if ( not OnStation ) assign in sequence DiveMode = StationKeep } } } aggregate TransitToStation { run while ( DiveMode == TransitToStation ) aggregate dive { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set depth = ApproachDepth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } } } aggregate StationKeep { run while ( DiveMode == StationKeep ) assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:KeepStation { run in parallel set latitude = Latitude set longitude = Longitude set radius = Radius set speed = Speed } } } aggregate TransitToStation { """ Need a separate aggregate for transit if we want to specify a different depth for the approach. """ run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } behavior Guidance:Waypoint id="Wpt1" { run in sequence set latitude = Latitude set longitude = Longitude } assign in sequence DiveMode = StationKeep assign in sequence OnStation = true } call id="OnStation" priorityHere=false refId="NeedComms" aggregate KeepStation { run in sequence aggregate Dive { run while ( not ( DiveMode == DoingComms ) ) call priorityHere=false refId="DiveCmd" } behavior Guidance:Wait { """ Due to the way the KeepStation behavior is currently implemented, we must run it in parallel and use a Wait to keep from completing the mission before the timeout expires. However, this new version of the mission uses a top-level timeout so that the entire mission will not run for longer then MissionTimeout. 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B : ; P4A EoBEجEJNIRNI*NI2NI:NIBNIII iAA1N}==fgot command set keepstation.MissionTimeout 8.5 hourN@=fgot command set keepstation.NeedCommsTime 60 minuteN @=dgot command set keepstation.Latitude 36.903 degreeN^@K?= ngot command set keepstation.Longitude -122.11055 degreeNz =Tgot command set keepstation.Depth 25 meterO9@=got command run=-Running I=]6got command schedule resumeaI?A)ԡԩ YzF,2eA96/@6~7@Y6\FU>6Hb?u?`wϿ1?ivο 9?`? 6/@62a;)6C`ffBĹUMbXɿM?Q?UJUn>U(>)QIQyUX9v?/$ѿU}=UU1 UB)UuBIUBiUBQUzBIm2gImOn:}al= }@=y}">Q >٥饁 CL= >P49籜?P4Y9 iA׋>B;#>?