*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_range" type=04
*e code=0004 elementURI="acoustic_contact_address" type=04
*e code=0005 elementURI="concentration_of_chromophoric_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_battery_charge" type=04
*e code=0023 elementURI="platform_battery_charge_usage" type=04
*e code=0024 elementURI="platform_battery_energy_usage" type=04
*e code=0025 elementURI="platform_battery_voltage" type=04
*e code=0026 elementURI="platform_battery_fully_charged" type=04
*e code=0027 elementURI="platform_battery_discharging" type=04
*e code=0028 elementURI="platform_buoyancy_position" type=04
*e code=0029 elementURI="platform_communications" type=04
*e code=002A elementURI="platform_conversation" type=04
*e code=002B elementURI="platform_course" type=04
*e code=002C elementURI="platform_distance_wrt_ground" type=04
*e code=002D elementURI="platform_distance_wrt_sea_water" type=04
*e code=002E elementURI="platform_elevator_angle" type=04
*e code=002F elementURI="platform_fault" type=04
*e code=0030 elementURI="platform_fault_leak" type=04
*e code=0031 elementURI="platform_magnetic_orientation" type=04
*e code=0032 elementURI="platform_mass_position" type=04
*e code=0033 elementURI="platform_orientation" type=04
*e code=0034 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003
*e code=0035 elementURI="platform_pitch_angle" type=04
*e code=0036 elementURI="platform_pitch_rate" type=04
*e code=0037 elementURI="platform_pressure" type=04
*e code=0038 elementURI="platform_propeller_rotation_rate" type=04
*e code=0039 elementURI="platform_relative_humidity" type=04
*e code=003A elementURI="platform_roll_angle" type=04
*e code=003B elementURI="platform_roll_rate" type=04
*e code=003C elementURI="platform_rudder_angle" type=04
*e code=003D elementURI="platform_speed_wrt_ground" type=04
*e code=003E elementURI="platform_speed_wrt_sea_water" type=04
*e code=003F elementURI="platform_temperature" type=04
*e code=0040 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003
*e code=0041 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003
*e code=0042 elementURI="platform_x_sea_water_velocity" type=04
*e code=0043 elementURI="platform_x_velocity_wrt_ground" type=04
*e code=0044 elementURI="platform_x_velocity_wrt_sea_water" type=04
*e code=0045 elementURI="platform_x_velocity_current" type=04
*e code=0046 elementURI="platform_y_sea_water_velocity" type=04
*e code=0047 elementURI="platform_y_velocity_wrt_ground" type=04
*e code=0048 elementURI="platform_y_velocity_wrt_sea_water" type=04
*e code=0049 elementURI="platform_y_velocity_current" type=04
*e code=004A elementURI="platform_yaw_angle" type=04
*e code=004B elementURI="platform_yaw_rate" type=04
*e code=004C elementURI="platform_z_sea_water_velocity" type=04
*e code=004D elementURI="platform_z_velocity_wrt_ground" type=04
*e code=004E elementURI="platform_z_velocity_wrt_sea_water" type=04
*e code=004F elementURI="platform_z_velocity_current" type=04
*e code=0050 elementURI="projection_x_coordinate" type=04
*e code=0051 elementURI="projection_y_coordinate" type=04
*e code=0052 elementURI="projection_zone" type=04
*e code=0053 elementURI="sea_floor_depth_below_geoid" type=04
*e code=0054 elementURI="sea_water_density" type=04
*e code=0055 elementURI="sea_water_electrical_conductivity" type=04
*e code=0056 elementURI="sea_water_potential_density" type=04
*e code=0057 elementURI="sea_water_potential_temperature" type=04
*e code=0058 elementURI="sea_water_pressure" type=04
*e code=0059 elementURI="sea_water_rhodamine" type=04
*e code=005A elementURI="sea_water_salinity" type=04
*e code=005B elementURI="sea_water_sigma_t" type=04
*e code=005C elementURI="sea_water_sigma_theta" type=04
*e code=005D elementURI="sea_water_speed" type=04
*e code=005E elementURI="sea_water_temperature" type=04
*e code=005F elementURI="speed_of_sound_in_sea_water" type=04
*e code=0060 elementURI="surface_eastward_sea_water_velocity" type=04
*e code=0061 elementURI="surface_northward_sea_water_velocity" type=04
*e code=0062 elementURI="time" type=04
*e code=0063 elementURI="time_fix" type=04
*e code=0064 elementURI="upward_derivative_of_sea_water_temperature" type=04
*e code=0065 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04
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0Initializing supervisor.*n code=0003 name="ComponentRegistry"
*n code=0004 name="controlThread"
*n code=0005 name="SyncHandler"
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DCreated PCaller Thread at 404514E0�����Pz
BProtected caller Thread ID is 650ƿ���Pz
hComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler"

