*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 F4‰w0Initializing 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" 8‰wDCreated PCaller Thread at 404514E09‰wDProtected caller Thread ID is 4421ƿ9‰whComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" :‰wDCreated PCaller Thread at 404814E0;‰wDProtected caller Thread ID is 4422*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 ƿ?‰wvSyncComponent "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 ƿS‰wdComponent "CommandExec" handled in its own thread.*n code=0009 name="CommandExec ThreadHandler" S‰wDCreated PCaller Thread at 404B14E0T‰wDProtected caller Thread ID is 4423*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 ƿX‰wdComponent "CommandLine" handled in its own thread.*n code=000B name="CommandLine ThreadHandler" Y‰wDCreated PCaller Thread at 404E14E0Y‰wDProtected caller Thread ID is 4424*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 ƿ\‰wZComponent "logger" handled in its own thread.*n code=000D name="logger ThreadHandler" \‰wDCreated PCaller Thread at 405114E0]‰wDProtected caller Thread ID is 4425*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 ƿa‰wtSyncComponent "LogSplitter" handled in the control thread.Na‰w\Looking for Config files in directory: Config/Nc‰wROpening 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 Iv‰w 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 ix‰w /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 y‰w443*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 |‰w*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 ~‰w 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 ‰w000000000000000*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 ‰w*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 )‰wTethysEncryptionƿÉwLLoaded Config Component "Config/secureN ÉwROpening 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 IÉw*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 i!Éw*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 %Éw/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 (Éw*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 +Éw*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 .Éwu=*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 0Éw*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 )3Éw*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 I5Éw*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 i7Éw*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 9Éw*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 <Éw*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 >Éw*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 AÉwA*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 CÉw*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 )FÉw*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 IHÉw*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 iJÉw*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 MÉw*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 OÉw*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 QÉw*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 TÉw?*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 VÉw*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 )XÉw*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 IZÉw*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]Éwshutdown*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 _Éw @*e code=009C elementURI="BackseatComponent.verbosity" type=01 *a code=0035 owner=0010 element=009C universal=3FFF unitName="count" type=0D size=0004 fl=05 aÉw*e code=009D elementURI="BackseatComponent.alwaysOn" type=01 *a code=0036 owner=0010 element=009D universal=3FFF unitName="bool" type=02 size=0001 fl=05 dÉw*e code=009E elementURI="BackseatComponent.needs24v" type=01 *a code=0037 owner=0010 element=009E universal=3FFF unitName="bool" type=02 size=0001 fl=05 fÉw*e code=009F elementURI="BackseatComponent.poTimeout" type=01 *a code=0038 owner=0010 element=009F universal=3FFF unitName="second" type=0B size=0003 fl=05 iÉwA*e code=00A0 elementURI="BackseatComponent.missionCritical" type=01 *a code=0039 owner=0010 element=00A0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )kÉw*e code=00A1 elementURI="BioacousticsDataBridge.loadAtStartup" type=01 *a code=003A owner=0010 element=00A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 InÉw*e code=00A2 elementURI="BPC1.loadAtStartup" type=01 *a code=003B owner=0010 element=00A2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iqÉw*e code=00A3 elementURI="BPC1.simulateHardware" type=01 *a code=003C owner=0010 element=00A3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 sÉw*e code=00A4 elementURI="BPC1.batteryMissingStickThreshold" type=01 *a code=003D owner=0010 element=00A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 vÉw*e code=00A5 elementURI="BPC1.batteryMuxCycleTime" type=01 *a code=003E owner=0010 element=00A5 universal=3FFF unitName="minute" type=0B size=0003 fl=05 zÉwD*e code=00A6 elementURI="BPC1.batterySamplingInterval" type=01 *a code=003F owner=0010 element=00A6 universal=3FFF unitName="hour" type=0B size=0003 fl=05 }ÉwaE*e code=00A7 elementURI="BPC1.batteryStickCommsTimeout" type=01 *a code=0040 owner=0010 element=00A7 universal=3FFF unitName="hour" type=0B size=0003 fl=05 ÉwF*e code=00A8 elementURI="BPCW.loadAtStartup" type=01 *a code=0041 owner=0010 element=00A8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )Éw*e code=00A9 elementURI="BPCW.simulateHardware" type=01 *a code=0042 owner=0010 element=00A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IÉw*e code=00AA elementURI="BPCW.batterySamplingInterval" type=01 *a code=0043 owner=0010 element=00AA universal=3FFF unitName="minute" type=0B size=0003 fl=05 iÉw4C*e code=00AB elementURI="BPCW.batteryStickCommsTimeout" type=01 *a code=0044 owner=0010 element=00AB universal=3FFF unitName="minute" type=0B size=0003 fl=05 ÉwD*e code=00AC elementURI="BR_Ping1D.loadAtStartup" type=01 *a code=0045 owner=0010 element=00AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 Éw*e code=00AD elementURI="BR_Ping1D.interval" type=01 *a code=0046 owner=0010 element=00AD universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 Éw?*e code=00AE elementURI="BR_Ping1D.simulateHardware" type=01 *a code=0047 owner=0010 element=00AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 Éw*e code=00AF elementURI="BR_Ping1D.verbosity" type=01 *a code=0048 owner=0010 element=00AF universal=3FFF unitName="count" type=0D size=0004 fl=05 Éw*e code=00B0 elementURI="BR_Ping1D.minRange" type=01 *a code=0049 owner=0010 element=00B0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ) Éw*e code=00B1 elementURI="BR_Ping1D.maxRange" type=01 *a code=004A owner=0010 element=00B1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I ÉwA*e code=00B2 elementURI="BR_Ping1D.soundSpeed" type=01 *a code=004B owner=0010 element=00B2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 i ÉwD*e code=00B3 elementURI="BR_Ping1D.autoMode" type=01 *a code=004C owner=0010 element=00B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Éw*e code=00B4 elementURI="BR_Ping1D.gainIndex" type=01 *a code=004D owner=0010 element=00B4 universal=3FFF unitName="count" type=0D size=0004 fl=05 Éw*e code=00B5 elementURI="BR_Ping1D.minConfidence" type=01 *a code=004E owner=0010 element=00B5 universal=3FFF unitName="percent" type=0B size=0003 fl=05 Éw?*e code=00B6 elementURI="BR_Ping1D.pingEnable" type=01 *a code=004F owner=0010 element=00B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Éw*e code=00B7 elementURI="BR_Ping1D.writeUniversal" type=01 *a code=0050 owner=0010 element=00B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Éw*e code=00B8 elementURI="DataOverHttps.loadAtStartup" type=01 *a code=0051 owner=0010 element=00B8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) Éw*e code=00B9 elementURI="DataOverHttps.simulateHardware" type=01 *a 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fl=05 \ʼnwף=*e code=0146 elementURI="PNI_TCM.readMagnetics" type=01 *a code=00DF owner=0010 element=0146 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ^ʼnw*e code=0147 elementURI="PNI_TCM.rollOffset" type=01 *a code=00E0 owner=0010 element=0147 universal=3FFF unitName="degree" type=2F size=0004 fl=05 `ʼnw*e code=0148 elementURI="PNI_TCM.verbosity" type=01 *a code=00E1 owner=0010 element=0148 universal=3FFF unitName="count" type=0D size=0004 fl=05 )cʼnw*e code=0149 elementURI="Radio_Surface.loadAtStartup" type=01 *a code=00E2 owner=0010 element=0149 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ieʼnw*e code=014A elementURI="Radio_Surface.simulateHardware" type=01 *a code=00E3 owner=0010 element=014A universal=3FFF unitName="bool" type=02 size=0001 fl=05 igʼnw*e code=014B elementURI="Radio_Surface.manageDockNetwork" type=01 *a code=00E4 owner=0010 element=014B universal=3FFF unitName="bool" type=02 size=0001 fl=05 jʼnw*e code=014C elementURI="Radio_Surface.power" type=01 *a code=00E5 owner=0010 element=014C universal=3FFF unitName="watt" type=0B size=0003 fl=05 lʼnw`@*e code=014D elementURI="RDI_Pathfinder.loadAtStartup" type=01 *a code=00E6 owner=0010 element=014D universal=3FFF unitName="bool" type=02 size=0001 fl=05 nʼnw*e code=014E elementURI="RDI_Pathfinder.simulateHardware" type=01 *a code=00E7 owner=0010 element=014E universal=3FFF unitName="bool" type=02 size=0001 fl=05 qʼnw*e code=014F elementURI="RDI_Pathfinder.usePD6" type=01 *a code=00E8 owner=0010 element=014F universal=3FFF unitName="bool" type=02 size=0001 fl=05 sʼnw*e code=0150 elementURI="RDI_PathfinderUp.loadAtStartup" type=01 *a code=00E9 owner=0010 element=0150 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )uʼnw*e code=0151 elementURI="RDI_PathfinderUp.simulateHardware" type=01 *a code=00EA owner=0010 element=0151 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ixʼnw*e code=0152 elementURI="Rowe_600.loadAtStartup" type=01 *a code=00EB owner=0010 element=0152 universal=3FFF unitName="bool" type=02 size=0001 fl=05 izʼnw*e code=0153 elementURI="Rowe_600.simulateHardware" type=01 *a code=00EC owner=0010 element=0153 universal=3FFF unitName="bool" type=02 size=0001 fl=05 |ʼnw*e code=0154 elementURI="Rowe_600.acousticBlankingDistance" type=01 *a code=00ED owner=0010 element=0154 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ʼnw?*e code=0155 elementURI="Rowe_600.altitudeAccuracy" type=01 *a code=00EE owner=0010 element=0155 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ʼnw#<*e code=0156 elementURI="Rowe_600.bottomTrackVelocityAccuracy" type=01 *a code=00EF owner=0010 element=0156 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ʼnw;*e code=0157 elementURI="Rowe_600.headingOffset" type=01 *a code=00F0 owner=0010 element=0157 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ʼnwI?*e code=0158 elementURI="Rowe_600.maxSpeed" type=01 *a code=00F1 owner=0010 element=0158 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )ʼnw?*e code=0159 elementURI="Rowe_600.numberOfBeams" type=01 *a code=00F2 owner=0010 element=0159 universal=3FFF unitName="count" type=0D size=0004 fl=05 Iʼnw*e code=015A elementURI="Rowe_600.numberOfBins" type=01 *a code=00F3 owner=0010 element=015A universal=3FFF unitName="count" type=0D size=0004 fl=05 iʼnw*e code=015B elementURI="Rowe_600.pausePeriod" type=01 *a code=00F4 owner=0010 element=015B universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 ʼnw>*e code=015C elementURI="Rowe_600.pitchOffset" type=01 *a code=00F5 owner=0010 element=015C universal=3FFF unitName="degree" type=2F size=0004 fl=05 ʼnw*e code=015D elementURI="Rowe_600.rollOffset" type=01 *a code=00F6 owner=0010 element=015D universal=3FFF unitName="degree" type=2F size=0004 fl=05 ʼnw*e code=015E elementURI="Rowe_600.sampleTime" type=01 *a code=00F7 owner=0010 element=015E universal=3FFF unitName="second" type=0B size=0003 fl=05 ʼnwpA*e code=015F elementURI="Rowe_600.verbosity" type=01 *a code=00F8 owner=0010 element=015F universal=3FFF unitName="count" type=0D size=0004 fl=05 ʼnw*e code=0160 elementURI="Rowe_600.waterReferenceLayerBin" type=01 *a code=00F9 owner=0010 element=0160 universal=3FFF unitName="count" type=0D size=0004 fl=05 )ʼnw*e code=0161 elementURI="Rowe_600.waterTrackVelocityAccuracy" type=01 *a code=00FA owner=0010 element=0161 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 IʼnwL=*e code=0162 elementURI="Rowe_600.writeAmplitudeProfile" type=01 *a code=00FB owner=0010 element=0162 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iʼnw*e code=0163 elementURI="Rowe_600.writeBeamVelocityProfile" type=01 *a code=00FC owner=0010 element=0163 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=0164 elementURI="Rowe_600.writeCorrelationProfile" type=01 *a code=00FD owner=0010 element=0164 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=0165 elementURI="Rowe_600.writeEarthVelocityProfile" type=01 *a code=00FE owner=0010 element=0165 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=0166 elementURI="Rowe_600.writeGoodBeamPingsProfile" type=01 *a code=00FF owner=0010 element=0166 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=0167 elementURI="Rowe_600.writeGoodEarthPingsProfile" type=01 *a code=0100 owner=0010 element=0167 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=0168 elementURI="Rowe_600.writeInstrumentVelocityProfile" type=01 *a code=0101 owner=0010 element=0168 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ) ʼnw*e code=0169 elementURI="Rowe_600.writeRawEnsemble" type=01 *a code=0102 owner=0010 element=0169 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I ʼnw*e code=016A elementURI="SCPI.loadAtStartup" type=01 *a code=0103 owner=0010 element=016A universal=3FFF unitName="bool" type=02 size=0001 fl=05 i ʼnw*e code=016B elementURI="SCPI.simulateHardware" type=01 *a code=0104 owner=0010 element=016B universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=016C elementURI="SCPI.sampleTime" type=01 *a code=0105 owner=0010 element=016C universal=3FFF unitName="second" type=0B size=0003 fl=05 ʼnwC*e code=016D elementURI="Sonardyne_Nano.loadAtStartup" type=01 *a code=0106 owner=0010 element=016D universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=016E elementURI="Sonardyne_Nano.simulateHardware" type=01 *a code=0107 owner=0010 element=016E universal=3FFF unitName="bool" type=02 size=0001 fl=05 ʼnw*e code=016F elementURI="Sonardyne_Nano.chargeMin" type=01 *a code=0108 owner=0010 element=016F universal=3FFF unitName="percent" type=0B size=0003 fl=05 !ʼnw3s?*e code=0170 elementURI="Sonardyne_Nano.chargeMax" type=01 *a code=0109 owner=0010 element=0170 universal=3FFF unitName="percent" type=0B size=0003 fl=05 )!ʼnw?*e code=0171 elementURI="TrnDataBridge.loadAtStartup" type=01 *a code=010A owner=0010 element=0171 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I!ʼnw*e code=0172 elementURI="TrnDataBridge.simulateHardware" type=01 *a code=010B owner=0010 element=0172 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i!ʼnw*e code=0173 elementURI="TrnDataBridge.trn_lcm_channel" type=01 *a code=010C owner=0010 element=0173 universal=3FFF unitName="none" type=00 size=0004 fl=05 !