ӹB; ;VP4 cB)RAggregate::uninitialize DefaultWithUndock -pAggregate::uninitialize DefaultWithUndock:SurfaceDefault-DUninitialize GoToSurfaceComponent.1 .Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 18Uninitialize Wait Component.'6Started mission keepstationvK3BAggregate::initialize keepstationq:fAggregate::initialize keepstation:StandardEnvelopes ;JInitialize AltitudeEnvelopeComponent.;DInitialize DepthEnvelopeComponent.1 <JInitialize OffshoreEnvelopeComponent.=`Aggregate::initialize keepstation:BackseatDriver1q>VAggregate::initialize keepstation:PowerOnly1 q   A4Initialize Wait Component. 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Using default value of 600.000000 seconds.5MnReceived pitch timeout configuration 60.000000 seconds.qUPQPQPQPQPQPU4]last time_fix was: 1751410310.000000 second since 1970/01/01T00:00:00Z q]m:IiIi iiiuPwV=iqqԩD:>Gm=A!A1NEs> +,9zF,xA96 B@6J@Y62y6cQ(>6H? ? ÿc0?@@AY?`?? 6 B@6 _;)6CBH?F<ĹEZd;O??RQпEjE)AIAyE333333?#~j?MbE=E?E E)EmwBIEBiEBAEBIQ)QI] I]s:m mC=ymtQ u>٥qq uCq} }>Q49?Q4Y6 iA+ ?:??Bf::Q4 BrSK<PPPPPPII i>Gm<AA1N==I@A)) N@zF,\YA9:@:@Y:﷼y:k=>:H%٥qq uCq}i* }>Q49?Q4Yw3 iA ??B;;!Q4(B BҬErSK<*a code=0AB4 owner=006B element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 5\Initialize ReadDataComponent to sense time_fixPPPPPPII iF=F=)a>G!W7A!A1N=r>ԁ L>FzF,/A09>\@>d@Y>ַ=y>ێ>>H`=? ?@ǿT x?Lʿ鵢 d?? >\@>^;)>CDJ_AIJν)HiH)HIHHL LPR^`APiPPiPVZ`A)T TIT T)TTXXXXiXIX\I\i^`A \\)`ٯ`ffĉjQ z>٥xx zCx~v= ~> Q49#? 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CdAggregate::uninitialize keepstation:SurfaceComms:B!CrAggregate::initialize keepstation:SurfaceComms:setTransit1"rSK<s:I iA A!N-=9 Y ] AǑF,Ww!GA9:@:@Y:\;y:`0>:Hf?`,?Kÿl=K?괿u"?? :@:_;)8B$FIN"IN)x:V/ VY=yV5Q V>٥XX ZVDX^ ^>`b;49b9(˜?f;4Yb[ ibnf6dj6js?j?b5i>bK,;b4AbSg;4l nBpSv@1"vCvZCompleted keepstation:SurfaceComms:setTransit!zCzvAggregate::uninitialize keepstation:SurfaceComms:setTransitq"zDzrAggregate::initialize keepstation:SurfaceComms:setStation"zrSx I   iA9AINU2= 1aԩ ΑF,i5;GA969$@6,@Y6i\ʼy6~>6H;??@Ϳ``J? ݵJ??;? 69$@6_;)4^8^aIj8 Ij‚:rrC rH=yrQ r>٥tt vVDtz) z>x;49z.˜?%;4YzǨ iz[%5!