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DCreated PCaller Thread at 404814E0����Pz
BProtected caller Thread ID is 651*n code=0007 name="CycleStarter"
*e code=0066 elementURI="CycleStarter.time" type=00
*a code=0000 owner=0007 element=0066 universal=0062 unitName="second" type=1F size=0008 fl=01
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vSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandLine"
*e code=0067 elementURI="IBIT.IBITRunning" type=02
*a code=0001 owner=0008 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0068 elementURI="CBIT.GFActive" type=02
*a code=0002 owner=0008 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0003 owner=0008 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0069 elementURI="CommandLine.platform_conversation" type=00
*a code=0004 owner=0008 element=0069 universal=002A unitName="bool" type=02 size=0001 fl=05
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dComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler"
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DCreated PCaller Thread at 404B14E0��ș�Pz
BProtected caller Thread ID is 652*n code=000A name="logger"
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ZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler"
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DCreated PCaller Thread at 404E14E0��ʙ�Pz
BProtected caller Thread ID is 653*n code=000C name="LogSplitter"
*e code=006A elementURI="LogSplitter.platform_communications" type=00
*a code=0005 owner=000C element=006A universal=0029 unitName="bool" type=02 size=0001 fl=05
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tSyncComponent "LogSplitter" handled in the control thread.N�̙�Pz
\Looking for Config files in directory: Config/N�Ι�Pz
TOpening Config file at: Config/vehicle.cfg*n code=000D name="Config/vehicle"
*e code=006B elementURI="Vehicle.name" type=01
*a code=0006 owner=000D element=006B universal=3FFF unitName="none" type=00 size=0006 fl=05
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Tethys*e code=006C elementURI="Vehicle.id" type=01
*a code=0007 owner=000D element=006C universal=3FFF unitName="enum" type=02 size=0001 fl=05
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*e code=006D elementURI="Vehicle.kmlColor" type=01
*a code=0008 owner=000D element=006D universal=3FFF unitName="none" type=00 size=0008 fl=05
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ff0055ff*e code=006E elementURI="Vehicle.argoPlatform" type=01
*a code=0009 owner=000D element=006E universal=3FFF unitName="none" type=00 size=0006 fl=05
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000000*e code=006F elementURI="Vehicle.argoProgram" type=01
*a code=000A owner=000D element=006F universal=3FFF unitName="none" type=00 size=0004 fl=05
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0000*e code=0070 elementURI="Vehicle.checkMTQueue" type=01
*a code=000B owner=000D element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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*e code=0071 elementURI="Vehicle.sendDataToShore" type=01
*a code=000C owner=000D element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=05
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*e code=0072 elementURI="AHRS_3DMGX3.loadControl" type=01
*a code=000D owner=000D element=0072 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB6*e code=0073 elementURI="AHRS_3DMGX3.uart" type=01
*a code=000E owner=000D element=0073 universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB6*e code=0074 elementURI="AHRS_3DMGX3.baud" type=01
*a code=000F owner=000D element=0074 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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 �@*e code=0075 elementURI="AHRS_sp3003D.loadControl" type=01
*a code=0010 owner=000D element=0075 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB7*e code=0076 elementURI="AHRS_sp3003D.uart" type=01
*a code=0011 owner=000D element=0076 universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB7*e code=0077 elementURI="AHRS_sp3003D.baud" type=01
*a code=0012 owner=000D element=0077 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=0078 elementURI="AHRS_M2.loadControl" type=01
*a code=0013 owner=000D element=0078 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadC7*e code=0079 elementURI="AHRS_M2.uart" type=01
*a code=0014 owner=000D element=0079 universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyC7*e code=007A elementURI="AHRS_M2.baud" type=01
*a code=0015 owner=000D element=007A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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 �@*e code=007B elementURI="Aanderaa_O2.loadControl" type=01
*a code=0016 owner=000D element=007B universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB2*e code=007C elementURI="Aanderaa_O2.uart" type=01
*a code=0017 owner=000D element=007C universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB2*e code=007D elementURI="Aanderaa_O2.baud" type=01
*a code=0018 owner=000D element=007D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=007E elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01
*a code=0019 owner=000D element=007E universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB1*e code=007F elementURI="AcousticModem_Benthos_ATM900.uart" type=01
*a code=001A owner=000D element=007F universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB1*e code=0080 elementURI="AcousticModem_Benthos_ATM900.baud" type=01
*a code=001B owner=000D element=0080 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
i���Pz
��@*e code=0081 elementURI="BPC1A.uart" type=01
*a code=001C owner=000D element=0081 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/ttyTX0*e code=0082 elementURI="BPC1A.baud" type=01
*a code=001D owner=000D element=0082 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=0083 elementURI="BPC1B.uart" type=01
*a code=001E owner=000D element=0083 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/ttyTX2*e code=0084 elementURI="BPC1B.baud" type=01
*a code=001F owner=000D element=0084 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=0085 elementURI="Batt_Ocean_ServerA.uart" type=01
*a code=0020 owner=000D element=0085 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/ttyTX0*e code=0086 elementURI="Batt_Ocean_ServerA.baud" type=01
*a code=0021 owner=000D element=0086 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=0087 elementURI="Batt_Ocean_ServerB.uart" type=01
*a code=0022 owner=000D element=0087 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/ttyTX2*e code=0088 elementURI="Batt_Ocean_ServerB.baud" type=01
*a code=0023 owner=000D element=0088 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
i�!��Pz
��@*e code=0089 elementURI="BuoyancyServo.loadControl" type=01
*a code=0024 owner=000D element=0089 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadA4*e code=008A elementURI="BuoyancyServo.uart" type=01
*a code=0025 owner=000D element=008A universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyA4*e code=008B elementURI="BuoyancyServo.baud" type=01
*a code=0026 owner=000D element=008B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=008C elementURI="CANONSampler.loadControl" type=01
*a code=0027 owner=000D element=008C universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB6*e code=008D elementURI="CANONSampler.uart" type=01
*a code=0028 owner=000D element=008D universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB6*e code=008E elementURI="CANONSampler.baud" type=01
*a code=0029 owner=000D element=008E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=008F elementURI="CBITMainGroundfault.ad" type=01
*a code=002A owner=000D element=008F universal=3FFF unitName="none" type=00 size=000E fl=05
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/dev/mcp3551-0*e code=0090 elementURI="CBITMainGroundfault.adRes" type=01