ʼnw.TRN*e code=0174 elementURI="Waterlinked.loadAtStartup" type=01 *a code=010D owner=0010 element=0174 universal=3FFF unitName="bool" type=02 size=0001 fl=05 !ʼnw*e code=0175 elementURI="Waterlinked.simulateHardware" type=01 *a code=010E owner=0010 element=0175 universal=3FFF unitName="bool" type=02 size=0001 fl=05 !ʼnwƿƉwLLoaded Config Component "Config/SensorN ƉwNOpening Config file at: Config/Dock.cfg*n code=0011 name="Config/Dock" *e code=0176 elementURI="Dock.lat" type=01 *a code=010F owner=0011 element=0176 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 !5Ɖwmp$?*e code=0177 elementURI="Dock.lon" type=01 *a code=0110 owner=0011 element=0177 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 "7Ɖw*e code=0178 elementURI="Dock.depth" type=01 *a code=0111 owner=0011 element=0178 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )":ƉwA*e code=0179 elementURI="Dock.transponderCode" type=01 *a code=0112 owner=0011 element=0179 universal=3FFF unitName="count" type=0D size=0004 fl=05 I"<Ɖw*e code=017A elementURI="Docked.dockingDepthOffset" type=01 *a code=0113 owner=0011 element=017A universal=3FFF unitName="meter" type=0B size=0003 fl=05 i"@Ɖw@*e code=017B elementURI="Docked.dockRange" type=01 *a code=0114 owner=0011 element=017B universal=3FFF unitName="meter" type=0B size=0003 fl=05 "DƉwA*e code=017C elementURI="Docked.dockPitch" type=01 *a code=0115 owner=0011 element=017C universal=3FFF unitName="degree" type=2F size=0004 fl=05 "ZƉw*e code=017D elementURI="Docked.detachTimeout" type=01 *a code=0116 owner=0011 element=017D universal=3FFF unitName="second" type=0B size=0003 fl=05 "^ƉwA*e code=017E elementURI="Docked.dockTimeout" type=01 *a code=0117 owner=0011 element=017E universal=3FFF unitName="second" type=0B size=0003 fl=05 "mƉwA*e code=017F elementURI="Docked.dataTimeout" type=01 *a code=0118 owner=0011 element=017F universal=3FFF unitName="second" type=0B size=0003 fl=05 #pƉwD*e code=0180 elementURI="Docked.rangeTimeout" type=01 *a code=0119 owner=0011 element=0180 universal=3FFF unitName="second" type=0B size=0003 fl=05 )#sƉwD*e code=0181 elementURI="Docked.verbose" type=01 *a code=011A owner=0011 element=0181 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I#vƉw*e code=0182 elementURI="LineCapture.midcourseSpeed" type=01 *a code=011B owner=0011 element=0182 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 i#zƉwL?*e code=0183 elementURI="LineCapture.midcourseDepth" type=01 *a code=011C owner=0011 element=0183 universal=3FFF unitName="meter" type=0B size=0003 fl=05 #}ƉwHB*e code=0184 elementURI="LineCapture.midcourseTimeout" type=01 *a code=011D owner=0011 element=0184 universal=3FFF unitName="hour" type=0B size=0003 fl=05 #ƉwF*e code=0185 elementURI="LineCapture.terminalRange" type=01 *a code=011E owner=0011 element=0185 universal=3FFF unitName="meter" type=0B size=0003 fl=05 #Ɖw"D*e code=0186 elementURI="LineCapture.acousticTimeout" type=01 *a code=011F owner=0011 element=0186 universal=3FFF unitName="minute" type=0B size=0003 fl=05 #ƉwC*e code=0187 elementURI="LineCapture.armRange" type=01 *a code=0120 owner=0011 element=0187 universal=3FFF unitName="meter" type=0B size=0003 fl=05 $ƉwpB*e code=0188 elementURI="LineCapture.armSpeed" type=01 *a code=0121 owner=0011 element=0188 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )$ƉwL?*e code=0189 elementURI="LineCapture.lockoutRange" type=01 *a code=0122 owner=0011 element=0189 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I$Ɖw@@*e code=018A elementURI="LineCapture.shortFinalRange" type=01 *a code=0123 owner=0011 element=018A universal=3FFF unitName="meter" type=0B size=0003 fl=05 i$ƉwA*e code=018B elementURI="LineCapture.interceptTimeout" type=01 *a code=0124 owner=0011 element=018B universal=3FFF unitName="second" type=0B size=0003 fl=05 $Ɖw4B*e code=018C elementURI="LineCapture.latchDelayTimeout" type=01 *a code=0125 owner=0011 element=018C universal=3FFF unitName="second" type=0B size=0003 fl=05 $Ɖw*e code=018D elementURI="LineCapture.rolloutDistance" type=01 *a code=0126 owner=0011 element=018D universal=3FFF unitName="meter" type=0B size=0003 fl=05 $ƉwB*e code=018E elementURI="LineCapture.rolloutSpeed" type=01 *a code=0127 owner=0011 element=018E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 $Ɖw?*e code=018F elementURI="LineCapture.rolloutTimeout" type=01 *a code=0128 owner=0011 element=018F universal=3FFF unitName="minute" type=0B size=0003 fl=05 %ƉwC*e code=0190 elementURI="LineCapture.rolloutMaxTimeout" type=01 *a code=0129 owner=0011 element=0190 universal=3FFF unitName="minute" type=0B size=0003 fl=05 )%ƉwD*e code=0191 elementURI="LineCapture.kpHeadingTerminalGuidance" type=01 *a code=012A owner=0011 element=0191 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 I%ƉwL?*e code=0192 elementURI="LineCapture.kiHeadingTerminalGuidance" type=01 *a code=012B owner=0011 element=0192 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 i%Ɖw;*e code=0193 elementURI="LineCapture.kpHeadingFinalApproach" type=01 *a code=012C owner=0011 element=0193 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 %ƉwL?*e code=0194 elementURI="LineCapture.kiHeadingFinalApproach" type=01 *a code=012D owner=0011 element=0194 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 %Ɖw;*e code=0195 elementURI="LineCapture.navigationGain" type=01 *a code=012E owner=0011 element=0195 universal=3FFF unitName="none" type=1F size=0008 fl=05 %Ɖw@*e code=0196 elementURI="LineCapture.verbose" type=01 *a code=012F owner=0011 element=0196 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %Ɖw*e code=0197 elementURI="LineCapture.searchTimeout" type=01 *a code=0130 owner=0011 element=0197 universal=3FFF unitName="minute" type=0B size=0003 fl=05 &ƉwD*e code=0198 elementURI="LineCapture.searchCircleRadius" type=01 *a code=0131 owner=0011 element=0198 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )&ƉwzD*e code=0199 elementURI="LineCapture.openLoopFlyby" type=01 *a code=0132 owner=0011 element=0199 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I&Ɖw*e code=019A elementURI="LineCapture.numHeadingUpdatesFlyby" type=01 *a code=0133 owner=0011 element=019A universal=3FFF unitName="count" type=0D size=0004 fl=05 i&Ɖw*e code=019B elementURI="SetNav.dockRange" type=01 *a code=0134 owner=0011 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=05 &Ɖw*e code=019C elementURI="SetNav.rangeTimeout" type=01 *a code=0135 owner=0011 element=019C universal=3FFF unitName="minute" type=0B size=0003 fl=05 &ƉwC*e code=019D elementURI="Undock.undockDepth" type=01 *a code=0136 owner=0011 element=019D universal=3FFF unitName="meter" type=0B size=0003 fl=05 &Ɖw@*e code=019E elementURI="Undock.undockRange" type=01 *a code=0137 owner=0011 element=019E universal=3FFF unitName="meter" type=0B size=0003 fl=05 &Ɖw A*e code=019F elementURI="Undock.undockTimeout" type=01 *a code=0138 owner=0011 element=019F universal=3FFF unitName="second" type=0B size=0003 fl=05 'ƉwA*e code=01A0 elementURI="Undock.reverseThrustTimeout" type=01 *a code=0139 owner=0011 element=01A0 universal=3FFF unitName="second" type=0B size=0003 fl=05 )'Ɖw A*e code=01A1 elementURI="Undock.verbose" type=01 *a code=013A owner=0011 element=01A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I'Ɖwƿ2ljwHLoaded Config Component "Config/DockN3ljwROpening Config file at: Config/Sample.cfg*n code=0012 name="Config/Sample" NljwVOpening Config file at: Config/workSite.cfg*n code=0013 name="Config/workSite" *e code=01A2 elementURI="Config/workSite.initLat" type=00 *a code=013B owner=0013 element=01A2 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 i'ljw=3?*e code=01A3 elementURI="Config/workSite.initLon" type=00 *a code=013C owner=0013 element=01A3 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 'ljw|χ*e code=01A4 elementURI="Config/workSite.startupScript" type=00 *a code=013D owner=0013 element=01A4 universal=3FFF unitName="none" type=00 size=0013 fl=05 'ljwMissions/Startup.tl*e code=01A5 elementURI="Config/workSite.defaultScript" type=00 *a code=013E owner=0013 element=01A5 universal=3FFF unitName="none" type=00 size=0013 fl=05 'ljwMissions/Default.tl*e code=01A6 elementURI="Config/workSite.beacon1Address" type=00 *a code=013F owner=0013 element=01A6 universal=3FFF unitName="count" type=1F size=0008 fl=05 'ljw i@*e code=01A7 elementURI="Config/workSite.beacon1Lat" type=00 *a code=0140 owner=0013 element=01A7 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 (ljwG|; ?*e code=01A8 elementURI="Config/workSite.beacon1Lon" type=00 *a code=0141 owner=0013 element=01A8 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )(ljwtg!Eu*e code=01A9 elementURI="Config/workSite.beacon1Depth" type=00 *a code=0142 owner=0013 element=01A9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I(ljw9@*e code=01AA elementURI="Config/workSite.beacon2Address" type=00 *a code=0143 owner=0013 element=01AA universal=3FFF unitName="count" type=1F size=0008 fl=05 i(ljw@i@*e code=01AB elementURI="Config/workSite.beacon2Lat" type=00 *a code=0144 owner=0013 element=01AB universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 (ljwN攧?*e code=01AC elementURI="Config/workSite.beacon2Lon" type=00 *a code=0145 owner=0013 element=01AC universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 (ljw~I*e code=01AD elementURI="Config/workSite.beacon2Depth" type=00 *a code=0146 owner=0013 element=01AD universal=3FFF unitName="meter" type=1F size=0008 fl=05 (ljw9@*e code=01AE elementURI="Config/workSite.beacon3Address" type=00 *a code=0147 owner=0013 element=01AE universal=3FFF unitName="count" type=1F size=0008 fl=05 (ljw`i@*e code=01AF elementURI="Config/workSite.beacon3Lat" type=00 *a code=0148 owner=0013 element=01AF universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )ljwN攧?*e code=01B0 elementURI="Config/workSite.beacon3Lon" type=00 *a code=0149 owner=0013 element=01B0 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ))ljwv*e code=01B1 elementURI="Config/workSite.beacon3Depth" type=00 *a code=014A owner=0013 element=01B1 universal=3FFF unitName="meter" type=1F size=0008 fl=05 I)ljw9@ƿDȉwPLoaded Config Component "Config/workSiteNEȉwVOpening Config file at: Config/Guidance.cfg*n code=0014 name="Config/Guidance" *e code=01B2 elementURI="Waypoint.wptRecalcBearing" type=01 *a code=014B owner=0014 element=01B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i)cȉwƿȉwPLoaded Config Component "Config/GuidanceNȉwZOpening Config file at: Config/Estimation.cfg*n code=0015 name="Config/Estimation" *e code=01B3 elementURI="StratificationFrontDetector.loadAtStartup" type=01 *a code=014C owner=0015 element=01B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )ȉw*e code=01B4 elementURI="StratificationFrontDetector.temperatureFront" type=01 *a code=014D owner=0015 element=01B4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )ȉw*e code=01B5 elementURI="StratificationFrontDetector.salinityFront" type=01 *a code=014E owner=0015 element=01B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )ȉw*e code=01B6 elementURI="StratificationFrontDetector.highWaterMark" type=01 *a code=014F owner=0015 element=01B6 universal=3FFF unitName="count" type=0D size=0004 fl=05 )ȉw*e code=01B7 elementURI="StratificationFrontDetector.threshold_VTHI" type=01 *a code=0150 owner=0015 element=01B7 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *ȉwƈC*e code=01B8 elementURI="StratificationFrontDetector.threshold_VSHI" type=01 *a code=0151 owner=0015 element=01B8 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 )*ȉw8*e code=01B9 elementURI="StratificationFrontDetector.verbosity" type=01 *a code=0152 owner=0015 element=01B9 universal=3FFF unitName="count" type=0D size=0004 fl=05 I*ȉw*e code=01BA elementURI="DepAvgTempFrontDetector.loadAtStartup" type=01 *a code=0153 owner=0015 element=01BA universal=3FFF unitName="bool" type=02 size=0001 fl=05 i*ȉw*e code=01BB elementURI="DepAvgTempFrontDetector.cntThreshold" type=01 *a code=0154 owner=0015 element=01BB universal=3FFF unitName="count" type=0D size=0004 fl=05 *ȉw*e code=01BC elementURI="DepAvgTempFrontDetector.tempHoriGradThreshold" type=01 *a code=0155 owner=0015 element=01BC universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *ȉwC*e code=01BD elementURI="DepAvgTempFrontDetector.verbosity" 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fl=05 i+@ɉw *e code=01C3 elementURI="BuoyancyServo.limitLo" type=01 *a code=015C owner=0016 element=01C3 universal=3FFF unitName="count" type=0D size=0004 fl=05 +Cɉw*e code=01C4 elementURI="BuoyancyServo.overloadTimeout" type=01 *a code=015D owner=0016 element=01C4 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 +Gɉw A*e code=01C5 elementURI="BuoyancyServo.pidW" type=01 *a code=015E owner=0016 element=01C5 universal=3FFF unitName="count" type=0D size=0004 fl=05 +Iɉw*e code=01C6 elementURI="BuoyancyServo.pidX" type=01 *a code=015F owner=0016 element=01C6 universal=3FFF unitName="count" type=0D size=0004 fl=05 +Kɉw*e code=01C7 elementURI="BuoyancyServo.pidY" type=01 *a code=0160 owner=0016 element=01C7 universal=3FFF unitName="count" type=0D size=0004 fl=05 ,Nɉw *e code=01C8 elementURI="BuoyancyServo.powerOffTimeout" type=01 *a code=0161 owner=0016 element=01C8 universal=3FFF unitName="second" type=0B size=0003 fl=05 ),Rɉw?*e code=01C9 elementURI="BuoyancyServo.powerOnTimeout" type=01 *a code=0162 owner=0016 element=01C9 universal=3FFF unitName="second" type=0B size=0003 fl=05 I,UɉwL?*e code=01CA elementURI="BuoyancyServo.velocity" type=01 *a code=0163 owner=0016 element=01CA universal=3FFF unitName="none" type=1F size=0008 fl=05 i,Xɉw@*e code=01CB elementURI="BuoyancyServo.checkingTimeout" type=01 *a code=0164 owner=0016 element=01CB universal=3FFF unitName="minute" type=0B size=0003 fl=05 ,]ɉwaF*e code=01CC elementURI="BuoyancyServo.countsPerCC" type=01 *a code=0165 owner=0016 element=01CC universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=05 ,aɉw6*e code=01CD elementURI="BuoyancyServo.deviationVolume" type=01 *a code=0166 owner=0016 element=01CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ,dɉw'7*e code=01CE elementURI="BuoyancyServo.fastPumpCoefficient" type=01 *a code=0167 owner=0016 element=01CE universal=3FFF unitName="none" type=1F size=0008 fl=05 ,iɉw@*e code=01CF 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elementURI="DockingServo.deviationAngle" type=01 *a code=016E owner=0016 element=01D5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 -ɉw:*e code=01D6 elementURI="DockingServo.limitHi" type=01 *a code=016F owner=0016 element=01D6 universal=3FFF unitName="count" type=0D size=0004 fl=05 -ɉwa*e code=01D7 elementURI="DockingServo.limitLo" type=01 *a code=0170 owner=0016 element=01D7 universal=3FFF unitName="count" type=0D size=0004 fl=05 .ɉw*e code=01D8 elementURI="DockingServo.mtrCenter" type=01 *a code=0171 owner=0016 element=01D8 universal=3FFF unitName="count" type=0D size=0004 fl=05 ).ɉw *e code=01D9 elementURI="DockingServo.offsetAngle" type=01 *a code=0172 owner=0016 element=01D9 universal=3FFF unitName="degree" type=2F size=0004 fl=05 I.