*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_expressed_as_equivalent_mass_fraction_of_quinine_sulfate_dihydrate" 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 FW!z0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" [!zDCreated PCaller Thread at 404514E0[!zDProtected caller Thread ID is 1001ƿ\!zhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" ]!zDCreated PCaller Thread at 404814E0]!zDProtected caller Thread ID is 1002*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 ƿa!zvSyncComponent "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 ƿm!zdComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler" n!zDCreated PCaller Thread at 404B14E0n!zDProtected caller Thread ID is 1003*n code=000A name="logger" ƿo!zZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler" p!zDCreated PCaller Thread at 404E14E0p!zDProtected caller Thread ID is 1004*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 ƿr!ztSyncComponent "LogSplitter" handled in the control thread.Ns!z\Looking for Config files in directory: Config/Nt!zTOpening 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 d!zTethys*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 t!z*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 !zff0055ff*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 !z000000*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 !z0000*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 !z*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 Ŀ!z*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 Կ!z /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 俟!z /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 !z @*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 !z /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 )!z /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 I!z@*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 i!z /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 !z /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 !z @*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 !z /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 !z /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 !z@*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 )!z /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 I!z /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!z@*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 !z /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 !z@*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 !z /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 !z@*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 !z /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 )!z@*e code=0087 elementURI="Batt_Ocean_ServerB.uart" type=01 *a code=0022 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*a code=005A owner=000D element=00BF universal=3FFF unitName="none" type=00 size=000B fl=05 I !z /dev/ttyS2*e code=00C1 elementURI="NAL9602.baud" type=01 *a code=005C owner=000D element=00C1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 @!z@*e code=00C2 elementURI="OnboardHumidity.i2c" type=01 *a code=005D owner=000D element=00C2 universal=3FFF unitName="none" type=00 size=000A fl=05 B!z /dev/i2c-0*e code=00C3 elementURI="OnboardHumidity.i2cAddr" type=01 *a code=005E owner=000D element=00C3 universal=3FFF unitName="count" type=0D size=0004 fl=05 D!z'*e code=00C4 elementURI="OnboardPressure.i2c" type=01 *a code=005F owner=000D element=00C4 universal=3FFF unitName="none" type=00 size=000A fl=05 F!z /dev/i2c-0*e code=00C5 elementURI="OnboardPressure.i2cAddr" type=01 *a code=0060 owner=000D element=00C5 universal=3FFF unitName="count" type=0D size=0004 fl=05 H!z`*e code=00C6 elementURI="PAR_Licor.loadControl" type=01 *a code=0061 owner=000D element=00C6 universal=3FFF 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elementURI="PNI_TCM.baud" type=01 *a code=0068 owner=000D element=00CD universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 o!z@*e code=00CE elementURI="Radio_Surface.loadControl" type=01 *a code=0069 owner=000D element=00CE universal=3FFF unitName="none" type=00 size=000B fl=05 ) q!z /dev/loadA2*e code=00CF elementURI="RDI_Pathfinder.loadControl" type=01 *a code=006A owner=000D element=00CF universal=3FFF unitName="none" type=00 size=000B fl=05 I v!z /dev/loadB4*e code=00D0 elementURI="RDI_Pathfinder.uart" type=01 *a code=006B owner=000D element=00D0 universal=3FFF unitName="none" type=00 size=000A fl=05 i x!z /dev/ttyB4*e code=00D1 elementURI="RDI_Pathfinder.baud" type=01 *a code=006C owner=000D element=00D1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 z!z @*e code=00D2 elementURI="rhodamine.loadControl" type=01 *a code=006D owner=000D element=00D2 universal=3FFF unitName="none" type=00 size=000B fl=05 |!z /dev/loadB0*e code=00D3 elementURI="rhodamine.ad" type=01 *a code=006E owner=000D element=00D3 universal=3FFF unitName="none" type=00 size=000E fl=05 ~!z/dev/mcp3553B0*e code=00D4 elementURI="rhodamine.adRes" type=01 *a code=006F owner=000D element=00D4 universal=3FFF unitName="bit" type=1F size=0008 fl=05 !z@*e code=00D5 elementURI="rhodamine.adTimeout" type=01 *a code=0070 owner=000D element=00D5 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 !z>*e code=00D6 elementURI="rhodamine.adVref" type=01 *a code=0071 owner=000D element=00D6 universal=3FFF unitName="volt" type=0B size=0003 fl=05 )!z @*e code=00D7 elementURI="Rowe_600.loadControl" type=01 *a code=0072 owner=000D element=00D7 universal=3FFF unitName="none" type=00 size=000B fl=05 I!z /dev/loadB5*e code=00D8 elementURI="Rowe_600.uart" type=01 *a code=0073 owner=000D element=00D8 universal=3FFF unitName="none" type=00 size=000A fl=05 i!z /dev/ttyB5*e code=00D9 elementURI="Rowe_600.baud" type=01 *a code=0074 owner=000D element=00D9 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code=00E5 elementURI="SCPI.loadControl" type=01 *a code=0080 owner=000D element=00E5 universal=3FFF unitName="none" type=00 size=000B fl=05 !z /dev/loadB2*e code=00E6 elementURI="SCPI.uart" type=01 *a code=0081 owner=000D element=00E6 universal=3FFF unitName="none" type=00 size=000A fl=05 )!z /dev/ttyB2*e code=00E7 elementURI="SCPI.baud" type=01 *a code=0082 owner=000D element=00E7 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I!z@*e code=00E8 elementURI="ThrusterServo.loadControl" type=01 *a code=0083 owner=000D element=00E8 universal=3FFF unitName="none" type=00 size=000B fl=05 i!z /dev/loadA7*e code=00E9 elementURI="ThrusterServo.uart" type=01 *a code=0084 owner=000D element=00E9 universal=3FFF unitName="none" type=00 size=000A fl=05 !z /dev/ttyA7*e code=00EA elementURI="ThrusterServo.baud" type=01 *a code=0085 owner=000D element=00EA universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 !z@*e code=00EB elementURI="Turbulence_NPS.loadControl" type=01 *a code=0086 owner=000D element=00EB universal=3FFF unitName="none" type=00 size=000B fl=05 !z /dev/loadB2*e code=00EC elementURI="Turbulence_NPS.uart" type=01 *a code=0087 owner=000D element=00EC universal=3FFF unitName="none" type=00 size=000A fl=05 !z /dev/ttyS1*e code=00ED elementURI="Turbulence_NPS.baud" type=01 *a code=0088 owner=000D element=00ED universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 !z @*e code=00EE elementURI="VemcoVR2C.loadControl" type=01 *a code=0089 owner=000D element=00EE universal=3FFF unitName="none" type=00 size=000B fl=05 )!z /dev/loadB3*e code=00EF elementURI="VemcoVR2C.uart" type=01 *a code=008A owner=000D element=00EF universal=3FFF unitName="none" type=00 size=000B fl=05 I!z /dev/ttyTX1*e code=00F0 elementURI="VemcoVR2C.baud" type=01 *a code=008B owner=000D element=00F0 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i!z@*e code=00F1 elementURI="WetLabsBB2FL.loadControl" type=01 *a code=008C owner=000D element=00F1 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element=03B2 universal=3FFF unitName="none" type=00 size=000B fl=05 ib!z /dev/loadC4*e code=03B3 elementURI="DUSBL_Hydroid.uart" type=01 *a code=034E owner=000D element=03B3 universal=3FFF unitName="none" type=00 size=000A fl=05 ie!z /dev/ttyC4*e code=03B4 elementURI="DUSBL_Hydroid.baud" type=01 *a code=034F owner=000D element=03B4 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ih!z @j!z /dev/loadC3 k!z /dev/ttyC3)?l!zn!z /dev/loadC2o!z /dev/ttyC2 ?q!z) s!z /dev/loadC0I t!z/dev/mcp3553C0i ?v!z ?w!z ?x!zI z!z /dev/loadB7i {!z /dev/ttyS2 ?|!z) !z /dev/loadB6I !z /dev/loadB2i !z /dev/ttyB2*e code=03B5 elementURI="RDI_PathfinderUp.loadControl" type=01 *a code=0350 owner=000D element=03B5 universal=3FFF unitName="none" type=00 size=000B fl=05 j!z /dev/loadB1*e code=03B6 elementURI="RDI_PathfinderUp.uart" type=01 *a code=0351 owner=000D element=03B6 universal=3FFF unitName="none" type=00 size=000A fl=05 )j!z /dev/ttyB1*e code=03B7 elementURI="RDI_PathfinderUp.baud" type=01 *a code=0352 owner=000D element=03B7 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ij!z @!z /dev/loadB0!z/dev/mcp3553B0?!z?!z ?!z*e code=03B8 elementURI="GobyModem.loadControl" type=01 *a code=0353 owner=000D element=03B8 universal=3FFF unitName="none" type=00 size=000B fl=05 ij!z /dev/loadA7*e code=03B9 elementURI="GobyModem.uart" type=01 *a code=0354 owner=000D element=03B9 universal=3FFF unitName="none" type=00 size=000A fl=05 j!z /dev/ttyA5*e code=03BA elementURI="GobyModem.baud" type=01 *a code=0355 owner=000D element=03BA universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 j!z@*e code=03BB elementURI="Micromodem.loadControl" type=01 *a code=0356 owner=000D element=03BB universal=3FFF unitName="none" type=00 size=000B fl=05 j!z /dev/loadA7*e code=03BC elementURI="Micromodem.loadControl2" type=01 *a code=0357 owner=000D element=03BC universal=3FFF unitName="none" type=00 size=000B fl=05 j!z /dev/loadB3*e code=03BD elementURI="Micromodem.uart" type=01 *a code=0358 owner=000D element=03BD universal=3FFF unitName="none" type=00 size=000A fl=05 k!z /dev/ttyA7*e code=03BE elementURI="Micromodem.baud" type=01 *a code=0359 owner=000D element=03BE universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )k!z@ !z /dev/loadA5 !z /dev/ttyA5) ?!z !z /dev/loadA4 !z /dev/ttyA4 ?!z!z /dev/loadA3!z /dev/ttyA3?!z!z /dev/loadA2!z /dev/ttyA2?!zi!z /dev/loadA1!z /dev/ttyA1?!zN !zpOpening Config file at: Config/lrauv-whoidhs/Control.cfg!zi!z9!zBI!z8*e code=03BF elementURI="VeritcalControl.buoyancyLimitHiCC" type=01 *a code=035A owner=000F element=03BF universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 Ik!z: !z?:)"!z;$!z+=&!z9Nl!zhOpening Config file at: Config/lrauv-whoidhs/BIT.cfg ?t!z) v!zI y!zWCi |!zC!}!z !z A #!zZ49#?!z $!z2.6.27.8)$!z'#2 PREEMPT Thu Jan 11 20:13:48 PST 2018I$?!zN!zpOpening Config file at: Config/lrauv-whoidhs/Battery.cfg*n code=001C name="Config/Battery" *e code=03C0 elementURI="Config/Battery.stick1" type=00 *a code=035B owner=001C element=03C0 universal=3FFF unitName="none" type=00 size=0004 fl=05 ik!z0165*e code=03C1 elementURI="Config/Battery.stick2" type=00 *a code=035C owner=001C element=03C1 universal=3FFF unitName="none" type=00 size=0004 fl=05 k!z0135*e code=03C2 elementURI="Config/Battery.stick3" type=00 *a code=035D owner=001C element=03C2 universal=3FFF unitName="none" type=00 size=0004 fl=05 k!z0149*e code=03C3 elementURI="Config/Battery.stick4" type=00 *a code=035E owner=001C element=03C3 universal=3FFF unitName="none" type=00 size=0004 fl=05 k!z0146*e code=03C4 elementURI="Config/Battery.stick5" type=00 *a code=035F owner=001C element=03C4 universal=3FFF unitName="none" type=00 size=0004 fl=05 k!z013D*e code=03C5 elementURI="Config/Battery.stick6" type=00 *a code=0360 owner=001C element=03C5 universal=3FFF unitName="none" type=00 size=0004 fl=05 l!z014D*e code=03C6 elementURI="Config/Battery.stick7" type=00 *a code=0361 owner=001C element=03C6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )l!z0156*e code=03C7 elementURI="Config/Battery.stick8" type=00 *a code=0362 owner=001C element=03C7 universal=3FFF unitName="none" type=00 size=0004 fl=05 Il!z0133*e code=03C8 elementURI="Config/Battery.stick9" type=00 *a code=0363 owner=001C element=03C8 universal=3FFF unitName="none" type=00 size=0004 fl=05 il!z0131*e code=03C9 elementURI="Config/Battery.stick10" type=00 *a code=0364 owner=001C element=03C9 universal=3FFF unitName="none" type=00 size=0004 fl=05 l!z0145*e code=03CA elementURI="Config/Battery.stick11" type=00 *a code=0365 owner=001C element=03CA universal=3FFF unitName="none" type=00 size=0004 fl=05 l!z014A*e code=03CB elementURI="Config/Battery.stick12" type=00 *a code=0366 owner=001C element=03CB universal=3FFF unitName="none" type=00 size=0004 fl=05 l!z013C*e code=03CC elementURI="Config/Battery.stick13" type=00 *a code=0367 owner=001C element=03CC universal=3FFF unitName="none" type=00 size=0004 fl=05 l!z013B*e code=03CD elementURI="Config/Battery.stick14" type=00 *a code=0368 owner=001C element=03CD universal=3FFF unitName="none" type=00 size=0004 fl=05 m!z0132*e code=03CE elementURI="Config/Battery.stick15" type=00 *a code=0369 owner=001C element=03CE universal=3FFF unitName="none" type=00 size=0004 fl=05 )m!z0134*e code=03CF elementURI="Config/Battery.stick16" type=00 *a code=036A owner=001C element=03CF universal=3FFF unitName="none" type=00 size=0004 fl=05 Im!z0153*e code=03D0 elementURI="Config/Battery.stick17" type=00 *a code=036B owner=001C element=03D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 im!z014B*e code=03D1 elementURI="Config/Battery.stick18" type=00 *a code=036C owner=001C element=03D1 universal=3FFF unitName="none" type=00 size=0004 fl=05 m!z013A*e code=03D2 elementURI="Config/Battery.stick19" type=00 *a code=036D owner=001C element=03D2 universal=3FFF unitName="none" type=00 size=0004 fl=05 m!z0136*e code=03D3 elementURI="Config/Battery.stick20" type=00 *a code=036E owner=001C element=03D3 universal=3FFF unitName="none" type=00 size=0004 fl=05 m!z014F*e code=03D4 elementURI="Config/Battery.stick21" type=00 *a code=036F owner=001C element=03D4 universal=3FFF unitName="none" type=00 size=0004 fl=05 m!z014E*e code=03D5 elementURI="Config/Battery.stick22" type=00 *a code=0370 owner=001C element=03D5 universal=3FFF unitName="none" type=00 size=0004 fl=05 n !z013F*e code=03D6 elementURI="Config/Battery.stick23" type=00 *a code=0371 owner=001C element=03D6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )n !z0152*e code=03D7 elementURI="Config/Battery.stick24" type=00 *a code=0372 owner=001C element=03D7 universal=3FFF unitName="none" type=00 size=0004 fl=05 In !z014C*e code=03D8 elementURI="Config/Battery.stick25" type=00 *a code=0373 owner=001C element=03D8 universal=3FFF unitName="none" type=00 size=0004 fl=05 in!z016B*e code=03D9 elementURI="Config/Battery.stick26" type=00 *a code=0374 owner=001C element=03D9 universal=3FFF unitName="none" type=00 size=0004 fl=05 n!z0141*e code=03DA elementURI="Config/Battery.stick27" type=00 *a code=0375 owner=001C element=03DA universal=3FFF unitName="none" type=00 size=0004 fl=05 n!z0139*e code=03DB elementURI="Config/Battery.stick28" type=00 *a code=0376 owner=001C element=03DB universal=3FFF unitName="none" type=00 size=0004 fl=05 n!z0137*e code=03DC elementURI="Config/Battery.stick29" type=00 *a code=0377 owner=001C element=03DC universal=3FFF unitName="none" type=00 size=0004 fl=05 n!z0142*e code=03DD elementURI="Config/Battery.stick30" type=00 *a code=0378 owner=001C element=03DD universal=3FFF unitName="none" type=00 size=0004 fl=05 o!z013E*e code=03DE elementURI="Config/Battery.stick31" type=00 *a code=0379 owner=001C element=03DE universal=3FFF unitName="none" type=00 size=0004 fl=05 )o!z0147*e code=03DF elementURI="Config/Battery.stick32" type=00 *a code=037A owner=001C element=03DF universal=3FFF unitName="none" type=00 size=0004 fl=05 Io!!z0140*e code=03E0 elementURI="Config/Battery.stick33" type=00 *a code=037B owner=001C element=03E0 universal=3FFF unitName="none" type=00 size=0004 fl=05 io#!z0163*e code=03E1 elementURI="Config/Battery.stick34" type=00 *a code=037C owner=001C element=03E1 universal=3FFF unitName="none" type=00 size=0004 fl=05 o%!z0157*e code=03E2 elementURI="Config/Battery.stick35" type=00 *a code=037D owner=001C element=03E2 universal=3FFF unitName="none" type=00 size=0004 fl=05 o(!z0159*e code=03E3 elementURI="Config/Battery.stick36" type=00 *a code=037E owner=001C element=03E3 universal=3FFF unitName="none" type=00 size=0004 fl=05 o*!z016E*e code=03E4 elementURI="Config/Battery.stick37" type=00 *a code=037F owner=001C element=03E4 universal=3FFF unitName="none" type=00 size=0004 fl=05 o,!z0160*e code=03E5 elementURI="Config/Battery.stick38" type=00 *a code=0380 owner=001C element=03E5 universal=3FFF unitName="none" type=00 size=0004 fl=05 p.!z015C*e code=03E6 elementURI="Config/Battery.stick39" type=00 *a code=0381 owner=001C element=03E6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )p1!z016D*e code=03E7 elementURI="Config/Battery.stick40" type=00 *a code=0382 owner=001C element=03E7 universal=3FFF unitName="none" type=00 size=0004 fl=05 Ip3!z012D*e code=03E8 elementURI="Config/Battery.stick41" type=00 *a code=0383 owner=001C element=03E8 universal=3FFF unitName="none" type=00 size=0004 fl=05 ip6!z015E*e code=03E9 elementURI="Config/Battery.stick42" type=00 *a code=0384 owner=001C element=03E9 universal=3FFF unitName="none" type=00 size=0004 fl=05 p8!z0164*e code=03EA elementURI="Config/Battery.stick43" type=00 *a code=0385 owner=001C element=03EA universal=3FFF unitName="none" type=00 size=0004 fl=05 p:!z015B*e code=03EB elementURI="Config/Battery.stick44" type=00 *a code=0386 owner=001C element=03EB universal=3FFF unitName="none" type=00 size=0004 fl=05 p<!z0172*e code=03EC elementURI="Config/Battery.stick45" type=00 *a code=0387 owner=001C element=03EC