*a code=002B owner=000D element=0090 universal=3FFF unitName="bit" type=1F size=0008 fl=05
i�1��Pz
@*e code=0091 elementURI="CBITMainGroundfault.adTimeout" type=01
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>*e code=0092 elementURI="CBITMainGroundfault.adVref" type=01
*a code=002D owner=000D element=0092 universal=3FFF unitName="volt" type=0B size=0003 fl=05
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 A*e code=0093 elementURI="CBITWaterAlarmBow.ad" type=01
*a code=002E owner=000D element=0093 universal=3FFF unitName="none" type=00 size=0010 fl=05
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/dev/adlpc32xx_0*e code=0094 elementURI="CBITWaterAlarmBow.adRes" type=01
*a code=002F owner=000D element=0094 universal=3FFF unitName="bit" type=1F size=0008 fl=05
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�?*e code=0095 elementURI="CBITWaterAlarmBow.adVref" type=01
*a code=0030 owner=000D element=0095 universal=3FFF unitName="volt" type=0B size=0003 fl=05
	�<��Pz
�I@*e code=0096 elementURI="CBITWaterAlarmStern.ad" type=01
*a code=0031 owner=000D element=0096 universal=3FFF unitName="none" type=00 size=0010 fl=05
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/dev/adlpc32xx_1*e code=0097 elementURI="CBITWaterAlarmStern.adRes" type=01
*a code=0032 owner=000D element=0097 universal=3FFF unitName="bit" type=1F size=0008 fl=05
I�@��Pz
�?*e code=0098 elementURI="CBITWaterAlarmStern.adVref" type=01
*a code=0033 owner=000D element=0098 universal=3FFF unitName="volt" type=0B size=0003 fl=05
i�B��Pz
�I@*e code=0099 elementURI="CBITWaterAlarmAux.ad" type=01
*a code=0034 owner=000D element=0099 universal=3FFF unitName="none" type=00 size=0010 fl=05
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/dev/adlpc32xx_2*e code=009A elementURI="CBITWaterAlarmAux.adRes" type=01
*a code=0035 owner=000D element=009A universal=3FFF unitName="bit" type=1F size=0008 fl=05
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�?*e code=009B elementURI="CBITWaterAlarmAux.adVref" type=01
*a code=0036 owner=000D element=009B universal=3FFF unitName="volt" type=0B size=0003 fl=05
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�I@*e code=009C elementURI="CTD_NeilBrown.loadControl" type=01
*a code=0037 owner=000D element=009C universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadC4*e code=009D elementURI="CTD_NeilBrown.uart" type=01
*a code=0038 owner=000D element=009D universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyC4*e code=009E elementURI="CTD_NeilBrown.baud" type=01
*a code=0039 owner=000D element=009E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=009F elementURI="CTD_Seabird.loadControl" type=01
*a code=003A owner=000D element=009F universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadC6*e code=00A0 elementURI="CTD_Seabird.uart" type=01
*a code=003B owner=000D element=00A0 universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyC6*e code=00A1 elementURI="CTD_Seabird.baud" type=01
*a code=003C owner=000D element=00A1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=00A2 elementURI="CTD_SeabirdLCM.loadControl" type=01
*a code=003D owner=000D element=00A2 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadC6*e code=00A3 elementURI="CTD_SeabirdLCM.uart" type=01
*a code=003E owner=000D element=00A3 universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyC6*e code=00A4 elementURI="CTD_SeabirdLCM.baud" type=01
*a code=003F owner=000D element=00A4 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
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��@*e code=00A5 elementURI="CTD_SeabirdLCM.lcmApplication" type=01
*a code=0040 owner=000D element=00A5 universal=3FFF unitName="none" type=00 size=0050 fl=05
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Pnohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev*e code=00A6 elementURI="DAT.loadControl" type=01
*a code=0041 owner=000D element=00A6 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB1*e code=00A7 elementURI="DAT.uart" type=01
*a code=0042 owner=000D element=00A7 universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB1*e code=00A8 elementURI="DAT.baud" type=01
*a code=0043 owner=000D element=00A8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
i�c��Pz
��@*e code=00A9 elementURI="Depth_Keller.loadControl" type=01
*a code=0044 owner=000D element=00A9 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadA0*e code=00AA elementURI="Depth_Keller.ad" type=01
*a code=0045 owner=000D element=00AA universal=3FFF unitName="none" type=00 size=000E fl=05
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/dev/mcp3553A0*e code=00AB elementURI="Depth_Keller.adRes" type=01
*a code=0046 owner=000D element=00AB universal=3FFF unitName="bit" type=1F size=0008 fl=05
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@*e code=00AC elementURI="Depth_Keller.adTimeout" type=01
*a code=0047 owner=000D element=00AC universal=3FFF unitName="millisecond" type=0B size=0003 fl=05
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>*e code=00AD elementURI="Depth_Keller.adVref" type=01
*a code=0048 owner=000D element=00AD universal=3FFF unitName="volt" type=0B size=0003 fl=05
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 @*e code=00AE elementURI="DVL_micro.loadControl" type=01
*a code=0049 owner=000D element=00AE universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadB5*e code=00AF elementURI="DVL_micro.uart" type=01
*a code=004A owner=000D element=00AF universal=3FFF unitName="none" type=00 size=000A fl=05
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/dev/ttyB5*e code=00B0 elementURI="DVL_micro.baud" type=01
*a code=004B owner=000D element=00B0 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05
i	�r��Pz
 �@*e code=00B1 elementURI="ElevatorServo.loadControl" type=01
*a code=004C owner=000D element=00B1 universal=3FFF unitName="none" type=00 size=000B fl=05
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/dev/loadA6*e code=00B2 elementURI="ElevatorServo.uart" type=01
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*e code=0403 elementURI="VerticalControl.dtInternal" type=02
*a code=03DE owner=001D element=0403 universal=3FFF unitName="second" type=0B size=0003 fl=05
*e code=0404 elementURI="VerticalControl.elevatorIntegralInternal" type=02
*a code=03DF owner=001D element=0404 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0405 elementURI="VerticalControl.massIntegralInternal" type=02
*a code=03E0 owner=001D element=0405 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0406 elementURI="VerticalControl.massPitchErrorInternal" type=02
*a code=03E1 owner=001D element=0406 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0407 elementURI="VerticalControl.pitchInternal" type=02
*a code=03E2 owner=001D element=0407 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0408 elementURI="VerticalControl.smoothDepthInternal" type=02
*a code=03E3 owner=001D element=0408 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=03E4 owner=001D element=03FF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=0409 elementURI="VerticalControl.elevatorAngleAction" type=02
*a code=03E5 owner=001D element=0409 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=040A elementURI="VerticalControl.massPositionAction" type=02
*a code=03E6 owner=001D element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=040B elementURI="VerticalControl.buoyancyAction" type=02
*a code=03E7 owner=001D element=040B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05
*a code=03E8 owner=001D element=0409 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=03E9 owner=001D element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=04
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|SyncComponent "VerticalControl" handled in the control thread.*n code=001E name="HorizontalControl"