%6%lf?%?z>zd;zG;Az[g;41 5B1q"]D]vAggregate::uninitialize keepstation:SurfaceComms:setStation"e"eEelAggregate::initialize keepstation:SurfaceComms:setSink1#erSaI iAAN==qԡ) 4= 9ՑF,UGA9J9H@JP@YJqyJ>JH A=?8?ҿq/? 뾿s?#?@_? J9H@Jb;)JCby&fj@Aj@AI uI o: a= 9=yb =Q %>٥)) 5VDqq >;496˜?;4YΥ iO56]??5?3:BAcg;4 B B 7E"}E}pAggregate::uninitialize keepstation:SurfaceComms:setSink1#}B}DCompleted keepstation:SurfaceComms1!} B}`Aggregate::uninitialize keepstation:SurfaceCommsrSyI i>GAAN>9 Q 6ۑF,oGA96Ԧ@6O@Y6B6H@?@?ҿ*o u?@7,?`\? 6Ԧ@6#d;)4! F)+}' }!)}I"i'"&%$ aMaM aQaQ aUaU aIaI a-a- x&1RQпX9v?A=)Iy ףp= ^I +?^I +?Q8X9>X> nB)i|BIBiB BIH I:-¥ -=yV=Q >٥    VD I >;498˜?%;4Y i%T:%>%;%z?E? ?1;;Pz;4Q UBQF]JCompleted keepstation:StartingMissionq#eFefAggregate::uninitialize keepstation:StartingMission1)e RedAggregate::initialize keepstation:TransitToStationq)eRenAggregate::initialize keepstation:TransitToStation:Dive) SrAggregate::initialize keepstation:TransitToStation:Dive:A)S:Initialize WaypointComponent.SZNavigating to waypoint: 36.903000,-122.110550rSI i D ۂ:F =F =! >G <A A N >F,GAi<9Z@Z)ã@YZo:yZl>ZH9?@FA?8Qп@4hOt? Q?s?@? 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[?¿3? 'J? 6>'>6<:];)60CBIABPHIJ4<)Jp;IJJIJ)4= D=yK:Q >٥ %@E!%^ %>)549-uC?54Y-R; i-d™1==?-g#C-;-;-4A EI6i>Y6=y6QB>6HǗ?`GBֿ@??@;e?`Z¿`?J? 6#>6"P];)4RAR|HIVSIV4^!= bP=yb:Q b>٥dd f@Edfb f>hn49jYrC?r4Yj*= ijd™prr?j{#Cj;j;j4t v%:˶>Y:=y:A>:H?ֿ@E?9l?ho?¿`Ƿ@?TK? :U` >:9];):2CBABHID)DHJA]only read 1 of 4 data items for bottom velocity. Device response is::BS, -196 +3,A aMe@ae aQe@ae aUe@ae aIe@ae ImOIm 4 ג=  7=y? :Q >٥ @E >!-49%nC?-4Y%B? i% e5+:15,;55?%#C% ;%>%49 E%>6@>Y68=y6l-A>6H?տo?h%>6\];)6.CdjAjH ppIrJIr)4z]= z^=yz̹Q ~>٥|| ~@E > 49 kC?4Y @ i We : ;K? #C ; "Q? H!4! %;B!2U9U9T9T9rSAɝU8=IQ)YYIY YYYaiaAyANV=A G,rA96:>6>Y6[=y6T-A>6H?@տن? =?`i?*¿`? /L? 6:>6Hg];)4N;ARHIVDIV3^= bN=ybq8Q b>٥`d f@Edf+ f>hn49jhC?n4YjB ijer9pr:rxr?j#Cj;jf?j$4t v;Bx92UUTTrSɝ[=I)I iA AANM=i)؁ ؁ԑ 5G, ӪrArdArHvp٥11 5@E15 5>9E49="eC?E4Y=D i=eM9IM:IM?=#C=E:=?=(4Q U;Bԙ2U U T T rS ɝAIA)IIII IIIqiqAAN=9 G,rA i"<9>R>>>Y>h=y> B>>HH? }Oտ@H? ?