ɉw*e code=01DA elementURI="DockingServo.pidW" type=01 *a code=0173 owner=0016 element=01DA universal=3FFF unitName="count" type=0D size=0004 fl=05 i.ɉw*e code=01DB elementURI="DockingServo.pidX" type=01 *a code=0174 owner=0016 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i2ɉw?*e code=01FB elementURI="MassServo.limitHi" type=01 *a code=0194 owner=0016 element=01FB universal=3FFF unitName="count" type=0D size=0004 fl=05 2ɉw.*e code=01FC elementURI="MassServo.limitLo" type=01 *a code=0195 owner=0016 element=01FC universal=3FFF unitName="count" type=0D size=0004 fl=05 2ɉwY*e code=01FD elementURI="MassServo.overloadTimeout" type=01 *a code=0196 owner=0016 element=01FD universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 2ɉw?*e code=01FE elementURI="MassServo.powerOnTimeout" type=01 *a code=0197 owner=0016 element=01FE universal=3FFF unitName="second" type=0B size=0003 fl=05 2ɉwL?*e code=01FF elementURI="MassServo.velocity" type=01 *a code=0198 owner=0016 element=01FF universal=3FFF unitName="none" type=1F size=0008 fl=05 3ɉwA*e code=0200 elementURI="MassServo.deviationDistance" type=01 *a code=0199 owner=0016 element=0200 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 )3ʉwQ8*e code=0201 elementURI="MassServo.tksPerMM" type=01 *a code=019A owner=0016 element=0201 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=05 I3ʉwY&K*e code=0202 elementURI="MassServo.totalTks" type=01 *a code=019B owner=0016 element=0202 universal=3FFF unitName="count" type=0D size=0004 fl=05 i3 ʉw*e code=0203 elementURI="RudderServo.loadAtStartup" type=01 *a code=019C owner=0016 element=0203 universal=3FFF unitName="bool" type=02 size=0001 fl=05 3 ʉw*e code=0204 elementURI="RudderServo.simulateHardware" type=01 *a code=019D owner=0016 element=0204 universal=3FFF unitName="bool" type=02 size=0001 fl=05 3ʉw*e code=0205 elementURI="RudderServo.countsPerDeg" type=01 *a code=019E owner=0016 element=0205 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=05 3ʉwF*e code=0206 elementURI="RudderServo.currLimit" type=01 *a code=019F owner=0016 element=0206 universal=3FFF unitName="percent" type=0B size=0003 fl=05 3ʉw?*e code=0207 elementURI="RudderServo.deviationAngle" type=01 *a code=01A0 owner=0016 element=0207 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 4ʉwd:*e code=0208 elementURI="RudderServo.limitHi" type=01 *a code=01A1 owner=0016 element=0208 universal=3FFF unitName="count" type=0D size=0004 fl=05 )4ʉw?*e code=0209 elementURI="RudderServo.limitLo" type=01 *a code=01A2 owner=0016 element=0209 universal=3FFF unitName="count" type=0D size=0004 fl=05 I4ʉw*e code=020A elementURI="RudderServo.mtrCenter" type=01 *a code=01A3 owner=0016 element=020A universal=3FFF unitName="count" type=0D size=0004 fl=05 i4"ʉw*e code=020B elementURI="RudderServo.offsetAngle" type=01 *a code=01A4 owner=0016 element=020B universal=3FFF unitName="degree" type=2F size=0004 fl=05 4%ʉw*e code=020C elementURI="RudderServo.pidW" type=01 *a code=01A5 owner=0016 element=020C universal=3FFF unitName="count" type=0D size=0004 fl=05 4'ʉw*e code=020D elementURI="RudderServo.pidX" type=01 *a code=01A6 owner=0016 element=020D universal=3FFF unitName="count" type=0D size=0004 fl=05 4*ʉwd*e code=020E elementURI="RudderServo.pidY" type=01 *a code=01A7 owner=0016 element=020E universal=3FFF unitName="count" type=0D size=0004 fl=05 4-ʉw*e code=020F elementURI="RudderServo.powerOnTimeout" type=01 *a code=01A8 owner=0016 element=020F universal=3FFF unitName="second" type=0B size=0003 fl=05 50ʉwL?*e code=0210 elementURI="ThrusterHE.loadAtStartup" type=01 *a code=01A9 owner=0016 element=0210 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )55ʉw*e code=0211 elementURI="ThrusterHE.simulateHardware" type=01 *a code=01AA owner=0016 element=0211 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I57ʉw*e code=0212 elementURI="ThrusterHE.deviation" type=01 *a code=01AB owner=0016 element=0212 universal=3FFF unitName="count" type=0D size=0004 fl=05 i5;ʉw*e code=0213 elementURI="ThrusterHE.allowableBadVelocity" type=01 *a code=01AC owner=0016 element=0213 universal=3FFF unitName="count" type=0D size=0004 fl=05 5>ʉw*e code=0214 elementURI="ThrusterHE.ratedSpeed" type=01 *a code=01AD owner=0016 element=0214 universal=3FFF unitName="count" type=0D size=0004 fl=05 5AʉwX*e code=0215 elementURI="ThrusterHE.powerOnTimeout" type=01 *a code=01AE owner=0016 element=0215 universal=3FFF unitName="second" type=0B size=0003 fl=05 5Dʉw@*e code=0216 elementURI="ThrusterHE.bestEffortMode" type=01 *a code=01AF owner=0016 element=0216 universal=3FFF unitName="bool" type=02 size=0001 fl=05 5Fʉw*e code=0217 elementURI="ThrusterServo.loadAtStartup" type=01 *a code=01B0 owner=0016 element=0217 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6Iʉw*e code=0218 elementURI="ThrusterServo.simulateHardware" type=01 *a code=01B1 owner=0016 element=0218 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )6Kʉw*e code=0219 elementURI="ThrusterServo.accel" type=01 *a code=01B2 owner=0016 element=0219 universal=3FFF unitName="none" type=1F size=0008 fl=05 I6Oʉw?*e code=021A elementURI="ThrusterServo.currLimit" type=01 *a code=01B3 owner=0016 element=021A universal=3FFF 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)7fʉw*e code=0221 elementURI="ThrusterServo.deviation" type=01 *a code=01BA owner=0016 element=0221 universal=3FFF unitName="count" type=0D size=0004 fl=05 I7iʉw*e code=0222 elementURI="ThrusterServo.encoderTks" type=01 *a code=01BB owner=0016 element=0222 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=05 i7lʉwB*e code=0223 elementURI="ThrusterServo.tksPerRev" type=01 *a code=01BC owner=0016 element=0223 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=05 7pʉw@ƿʉwJLoaded Config Component "Config/ServoNʉwXOpening Config file at: Config/Simulator.cfg*n code=0017 name="Config/Simulator" *e code=0224 elementURI="ExternalSim.loadAtStartup" type=01 *a code=01BD owner=0017 element=0224 universal=3FFF unitName="bool" type=02 size=0001 fl=05 7ʉw*e code=0225 elementURI="ExternalSim.SimDaemonServer" type=01 *a code=01BE owner=0017 element=0225 universal=3FFF unitName="none" type=00 size=0016 fl=05 7ʉwtellum.shore.mbari.org*e code=0226 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element=046F universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 ׉w6;*e code=0470 elementURI="WetLabsSeaOWL_UV_A.scaleFactorFDOM" type=01 *a code=0409 owner=001D element=0470 universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 ) ׉wm-*e code=0471 elementURI="WetLabsSeaOWL_UV_A.scaleFactorOil" type=01 *a code=040A owner=001D element=0471 universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 I ׉wj@1*e code=0472 elementURI="WetLabsSeaOWL_UV_A.serial" type=01 *a code=040B owner=001D element=0472 universal=3FFF unitName="none" type=00 size=0000 fl=05 i׉w*e code=0473 elementURI="WetLabsSeaOWL_UV_A.timeout" type=01 *a code=040C owner=001D element=0473 universal=3FFF unitName="second" type=0B size=0003 fl=05 ׉wpA*e code=0474 elementURI="WetLabsUBAT.loadAtStartup" type=01 *a code=040D owner=001D element=0474 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ׉w*e code=0475 elementURI="WetLabsUBAT.simulateHardware" 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code=001E name="Config/Control" *e code=047B elementURI="HorizontalControl.loadAtStartup" type=01 *a code=0414 owner=001E element=047B universal=3FFF unitName="bool" type=02 size=0001 fl=05 }׉w*e code=047C elementURI="HorizontalControl.kdHeading" type=01 *a code=0415 owner=001E element=047C universal=3FFF unitName="second" type=0B size=0003 fl=05 ׉wL=*e code=047D elementURI="HorizontalControl.kiHeading" type=01 *a code=0416 owner=001E element=047D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 ɂ׉w:*e code=047E elementURI="HorizontalControl.kiwpHeading" type=01 *a code=0417 owner=001E element=047E universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 邿׉w:*e code=047F elementURI="HorizontalControl.kpHeading" type=01 *a code=0418 owner=001E element=047F universal=3FFF unitName="none" type=1F size=0008 fl=05 ׉w?*e code=0480 elementURI="HorizontalControl.kwpHeading" type=01 *a code=0419 owner=001E element=0480 universal=3FFF 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type=01 *a code=043D owner=001E element=04A4 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 5؉wA*e code=04A5 elementURI="VerticalControl.kiPitchElevator" type=01 *a code=043E owner=001E element=04A5 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 ɇ8؉w<*e code=04A6 elementURI="VerticalControl.kiPitchMass" type=01 *a code=043F owner=001E element=04A6 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 釿;؉w?*e code=04A7 elementURI="VerticalControl.kpDepth" type=01 *a code=0440 owner=001E element=04A7 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 =؉w\=*e code=04A8 elementURI="VerticalControl.kpDepthBuoy" type=01 *a code=0441 owner=001E element=04A8 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 )A؉w B*e code=04A9 elementURI="VerticalControl.kpDepthRateBuoy" type=01 *a code=0442 owner=001E element=04A9 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 ID؉wH*e code=04AA 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elementURI="VerticalControl.massFilterLimit" type=01 *a code=0449 owner=001E element=04B0 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )Z؉w*e code=04B1 elementURI="VerticalControl.massFilterWidth" type=01 *a code=044A owner=001E element=04B1 universal=3FFF unitName="second" type=0B size=0003 fl=05 I]؉wA*e code=04B2 elementURI="VerticalControl.massPositionLimitAft" type=01 *a code=044B owner=001E element=04B2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 i`؉w`*e code=04B3 elementURI="VerticalControl.massPositionLimitFwd" type=01 *a code=044C owner=001E element=04B3 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 c؉w`<*e code=04B4 elementURI="VerticalControl.massTurnTime" type=01 *a code=044D owner=001E element=04B4 universal=3FFF unitName="second" type=0B size=0003 fl=05 f؉wA*e code=04B5 elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *a code=044E owner=001E element=04B5 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 ɉi؉w9*e code=04B6 elementURI="VerticalControl.maxBuoyDiveRate" type=01 *a code=044F owner=001E element=04B6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 鉿l؉wL=*e code=04B7 elementURI="VerticalControl.maxBuoyInt" type=01 *a code=0450 owner=001E element=04B7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 o؉wQ9*e code=04B8 elementURI="VerticalControl.maxDepthInt" type=01 *a code=0451 owner=001E element=04B8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )r؉w¸>*e code=04B9 elementURI="VerticalControl.maxDiveAccel" type=01 *a code=0452 owner=001E element=04B9 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 Iu؉w:*e code=04BA elementURI="VerticalControl.maxDiveRate" type=01 *a code=0453 owner=001E element=04BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ix؉w>*e code=04BB elementURI="VerticalControl.maxPitchElevatorInt" type=01 *a code=0454 owner=001E element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 {؉w >*e code=04BC elementURI="VerticalControl.maxPitchMassInt" type=01 *a code=0455 owner=001E element=04BC universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 ~؉w<*e code=04BD elementURI="VerticalControl.maxPitchRate" type=01 *a code=0456 owner=001E element=04BD universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 Ɋ؉w=*e code=04BE elementURI="VerticalControl.minAscendPitch" type=01 *a code=0457 owner=001E element=04BE universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 銿؉w¸=*e code=04BF elementURI="VerticalControl.minDepthExcursion" type=01 *a code=0458 owner=001E element=04BF universal=3FFF unitName="meter" type=0B size=0003 fl=05 ؉w?*e code=04C0 elementURI="VerticalControl.pitchLimit" type=01 *a code=0459 owner=001E element=04C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )؉w ?*e code=04C1 elementURI="VerticalControl.pitchTimeoutGoToSurface" type=01 *a code=045A owner=001E element=04C1 universal=3FFF unitName="second" type=0B size=0003 fl=05 I؉wpB*e code=04C2 elementURI="VerticalControl.stopDepthExcursion" type=01 *a code=045B owner=001E element=04C2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 i؉w A*e code=04C3 elementURI="VerticalControl.stopOverrideDelay" type=01 *a code=045C owner=001E element=04C3 universal=3FFF unitName="minute" type=0B size=0003 fl=05 ؉wC*e code=04C4 elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *a code=045D owner=001E element=04C4 universal=3FFF unitName="minute" type=0B size=0003 fl=05 ؉wRD*e code=04C5 elementURI="VerticalControl.surfaceThreshold" type=01 *a code=045E owner=001E element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ɋ؉w?*e code=04C6 elementURI="VerticalControl.useElevIntInDepthMode" type=01 *a code=045F owner=001E element=04C6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 鋿؉w*e code=04C7 elementURI="VerticalControl.massOnlyForceInt" type=01 *a code=0460 owner=001E element=04C7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ؉wƿ؉wNLoaded Config Component "Config/ControlN؉wvLooking for Config files in directory: Config/lrauv-pontus/N؉wlOpening Config file at: Config/lrauv-pontus/secure.cfg ىwlrauv-pontus.shore.mbari.orgىw300234065069590 ىwsWcqQBHne08b8iGdNWىwlOpening Config file at: Config/lrauv-pontus/Sensor.cfgI?kىwimىw?nىw ?oىwI?qىwi?rىw)sىwI?uىwi?wىwxىw {ىw) |ىw ?~ىw ىw) ?ىwi ?ىw ىw B ?ىw ىwpB ?ىwI?ىwiىw?ىw?ىwىw@ ىw!%8)/ىwI/ىw?ىwىw ?ىw)ىw?ىwىwىw ىw )?ىwI?ىw?ىw ىw?ىwىw)ىw@Iىwqs**iىw|]ىwD &1ډwC&3ډwpB&4ډw@NzډwpOpening Config file at: Config/lrauv-pontus/workSite.cfgi'ډwǟ8?'ډw/'ډw!Missions/underIce/StartupUnder.tl'ډw&Missions/underIce/DefaultWithUndock.tlNډwjOpening Config file at: Config/lrauv-pontus/Servo.cfg*?ډw +ډwi+ډw%+ډw)-ډwQ9i/ډwL/ۉwt@/ۉw*i0?ۉw0ۉwi1?ۉw 2?