universal=3FFF unitName="none" type=00 size=0004 fl=05 p?!z0166*e code=03ED elementURI="Config/Battery.stick46" type=00 *a code=0388 owner=001C element=03ED universal=3FFF unitName="none" type=00 size=0004 fl=05 qA!z0170*e code=03EE elementURI="Config/Battery.stick47" type=00 *a code=0389 owner=001C element=03EE universal=3FFF unitName="none" type=00 size=0004 fl=05 )qC!z0148*e code=03EF elementURI="Config/Battery.stick48" type=00 *a code=038A owner=001C element=03EF universal=3FFF unitName="none" type=00 size=0004 fl=05 IqF!z0130*e code=03F0 elementURI="Config/Battery.stick49" type=00 *a code=038B owner=001C element=03F0 universal=3FFF unitName="none" type=00 size=0004 fl=05 iqH!z0169*e code=03F1 elementURI="Config/Battery.stick50" type=00 *a code=038C owner=001C element=03F1 universal=3FFF unitName="none" type=00 size=0004 fl=05 qJ!z0158*e code=03F2 elementURI="Config/Battery.stick51" type=00 *a code=038D owner=001C element=03F2 universal=3FFF unitName="none" type=00 size=0004 fl=05 qL!z0162*e code=03F3 elementURI="Config/Battery.stick52" type=00 *a code=038E owner=001C element=03F3 universal=3FFF unitName="none" type=00 size=0004 fl=05 qO!z0150*e code=03F4 elementURI="Config/Battery.stick53" type=00 *a code=038F owner=001C element=03F4 universal=3FFF unitName="none" type=00 size=0004 fl=05 qQ!z015F*e code=03F5 elementURI="Config/Battery.stick54" type=00 *a code=0390 owner=001C element=03F5 universal=3FFF unitName="none" type=00 size=0004 fl=05 rS!z0171*e code=03F6 elementURI="Config/Battery.stick55" type=00 *a code=0391 owner=001C element=03F6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )rU!z0143*e code=03F7 elementURI="Config/Battery.stick56" type=00 *a code=0392 owner=001C element=03F7 universal=3FFF unitName="none" type=00 size=0004 fl=05 IrX!z0144*e code=03F8 elementURI="Config/Battery.stick57" type=00 *a code=0393 owner=001C element=03F8 universal=3FFF unitName="none" type=00 size=0004 fl=05 irZ!z016A*e code=03F9 elementURI="Config/Battery.stick58" type=00 *a code=0394 owner=001C element=03F9 universal=3FFF unitName="none" type=00 size=0004 fl=05 r\!z0155*e code=03FA elementURI="Config/Battery.stick59" type=00 *a code=0395 owner=001C element=03FA universal=3FFF unitName="none" type=00 size=0004 fl=05 r_!z0151*e code=03FB elementURI="Config/Battery.stick60" type=00 *a code=0396 owner=001C element=03FB universal=3FFF unitName="none" type=00 size=0004 fl=05 ra!z0154*e code=03FC elementURI="Config/Battery.stick61" type=00 *a code=0397 owner=001C element=03FC universal=3FFF unitName="none" type=00 size=0004 fl=05 rc!z0161*e code=03FD elementURI="Config/Battery.stick62" type=00 *a code=0398 owner=001C element=03FD universal=3FFF unitName="none" type=00 size=0004 fl=05 sf!z0138ƿ!zNLoaded Config Component "Config/BatteryN!ztOpening Config file at: Config/lrauv-whoidhs/Simulator.cfg$?!z$!zN.!zvOpening Config file at: Config/lrauv-whoidhs/Navigation.cfgi5?8!z5:!zd)6?;!zi6=!zd)9??!zi8?A!z7C!z6?D!zN!znOpening Config file at: Config/lrauv-whoidhs/logger.cfgN!znOpening Config file at: Config/lrauv-whoidhs/secure.cfgI>!zlrauv-whoidhs.shore.mbari.orgi>!z300234065063620>!zHde`3XN<!zlOpening Config file at: Config/lrauv-whoidhs/Servo.cfg>?E!z>F!zI?I!z%i?K!z AM!zQ9)A?N!zIAO!zAR!z?)B?S!zB?U!zBV!zID?W!ziDX!zD[!z?IE?\!zE?]!z F_!zIFa!z>N!znOpening Config file at: Config/lrauv-whoidhs/Sensor.cfg)I!zII!ziI!z,f1.0 f0.0 f0.0 f0.0 f1.0 f0.0 f0.0 f0.0 f1.0)L?!zIL!zL?!z M?!z)M!z BIM?!ziM!zpBM?!zO?!zO!z P?!z)P?!zIP!zPFP!z?8P?!zP!zP!zIN!ziN!zQ?!zQ!zQ!zbenthos_atm900 R!z0)R?!zIR?!ziR!zR!zR!zR?!zR!zS?!zS?!zS!z T!zڢ@)T!z$cIT!z(#.iT!zŏ1w-!O?T?!zT!zFT?!zT!z U!zU?!z V!z*e code=03FE elementURI="Radio_Surface.maxDepth" type=01 *a code=0399 owner=001A element=03FE universal=3FFF unitName="meter" type=0B size=0003 fl=05 )s!z?)V?!zIV !ziV !zV !zV? !zNS!zpOpening Config file at: Config/lrauv-whoidhs/Science.cfgZ\!zZ^!z)[?_!z [`!z[?b!z[c!z \?e!z)\?f!z\h!zI\?i!zi\?j!zibl!zbm!zco!zUWQ8594b?r!zbs!zficu!z7Cew!zfx!z gz!z)g?{!zIg?}!zig?~!zg?!zg?!zg?!zg?!z h?!z)h?!zIh?!zih?!zh?!zh?!zh!zh?!zN!zLooking for Config files in directory: Config/lrauv-whoidhs/root/^!znReading configuration overrides from Data/persisted.cfg)I!zZ!zN!z!zFLoading Module at Modules/Sensor.so*n code=001D name="DataOverHttps" *e code=03FF elementURI="DataOverHttps.platform_communications" type=00 *a code=039A owner=001D element=03FF universal=0029 unitName="bool" type=02 size=0001 fl=05 a!z*e code=0400 elementURI="Radio_Surface.radio_surface_power" type=02 *a code=039B owner=001D element=0400 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=039C owner=001D element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=039D owner=001D element=02CD universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=039E owner=001D element=02CE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=039F owner=001D element=02D0 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=03A0 owner=001D element=02D1 universal=3FFF unitName="count" type=0D size=0004 fl=04 qH!zƿI!zhComponent "DataOverHttps" handled in its own thread.*n code=001E name="DataOverHttps ThreadHandler" J!zDCreated PCaller Thread at 407564E0J!zDProtected caller Thread ID is 1083*n code=001F name="Depth_Keller" *a code=03A1 owner=001F element=02E4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03A2 owner=001F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0401 elementURI="Depth_Keller.depth" type=00 *a code=03A3 owner=001F element=0401 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=0402 elementURI="Depth_Keller.sea_water_pressure" type=00 *a code=03A4 owner=001F element=0402 universal=0058 unitName="decibar" type=0B size=0003 fl=05  n!zHC*a code=03A5 owner=001F element=02E7 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=03A6 owner=001F element=02E9 universal=3FFF unitName="micropascal" type=0B size=0003 fl=04 *a code=03A7 owner=001F element=02E5 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=03A8 owner=001F element=02E6 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 o!zƿp!zvSyncComponent "Depth_Keller" handled in the control thread.*n code=0020 name="DropWeight" *e code=0403 elementURI="DropWeight.dropWeightState" type=02 *a code=03A9 owner=0020 element=0403 universal=3FFF unitName="bool" type=02 size=0001 fl=05 1t!zƿt!zrSyncComponent "DropWeight" handled in the control thread.*n code=0021 name="DUSBL_Hydroid" *a code=03AA owner=0021 element=02D8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03AB owner=0021 element=02E0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=03AC owner=0021 element=02DD universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=03AD owner=0021 element=02DC universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=03AE owner=0021 element=02DB universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03AF owner=0021 element=02E1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=03B0 owner=0021 element=02E2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=03B1 owner=0021 element=02DA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=03B2 owner=0021 element=02D9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=03B3 owner=0021 element=02DE universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=03B4 owner=0021 element=02DF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03B5 owner=0021 element=005F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0404 elementURI="Micromodem.dusblPingCode" type=02 *a code=03B6 owner=0021 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0405 elementURI="DUSBL_Hydroid.xAngle" type=02 *a code=03B7 owner=0021 element=0405 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *e code=0406 elementURI="DUSBL_Hydroid.yAngle" type=02 *a code=03B8 owner=0021 element=0406 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *e code=0407 elementURI="DUSBL_Hydroid.travelTime" type=02 *a code=03B9 owner=0021 element=0407 universal=3FFF unitName="microsecond" type=0B size=0003 fl=05 *e code=0408 elementURI="DUSBL_Hydroid.latency" type=02 *a code=03BA owner=0021 element=0408 universal=3FFF unitName="microsecond" type=0B size=0003 fl=05 *e code=0409 elementURI="DUSBL_Hydroid.gain" type=02 *a code=03BB owner=0021 element=0409 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=040A elementURI="DUSBL_Hydroid.inBandSignalToNoise" type=02 *a code=03BC owner=0021 element=040A universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=040B elementURI="DUSBL_Hydroid.outBandSignalToNoise" type=02 *a code=03BD owner=0021 element=040B universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=040C elementURI="DUSBL_Hydroid.acoustic_contact_range" type=00 *a code=03BE owner=0021 element=040C universal=0004 unitName="meter" type=0B size=0003 fl=05 *e code=040D elementURI="DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=03BF owner=0021 element=040D universal=0002 unitName="none" type=00 size=0000 fl=05 *e code=040E elementURI="DUSBL_Hydroid.acoustic_contact_address" type=00 *a code=03C0 owner=0021 element=040E universal=0003 unitName="enum" type=02 size=0001 fl=05 q!zƿ!zxSyncComponent "DUSBL_Hydroid" handled in the control thread.*n code=0022 name="Micromodem" *a code=03C1 owner=0022 element=02F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03C2 owner=0022 element=02FA universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=040F elementURI="Micromodem.queryAddressRequested" type=02 *a code=03C3 owner=0022 element=040F universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0410 elementURI="Micromodem.numberOfPingsRequested" type=02 *a code=03C4 owner=0022 element=0410 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03C5 owner=0022 element=0404 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0411 elementURI="Micromodem.acoustic_wakeup" type=02 *a code=03C6 owner=0022 element=0411 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0412 elementURI="Micromodem.acoustic_receive_time" type=00 *a code=03C7 owner=0022 element=0412 universal=0000 unitName="epoch_second" type=0B size=0003 fl=05 *e code=0413 elementURI="Micromodem.acoustic_transmit_time" type=00 *a code=03C8 owner=0022 element=0413 universal=0001 unitName="epoch_second" type=0B size=0003 fl=05 *e code=0414 elementURI="Micromodem.range_request" type=02 *a code=03C9 owner=0022 element=0414 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0415 elementURI="Micromodem.remote_address" type=02 *a code=03CA owner=0022 element=0415 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0416 elementURI="Micromodem.local_address" type=02 *a code=03CB owner=0022 element=0416 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0417 elementURI="Micromodem.range" type=02 *a code=03CC owner=0022 element=0417 universal=3FFF unitName="meter" type=0B size=0003 fl=05 !zƿ!zrSyncComponent "Micromodem" handled in the control thread.*n code=0023 name="NAL9602" *a code=03CD owner=0023 element=02FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03CE owner=0023 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03CF owner=0023 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03D0 owner=0023 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0418 elementURI="NAL9602.SNRSatellite_0" type=00 *a code=03D1 owner=0023 element=0418 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0419 elementURI="NAL9602.SNRSatellite_1" type=00 *a code=03D2 owner=0023 element=0419 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=041A elementURI="NAL9602.SNRSatellite_2" type=00 *a code=03D3 owner=0023 element=041A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=041B elementURI="NAL9602.SNRSatellite_3" type=00 *a code=03D4 owner=0023 element=041B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=041C elementURI="NAL9602.SNRSatellite_4" type=00 *a code=03D5 owner=0023 element=041C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=041D elementURI="NAL9602.SNRSatellite_5" type=00 *a code=03D6 owner=0023 element=041D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=041E elementURI="NAL9602.SNRSatellite_6" type=00 *a code=03D7 owner=0023 element=041E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=041F elementURI="NAL9602.SNRSatellite_7" type=00 *a code=03D8 owner=0023 element=041F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0420 elementURI="NAL9602.SNRSatellite_8" type=00 *a code=03D9 owner=0023 element=0420 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0421 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=03DA owner=0023 element=0421 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0422 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=03DB owner=0023 element=0422 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0423 elementURI="NAL9602.SNRSatellite_11" type=00 *a code=03DC owner=0023 element=0423 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0424 elementURI="NAL9602.goodFix" type=02 *a code=03DD owner=0023 element=0424 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0425 elementURI="NAL9602.numSatellites" type=02 *a code=03DE owner=0023 element=0425 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0426 elementURI="NAL9602.sigQuality" type=02 *a code=03DF owner=0023 element=0426 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0427 elementURI="NAL9602.SOG" type=02 *a code=03E0 owner=0023 element=0427 universal=3FFF unitName="knot" type=0B size=0003 fl=05 *e code=0428 elementURI="NAL9602.COG" type=02 *a code=03E1 owner=0023 element=0428 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0429 elementURI="NAL9602.time_fix" type=00 *a code=03E2 owner=0023 element=0429 universal=0063 unitName="second" type=1F size=0008 fl=05 *e code=042A elementURI="NAL9602.latitude_fix" type=00 *a code=03E3 owner=0023 element=042A universal=0018 unitName="degree" type=37 size=0006 fl=05  !z;4*e code=042B elementURI="NAL9602.longitude_fix" type=00 *a code=03E4 owner=0023 element=042B universal=001B unitName="degree" type=37 size=0006 fl=05 ! !z;4*e code=042C elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=03E5 owner=0023 element=042C universal=0019 unitName="degree" type=00 size=0000 fl=05 % !z;4*e code=042D elementURI="NAL9602.platform_communications" type=00 *a code=03E6 owner=0023 element=042D universal=0029 unitName="bool" type=02 size=0001 fl=05 *a code=03E7 owner=0023 element=014C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=03E8 owner=0023 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03E9 owner=0023 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03EA owner=0023 element=02FD universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=03EB owner=0023 element=02FE universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=03EC owner=0023 element=0301 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03ED owner=0023 element=0302 universal=3FFF unitName="bool" type=02 size=0001 fl=04 , !zƿ- !zlSyncComponent "NAL9602" handled in the control thread.*n code=0024 name="Onboard" *a code=03EE owner=0024 element=0304 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=042E elementURI="Onboard.Pressure" type=02 *a code=03EF owner=0024 element=042E universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=042F elementURI="Onboard.Temperature" type=02 *a code=03F0 owner=0024 element=042F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0430 elementURI="Onboard.Humidity" type=02 *a code=03F1 owner=0024 element=0430 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=03F2 owner=0024 element=0305 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=03F3 owner=0024 element=0306 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=03F4 owner=0024 element=0307 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=03F5 owner=0024 element=0308 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=03F6 owner=0024 element=00C3 universal=3FFF unitName="count" type=0D size=0004 fl=04 1 < !zƿ< !zlSyncComponent "Onboard" handled in the control thread.*n code=0025 name="Radio_Surface" *a code=03F7 owner=0025 element=0315 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03F8 owner=0025 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0431 elementURI="VerticalControl.verticalMode" type=02 *a code=03F9 owner=0025 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=03FA owner=0025 element=0400 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=03FB owner=0025 element=014C universal=3FFF unitName="meter" type=0B size=0003 fl=04 q C !zƿC !zhComponent "Radio_Surface" handled in its own thread.*n code=0026 name="Radio_Surface ThreadHandler" D !zDCreated PCaller Thread at 407864E0D !zDProtected caller Thread ID is 1084*n code=0027 name="RDI_Pathfinder" *a code=03FC owner=0027 element=0318 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0432 elementURI="RDI_Pathfinder.height_above_sea_floor" type=00 *a code=03FD owner=0027 element=0432 universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=0433 elementURI="RDI_Pathfinder.platform_velocity_wrt_ground" type=12 blobType=11 fixedSize=0003 *a code=03FE owner=0027 element=0433 universal=0040 unitName="meter_per_second" type=00 size=0000 fl=05 *e code=0434 elementURI="RDI_Pathfinder.platform_x_velocity_wrt_ground" type=00 *a code=03FF owner=0027 element=0434 universal=0043 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0435 elementURI="RDI_Pathfinder.platform_y_velocity_wrt_ground" type=00 *a code=0400 owner=0027 element=0435 universal=0047 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0436 elementURI="RDI_Pathfinder.platform_z_velocity_wrt_ground" type=00 *a code=0401 owner=0027 element=0436 universal=004D unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0437 elementURI="RDI_Pathfinder.ShipXVelocityWRTGround" type=02 *a code=0402 owner=0027 element=0437 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0438 elementURI="RDI_Pathfinder.ShipYVelocityWRTGround" type=02 *a code=0403 owner=0027 element=0438 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0439 elementURI="RDI_Pathfinder.ShipZVelocityWRTGround" type=02 *a code=0404 owner=0027 element=0439 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=043A elementURI="RDI_Pathfinder.BottomVelocityFlag" type=02 *a code=0405 owner=0027 element=043A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=043B elementURI="RDI_Pathfinder.BottomShipVelocityFlag" type=02 *a code=0406 owner=0027 element=043B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=043C elementURI="RDI_Pathfinder.Beam1Range" type=02 *a code=0407 owner=0027 element=043C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=043D elementURI="RDI_Pathfinder.Beam2Range" type=02 *a code=0408 owner=0027 element=043D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=043E elementURI="RDI_Pathfinder.Beam3Range" type=02 *a code=0409 owner=0027 element=043E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=043F elementURI="RDI_Pathfinder.Beam4Range" type=02 *a code=040A owner=0027 element=043F universal=3FFF unitName="meter" type=0B size=0003 fl=05  !zƿ !zzSyncComponent "RDI_Pathfinder" handled in the control thread.