@?ow¿X ?@K? >R>>x];)>/CJAJHIL)LIRYIR4Z= ZR=yZXQ Z>٥\\ ^@E\bV b>dj49faC?j4YfF if fj9hj:jn?f#Cf:fO@f{*4p r;Bp2UxU|T|T|rS|ɝh=I)I !i!A9AQN]4=Aԁԙ GG,erA96>6>Y6Q=y6cB>6H?`տ@D#?+i??t¿"`?}K? 6>6];)61CNARMHaM}aM} aQ}aQ} aU}aU aIaI i|?5?S㥛Ŀ/$q=$)IyI +?㥛 ¿v/9<xi &LB)I@Bi.B 8BI]I$4z= <=y*Q >٥饱 @E >49!dC?4YG i2fT:">;D?#C0;~:24 |;B2UUTTrSɝ Q=I )  I iA1AANM=qԡ qG,drA96 >6>Y6)x=y6-C>6H^?3Կ@1?"?D?¿+綿 '?cK? 6 >6 ];)6-CN-ARyHIP)PTTIZHIZ<3b.= bZ=ybQ f>٥dd f@EdjoJ j>lr49nfC?r4Yn"I inRf™prɍr?n#Cn;n;n84| X;B 2UUTTrSɝ)x=I)I iA A9NE=) ZG,BsAI)9:I>:>Y:q=y:jC>:HW?@SԿ;?@?@?zÿ .?`K? :I>:O];):/CBMAFH HHINLIN4Z= ^K=yfa Q j>٥hl n@ElnM r>pv49rhC?v4YrjJ irvf™xz[z?r $Cr:ry:r?4| H;B2UUTTrSɝ5q=I1)11I1 199AiAAYAqN=I)C -G)A Y)Uоy9@Yԉ ^G,j,sA4``iA%HI-PI- 4eW= m@=ymQ m>٥qq u@Equ u>49#jC?4YK if™?$C::"G4 :;B2UUTTrSɝI)I YiYAAN=ԉԹ kG,EsA9J=J>YJn=yJvC>JH7?dӿ #???`<{ÿ@浿 B?L? J=JWB];)J.C`jAjHn%=inp=)n= n=IrcIry/4z= zR=y~Q ~>٥ @E$ > 49 lC?4Y L i f™ ? )$C ; ; M4! %!;B)2U9U9T9TArSAɝ]n=IY)YYIY aaaaiiAANW=A ڕG,_sAi<965|=6e>Y6!߭=y6+D>6H,?Pӿ@??@?`ÿ5H?+M? 65|=6P];)60CNARςH1eMb?kt:ve=e 0eԽ)aIaye~jt?/$ÿ"~jeD٥饑 @E?A >49mC?4YWN if™A>;?7$C::RU4 ;B2UUTTrSɝ!߭=I)I iAA!N5=Iyԡ G,\ysA96=6>Y6=y6D>6H`9? ӿ?P?4?0ÿT3D? M? 6=6f ];)6*CBABHIJKIJ4R= RZ=yV2Q V>٥TT V@EXZ)M Z>\b49^nC?b4Y^O i^.g™df=f?^C$C^l;^:^[4h j;Bl2UtUtTtTxrSxɝ =I )  I  iA1AANM,=yԡ G,UsA9>w=>ƣ>Y>lЫ=y>\]C>>H`E?Nҿ&? ?@J?ݺÿs/?`O? >w=>>\;)>,CFAJHIH)HNANAIV>IV3^= ^I=y^ɒQ ^>٥`` b@E`f. f>hj49j:pC?n4YjP ijhg™lnr?jQ$Cju ;j ;jb4vB v:BvYE2U|UTTrSɝlЫ=I)!!I! !!!)i)AAAQNe7=1aԉԹ G,gbsAI)96a-=6>Y6=y6nB>6H`TP? 5ҿ@w?!? ?`յÿ@"\ ?`P? 6a-=6 ];)6-Cn"AnH ttIv`Iv(*4~:< F=y dQ >٥    @E  * >%49qC?%4Y2R ig™)-8-?^$C1;t2;/j41 5:B12UIUITITIrSIɝe=Ii)iiIi iiiqiqAAN^=ԑ)ؕ= ؕ< G,=sA96==6䕟>Y6=y6YA>6HDZ?@Rҿ3U? ?`z?ÿ@hJK?Q? 6==6\;)6+CN_AR5HIVNIV@ 4^= bO=yb3Q b>٥`d f@Edf f>hn49jrC?n4YjzS ijg™prr?jk$Cj3;j;jq4t v:Bt2UUTTrSɝ=I)I iA A)N5=!I G,sA 9:T=:>Y:<=y:5[A>:Hc?ҿ?:? S? ?@ÿ=A@v?@R? :T=:T\;):/C^fAb9Hb=ib=)f= fa=Ei|?5MbL7A`EE@E+)AIAyE~jt/$EEE1 A)AIE>BiAAEf7BII< 9=yQ >٥ @EZ >49rC?4YT ih™;>; ɿ ?w$C::x4 :B2U)U)T)T)rS)ɝE<=II)IIII IIIQiYAiAN=iԙ G,NsAip<9B̬=Bй>YB,=yBqA>BHm?ѿ(??#?ÿ`P?? PR? 