ۉw)2ۉw3? ۉw3 ۉw4? ۉw 6? ۉw)6ۉwNTۉwrOpening Config file at: Config/lrauv-pontus/Simulator.cfg7?gۉw 8?kۉwNۉwlOpening Config file at: Config/lrauv-pontus/logger.cfgNG܉wnOpening Config file at: Config/lrauv-pontus/vehicle.cfgIR\܉wpontusiR^܉w R`܉wff66FF66Ra܉w9228Rb܉w177272Td܉w /dev/loadC4)Ue܉w /dev/ttyC4IU?g܉w)ah܉w /dev/loadC0Iai܉w/dev/mcp3553C0ia?j܉wa?l܉wa?m܉wZn܉w /dev/loadB0Zp܉w/dev/mcp3553B0Z?q܉w [?r܉w)[?s܉wibu܉w /dev/loadB1igv܉w /dev/loadC3gw܉w /dev/ttyC3N܉wnOpening Config file at: Config/lrauv-pontus/Battery.cfg*n code=001F name="Config/Battery" *e code=04C8 elementURI="Config/Battery.stick1" type=00 *a code=0461 owner=001F element=04C8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )܉w02AF*e code=04C9 elementURI="Config/Battery.stick2" type=00 *a code=0462 owner=001F element=04C9 universal=3FFF unitName="none" type=00 size=0004 fl=05 I܉w02A5*e code=04CA elementURI="Config/Battery.stick3" type=00 *a code=0463 owner=001F element=04CA universal=3FFF unitName="none" type=00 size=0004 fl=05 i܉w01F5*e code=04CB elementURI="Config/Battery.stick4" type=00 *a code=0464 owner=001F element=04CB universal=3FFF unitName="none" type=00 size=0004 fl=05 ܉w02CF*e code=04CC elementURI="Config/Battery.stick5" type=00 *a code=0465 owner=001F element=04CC universal=3FFF unitName="none" type=00 size=0004 fl=05 ܉w01D5*e code=04CD elementURI="Config/Battery.stick6" type=00 *a code=0466 owner=001F element=04CD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɍ܉w02BA*e code=04CE elementURI="Config/Battery.stick7" type=00 *a code=0467 owner=001F element=04CE universal=3FFF unitName="none" type=00 size=0004 fl=05 錿܉w02BB*e code=04CF elementURI="Config/Battery.stick8" type=00 *a code=0468 owner=001F element=04CF universal=3FFF unitName="none" type=00 size=0004 fl=05 ܉w022C*e code=04D0 elementURI="Config/Battery.stick9" type=00 *a code=0469 owner=001F element=04D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )܉w01D1*e code=04D1 elementURI="Config/Battery.stick10" type=00 *a code=046A owner=001F element=04D1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I܉w02AA*e code=04D2 elementURI="Config/Battery.stick11" type=00 *a code=046B owner=001F element=04D2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i܉w02C0*e code=04D3 elementURI="Config/Battery.stick12" type=00 *a code=046C owner=001F element=04D3 universal=3FFF unitName="none" type=00 size=0004 fl=05 ܉w0218*e code=04D4 elementURI="Config/Battery.stick13" type=00 *a code=046D owner=001F element=04D4 universal=3FFF unitName="none" type=00 size=0004 fl=05 ܉w01C7*e code=04D5 elementURI="Config/Battery.stick14" type=00 *a code=046E owner=001F element=04D5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɍ܉w0204*e code=04D6 elementURI="Config/Battery.stick15" type=00 *a code=046F owner=001F element=04D6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鍿܉w02CE*e code=04D7 elementURI="Config/Battery.stick16" type=00 *a code=0470 owner=001F element=04D7 universal=3FFF unitName="none" type=00 size=0004 fl=05 ݉w0200*e code=04D8 elementURI="Config/Battery.stick17" type=00 *a code=0471 owner=001F element=04D8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )݉w01D3*e code=04D9 elementURI="Config/Battery.stick18" type=00 *a code=0472 owner=001F element=04D9 universal=3FFF unitName="none" type=00 size=0004 fl=05 I݉w0275*e code=04DA elementURI="Config/Battery.stick19" type=00 *a code=0473 owner=001F element=04DA universal=3FFF unitName="none" type=00 size=0004 fl=05 i ݉w02C4*e code=04DB elementURI="Config/Battery.stick20" type=00 *a code=0474 owner=001F element=04DB universal=3FFF unitName="none" type=00 size=0004 fl=05 ݉w02C7*e code=04DC elementURI="Config/Battery.stick21" type=00 *a code=0475 owner=001F element=04DC universal=3FFF unitName="none" type=00 size=0004 fl=05 ݉w022E*e code=04DD elementURI="Config/Battery.stick22" type=00 *a code=0476 owner=001F element=04DD universal=3FFF unitName="none" type=00 size=0004 fl=05 Ɏ݉w02C1*e code=04DE elementURI="Config/Battery.stick23" type=00 *a code=0477 owner=001F element=04DE universal=3FFF unitName="none" type=00 size=0004 fl=05 鎿݉w0227*e code=04DF elementURI="Config/Battery.stick24" type=00 *a code=0478 owner=001F element=04DF universal=3FFF unitName="none" type=00 size=0004 fl=05 ݉w0281*e code=04E0 elementURI="Config/Battery.stick25" type=00 *a code=0479 owner=001F element=04E0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )݉w028D*e code=04E1 elementURI="Config/Battery.stick26" type=00 *a code=047A owner=001F element=04E1 universal=3FFF unitName="none" type=00 size=0004 fl=05 I݉w02C2*e code=04E2 elementURI="Config/Battery.stick27" type=00 *a code=047B owner=001F element=04E2 universal=3FFF unitName="none" type=00 size=0004 fl=05 i!݉w01DD*e code=04E3 elementURI="Config/Battery.stick28" type=00 *a code=047C owner=001F element=04E3 universal=3FFF unitName="none" type=00 size=0004 fl=05 $݉w02CC*e code=04E4 elementURI="Config/Battery.stick29" type=00 *a code=047D owner=001F element=04E4 universal=3FFF unitName="none" type=00 size=0004 fl=05 '݉w01CD*e code=04E5 elementURI="Config/Battery.stick30" type=00 *a code=047E owner=001F element=04E5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɏ*݉w029E*e code=04E6 elementURI="Config/Battery.stick31" type=00 *a code=047F owner=001F element=04E6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鏿-݉w022B*e code=04E7 elementURI="Config/Battery.stick32" type=00 *a code=0480 owner=001F element=04E7 universal=3FFF unitName="none" type=00 size=0004 fl=05 1݉w021A*e code=04E8 elementURI="Config/Battery.stick33" type=00 *a code=0481 owner=001F element=04E8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )4݉w01A2*e code=04E9 elementURI="Config/Battery.stick34" type=00 *a code=0482 owner=001F element=04E9 universal=3FFF unitName="none" type=00 size=0004 fl=05 I7݉w0285*e code=04EA elementURI="Config/Battery.stick35" type=00 *a code=0483 owner=001F element=04EA universal=3FFF unitName="none" type=00 size=0004 fl=05 i:݉w0239*e code=04EB elementURI="Config/Battery.stick36" type=00 *a code=0484 owner=001F element=04EB universal=3FFF unitName="none" type=00 size=0004 fl=05 =݉w01FC*e code=04EC elementURI="Config/Battery.stick37" type=00 *a code=0485 owner=001F element=04EC universal=3FFF unitName="none" type=00 size=0004 fl=05 @݉w023B*e code=04ED elementURI="Config/Battery.stick38" type=00 *a code=0486 owner=001F element=04ED universal=3FFF unitName="none" type=00 size=0004 fl=05 ɐC݉w01D2*e code=04EE elementURI="Config/Battery.stick39" type=00 *a code=0487 owner=001F element=04EE universal=3FFF unitName="none" type=00 size=0004 fl=05 鐿F݉w0207*e code=04EF elementURI="Config/Battery.stick40" type=00 *a code=0488 owner=001F element=04EF universal=3FFF unitName="none" type=00 size=0004 fl=05 I݉w0263*e code=04F0 elementURI="Config/Battery.stick41" type=00 *a code=0489 owner=001F element=04F0 universal=3FFF unitName="none" type=00 size=0004 fl=05 )L݉w01ED*e code=04F1 elementURI="Config/Battery.stick42" type=00 *a code=048A owner=001F element=04F1 universal=3FFF unitName="none" type=00 size=0004 fl=05 IO݉w01E4*e code=04F2 elementURI="Config/Battery.stick43" type=00 *a code=048B owner=001F element=04F2 universal=3FFF unitName="none" type=00 size=0004 fl=05 iR݉w027A*e code=04F3 elementURI="Config/Battery.stick44" type=00 *a code=048C owner=001F element=04F3 universal=3FFF unitName="none" type=00 size=0004 fl=05 U݉w025E*e code=04F4 elementURI="Config/Battery.stick45" type=00 *a code=048D owner=001F element=04F4 universal=3FFF unitName="none" type=00 size=0004 fl=05 X݉w02BF*e code=04F5 elementURI="Config/Battery.stick46" type=00 *a code=048E owner=001F element=04F5 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɑ[݉w01C3*e code=04F6 elementURI="Config/Battery.stick47" type=00 *a code=048F owner=001F element=04F6 universal=3FFF unitName="none" type=00 size=0004 fl=05 鑿^݉w0248*e code=04F7 elementURI="Config/Battery.stick48" type=00 *a code=0490 owner=001F element=04F7 universal=3FFF unitName="none" type=00 size=0004 fl=05 a݉w0249*e code=04F8 elementURI="Config/Battery.stick49" type=00 *a code=0491 owner=001F element=04F8 universal=3FFF unitName="none" type=00 size=0004 fl=05 )d݉w01E2*e code=04F9 elementURI="Config/Battery.stick50" type=00 *a code=0492 owner=001F element=04F9 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ig݉w0254*e code=04FA elementURI="Config/Battery.stick51" type=00 *a code=0493 owner=001F element=04FA universal=3FFF unitName="none" type=00 size=0004 fl=05 ij݉w01AE*e code=04FB elementURI="Config/Battery.stick52" type=00 *a code=0494 owner=001F element=04FB universal=3FFF unitName="none" type=00 size=0004 fl=05 l݉w0209*e code=04FC elementURI="Config/Battery.stick53" type=00 *a code=0495 owner=001F element=04FC universal=3FFF unitName="none" type=00 size=0004 fl=05 o݉w0258*e code=04FD elementURI="Config/Battery.stick54" type=00 *a code=0496 owner=001F element=04FD universal=3FFF unitName="none" type=00 size=0004 fl=05 ɒr݉w01C4*e code=04FE elementURI="Config/Battery.stick55" type=00 *a code=0497 owner=001F element=04FE universal=3FFF unitName="none" type=00 size=0004 fl=05 钿u݉w0250*e code=04FF elementURI="Config/Battery.stick56" type=00 *a code=0498 owner=001F element=04FF universal=3FFF unitName="none" type=00 size=0004 fl=05 x݉w01C8*e code=0500 elementURI="Config/Battery.stick57" type=00 *a code=0499 owner=001F element=0500 universal=3FFF unitName="none" type=00 size=0004 fl=05 ){݉w0270*e code=0501 elementURI="Config/Battery.stick58" type=00 *a code=049A owner=001F element=0501 universal=3FFF unitName="none" type=00 size=0004 fl=05 I~݉w01EC*e code=0502 elementURI="Config/Battery.stick59" type=00 *a code=049B owner=001F element=0502 universal=3FFF unitName="none" type=00 size=0004 fl=05 i݉w022D*e code=0503 elementURI="Config/Battery.stick60" type=00 *a code=049C owner=001F element=0503 universal=3FFF unitName="none" type=00 size=0004 fl=05 ݉w01FD*e code=0504 elementURI="Config/Battery.stick61" type=00 *a code=049D owner=001F element=0504 universal=3FFF unitName="none" type=00 size=0004 fl=05 ݉w02A9*e code=0505 elementURI="Config/Battery.stick62" type=00 *a code=049E owner=001F element=0505 universal=3FFF unitName="none" type=00 size=0004 fl=05 ɓ݉w01E8ƿ݉wNLoaded Config Component "Config/BatteryN݉wtOpening Config file at: Config/lrauv-pontus/Navigation.cfg h݉wdh݉wdN-މwfOpening Config file at: Config/lrauv-pontus/BIT.cfgIo?މwioBމwWCoEމwC)qFމwrGމwg59ItIމw2.6.27.8itJމw'#1 PREEMPT Thu Feb 21 11:17:40 PST 2019NމwnOpening Config file at: Config/lrauv-pontus/Science.cfgt?މw uމwIu?މw)uމwu?މw v?މwv?މw wމwwމw@ xމw\()xމw3?Ixމwj\wlixމw!`#?xމwdOӰ¾xމw;On?{?މw{މw }މwUWQ9985 |މw2-)|މw|މw3:C|މweS.?}?މw}މwiމw bb2flmba-5407 ~މw2I~މw2i~މw'~މw+~މwG7 މw6)މwD<މwɁމw避މwUBAT0051 މw9)?މwN#߉wnOpening Config file at: Config/lrauv-pontus/Control.cfg)7߉w&w9 :߉w̒8鄿<߉w:Ʉ=߉ws: @߉w@;B߉w#=iD߉w9^߉wrReloading configuration overrides from Data/persisted.cfg*e code=0506 elementURI="CBIT.gf24Offset" type=01 *a code=049F owner=0004 element=0506 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 铿߉wg59I#߉w/߉wB@/߉w)߉wt߉wat߉w A$߉wI߉wpB4߉w5<߉w3?)߉w99 ߉w<߉wBLoading Module at Modules/Dock.soXwLoaded Module: Dock (Contains behaviors and commands for docking)XwHLoading Module at Modules/Control.so*n code=0020 name="VerticalControl" *e code=0507 elementURI="VerticalControl.enableBroadcast" type=02 *a code=04A0 owner=0020 element=0507 universal=3FFF unitName="bool" type=02 size=0001 fl=05 w4Construct VerticalControl.*e code=0508 elementURI="VerticalControl.verticalMode" type=02 *a code=04A1 owner=0020 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0509 elementURI="VerticalControl.depthCmd" type=02 *a code=04A2 owner=0020 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=050A elementURI="VerticalControl.depthRateCmd" type=02 *a code=04A3 owner=0020 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=050B elementURI="VerticalControl.pitchCmd" type=02 *a code=04A4 owner=0020 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=050C elementURI="VerticalControl.pitchRateCmd" type=02 *a code=04A5 owner=0020 element=050C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=050D elementURI="VerticalControl.buoyancyCmd" type=02 *a code=04A6 owner=0020 element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *e code=050E elementURI="VerticalControl.massPositionCmd" type=02 *a code=04A7 owner=0020 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=050F elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=04A8 owner=0020 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0510 elementURI="LoopControl.periodCmd" type=02 *a code=04A9 owner=0020 element=0510 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0511 elementURI="SpeedControl.speedCmd" type=02 *a code=04AA owner=0020 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04AB owner=0020 element=048D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04AC owner=0020 element=048E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04AD owner=0020 element=048F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04AE owner=0020 element=0490 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04AF owner=0020 element=0491 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04B0 owner=0020 element=0493 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04B1 owner=0020 element=0494 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04B2 owner=0020 element=0495 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=04B3 owner=0020 element=0496 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04B4 owner=0020 element=0497 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04B5 owner=0020 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fl=05 *e code=0515 elementURI="VerticalControl.dtInternal" type=02 *a code=04F0 owner=0020 element=0515 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0516 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=04F1 owner=0020 element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0517 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=04F2 owner=0020 element=0517 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0518 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=04F3 owner=0020 element=0518 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0519 elementURI="VerticalControl.pitchInternal" type=02 *a code=04F4 owner=0020 element=0519 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=051A elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=04F5 owner=0020 element=051A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04F6 owner=0020 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=051B elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=04F7 owner=0020 element=051B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=051C elementURI="VerticalControl.massPositionAction" type=02 *a code=04F8 owner=0020 element=051C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=051D elementURI="VerticalControl.buoyancyAction" type=02 *a code=04F9 owner=0020 element=051D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=04FA owner=0020 element=051B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04FB owner=0020 element=051C universal=3FFF unitName="meter" type=0B size=0003 fl=04 1wƿw|SyncComponent "VerticalControl" handled in the control thread.*n code=0021 name="HorizontalControl" *e code=051E elementURI="HorizontalControl.enableBroadcast" type=02 *a code=04FC owner=0021 element=051E universal=3FFF unitName="bool" type=02 size=0001 fl=05 w8Construct HorizontalControl.