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8Construct HorizontalControl.*e code=040C elementURI="HorizontalControl.horizontalMode" type=02
*a code=03EA owner=001E element=040C universal=3FFF unitName="enum" type=02 size=0001 fl=04
*e code=040D elementURI="HorizontalControl.latitudeCmd" type=02
*a code=03EB owner=001E element=040D universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=040E elementURI="HorizontalControl.longitudeCmd" type=02
*a code=03EC owner=001E element=040E universal=3FFF unitName="degree" type=37 size=0006 fl=04
*e code=040F elementURI="HorizontalControl.headingCmd" type=02
*a code=03ED owner=001E element=040F universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0410 elementURI="HorizontalControl.headingRateCmd" type=02
*a code=03EE owner=001E element=0410 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*e code=0411 elementURI="HorizontalControl.rudderAngleCmd" type=02
*a code=03EF owner=001E element=0411 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*e code=0412 elementURI="HorizontalControl.bearingCmd" type=02
*a code=03F0 owner=001E element=0412 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=03F1 owner=001E element=0348 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=03F2 owner=001E element=0349 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04
*a code=03F3 owner=001E element=034B universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=03F4 owner=001E element=034C universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04
*a code=03F5 owner=001E element=034A universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04
*a code=03F6 owner=001E element=034D universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04
*a code=03F7 owner=001E element=034E universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=03F8 owner=001E element=034F universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04
*a code=03F9 owner=001E element=0350 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03FA owner=001E element=0351 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03FB owner=001E element=0352 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=03FC owner=001E element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03FD owner=001E element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03FE owner=001E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=03FF owner=001E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0400 owner=001E element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0413 elementURI="HorizontalControl.headingInternal" type=02
*a code=0401 owner=001E element=0413 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0414 elementURI="HorizontalControl.smoothHeadingInternal" type=02
*a code=0402 owner=001E element=0414 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0415 elementURI="HorizontalControl.headingIntegralInternal" type=02
*a code=0403 owner=001E element=0415 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0416 elementURI="HorizontalControl.xteIntegralInternal" type=02
*a code=0404 owner=001E element=0416 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0417 elementURI="HorizontalControl.xteInternal" type=02
*a code=0405 owner=001E element=0417 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0418 elementURI="HorizontalControl.kxteInternal" type=02
*a code=0406 owner=001E element=0418 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0419 elementURI="HorizontalControl.bearingInternal" type=02
*a code=0407 owner=001E element=0419 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=041A elementURI="HorizontalControl.rudderAngleAction" type=02
*a code=0408 owner=001E element=041A universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0409 owner=001E element=041A universal=3FFF unitName="radian" type=2F size=0004 fl=04
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�SyncComponent "HorizontalControl" handled in the control thread.*n code=001F name="SpeedControl"
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.Construct SpeedControl.*a code=040A owner=001F element=03FF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=040B owner=001F element=0356 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
*a code=040C owner=001F element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=041B elementURI="SpeedControl.propOmegaAction" type=02
*a code=040D owner=001F element=041B universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
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vSyncComponent "SpeedControl" handled in the control thread.*n code=0020 name="LoopControl"