*n code=0028 name="RDI_PathfinderUp" *a code=040B owner=0028 element=031A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0440 elementURI="RDI_PathfinderUp.Altitude" type=02 *a code=040C owner=0028 element=0440 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0441 elementURI="RDI_PathfinderUp.XVelocityWRTAbove" type=02 *a code=040D owner=0028 element=0441 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0442 elementURI="RDI_PathfinderUp.YVelocityWRTAbove" type=02 *a code=040E owner=0028 element=0442 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0443 elementURI="RDI_PathfinderUp.ZVelocityWRTAbove" type=02 *a code=040F owner=0028 element=0443 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0444 elementURI="RDI_PathfinderUp.BottomVelocityFlag" type=02 *a code=0410 owner=0028 element=0444 universal=3FFF unitName="count" type=0D size=0004 fl=05 1 !zƿ !z~SyncComponent "RDI_PathfinderUp" handled in the control thread.*n code=0029 name="BPC1" *e code=0445 elementURI="BPC1.reserve_battery_charge" type=02 *a code=0411 owner=0029 element=0445 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0446 elementURI="BPC1.reserve_battery_voltage" type=02 *a code=0412 owner=0029 element=0446 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0447 elementURI="BPC1.platform_battery_charge" type=00 *a code=0413 owner=0029 element=0447 universal=0022 unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0448 elementURI="BPC1.platform_battery_voltage" type=00 *a code=0414 owner=0029 element=0448 universal=0025 unitName="volt" type=0B size=0003 fl=05 Q  !zaDQ ! !z>*a code=0415 owner=0029 element=0188 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=0416 owner=0029 element=0189 universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=0417 owner=0029 element=02C9 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0418 owner=0029 element=02CA universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0419 owner=0029 element=02CB universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=041A owner=0029 element=02C8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0449 elementURI="BPC1.BattCapacity_1" type=00 *a code=041B owner=0029 element=0449 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=044A elementURI="BPC1.BattCurrent_1" type=00 *a code=041C owner=0029 element=044A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=044B elementURI="BPC1.BattStatus_1" type=00 *a code=041D owner=0029 element=044B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=044C elementURI="BPC1.BattTemp_1" type=00 *a code=041E owner=0029 element=044C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=044D elementURI="BPC1.BattVoltage_1" type=00 *a code=041F owner=0029 element=044D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=044E elementURI="BPC1.BattCapacity_2" type=00 *a code=0420 owner=0029 element=044E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=044F elementURI="BPC1.BattCurrent_2" type=00 *a code=0421 owner=0029 element=044F universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0450 elementURI="BPC1.BattStatus_2" type=00 *a code=0422 owner=0029 element=0450 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0451 elementURI="BPC1.BattTemp_2" type=00 *a code=0423 owner=0029 element=0451 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0452 elementURI="BPC1.BattVoltage_2" type=00 *a code=0424 owner=0029 element=0452 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0453 elementURI="BPC1.BattCapacity_3" type=00 *a code=0425 owner=0029 element=0453 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0454 elementURI="BPC1.BattCurrent_3" type=00 *a code=0426 owner=0029 element=0454 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0455 elementURI="BPC1.BattStatus_3" type=00 *a code=0427 owner=0029 element=0455 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0456 elementURI="BPC1.BattTemp_3" type=00 *a code=0428 owner=0029 element=0456 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0457 elementURI="BPC1.BattVoltage_3" type=00 *a code=0429 owner=0029 element=0457 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0458 elementURI="BPC1.BattCapacity_4" type=00 *a code=042A owner=0029 element=0458 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0459 elementURI="BPC1.BattCurrent_4" type=00 *a code=042B owner=0029 element=0459 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=045A elementURI="BPC1.BattStatus_4" type=00 *a code=042C owner=0029 element=045A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=045B elementURI="BPC1.BattTemp_4" type=00 *a code=042D owner=0029 element=045B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=045C elementURI="BPC1.BattVoltage_4" type=00 *a code=042E owner=0029 element=045C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=045D elementURI="BPC1.BattCapacity_5" type=00 *a code=042F owner=0029 element=045D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=045E elementURI="BPC1.BattCurrent_5" type=00 *a code=0430 owner=0029 element=045E universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=045F elementURI="BPC1.BattStatus_5" type=00 *a code=0431 owner=0029 element=045F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0460 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elementURI="CBIT.GFCHANA0Current" type=02 *a code=06DD owner=0042 element=05E9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EA elementURI="CBIT.GFCHANA1Current" type=02 *a code=06DE owner=0042 element=05EA universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EB elementURI="CBIT.GFCHANA2Current" type=02 *a code=06DF owner=0042 element=05EB universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EC elementURI="CBIT.GFCHANA3Current" type=02 *a code=06E0 owner=0042 element=05EC universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05ED elementURI="CBIT.GFCHANB0Current" type=02 *a code=06E1 owner=0042 element=05ED universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EE elementURI="CBIT.GFCHANB1Current" type=02 *a code=06E2 owner=0042 element=05EE universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=05EF elementURI="CBIT.GFCHANB2Current" type=02 *a code=06E3 owner=0042 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fl=04 *a code=0716 owner=0043 element=011C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0717 owner=0043 element=011D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0718 owner=0043 element=011E universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0719 owner=0043 element=011F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=071A owner=0043 element=0120 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=071B owner=0043 element=0121 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=071C owner=0043 element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=071D owner=0043 element=0124 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=071E owner=0043 element=0123 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=071F owner=0043 element=0125 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0720 owner=0043 element=0126 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0721 owner=0043 element=0127 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0722 owner=0043 element=0129 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0723 owner=0043 element=0128 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0724 owner=0043 element=012A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0725 owner=0043 element=012B universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0726 owner=0043 element=012C universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0727 owner=0043 element=012D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0728 owner=0043 element=012F universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0729 owner=0043 element=012E universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=072A owner=0043 element=0130 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=072B owner=0043 element=0131 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=072C owner=0043 element=0132 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=072D owner=0043 element=0133 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=072E owner=0043 element=0135 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=072F owner=0043 element=0136 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0730 owner=0043 element=0137 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0731 owner=0043 element=0138 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0732 owner=0043 element=013A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0733 owner=0043 element=0139 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0734 owner=0043 element=013B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0735 owner=0043 element=013C universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0736 owner=0043 element=013D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0737 owner=0043 element=013E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0738 owner=0043 element=013F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0739 owner=0043 element=0140 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=073A owner=0043 element=0141 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=073B owner=0043 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=073C owner=0043 element=0143 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=073D owner=0043 element=0144 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=073E owner=0043 element=0145 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=073F owner=0043 element=0146 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0740 owner=0043 element=0111 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0741 owner=0043 element=0147 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0742 owner=0043 element=0149 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0743 owner=0043 element=014A universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0744 owner=0043 element=014B universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0745 owner=0043 element=014C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0746 owner=0043 element=014D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0747 owner=0043 element=0272 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0748 owner=0043 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0749 owner=0043 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074A owner=0043 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074B owner=0043 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074C owner=0043 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074D owner=0043 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=074E owner=0043 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05F9 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=074F owner=0043 element=05F9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=05FA elementURI="VerticalControl.depthErrorInternal" type=02 *a code=0750 owner=0043 element=05FA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05FB elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=0751 owner=0043 element=05FB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05FC elementURI="VerticalControl.dtInternal" type=02 *a code=0752 owner=0043 element=05FC universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05FD elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=0753 owner=0043 element=05FD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05FE elementURI="VerticalControl.massIntegralInternal" type=02 *a code=0754 owner=0043 element=05FE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05FF elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=0755 owner=0043 element=05FF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0600 elementURI="VerticalControl.pitchInternal" type=02 *a code=0756 owner=0043 element=0600 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0601 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=0757 owner=0043 element=0601 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0758 owner=0043 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0759 owner=0043 element=05AC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=075A owner=0043 element=05AE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=075B owner=0043 element=05AA universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=075C owner=0043 element=05AC universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=075D owner=0043 element=05AE universal=3FFF unitName="meter" type=0B size=0003 fl=04 !zƿ!z|SyncComponent "VerticalControl" handled in the control thread.*n code=0044 name="HorizontalControl" "!z8Construct HorizontalControl.*a code=075E owner=0044 element=05E0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0602 elementURI="HorizontalControl.latitudeCmd" type=02 *a code=075F owner=0044 element=0602 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0603 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=0760 owner=0044 element=0603 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0604 elementURI="HorizontalControl.headingCmd" type=02 *a code=0761 owner=0044 element=0604 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0605 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0762 owner=0044 element=0605 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0763 owner=0044 element=05E1 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0606 elementURI="HorizontalControl.bearingCmd" type=02 *a code=0764 owner=0044 element=0606 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0765 owner=0044 element=0105 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0766 owner=0044 element=0106 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0767 owner=0044 element=0108 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0768 owner=0044 element=0109 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0769 owner=0044 element=0107 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=076A owner=0044 element=010A universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=076B owner=0044 element=010B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=076C owner=0044 element=010C universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=076D owner=0044 element=010D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=076E owner=0044 element=010E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=076F owner=0044 element=010F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0770 owner=0044 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0771 owner=0044 element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0772 owner=0044 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0773 owner=0044 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0774 owner=0044 element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0607 elementURI="HorizontalControl.headingInternal" type=02 *a code=0775 owner=0044 element=0607 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0608 elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=0776 owner=0044 element=0608 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0609 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=0777 owner=0044 element=0609 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=060A elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=0778 owner=0044 element=060A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=060B elementURI="HorizontalControl.xteInternal" type=02 *a code=0779 owner=0044 element=060B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=060C elementURI="HorizontalControl.kxteInternal" type=02 *a code=077A owner=0044 element=060C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=060D elementURI="HorizontalControl.bearingInternal" type=02 *a code=077B owner=0044 element=060D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=077C owner=0044 element=05B0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=077D owner=0044 element=05B0 universal=3FFF unitName="radian" type=2F size=0004 fl=04 1!zƿ!zSyncComponent "HorizontalControl" handled in the control thread.*n code=0045 name="SpeedControl" "!z.Construct SpeedControl.*a code=077E owner=0045 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=077F owner=0045 element=0113 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0780 owner=0045 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0781 owner=0045 element=05B2 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 q!zƿ!zvSyncComponent "SpeedControl" handled in the control thread.