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Rj?RRUe;)R C}E!}TI\4Iz92< _=yQ,Q >٥饡 E& >+59?+5YNϸ i$@9\;}@OD ;K?ۊ+5 BrSK<PPPPPPII iC C D5x:AIAYNm=ԉԹ G,!,A9JZ?J||?YJ:PyJ#y>JH'ӿ d,Z?`?`1 Կ՜? {??? JZ?Jb;)JCVDV|`I%| I%9e9< eN=ym=Q m>٥iq uEqu7< u>+59+?+5Yoϸ i!@92;}@OD:?e+5 BrSK<P P P P PPI!I! !!!)i)Dmvy:AyAN=A \=G,;,A9>,?>?Y> iy>W>>Hbҿ?@-?[ҿH9? `=? ?`dJ? >,?>*!a;)> CJxJ)J= J=VParsing RMC sentence: $GPRMC,002625.00,A,3654.11507,N,12206.58779,W,0.428,95.10,020725,,,A*4B iVV@,A9V#?YV yVF& rsB@-^^hGPS fix at 20250702T002625: (36.901918, -122.109797)Vwa>Vt?If.mIf9nW nT=yn=Q r>٥pp rEpv` v>x~}@zOD~}@zB~}@9z#B}@Yz̰@"=yzAJ=;49z#?;4Yz tIiz 9  ; I ?zzdd;z?z>g;4|B ˓B4E%MFix residual: 4.9 %DT, over the last 830.1 m. Residual distance 41.0 m at bearing 130.4 degrees. Fix at (36.9019, -122.1098) with 64.5 m made good.rS-K<=EPAPAPAPAPAPEQIQIQ QQQYiaDy:AAN=Iqԡ I9 )= ?A)G,~U,Aq9m?m?YmI:ymV>mH`ѿ) ??`п`Zn?_@%? 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BT’@B- [;)B7CJ`BPC1A got IPBS message with 6 sticks (min is 7).)LIN_ALɰL LɱPPRDiPPiPP)T TIT T)TɲTTXXɳZ`AiXIX\I\i\ \\)\ٯ`fBf%HIn'In@3v vc=yvh̺Q v>٥x| ~E|~u ~> }490b-? }4Yj i?BD;;(`}4 +!B12U9U9T9T9rSAɝfI)@ m:I iaDu!9AAN^>ԉԹ ߚ.G,AA96@6q@Y6(*y6B>6H?G?Lȿ`#p?5: ő?`2?k? 6@6[;)66C-B5"HIEIE[3U^ UD=yUӺQ U>٥YY ]EYe7 e>im}49m d-?u}4Ym) \5G,(A9j@j䮙@YjE“yj\B>jH?H?xOȿ\?lC?x?``3?`j? j@j [;)j7C~B~$H)a= p=J +I +?V-?Ƚ9=m=)Iykt?٥ ER >}49"e-?}4Yj i = 6< mj ?BK ; ;}}4 ,!B2U)U1T1T1rS1ɝME“II)M@Ug:IQ QQQYiYDB9A!A1NEs>Iy O;G,A6jH\?J? Pȿ-? b?/?0?j? j,@j}[;)hEBEHIU%IU)3e mS=ym9Q m>٥qq uEqu" u>}A}A}49f-?}4Yk iQj?BW:;}4 5!B2UUTTrSɝÜQI)]D@]j:IY YYYaiaDIAaAN=ԁԩ BG,R A9JO@J@YJ֠yJгB>JH@5?K?@mPȿ@ ~?g?? /?j? 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B ; ; ~4! %"B!2U9U9T9T9rSAɝU%IY)]@]c:IY Yaaaii)D]E9AqAN_>Qԁ UG,)A96J@6+S@Y63y6B>6H r3?tP?XȿA@1?@?\?/?`:j? 6J@6t\;)67CBBBHIJIJ#3R  RO=yVuQ V>٥TT VETZG Z>\b~49^-?b~4Y^?g i^տ`b%f?^B^:^A;^~4h j)"Bh2UpUtTtTtrStYɝ3I)@qc:I iԉD39AANg>Ա TG,CA96<@64E@Y6Ἶy6B>6Hij?_Q? \ȿQ̉?Ā?ח?@3?`j? 6<@6\;)65C^B^٠Hb=ib<)f= f=IjIj[3r  rF=yrQ r>٥tt vEtz z>x~49z؍-?