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,Construct LoopControl.*a code=040E owner=0020 element=03FE universal=3FFF unitName="second" type=0B size=0003 fl=04
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tSyncComponent "LoopControl" handled in the control thread.����Pz
�Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)����Pz
DLoading Module at Modules/Servo.so*n code=0021 name="BuoyancyServo"
*a code=040F owner=0021 element=022A universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0410 owner=0021 element=0234 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0411 owner=0021 element=0233 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0412 owner=0021 element=022C universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0413 owner=0021 element=022D universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0414 owner=0021 element=022E universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0415 owner=0021 element=0230 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0416 owner=0021 element=0231 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0417 owner=0021 element=0232 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0418 owner=0021 element=022F universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=0419 owner=0021 element=022B universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=041A owner=0021 element=0235 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=041B owner=0021 element=0237 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04
*a code=041C owner=0021 element=0238 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=041D owner=0021 element=0236 universal=3FFF unitName="minute" type=0B size=0003 fl=04
*a code=041E owner=0021 element=023B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=041F owner=0021 element=023A universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0420 owner=0021 element=0239 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0421 owner=0021 element=0358 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0422 owner=0021 element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0423 owner=0021 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=041C elementURI="BuoyancyServo.platform_buoyancy_position" type=00
*a code=0424 owner=0021 element=041C universal=0028 unitName="cubic_centimeter" type=0B size=0003 fl=05
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�4*a code=0425 owner=0021 element=040B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
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xSyncComponent "BuoyancyServo" handled in the control thread.*n code=0022 name="ElevatorServo"
*a code=0426 owner=0022 element=023D universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0427 owner=0022 element=0248 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0428 owner=0022 element=023F universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0429 owner=0022 element=0241 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=042A owner=0022 element=0242 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=042B owner=0022 element=0245 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=042C owner=0022 element=0246 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=042D owner=0022 element=0247 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=042E owner=0022 element=0244 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=042F owner=0022 element=023E universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=0430 owner=0022 element=0243 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0431 owner=0022 element=0240 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0432 owner=0022 element=0362 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=041D elementURI="ElevatorServo.platform_elevator_angle" type=00
*a code=0433 owner=0022 element=041D universal=002E unitName="radian" type=2F size=0004 fl=05
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�;*a code=0434 owner=0022 element=0409 universal=3FFF unitName="radian" type=2F size=0004 fl=04
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xSyncComponent "ElevatorServo" handled in the control thread.*n code=0023 name="MassServo"
*a code=0435 owner=0023 element=024A universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0436 owner=0023 element=0250 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0437 owner=0023 element=024C universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0438 owner=0023 element=024D universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0439 owner=0023 element=024E universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=043A owner=0023 element=024F universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=043B owner=0023 element=024B universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=043C owner=0023 element=0251 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=043D owner=0023 element=0254 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=043E owner=0023 element=0253 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04
*a code=043F owner=0023 element=0252 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0440 owner=0023 element=0378 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*e code=041E elementURI="MassServo.platform_mass_position" type=00
*a code=0441 owner=0023 element=041E universal=0032 unitName="meter" type=0B size=0003 fl=05
*a code=0442 owner=0023 element=040A universal=3FFF unitName="meter" type=0B size=0003 fl=04
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pSyncComponent "MassServo" handled in the control thread.*n code=0024 name="RudderServo"
*a code=0443 owner=0024 element=0256 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0444 owner=0024 element=0261 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0445 owner=0024 element=0258 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0446 owner=0024 element=025A universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0447 owner=0024 element=025B universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0448 owner=0024 element=025E universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0449 owner=0024 element=025F universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=044A owner=0024 element=0260 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=044B owner=0024 element=025D universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=044C owner=0024 element=0257 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04
*a code=044D owner=0024 element=025C universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=044E owner=0024 element=0259 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=044F owner=0024 element=0351 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*e code=041F elementURI="RudderServo.platform_rudder_angle" type=00
*a code=0450 owner=0024 element=041F universal=003C unitName="radian" type=2F size=0004 fl=05
*a code=0451 owner=0024 element=041A universal=3FFF unitName="radian" type=2F size=0004 fl=04
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tSyncComponent "RudderServo" handled in the control thread.*n code=0025 name="ThrusterServo"
*a code=0452 owner=0025 element=0263 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=0420 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00
*a code=0453 owner=0025 element=0420 universal=0038 unitName="radian_per_second" type=0B size=0003 fl=05
*a code=0454 owner=0025 element=041B universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04
*a code=0455 owner=0025 element=026A universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0456 owner=0025 element=0265 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0457 owner=0025 element=0267 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0458 owner=0025 element=0268 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0459 owner=0025 element=0269 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=045A owner=0025 element=0266 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
*a code=045B owner=0025 element=0264 universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=045C owner=0025 element=026D universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04
*a code=045D owner=0025 element=026E universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04
*a code=045E owner=0025 element=026C universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=045F owner=0025 element=026B universal=3FFF unitName="count" type=0D size=0004 fl=04
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xSyncComponent "ThrusterServo" handled in the control thread.�����Pz
�Loaded Module: Servo (This is the module containing motor controllers)�����Pz
NLoading Module at Modules/Derivation.so*n code=0026 name="DepthRateCalculator"
*a code=0460 owner=0026 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0421 elementURI="DepthRateCalculator.depth_rate" type=00
*a code=0461 owner=0026 element=0421 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05
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�SyncComponent "DepthRateCalculator" handled in the control thread.*n code=0027 name="PitchRateCalculator"
*a code=0462 owner=0027 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0422 elementURI="PitchRateCalculator.platform_pitch_rate" type=00
*a code=0463 owner=0027 element=0422 universal=0036 unitName="radian_per_second" type=0B size=0003 fl=05
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�SyncComponent "PitchRateCalculator" handled in the control thread.*n code=0028 name="SpeedCalculator"
*a code=0464 owner=0028 element=0038 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0423 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00
*a code=0465 owner=0028 element=0423 universal=003E unitName="meter_per_second" type=0B size=0003 fl=05