*n code=0046 name="LoopControl" #!z,Construct LoopControl.*a code=0782 owner=0046 element=05F8 universal=3FFF unitName="second" type=0B size=0003 fl=04 !zƿ!ztSyncComponent "LoopControl" handled in the control thread.!zLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)!zHLoading Module at Modules/Trigger.so!z|Loaded Module: Trigger (Contains triggers for use in missions)*n code=0047 name="MissionManager" *a code=0783 owner=0047 element=05DE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0784 owner=0047 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=060E elementURI="MissionManager.mission_started" type=00 *a code=0785 owner=0047 element=060E universal=001C unitName="count" type=0D size=0004 fl=05 ƿ!!zzSyncComponent "MissionManager" handled in the control thread.*n code=0048 name="Reporter" ƿ"!znSyncComponent "Reporter" handled in the control thread.*n code=0049 name="NavChartDb" *e code=060F elementURI="NavChartDb.closestDistance" type=02 *a code=0786 owner=0049 element=060F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0610 elementURI="NavChartDb.nextDistance" type=02 *a code=0787 owner=0049 element=0610 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0611 elementURI="NavChartDb.closestDepth" type=02 *a code=0788 owner=0049 element=0611 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0612 elementURI="NavChartDb.nextDepth" type=02 *a code=0789 owner=0049 element=0612 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=078A owner=0049 element=0236 universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=078B owner=0049 element=0237 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿ(!zbComponent "NavChartDb" handled in its own thread.*n code=004A name="NavChartDb ThreadHandler" %)!zDCreated PCaller Thread at 40ACA4E0%*!zDProtected caller Thread ID is 1087N/!z*Main Thread ID is 802F/!z&Running supervisor./!z2Handler Thread ID is 10882!z2Handler Thread ID is 1089 2!z4Initializing ControlThread*a code=078C owner=0020 element=02EB universal=3FFF unitName="bool" type=02 size=0001 fl=04 8!zlInitializing DeadReckonUsingSpeedCalculator component.9!z>Initialize NavChart Navigation. 9!zhInitializing UniversalFixResidualReporter component. :!zBInitializing DepthRateCalculator.;!zBInitializing PitchRateCalculator. ;!z:Initializing SpeedCalculator.;!zHInitializing TempGradientCalculator. <!z>Initializing YawRateCalculator.<!zLInitializing ElevatorOffsetCalculator. =!z4Initialize SBIT Component.= =!z6git: 2019-03-18-23-g65e543b >!zdgit hash: 65e543b90c80aeeecc86c4125e453bf1af92ed2c= >!z0Kernel Release: 2.6.27.8= >!zlKernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018I˿>!z ?!zHBeginning SBIT in 28.000000 seconds. @!z4Initialize IBIT Component.Ϳ@!z !@!z4Initialize CBIT Component.A!z2Handler Thread ID is 1090 !L!z*Initialized mux pins. !M!z@Initializing the watchdog timer.U!z2Handler Thread ID is 1091V!zdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP`!z2Handler Thread ID is 1092!d!zTLast reboot was NOT due to watchdog timer. !d!z.Initializing heartbeat.t!z2Handler Thread ID is 1093u!zPowering down*e code=0613 elementURI="CTD_NeilBrown.component_voltage" type=00 *a code=078D owner=0034 element=0613 universal=3FFF unitName="volt" type=07 size=0002 fl=05 z!z*e code=0614 elementURI="CTD_NeilBrown.component_avgVoltage" type=00 *a code=078E owner=0034 element=0614 universal=3FFF unitName="volt" type=07 size=0002 fl=05 ~!z*e code=0615 elementURI="CTD_NeilBrown.component_current" type=00 *a code=078F owner=0034 element=0615 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 !z*e code=0616 elementURI="CTD_NeilBrown.component_avgCurrent" type=00 !z2Handler Thread ID is 1094!zPowering down*e code=0617 elementURI="WetLabsSeaOWL_UV_A.component_voltage" type=00 *a code=0790 owner=0038 element=0617 universal=3FFF unitName="volt" type=07 size=0002 fl=05 !z*e code=0618 elementURI="WetLabsSeaOWL_UV_A.component_avgVoltage" type=00 *a code=0791 owner=0038 element=0618 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )!z*e code=0619 elementURI="WetLabsSeaOWL_UV_A.component_current" type=00 *a code=0792 owner=0038 element=0619 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I!z*e code=061A elementURI="WetLabsSeaOWL_UV_A.component_avgCurrent" type=00 *a code=0793 owner=0038 element=061A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i!zĿ!z ſ!z)ſ!zIſ!ziſ!zſ!zſ!z*a code=0794 owner=0034 element=0616 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 !z !!z2Deactivating GF circuits. !!z8Deactivating emergency mode.ſ!z!!!z@%!z2Handler Thread ID is 1095$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000$!ztAlready Loaded Electronic Nav Chart data from US1WC07M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000$!ztAlready Loaded Electronic Nav Chart data from US2WC11M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000$!ztAlready Loaded Electronic Nav Chart data from US3CA52M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000$!ztAlready Loaded Electronic Nav Chart data from US4CA60M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000$!ztAlready Loaded Electronic Nav Chart data from US5CA50M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000$!ztAlready Loaded Electronic Nav Chart data from US5CA61M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000$!ztAlready Loaded Electronic Nav Chart data from US5CA62M.000$!zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000$!ztAlready Loaded Electronic Nav Chart data from US5CA83M.000 !!z$Backplane powered.!!zHInitialize VerticalControlComponent. "!zLInitialize HorizontalControlComponent."!zBInitialize SpeedControlComponent. #!z@Initialize LoopControlComponent.#!zJLoading Mission: Missions/Startup.xml*n code=004B name="Startup" *n code=004C name="Startup:A.GoToSurface" &!z,Construct GoToSurface.*a code=0795 owner=004C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0796 owner=004C element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0797 owner=004C element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0798 owner=004C element=05F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0799 owner=004C element=05D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=079A owner=004C element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=079B owner=004C element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=079C owner=004C element=05DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=079D owner=004C element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=079E owner=004C element=014C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=079F owner=004C element=0147 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07A0 owner=004C element=0119 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07A1 owner=004C element=0139 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07A2 owner=004C element=0134 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A3 owner=004C element=0148 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004D name="Startup:StartupSatComms" *n code=004E name="Startup:StartupSatComms:A" *n code=004F name="Startup:StartupSatComms:B" #!zA #!zJLoading Mission: Missions/Default.xml*n code=0050 name="Default" *e code=061B elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=07A4 owner=0050 element=061B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=07A5 owner=0050 element=061B universal=3FFF unitName="minute" type=1F size=0008 fl=05 +!z#,!zvDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0051 name="Default:A.Wait" (.!zConstruct Wait.*n code=0052 name="Default:B.GoToSurface" )C!z,Construct GoToSurface.*a code=07A6 owner=0052 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07A7 owner=0052 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07A8 owner=0052 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07A9 owner=0052 element=05F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07AA owner=0052 element=05D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07AB owner=0052 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07AC owner=0052 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07AD owner=0052 element=05DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07AE owner=0052 element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07AF owner=0052 element=014C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07B0 owner=0052 element=0147 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07B1 owner=0052 element=0119 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07B2 owner=0052 element=0139 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07B3 owner=0052 element=0134 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07B4 owner=0052 element=0148 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0053 name="Default:CheckIn" *n code=0054 name="Default:CheckIn:Read_GPS" *n code=0055 name="Default:CheckIn:Read_Iridium" *n code=0056 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0057 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" +Y!z$Construct Execute.*n code=0058 name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=0059 name="Default:CheckIn:C.Wait" ,\!zConstruct Wait.*n code=005A name="Default:CheckIn:D" *a code=07B5 owner=005A element=061B universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=07B6 owner=005A element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005B name="Default:CheckIn:E" *n code=005C name="Default:D" *n code=005D name="Default:E.Execute" .j!z$Construct Execute.#m!z& 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs !z Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,&V CXY&A >@>@>dPressure reading out of range: 1913.424561 decibar~Powering up6Initializing DUSBL_Hydroid.}-G*a code=07B7 owner=0029 element=02C7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 MPowering up->Depth measurement is not activeii @ @ @ @ 5@ 9@ =@ A@! e@! i@! m@! q@I;)i)4Initializing EZServoServo.%6Initializing BuoyancyServo. -4Initializing EZServoServo. e6Initializing ElevatorServo.m4Initializing EZServoServo..Initializing MassServo. 4Initializing EZServoServo. =2Initializing RudderServo.E4Initializing EZServoServo.}6Initializing ThrusterServo.)ۍA/,V XY&A)uRVPowering up Z0Initializing Micromodem.)~M= ~MKC}ՃG! @! @! @! @Powering down*e code=061C elementURI="RDI_PathfinderUp.component_voltage" type=00 *a code=07B8 owner=0028 element=061C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=061D elementURI="RDI_PathfinderUp.component_avgVoltage" type=00 *a code=07B9 owner=0028 element=061D universal=3FFF unitName="volt" type=07 size=0002 fl=05 )*e code=061E elementURI="RDI_PathfinderUp.component_current" type=00 *a code=07BA owner=0028 element=061E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 Iu*e code=061F elementURI="RDI_PathfinderUp.component_avgCurrent" type=00 *a code=07BB owner=0028 element=061F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i->Depth measurement is not activeii)IIIiIQ)Q)i'3V UXY&A}ZÃG-n>Depth measurement is not activeiviv)i ) - ^Rudder initialization uart error serial timeout] 6Rudder failed to initialize - (Communications Fault)-!%\Communications Fault in component: RudderServo-:V XY&A " yt"> " t">E)~0 ~2PC}!iEiEiXz:)i) 4Uninitialize Rudder Servo.Powering down*e code=0620 elementURI="RudderServo.component_voltage" type=00 *a code=07BC owner=0032 element=0620 universal=3FFF unitName="volt" type=07 size=0002 fl=05 %*e code=0621 elementURI="RudderServo.component_avgVoltage" type=00 *a code=07BD owner=0032 element=0621 universal=3FFF unitName="volt" type=07 size=0002 fl=05 E*e code=0622 elementURI="RudderServo.component_current" type=00 *a code=07BE owner=0032 element=0622 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0623 elementURI="RudderServo.component_avgCurrent" type=00 *a code=07BF owner=0032 element=0623 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )qAV YY&Ayt"0>t"(;E}ZG)r=1rP=1r ivivi )   i ))ۉ=GV 5^YY&Ayt">t"t"?E}^oG9nnn<1rJ=ivivi)   i  )))oOTV #RYY&Ayt">t":E)~, ~2PC}^G9n⛼1rJ=ivivi)   i  ))ayZV AkYY&Ayt" >t"o=E}ZXG9n%<1rJ=ivivi)   i  )))aaV h˅YY&Ayt">t"t"m?E}^ՃG9n%<1rJ=ivivi9)999i9A)A*e code=0624 elementURI="ThrusterServo.component_voltage" type=00 *a code=07C0 owner=0033 element=0624 universal=3FFF unitName="volt" type=07 size=0002 fl=05 }*e code=0625 elementURI="ThrusterServo.component_avgVoltage" type=00 *a code=07C1 owner=0033 element=0625 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )*e code=0626 elementURI="ThrusterServo.component_current" type=00 *a code=07C2 owner=0033 element=0626 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I*e code=0627 elementURI="ThrusterServo.component_avgCurrent" type=00 *a code=07C3 owner=0033 element=0627 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i U YU)YڵmV bYY&Ayt">t"J>E)~, ~0}^G9n1rJ=!r?!!v r9v?!9v v=v>!=v vizi)i!)!)ʝtV \YY&Ayt"U>t"8E}^ՃG9n;1rJ=pp=rN?pixi))))1i11)9)zV t"CE&6Nmea out: $CCCFG,ALL,0*33 )~8 ~<}vXG9~1=1~H==?i i))))1i11)9I}   9)!V ZY&Ayt"ϙ>t"&=E}b0G9n8޼1rL=pp=r?tixi )   i )*e code=0628 elementURI="BuoyancyServo.component_voltage" type=00 *a code=07C4 owner=002F element=0628 universal=3FFF unitName="volt" type=07 size=0002 fl=05 M*e code=0629 elementURI="BuoyancyServo.component_avgVoltage" type=00 *a code=07C5 owner=002F element=0629 universal=3FFF unitName="volt" type=07 size=0002 fl=05 m*e code=062A elementURI="BuoyancyServo.component_current" type=00 *a code=07C6 owner=002F element=062A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=062B elementURI="BuoyancyServo.component_avgCurrent" type=00 *a code=07C7 owner=002F element=062B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )ہ هV ) ZY&Ayt">t"AE)~0 ~6KC}boG9%<1%F=))=-@)i1i)i))۹V :ZY&Ayt">t":E}bBG9nE꼑1rO=pp=r@pixi )   i )*e code=062C elementURI="Radio_Surface.component_voltage" type=00 *a code=07C8 owner=0025 element=062C universal=3FFF unitName="volt" type=07 size=0002 fl=05 ?A*e code=062D elementURI="Radio_Surface.component_avgVoltage" type=00 *a code=07C9 owner=0025 element=062D universal=3FFF unitName="volt" type=07 size=0002 fl=05 )?A)!V ʣTZY&Ayt">t";E)~0 ~2PC}bՃG9n;1rJ=pp=r4@tixi )   i ))AV ~nZY&Ayt"H>t"kAE}b]G9ne<1rJ=pp=rN@tixi )   i ))V uZZY&Ayt">t"m?E)~, ~0}fBG9rJ1rJ=pt=vh@tix*e code=062E elementURI="Radio_Surface.component_current" type=00 *a code=07CA owner=0025 element=062E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I4>*e code=062F elementURI="Radio_Surface.component_avgCurrent" type=00 *a code=07CB owner=0025 element=062F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i4>i)i))۹ (V 5ZY&Ayt">t"t"#AE)~, ~2KC}bG9n<1nJ=pp=r@pixi )   i ))9V ZY&Ayt">t"jCE}^G9n<1rJ=pp=r@pixi )   i ) y)y)#dV *ZY&Ayt" >t"#AE)~, ~.PC}^G9n1rJ=pp=r@pixi))111i11))ہLV U [Y&Ayt t }^XGpp=r@piti)))))i11)1)&vV |}#[Y&Ayt"H>t"kAE)~, ~0}^0G9n:1riy)?V X=[Y&Ayt">t"t"AE)~0 ~0}b0G9n<1rJ=pp=r@tixi )   i))/V q[Y&Ayt">t":E}^ՃG9nܼ1rJ=pp=r@tixi )   i ) y)y)V [Y&Ayt">t"JE)~, ~,}^ÃG9n,|=1rJ=pp=r@tixi )   i ))A(V Ĥ[Y&Ayt">t"9E}^G9nC1rJ=pp=rAtixi))))1i11)9)V f[Y&Ayt"X>t"i}%>)4V ${[Y&Ayt"H>t"kAE}\9n<1rJ=pp=rAtixi )   i ))AV >][Y&Ayt" >t"o=E)~, ~.PC}^ՃG*e code=0630 elementURI="RDI_Pathfinder.component_voltage" type=00 *a code=07CC owner=0027 element=0630 universal=3FFF unitName="volt" type=07 size=0002 fl=05 rxA*e code=0631 elementURI="RDI_Pathfinder.component_avgVoltage" type=00 *a code=07CD owner=0027 element=0631 universal=3FFF unitName="volt" type=07 size=0002 fl=05 yA 6Failed to parse:Pathfinder  @  @ @ @9}lt1}A=ƁƁ=AƁii)i))3W f1 \Y&Ayt">t"GE}^G9n!$=1rU=pp=vAtixiI)IIIiQQ y)y)Q)ہ W C&\Y&Ayt[>t"H@E)~.= ~.UC}~G9=~ռ1=D=II=U!AQiii)i) )1<W ?\Y&Ayt"">t&CE}zoG*e code=0632 elementURI="RDI_Pathfinder.component_current" type=00 *a code=07CE owner=0027 element=0632 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 5=*e code=0633 elementURI="RDI_Pathfinder.component_avgCurrent" type=00 *a code=07CF owner=0027 element=0633 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 %=      D;  D  9  MbpMbp  Aɀ A)#AIzAIi9ƍm9<1*=ƑƑ=)AƑii)i!)!)ۉU$W Y\Y&Ayt">t"jCE)~2= ~2PC}^BG9n1r=pp=v.Atixi )i)!I}?>i}4>)NW ss\Y&Ayt"">t"CE}bGP=9;t"$?E)~>= ~<}lryAp9~h1~M==;Aii1)111i19)9)!c)W a\Y&AytBb>tBcKE}EՃG q)q\=9;~jt?Mbp?GAɀ逑 A)IIļi<;9ƥ:=1@=ƩƩ=BAiiQ)YYYiYa)a)ۑG0W Z-\Y&Ayt">t"AE-&t"OE}^Gb%=`9nc=1nL=pp=rNApixi )  i))t">LE)~4 ~4}fÃG=9:S㥛V-?MbP?ɀ )II/ݼi<:95V15E=1I})>i}8>9=}UAƁii)i))CW ']Y&Ayt">t"EE}fG9nؼ1rP=pp=r[Apixi )  i))IW J(]Y&Ayt:>t>@EB DUSBL Version:O )~p ~p}MGUxAQD;#=9Q:v?ɀ這 )IIi<9񘼑1;==bAii)i) )XPW vB]Y&Ayt":>t"IE}rjG9==1EU=AA=EhAAiQ y)yi)i1)9)>VW P\]Y&Ayt"=>t"ME)~, ~,}^0G9nu<1rQ=pp=roAtixi ) i))\W .v]Y&Ayt"O>t"LE}^ՃG\^=|~\=9~~S㥛Zd;O?Mb`||ɀ|| |)|I|I~/ݼi~j<~9:1G=yy=}uAƁii)i))cW ]Y&Ayt">t"m?E)~, ~,}^G9nV1rN=pp=r|Atixi )iI};>i;>)Y)ہiW ]Y&Ayt">t"JE}^jG~~94<9~~MbMb?Mb~A|ɀ|~@ |)|I|I~i~<~9}3*=1A=ƁƁ=AƉii)i))pW ]Y&Ayt">t"OE)~, ~,}^0GbzAbxA9r|<1rU=pp=vAtixi ) i))qwW ]Y&Ayt t }^$Gpp=rApiti )   i) y)y),8}W ?r]Y&Ayt"U>t"SE)~, ~,}^0G;<9tt"GE}^G^=^4=9rH1rN=pp=vAtixi ) i))Y5JW (+^Y&Ayt">t"DE)~, ~,}^ՃGD;Ļ9#Mb`?~jtx{GzQAɀ A)AII;iĻ#9]k01]C=aa=eAaiiIyiyi)i))ۡ1W \E^Y&Ayt"ޫ>t"\SE}^ÃG9r}s=1rS=pp=vAtixi ) i))\W a^^Y&Ayt"">t"CE)~, ~,}^G^xA\9n-|1rJ=pp=rApixi )   i))@W x^Y&Ayt&>t&EE}boG:u<9tI +{Gz?t"IE)~, ~,}jG9~<1~N==Ai i1)111i19)9)!NW ;p^Y&Ayt"%>t"fGE}^G^4=^%=%D;%=9%%V-?%A!ɀ!% !)!I!I%i%<%9}1B=ƁƁ=AƉii)i))%W 8K^Y&Ayt">t"GE*6Nmea out: $CCCFG,SRC,1*31 )~4 ~8}vG9Ϙ1S=  = A ii9)999i9A)AIyiy)ہCW R&^Y&Ayt">t"!CE}\9rȁ1rL=pp=vAtixi ) i))^ԽW `^Y&Ayt"M>t"HE)~0 ~2UC}`bzAbyA:<9I +{Gz?MbPGAɀ A)II9iף<9%<1%F=))=-A)i1iQ)QQQiQY)y)ۙIW _Y&Ayt"z>t"QE*&Powering up NAL9602}`9r/=1rO=pt=vAtixi )i)! y)y) ^W -_Y&Ayt",>t"RE)~, ~.PC}\~~<9~~:v:v?Mbp~A|ɀ|~t!A |)~AI|I~Ti~T<~9ƅ}Q;1A=ƁƉ=AƉii)i))ۡxW G_Y&Ayt"h>t"RE}fjGj=h9r:1rU=tt=vAti|iY)aaaiai)i)ہvW Pna_Y&Ayt"%>t"fGE)~, ~0}nG951H=  = A iIyiyi)i9)A)9"W =I{_Y&Ayt"h>t"RE}^G|~Q8=9~D;~MbMb?