*e code=051F elementURI="HorizontalControl.horizontalMode" type=02 *a code=04FD owner=0021 element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0520 elementURI="HorizontalControl.latitudeCmd" type=02 *a code=04FE owner=0021 element=0520 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0521 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=04FF owner=0021 element=0521 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0522 elementURI="HorizontalControl.headingCmd" type=02 *a code=0500 owner=0021 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0523 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0501 owner=0021 element=0523 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=0524 elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=0502 owner=0021 element=0524 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0525 elementURI="HorizontalControl.bearingCmd" type=02 *a code=0503 owner=0021 element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0504 owner=0021 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0526 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=0505 owner=0021 element=0526 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0527 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=0506 owner=0021 element=0527 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=0528 elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=0507 owner=0021 element=0528 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0508 owner=0021 element=047C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0509 owner=0021 element=047D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=050A owner=0021 element=047F universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=050B owner=0021 element=0480 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=050C owner=0021 element=047E universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=050D owner=0021 element=0481 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=050E owner=0021 element=0482 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=050F owner=0021 element=0483 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0510 owner=0021 element=0484 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0511 owner=0021 element=0485 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0512 owner=0021 element=0486 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0513 owner=0021 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0514 owner=0021 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0515 owner=0021 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0516 owner=0021 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0517 owner=0021 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0529 elementURI="HorizontalControl.headingCmdInternal" type=02 *a code=0518 owner=0021 element=0529 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052A elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *a code=0519 owner=0021 element=052A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052B elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=051A owner=0021 element=052B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052C elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=051B owner=0021 element=052C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052D elementURI="HorizontalControl.xteInternal" type=02 *a code=051C owner=0021 element=052D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=052E elementURI="HorizontalControl.kxteInternal" type=02 *a code=051D owner=0021 element=052E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=052F elementURI="HorizontalControl.bearingInternal" type=02 *a code=051E owner=0021 element=052F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0530 elementURI="HorizontalControl.kpHeadingInternal" type=02 *a code=051F owner=0021 element=0530 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=0531 elementURI="HorizontalControl.kiHeadingInternal" type=02 *a code=0520 owner=0021 element=0531 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *e code=0532 elementURI="HorizontalControl.kdHeadingInternal" type=02 *a code=0521 owner=0021 element=0532 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0533 elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=0522 owner=0021 element=0533 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0523 owner=0021 element=0533 universal=3FFF unitName="radian" type=2F size=0004 fl=04 qwƿwSyncComponent "HorizontalControl" handled in the control thread.*n code=0022 name="SpeedControl" *e code=0534 elementURI="SpeedControl.enableBroadcast" type=02 *a code=0524 owner=0022 element=0534 universal=3FFF unitName="bool" type=02 size=0001 fl=05 w.Construct SpeedControl.*a code=0525 owner=0022 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0526 owner=0022 element=048A universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0527 owner=0022 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0535 elementURI="SpeedControl.propOmegaAction" type=02 *a code=0528 owner=0022 element=0535 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05  wƿ wvSyncComponent "SpeedControl" handled in the control thread.*n code=0023 name="LoopControl" *e code=0536 elementURI="LoopControl.enableBroadcast" type=02 *a code=0529 owner=0023 element=0536 universal=3FFF unitName="bool" type=02 size=0001 fl=05  w,Construct LoopControl.*a code=052A owner=0023 element=0510 universal=3FFF unitName="second" type=0B size=0003 fl=04  wƿ wtSyncComponent "LoopControl" handled in the control thread. wLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)wNLoading Module at Modules/Derivation.so*n code=0024 name="DepthRateCalculator" *e code=0537 elementURI="DepthRateCalculator.enableBroadcast" type=02 *a code=052B owner=0024 element=0537 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=052C owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0538 elementURI="DepthRateCalculator.depth_rate" type=00 *a code=052D owner=0024 element=0538 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 1 @wƿAwSyncComponent "DepthRateCalculator" handled in the control thread.*n code=0025 name="PitchRateCalculator" *e code=0539 elementURI="PitchRateCalculator.enableBroadcast" type=02 *a code=052E owner=0025 element=0539 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=052F owner=0025 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=053A elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=0530 owner=0025 element=053A universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 q FwƿFwSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0026 name="SpeedCalculator" *e code=053B elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=0531 owner=0026 element=053B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0532 owner=0026 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=053C elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *a code=0533 owner=0026 element=053C universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 Kw*e code=053D elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=0534 owner=0026 element=053D universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 Mw*e code=053E elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *a code=0535 owner=0026 element=053E universal=002E unitName="meter" type=0B size=0003 fl=05 Ow*a code=0536 owner=0026 element=02D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0537 owner=0026 element=048A universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 PwƿQw|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0027 name="YawRateCalculator" *e code=053F elementURI="YawRateCalculator.enableBroadcast" type=02 *a code=0538 owner=0027 element=053F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0539 owner=0027 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0540 elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=053A owner=0027 element=0540 universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 UwƿUwSyncComponent "YawRateCalculator" handled in the control thread.*n code=0028 name="ElevatorOffsetCalculator" *e code=0541 elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *a code=053B owner=0028 element=0541 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=053C owner=0028 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053D owner=0028 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053E owner=0028 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053F owner=0028 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0540 owner=0028 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0541 owner=0028 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0542 owner=0028 element=02E1 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0543 owner=0028 element=02E0 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0544 owner=0028 element=02E2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0545 owner=0028 element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0542 elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *a code=0546 owner=0028 element=0542 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0543 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=0547 owner=0028 element=0543 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0544 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=0548 owner=0028 element=0544 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0545 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=0549 owner=0028 element=0545 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0546 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=054A owner=0028 element=0546 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0547 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=054B owner=0028 element=0547 universal=3FFF unitName="meter" type=0B size=0003 fl=05 1 hwƿhwSyncComponent "ElevatorOffsetCalculator" handled in the control thread.iwLoaded Module: Derivation (Contains the base derivation components)iwHLoading Module at Modules/Trigger.sow|Loaded Module: Trigger (Contains triggers for use in missions)wNLoading Module at Modules/Estimation.sowLoaded Module: Estimation (Contains the base estimation components)wJLoading Module at Modules/Guidance.so wrLoaded Module: Guidance (Contains behaviors and commands) wLLoading Module at Modules/Simulator.sowLoaded Module: Simulator (This is the module containing the Simulator)wFLoading Module at Modules/Sensor.so*n code=0029 name="AHRS_M2" *e code=0548 elementURI="AHRS_M2.enableBroadcast" type=02 *a code=054C owner=0029 element=0548 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=054D owner=0029 element=0082 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0549 elementURI="AHRS_M2.component_voltage" type=02 *a code=054E owner=0029 element=0549 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=054A elementURI="AHRS_M2.component_avgVoltage" type=02 *a code=054F owner=0029 element=054A universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=054B elementURI="AHRS_M2.component_current" type=02 *a code=0550 owner=0029 element=054B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=054C elementURI="AHRS_M2.component_avgCurrent" type=02 *a code=0551 owner=0029 element=054C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=054D elementURI="AHRS_M2.component_discreteIn" type=02 *a code=0552 owner=0029 element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0553 owner=0029 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0554 owner=0029 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0555 owner=0029 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=054E elementURI="AHRS_M2.platform_magnetic_orientation" type=00 *a code=0556 owner=0029 element=054E universal=0032 unitName="radian" type=2F size=0004 fl=05 *e code=054F elementURI="AHRS_M2.platform_pitch_angle" type=00 *a code=0557 owner=0029 element=054F universal=0036 unitName="radian" type=2F size=0004 fl=05 *e code=0550 elementURI="AHRS_M2.platform_roll_angle" type=00 *a code=0558 owner=0029 element=0550 universal=003B unitName="radian" type=2F size=0004 fl=05 *e code=0551 elementURI="AHRS_M2.platform_orientation" type=00 *a code=0559 owner=0029 element=0551 universal=0034 unitName="radian" type=2F size=0004 fl=05 *e code=0552 elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003 *a code=055A owner=0029 element=0552 universal=0035 unitName="none" type=00 size=0000 fl=05 *e code=0553 elementURI="AHRS_M2.calibration_state" type=02 *a code=055B owner=0029 element=0553 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0554 elementURI="AHRS_M2.orientation_error" type=02 *a code=055C owner=0029 element=0554 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0555 elementURI="AHRS_M2.orientation" type=02 *a code=055D owner=0029 element=0555 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0556 elementURI="AHRS_M2.temperature" type=02 *a code=055E owner=0029 element=0556 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0557 elementURI="AHRS_M2.acceleration_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=055F owner=0029 element=0557 universal=3FFF unitName="meter_per_second_squared" type=00 size=0000 fl=05 *e code=0558 elementURI="AHRS_M2.angular_velocity_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=0560 owner=0029 element=0558 universal=3FFF unitName="radian_per_second" type=00 size=0000 fl=05 *e code=0559 elementURI="AHRS_M2.magnetic_field_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=0561 owner=0029 element=0559 universal=3FFF unitName="milligauss" type=00 size=0000 fl=05 *e code=055A elementURI="AHRS_M2.number_of_calbration_points" type=02 *a code=0562 owner=0029 element=055A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0563 owner=0029 element=0083 universal=3FFF unitName="none" type=00 size=002F fl=04 *a code=0564 owner=0029 element=0084 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0565 owner=0029 element=0085 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0566 owner=0029 element=0087 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0567 owner=0029 element=0088 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0568 owner=0029 element=0089 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0569 owner=0029 element=008A universal=3FFF unitName="count" type=0D size=0004 fl=04 q wƿwlSyncComponent "AHRS_M2" handled in the control thread.*n code=002A name="BackseatComponent" *e code=055B elementURI="BackseatComponent.enableBroadcast" type=02 *a code=056A owner=002A element=055B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=056B owner=002A element=0099 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=055C elementURI="BackseatComponent.component_voltage" type=02 *a code=056C owner=002A element=055C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=055D elementURI="BackseatComponent.component_avgVoltage" type=02 *a code=056D owner=002A element=055D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=055E elementURI="BackseatComponent.component_current" type=02 *a code=056E owner=002A element=055E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=055F elementURI="BackseatComponent.component_avgCurrent" type=02 *a code=056F owner=002A element=055F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0560 elementURI="BackseatComponent.component_discreteIn" type=02 *a code=0570 owner=002A element=0560 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0561 elementURI="BackseatComponent.handled_message" type=02 *a code=0571 owner=002A element=0561 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0562 elementURI="Power24vConverter.power24vConverter" type=02 *a code=0572 owner=002A element=0562 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0563 elementURI="BackseatComponent.power_backseat" type=02 *a code=0573 owner=002A element=0563 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0574 owner=002A element=0561 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0575 owner=002A element=009B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0576 owner=002A element=009A universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0577 owner=002A element=009C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0578 owner=002A element=009D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0579 owner=002A element=009E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=057A owner=002A element=009F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=057B owner=002A element=00A0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 $wƿ$wpComponent "BackseatComponent" handled in its own thread.