~4Yz[g izӿ&?zBz;z@;z'~4 8"B2U!U)T)T)rS)ɝEἾIA)E@E9e:II IIIQiQԹDME9AaAqN}=9 x G,]A i"p<9>|2@>:@Y>y>gC>>Hq?Q?cȿ`@8?6?`G֗?L;?`i? >|2@>Jp\;)>6CJBJ H!rh rh?Mb?lC<=)IyS㥛?Q?/<\= /B)Ii=BI5I53E0 ED=yE6Q E>٥II MEIMF U>Qe~49UM-?e~4YUSg iUϿe=e0e?UBU:U:U~4q uJ"Bq2UUTTrSɝI)@b:I iI) <D=A9AQAaNmW>iԙ |3G,^wA96(@6H1@Y6"4y6B>6H3%?@R? _ȿ@?ρ??7?@i? 6(@6PS\;)4BBBHIJIJ 3r\ rQ=yr3 Q r>٥tt vEtvC z>x~~49z-?~4YzLg iz̿P>?z!Bz;z;zc~4  `"B2U)U)T1T1rS1ɝM"4II)MK@U=d:IQ QQQYiYqԡD=e9AIAaNi _G,9A96@6X(@Y6ﶿy6TC>6Hݲ?٥TX ZEXZ[4 Z>\b~49^,-?b~4Y^Eg i^OȿdfIP>f?^$B^:^:^=~4h j["Bh2UtUtTtTtrSxɝﶿI)@b:I iD9A1AANMR>) DG,AI)@9:@: @Y:iy:C>:Hʛ? 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Jg? 6n@6ũ];)6CBABHIJ.IJ3R R RN=yV:Q V>٥TT VEXZm; Z>\b49^=??b4Y^7 i^A`f>f?^C&C^`:^S:^64h jq4Bh2UtUtTtTtrStɝ>!I )  I    iA)A9NM*=)Y)}< yԉ 5u%H,Օ A0I)@9]n@]|@Y] y]LC>]H - ? @,)t? ?@?xg? ]n@]\;)]CuAuH=)\(̿Q?&1?=Ga=(\>=P=)9I9y=:vK7?V-?=Խ=I >=m= 9)9I9i999IU8IU3eP e1=ye:Q e>٥ii mEiu,; u>y}49}??4Y}7 i}9A9>;F?}V&C}A:}I:}F4 4B2UUTTrSɝ I)I iAAN =ԉԱ ^{%H,> A96n@6|@Y6{y6"C>6H} ?<1?@?@;?g? 6n@6-\;)6CBCalculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 4.>xH>_Ai<)>GI>xAJFailed to receive data from all sticks prior to timeout. 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H??a? >:/N@>';)>GCrbAr HIz<)xIzBIz6% -C=y5#:Q 5>٥11 5D5<#D=_; =>AM49EJ?M4YE$ iEAIU7U?ECEg:E:EF4]B ]zmB]ESmNReached waypoint: 36.903000,-122.110550)mSu>Uninitialize WaypointComponent.1*uTqTyrTyZTyrSy 靕bI)_IۚP TW=iGAAN=1Y StF,9!A96SDN@62U\@Y6}@y6=6H ?Wҿ ad~?&?f?? 6SDN@6ˊ;)6FC^aAb HIfKIf6\ K=yaQ >٥! %D%O#D%cR; %>)549-J?54Y-Y i-A9=7=?-C-Y;-;-I4A EmBAUU@1*Uq*U1(] P]jAggregate::initialize keepstation:DiveCmd:StationKeepq(](] Q]Initialize.(]Q]@Initialize KeepStationComponent.1(e(e2Ue(eUiTmAq(mTm@&mMmxAggregate::uninitialize keepstation:DiveCmd:TransitToStation1'm NmAggregate::uninitialize keepstation:DiveCmd:TransitToStation:diveq'uNu@Uninitialize Buoyancy Component.'u'uOuUninitialize.rSqɝ}@I).