~jth?~pA|ɀ|~ |)|I|I~i~=~D;9ƅL0=1B=ƁƉ=AƉii)i))q W $_Y&Ayt">t"DDE)~, ~,}^ÃGbyA`9%q1%P=))=-A)i1iQ)QQQiQY))4W _Y&Ayt"ã>t"eIE}\~~9<9~ף~y&1Mb?{Gzt~ A|ɀ|~ A ~IA)|I|I~`ei~<~ף9<1K==A9iA y)yi)i)IY= ]*Beginning Startup BITi]] >] < ])] >)a=!}6Beginning ground fault scan}ZW f_Y&Ayt">t"LE)~, ~0}\9r_<1rN=pp=vAtixi I <) >)ie >)a!  Y9iQQQ Y)Y)avGW _Y&Ayt"?>t"^QE}Z]G\\9n<1rJ=pp=rAtixi1)1)111i1)Y5wt"QE)~, ~,}^G==<9=Ļ=t"7TE}fG9ne+<1rR=pp=rApixi ) )i)!YL=i )) X K0`Y&Ayt">t"WE)~, ~,}jGnzAl!%=9%D;%V-i|?5?~jth?%A!ɀ!% %A)%t!AI!I%mi%q=%D;9}.<1}A=ƁƁ=AƁii))i)Y; >m}Ut"SE}^jG9r.1rU=pt=vAtixiI)Q)QQQiQY)Y*e code=0636 elementURI="ElevatorServo.component_current" type=00 }@A)y*a code=07D2 owner=0030 element=0636 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I>*e code=0637 elementURI="ElevatorServo.component_avgCurrent" type=00 *a code=07D3 owner=0030 element=0637 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i=YO>mV}=iqqq q)q)yX 7c`Y&Ayt"ɩ>t&PE)~0 ~0}^0G9vN1zJ==Aii1)1)111i99)AY?{>=p=y=i ))X }`Y&Ayt">t"SE}ZoG^4=\|~O=9|~~jtJ +?~jth?||ɀ|| |)|I|I~Di~H=|9=2<1=E=AA=EAAiIi))i)Y>N!>i   ))%X l`Y&Ayt">t"UE)~, ~,}^BG9r5<1rP=pt=vAtixi ))i)9 E)EIMiMIyiy] X>iaai i)i)q+X `Y&Ayt">t"7TE}^G~ף~#9~9~Mb?I +~A|ɀ|~M@ |)~ AI|I~=i~̼~99ƅtѻ1@=ƁƉ=AƉii))i)xAxAO{>iˑˑ˙ ̙)̙)ۡ2X i`Y&Ayt">t"TE)~, ~2UC}\byAbxA9r;1rU=pp=vAtixi ))i)!8j>i ))g8X G`Y&Ayt&/>t*5VE}vՃG9-;15E=AA=MAIii ?A)i))i!)!5555i˹ ))w ?X "`Y&Ayt"!>t"^E)~, ~.PC}^XG%%ƽ9%%Q?x&MbP%z A!ɀ!%@ %)%A"AI%AI%\=i%7%9}=1E=ƁƁ=AƉii))i)i˹˹˹ ̹)̹)EX uaY&Ayt"1>t"YE}ZG\^4=9nB1nU=pp=rApiti ) )   i )i ))!LX E2aY&Ayt">t"aE)~, ~,}^G~~T9~D~:v?~jtx~jth~A|ɀ|~@ ~A)~"AI~7AI~Ti}?>i))i)i119 9)9)ASX LaY&Ayt">t&eE*VNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 } G9E<1EG=II=MAIii))i)iqyy y)y)ہ0YX faY&Ayt:1>t>YE)~` ~`}eՃGexAmyAt9;S㥛?~jtMb`?z Aɀ逭@ )A"AIAI/t"^QE}bÃG9n"1rZ=pp=vAtixi ))i!)! }@A)yi )) ~CfX EaY&Ayt"J>t",`E)~, ~.UC}^XG9n{n=1rJ=pp=rApixi ) )i)!i ))  mlX CaY&Ayt*>t*QE}5G5<5%=uuף9uu~jtx?MbPu Aqɀqu@ q)u"AIu7AIu;iuu9ƕY1?=ƹƹ=Bƹii))i)i ))TsX baY&Ayt">t"WYE*&NAL9602 initialized)~0 ~0}%XG9=<1EP=AA=EBAiQii)q)qqqiqIyi};>)iyyy y)y)ہtyX aY&AytDtD*e code=0638 elementURI="NAL9602.component_voltage" type=00 *a code=07D4 owner=0023 element=0638 universal=3FFF unitName="volt" type=07 size=0002 fl=05 ^wA*e code=0639 elementURI="NAL9602.component_avgVoltage" type=00 *a code=07D5 owner=0023 element=0639 universal=3FFF unitName="volt" type=07 size=0002 fl=05 rwA}0GUU9UUI +?I +Uz AQɀQU@ Q)QIQIU9t"S]E^Fix Requested)~h ~h}5G9=xA9Ɲ;1<ơơ=Bơii))i)i )) X ΊbY&Ayt">t"u`E}-ՃG9]M<1]N=aa=eBaii }?A)yi))i ) i ))X e5bY&Ayt">t"WYE*e code=063A elementURI="NAL9602.component_current" type=00 *a code=07D6 owner=0023 element=063A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 :R=*e code=063B elementURI="NAL9602.component_avgCurrent" type=00 *a code=07D7 owner=0023 element=063B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 Jp=)~  ~ }uGu9~jt?t"]E}^ՃG^4=^=9]<1]T=aa=e Baiii))i)i˹˹˹ ̹)̹)ΙX >#ibY&Ayt"/>t"5VE)~0 ~2PC}bGAE+=9ETEI +?:vEAAɀAE@ EjA)AIAIE9iEiyi))i)iQQQ Q)Q)Yu¡uu u)uIu3iu4u46}6=!qNo ground fault detected mA: CHAN A0 (Batt): -0.019283 CHAN A1 (24V): -0.026793 CHAN A2 (12V): -0.007095 CHAN A3 (5V): -0.002248 CHAN B0 (3.3V): -0.000121 CHAN B1 (3.15aV): 0.000031 CHAN B2 (3.15bV): 0.000451 CHAN B3 (GND): 0.002283 OPEN: 0.007027 Full Scale Calc: 4.765 mA, -1.589 mA뵠X bY&Ayt"4>t"]E$(}-oG9=<1=L=AA=EBAiIii)i)iiiiqq)iyyy y)y)ہ3ߦX ҜbY&Ayt"ù>t"rdE)~0 ~2UC}rGryAryA9x<1N== B ii1)1)999i9A)Ai!! !)!))S X bY&Ayt"r>t"aE}^G<994{GzI +?I +Aɀ@ A)A"AIAIףi9<949U21UE=QQ=]B y)yƁii))i)i˹˹˹ ̹)̹)X bY&Ayt">t"gE(*a=)~0 ~0}bՃG9r5<1rR=pp=vBtixi ))i)!i999 9)A)A]X 0dbY&Ayt">t"mjE}bXGb=b%=;#<9DcY&Ayt t )~0 ~0}^{Gpp=vBtixi ))i)!I8>i4>a - -#K6i111 1)1] =NMass: EXPECTED:0.008600 ACTUAL:0.000003=I)AI-X "cY&Ayt"ָ>t"NcE((}^0G9rh1rt"LeE)~, ~,}^ՃGbxA`<9`QQ?y&1|QAɀt!A A)#AIIuiu<`9=[;1=D=AA=EBAiIi) )i )*e code=063C elementURI="MassServo.component_voltage" type=00 *a code=07D8 owner=0031 element=063C universal=3FFF unitName="volt" type=07 size=0002 fl=05 xA*e code=063D elementURI="MassServo.component_avgVoltage" type=00 *a code=07D9 owner=0031 element=063D universal=3FFF unitName="volt" type=07 size=0002 fl=05 )MxA6D9iˑˑˑ ̑)̑)ۙ|@X oQcY&Ayt t }fGpp=rBpiti ) ) i) )u`ci˹˹˹ ̹)̹)WjX qkcY&Ayt"A>t"pE&a=&R=)~2= ~0}rG-;-<9-D-y&1|Mbp?~jth-A)ɀ)- A ))-#AI-AI-`i-;-D9Ɲ<1<ơơ=Bơii))i)5K̹i999 9)9)A9QX jcY&Ayt">t&KgE}bՃGb4=`9rK1rW=pt=vBtixiQ)Y)YYYiYa)aYQ*e code=063E elementURI="MassServo.component_current" type=00 *a code=07DA owner=0031 element=063E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I}>*e code=063F elementURI="MassServo.component_avgCurrent" type=00 *a code=07DB owner=0031 element=063F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i=Ciˡˡˡ ̡)̡)۩{X ,bcY&Ayt>tZE)~"= ~ }RG9bK1bL=`d=fBdihix)x)xxxix|)I?>i?>Y ~>=0ƀ>i!!! ))))I`X DcY&Ayt"g>t"mE$$}^G|~ף;9~;~MbpMb`?Mb`?~A|ɀ|| ~A)|I~AI~i~;~;9=1E=99==!B9iAia)a)iiiiiq)qYU|N>ulE?T>iIII Q)Q)QoX acY&Ayt">t""lE*6Nmea out: $CCCFG,BND,1*3B )~8 ~<}voGxzxA9~ݻ1~L==#Bii9)A)AAAiIQ)QIm=im=YD-> )ںxAxA4#>iˉˉˑ ̑)̑)ۙX 8cY&Ayt"_>t"bE}bG9D;I +?~jt~jth?QAɀA"A )#AII94t"KgE(*=)~0 ~0}bÃG9r <1rP=pp=v&Btixi ))i!)!YJz==i ))"Y c dY&Ayt">t""lE}ZXG^=\9n<1nJ=pp=r(Bpiti ) ) i)! -xA)-xAYjZXt"kE)~8 ~8}jGD;#9{Gzt?i;>YuS })}I}i}i ))lY |cTdY&Ayt"z>t"lE$$}ZÃG9%;1%K=!)=-+B)i1iQ)Q)QQQiyy)YUd#ےi ))!Y ;ndY&Ayt"|>t"gpE)~0 ~0}bG`byAף;9ף;{Gz?Mb{Gzt?zAɀ#A )II#iE=Y5HI_i ))!Y #dY&Ayt">t"oE{*}-G9=c1EQ=AA=E.BAiQii)i)qqqiq )y)YlA7uʞ+iqyy y)y)ہ(Y 'dY&Ayt"ȿ>t"kE&=&=)~d ~d}19]l1]H=aa=e0Baiii))i)Y"fUR\iaii i)q)ہA.Y l̻dY&Ayt">t"tE}^ՃGb%=`99Mb?Q{Gzt?AɀA"A IA)IIt"DoE)~0 ~0}^G9r1rP=pt=v3Btixi ))i)!I8>iY5FӅo셾i    ) )T;Y DdY&Ayt">t"jE$$}^oG%;%9%;%~jt?tEmE)~$ ~(}VBGXZxA9b<1bR=dd=f6Bdihix)x)xxxix|)i   ))eHY 8#eY&Ayt">t"mjE}fG9r51rH=pt=v8Btixi ))i!)!i111 1)1)9 @A)NY =eY&Ayt">t"dE*C=*R=)~0 ~0}bjG5ף;595ף;5Mb?Q{Gzt?5A1ɀ15 A 5A)1I1I5t"y\E}b0Gb4=`9~ 1U==;B ii1)1)99i)iˡ˩˩ ̩)̩)۱ [Y peY&Ayt2>t2eE)~< ~@}nG%%D9%:%I +?~jtxMbP?%QA!ɀ!%A"A %A)!I%AI%94ibY ΥeY&Ayt">t"dtE*xA(}\9fw=1fR=dh=j>Bhilix)|)|||i|)i ))!hY eY&Ayt2>t2fE{:)~t ~v`C}ejGiq9ƭM1==ƹƹ=@Bii))))199i9I)Qi ))nY \eY&Ayt2Y>t2bvE}n0G%;%949%;%y&1|?t"cE*a=()~0 ~2UC}^oG9~֗1N==CBii1)1)111i19)9iIII Q)Q)Q{Y eY&Ayt*>t*`xE}fGf%=du9;:v?y&1|Mb`?AɀA"A )IAITt&nE)~0 ~0}rG9%g1%K=))=-FB)i1iQ)Q)QQQiYY)aiiqq q)q)yIi"Y %fY&Ayt2d>t6$jE:wA8}eG9ƍ1D=ƩƩ=HBƱii))i)i )),Y ?fY&Ayt">t"rE*XNmea out: $CCTMS,2019-03-25T23:34:50Z,0*79 )~D ~J`C} G yA yAUDUĻ9UU~jtx?Mb`UAQɀQQ Q)QIUAIU;iUU9=1A=!!=%JB!i)iI)I)IQQiQQ)Yiiii i)i)qAY gYfY&Ayt">t"DoE-*bResponse from modem unexpected: $CADQF,197,1*5F }`9~1^==KB ii1)1)119i99)AiQQQ Q)Q)Y )e>Y ZsfY&Ayt">t"@sE-*jResponse from modem unexpected: $CAMSG,BAD_CRC,0*21 .R=.=)~4 ~4}d  #<9  ~jtxMb?  A ɀ  A |A) I I Ļi < 9]gy<1]D=aa=eMBaiii))i)i˩˩˩ ̩)̩)۱3&Y r5fY&Ayt"<>t"hE-:Response from modem unexpected: $CACST,6,1,20190325233448.299244,05,444,26,0099,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,197,0.00,-999,9760,4000*58 }rjGv4=t9%,1%N=))=-NB)i1iQ)Q)QQQiQY)aiiiq q)q)yRY TfY&Ayt2>t6lE)~X ~\}MGIiף9;Mbp?~jthMb`?Aɀ逝A"A IA)$AII;iD;9Ƶk<1A=ƹƹ=PBƹii))i)i )) V8Y JfY&Ayt&>t*uE2xA0}fXG9~=1W==RBii1)1)199i99)AiQQQ Q)Q)YTbY fY&Ayt2>t2oE)~D ~FUC}G xA xA9%I1%H=))=-SB)i1iQ)Q)YYYiYa)aiqqq q)q)yŒY HfY&Ayt2>t2mjE}nBG=D=`99=y&1|?~jthMb`?99ɀ99 9)=#AI=AI=`;i999e骼1eF=aa=mUBiiqi))i @A))i˱˱˱ ̱)̹)۹_tY R}gY&Ayt"ȿ>t"kE*e code=0640 elementURI="Micromodem.component_voltage" type=00 *a code=07DC owner=0022 element=0640 universal=3FFF unitName="volt" type=07 size=0002 fl=05 :A*e code=0641 elementURI="Micromodem.component_avgVoltage" type=00 *a code=07DD owner=0022 element=0641 universal=3FFF unitName="volt" type=07 size=0002 fl=05 JAHJAN=N=)~T ~T} ՃG9%;1%N=))=-VB)i1iI)Q)QQQiQ)i ))Y ,e(gY&Ayt2>t6kE}~GMMף;9MM~jthMbp?Mb`MAIɀII M|A)IIIIMDiM;M9]1eF=aa=eXBaiqi))i)i˱II Q)Q)YY 4BgY&Ayt">t"xE)~0 ~2`C}^jG9~yP=1Q==ZBii1)1)111i99)AiQQQ Q)Q)YIicY E\gY&Ayt"D>t"sE*e code=0642 elementURI="Micromodem.component_current" type=00 *a code=07DE owner=0022 element=0642 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 :=*e code=0643 elementURI="Micromodem.component_avgCurrent" type=00 *a code=07DF owner=0022 element=0643 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 J=Jt"pE)~0 ~0}bGbyAbyA`9{Gzt?MbpAɀ IA)IIף;i9%t2qE}nՃG9rκ;1vN=tt=v_Bti|i))!!!i!!))i999 9)9)A ?A)fY ɫgY&Ayt6>t6uE:A:A:A:A>=>=)~D ~FUC}rG--ף;9--Mb`{Gzt?Mb`-A)ɀ)) -|A))I)I-i-ף;-9Mx<1MD=QQ=U`BQiYiy)y)yi)i˙˙˙ ̡)̡)۩fY zgY&Ayt">t"nE}jGn=l9ƽԼ1D==bBii))i)i    ) )Y WgY&Ayt2>t2oE)~< ~@}nՃGIi9[;1J==cBii))i)i    ) )(Y j1gY&Ayt2>t2frE6=6=6p<6<8:wA}nÃG!%<9%%Mbpy&1|?Mbp!!ɀ!! !)!I!I%i%`;%9E?<1ES=II=MeBIiQiq)q)qqqiq)i    ) )1Z N hY&Ayt">t"DoE)~0 ~2`C}bGbxA`9 N1O= = gB ii))1)111i1A)AiQQQ Q)Q)Y; Z 6*hY&Ayt"9>t"eE}^jGt9~jtx?y&1|MbPAɀ IA)II;i`廉9%b#1%H=!!=-hB)i1iQ)Q)YYYiYa)aiqqq q)q)y )"Z DhY&Ayt">t""lE&A&A&A*A*a=*=)~0 ~2UC}bG9~<1L==jBii))))111i11)9iIIQ Q)Q)YLZ ^hY&Ayt t }bGb<`=kBi i)))))11i11)9iIII Q)Q)QwZ (|xhY&Ayt2۾>t2jE)~@ ~@}nՃG%D%Ļ9%D%y&1|?Mb`~jth!!ɀ!! !)!I!I%`;i%%D9EG51Mt"gpE&=&=&;*<(*xA}z.G9K<1 O=  =oBii1)9)9AAiAA)IiQYY Y)Y)aو*Z f/hY&Ayt">t"DoE)~0 ~2`C}b{GbzAd5D;5T955y&1|?I +11ɀ11 1)1I1I1i59459U1]E=Ya=epBaiii))i)i˩˩˩ ̩)̩)۱p1Z  hY&Ayt2ػ>t2gE}t91P== rB ii))1)111i1) )i˩˩˩ ̩)̩)۱i7Z hY&Ayt2>t2"lE6A6A6A6A8:R=)~@ ~BUC}p9<1H=!!=%tB!i)iQ)Q)QQQiYY)aiiqq q)q)y =Z hY&Ayt2>t2lE}nGr4=p%ף;%D9%%MbP{GztMbP%A!ɀ!! %A)!I!I%i%ף%9M3Y;1MH=II=UuBQiYiq)y)yyyiy)iˑˑˑ ̙)̙)ۡ-DZ RiY&Ayt">t"mjE)~0 ~0}bG9(1O== wB ii))1)111i1A)AiQQQ Q)Q)YIiJZ Sw-iY&Ayt">t"jE&=&=&<&<((2bSBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=02ZFailed to initiate SBD session. Error code: 2}f{G D 9  {Gzt?MbPMb`  ɀ   ) I I ף;i  9E;1EF=II=MxBIiQiq)q)qqqiqy)yiˉˉˉ ̑)̑)ۙQZ RGiY&Ayt">t"xE)~d ~f`C})-xA19}O=1}G=ƁƁ=zBƁii))i)i ))BWZ .aiY&Ayt*>t*iE}b0G )9vb1D==|Bii))i)!i))1 1)1)9^Z p{iY&Ayt"O>t"gE&A&A&A&A*=*=)~0 ~2UC}~oGE`Eu9EEMb?{GztEAAɀAA EIA)AIEAIEt"wE}^BG\^4=9ƝV=1M=ơơ=BƩii))i)i ))Z%kZ ӿiY&Ayt2>t2frE)~< ~@}nG%%T9%;%~jt?y&1|Mbp?!!ɀ!! !)!I!I%Dt2iE6=6=6=6%=8:wA}njG9z1zb=xx=~B|ii)!)!!!i!)))i9=E; A)E)I 7xZ tiY&Ayt2+>t2mE)~@ ~@}r0Gpp9z3<1zJ=||=~B|i i!I%;)-))))i)5)1iIII I)I)Q~a~Z LQiY&Ayt2>t2aE}nՃG%%C9%%:v?I +%QA!ɀ!! %A)!I%AI%Tt"pE*A.A.A.A02=)~8 ~8}jG9q=1M=!!=%B!i1iQ)Q)YYYiYa)aiqqq q)q)yntZ  0jY&Ayt"A>t"pE{:}MGMt"wE)~d ~f`C})9]L<1]P=aa=eBaiii))iI>i%>)Yu}-D ]i! !)!)1Z RijY&Ayt.ȿ>t.kE2=2=2p;6p<6wA4}lyy9}D;}t"lE)~0 ~0}bՃG``9~g;1U==Bii))))111i19)9Y59U-6i111 1)1)9  ?A) Z -jY&Ayt2>t2pE}nXG9&~<1%H=!!=%B)i1iI)Q)QQQiQY)YY-KǽMۺ-g׽i111 1)1)9 9Z ujY&Ayt"g>t"mE$&A)~0 ~0}^G9y&1|?MbpMbPAɀ A)II`;i9]31]F=aa=eBaiii))i)I=i=Y|(HI=ip=̰՚giˉˉˉ ̉)̑)ۑv Z OjY&Ayt2>t2gE}nXGr4=r%=9zQǼ1zQ=||=~B|ii!)!)!!!i)))1YX-Y jbi ))I =i =JZ +jY&Ayt2&>t2'fE)~@ ~BUC}r{G%%ף9%%Mbp?~jth!!ɀ!%A %A)!I%AI%;i%D%9Eֻ1EE=AA=MBIiQii)q)qqqiqy)yY959iˡˡˡ ̡)̡)۩1Z mkY&Ayt2>t2 nE6=6={:}A9}<1}G=ƁƁ=BƁii))i) )Ii mxA)mxAAi) ) ) 1 )1 )9 @\Z kY&Ayt2>t2tE)~X ~X}0GxA9%<1-P=))=-B)i9iQ)Q)YYYiYa)ai˙˙˙ ̙)̡)ۡ  @A) ɆZ 8kY&Ayt">t"aE}^ՃG!%C<9%;%I +~jt?~jtx?%A!ɀ!%@ !)!I%AI%94i%D<%;9=1EI=AA=EBAiQii)q)qqqiqy)ye[9i˹˹˹ ̹)̹)nZ ݖRkY&Ayt">t"dtE&A$*A*A*R=*R=)~4 ~6`C}^XG9~=1N==Bii))))111i19)9IM=iM= :i˙˙˙ ̙)̙)ۡZ qlkY&Ayt2>t2 nE}n0Gr=p%ף%=9%<%x&l?/$?%A!ɀ!! %IA)!I%AI%7i%=%<9=ż1=F=AA=EBAiIii)q)qqqiqy)y`^:i ))I >i >NZ PkY&Ayt2b>t2pfE)~< ~@}nՃG9v1zO=xx=zB|ii)!)!!!i!)))u:iyyy y)́)ہZ =)kY&Ayt2>t2eE446<6;88}rG9z1zJ=||=~B|i i!)!))))i)1)1 EyA)AUB:iYYa a)a)iZ ykY&Ayt"ػ>t"gE)~0 ~0}bGbyA`  G=9 ף< ++?{Gz?  A ɀ   A) #AI AI i = ף<9%;1%G=))=-B)i1iQ)Q)YYYiYa)a:i˙˙ˡ ̡)̡)۩  ?A) Z kY&Ayt>tcE}VG9z遼1zM=||=~B|ii!)!)!!!i!))1M ;iQQQ Q)Q)YZ kY&Ayt6$>t:sbE:A>A>A>AB=B=)~H ~H}zG5D595#5{Gzt?{Gz5A1ɀ15M@ 1)5#AI1I5ף;i55#9U1UE=QY=]BYiai))i) )Iii))) ))))1r[ lY&Ayt2r>t2aE}zÃGz4=|9 #a1 O==Bii9)9)AAAiAA)IiYYY Y)Y)aI i [ p!lY&Ayt2ӵ>t2_E)~@ ~@}n]G9z\1zL=||=~B|iii)i)iqqiqq)yiˉˉˉ ̉)̉)ۑ#[ K;lY&Ayt2>t2eE6=6=66<:xA8}rBG%:%C 9%t%Zd;O?t2R_E)~B= ~@}roGpryA9z;ؼ1~O=||=Bi i!))))))i)1)1iAAA A)I)I  ) 5[ olY&Ayt">t"aE}^Gף9ף~jt? rh{GzAɀM@ A)#AIIt"cE&A&A&A&A*R=*=)~2= ~4}b{G9~<1L==Bii))))111i19)9iIII I)I)QF([ lY&Ayt"ָ>t&NcE}f0Gj%=h9M1%H=!!=%B!i1iI)I)QQQiQY)Yiiqq q)q)ۉI i ,q.[ lY&Ayt.ػ>t.gE)~< ~<}jGDļ9~jt?Q~jtAɀ )A"AIIt"sbE&=&=&p;&<((}|)IɖF ɗii&CzA) I )zAɘəzAiIIi=|A ) ɚI)i9 b1J==Bi!i9)A)AAAiAI)IiYYY Y)Y)a;[ ,HlY&Ayt"ӵ>t"_E)~0 ~0}`bzAbxA15`;95ף5Mb`y&1|?{Gz11ɀ11 5A)5#AI1I5i5`;5ףɃAAIiIIiIM{A)Mm IIQ Q)QɄQQQYɅYiYIYaIaia aa)ai iiiɆiqqIq)qiq)qIqyɇy y9F1[==%B!i)iA)I)IIIiIQ)Qiaaa a)i)i  ) kB[ d$ mY&Ayt">t"TE}\9Ɲ?51R=ơơ=Bơii))i)i ))"H[ q#mY&Ayt">t"dE&A&A&A*A*a=()~0 ~4}`9=1%S=!!=%B)i1iI)Q)QQQiQa)iM SBIT FAILEDI=]E(Scheduling is paused!MBCritical error at 20190325T233516NMVStop Mission called by CBIT::checkCriticals)I=U4got command configSet list=UnListing configuration overrides from Data/persisted.cfg=]t"aE}^ՃGb=`Ļ<9i %U[ ĵWmY&Ayt"J>t",`E)~0 ~0}^XG9绑1U== B i*a code=07E0 owner=004E element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 '-dInitialize ReadDataComponent to sense latitude_fixI1i111iA)A)AAAiAI)I)aL[[ qmY&Ayt"L>t"cE&=&=&&<((}b{Gt9jMb?{GzZd;OAɀ@ A)IIt"gE)~0 ~0}bGbxAbyA9~6q<1M==B iI!i!))i1)1)199i99)A)Q  ) Mh[ NGmY&Ayt:>t>dE}BG9=31EF=QQ=UBYiqIii))i))k o[ h"mY&Ayt2m>t21ZE6A6A6A6A:=:=)~@ ~D}ՃGeD;e\=9e`eS㥛Zd;O?y&1|aaɀae@ eA)aIaIe/ݼiejt2fE}nXGr%=p9zS=1zT=||=~B|iIiaaaii)i)qqqiqq)y)ۉI >i ^|[ wmY&Ayt2_>t2bE)~@ ~@}n{G!%9%`e%Mbpy&1%\A!ɀ!%@ !)%#AI!I%i%%`e9=z1EE=AA=EBAiQIaiiiiiq)q)i)!)QF[  nY&Ayt2r>t2aE6=6=6p;6<:wA8}rG9zQ1zO=||=~B|iIii)))))))i)1)1)I1[ &nY&Ayt6>t:gE)~T ~VUC}5GEyAA+=9D;Zd;OMb?~jth?ɀ逝@ )IAIj=ƹ=BiIii))i))  ) |[ j@nY&Ayt">t"kE}^ՃG9~L}<1~W==BiI!i!!)i1)1)119i99)A)QdC[ EZnY&Ayt2>t2R_E46A46A:a=:=)~@ ~B`C}rG98C1H=!!=%B!i)IAiAAIiQ)Q)QQYiYY)a)qm[ !tnY&Ayt&>t*eE}fjGf4=f= D ף<9 Ļ ~jtMb?~jtx A ɀ  @ ) I I Di < Ļ9-<1-I=11=5B1i9IQiQQQia)a)aaaiai)i)ہI =i U[ nY&Ayt"ż>t"%hE)~0 ~0}n0G9 &<1 L==BiI1i111iA)A)AAAiAI)I)aS[ LnY&AytR>tRdE^=^=^;b==BiIii))i ) )!!g[ nY&Ayt"o>t"]E.bSBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0.ZFailed to initiate SBD session. 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Error code: 2}bG9A;1O=  = B iI1i999iI)I)QQQiQY)a)ہg] uY&Ayt"&>t"'fE*A.A.A.A2R=2a=)~d ~d}-G9}<1}C=ƁƁ=BƁiIii))i))m] uY&Ayt"9>t"eE}rBGpp)-9)-Mbp?Mb`y&1-\A)ɀ)) ))-#AI)I-;i-)9Et1EN=II=MBIiQIiiiiqiy)y)i))ۡI =i =#t] (uY&Ayt">t"iE)~2= ~2eC}^jG9~<1O==BiI!i!))i1)1)119i9A)A)Qz] ~uY&Ayt2 >t20\E6=6=64<6<:xA:xA}n0G%%9%u%Mb`?MbPQ!!ɀ!! !)!I!I%;i%%u9ER1EF=AI=MBIiQIiiiiiiy)y)yyyiy))ۙھ] ;RvY&Ayt"m>t"1ZE)~>= ~>`C}nGnxAl91%M=!!=-B)i1IAiIIIiQ)Q)YYYiYa)a)q  ) ] ,!vY&Ayt2J>t2,`E}|9l<1K==Bi!I9i999iI)I)IIIiIQ)Q)in]  ;vY&Ayt2$>t6sbE4:A8:A:=:=)~F= ~D}peeĻ9ae~jtx?~jthQeAaɀaeM@ eA)aIaIe;ieDa9ƅ <1C=ƉƉ=BƉiIii))i))] mTvY&Ayt">t"kE}`b4=d9~-=1S== B iI!i)))i1)1)999i9A)A)QI >i %] vnvY&Ayt2>t2cE)~>= ~BeC}rjG)-H=9-;-L7A`堿t"+bE&=&=&p<&<(({*}-0G9}xX1}G=ƁƁ=BƁ]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software FaultiUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. Software Fault]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software FaultIii))i))-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-! xSoftware Fault in component: DeadReckonWithRespectToSeafloor"7] .uvY&Ayt">t"IiE)~d ~d}%G-zA)9]<1]L=aa=eBaIqiyyyi))i))!Clearing failed state for component DeadReckonUsingMultipleVelocitySources !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1   ) a] QvY&Ayt>>t>cE}zoG=D=9=T=y&1?t"+bE&A&A*A*A*C=*=)~6= ~4}zBG9i14==BiIii))i)!)19s] pvY&Ayt2>t2eE}nՃGpr=MףMC9IMMb?i 8>\]  wY&Ayt">t"aE)~.= ~0}^XG9Ma1U2=QQ=UBYiaIqiqyyi))i))ۡ] Q#wY&Ayt2_>t2bE:=:=:<>pt"NcE)~t ~t}MՃGMxAI99`et2cE}nÃG9}1}c=ƁƁ=BƁiIii))i))] OqwY&Ayt2b>t2pfE46A46A:R=:R=)~@ ~B`C}rG%%9!%~jt?I +y&1%A!ɀ!! !)%#AI!I%Dt* _E}bՃGf=f%=9~1O==B iI!i!))i1)1)199i9A)A)QI 8>i ?>] wY&Ayt6)>t6iE)~H ~JeC}-ÃG9}t'=1B=ƑƑ=BơiIii!)!)!!)i)))1)A] wY&Ayt2>t2 ]E6=6=66p<:xA8}pUUD9UuUt"^E)~2= ~2`C}bXGbzA`9~;1R==B iI!i!))i1)1)199i9A)A)Q  @A) ] 1wY&Ayt2z>t2lE}n0G+99Zd;O?~jtI +\Aɀ@ )IIjt"aE&A&A&A*A*C=*C=)~2= ~6eC}bjG9~61N==BiI!i!))i1)1)199i99)A)Q! ^ 8L&xY&Ayt&>t&eE}G%4=!9ƅv<1B=ƁƉ=BƉiIii))i))I i 8> ^ 9)@xY&Ayt">t"nhE)~0 ~2`C}^ÃG9{Gzt?~jtxMbAɀM@ )IIף;iĻ9/=<1Q=!!=%B!i1IAiAIIiQ)Q)QYYiYY)a)q3^ ZxY&Ayt*>t*)dE.=.=.=.<2wA2xA}fG9~󊼑1L==BiI!i!))i1)1)199i9A)A)Q]^ fsxY&Ayt2>t2cE)~@ ~@} jGxAxAQU;9UTUMbpMbp?:vU(AQɀQU@ Q)QIQIUiU;UT9u 1uC=qq=}ByiIii))i))  ?A) E#^ xY&Ayt">t"`E}^0G9-b;1-O=11=5B1iAIQiQQQia)a)aaiiii)q)ہ'r)^ wxY&AytB!>tF^ENANAPRAV=Zp==r,got command show stack=r Behavior Stack: %rBPriority 0: Startup:A.GoToSurface&rJPriority 1: Startup:StartupSatComms:A)~ ~eC}mՃG!!9!%{GztMbp?:v!!ɀ!! !)!I!I%ףi!!9E.ۻ1E-=QQ=UBQiYIqiyyyi))i))۱lW0^ nxY&Ayt">t"R_E}^G``9~24;1y==B iI!i!))i1)1)199i9A)A)QI a>i V>6^ MKxY&Ayt2J>t2,`E)~>= ~B`C}nG9z];1zK=||=~B|iIii)))))))i)1)1)I<^ R&xY&Ayt29>t2eE6=6=6<6p<:xA:wA}rjG!%`;9!%~jtx{Gzt?:v!!ɀ!! !)!I!I%Ļi%ף;!9E<1EE=AI=MBIiQIiiiiiiq)y)yyyiy))ۙC^ yY&Ayt"_>t"bE)~2= ~0}b{G`fyA9~1O==B iI!i!))i1)1)199i99)A)Q  ) ?I^ 5)yY&Ayt:>t>`E}v0G5:1915~jtxMbp?:v11ɀ11 1)1I1I1i5;19ul1uA=yy=}ByiIii))i))pP^ ByY&Ayt">t&cE$*A*A*A(.=)~4 ~4}zG9%?<1%S=!)=-B)i1IIiIIIiQ)Y)YYYiYa)a)yV^ :\yY&Ayt">t" ]E{(}EoGAA9}̼1}E=ƁƁ=BƁiIii))i))I e>i i>m\^ DovyY&Ayt2ż>t2%hE)~t ~t}uG;9`eMbpMbp?y&1ɀ )IIi`e9,=1D==BiI i i))!!!i!))))Avc^ KyY&Ayt">t"S]E*=*=*p;*<:wA8}rÃG9Ƶ911N==BiIii!))))))i)Q)Q)i2 j^ $yY&Ayt"O>t"gE)~2= ~0}^yGfyAh:99jy&1?MbZd;O\Aɀ@ )II`et"cE}ZBG9~r1M==C iI!i!))i1)1)199i9A)A)Q)w^ yY&Ayt")>t"iE$&A$&A*R=()~2= ~4}bՃG9~<1J==CiI!i)))i1)1)999i9A)A)QH}^ yY&Ayt">t"ZE}^G```e9Լi p>0^ zY&Ayt.>t.KgE)~8 ~8}jjG9J=1K=!!=%C!i1IAiAAIiQ)Q)QQYiYa)a)qQZ^ t2aE6=6=64<6<88}GUUC<9UuUt&eE)~0 ~4}bÃGbxAd9n<1rT=pp=vCtixIii))i))۹  ) l^ W$_zY&Ayt"r>t"aE{&}!9MV1M)=QQ=UCQiYIqiqqqiy))i))ۡ]^ PxzY&Ayt"b>t"pfE&A&A&A*A(()~0 ~4}bG  ף<9  ~jtMb?Q QA ɀ  @ A) #AI I Di < )YI]zAYɖY Yɗaaeiaaim3Ci)i iIi q)uzAɘqqqqəyiyIyyIyiy }&@y)隁 ɚAI)i9Ɲ<1E=ơơ=CơiIii))i))w~^ fْzY&Ayt">t"cE}^jGb=`Ƀdddiddihh)jGa hIh l)n{AɄnףllpɅr{AirDIppIpit tt)tt vzAtxɆxxxIx)xix)|I||ɇ| |9ƝZ1q=ơơ=CơiIii))i))۱=5 0got command get latitude]5 (Element has no value=5 2got command get longitude]5 (Element has no valueI i i> ^ xzY&Ayt"7>t"PaE)~2= ~0}n0G%%`9%%{Gz?~jtMb`%p A!