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�*e code=0424 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00
*a code=0466 owner=0028 element=0424 universal=0044 unitName="meter_per_second" type=0B size=0003 fl=05

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�*e code=0425 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00
*a code=0467 owner=0028 element=0425 universal=002D unitName="meter" type=0B size=0003 fl=05

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�*a code=0468 owner=0028 element=0107 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0469 owner=0028 element=0356 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04
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|SyncComponent "SpeedCalculator" handled in the control thread.*n code=0029 name="TempGradientCalculator"
*a code=046A owner=0029 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=046B owner=0029 element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0426 elementURI="TempGradientCalculator.upward_derivative_of_sea_water_temperature" type=00
*a code=046C owner=0029 element=0426 universal=0064 unitName="celsius_per_meter" type=0B size=0003 fl=05
*e code=0427 elementURI="TempGradientCalculator.thermoclineDepth" type=02
*a code=046D owner=0029 element=0427 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0428 elementURI="TempGradientCalculator.targetDepth" type=02
*a code=046E owner=0029 element=0428 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=0429 elementURI="TempGradientCalculator.tempHoriGrad" type=02
*a code=046F owner=0029 element=0429 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*a code=0470 owner=0029 element=00FD universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0471 owner=0029 element=0101 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0472 owner=0029 element=0104 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0473 owner=0029 element=0100 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0474 owner=0029 element=00FF universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0475 owner=0029 element=00FE universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0476 owner=0029 element=0103 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0477 owner=0029 element=0102 universal=3FFF unitName="count" type=0D size=0004 fl=04
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�SyncComponent "TempGradientCalculator" handled in the control thread.*n code=002A name="YawRateCalculator"
*a code=0478 owner=002A element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=042A elementURI="YawRateCalculator.platform_yaw_rate" type=00
*a code=0479 owner=002A element=042A universal=004B unitName="radian_per_second" type=0B size=0003 fl=05
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�SyncComponent "YawRateCalculator" handled in the control thread.*n code=002B name="ElevatorOffsetCalculator"
*a code=047A owner=002B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=047B owner=002B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=047C owner=002B element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=047D owner=002B element=03FF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=047E owner=002B element=03F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=047F owner=002B element=03FC universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0480 owner=002B element=0112 universal=3FFF unitName="degree" type=2F size=0004 fl=04
*a code=0481 owner=002B element=0111 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=0482 owner=002B element=0113 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=0483 owner=002B element=038F universal=3FFF unitName="meter" type=0B size=0003 fl=04
*e code=042B elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02
*a code=0484 owner=002B element=042B universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=042C elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02
*a code=0485 owner=002B element=042C universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=042D elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02
*a code=0486 owner=002B element=042D universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=042E elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02
*a code=0487 owner=002B element=042E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*e code=042F elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02
*a code=0488 owner=002B element=042F universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=0430 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02
*a code=0489 owner=002B element=0430 universal=3FFF unitName="meter" type=0B size=0003 fl=05
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�SyncComponent "ElevatorOffsetCalculator" handled in the control thread.��
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�Loaded Module: Derivation (Contains the base derivation components)����Pz
NLoading Module at Modules/Navigation.so*n code=002C name="DeadReckonUsingMultipleVelocitySources"
*a code=048A owner=002C element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=048B owner=002C element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=048F owner=002C element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
*e code=0431 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00
*a code=0490 owner=002C element=0431 universal=0017 unitName="degree" type=37 size=0006 fl=05
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�*e code=0432 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00
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��9��Pz
�*e code=0433 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00
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��=��Pz
�*e code=0434 elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00
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��B��Pz
�*e code=0435 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00
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��F��Pz
�*e code=0436 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00
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��K��Pz
�*e code=0437 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00
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��P��Pz
�*e code=0438 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00
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��U��Pz
�*e code=0439 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00
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�*a code=0499 owner=002C element=0274 universal=3FFF unitName="count" type=0D size=0004 fl=04
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*e code=043A elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02
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*e code=043C elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02
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*e code=043D elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02
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�SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=002D name="DeadReckonUsingSpeedCalculator"
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*a code=04A6 owner=002D element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=04AA owner=002D element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04
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�*e code=0440 elementURI="DeadReckonUsingSpeedCalculator.depth" type=00
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�*e code=0441 elementURI="DeadReckonUsingSpeedCalculator.horizontal_path_length_since_last_fix" type=00
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�*e code=0442 elementURI="DeadReckonUsingSpeedCalculator.fix_distance_made_good" type=00
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�*e code=0443 elementURI="DeadReckonUsingSpeedCalculator.fix_horizontal_path_length_since_last_fix" type=00
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�*e code=0444 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_distance" type=00
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�*e code=0446 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_percent_distance_traveled" type=00
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�*a code=04B4 owner=002D element=027A universal=3FFF unitName="count" type=0D size=0004 fl=04
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*e code=0449 elementURI="DeadReckonUsingSpeedCalculator.latitude_accuracy" type=02
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�SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.*n code=002E name="NavChart"
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�D*e code=044D elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02
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nSyncComponent "NavChart" handled in the control thread.*n code=002F name="UniversalFixResidualReporter"
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*a code=04CC owner=002F element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=04CD owner=002F element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04
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�SyncComponent "UniversalFixResidualReporter" handled in the control thread.�����Pz
�Loaded Module: Navigation (Contains the base navigation components)�����Pz
FLoading Module at Modules/Sensor.so*n code=0030 name="DataOverHttps"
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!9����Pz
*e code=044F elementURI="Radio_Surface.radio_surface_power" type=02
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*a code=04D4 owner=0030 element=02D8 universal=3FFF unitName="minute" type=0B size=0003 fl=04
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hComponent "DataOverHttps" handled in its own thread.*n code=0031 name="DataOverHttps ThreadHandler"
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DCreated PCaller Thread at 408004E0����Pz
BProtected caller Thread ID is 733*n code=0032 name="Depth_Keller"
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HC*a code=04DA owner=0032 element=02EF universal=3FFF unitName="decibar" type=0B size=0003 fl=04
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vSyncComponent "Depth_Keller" handled in the control thread.*n code=0033 name="NAL9602"
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*e code=045B elementURI="NAL9602.SNRSatellite_9" type=00
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*e code=045D elementURI="NAL9602.SNRSatellite_11" type=00
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*e code=045F elementURI="NAL9602.numSatellites" type=02
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���D��Pz
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;4*e code=0467 elementURI="NAL9602.platform_communications" type=00
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ƿT��Pz
lSyncComponent "NAL9602" handled in the control thread.*n code=0034 name="Onboard"
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*a code=0502 owner=0034 element=046A universal=3FFF unitName="percent" type=0B size=0003 fl=05
*a code=0503 owner=0034 element=030D universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0504 owner=0034 element=030E universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0505 owner=0034 element=030F universal=3FFF unitName="none" type=1F size=0008 fl=04
*a code=0506 owner=0034 element=0310 universal=3FFF unitName="none" type=1F size=0008 fl=04
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lSyncComponent "Onboard" handled in the control thread.*n code=0035 name="Radio_Surface"
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hComponent "Radio_Surface" handled in its own thread.*n code=0036 name="Radio_Surface ThreadHandler"