*n code=002B name="BackseatComponent ThreadHandler" %wDCreated PCaller Thread at 409EA4E0%wDProtected caller Thread ID is 4513*n code=002C name="LcmUniversalReporter" *e code=0564 elementURI="LcmUniversalReporter.enableBroadcast" type=02 *a code=057C owner=002C element=0564 universal=3FFF unitName="bool" type=02 size=0001 fl=05 1 (wƿ)wSyncComponent "LcmUniversalReporter" handled in the control thread.*n code=002D name="BPC1" *e code=0565 elementURI="BPC1.enableBroadcast" type=02 *a code=057D owner=002D element=0565 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0566 elementURI="BPC1.reserve_battery_charge" type=02 *a code=057E owner=002D element=0566 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0567 elementURI="BPC1.reserve_battery_voltage" type=02 *a code=057F owner=002D element=0567 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0568 elementURI="BPC1.battery_charging_sticks" type=02 *a code=0580 owner=002D element=0568 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0569 elementURI="BPC1.platform_battery_charge" type=00 *a code=0581 owner=002D element=0569 universal=0023 unitName="ampere_hour" type=0B size=0003 fl=05 *e code=056A elementURI="BPC1.platform_battery_voltage" type=00 *a code=0582 owner=002D element=056A universal=0026 unitName="volt" type=0B size=0003 fl=05 *e code=056B elementURI="BPC1.platform_battery_discharging" type=00 *a code=0583 owner=002D element=056B universal=0028 unitName="bool" type=02 size=0001 fl=05 Q ;waDQ Q Initializing YawRateCalculator. :wLInitializing ElevatorOffsetCalculator. Initialize NavChart Navigation.=whInitializing UniversalFixResidualReporter component.=w4Initialize SBIT Component.=>wgit: 2025-08-26>wdgit hash: bb7b608ae095ad33f3a1ba1dc4d6b0b36a605f14=>w0Kernel Release: 2.6.27.8*a code=097C owner=003E element=0408 universal=3FFF unitName="bool" type=02 size=0001 fl=04 ?wKernel 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 2021I?w@wHBeginning SBIT in 98.000000 seconds.Aw4Initialize IBIT Component.Aw Bw4Initialize CBIT Component.Bw2Handler Thread ID is 4525 Lw*Initialized mux pins. Lw@Initializing the watchdog timer.Tw2Handler Thread ID is 4526 cwTLast reboot was NOT due to watchdog timer. dw.Initializing heartbeat.dw2Handler Thread ID is 4527ewPowering up ew"Initializing DAT.lw2Handler Thread ID is 4528*a code=097D owner=0030 element=00B9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 nwdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IPw2Handler Thread ID is 4529翎wƈGw2Handler Thread ID is 4530迒w^~A返wA?w迚w! w 迚w^~A! w 9进w/?$w2Handler Thread ID is 4531 $w2Initializing CTD_Seabird.&w2Handler Thread ID is 4532w%wPowering up w8Deactivating emergency mode.'w2Handler Thread ID is 4533&wPowering up)w2Handler Thread ID is 4534(wLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000(wtAlready Loaded Electronic Nav Chart data from US1WC07M.000(wLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000(wtAlready Loaded Electronic Nav Chart data from US2WC11M.000(wLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000(wtAlready Loaded Electronic Nav Chart data from US3CA52M.000(wLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000(wtAlready Loaded Electronic Nav Chart data from US5CA50M.000 w$Backplane powered. w,Initializing GFScanner w2Deactivating GF circuits.'w:Using TethysL tl-to-tx parser'wxLoading Mission from file: Missions/underIce/StartupUnder.tl'wlTethyslAPI: loading: Missions/underIce/StartupUnder.tl'wTethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl'wTethyslAPI: Missions/underIce/StartupUnder.tl translated into: 'wHTop node has no child nodes: Mission'w>Could not load startup mission.'wLoading Mission from file: Missions/underIce/DefaultWithUndock.tl'wvTethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl'wTethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl?w?aw?w%wPowering up?,w?w?'w'Ew)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=07CE elementURI="DefaultWithUndock.ElapsedSinceDefaultStarted" type=00 *a code=097E owner=0053 element=07CE universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=097F owner=0053 element=07CE universal=3FFF unitName="minute" type=1F size=0008 fl=05 KWw'XwDefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min*e code=07CF elementURI="DefaultWithUndock.DetachTimeout" type=00 *a code=0980 owner=0053 element=07CF universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0981 owner=0053 element=07CF universal=3FFF unitName="hour" type=1F size=0008 fl=05  L[w@'\wlDefineArg DefaultWithUndock.DetachTimeout = 6.000000 h*a code=0982 owner=0053 element=0179 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=07D0 elementURI="DefaultWithUndock.TransponderCode" type=00 *a code=0983 owner=0053 element=07D0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0984 owner=0053 element=07D0 universal=3FFF unitName="count" type=0D size=0004 fl=05 "Lww2'xwlDefineArg DefaultWithUndock.TransponderCode = 50 count*e code=07D1 elementURI="DefaultWithUndock.TrackingUpdatePeriod" type=00 *a code=0985 owner=0053 element=07D1 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0986 owner=0053 element=07D1 universal=3FFF unitName="second" type=1F size=0008 fl=05 2L{w$@'|w|DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s*e code=07D2 elementURI="DefaultWithUndock.NumberOfPings" type=00 *a code=0987 owner=0053 element=07D2 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0988 owner=0053 element=07D2 universal=3FFF unitName="count" type=1F size=0008 fl=05 BLw?'wtDefineArg DefaultWithUndock.NumberOfPings = 1.000000 count*e code=07D3 elementURI="DefaultWithUndock.DriftTimeout" type=00 *a code=0989 owner=0053 element=07D3 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=098A owner=0053 element=07D3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 RLwf@'wnDefineArg DefaultWithUndock.DriftTimeout = 3.000000 min?w*n code=0054 name="DefaultWithUndock:A.Wait" *wConstruct 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=098B owner=0057 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0058 name="DefaultWithUndock:LeaveDock:A." *e code=07D4 elementURI="TrackAcousticContact.enableBroadcast" type=02 *a code=098C owner=0058 element=07D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=098D owner=0058 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098E owner=0058 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098F owner=0058 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0990 owner=0058 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0991 owner=0058 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0992 owner=0058 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0993 owner=0058 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0994 owner=0058 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0995 owner=0058 element=06A9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0996 owner=0058 element=06AA universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=07D5 elementURI="TrackAcousticContact.contact_label" type=02 *a code=0997 owner=0058 element=07D5 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=07D6 elementURI="TrackAcousticContact.contact_rx_time" type=02 *a code=0998 owner=0058 element=07D6 universal=3FFF unitName="second" type=1F size=0008 fl=05 *e code=07D7 elementURI="TrackAcousticContact.contact_latitude" type=02 *a code=0999 owner=0058 element=07D7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07D8 elementURI="TrackAcousticContact.contact_longitude" type=02 *a code=099A owner=0058 element=07D8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07D9 elementURI="TrackAcousticContact.eastings_to_contact" type=02 *a code=099B owner=0058 element=07D9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07DA elementURI="TrackAcousticContact.northings_to_contact" type=02 *a code=099C owner=0058 element=07DA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07DB elementURI="TrackAcousticContact.contact_depth" type=02 *a code=099D owner=0058 element=07DB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07DC elementURI="TrackAcousticContact.range_to_contact" type=02 *a code=099E owner=0058 element=07DC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07DD elementURI="TrackAcousticContact.corrected_range_to_contact" type=02 *a code=099F owner=0058 element=07DD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07DE elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 ?w*a code=09A0 owner=0058 element=07DE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07DF elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *a code=09A1 owner=0058 element=07DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07E0 elementURI="TrackAcousticContact.heading_to_contact" type=02 *a code=09A2 owner=0058 element=07E0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07E1 elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=09A3 owner=0058 element=07E1 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=07E2 elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=09A4 owner=0058 element=07E2 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=07E3 elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *a code=09A5 owner=0058 element=07E3 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=07E4 elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *a code=09A6 owner=0058 element=07E4 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=07E5 elementURI="TrackAcousticContact.corrected_latitude" type=02 *a code=09A7 owner=0058 element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07E6 elementURI="TrackAcousticContact.corrected_longitude" type=02 *a code=09A8 owner=0058 element=07E6 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07E7 elementURI="TrackAcousticContact.horizontal_range_to_contact_lowpass" type=02 *a code=09A9 owner=0058 element=07E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07E8 elementURI="TrackAcousticContact.heading_to_contact_lowpass" type=02 *a code=09AA owner=0058 element=07E8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07E9 elementURI="TrackAcousticContact.contact_latitude_lowpass" type=02 *a code=09AB owner=0058 element=07E9 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07EA elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 *a code=09AC owner=0058 element=07EA universal=3FFF unitName="radian" type=1F size=0008 fl=05 *e code=07EB elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 *a code=09AD owner=0058 element=07EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09AE owner=0058 element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" ,=wConstruct.,>wdInitializing internal variables to default values.*a code=09AF owner=0059 element=019F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09B0 owner=0059 element=019E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09B1 owner=0059 element=01A0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09B2 owner=0059 element=01A1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B3 owner=0059 element=018B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09B4 owner=0059 element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09B5 owner=0059 element=04AF universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=09B6 owner=0059 element=0490 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=09B7 owner=0059 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B8 owner=0059 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=07EC elementURI="PowerOnly.samplePowerOnly" type=02 *a code=09B9 owner=0059 element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07ED elementURI="NanoDVR.sampleNanoDVR" type=02 *a code=09BA owner=0059 element=07ED universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09BB owner=0059 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09BC owner=0059 element=076E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09BD owner=0059 element=06C2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09BE owner=0059 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09BF owner=0059 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 ?Xw*a code=09C0 owner=0059 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09C1 owner=0059 element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=09C2 owner=0059 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09C3 owner=0059 element=0508 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=07EE elementURI="GoToSurface.enableBroadcast" type=02 *a code=09C4 owner=005B element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 -zw,Construct GoToSurface.*a code=09C5 owner=005B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C6 owner=005B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C7 owner=005B element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=09C8 owner=005B element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09C9 owner=005B element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09CA owner=005B element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09CB owner=005B element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09CC owner=005B element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09CD owner=005B element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09CE owner=005B element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09CF owner=005B element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09D0 owner=005B element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09D1 owner=005B element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09D2 owner=005B element=0524 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09D3 owner=005B element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09D4 owner=005B element=04C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=09D5 owner=005B element=0491 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09D6 owner=005B element=04B2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=09D7 owner=005B element=04AD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D8 owner=005B element=04C1 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" 0w$Construct Execute.*n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" 1wConstruct Wait.