ɀ!! %)%#AI!I%ףt2gE6=6=6<6<:xA8}rG9}M<1}W=ƁƁ=CƁiIii))i))繷^ gzY&Ayt2>t6_E)~B= ~@}nՃGprxA9zU1zT=xx=~C|iIii!))))))i)1)1)I  ) ^ JEzY&Ayt"_>t"bE}jÃG9=<9=C=QQ? rh=zA9ɀ9=@ =jA)= $AI=7AI=ui=u<=C9e0<1eC=ii=mCiiyIii))i))m^ d {Y&Ayt">t"EmE*A.A.A.A02a=)~8 ~8}nG9]*=1]K=aa=eCaiiIii))i))۱5^ -{Y&Ayt2>t2S]E}G 4= im`e<9m`em{Gzi p>j^ G{Y&Ayt">t"cE)~0 ~2eC}`9<1S=  = C iI)i)))i1)9)999i9A)A)Y^ a{Y&Ayt0t06=6=6;6;88}roGxx=~C|iIii)))))))i)1)1)IH2^ H{{Y&Ayt"$>t"sbE)~2= ~2`C}bBGbyAbyAD;T<9TI +y&1|?:vɀ )II94i`;T9%1%<))=-C)i1IIiIIQiY)Y)aaaiaa)i)y  ) ^ g{Y&Ayt"w>t"iE}^ՃG9~8<1L==CiI!i!!)i1)1)119i99)A)QD^ lC{Y&Ayt2ù>t2rdE46A46A8:C=)~B= ~BeC}rÃG%%#<9%D%~jtxMb?~jt!!ɀ!! !)!I!I%Ļi%<%D9E1EF=AI=MCIiQIiiiiiiq)y)i))ۡn,^ {Y&Ayt6>t:S]E}vGv=v=9~K꼑1~O==Ci I!i!!!i1)1)111i99)A)QI i>i i>:W^ {Y&Ayt">t"eE)~0 ~2`C}vG9~=1~J== CiI!i!!)i1)1)119i99)A)qG^ {Y&Ayt">t"cE&=&=&4=&<*vA(}`949u{Gz?{GztQQAɀ@ )II#tmjE)~$ ~&eC}ZjG\\9r=1rY=pp=v CtixI!i)))i1)1)9YYiYa)a)q  ) E _ ڌ0|Y&Ayt">t"w^E}^0G~D~C9~`e~y&1?{Gzy&1||ɀ|| |)|I|I~`et"DoE&A&A&A&A*=*=)~2= ~2`C}bG9nɉ=1rN=pp=r Ctix' JTimed out from 2019-03-25T23:35:17.0Z  I i   i9)9)99AiAA)I)Y[_ |Cd|Y&Ayt"ָ>t"NcE}jjGn%=n4=9~>1~H== Ci*a code=07E1 owner=004F element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 '-zInitialize ReadDataComponent to sense platform_communicationsI)i)))ia)i)iqqiq))1I i p>2!_ J|Y&Ayt&>t&aE*=*=*p;*<)~6= ~4}b{G--t9-Ļ-:v?:v~jtx-(A)ɀ)-@ )))I)I-Tt"jE}`9n"=1rS=pp=r CtixI1i111ia)a)aaaiai)i)ۡJ-_ |Y&Ayt">t"KgE)~, ~,}n0GrxArxA!%,9%`%Q?Qy&1|%QA!ɀ!%@ !)!I!I%t"dE&A&A&A&A}^oG9-;&1-L=11=5 C1i9IQiQQQia)a)aaaiai)i)ہؘ:_ ~r|Y&Ayt2&>t2'fE)~B= ~@}rG%D;% 09%Ļ%V-?L7A`堿~jtx!!ɀ!! !)!I!I%t"_E}ZG\^%=9~$μ1~O== CiI!i!!)i1)1)119i99)A)Q`setting available, lastComms_.elapsed()=0.004913aIe>ie>NG_ * }Y&Ayt">t"eE&=&=&R=&<*xA*xA)~2= ~0}bjG9nz<1rL=pp=rCtixIi   i))i!)!)9M_ h:}Y&Ayt">t"u`E}^{G;@9DX9v?Q롿~jthAɀ@ A)IIt"aE)~, ~0}^G`byA9j߻;1jO=ll=nCpitI|i|i ) )i))) )%Z_ m}Y&Ayt">t"dE&A&A&A&A*a=*p=}bG  m9  /$?+Mbp  ɀ   ) I I ,=i  9-2<1-E=)1=5C1iYIqiqqqi))i))Ma_ 9}Y&Ayt"!>t"^E)~6= ~4}fG91L==Ci)I9i9AAiI)I)QQQiQQ)y)ۉg_ s}Y&Ayt">t"`E}jjGn4=l9~M<1~L==Ci I!i!!)i1)1)199i99)A)QI{>ix>"n_ wI}Y&Ayt">t"aE&=&=&p<*;*wA*wA)~0 ~0}bG  9 Ļ I +?~jt~jtx  ɀ   ) I I 94=i  Ļ9MY;1M=QQ=UCQiYIii))i))p u_ (}Y&Ayt">t"cE}^G)aIaaɖa aɗiiiimFiiu3CuzA)u u@FIu uC)}|Aɝ}}ؗF}ّCɞzAiIt"aE*bSBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0.ZFailed to initiate SBD session. Error code: 2)~6= ~4}f{GfyAfxA D u9 ף  ףp= ?{Gz{Gzt  ɀ   ) I I Q8=i # ףɃ!!)i))i)-{A)) ->FI1 1)5{AɄ111YɅYiYIYYIaia aa)amC mzAmm0FɋmmCm{AIuD)uFiu)usCIuA錕ɌF 9ƽĻ1==Ci I!i)))i9)9)999i9A)A)ۙ )i_ ~Y&Ayt"t>t"LeE&A&A&A*A*C=(}-0G9=e<1=S=9A=ECAiIIii))i))G_ "~Y&Ayt">t"fE)~, ~0}^G9=;1=\=AA=ECAiQIaiiiii))i))q_ <~Y&Ayt2>t2eE}|~%=|}ף}q9y}Zd;O?~jt{Gztyyɀyy y)yIyI}j<=i}y9Ɲ1E=ƙơ=CơiIii))i))1IR>i]>Y_ pV~Y&Ayt">t"`E&=&=&&<(*xA)~2= ~2eC}bjG9n1rW=pp=rCtixIi  i))i!)!)AŃ_ Kp~Y&AytRO>tRgE}=ƄG`9?{GzMbpɀ這 )IIL=i#9P<18==Ci)IAiAAAiI)q)qqqiqy)y)ۑk_ V(~Y&Ayt">t"YWE)~, ~,}nBGlnyA9⍽1\=!!=%C!i)IAiAAAiQ)Q)QQQiYY)a)qSending 25 bytes from file Logs/20190325T224151/Courier0019.lzma @A)_ *~Y&Ayt">t"cE$&A&A&A*=*=}jjG95 D=15I=19==C9iAIiiiqqi))i))뿮_ Yݽ~Y&Ayt2۾>t2jE)~@ ~B`C}n0G%t%h9%D%v/?I +~jth!!ɀ!! !)!I!I%xi=i%94%D9=1<1=I=AA=ECAiIIii))i))xMoved sent file to Logs/20190325T224151/Courier0019.lzma.bak$SBD MOMSN=10244048=got command maintain control VerticalControl.massPositionAction 3.000000 centimeter*n code=005E name="Maintain_VerticalControl.massPositionAction" *a code=07E2 owner=005E element=05AE universal=3FFF unitName="meter" type=0B size=0003 fl=05 SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.ŧ_ c~Y&Ayt2_>t2bE}nGn4=r=91L=!!=%C!i)IAiAAAiQ)Q)QQQiYY)a)q  Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,IY>ia>ѻ_ ~Y&Ayt">t"iE&=&=&;&<*xA*wA)~0 ~2eC}boG  9  &1?{GzMb`  ɀ   ) I I P=i # 9%<1%J=))=-C)i1Iiiiiii))i)I<)h_ "m Y&Ayt"ָ>t"NcE{*}%BG9]7Ƽ1]G=aa=eCaiiIiiI;))i)I<)۹_ DN%Y&Ayt2>t2S]E)~~= ~|}}ՃGxA9ƽ1D==CiIii)IU;)Q)YYYiYa)aIm<)۩ ?A) _ u ?Y&Ayt"ù>t"rdE(*A*A*A-:Response from modem failed NMEA checksum: $CACST,6,1,20190325233628.061011,06,913,29,0116,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,.99,-999,-9.99,190,0.05,-999,9760,4000*5C >R=>=}ÃGFFailed to parse: :B, -3, -12,A @  @  @  @  9 <1E=!=%C!i)IiiiiiiI;))i)I<)_ ~XY&Ayt"9>t"eE)~2= ~0}bG9 ;1^= = C iI)i)))i1I=;)9)999i9A)AIM< ) b_ sY&Ayt.7>t.PaE{2}EGAE4=         u9Zd;O?+Mb`ɀ逩 )IIj<=i9TH1*==CiIii I;))i)I%<e ;)iI-a>i-Y>lE_ gY&Ayt">t"eE&=&=&4<&<*wA()~0 ~2`C}boGɈjCj5|Aj#ijFjijCn{A)n nFIn n̑C)nzAɉrrFrȓCɊrzAirDIrԏFvIv Civ{A v/]v|F)vzC z{Axxɋx||I~T)|i|9-<1Z==Ci I!i!!!i)I5;)1)1QQiQY)YIe<;)ۙs_ QY&AytB>tB+bE}-BGquq9quI +?+Mb`qqɀqq q)qIqIu94=iqq9Mg1UD=QQ=UCYiaIqiyyyiI;))i)I< yA)yA1;)MX_ \rY&Ayt"+>t"mE)~.= ~.eC}^jG`byA9=JI=1=^=AA=ECAiIIaiaaaiqIu;)q)i)I<E;) =@A)9x_ {IY&Ayt">t"S]E$&A$&A*a=*R=}b0G9r1rP=pt=vCtixI i   iI;))i!!)!I-<uX;)ہ_ (Y&Ayt"в>t"[E)~.= ~0}bjGGa9{Gz?lMb`ɀ )II#=i9%1%F=))=-C)i1IiiiiiiI;))i)It2pfE}j{Gj%=j%=9)=1K=!!=%C!i)IAiAAAiQIU;)Q)QQYiYY)aIe<P;)ۡI5>i=>w ` (Y&AytN>tNcER=R=V4t2$jE}zG9=<1=Q=AA=ECAiIIaiaaaiqIu;)q)qyyiyy)I< ));)` ޒ\Y&Ayt2>t2dE)~B= ~@}roGrxAp9zk1zO=|1=5C1iAIQiQQQiaIe;)a)iiiiii)qIu<p;)ۡ =?A)9` lvY&Ayt2>t2.^E6A6A6A6A:R=:=}nBG!%9%`e%Zd;O?I +y&1!!ɀ!! !)!I!I%jt21ZE)~@ ~@}rG9z1zO=||=~C|iIii)I-;))))))i)1)1I=tBpfE}|=E`ED9E̼E+?V-E(AAɀAA EA)AIAIE=iEE̼9]>=1]D=aa=eCaiqIiiI;))i)I<U";)YI5>i=>0` ĀY&AytBJ>tB,`EF=F=Fp=Ft"]E}^ՃG9nd(1nN=pp=rCpitIi iI;))i!)!I%< 1)5xAU;)aJ=` /Y&Ayt}>t"ZUE)~, ~.`C}^G^zA\D9Zd;O?t"^E&A&A&A&A*C=*=}vՃG9q=1J=!!=%C!i)IAiAAIiQIU;)Q)YYYiYa)aIe<;)ۡZJ` Tn+Y&Ayt"\>t" _E)~, ~2eC}nG%D;%,9%̼%S㥛?Mb!!ɀ!! !)!I!I%/t"U[E}^ՃG\^R=)f CIf{AfuɛfF fɜfّCf{AjDijqFjijCj{A)j jFIn nC)n|Aɝr`廩pprCɞrzAipIptIvCivzzA tt)tzC xxxɟx~C|I|)|i|91==C!i)I9iAAAiIIM;)I)Qqqiqy)yI<;)۹I5{>i=>kW`  _Y&Ayt t &=&=&p<&<(()~0 ~0}^ÃGAA=ECAiIIaiaaaiqIu;)q)qqqi)I<5\<)I͖]` &xY&Ayt">t"_OE}^XG~t~q9~H~~jt?t2YWE)~>= ~@}n0GryAp9z=1zV=||=~C|iIii)I-;))))))i)1)1I=<_<)ۡ 5@A)9j` 1Y&Ayt">t"WYE(*A(*A02R=}foGĻ9<9I +~jt?V-ɀM@ )AII94i<9-5;1-G=11=5 C1i9IQiQQQiaIe;)a)iiiiii)qIu<<)ۡ xMoved sent file to Logs/20190325T233344/Courier0000.lzma.bak $SBD MOMSN=10244050q` \ƁY&AytFƦ>tFME)~R= ~T}GG9=D1=I=AA=E CAiIIaiaaaiqIu;)q)qyyiyy)It"WE}^0G`b%=9n.=1rP=pp=r!CpixIi   iI;))i!)!I-<U<)aI5R>i=p>x}` DY&Ayt"U>t"SE&=&=&&<(()~2= ~0}~jGAE;9E̼EMbP?y&1|?E(AAɀAA EA)AIAIE:iE`;E̼9}5c1}A=ƁƁ=!CƁiIiiI;))i)I <5|#<)Ā` "Y&Ayt">t"w^E}Z0G9$/=1Q=!=%!C!i)IAiAAAiIIU;)Q)QQQiQY)YIe< myA)mxAk(<)ۡ-` -Y&Ayt2>t2UE)~@ ~@}njGrzArxA%%9%9%Mb?:vI +%zA!ɀ!! !)% AI%|AI%t&YWE*A*A(*A*=.=}b{G9r;1rQ=pt=v"CtixI i   iI;))i!)!I-<]2<)a ` ճaY&Ayt"ޫ>t"\SE)~0 ~0}bG9nb1rJ=pp=r#CpixIi   iI;))i!)!I-t"VE}^XG`b=ĻԼ9ļI +?y&1~jt(Aɀ A)AII9i5i>` iY&Ayt">t"QE&=&=&p;&<(()~2= ~0}bG9S1'==#Ci)IAiAAAiiIu;)q)qqqiqy)yI<C<)F` #LY&Ayt">t"NE}ZG=D=`e=9==~jt/$?Mb`=A9ɀ9= 9)9I9I=i=,==ɈU&CQQiQQiyy)}ף yIy y)yɉ鉁ɊiIICi{A 銉)鋕̑C ɋ{AI) Fi9yH1v==$CiI i111i9I=;)A)AAAiAI)IIU< Y)YmG<)y-` O ɂY&Ayt">t"WE)~.= ~8}jÃGnxAnyA9]=1]R=aa=e$CaiiIiiI;))i)I<L<) 1)98V` Y&Ayt"W>t"WE&A&A$&A(*=}t9}L;1}H=ƁƁ=%CƁiIiiI;))   i ))I]<bR<)۹`` Y&Ayt"%>t"fGE.bSBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0.ZFailed to initiate SBD session. Error code: 2)~4 ~4}f]G  D=9  L7A`堿Q? A ɀ   xA) I IAI +i \= 9Eu1E>=II=M%CIiQIiiiiiiyI};)y)i)It"SE}-BG-4=54=9]Y=1]Z=aa=e%CaiiIiiI;))i)I<\<)!I=N>i={>Ò` 0Y&Ayt"`>t"GE&=&=&&<*xA()~0 ~0}bՃG9<9`:v~jt?y&1| AɀEA A)AIITi<`9%I1%N=!!=-&C)i1IIiIIIiQIU;)Y)YYYiYa)aIm<{a<)z` eJY&Ayt">t"JE}^ÃG9K<1L== &C iI!i)))i1I5;)1)999i9A)AIM< Q)Qf<)ۡ` }AdY&Ayt">t"IE)~0 ~2`C}`fyAjxA9ڻ1H=!!=%'C!i)IAiIIIiiIu;)y)yi)I<l<) 5@A)9` ~Y&Ayt"Ʀ>t"ME&A&A&A&A(*=}bGD;/<9Ļ/$ rh?~jtxAɀ A)IIiC<Ļ9%O<1%J=!!=-'C)i1IQiQYYiaIe;)i)iiiiiq)qI}< q<)ۡ` Y&Ayt*>t*SE)~6= ~:eC}fG9~<1~L=='CiI!i!))i1I5;)1)999i9A)AIEt"!CE}pr%=r=--T9-D-~jt?~jtx~jt-A)ɀ)-@ -xA))I)I-Di=]>,` B˃Y&Ayt"%>t"fGE&=&=&p;&<*wA()~0 ~2`C}`9n<1rQ=pp=r(CtixIaiaaaiiIu;)q)qqqiq)I<[<)=Tgot command show variable acoustic_contact=dacoustic_contact_direction_vehicle_frame (unknown)=Dacoustic_contact_address (unknown)=@acoustic_contact_range (unknown)= XDUSBL_Hydroid.acoustic_contact_range (meter)= zDUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)= ZDUSBL_Hydroid.acoustic_contact_address (enum)|` /Y&Ayt2>t2LE}jG9E<1ED=QQ=u)CqiyIiiI;))i)I< )yA.<)` IfY&Ayt"2>t">E)~6= ~4}fGhjyAD949u{Gz?~jtxQAɀ IA)II#Y&Aytrã>treIEvAvAtzAR=={}G9=1>==)Ci IyiyyyiI;))i)I<X<)/ a 73Y&Ayt"[>t"H@E)~0 ~0}bG;#9T~jtx?tji-e>Da fY&AytB'>tBKEN=N=Npt"GE}^0G9~o1]==+CiIaiaaiiqIu;)q)i)I< )xA<)S&a 􈚄Y&Ayt":>t"IE)~.= ~,}^GbxAbxA95;1= =99==,CAiiIyiyiI;))i)I<eڕ<)ۑ 1)9~,a gY&Ayt">t"jCE$&A&A&A&=*=}\D=9V-?pAɀ A)II̼i<)Imɛ ɜ{Aii!!)%q !I! )))ɝ)))5Cɞ1i1I11I9i9 99)99 9AAɟAAAIA)AiA9U 1U=YY=],CYiaIyiyyyiI;))i)I<<) Sending 258 bytes from file Logs/20190325T224151/Express0020.lzma4e3a =΄Y&AytBu>tB?JE)~Z= ~X}ՃG9ƽ%<1D==,CiIiiI;))i)It>BE}-ÃG11}Ļ},=9}:} rh?MbP?yyɀyy y)yIyIyi}C =}:95Q弑15C=99==-C9iAIYiYYYiiIm;)i)iiqiqq)yI}<<)I1i5i> xMoved sent file to Logs/20190325T224151/Express0020.lzma.bak $SBD MOMSN=10244054@a HY&AytV5>tVBE^=^=^^t:DE}9]<1]K=aa=e-CaiiIiiI;))i)I< xA)<)La 5Y&Ayt">t"EE)~@ ~B`C}XGyAyAMDMC<9MM{Gzy&1?MbpMAIɀIMEA MA)IIIIM#iM`et"CFE&A*A*A*A(*=}bG9~:1Q==.CiIqiyyyiI;))i)I<=<)AYa vpiY&Ayt.:>t.IE)~< ~<}nGD;t<9Dy&1I +?~jthAɀ )EAII`ei94<D9=zi<1=F=9A=E/CAiIIaiaaaiiI;))i)I=Y&Ayt"٥>t"KE}^G^=^=9n|<1rQ=pp=r/CpixIi   iI;))999i9A)AIM<u`<)ہI1i=V>fa 4Y&Ayt" >t"#AE&=&=*p;*<*wA()~0 ~6eC}bՃG9ƽm 1$==0CiIiiiIm;)i)iqqiqq)yI}< yA)yA<)ma gY&Ayt"̖>t"r9E}^XG;u<9:vMb?Mbpɀ )IITi<Ɉii) I! !)!ɉ!!!)Ɋ)i-I))I5 Ci1 5+5tF)11 1YYɋYY]{AIeu)aia9mM1my=qq=u0CqiIiiI;))i)I<5<)9ta SЅY&Ayt"">t"CE)~, ~,}^GbxAbxA9='=1=M=AI=M0CIiYIiiI;))i)I<5P<)I =?A)9+za XY&Ayt"5>t"BE*A*A.A.A2R=2=}fXG<9~jtx{Gzt?Mb` Aɀ xA)IIĻiף;9֋1A==1CiIii I;))QQQiQY)YIet"t"IE}bGb%=b%=9F=1L=  = 1C iI)i)))i1I=;)9)999iAA)AIM<u<)ہI1i5]>ga C98Y&Ayt">t"KE&=&=&p;&<(()~0 ~0}bG  `;9  ~jthy&1|?MbP A ɀ   ) xAI I Di `; 9"<1<==2Ci IaiaaaiiIm;)q)i)I< )ؾ<)Pa RY&Ayt">t"t"hEE)~0 ~0}bG`byADt=9:~jtS㥛?MbP?pAɀ A)IAIļi/<:9=1%F=!!=-3C)i1IIiIIIiqI};)y)yyyiy)I<U<)Y=-zgot command report touch DUSBL_Hydroid.acoustic_contact_range*a code=07E3 owner=0048 element=040C universal=3FFF unitName="meter" type=0B size=0003 fl=04 1)1aa ˅Y&Ayt"]>t"CE&A&A&A&A*C=*R=}bG9n?1rO=pp=v3CtixIi   iI;))i!)!I-t"@E)~0 ~0}`9nI1rJ=pp=r4CtixIi   iI;))i!)!I-<U<)aa Y&Ayt"ԟ>t"DE}^ՃG\^=~~;9~D~Mb`?~jth~ A|ɀ|~EA ~xA)~EAI~IAI~i~;~D9:j<1G=!!=%4C!i)IAiAAAiIIU;)Q)QQQiQY)YIe<<)ۡI1i=V>t*kAE.=.=..<2vA0)~8 ~8}fÃG9eI1%J=!!=%4C!i1IAiAIIiQIU;)Q)YYYiYa)aIe< uxA)q<)ۡǺa 6Y&Ayt"E>t"=E}nGD`;9~jthMb?~jthAɀ )AIIDi<95l1=I=9A=E5CAiIIaiaaaiiIu;)q)qqqiqy)yI<<)a #Y&Ayt" >t"o=E)~0 ~0}^GbyAbxA9r1rP=tt=v5CtixIIiIIIiQI};)y)yyyi)I<V<) 5@A)9ba  Y&Ayt2k>t2q;E6A6A6A6A:p=:a=BbSBD MO Status=0, MOMSN=2447, MT Status=0, MTMSN=0B.No messages in MT queue}vjG971H=  = 6C iI)i)))i9I=;)9)99AiAA)IIMt2$?E)~B= ~@}r{G--t<9--~jtx~jtx?-3A)ɀ)) ))-EAI-AI-Ļi-;-9Ei<1EF=II=M6CIiQIiiiiiiyI};)y)i)I<<)!a ]TY&Ayt"s>t"FE^Fix Requested}-0G54=54=9]<1]I=aa=e6CaiiIiiI;))i)I<U@<)aI=Y>i=Y>a p}nY&Ayt">t"Kt"q;E})9}[]1}K=ƁƁ=7CƁiIiiI;))i)I<Ui<)Y)a =Y&Ayt" >t"o=E)~, ~,}^jG^xA^yA9n.<1nU=pp=r8CpitIiiI;))i)!I%<U<)ہ 5?A)1wQa Y&Ayt">t"AE&A&A&A*A*=*=)zN IzNizNzN} Guu9uDuMbP?Mb`?~jthuAqɀqu q)uAIuAIu:iu;uD9ƭ͉<1>=ƱƱ=8CƱiIii!I%;)!))))i)))1I]t"=E)~0 ~0}rXG9~1V==8CiI!i!))i1I5;)1)999i9A)AIM<u <)ہXda Y&Ayt"`>t"GE^Fix Requested}U0GQU%=9<9{GzI +?MbpfAɀ逝EA A)II#i9<9t<1==9Ci IAiAAIiQIU;)Q)QYyiyy)I< )xAI1i9<)iKb ǟ Y&Ayt">t"v5E&=&=&p=&<*wA()~d ~d}-G)9I9=xiɛ9 9ɜAE{AAiAAiII)My III I)IɝQQQQɞUzAiQIQQI]̑CiY YY)aa aaaɟaiiIi)iii9uͽ1}=yy=}9CyiIii I ;) )IIQiQQ)YI]<<)ۙcvb |~#Y&Ayt"ܒ>t"4E}99-4a1=O=II=u:CqiIii!I-;)))IIIiQQ)QI]<B<)ۙb W=Y&Ayt2n>t2$?E)~D ~D}vjGvzAx5D5t<95ף5I +y&1?{Gzt11ɀ11 1)5AI5AI594i5`e<5ף9V.=1P==:CiIii I;))i)I%t2+7E6A6A:A:A:R=:=}r0G9zx 1zZ=||=~:C|i Iii)I-;))))11i11)9I=<U<)a= >got command show variable DUSBL=% DDUSBL_Hydroid.loadAtStartup (bool)=% JDUSBL_Hydroid.simulateHardware (bool)=% XDUSBL_Hydroid.defaultTurnAroundTime (second)=- dDUSBL_Hydroid.defaultSoundSpeed (meter_per_second)=- PDUSBL_Hydroid.detectionThreshold (count)=- TDUSBL_Hydroid.recieveTimeout (millisecond)=5 VDUSBL_Hydroid.transmitLockout (millisecond)=5 HDUSBL_Hydroid.transponderCode (enum)=5 XDUSBL_Hydroid.numberOfPingsRequested (count)== Micromodem.dusblPingCode (enum)= JDUSBL_Hydroid.xAngle (angular_degree)= JDUSBL_Hydroid.yAngle (angular_degree)= LDUSBL_Hydroid.travelTime (microsecond)= FDUSBL_Hydroid.latency (microsecond)= 4DUSBL_Hydroid.gain (ratio)= RDUSBL_Hydroid.inBandSignalToNoise (ratio)= TDUSBL_Hydroid.outBandSignalToNoise (ratio)= XDUSBL_Hydroid.acoustic_contact_range (meter)= zDUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)= ZDUSBL_Hydroid.acoustic_contact_address (enum)b  qY&Aytb>tfKt"$?E)z`Izbiz`z`}EXGE%=A9]Y<1ep=ai=m;CiiyIiiI;))i)I< )Ii)۩I5x>i5i>k(b ŤY&Ayt" >t"o=E*=*=**p<>xA<)~L ~P}G9=#1= =AA=Et"x3E^Fix Requested}-XGuףuC<9uDut">E)~d ~d}-G)19ƽ6=1O=ƹ=Aggregate::uninitialize Startup1 &DUninitialize GoToSurfaceComponent.i!I%;)!)!))i)))1IU<)i 9)9t=EAAAA "a=} XGUUt<9UףU~jt:v?{GztU=AQɀQQ Q)UAIUAIUDiUTt"o=E)~4 ~4}v{G9~T1~\===Ci i!!))i1I5;)9)999i9A)AIM<)yYsIb <&Y&Ayt.n>t.$?E})11D;<9Ļ rh:v?~jtxfAɀ逕A )IICiĻ9|;10==>Ciii I-;))))))i)1)1I=<)IIEV>iEV>;Ob ?Y&Ayt*>t*6E.=.=2p;2<00)zCƑiiiI;))i ) I<)A$Vb *YY&Ayt"X>t"Ci iAAAAiQIU;)Q)Qyyiyy)I<)N\b 4sY&Ayt"n>t"$?E^Fix Requested)~d ~d}-G5xA1D9<9ףy&1==u?CqiyiiI;))i)I<) 1)15cb vY&Ayt">t">E&A&A&A*A(*R=}-G9=1ET=AA=E?CAiQiaaaiiqIu;)q)i)I<)۹cib bY&Ayt2{>t26E)~x ~zUC}aD;<9QI +?{GztAɀxA )AIIAIui94<95|1=;=AA=E@CAiQiiI;))iiiiiq)qI}<)Hpb 31Y&Ayt"C>t":E}ddd9nw<1rd=pp=r@Cpixi iI;))999i9A)AIE<)yI5Y>i5Y>qvb ۉY&Ayt*>t*m?E.=2=24<2=BwA@)~H ~H}zՃG9=><1=D=AA=E@CAiQiaaaaiqIu;)q)qi)I<)|b OY&Ayt"ϙ>t"&=E}nG=ף=9<9=D=~jt{Gz?~jth=A9ɀ9=A 9)9I=AI=Di=ף<=D9ƽ' 1C=ƹ=ACii!!!!i)I5;)1)qqqiqy)yI<)b Y&AytB>tB?E)zRIzRizRzRzR)~\ ~^`C}eՃGezAi9}X(<1}N=ƁƁ=ACƁiiiI;))i)I<) 1)1b Ϥ(Y&AytVX>tVt"@E^Fix Requested)~d ~d}-G9] <1]R=aa=eBCaiiiiI;))i)I<)Öb __\Y&Ayt>t"8E}!!%4=9U 1UJ=YY=]BCYiiiyyyiI;))i)I<)۱I5V>i1^b +vY&Ayt2>t2J>E6=6=6p;6p<88)~t ~t}MՃG94<9~jtxt"7E}b]G9~޼1~V==CCi i!!!!i1I5;)1)119i99)AIE<)Yb e䩊Y&Aytb]>tbCE)~l ~l}MBGUyAQĻu9`;Q?~jtxy&1|?=Aɀ逵xA A)AIIut"t7E&A&A&A*A(()z4Iz4iz4z4z4}%ՃG9=V1EW=AA=EDCAiQiaaiiiqIu;)q)yyyiy)I<)Fb s݊Y&Ayt">t"t"@EnFix Requested}M{GM=M%=94\=9Ļ rhMb?~jtxAɀ A)IIAICi=Ļ9a<1?== EC i1iIIIIiqI};)y)yyyiy)I<)۹I1i5]> b fMY&Ayt">t">E*=*=**<.xA,)~d ~d}-G9]#.1]U=aa=eECaiqiiI;))i)I<)qDKb -+Y&Ayt">t":E}-GuĻu94=9utuS㥛t"3E)~, ~,}^ՃGbzAbxA)dIf{AfDɛd dɜhhhihhiln{A)nD lIl p)pɝrĻpppɞvzAitIttItivvzA tx)xx xxxɟx|~AI|)|i|9=21==AA=EFCAiIiiI;))i)I<) 1)1\b ^Y&Ayt"ɓ>t"5E&A&A&A&A*C=(}^ÃG9=\<1EJ=AA=EGCAiQiaaaiiqIu;)q)i)I<)b xY&Ayt">t">E)~, ~.UC}^XG`e<9Dt" 4E)z0Iz0iz0z0z0}~G4=9='1=S=AA=EGCAiIiaaaaiqIu;)q)qyyiyy)I<)ۙI1i5Y>b ?qY&Ayt& >t&o=E*=*=*p;*4<(,)~4 ~6`C}bÃGEET<9EEt"/E^Fix Requested}-XG9C14==HCiii!I%;)!))))i)1)1I=<)Ib N(Y&Ayt2>t28E)~t ~vUC}M0GIMyAɈQYYiYYi]CY)a aIa eّC)aɉaaaiɊiiiIiiIu Ciu{A uTq)qy yyyɋy{AIH)i95=1=W=99==ICAiIiYYaaiiIm;)i)qi)I<) 1)9|b Y&Ayt">t"@E&A&A&A&A*=*=}%Gmmj<=9m#mMb rh?{Gzm=Aiɀii mA)iIiImimC =m#9e<1mG=ii=mICqiyiiI;))i)I<)c zY&Ayt"@>t"Q6E)~0 ~0}`9}S21}[=ƁƁ=ICƁiiiI;))i)I<) c -Y&Ayt2>t2t"O8E&=&=**<*wA()z4Iz4iz4z6z8)~@ ~B`C}l91N=  = JC ii))))(-Done Waiting.q-(-8Uninitialize Wait Component.i9I=;)9)AAAiAA)IIM<)ac paY&Ayt:E>t:=E}vՃG9~<1~K==KCi i!)))-)-JAggregate::initialize Default:CheckIn1-i1I=;)9)99AiAA)IIM<)Y"c K{Y&Ayt">t";EjFix Requested)~p ~p}=GEyAA:=9tS㥛:v?t"r9E&A&A&A&A*C=*=}UBG9Ɲ1K=ơơ=KCơiiiI;))i)I<)4+c TY&Ayt2>t2@E)~t ~vUC}MՃG+=9;MbZd;O?Mb`?GAɀ逵 )II@ij<=;9<1G==LCiiiI;) )   i )I<))2c ȌY&Ayt"U>t"8E}^G9~~1Y==LCii!!))i1I5;)1)999i9A)AIE<)YI1i9F8c 1Y&Ayt2>t2:E6=6=64=64<88)~@ ~@}rjG9z<1zK=||=~MC|iii)I-;)))))1i11)9I=<)Qq>c Y&Ayt2>t29E)z@Iz@izDzFzD}zG9=q=99=ˡE/$?Mb`?=A9ɀ99 =A)=AI=IAI='i=,=99U\1UD=YY=]MCYiaiyyyyiI;))i)I<)۩%YEc nY&Ayt"X>t"t*9E.A.A.A.A2R=2a=^Fix Requested}-Gm;m<9mĻm~jt?~jtxmAiɀimEA i)mxAImAIm̼imt2 4E)~t ~t}MjG9}1}K=ƁƁ=NCƁiiiI;))i)I<)(Xc cY&Ayt2ϙ>t2&=E}uG}=9X=1D==OCiiIIQQiyI;))i)I<)۱I1i9^c M}Y&Ayt2v>t22/E6=6=6=6%=8:xA)~@ ~@}nXG%<% 0=9%%t">E}^{G9~=1N==OCii!!))i1I5;)1)999i9A)AIM<)YSkc !Y&Ayt2>t2m?E)~@ ~B`C}n0GrwAp%:%,=9%%QV-?%pA!ɀ!! !)%AI!I%i%<%9E;1EF=AI=MPCIiQiiiiiiqI};)y)yyyi)I<)ۙ 1)9rc mˍY&Ayt2>t21E>A>A<>AFa=FR=)zTIzTizTzTzZ)}-ՃG9Mc[1MJ=QQ=UPCYiaiiI;))i)I<)Sxc gGY&Ayt&H>t&kAE)~P ~P}%XG9ƅ x=1G=ƑƑ=QCƙiiiI;))   i  )I<))c (Y&Ayt"E>t"=E^Fix Requested}%G-%=)mDmQ8=9m;mV- rh?Mb`?iiɀii i)mxAImAImimC =m;9ƍm1I=ƉƑ=QCƑiiiI;))i)I<)I5R>i5V>c Y&Ayt">t":E&=&=&=&R=*vA()~l ~rUC}=G9}L81}K=ƁƁ=QCƁiiiI;))i)I<)c +2Y&Ayt2H>t2kAE}EՃG\=9I +y&1?Mb`?GAɀ选 A)II9i`<9<1D==RCiii I;))i)I%<)1c 9LY&Ayt">t":E)~0 ~0}^GbxA`9~⼑1~Y==RCi iiiqqiyI};))i)I<)ۡ 1)9V1c fY&Ayt6 >t6o=E@BAFAFANR=P}=jGD94=9V- rh?Mb`?pAɀ A)IIiC =9<1<==SCiii!I%;)!))))i)))1I=<)Iec jY&Ayt2>t2t2:E}ln=l)tItv@ɛvF tɜtxzixxixz{A)z@ |I| |)|ɝ|ɞiII i zzA  )  ɟAI)i9%Pݻ1%t=))=-SC)i1iIIIIiYI];)Y)aaaiaa)iIm<)ہI=V>i=]>mc  Y&Ayt">t">E&=&=&;&p;*xA*wA^Fix Requested)~d ~d}-Gm:m\=9mm:v~jt?mAiɀii i)iImAImԼimt">E}%GɈ53C11i11i99)9 9I9 A)AɉAAAAɊAiMDIIIIIiI MPI)IQ QQQɋQYYI]@)YiY921v==TCi i!!!i)I-;)))111i19)9IE<)Qۃc Y&Ayt>p>tBBE)~ ~}ejGaa;<9{GzQ?MbPAɀ逩 A)AIAIףiu<9eW<1eC=ii=mUCiiyiiI;))i)I<) )))cic Y&Ayt"f>t" 4E.A.A.A.A44}-{G9 z1T==UCiii I;))i)I%<)1c Y&Ayt2ߕ>t2O8E)~P ~RUC}G9E<1EU=AA=MUCIiQiiiiiiqIu;)y)yyyiy)I<)ۙc e5Y&Ayt2>t2K*n code=005F name="lineCaptureHoming" *e code=0644 elementURI="lineCaptureHoming.MissionTimeout" type=00 *a code=07E6 owner=005F element=0644 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=07E7 owner=005F element=0644 universal=3FFF unitName="hour" type=1F size=0008 fl=05  @#% nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h*e code=0645 elementURI="lineCaptureHoming.NeedCommsTime" type=00 *a code=07E8 owner=005F element=0645 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=07E9 owner=005F element=0645 universal=3FFF unitName="minute" type=1F size=0008 fl=05 )5 @#= tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min*e code=0646 elementURI="lineCaptureHoming.Repeat" type=00 *a code=07EA owner=005F element=0646 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=07EB owner=005F element=0646 universal=3FFF unitName="count" type=1F size=0008 fl=05 iM ?