̒8I /ri1GAAN=aԉԹ EzF,H!A96DN@6U\@Y6y6&=6H?E`qҿ*a?? w?? 6DN@6E;)6ICRcbAR5 HIT)TVAT-%C?X9v-<-T -qB))I-bBi-eB)-zdBIIa= A=yQ >٥饹 Dc#D8 >49J?4Y5 iAl>:0?C:C ;4 bmBEUq*RLCompleted keepstation:TransitToStation1) RhAggregate::uninitialize keepstation:TransitToStationq)RrAggregate::uninitialize keepstation:TransitToStation:Dive) SvAggregate::uninitialize keepstation:TransitToStation:Dive:A* UVAggregate::initialize keepstation:OnStation2UUTTrSɝI)-I! %%!!i)bGEZGErGEjGEԑGAANF>-F,"A$IX)X9vH3N@v'D\@Yvyv=vH G?QA?`iҿb`? A??@? vH3N@v+;)vGC3bA H IEIq6=E EA=yEVQ E>٥EM MDIM& M>q}49uMJ?}4Yu iuA1?uCu:u:u#4 nmB2UUTTrS1 4VAggregate::initialize keepstation:NeedComms 5@Initialize GoToSurfaceComponent.5HReceived depth rate setting nan m/s.5RReceived pitch setting 19.999999 degrees.5HReceived speed setting 1.000000 m/s.5jReceived surface timeout setting 1000.000000 seconds. 5No altitude timeout specified. 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F u@F^;)F4CRx"RXaMuaM} aQ}aQ} aU}aU} aI}aI} aM}@a} aQ}@a} aU}@a} aI}@a} } rhտ/$#~j?}}&}=)yIyi}Mb@Mb@Mb@yyy y)yIyi}ގBy}BIMIW: <=y.=Q >٥饩 D= >4937?4Yp iz.A89k?ID;@@Ph4 B2UUTTrSK<PPPPPP I I  iDEP:AYAiNu=IY)Y 9 XF,s@A9:u@:J@Y:@M:y:*>:H@!@'?  :(jV?৉P E?? :u@: ^;):3C^E!bT``IjIjq}:rKK; rX=yrQQ v>٥tt vDtzf; z>|49~67?4Y~ i~E.A89  ?~OD~N;~W@~h4 2U)U-T)T)rS-K<PPPPPPII !i!DP:A!A1NE=Iqԡ B#F,G@A96Jt@6w@Y6 y6q6>6H>{?@B@q"@Q`t??`?{y? 6Jt@6U^;)65C^&^7bMT Queue status failed to be acquired within timeout. Will not retry this session.`ib4<)f,> f=Ij\Ij(m:r] rJ=yvyQ v>٥tt vDtz4$ z>|49~A7?4Y~ i~.A[8 [9 O ?~UD~:~H@~Li4 B2U!U%T!T)rS-K<P9P9P9P=P9P=IIIII IIIQiYyD5Q:AIAYNe= G GyA)Ey,Aԡ j)F,N@A96:t@6 r@Y6 y6LW>6H E?%V¿n/@?b? ?F? 6:t@6T^;)63CVCalculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.a b >H>_Ai>)>ݪGI>xAfFailed to receive data from all sticks prior to timeout. 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Vy@V:`;)TbwbfAAfAAIj;Iji:rh= rJ=yvgQ v>٥tt zDxz< z>|49~N7?4Y~ i~g+A  G@ ?~yD~N:~:~~4 B2U)U-T)T)rS-K<P9P9P9PEPAPEIIIIQ QQQQiYD(S:AAN=ԑԹ IF,b(AA9>y@>R@Y>n>>HM? @M?ٿ=?`? >y@>;`;) ~R=I1I]: ' G=y=Q >٥ D%H< %>!-49%7?54Y% i%*A9=@=?%D%";%@#;%4A EBA2UQUUTYTYrS]K<PaPiPiPmPiPmyIyIy yyyiD 1S:AA)N==9 PF,BAA96x@6=b@Y6n$y6t>6H'>` ?`I@S`;??L?'? 6x@6Vb;)61CN4RuIZIZc:bӼ bP=yb7MQ b>٥dd fDdjF j>lr49nw7?r4Yn in *Apr@r?nDn;n;n֌4x zBx2UUTTrS K<PPPPPYPII iDS:AAN=Ym>im>yԱ VF,x}\AA96z@6e{@Y6ky6_;>6H`[Rr?