*n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *a code=09D9 owner=0063 element=07CE universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=09DA 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" 3w$Construct Execute.?w'w1 # 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" } } wuComponent 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,AV ,^+An*Initializing AHRS_M2.i=*a code=09DB owner=002D element=00A3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 quInitializing.}Powering up.i}:Expecting PD13 message formatInitializing.I  I->Depth measurement is not active@@@@@@ E >},x+A U- y-KC Y- -II5I53I)I BIBN=) Q (g,w+AyF<"CI&I&(*2N RZ=! R VV)bs:``I`)`Id dBaBqN}E=)Yԁ ,I+Ay"<"C&A&A0I*I* RM< RJ=VV)```I`)`Id dԑԹ%Powering downI I I I  B B N >/v,q!Ɔ+Ay"><"e!CI.I.ⱹV' VJ=^^`)IQQIQ)QIY YBqBNn=A .,;+Ay"/"-*Failed to get valid response or reached max queue size, flushing UARTIb Ib<2}* >=)靡I)I BBQN]=Qqԡ \˽,+Ay":"QA)& &I.I.bN*< RZ=VV)\``I`)`Id dBpBxN=yԩ M,+Ay"<"C&AA&AAI*I*̍}= ==)I)!I) )B)B9NMR>1Y ,-+A!y%;%fB11IIⱹ-i ,=)靱I)I aBBN%N>ԁԩ ,pG+Ay==DFound beacon with acoustic ID 2103)IIVȼ i=  )aaaIa)aIiԑ E%?F- F-F-5F-BB)N5O>5+>C G }A) ] I] }A9] =GA ,Ia+Ay}};p;)3s?II @< L=)I)I  E]E]E]E]!I  fG 6^$:q B B N >NO,|+AyE,P+Aym  )AIA)AII I!BiByN=Qy |, +A0yY<C@AII0= =E=yAA E^?AI)靡I)I ԉBBN=Թ Q,Ї+Ab@Ab?Aty،<5-CIIb< ?=y ?)I)I! !BBN>1a p1,ꇳ+A9y?=hCII(*== =W=yAA E?AI)静I)I iBBNԑ ,+Aԙyx<tC<IIE EJ=yII M@I)革I)I BBN= XC,v+A)f4> f0>y;fB)< <IIV S=y @))QQIQ)YIY YDeyACexA)}} D}:ByBN>Qy m ,R8+Ay>;BI I(2=j < =C=yAA E8@AIY)iiiIi)iI DByBN>ԁԩ U,.R+Ay @<.BAAII 2=!.< EJ=yAA ER@II)靡I)IԱ Dj:BBN&>!EM@!=M@!9M@!AM@!5M@!1M@!IM@!MM@*HM"HM:HU2HU & Powering downK  K "K K 1 ڂ,@l+A``yH<CIIⰹ'= A=y m@ )YYYIY)YIa D= Dx>D:BBNA>1a g!,ᅈ+A a 9  ٪[?a E 9; ?a = ͇a A c>a I YH ޹ p??\*|?@U5? 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N^@x+? n?f?"q?"ydd fbAdYfH f>h)   I ) I ԙBBN=ՈG}A1]*]}A9](A ,c'&+Aɩ٪"Y?9"9?"BF"j>Y"H` `0y? ?@Z`p?d? ?"Y?"j;ɫ"Cy2@ =2?C)6< 6<I:I:b)\ ^G>bռ fJ=fpQ f>ydh jhAhYjv= j>|)I)I B BN%=!Iy ,m@+A٪қ?9?ξfx>YH s춿 $`:P? ?`{Р Ӭ? ?`?қ?Z2j;ɫCy6q<:U%CBp=BR=IFIFbbM2 fJ=fQ f>yhh joAhYjz= j>)I)I)Y qB1BINU>ԁԩ% *entering command mode *, Y+A٪?9d?jyi>YH> :?@?W7,ac??^)??̿i;ɫCy2H<2Caavaav aevaev aivaiv a]va]v aav@av aev@av aiz@az a]z@az YvX9v?K7AؿMb?yv=v ¾vy vAYY >))))I)))Iq qԱBYBiN}=DAT read: &DAT read: user:1> (setting verbose to 3  &DAT read: user:1>  TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 274409 T, s+A) <٪"?9"?"j!%<"`tR>Y"H`2@?`N?`Ř?`?@0S?"?"qi;ɫ"CyRypp v|AtY=k =>A)QQI)I BBN=9&DAT read: user:2> TDAT read: DatVerbose | 27440 .set DatVerbose to 27440 6setting transmit power to 8i ;,+A ٪ H?9:?P T>YH@NS`w?@?Z?`S? ?$?g?`O? H?h;ɫCy2 =2GC4i4I:I:b1F2< FO=JӼQ J>yHL NALYN# >!)199IY)YIa a]&DAT read: user:3> eTDAT read: TxPower | 8 (Max) e.set transmit power to 8m6setting local address to 10BBN=qԙ  &DAT read: user:4>  TDAT read: LocalAddr | 10  .set local address to 10 \Setting time to: 9:21:50 And date to:8/27/2025f,n+A٪ֳ?9_?(ge{>YH`ᪿM`"?v?K=p@̑?b? ?ֳ?5h;ɫy2=2C6;6pytt vAtYz޼ z>x)靉I)I BBN=m&DAT read: user:5> uPDAT read: Wed Aug 27, 2025 09:21:50 uhLocal DAT time set to Wed Aug 27, 2025 09:21:50 ! 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Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.7786 degree;set keepstation.Longitude -121.8603 degree;set keepstation.Speed 1 m/s;run= hgot command load ./Missions/Transport/keepstation.tl' |Loading Mission from file: ./Missions/Transport/keepstation.tl' pTethyslAPI: loading: ./Missions/Transport/keepstation.tl' TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl,G:+A٪f?9ff?fIf4h>YfHD? 2?G?@;?@۷[5?? $?f?f`c;ɫdy]<]CiiImIm(* = 9='Q >y CY<; >9u]4=D?}]4=% =9yY}Ⱦ}?y=B)=;I=j;i=xE]4YBE)s:靹I)I BBN=,.+A٪6 ʒ?96ʾ?6X6 />Y6H`Y?`?`AH??@w? ?`3}?6 ʒ?6c;ɫ4yb yxx zCxYzf; ~>!%]4%񣃊?-]4%& %59)Y-o̾-?y%9B)%d:I% :i%QR]4Y1]BY)iiiIi)iIq qBBN=,G+A٪6?96?6'6>Y6H@A?R?W?;?@^??9?6?6c;ɫ6oCyNR#YS㥻v׿~jth?y/ݽԸD;y&1̿+η/$9`eYvy,BBB [B98BIIⱹ' :=oy CY~<  > =]4 k?=]4 ) n9=|>=W;Y=@=?y nB) ;I W;i a]4YIMBI)yyyIy)I B9BN=)p> ]>,Ba+Ayry CY >'-͸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 9E]4=?M]4=+ =9IYIM?y=B)=:I=:i=n]4YQ*n code=0067 name="keepstation" B)!))I)))I)*e code=07F0 elementURI="keepstation.MissionTimeout" type=00 *a code=09DF owner=0067 element=07F0 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=09E0 owner=0067 element=07F0 universal=3FFF unitName="hour" type=1F size=0008 fl=05 OM @'MbDefineArg keepstation.MissionTimeout = 4.000000 h qB*e code=07F1 elementURI="keepstation.NeedCommsTime" type=00 *a code=09E1 owner=0067 element=07F1 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09E2 owner=0067 element=07F1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 O@'fDefineArg keepstation.NeedCommsTime = 45.000000 minBN=*e code=07F2 elementURI="keepstation.Latitude" type=00 *a code=09E3 owner=0067 element=07F2 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09E4 owner=0067 element=07F2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 "O'VDefineArg keepstation.Latitude = nan arcdeg*e code=07F3 elementURI="keepstation.Longitude" type=00 *a code=09E5 owner=0067 element=07F3 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09E6 owner=0067 element=07F3 universal=3FFF unitName="degree" type=1F size=0008 fl=05 2O'XDefineArg keepstation.Longitude = nan arcdeg*e code=07F4 elementURI="keepstation.Depth" type=00 *a code=09E7 owner=0067 element=07F4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09E8 owner=0067 element=07F4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BO%>@'uRDefineArg keepstation.Depth = 30.000000 m*e code=07F5 elementURI="keepstation.ApproachDepth" type=00 *a code=09E9 owner=0067 element=07F5 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EA owner=0067 element=07F5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 RO.@'bDefineArg keepstation.ApproachDepth = 15.000000 m*e code=07F6 elementURI="keepstation.DepthDeadband" type=00 *a code=09EB owner=0067 element=07F6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EC owner=0067 element=07F6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 bO5@'=`DefineArg keepstation.DepthDeadband = 4.000000 m*e code=07F7 elementURI="keepstation.Speed" type=00 *a code=09ED owner=0067 element=07F7 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09EE owner=0067 element=07F7 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 rOU?']TDefineArg keepstation.Speed = 0.750000 m/s*e code=07F8 elementURI="keepstation.Radius" type=00 *a code=09EF owner=0067 element=07F8 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F0 owner=0067 element=07F8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Oi@'VDefineArg keepstation.Radius = 200.000000 m*e code=07F9 elementURI="keepstation.SinkOffSurface" type=00 *a code=09F1 owner=0067 element=07F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09F2 owner=0067 element=07F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O'ZDefineArg keepstation.SinkOffSurface = 0 bool*e code=07FA elementURI="keepstation.SinkDepth" type=00 *a code=09F3 owner=0067 element=07FA universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F4 owner=0067 element=07FA universal=3FFF unitName="meter" type=1F size=0008 fl=05 O$@'ZDefineArg keepstation.SinkDepth = 10.000000 m*e code=07FB elementURI="keepstation.SinkDepthTimeout" type=00 *a code=09F5 owner=0067 element=07FB universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09F6 owner=0067 element=07FB universal=3FFF unitName="minute" type=1F size=0008 fl=05 O @'lDefineArg keepstation.SinkDepthTimeout = 10.000000 min*e code=07FC elementURI="keepstation.MaxDepth" type=00 *a code=09F7 owner=0067 element=07FC universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F8 owner=0067 element=07FC universal=3FFF unitName="meter" type=1F size=0008 fl=05 O-F@'5XDefineArg keepstation.MaxDepth = 45.000000 m*e code=07FD elementURI="keepstation.MinOffshore" type=00 *a code=09F9 owner=0067 element=07FD universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=09FA owner=0067 element=07FD universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 O@@'^DefineArg keepstation.MinOffshore = 2.000000 km*e code=07FE elementURI="keepstation.DiveMode" type=00 *a code=09FB owner=0067 element=07FE universal=3FFF unitName="count" type=1F size=0008 fl=05 O*a code=09FC owner=0067 element=07FE universal=3FFF unitName="count" type=1F size=0008 fl=04 'dDefineOutput keepstation.DiveMode = 0.000000 count*e code=07FF elementURI="keepstation.DoingComms" type=00 *a code=09FD owner=0067 element=07FF universal=3FFF unitName="count" type=1F size=0008 fl=05 O*a code=09FE owner=0067 element=07FF universal=3FFF unitName="count" type=1F size=0008 fl=04 'hDefineOutput keepstation.DoingComms = 0.000000 count*e code=0800 elementURI="keepstation.SurfaceSink" type=00 *a code=09FF owner=0067 element=0800 universal=3FFF unitName="count" type=1F size=0008 fl=05 O?*a code=0A00 owner=0067 element=0800 universal=3FFF unitName="count" type=1F size=0008 fl=04 'EjDefineOutput keepstation.SurfaceSink = 1.000000 count*e code=0801 elementURI="keepstation.TransitToStation" type=00 *a code=0A01 owner=0067 element=0801 universal=3FFF unitName="count" type=1F size=0008 fl=05  PU@*a code=0A02 owner=0067 element=0801 universal=3FFF unitName="count" type=1F size=0008 fl=04 '}tDefineOutput keepstation.TransitToStation = 2.000000 count*e code=0802 elementURI="keepstation.StationKeep" type=00 *a code=0A03 owner=0067 element=0802 universal=3FFF unitName="count" type=1F size=0008 fl=05 P@*a code=0A04 owner=0067 element=0802 universal=3FFF unitName="count" type=1F size=0008 fl=04 'jDefineOutput keepstation.StationKeep = 3.000000 count*e code=0803 elementURI="keepstation.OnStation" type=00 *a code=0A05 owner=0067 element=0803 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *P*a code=0A06 owner=0067 element=0803 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.tlj9,3{+A٪6u?96j?6!Y6>Y6H`ud? L@?c6??|@.?@m? ?6u?6oc;ɫ4yNvytt vCtYv^0 z>xE]4z?M]4z]. z9IYMM?yzˁB)zR4'm1TethyslAPI: Missions/Insert/NeedComms.tl translated into: 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout *n code=0068 name="keepstation:NeedComms" *e code=0804 elementURI="keepstation:NeedComms.DiveInterval" type=00 *a code=0A07 owner=0068 element=0804 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0A08 owner=0068 element=0804 universal=3FFF unitName="hour" type=1F size=0008 fl=05 BP @'rDefineArg keepstation:NeedComms.DiveInterval = 1.000000 h*e code=0805 elementURI="keepstation:NeedComms.WaitForPitchUp" type=00 *a code=0A09 owner=0068 element=0805 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A0A owner=0068 element=0805 universal=3FFF unitName="minute" type=1F size=0008 fl=05 RP@'|DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min*e code=0806 elementURI="keepstation:NeedComms.SurfacePitch" type=00 *a code=0A0B owner=0068 element=0806 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0A0C owner=0068 element=0806 universal=3FFF unitName="degree" type=1F size=0008 fl=05 bPDJW?'~DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0807 elementURI="keepstation:NeedComms.SurfaceDepthRate" type=00 *a code=0A0D owner=0068 element=0807 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0A0E owner=0068 element=0807 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 rP-'5tDefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s*e code=0808 elementURI="keepstation:NeedComms.SurfaceSpeed" type=00 *a code=0A0F owner=0068 element=0808 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0A10 owner=0068 element=0808 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 PE?'MvDefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=0809 elementURI="keepstation:NeedComms.SurfacingTimeout" type=00 *a code=0A11 owner=0068 element=0809 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0A12 owner=0068 element=0809 universal=3FFF unitName="second" type=1F size=0008 fl=05 P]@@'eDefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s*e code=080A elementURI="keepstation:NeedComms.GPSTimeout" type=00 *a code=0A13 owner=0068 element=080A universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A14 owner=0068 element=080A universal=3FFF unitName="minute" type=1F size=0008 fl=05 Pu@z@'}rDefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min*e code=080B elementURI="keepstation:NeedComms.CommsTimeout" type=00 *a code=0A15 owner=0068 element=080B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A16 owner=0068 element=080B universal=3FFF unitName="minute" type=1F size=0008 fl=05 P @'xDefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min*a code=0A17 owner=0068 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A18 owner=0068 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0069 name="keepstation:NeedComms:A" *a code=0A19 owner=0069 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006A name="keepstation:NeedComms:B.GoToSurface" *a code=0A1A owner=006A element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 5,Construct GoToSurface.*a code=0A1B owner=006A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A1C owner=006A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A1D owner=006A element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A1E owner=006A element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A1F owner=006A element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A20 owner=006A element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A21 owner=006A element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A22 owner=006A element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A23 owner=006A element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A24 owner=006A element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A25 owner=006A element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A26 owner=006A element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A27 owner=006A element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A28 owner=006A element=0524 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A29 owner=006A element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A2A owner=006A element=04C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A2B owner=006A element=0491 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A2C owner=006A element=04B2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0A2D owner=006A element=04AD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A2E owner=006A element=04C1 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" *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" *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" *a code=0A2F owner=0074 element=0804 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.tlG!,I+AyE<#pCI-I-Feus; eB=mQ m>yii mCqYu u>y]4}è?]4}0 }9Y?y}B)}:I}:i}5]4YBBE)I)I DBBN='ETethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 *n code=0075 name="keepstation:StandardEnvelopes" *e code=080C elementURI="keepstation:StandardEnvelopes.MinAltitude" type=00 *a code=0A30 owner=0075 element=080C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A31 owner=0075 element=080C universal=3FFF unitName="meter" type=1F size=0008 fl=05 Qe@'mDefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m*e code=080D elementURI="keepstation:StandardEnvelopes.MaxDepthIgnore" type=00 *a code=0A32 owner=0075 element=080D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A33 owner=0075 element=080D universal=3FFF unitName="meter" type=1F size=0008 fl=05 Q}?'DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m*e code=080E elementURI="keepstation:StandardEnvelopes.MaxDepth" type=00 *a code=0A34 owner=0075 element=080E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A35 owner=0075 element=080E universal=3FFF unitName="meter" type=1F size=0008 fl=05 Qi@'~DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m*e code=080F elementURI="keepstation:StandardEnvelopes.MinOffshore" type=00 *a code=0A36 owner=0075 element=080F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A37 owner=0075 element=080F universal=3FFF unitName="meter" type=1F size=0008 fl=05 Q @@'DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=0076 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" ;E6Construct AltitudeEnvelope.