#U fDefineArg lineCaptureHoming.Repeat = 1.000000 count*e code=0647 elementURI="lineCaptureHoming.DockLat" type=00 *a code=07EC owner=005F element=0647 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=07ED owner=005F element=0647 universal=3FFF unitName="degree" type=1F size=0008 fl=05 e #m `DefineArg lineCaptureHoming.DockLat = nan arcdeg*e code=0648 elementURI="lineCaptureHoming.DockLon" type=00 *a code=07EE owner=005F element=0648 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=07EF owner=005F element=0648 universal=3FFF unitName="degree" type=1F size=0008 fl=05 } # `DefineArg lineCaptureHoming.DockLon = nan arcdeg*e code=0649 elementURI="lineCaptureHoming.StartLat" type=00 *a code=07F0 owner=005F element=0649 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=07F1 owner=005F element=0649 universal=3FFF unitName="degree" type=1F size=0008 fl=05 ) # bDefineArg lineCaptureHoming.StartLat = nan arcdeg*e code=064A elementURI="lineCaptureHoming.StartLon" type=00 *a code=07F2 owner=005F element=064A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=07F3 owner=005F element=064A universal=3FFF unitName="degree" type=1F size=0008 fl=05 i # bDefineArg lineCaptureHoming.StartLon = nan arcdeg*e code=064B elementURI="lineCaptureHoming.TerminalRange" type=00 *a code=07F4 owner=005F element=064B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=07F5 owner=005F element=064B universal=3FFF unitName="meter" type=1F size=0008 fl=05 P@# pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m*e code=064C elementURI="lineCaptureHoming.SCPIRange" type=00 *a code=07F6 owner=005F element=064C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=07F7 owner=005F element=064C universal=3FFF unitName="meter" type=1F size=0008 fl=05 9@# fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m*e code=064D elementURI="lineCaptureHoming.DockRange" type=00 *a code=07F8 owner=005F element=064D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=07F9 owner=005F element=064D universal=3FFF unitName="meter" type=1F size=0008 fl=05 ) @# dDefineArg lineCaptureHoming.DockRange = 4.000000 m*e code=064E elementURI="lineCaptureHoming.UpdateNav" type=00 *a code=07FA owner=005F element=064E universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=07FB owner=005F element=064E universal=3FFF unitName="bool" type=1F size=0008 fl=05 i # jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool*e code=064F elementURI="lineCaptureHoming.TerminalGuidanceTimeout" type=00 *a code=07FC owner=005F element=064F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=07FD owner=005F element=064F universal=3FFF unitName="minute" type=1F size=0008 fl=05  @# DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min*e code=0650 elementURI="lineCaptureHoming.DockTimeout" type=00 *a code=07FE owner=005F element=0650 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=07FF owner=005F element=0650 universal=3FFF unitName="second" type=1F size=0008 fl=05 - N@#5 jDefineArg lineCaptureHoming.DockTimeout = 60.000000 s*e code=0651 elementURI="lineCaptureHoming.RolloutTimeout" type=00 *a code=0800 owner=005F element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0801 owner=005F element=0651 universal=3FFF unitName="minute" type=1F size=0008 fl=05  @M @#U tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minc DOY&Ayt">t"J>E&=&=&p;&p<(*xA)z4Iz4iz4z4z4)~@ ~@*e code=0652 elementURI="lineCaptureHoming.HoldAltitude" type=00 *a code=0802 owner=005F element=0652 universal=3FFF unitName="meter" type=1F size=0008 fl=04 }rjG9~$<1O==VCiI5;*a code=0803 owner=005F element=0652 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @=@#EjDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m*e code=0653 elementURI="lineCaptureHoming.InvalidAltitudeTimeout" type=00 *a code=0804 owner=005F element=0653 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0805 owner=005F element=0653 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *@UiY)YYYiYa)iIm<)ہ#xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min*e code=0654 elementURI="lineCaptureHoming.InitDepth" type=00 *a code=0806 owner=005F element=0654 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0807 owner=005F element=0654 universal=3FFF unitName="meter" type=1F size=0008 fl=05 :@>@#fDefineArg lineCaptureHoming.InitDepth = 30.000000 m*e code=0655 elementURI="lineCaptureHoming.InitDepthTimeout" type=00 *a code=0808 owner=005F element=0655 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0809 owner=005F element=0655 universal=3FFF unitName="minute" type=1F size=0008 fl=05 J@ @#xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min*e code=0656 elementURI="lineCaptureHoming.TransponderCode" type=00 *a code=080A owner=005F element=0656 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=080B owner=005F element=0656 universal=3FFF unitName="count" type=1F size=0008 fl=05 Z@@#xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count*e code=0657 elementURI="lineCaptureHoming.NumberOfPings" type=00 *a code=080C owner=005F element=0657 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=080D owner=005F element=0657 universal=3FFF unitName="count" type=1F size=0008 fl=05 j@?#tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count*a code=080E owner=005F element=02D7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0658 elementURI="lineCaptureHoming.EnabledDUSBL" type=00 *a code=080F owner=005F element=0658 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0810 owner=005F element=0658 universal=3FFF unitName="bool" type=1F size=0008 fl=05 @?#pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool*e code=0659 elementURI="lineCaptureHoming.Speed" type=00 *a code=0811 owner=005F element=0659 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0812 owner=005F element=0659 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 @-?#U`DefineArg lineCaptureHoming.Speed = 1.000000 m/s*e code=065A elementURI="lineCaptureHoming.DepthDeadband" type=00 *a code=0813 owner=005F element=065A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0814 owner=005F element=065A universal=3FFF unitName="meter" type=1F size=0008 fl=05 @e#mlDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m*e code=065B elementURI="lineCaptureHoming.MinAltitude" type=00 *a code=0815 owner=005F element=065B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0816 owner=005F element=065B universal=3FFF unitName="meter" type=1F size=0008 fl=05 @@#hDefineArg lineCaptureHoming.MinAltitude = 5.000000 m*e code=065C elementURI="lineCaptureHoming.MaxDepth" type=00 *a code=0817 owner=005F element=065C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0818 owner=005F element=065C universal=3FFF unitName="meter" type=1F size=0008 fl=05 @i@#fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m*e code=065D elementURI="lineCaptureHoming.MinOffshore" type=00 *a code=0819 owner=005F element=065D universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=081A owner=005F element=065D universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 @@@#-jDefineArg lineCaptureHoming.MinOffshore = 2.000000 km*e code=065E elementURI="lineCaptureHoming.HomingActive" type=00 *a code=081B owner=005F element=065E universal=3FFF unitName="bool" type=02 size=0001 fl=05 @5*a code=081C owner=005F element=065E universal=3FFF unitName="bool" type=02 size=0001 fl=04 #=hDefineOutput lineCaptureHoming.HomingActive = 1 bool*e code=065F elementURI="lineCaptureHoming.SCPIRequested" type=00 *a code=081D owner=005F element=065F universal=3FFF unitName="bool" type=02 size=0001 fl=05 @M*a code=081E owner=005F element=065F universal=3FFF unitName="bool" type=02 size=0001 fl=04 #UjDefineOutput lineCaptureHoming.SCPIRequested = 0 bool*e code=0660 elementURI="lineCaptureHoming.DoingComms" type=00 *a code=081F owner=005F element=0660 universal=3FFF unitName="bool" type=02 size=0001 fl=05 @e*a code=0820 owner=005F element=0660 universal=3FFF unitName="bool" type=02 size=0001 fl=04 #dDefineOutput lineCaptureHoming.DoingComms = 0 bool*e code=0661 elementURI="lineCaptureHoming.StartFromSurface" type=00 *a code=0821 owner=005F element=0661 universal=3FFF unitName="bool" type=02 size=0001 fl=05  Ae*a code=0822 owner=005F element=0661 universal=3FFF unitName="bool" type=02 size=0001 fl=04 #mpDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#ulInserting Stack: Missions/Insert/StandardEnvelopes.xml*n code=0060 name="lineCaptureHoming:StandardEnvelopes" *e code=0662 elementURI="lineCaptureHoming:StandardEnvelopes.MinAltitude" type=00 *a code=0823 owner=0060 element=0662 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0824 owner=0060 element=0662 universal=3FFF unitName="meter" type=1F size=0008 fl=05 "Au@#uDefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m*e code=0663 elementURI="lineCaptureHoming:StandardEnvelopes.MaxDepth" type=00 *a code=0825 owner=0060 element=0663 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0826 owner=0060 element=0663 universal=3FFF unitName="meter" type=1F size=0008 fl=05 2Ai@#DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m*e code=0664 elementURI="lineCaptureHoming:StandardEnvelopes.MinOffshore" type=00 *a code=0827 owner=0060 element=0664 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0828 owner=0060 element=0664 universal=3FFF unitName="meter" type=1F size=0008 fl=05 BA@@#DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=0061 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" 06Construct AltitudeEnvelope.*a code=0829 owner=0061 element=0147 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=082A owner=0061 element=0141 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=082B owner=0061 element=013D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=082C owner=0061 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=082D owner=0061 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=082E owner=0061 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082F owner=0061 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0830 owner=0061 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0831 owner=0061 element=05DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0832 owner=0061 element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0833 owner=0061 element=05F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0834 owner=0061 element=05D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0062 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" 10Construct DepthEnvelope.*a code=0835 owner=0062 element=0147 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0836 owner=0062 element=0141 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0837 owner=0062 element=013D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0838 owner=0062 element=0121 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0839 owner=0062 element=013B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=083A owner=0062 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=083B owner=0062 element=05DF universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=083C owner=0062 element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=083D owner=0062 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=083E owner=0062 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083F owner=0062 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0840 owner=0062 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0841 owner=0062 element=05DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0842 owner=0062 element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0843 owner=0062 element=05F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0844 owner=0062 element=05D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0063 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" 16Construct OffshoreEnvelope.*a code=0845 owner=0063 element=05E0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0846 owner=0063 element=0602 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0847 owner=0063 element=0603 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0848 owner=0063 element=0606 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0849 owner=0063 element=0604 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=084A owner=0063 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=084B owner=0063 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084C owner=0063 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084D owner=0063 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084E owner=0063 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084F owner=0063 element=05E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0850 owner=0063 element=0604 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0851 owner=0063 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0064 name="lineCaptureHoming:B" *a code=0852 owner=0064 element=0662 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0065 name="lineCaptureHoming:C" *a code=0853 owner=0065 element=0663 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0066 name="lineCaptureHoming:D" *a code=0854 owner=0066 element=0664 universal=3FFF unitName="meter" type=1F size=0008 fl=05 #= \Inserting Stack: Missions/Insert/NeedComms.xmlc 7iY&Ayt>t:E}Z{Gzzu<9z;zt"@E*a code=08B1 owner=009E element=066E universal=0018 unitName="degree" type=37 size=0006 fl=05 '*5*e code=066F elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.longitude_fix" type=00 *a code=08B2 owner=009E element=066F universal=001B unitName="degree" type=37 size=0006 fl=05 'J5*e code=0670 elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.time_fix" type=00 *a code=08B3 owner=009E element=0670 universal=0063 unitName="second" type=1F size=0008 fl=05 ^Fix Requested)~d ~f`C})5yA19]A<1]L=aa=eWCaiiI;i)i*n code=009F name="lineCaptureHoming:Lap:Dock:B.Wait" OConstruct Wait.*n code=00A0 name="lineCaptureHoming:Lap:Dock:C" )I<*a code=08B4 owner=00A0 element=065F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A1 name="lineCaptureHoming:Lap:Dock:D" *a code=08B5 owner=00A1 element=065E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A2 name="lineCaptureHoming:Lap:Rollout" *n code=00A3 name="lineCaptureHoming:Lap:Rollout:NavToStart" )A*n code=00A4 name="lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint" R]&Construct Waypoint.*a code=08B6 owner=00A4 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B7 owner=00A4 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B8 owner=00A4 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B9 owner=00A4 element=0606 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08BA owner=00A4 element=05E0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08BB owner=00A4 element=0602 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08BC owner=00A4 element=0603 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00A5 name="lineCaptureHoming:Lap:Rollout:MaintainHeading" *n code=00A6 name="lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait" S-Construct Wait.*n code=00A7 name="lineCaptureHoming:PhoneHome" #cI Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =UhRunning ./Missions/Engineering/lineCaptureHoming.xml 1)1Jc ҜY&AytF>tJ?ELNALNARC=RC=}mG9}I1H=ƁƉ=WCƉi1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckIn1#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq0JInitialize AltitudeEnvelopeComponent. 1DInitialize DepthEnvelopeComponent.1JInitialize OffshoreEnvelopeComponent.1 <Initialize.q<xInitialize ReadDataComponent to sense acoustic_contact_range*a code=08BE owner=007C element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 >Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame*a code=08BF owner=007B element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 =tInitialize ReadDataComponent to sense platform_orientation*a code=08C0 owner=007A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 =xInitialize ReadDataComponent to sense height_above_sea_floorq D91C;9hAggregate::initialize lineCaptureHoming:SurfaceComms1C1q:lAggregate::initialize lineCaptureHoming:SurfaceComms:B3bAggregate::initialize lineCaptureHoming:NeedCommsq4@Initialize GoToSurfaceComponent.4HReceived depth rate setting nan m/s.4=RReceived pitch setting 19.999999 degrees.4=HReceived speed setting 1.000000 m/s.4=No surface timeout specified. Using default value of 1000.000000 seconds.4EnReceived pitch timeout configuration 60.000000 seconds.1EZCAbCAjCArCM4Mrlast time_fix was: nan second since 1970/01/01T00:00:00Z 1MBQ1uqu1uu1uFLocation Measurement is not Active.}q}iI;))i)I<) c tY&Ayt"@>t"Q6E)~d ~fUC}5ÃG=9D;S㥛V-?~jth?pAɀ逡 A)II/ݼi<D;9%1D==XCi D)C-;ZC)bC)jC)rC-5BUi@qUU1UFLocation Measurement is not Active.iaIm;)i)iiiii)I<)۩c ЏY&Ayt">t"J>E}\^=\9%=1%W=!)=-XC)i1 DICM;*a code=08C1 owner=006A element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 5U\Initialize ReadDataComponent to sense time_fixZCQbCQjCQrC]BY]q]1]FLocation Measurement is not Active.iiIm;)q)qqqiqy)yI<)ۑI=R>i=a>hc ^dY&Ayt">t":E&=*=**=*wA*wA)~4 ~4}bG : \=9 : :v~jt?MbP? GA ɀ   ) I IAI Լi < :9%_n1%J=))=-YC)i1 DICM;CU @qUUZCQbCQjCQrC]1FLocation Measurement is not Active.iI;))i)I<)d @Y&Ayt">t"@E)z6Iz6iz6z6z:}rjG9<1%J=))=-YC)i9 DYC];C]eq#eFenAggregate::initialize lineCaptureHoming:StartingMissionZCabCajCarCm1mFLocation Measurement is not Active.iI;))i)I<)9-d iY&Ayt"ǐ>t" 2E)~8 ~8}f0Ghh9i1J=!!