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�Loaded Module: Estimation (Contains the base estimation components)�����Pz
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*n code=0038 name="LcmPolicy.CTD_NeilBrown"
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*n code=0039 name="LcmDataWriter.CTD_NeilBrown"
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�
�����Pz
�C*e code=046E elementURI="CTD_NeilBrown.sea_water_salinity" type=00
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�
����Pz
'7*e code=046F elementURI="CTD_NeilBrown.sea_water_temperature" type=00
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�
����Pz
�C*e code=0470 elementURI="CTD_NeilBrown.sea_water_electrical_conductivity" type=00
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*e code=0471 elementURI="CTD_NeilBrown.speed_of_sound_in_sea_water" type=00
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*e code=0474 elementURI="CTD_NeilBrown.bin_standard_deviation_sea_water_electrical_conductivity" type=02
*a code=051E owner=0037 element=0474 universal=3FFF unitName="millimho_per_centimeter" type=0B size=0003 fl=05
*e code=0475 elementURI="CTD_NeilBrown.bin_median_sea_water_temperature" type=02
*a code=051F owner=0037 element=0475 universal=3FFF unitName="celsius" type=0B size=0003 fl=05
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*e code=04C9 elementURI="CBIT.platform_fault" type=00
*a code=05BA owner=003F element=04C9 universal=002F unitName="enum" type=02 size=0001 fl=05
*e code=04CA elementURI="CBIT.platform_fault_leak" type=00
*a code=05BB owner=003F element=04CA universal=0030 unitName="enum" type=02 size=0001 fl=05
*a code=05BC owner=003F element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05
*e code=04CB elementURI="CBIT.GFCHANA0Current" type=02
*a code=05BD owner=003F element=04CB universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04CC elementURI="CBIT.GFCHANA1Current" type=02
*a code=05BE owner=003F element=04CC universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04CD elementURI="CBIT.GFCHANA2Current" type=02
*a code=05BF owner=003F element=04CD universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04CE elementURI="CBIT.GFCHANA3Current" type=02
*a code=05C0 owner=003F element=04CE universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04CF elementURI="CBIT.GFCHANB0Current" type=02
*a code=05C1 owner=003F element=04CF universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04D0 elementURI="CBIT.GFCHANB1Current" type=02
*a code=05C2 owner=003F element=04D0 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04D1 elementURI="CBIT.GFCHANB2Current" type=02
*a code=05C3 owner=003F element=04D1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04D2 elementURI="CBIT.GFCHANB3Current" type=02
*a code=05C4 owner=003F element=04D2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*e code=04D3 elementURI="CBIT.GFCHANOpenCurrent" type=02
*a code=05C5 owner=003F element=04D3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05
*a code=05C6 owner=003F element=0489 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*e code=04D4 elementURI="CBIT.empericalClassifierFaultDetected" type=02
*a code=05C7 owner=003F element=04D4 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*e code=04D5 elementURI="CBIT.binnedDepthRate" type=02
*a code=05C8 owner=003F element=04D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=05C9 owner=003F element=0394 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=05CA owner=003F element=0393 universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=05CB owner=003F element=0395 universal=3FFF unitName="percent" type=0B size=0003 fl=04
*a code=05CC owner=003F element=0396 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04
*a code=05CD owner=003F element=0397 universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04
*a code=05CE owner=003F element=039E universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05CF owner=003F element=0398 universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=05D0 owner=003F element=0399 universal=3FFF unitName="count" type=0D size=0004 fl=04
*a code=05D1 owner=003F element=039B universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=05D2 owner=003F element=039D universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05D3 owner=003F element=039C universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05D4 owner=003F element=039A universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=05D5 owner=003F element=039F universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05D6 owner=003F element=03A0 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05D7 owner=003F element=03A1 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05D8 owner=003F element=03A2 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05D9 owner=003F element=03A3 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05DA owner=003F element=03A4 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05DB owner=003F element=03A5 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05DC owner=003F element=03A6 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04
*a code=05DD owner=003F element=03A7 universal=3FFF unitName="hour" type=0B size=0003 fl=04
*a code=05DE owner=003F element=03A8 universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=05DF owner=003F element=03A9 universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=05E0 owner=003F element=03AA universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=05E1 owner=003F element=03AB universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=05E2 owner=003F element=03AC universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=05E3 owner=003F element=03AD universal=3FFF unitName="microampere" type=0B size=0003 fl=04
*a code=05E4 owner=003F element=03AE universal=3FFF unitName="microampere" type=0B size=0003 fl=04
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fSyncComponent "CBIT" handled in the control thread.�����Pz
�Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)*n code=0040 name="MissionManager"
*a code=05E5 owner=0040 element=0486 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=05E6 owner=0040 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*e code=04D6 elementURI="MissionManager.mission_started" type=00
*a code=05E7 owner=0040 element=04D6 universal=001C unitName="count" type=0D size=0004 fl=05
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zSyncComponent "MissionManager" handled in the control thread.*n code=0041 name="Reporter"
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nSyncComponent "Reporter" handled in the control thread.*n code=0042 name="NavChartDb"
*e code=04D7 elementURI="NavChartDb.closestDistance" type=02
*a code=05E8 owner=0042 element=04D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04D8 elementURI="NavChartDb.nextDistance" type=02
*a code=05E9 owner=0042 element=04D8 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04D9 elementURI="NavChartDb.closestDepth" type=02
*a code=05EA owner=0042 element=04D9 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*e code=04DA elementURI="NavChartDb.nextDepth" type=02
*a code=05EB owner=0042 element=04DA universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=05EC owner=0042 element=0295 universal=3FFF unitName="none" type=00 size=0047 fl=04
*a code=05ED owner=0042 element=0296 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04
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bComponent "NavChartDb" handled in its own thread.*n code=0043 name="NavChartDb ThreadHandler"
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DCreated PCaller Thread at 40AC54E0�!����Pz
BProtected caller Thread ID is 737N����Pz
*Main Thread ID is 649F����Pz
&Running supervisor.�����Pz
0Handler Thread ID is 738����Pz
0Handler Thread ID is 739
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4Initializing ControlThread�����Pz
HInitialize VerticalControlComponent.
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LInitialize HorizontalControlComponent.�����Pz
BInitialize SpeedControlComponent.
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@Initialize LoopControlComponent.
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BInitializing DepthRateCalculator.�����Pz
BInitializing PitchRateCalculator.
����Pz
:Initializing SpeedCalculator.�����Pz
HInitializing TempGradientCalculator.
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>Initializing YawRateCalculator.�����Pz
LInitializing ElevatorOffsetCalculator.�����Pz
lInitializing DeadReckonUsingSpeedCalculator component.
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>Initialize NavChart Navigation.�����Pz
hInitializing UniversalFixResidualReporter component.�����Pz
4Initialize SBIT Component.�����Pz
6git: 2019-03-18-28-g15bcb3d�����Pz
dgit hash: 15bcb3d0ddea981cd14ea88bd1a5b5086b5d5606�����Pz
0Kernel Release: 2.6.27.8*a code=05EE owner=003D element=03B0 universal=3FFF unitName="bool" type=02 size=0001 fl=04
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�Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018I�����Pz