*a code=0A38 owner=0076 element=04C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A39 owner=0076 element=04B6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A3A owner=0076 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A3B owner=0076 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A3C owner=0076 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A3D owner=0076 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A3E owner=0076 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A3F owner=0076 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A40 owner=0076 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A41 owner=0076 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A42 owner=0076 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A43 owner=0076 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A44 owner=0076 element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0077 name="keepstation:StandardEnvelopes:B.DepthEnvelope" ;0Construct DepthEnvelope.*a code=0A45 owner=0077 element=04C0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A46 owner=0077 element=04BA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A47 owner=0077 element=04B6 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A48 owner=0077 element=049A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A49 owner=0077 element=04B4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A4A owner=0077 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A4B owner=0077 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A4C owner=0077 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A4D owner=0077 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A4E owner=0077 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A4F owner=0077 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A50 owner=0077 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A51 owner=0077 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 9=?A*a code=0A52 owner=0077 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A53 owner=0077 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A54 owner=0077 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0078 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=007B name="keepstation:BackseatDriver" *e code=0810 elementURI="keepstation:BackseatDriver.EnableBackseat" type=00 *a code=0A64 owner=007B element=0810 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A65 owner=007B element=0810 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *S'xDefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool*n code=007C name="keepstation:BackseatDriver:A.BackseatDriver" >2Construct BackseatDriver.*a code=0A66 owner=007C element=0563 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A67 owner=007C element=0561 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A68 owner=007C element=009B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A69 owner=007C element=0561 universal=3FFF unitName="bool" type=02 size=0001 fl=05 '5 nInserting Stack from file: Missions/Insert/PowerOnly.tl'= bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'E zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlع ؽ =EK,^+A٪6?96Ϗ?66>Y6H>6?@?g??*@?w?? ?6?6?d;ɫ6mCyno;nBtvAAIvIvF2%- -N=-F=Q ->y)1 5C1Y5f 5>y]4}?]4}p3 }X9YF?y}.B)}:I}Z:i}U]4YB)I)I IGDŃ:}A1ee}A9eABBN>'qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 *n code=007D name="keepstation:PowerOnly" *e code=0811 elementURI="keepstation:PowerOnly.SampleAll" type=00 *a code=0A6A owner=007D element=0811 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A6B owner=007D element=0811 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ZS'dDefineArg keepstation:PowerOnly.SampleAll = 0 bool*e code=0812 elementURI="keepstation:PowerOnly.SampleLoad1" type=00 *a code=0A6C owner=007D element=0812 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A6D owner=007D element=0812 universal=3FFF unitName="bool" type=02 size=0001 fl=05 jS-'-hDefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool*e code=0813 elementURI="keepstation:PowerOnly.SampleLoad2" type=00 *a code=0A6E owner=007D element=0813 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A6F owner=007D element=0813 universal=3FFF unitName="bool" type=02 size=0001 fl=05 zSM'UhDefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool*e code=0814 elementURI="keepstation:PowerOnly.SampleLoad3" type=00 *a code=0A70 owner=007D element=0814 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A71 owner=007D element=0814 universal=3FFF unitName="bool" type=02 size=0001 fl=05 S'hDefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool*a code=0A72 owner=007D element=013B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0815 elementURI="keepstation:PowerOnly.EnabledPowerOnly" type=00 *a code=0A73 owner=007D element=0815 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A74 owner=007D element=0815 universal=3FFF unitName="bool" type=02 size=0001 fl=05 S'%rDefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool*n code=007E name="keepstation:PowerOnly: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" AConstruct Wait.*n code=0083 name="keepstation:H.Pitch" AConstruct.*a code=0A75 owner=0083 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A76 owner=0083 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A77 owner=0083 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A78 owner=0083 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A79 owner=0083 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A7A owner=0083 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A7B owner=0083 element=050C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A7C owner=0083 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A7D owner=0083 element=04AF universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=0084 name="keepstation:SurfaceComms" *a code=0A7E owner=0084 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0085 name="keepstation:SurfaceComms:A" *a code=0A7F owner=0085 element=07FE 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=0A80 owner=0088 element=07FE 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=0A81 owner=008A element=07FE 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=0A82 owner=008C element=07FE 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" H &Construct Buoyancy.*a code=0A83 owner=0091 element=01CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A84 owner=0091 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A85 owner=0091 element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=0092 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" I Construct.*a code=0A86 owner=0092 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A87 owner=0092 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A88 owner=0092 element=0510 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" J5 Construct.*a code=0A89 owner=0094 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A8A owner=0094 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A8B owner=0094 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A8C owner=0094 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A8D owner=0094 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A8E owner=0094 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A8F owner=0094 element=050C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A90 owner=0094 element=0508 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=0A91 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=0A92 owner=0098 element=07FE universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=0099 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=009A name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *a code=0A93 owner=009A element=07FE universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=009B name="keepstation:DiveCmd:TransitToStation" *n code=009C name="keepstation:DiveCmd:TransitToStation:dive" N3,:+A٪N?9N??N<N N>YNH?e`Vp? ? x?ϫ`z?'X?N?N7Ue;ɫNoCy^%ͺ^H|*n code=009D name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" N=&Construct Buoyancy.*a code=0A94 owner=009D element=01CD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A95 owner=009D element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A96 owner=009D element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0A97 owner=009D element=0490 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=009E name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" OConstruct.*a code=0A98 owner=009E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A99 owner=009E element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A9A owner=009E element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A9B owner=009E element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A9C owner=009E element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A9D owner=009E element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A9E owner=009E element=050C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A9F owner=009E element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 Y%%v%O !!%kt?/$ֿ|?5^?9% 0>Y%&y%>%y CYA >]4?]42 9o>:*a code=0AA2 owner=009F element=0510 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" Y+1>?yB);I;i]4YBBE)   I )I D= DY>*a code=0AA3 owner=00A1 element=0493 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=00A2 name="keepstation:DiveCmd:StationKeep:B.Pitch" QuConstruct.*a code=0AA4 owner=00A2 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA5 owner=00A2 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AA6 owner=00A2 element=050A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AA7 owner=00A2 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AA8 owner=00A2 element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AA9 owner=00A2 element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AAA owner=00A2 element=050C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0AAB owner=00A2 element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00A3 name="keepstation:DiveCmd:StationKeep:C.KeepStation" Q,Construct KeepStation.*a code=0AAC owner=00A3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAD owner=00A3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAE owner=00A3 element=0490 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 D:BBN >*a code=0AAF owner=00A3 element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AB0 owner=00A3 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AB1 owner=00A3 element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AB2 owner=00A3 element=050D 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" *n code=00A7 name="keepstation:TransitToStation:Wpt1.Waypoint" S&Construct Waypoint.*a code=0AB3 owner=00A7 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB4 owner=00A7 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB5 owner=00A7 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB6 owner=00A7 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB7 owner=00A7 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB8 owner=00A7 element=0525 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AB9 owner=00A7 element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0ABA owner=00A7 element=0520 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0ABB owner=00A7 element=0521 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0ABC owner=00A7 element=01B2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *n code=00A8 name="keepstation:TransitToStation:C" *a code=0ABD owner=00A8 element=07FE universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00A9 name="keepstation:TransitToStation:D" *a code=0ABE owner=00A9 element=0803 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00AA name="keepstation:OnStation" *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.'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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Device response is::RA, 0.00, 481.89, 430.85 aaz@az aez@a~ ai~@a~ a]~@a~ IIƲ < G=iQ >y EY%m: %>)- 5-ᄊ?5 5-G -JB5+:915;Y5E<5m@y-,D)-A:I-i>i- 5YAE)BAUQZUQ*UYUYSYiuY~Hv~S@ ? ?`ȲO? 6b?`f?~MZ?~b;ɫ~Cy=PA=wHIMIM ]"= ]F=]Q e>yaa eEaYm*: m>qu 5u䄊?} 5ukH uJB} :9y};Y};}m@yu,D)u3;IuC?iuV 5Y)BUZU*UUSi<鞹ɝ)I)I BBN=1aԉԹ ,C+A٪J>?9J3?J<J D>YJH"@ iTt?`?@'#? qX?og?J>?JZb;ɫHyVAVH\\IbIbbf= jS=j߹Q j>yll nElYr r>pv 5ra愊?z 5rI rJBz99xz;Yz;zm@yr,D)r:Ir?ir" 5Y  g)B UZU*UUSi<ɝ)I)I BBN==ԑ! ,+ݤ+A)< ٪6#?96)?6<6D>Y6H@ T@??@b ?bBZ? mg?6#?6c;ɫ6CyFAFHININƲVr<= VM=VQ V>yXX ZEXY^n ^>`b 5b脊?f 5bI bJBf99dfX;Yf<fm@yb,D)b8:Ib?ib 5YlnT)BlUtZUx*UxUxSxi < ɝ )I)I B1BANU.=I ؽ <ؽ <,þ+A$٪f ?9f<?fW<fuD>YfH۳`jT@B?w?`7@Ǥ? j? f?f ?fc;ɫfCyA%ΗHIUIU< ==,Q >y EYѺ >Q 5Uh넊? 5UzJ UJB99.;YN<m@yU!,D)U'Y6H@W#T)?@? 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Device response is::TS,25082703341920,35.0 0.0,1496.6, 0 aaf@af aef@af aif@af a]f@aj Ij Ij(2EyIQ UEQYU< U>Ye4]V?e4]N ]Som+:9im;Ymvm?y]C)]#:I]>i]4Yq} CByUZU*UUSi$*=鞩ɝ)革I)I BBN=Qԁԩ 4,d<+A)< ٪6)?96?6!=6D>Y6H ^?P?t@?=S?@M?6)?6d;ɫ4yBBB1H)F< DIJIJFR%= RU=V:Q V>yTT VEXYZ< Z>\b4^#?b4^MO ^iob :9`b;Yb2uf?y^C)^":I^N?i^=4YhjBBhUpZUt*UtUtSti!=鞱ɝ)靹I)I BBN=Ա< 9 ,u~<+A٪:?9:d?:$=:D>Y:H@쳿`Z ? ? @T?Q`\?`DM?:?:d;ɫ:JCyFBF_HININ Vٷ= VJ=VC:Q Z>yXX ZEXY^ڕ< ^>`f4b?f4b$P bof99df|;Yj]sj?ybC)b :IbP?ib4YnBn4CBnEUxZUx*UxUxSxi $=ɝ)I)I B1BANU/=9i 9%,HQ<+A$٪>?9>?>Xy=>b6E>Y>HV@? ?>?`h i?`L?>?>d;ɫ>GCyJBJ|HIRIR̍Vdm= VJ=Zd:Q Z>yX\ ^E\Y^։< b>`f4b?f4bP boj99hjL;Yjqj?ybC)b:Ib?ib 4YlrCBpUxZUx*UxU|S|iXy=ɝ)I)I !B9BINU1=yԙ T+,V,<+Aɩ٪6޸?96?6I =6VF>Y6Hi Q@֐?@?`ﲿ@?}?pJ?6޸?6Od;ɫ6ICdyj2BjHllIrIr zA= zF=zCJ:Q z>y|| ~EY~< > 4 ?4 Q o99%;Y p?y C) ;I @i  4Y!%CB!U9ZU9*U9U9SAiUI =YɝY)YYYIY)aIa iBBNV=I 2,><+A٪:C?9:#?:=:oG>Y:H"!.K?`/?`?珵#?H?:C?:%d;ɫ:GCy^\BbʢH)aa}aa} ae}ae} ai}ai} a]}a]} Y}V-ǿ+?~jty}|?}=yyy}i|?5(\µkt9}qY}y} }@B}bB}2B }_#By9}\,BII(*= ?=,:Q >y EY< >4?4R oT:9 >;Y0?yC):Iz:i4YBBUZU*UUSi=ɝ)I)I! !B9BIN]=Iqԡ 9,<+A٪6_?96??6=6jKG>Y6H {G ??y)oU?} ? ~H?6_?6 d;ɫ6ICyRBR HyIIb> C=7:Q >y! %E!Y%Dx< ->)u4-4?}4-)S -p9yY}>/}?y-C)-H"YBH@? 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