@Jf``H?M?Q?r? 6z@6q`;)64CBx BXĹ {GzĿ+ηktƿ # v  0) I y kt?"~j?  = S L= ) LBI Bi B  ܋BI%I%-F:-;= 5D=y5[Q 5>٥19 =D9== E>AM49EW7?U4YE iE?*AU>U;UEU?EDE3:E:E%4a mBmŸEԹ2UUTTrSK<P P P P P P 9I9I9 9AAAiIDHT:A!A9NE=ԡ) = = \F,ZvAA96\{@6@Y6]*y6>6HC 3?ɿf5?J??.? 6\{@6b;)4n&n7I9)=AAAIEIEW:v E=y⳼Q >٥饉 D; >4927?4Y ig*AF?D:$:f4 B2UUTTrSK<PPPPPPII iDQT:AAN%=ԑԹ DcF,H5AA96Gz@6@Y6y6K>6HQ#?@ſgv?ܸ?`[?? 6Gz@6ǂb;)6/CNCR.I5]=I5i:el= eL=ymܵQ m>٥ii uDqu)# u>y49}A7?4Y}( i}*AqG?}D}:}:}c4 B2UUTTrSK<PPPPPPII iDET:AYAiN}=Ia)a9i jF,AA 2PExceeded connect timeout, disconnecting.9>|@>[@Y>Ry>KX>>H`? AÿDT߿}k?Z??O?? >|@>qH`;)>2C^b`b@Ab@AIjIjA:rF! rS=yr=Q v>٥tt vDtz-= z>|49~|7?4Y~D i~*AfD?~D~;~Y;~&4 B2U!U%T!T!rS-K<P1P1P1P=P9P=AIIII IIIQiQD-T:AAAQNe=iԙ pF,AA9:'|@:]@Y: y:)>:H?`T@a< ?a?$?`t? :'|@:_;):1CF+FĉJ=iJ<)N= Na=PIRIR<:Z ZM=y^ =Q ^>٥`` bD`bv f>dj49fw7?j4Yfb if*AlnDn?fDff;f/;f4p rBt2UxU~T|T|rS~K<P P P P P P II! !!!!i)D=rU:AIAaN=I t>) C G  yA)} 7y A) XwF,~AA`.߱?l? ?`8? 6z@6R+a;)65C\\vonly read 0 of 1 data item for BIT error. Device response is::TS,25070115204211,35.0 0.0,1502.8, 0 aMv@av aQv@av aUv@av aIz@az |IzIzY:ymRQ m>٥ii mDiu-O u>49lr7?4Y| i;+A+:;E?Dn:g>54 2UUTTrSK<PPPPPP)I)I) )))YiYDU:AAN=)e >ia ]nManaging dock network, ignoring radio surface power offQԁ C}F,AA96 6}@6r@Y6y6=6H Wg?n)㪴?@>?_?1? 6 6}@6a;)60CBz.BZ$ Z%)Z(IZiZ+ZZ$Z ^# ^*)^Ib'\Ibm:j\ j٥lp rDpr= r>tz49vm7?z4Yv ivz+Az :x~i;~BY}?vDvF6H"/?``ÿ`ni߿;? ? ?uc? 6}@62(`;)63CBz2B}ID)DDFAIJ"IJ-:R  RM=yVy٥TX ZDXZo< Z>\b49^h7?b4Y^ i^+Af9df=;fBf?^D^<:^?^F4h jBh2UpUvTtTtrSvK<P|P|P|P~P|P~ I I  iԹDV:A)A9NM=!9 gUF,W+BA9>|@>m^@Y>y>.>>HRI?0ο`^߿??%?? >|@>c;)>4CJJI}IU:E}= E@=yM=Q M>٥IQ UDQU U>Ye49]c7?e4Y] i]+Am9im;mSDm?]D]:]w?]x4q }By2UUTTrSK<PPPPPPII QiYD-W:AAAaNm=Ia)e?AAiԙ 6H@9p?cϿғ ޿dl?.?`?@? 6L}}@6Id;)62CV#VHZAAXbParsing RMC sentence: $GPRMC,231937.00,A,3654.14839,N,12206.61108,W,0.758,131.18,010725,,,A*7A ibb@BA9b(7?Ybג yb,=sB@C ^jhGPS fix at 20250701T231937: (36.902473, -122.110185)b>b@Ir Ir:v zP=yzcQ z>٥|| ~D|= > ?  D? C? 9 A? 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