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HBeginning SBIT in 28.000000 seconds.����Pz
4Initialize IBIT Component.������Pz
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4Initialize CBIT Component.��¼�Pz
0Handler Thread ID is 740��̼�Pz
*Initialized mux pins.��̼�Pz
@Initializing the watchdog timer.��Լ�Pz
0Handler Thread ID is 741
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�dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP���Pz
0Handler Thread ID is 742����Pz
TLast reboot was NOT due to watchdog timer.����Pz
.Initializing heartbeat.���Pz
0Handler Thread ID is 744���Pz
0Handler Thread ID is 745�����Pz
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Powering down*e code=04DB elementURI="WetLabsBB2FL.component_voltage" type=00
*a code=05EF owner=003B element=04DB universal=3FFF unitName="volt" type=07 size=0002 fl=05
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*e code=04DC elementURI="WetLabsBB2FL.component_avgVoltage" type=00
*a code=05F0 owner=003B element=04DC universal=3FFF unitName="volt" type=07 size=0002 fl=05
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*e code=04DD elementURI="WetLabsBB2FL.component_current" type=00
*a code=05F1 owner=003B element=04DD universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
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*e code=04DE elementURI="WetLabsBB2FL.component_avgCurrent" type=00
*a code=05F2 owner=003B element=04DE universal=3FFF unitName="milliampere" type=07 size=0002 fl=05
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0Handler Thread ID is 746!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US1WC07M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US2WC11M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US3CA52M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US4CA60M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US5CA50M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US5CA61M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US5CA62M.000!���Pz
�Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000!���Pz
tAlready Loaded Electronic Nav Chart data from US5CA83M.000��*��Pz
2Deactivating GF circuits.��*��Pz
8Deactivating emergency mode.��M��Pz
$Backplane powered. �N��Pz
JLoading Mission: Missions/Startup.xml*n code=0044 name="Startup"
*n code=0045 name="Startup:A.GoToSurface"
�"�Y��Pz
,Construct GoToSurface.*a code=05F3 owner=0045 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05F4 owner=0045 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05F5 owner=0045 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=05F6 owner=0045 element=03F8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=05F7 owner=0045 element=03F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=05F8 owner=0045 element=03FF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=05F9 owner=0045 element=03F6 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=05FA owner=0045 element=03FD universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=05FB owner=0045 element=03FC universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=05FC owner=0045 element=038F universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=05FD owner=0045 element=038A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=05FE owner=0045 element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=05FF owner=0045 element=037C universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0600 owner=0045 element=0377 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0601 owner=0045 element=038B universal=3FFF unitName="second" type=0B size=0003 fl=04
*n code=0046 name="Startup:StartupSatComms"
*n code=0047 name="Startup:StartupSatComms:A"
*n code=0048 name="Startup:StartupSatComms:B"

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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>

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JLoading Mission: Missions/Default.xml*n code=0049 name="Default"
*e code=04DF elementURI="Default.ElapsedSinceDefaultStarted" type=00
*a code=0602 owner=0049 element=04DF universal=3FFF unitName="minute" type=1F size=0008 fl=04
*a code=0603 owner=0049 element=04DF universal=3FFF unitName="minute" type=1F size=0008 fl=05
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vDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=004A name="Default:A.Wait"

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Construct Wait.*n code=004B name="Default:B.GoToSurface"
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,Construct GoToSurface.*a code=0604 owner=004B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0605 owner=004B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0606 owner=004B element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0607 owner=004B element=03F8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0608 owner=004B element=03F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0609 owner=004B element=03FF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=060A owner=004B element=03F6 universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=060B owner=004B element=03FD universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=060C owner=004B element=03FC universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=060D owner=004B element=038F universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=060E owner=004B element=038A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=060F owner=004B element=035C universal=3FFF unitName="meter" type=0B size=0003 fl=04
*a code=0610 owner=004B element=037C universal=3FFF unitName="millimeter" type=0B size=0003 fl=04
*a code=0611 owner=004B element=0377 universal=3FFF unitName="bool" type=02 size=0001 fl=04
*a code=0612 owner=004B element=038B universal=3FFF unitName="second" type=0B size=0003 fl=04
*n code=004C name="Default:CheckIn"
*n code=004D name="Default:CheckIn:Read_GPS"
*n code=004E name="Default:CheckIn:Read_Iridium"
*n code=004F name="Default:CheckIn:Read_Iridium:A_Timeout"
*n code=0050 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute"

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$Construct Execute.*n code=0051 name="Default:CheckIn:Read_Iridium:A_Timeout:B"
*n code=0052 name="Default:CheckIn:C.Wait"

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Construct Wait.*n code=0053 name="Default:CheckIn:D"
*a code=0613 owner=0053 element=04DF universal=3FFF unitName="minute" type=1F size=0008 fl=05
*a code=0614 owner=0053 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04
*n code=0054 name="Default:CheckIn:E"
*n code=0055 name="Default:D"
*n code=0056 name="Default:E.Execute"

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$Construct Execute.
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�&
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


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qComponent order: CycleStarter,Depth_Keller,NAL9602,Onboard,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,Һ�PR��� ���BI)�A�A-
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�G��-��-!��@!��@!��@!��@a��@a��@a
�@a�@�|�;�|�s�:�{�i{�	|��{�	�
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�4Initializing EZServoServo.��6Initializing BuoyancyServo.
�4Initializing EZServoServo.
�6Initializing ElevatorServo.��4Initializing EZServoServo.�.Initializing MassServo.
4Initializing EZServoServo.
u2Initializing RudderServo.�u4Initializing EZServoServo.��6Initializing ThrusterServo.)��
�ؾPR��E�BI)�A�b�ؼ9�bf��I�j��>)�jՕC	�5
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u��PR���1CI)�A�"�H<9�"
�BI�()�(	�Z��G9�^���	�^J=��f��f�|p�{pi{p	|p�{p	�t��t)�����PR���KCI)�A�"
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