=%YC!i) DACM;ZCIbCIjCIrCM1UFLocation Measurement is not Active.iaIe;)a)aaaiii)iIu<)ۉ 5@A)9HW d 7Y&Ayt&>t&0E*e code=0671 elementURI="DUSBL_Hydroid.component_voltage" type=00 *a code=08C2 owner=0021 element=0671 universal=3FFF unitName="volt" type=07 size=0002 fl=05 F:@A*e code=0672 elementURI="DUSBL_Hydroid.component_avgVoltage" type=00 *a code=08C3 owner=0021 element=0672 universal=3FFF unitName="volt" type=07 size=0002 fl=05 FN@ARARAVAVAdfR==Fix Requested}G 0=9QQ?Aɀ )AIAIi<9ت1 <=  = ZC i D1C5;ZC9bC9jC9rC=1=FLocation Measurement is not Active.iIIM;)I)QQQiQY)YIe<)?d =QY&Ayt2{>t66E)~t ~v`C}M$G9ƝO<1Q=ơơ=ZCơi DC;ZCbCjCrC1FLocation Measurement is not Active.iI;))i)I<)kd WkY&Ayt"]>t"CE}%0G))m:mt=9mm:v~jt?MbPmGAiɀii i)iImAImԼimi5e>Q!d ƈY&Ayt6>t:m?E*e code=0673 elementURI="DUSBL_Hydroid.component_current" type=00 *a code=08C4 owner=0021 element=0673 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 "FRa=*e code=0674 elementURI="DUSBL_Hydroid.component_avgCurrent" type=00 *a code=08C5 owner=0021 element=0674 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *Ffa=f=j=jxAjxA)~p ~vUC}EjG9]Ô1]M=aa=e[Caii DC;ZCbCjCrC1FLocation Measurement is not Active.iI;))i)I<){'d cY&Ayt2U>t28E}~0G9=ռ1=L=AA=E\CAiI DaCm;ZCibCijCirCm1uFLocation Measurement is not Active.iI;))i)I<)۩F-d =DY&Ayt"~>t"M:E)~, ~,}fՃGdh=9y&1:v?pAɀ )xAII`i<9u?;1uG=ƙƙ=\Cƙi DC;ZCbCjCrC1FLocation Measurement is not Active.iI;))!!!i!!))I-<)A =?A)9,4d HӐY&Ayt22>t2>EF4F46A6A8:C=)zFIzFizDzDzD} XG9=R<1=N=AA=E\CAiI DaCm;ZCibCijCirCm1uFLocation Measurement is not Active.iI;))!!!i!)))I-<)ۡ:d /Y&Ayt">t"6E)~0 ~0}f{G D; =9  y&1~jt?MbP GA ɀ   ) I AI i < 9-15K=11=5]CYia DyC};ZCbCjCrC1FLocation Measurement is not Active.iI;))i)I<)= got command stop=(Scheduling is pausedN^Stop Mission called by CommandLine::commandStop٠Ad cY&Ayt"ɓ>t"5E^Fix Requested}50G=<99]1]G=aa=e]Caii DC;ZCbCjCrC1FLocation Measurement is not Active.#8MissionManager is completed.#PUninitializing Mission lineCaptureHoming/RAggregate::uninitialize lineCaptureHoming1 0vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq0NUninitialize AltitudeEnvelopeComponent. 1Uninitialize.1NUninitialize OffshoreEnvelopeComponent.3fAggregate::uninitialize lineCaptureHoming:NeedCommsq4DUninitialize GoToSurfaceComponent.9lAggregate::uninitialize lineCaptureHoming:SurfaceCommsq:pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B1 <Uninitialize.q<@Uninitialize Buoyancy Component.1q#FrAggregate::uninitialize lineCaptureHoming:StartingMission'''%a% a% a%a -a -! 5a]!!!-5}5y5u5q5m5i5e5a5]5Y5U5Q5M5I=E=A===9=5=1=-=)=%=!=====iI;))i)I<)I9iEp>Gd ݱ Y&Ayt">t">E$$$&wA)~d ~d}5G9]=1]J=aa=e^Caii#.Started mission Default1 (:Aggregate::initialize Default )@Initialize GoToSurfaceComponent. )No depth rate setting specified. Using default value of nan m/s. )~No pitch setting specified. Using default value of nan degrees. )No speed setting specified. Using default value of 1.000000 m/s. )No surface timeout specified. Using default value of 1000.000000 seconds.)nReceived pitch timeout configuration 60.000000 seconds.q(4Initialize Wait Component.iiI;))i)I<)QuMd *:Y&Ayt"ϙ>t"&=E}5jG'=9X9vS㥛?MbPɀ )IIi/<9E,M1E==II=M^CqiiiI;))i)I<)ZTd bgTY&AytB>tBm?E)~T ~T}G9= <1=]=AA=E^CAiIiiI;))i)I<) 1)1>[d W=nY&Ayt"0>t"(;E((8:R=}G];]`e<9]]I +Mb?]AYɀYY ]A)YIYI]94i]<]9u*1uG==_CiiiI5;)9)999i9A)AIM<)YRad Y&Ayt"C>t":E)z4Iz6iz6z4z6.)~@ ~@}vjG9=_1=N=AA=E_CAiIiaaaaiqIu;)q)qqyiyy)I<)ۙshd {Y&Ayt">t"8E}v0Gv4=x9ƅ_1F=ƁƉ=`CƉii    iI;))!!i!!))I-<)AI5R>i=Y>CBnd OλY&Ayt">t";E$$*wA(^Fix Requested)~j= ~h}UՃGD;94<9{Gz~jtx?MbPɀ逑 )II#i;9Ez`<1M>=II=M`CQiYiiiqqiyI;))i)I<)ۡ!+ud ՑY&Ayt2>t2v5E}mG9Ɲ˞1=ơơ=`CơiiiI;))i)I<)BU{d ˆY&Ayt:ϙ>t:&=E)~v= ~t}MGMzAMxA;#<9t"+7E&A$:4=8}vjG9ļ1N==aCiiiI;))119i99)AIE<)yhd E#Y&Ayt~>t"M:E)~, ~,}bG9ƽK<1L==bCiiiiI;) )   i)I<)۩ud z=Y&Ayt"n>t"$?E)z>Izi5i>yd VY&Ayt"ќ>t"@E&=$$()~0 ~0}G9%6;1%N=!)=-bC)i1iiiiiiI;))i)I<)d [pY&Ayt">t">E^Fix Requested}Y<9I +~jt?Mb`Aɀ這 )AIIiD<9P-1?==cCii!!!!i)IU;)Q)QQYiYY)aIe<)yd Y&Ayt"k>t"q;E)~d ~h}=ՃG=xAEyA9]+1]S=aa=ecCaiiiiI;))i)I<)) 1)9Od 4Y&Ayt">t"Kt":E)~, ~0}fՃG  =9  S㥛S㥛?Mb` GA ɀ   A) I I /ݼi /< 9-1-O=)1=5dC1iiiI;))i)I<) ǵd >ؒY&Ayt"ɓ>t"5E}nÃGn%=l9~c1~M==dCi i!!!!i1I5;)1)999i99)AIE<)yI=>i=l>d Y&Ayt"̖>t"r9E*=*=88)~@ ~D}rG)- 0=9--QQ?-A)ɀ)) )))I-AI-i-<-9EWi<1EF=II=MeCIiQiiiiiiyI};)y)yi)I<)ۡWd  Y&Ayt(t()zBIzBizB%zBzB zBzB}zjGAA=EeCAiIiaaaaiiIu;)q)qqqiqy)yI<)ۑd %Y&Ayt"h>t"7E)~, ~,}%0G-yA-xA9ƍxY1<ƙơ=fCơiiiI;))i)I<) 1)1O,d ?Y&Ayt"̖>t"r9E&A$((^Fix Requested}]oGt=9::v?MbP?pAɀ逡 )EAIIԼi<:9ƽ;1H==fCiiiI;))i)I<)}d cYY&Ayt" >t"#AE)~d ~d}-G9}O<1N=ƁƁ=fCƉiiiI;))i)I<)"?d ]sY&Ayt"@>t"Q6E}-G-=-=qu\=9u;u~jt?Mb`?uGAqɀqq q)qIuIAIu̼iui5i>&d 37Y&Ayt">t"6E$&=(*xA)~0 ~0}bՃG9n%;1rV=pp=vgCtixi   iI;))i!)!I-<)YTd y Y&Ayt22>t2>E}5GuD;u=9uuy&1~jt?uAqɀqq q)qIuAIu`iqu9<1;==hCi iaaiiiqIu;)y)yyyiy)I<)) 9d AY&Ayt"ќ>t"@E)zJIzJizJzHzJzJ)~P ~P}ՃG zA yA9<1X=!!=%hC!i)iAAAAiQIU;)Q)YYYiYY)aIe<)ۙ 1)1dd ړY&Ayt"E>t"=E&A$*a=(}^ÃG9nM1nN=pp=rhCpitiiI;))999i99)AIE<)Yfd Y&Ayt"h>t"7E^Fix Requested)~d ~d}-XGuu=9u;uy&1y&1?Mb`?upAqɀqq q)qIuAIqiu`t"Ki5]> e  c(Y&Ayt2 >t2#AE^=\`bwA)~I ~I}Gt<9~jtx~jtx?Aɀ A)IIĻi;9 F<15@=11==jC9iAiqyyyiI;))i)I<)&e 6BY&Ayt"0>t"(;E}^BG9nNռ1r`=pp=rjCtixi   iI;))i!)!I-<)Yݰe E\Y&Ayt">t"6E)~0 ~0}^jG`bxA9~71H==jCii!!!)i1I5;)1)999i9A)AIM<)Y 1)9e OuY&Ayt">t"R4E&A$*4=(}^G;<9t2t"8E}rGr4=r4=%D;%/<9%%/$ rh?MbP%A!ɀ!! !)%AI%AI%i%C<%9EZ1EH=II=MlCIiQiiiiiiyI};)y)yi)I<)ۡI5>i5e>u0e {ÔY&Ayt*ߕ>t*O8E.=,2xA0^Fix Requested)~f= ~d}-ՃG9}%1}G=ƁƁ=lCƁ]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software FaultiUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. Software Fault]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software FaultiiI;))i)I<)-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-! xSoftware Fault in component: DeadReckonWithRespectToSeafloorE6e !YݔY&Ayt">t"AE}%G9=17==mCiiI;))i)I<)!-Clearing failed state for component DeadReckonUsingMultipleVelocitySources -!5Clearing failed state for component DeadReckonUsingSpeedCalculator 5!5Clearing failed state for component DeadReckonWithRespectToSeafloor1 =4)=e v3Y&Ayt2(>t2 0E)~v= ~t}]ՃGYeyAף;<9t"8E$$*=*p=}^ÃG9<1:=!!=%mC!i1iAAAAiQIU;)Q)YYYiYY)aIe<)y;Je *Y&Ayt2@>t6Q6E)~@ ~@}rXG%D;%9<9!% rhy&1?!!ɀ!! !)!I!I%Ci%`et"6E)z4Iz4iz4z4z4z4}nGpp9}\:1}]=ƁƁ=nCƁiiiI;))i)I<)I5V>i9LWe ^Y&Ayt2>t2?E6=48:xA)~B= ~@}rG9ƝI=1H=ơơ=oCơiiiI;))i)I<)'w]e hzxY&Ayt"k>t"q;E^Fix Requested}%jGmm+=9imZd;OZd;O?iiɀii mA)mAIiImjimjt"H@E)~d ~d}-0G5wA19}V<1}K=yƁ=oCƁiiiI;))i)I<) 1)1܈je s/Y&Ayt">t"m?E$$*R=*=}-ՃGuuף;9u:u~jthMbp?MbP?uAqɀqq uIA)qIuAIuDiu;u:9ƍ[1I=ƑƑ=pCƑiiiI;))i)I<)pqe  ƕY&Ayt" >t"#AE)~2= ~0}nG9 s;1 S==pCi!i1111iAIE;)A)AIIiII)QIU<)iwe ߕY&Ayt0t0}nՃGpr%=xx=zqCxiiiqIu;)q)qqqiqy)I<)ۑI1i=]>}e Y&Ayt2>t2>E44:wA:wA)~@ ~@}rXG%%D<9%D;%{GztI +?~jth?%zA!ɀ!! !)!I%IAI%ףi%94<%D;9E1Et2t"?E)~0 ~0}bGbyAbxAT<9;MbpQ?Mbp?(Aɀ )AIIiu<;9%.^<1%L=!!=-rC)i1iIIIIiQI];)Y)YYYiYa)aIm<)y 9)9e QGY&Ayt">t"jCE$$*C=*p=^Fix Requested}-ՃG9]W<1]F=aa=erCaiiiiI;))i)I<)۹;e o.aY&Ayt"̖>t"r9E)~d ~d}-G9]| 1]J=aa=esCaiiiiI;))i)I<)۹[e  {Y&Ayt:>t:J>E}EGIItt<9ף;~jtx{Gz?{Gzt?Aɀ选 )xAIIĻiף<ף;9ƥ[<1F=ƩƩ=sCƩiiiI;))i)I<)I5l>i=V>e .㔖Y&Ayt">t">E&=$(()~2= ~0}x9=1=Q=AA=EsCAiIiaaaiiqIu;)q)qyyiyy)I<)ۙ%e Y&Ayt2>t2v5E}njG=#=<9=;=~jtx{Gz?Mbp?99ɀ99 9)9I9I9i9=;9U}1UI=YY=]tCaiiiyiI;))i)I<)۱> e ȖY&Ayt"+>t"3E)z8Iz:iz8z8z8z:)~B= ~@}rGpvyA95⻑1P== tC ii))))i1I5;)9)999i9A)AIM<)Y 1)9 7e tY&Ayt"~>t"M:E$$*a=*R=}bG9~<1J==uC ii!)))i1I5;)1)999i9A)AIM<)Yae RY&Ayt2ϙ>t2&=EnFix Requested)~t ~t}EՃG#=9D;I + rh?~jth?GAɀ送 A)II9iC =D;9ƥr.<1@=ơơ=uCƩiiiI;))i)I<)Je w/Y&Ayt">t"m?E}%ÃG-=)9]<1]O=aa=euCaiiiiI;))i)I<)۹I5V>i5a>8se l0Y&Ayt"h>t"7E&=&=(*xA)~d ~d}-Gmmt=9mmZd;Oy&1?iiɀii i)mAImAImjim`t"0E}ZՃG9~9漑1~T==vCi i!!!)i1I5;)1)199i99)AIE<)Ye cY&Ayt2>t26E)~J= ~H}~G xA 9%<1%H=!!=-wC)i1iIIIIiQIU;)Y)YYYiYa)aIm<)ۙ 5@A)1ke $}Y&Ayt2~>t2M:E<t:t*8E^Fix Requested}-ՃG))m;m=9mmy&1Zd;O?Mb`iiɀii i)iIiIm`iim9ƍx1D=ƑƑ=xCƑii1111iAIE;)A)AAAiAI)QI}<)ۉI1i=V>-e )˗Y&Ayt2>t2;E6=4:xA:wA)~t ~t}MXG9eL<1eM=aa=mxCiiqiiI;))i)I<)e Y&Ayt"ϙ>t"&=E}}0G9m;1C==yCi i))))i9I=;)9)999i9A)AIM<)e  Y&Ayt22>t2>E)~P ~P}GzA Mף;M'=9MMMb:v?MbPIIɀII I)IIIIMiMt2Q6E88:R=8}rBGɈtv9|Avtixxixx)x xIx |)~zAɉ|||ɊiII  Ci {A P )  ɋI@)i9%l'1%v=))=-yC)i9iIIIQiYI];)a)aaaiai)iIm<)ہ f 2Y&Ayt:5>t:BE)~D ~H}rՃG-;-j<=9)-lV-?MbP))ɀ)) )))I)I-i-<)9:=1?==zCiii I;))i)I%<)1f rLY&Ayt">t"FBE)z4Iz4iz4z4z4z4} G %= 9ƽ11L==zCiiiI;))i)I<)I1i=a>!f NfY&Ayt&ɓ>t&5E2=2=:wA8)~H ~H}}Gt<H=9ˡEV-?ɀ )xAIIAI'i9ƽZ-1.=={CiiiI;))i)I <) f k(Y&Ayt>>t>?EnFix Requested}I)QIU{AU@ɛQ QɜYY]DiYYiaa)e@ aIa i)iɝiiiiɞiiqIqqIqiq qq) ɟ!%AI!)!i!9-7=1-h=11=={C9iAiQYYYiaIe;)i)iiiiiq)yI}<)ۑ}4&f Y&Ayt2>t2FBE)~t ~t}IMyAI9 &<1K=!!=%{C!i)iAAAAiIIU;)Q)QQQiQY)YIe<)y 9)9^,f L߳Y&Ayt">t":E$$(*C=}!m<i9im{GzV-?iiɀii i)iIiIm#iii91L==|Ci iiI;))i)I<)yF3f ϼ͘Y&Ayt">t">E)~0 ~0}bՃG9~3[<1~\==|Ci i!!!!i1I5;)1)119i99)AIE<)Yq9f НY&AytJU>tN8E}5G54=1}ף;}T=9y}{GzL7A`?}Ayɀyy y)}AIyIyi}+=y9ƕ1A=ƩƱ=}CƱiiiI;))i)I <)I5R>i5V>= zgot command load ./Missions/Engineering/lineCaptureHoming.xml# zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml^W@f rnY&AytLtLR=V=TT)zdIzdizdzdzdzd)~l ~l}=Gaa=e}CaiiI;i)i)I<)۩uq#}nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h)#tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 mini#fDefineArg lineCaptureHoming.Repeat = 1.000000 count#`DefineArg lineCaptureHoming.DockLat = nan arcdeg!#`DefineArg lineCaptureHoming.DockLon = nan arcdeg%)#bDefineArg lineCaptureHoming.StartLat = nan arcdeg)i#bDefineArg lineCaptureHoming.StartLon = nan arcdeg-#pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1#fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5 ) #dDefineArg lineCaptureHoming.DockRange = 4.000000 m9i#%jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=51#5DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minAEA#MjDefineArg lineCaptureHoming.DockTimeout = 60.000000 sEU @Q#]tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minIe@a#mjDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mMu*@q#}xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQ:@#fDefineArg lineCaptureHoming.InitDepth = 30.000000 mUJ@#xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYZ@#xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count]j@#tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta@#pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole@#`DefineArg lineCaptureHoming.Speed = 1.000000 m/si@#lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm@# hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq@#fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mu-@)#-jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy=@9#EhDefineOutput lineCaptureHoming.HomingActive = 1 bool}M@I#UjDefineOutput lineCaptureHoming.SCPIRequested = 0 boole@e#mdDefineOutput lineCaptureHoming.DoingComms = 0 boolu Aq#EpDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#MlInserting Stack: Missions/Insert/StandardEnvelopes.xml!= "A9 #E DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m!M 2AM i@#U DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!] BAY #e DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m0 6Construct AltitudeEnvelope. 1 0Construct DepthEnvelope.1 6Construct OffshoreEnvelope. #e \Inserting Stack: Missions/Insert/NeedComms.xmlHFf QY&Ayt">t">E}bG9n<<1nt"m?E R*&Construct Waypoint. SBConstruct Wait.^Fix Requested)~d ~d}-G5xA5xAD;/]=9ˡE Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =%fLoaded ./Missions/Engineering/lineCaptureHoming.xml)I 1)1aSf OY&Ayt"f>t" 4E$$$*a=}%oG95:A1=U=99=E~CAiIiYaaaiiIm;)i)qqqiqy)yI<)ۑCYf hY&Ayt&>t*>E)~d ~d}-Gm;mxi=9m:m/$+?MbP?iiɀii i)iIiIm,im=m:9ƅ=1E=ƉƉ=CƉiiiI;))i)I<) `f ǸY&Ayt&->t&t7E}bÃG`d9~ܼ1~T==Cii!!!)i1I5;)1)9AAiII)QIU<)iIEY>iE]>ff Y&Ayt*>t*4E<t"J>E} GU:Uq=9QU/$ˡE?MbP?QQɀQQ Q)QIQIQiU'=Q9m=1mF=qq=uCqiyiiI;))i)I<) sf RIЙY&Ayt">t">E)z8Iz:iz8z8z8z8)~@ ~@}zG~zA~yA9Md1MM=II=UCQiYiqqqqiyI;))i)I<)ۡ 9)9 zf #Y&Ayt2>t2R4E44:C=:R=}rÃG--=9)-Zd;O ףp= ?MbP?))ɀ)) )))I)I-jt"(;E^Fix Requested)~d ~d}5G9e"<1eH=ai=mCiiqiiI;))i)I5<)Af sY&Ayt2>t2>E}MjGM%=Q9Ɲ X<1G=ơơ=CơiiiI;))i)I<)I=V>i=Y>Gf F7Y&Ayt2>t2DE46=8:xA)~t ~t}M0G9; ףp= ףp= ?Mb`?ɀ逑 )IIQ8i;9ƭ<1I=ƱƱ=CƹiiiI;))i)I<) 0f QY&Ayt">t"J>E}^oG9rἑ1rX=pt=vCtixi    iI;))i!)!I-<)A#[f okY&Ayt*ϙ>t2&=E)~R= ~RPC}G yA IM+=9IMMbMb?Mb`?MGAIɀII I)MxAIIIM@iM@=I9mz1mB=qq=uCqiyiiI;))i)I<) 1)1Af EY&Ayt"H>t"kAE((8<)z\Iz\iz\z\z\z\}-0G9]J<1]K=aa=eCaiiiiI;))i)I<)۹:lf !"Y&Ayt2 >t2#AE)~B= ~FUC}rG9•1N=!!=%C!i)iAAAAiQIU;)Q)QQYiYY)aIe<)y`f ]Y&Ayt2C>t2:EnFix Requested}mՃGm4=iu=9/$/$?Mb`?Aɀ週 A)II,i,=9ؼ1?==Ciii I ;) )i)I<)1I5R>i9}f ҚY&Ayt">t"m?E$$*vA()~d ~d}-ÃG9}8<1}P=ƁƁ=CƁiii I ;) )   i )I<))tf Y&Ayt2>t26E}EGq=9/$/$?Mb`?ɀ选 )IIi91D==CiiyyyyiI;))i)I<)۱Ӑf .Y&Ayt2h>t27E)~>= ~>PC}nGpp9ƭN;1==ƱƱ=CƹiiiI;))i)I<)  1)1%f h Y&Ayt2`>t2GE44:R=8}lɈttv#ittixx)x xIx x)xɉ||||Ɋ|iIIi{A )   {A  ɋ I)i9%=1%h=!)=-C)i1iIIIIiQI];)Y)YYYiaa)aIm<)yf F:Y&Aytb>tb8E)~n= ~p}EjGy=9ktkt?Mb`?ɀ送 )II 0i 0=9i1<==%C!i)iaaaaiI;))i)I<)!f l"TY&AytBɓ>tB5E)zTIzVizTzZzZ"zZFzZ}%0G!%=9ƽ51P==CiiiI;))111i19)9IE<)QI1i5V>Ef YmY&Ayt"C>t":E&=&=(()~2= ~2UC}vG15+=915MbMb?Mb`?5GA1ɀ11 5A)1I1I5@i5@=19Ug<1UQ=QQ=]CYiiiI;))i)I<)f ؇Y&Ayt"f>t" 4E^Fix Requested}MjG9}߽1}G=ƁƁ=CƁiiiI;))i)I<)f tY&Ayt">t"t"Q6E$$*=*=}%Gim7=9im~jtMb?Mb`?iiɀii i)iIiImDiii9%'ɼ1%A=!!=-C)i1iIIIIiQI];)Y)YYYiYa)aIm<)ہ=E tgot command set lineCaptureHoming.InitDepth 0.000000 meter:@M 5f j՛Y&Ayt2>t2:E)~B= ~BUC}nG95|<15:=99==C9iIiaaaaiqIu;)q)qyyiy)I<)ۙDEf EY&Ayt2~>t2M:E}ln%=n%=!%=9%:% ףp= Zd;O?MbP?%A!ɀ!! !)%AI!I%Q8i%j<=%:)1I5{A1ɛ1 1ɜ999i99iAA)A AIA I)M|AɝMĻIIQɞQiQIQQIQiY YY)YY YaaɟaaeAIa)aia9u1ul=yy=}CyiiiI;))i)I<)I1i5Y>=,g  Y&Ayt"X>t"t2t7E}nՃG9u1}J=yy=}CƁiiiI;))i)I<)g 5t";E^Fix Requested)~d ~h}-XG-zA1qu+=9uuMbMb?qqɀqq q)qIqIu@iu@=u9ƍ݈<1I=ƑƑ=CƑiiiI;))i)I<) 5@A)16hg ͭVY&Ayt" >t"#AE$$*C=(}{G9h<1C==Ci i!!!!i)I5;)1)1QQiQY)YIe<)Yg .pY&Ayt">t"t"8E}^G^=\9nW1rX=pp=rCpixi  iI;))999i9A)AIM<)YI1i5V>R(g %?Y&Ayt">t"8E&=&=*wA()~0 ~0}foG9~Y1H== C ii))))iAIM;)I)IQQiQ)I<)۹.g Y&Ayt"f>t" 4E)z4Iz4iz4z4z4z4}nBG!%y=9!%ktkt?!!ɀ!! !)!I!I% 0i% 0=!9]`y1]D=aa=eCaiiiiI;))i)I<)?5g MלY&Ayt">t"?E)~.= ~.PC}^jGbxA`9nyH=1rS=pp=rCtixi   iI;))i!)!I-<)y =?A)9;g [Y&Ayt"ܒ>t"4E((.R=.R=^Fix Requested}-Gimm=9imˡE{Gz?mGAiɀii i)mxAIiIm'im#=i9ƍ-1@=ƑƑ=CƑiiiI;))i)I<) EBg  Y&Ayt"ϙ>t"&=E)~f= ~fUC}=G9] =1]M=aa=eCaiiiiI;))i)I<)qHg %Y&Ayt2>t26E}G%=4=;xi=9ˡE+?ɀ )IIi=9ؼ1?=!!=%C!i)iAAAAiQIU;)Q)YYYiYY)aIe<)yI5N>i5Y>Og d?Y&Ayt"̖>t"r9E$&=(()~2= ~0}d9=l<1=Z=AA=ECAiIiaaaaiqIu;)q)qyyiyy)I<)ۙVg d?YY&Ayt2>t2AE}njG9vU=1zO=xx=zC|iii!I-;))))))i)1)1I<)_/\g sY&AytR>tR:E)~\ ~\}G!!aeT=9ee~jtt"$?E&A$*a=()z4Iz8iz:@z8z8z8}nXG9ߍ<1Q=!!=%C!i)iAAAIiQIU;)Q)QYYiYY)aIe<)yaCig IڦY&AytB >tF#AE)~` ~d}M0GD;Y=9{Gzt2BEnFix Requested}MjGy}=9Ɲ;1L=ơơ=CơiiiI;))i)I%<)1I5>i9"Svg #ڝY&Ayt&2>t&>E*=*=,,6Parsing RMC sentence: $GPRMC,233132.00,A,3648.16847,N,12147.28292,W,0.641,154.10,250319,,,A*77 {6: Y|65Y&A: y|6?: |6;> |6ԑ6hfB@Ycor^hGPS fix at 20190325T233132: (36.802808, -121.788049) |6֨>)|6!,@)~5= ~5PC}0G9ƽ}1H==Ci     ;4  ? ;4  ; tI) ?  Y N)";I>g;4 5 9 = A 5;4I? 9;4i; =tI A?)NI;i>g;4! e%! i%! m%! q% e%;4I? i%;4i; m%tI q-?)NI:i>g;41]q]iYYYYiiIm;)i)iiiiiq)yI}<)ۉp}|g cY&AytBN>tB-E}eՃGף;P=9{GzL7A`?Aɀ逩 )xAIAIi+=9ua1u&=qy=}Cyi )P:)I9)I9*a code=08C6 owner=0055 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *zInitialize ReadDataComponent to sense platform_communicationsiiI;))i)I<)g  Y&Ayt">t&9E*A(*C=*C=)~R= ~RUC \)\} ÃG  xAɈii%{A)! !I! !)%zAɉ!!))Ɋ)i)I))I1i1 11)19 999ɋ99AIA)AiA9Ƶ=1=ƹƹ=Cƹi ):)I9)IQ9iiI;))iQ)YI]<)iOˌg 5Y&Ayt"ϙ>t"&=E}ZXG;/]=9/$ rh?ɀ )II,iC =9Y<1H==Ci ):)I9)I.9i    iI;))i!)!I-<)9'g OY&Ayt0t0)zDIzHizHzHzHzJ zH)~P ~P} GƉƉ=CƉi )_:)I9)IQ9iiI;))i)I<)=zgot command maintain sensor Depth_Keller.depth 0.000000 meter*n code=00A8 name="Maintain_Depth_Keller.depth" *a code=08C7 owner=00A8 element=0401 universal=3FFF unitName="meter" type=0B size=0003 fl=05 SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.ߙg bgiY&Ayt">t">E&=$*xA*xAIbY>i`}fÃG`;Y=9/$Mb?ɀ )IIi=96;1<=Ci! !)%+:)QIUV9)YI]9iiiiI;))i)I <) 5 Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,xŠg >t"CFE)~, ~,}bG>Fn9rQ1r]=tt=vCtix x)za:)|I~9)I9ii!I%;)!)!!!i!)))I5<)ag Y&Ayt">t">E}^jG>Fnpp=rCtix x)z:)|I~9)I9i iI;)!)!!!i!1)qI}<)ۉag {Y&Ayt>tF}yƁ=CƁi )+:)I9)I9ii1I=;)9)999i9A)AIM<)ۙg FОY&Ayt">t"J>E}^oG>Frpt=vCtix x)x)|I~9)I9ii!I%;)!)!!!i!)))I5<)ہ=]got command run=eRunning ,g aY&AytN>tN?E)~\ ~\}-GH=9+X9v?Aɀ週 )AIIi<>F Q=UCQiY Y)]n:)aIe9)iIm <1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckInq#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq0JInitialize AltitudeEnvelopeComponent. 1DInitialize DepthEnvelopeComponent.1JInitialize OffshoreEnvelopeComponent.1 <Initialize.q<xInitialize ReadDataComponent to sense acoustic_contact_range >Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame=%tInitialize ReadDataComponent to sense platform_orientation% =%xInitialize ReadDataComponent to sense height_above_sea_floorq% D!1-C-;B)1 q 1   qI;i9)!!i!a)iIm<)ہmg 8Y&Ayt">t"i^R>}j0Gn4=n%=>F~=Ci ):)ID9)I9 DCBi@qI;i)i)I<)a=g S^Y&Ayt"]>t"CE)~.= ~,}bG>Fnpp=vCtix x)z:)AIE 9)IIM9 DYCYBaeqeIu;iq)qyyiyy)I<uPReading outside of valid range:0.000000 }NBuoyancy engine reporting null position }}Hardware Fault } )ۙ-!THardware Fault in component: BuoyancyServohg :8Y&Ayt">t"/3E}^oG ף; P=9  {GzMb?  ɀ   ) I I #i = >F=AA=ECAiI I)M%<)I:9)I DCC @qI%;i!))))i)1)1I=<)aOg RY&Ayt"E>t"=E"F *F"p=$$)~.= ~0 \)\}bGfzAfyA)hIhhɛh hɜllnillipp)rD pIp p)v|Aɝv`廩tttɞtitItxIxix xx)x| |||ɟ|I)i>F!!=%C!i) ))-I:)9I=i9)yI}9 DCCq#FnAggregate::initialize lineCaptureHoming:StartingMissionI;i)i)I<)۹yg AkY&Ayt"2>t">E}bG ; `<9 ` ~jtMb?y&1| =A ɀ  EA ) I I ļi < `>Fơơ=Cơi )a:)IS9)I9 DC9hAggregate::initialize lineCaptureHoming:SurfaceComms1C1q:lAggregate::initialize lineCaptureHoming:SurfaceComms:BI;i)iQ)QI]<)iag >̅Y&Ayt">t"{/E)~.= ~.PC}bjG>F=AA=ECAiI I)M:)YI]D9)YI]!9 DiCqu3ubAggregate::initialize lineCaptureHoming:NeedCommsqu4u@Initialize GoToSurfaceComponent.4HReceived depth rate setting nan m/s.4RReceived pitch setting 19.999999 degrees.4HReceived speed setting 1.000000 m/s.4No surface timeout specified. Using default value of 1000.000000 seconds.4nReceived pitch timeout configuration 60.000000 seconds.1ZCbCjCrC4last time_fix was: 1553556692.000000 second since 1970/01/01T00:00:00Z 1iXz:I;))i  ) I<)! g Y&Ayt">t">EF F$&=&=}bGb=d>Fnpp=rCtix x)z:)|I~]9)I9 DC;ZCbCjCrCi)I5;)1)111i19)9IE<)Qg Y&Ayt&->t&t7E)~4 ~4}fG<9ĻZd;Oy&1?~jtxɀ )IIji`e<Ļ>F-11=5C1i ):)I9)I9 DC; 5\Initialize ReadDataComponent to sense time_fixZCbCjCrCiI;))i ) I<8Uninitialize Buoyancy Servo.Powering down) g ]ӟY&Ayt"C>t":E}jG>F~=Ci ):)ID9)!I%9 D1C5;ZC1bC1jC1rC5iiIm;)q)qqqiq)I<)0g 9Y&Ayt">t"J>E"F *F&a=&A$*R=*R=)~2= ~0}fjGfyAdQU 0=9UUQ롿:v?Mb`UAQɀQU Q)UxAIUAIU\iUF=Ci  ) a:)IQ9)1I59 DACE;ZCIbCIjCIrCMiI;))i)I<)!5bClearing failed state for component BuoyancyServo 5h  Y&Ayt">t"KFƉƉ=CƉi ):)I9)IQ9 DC;ZCbCjCrCiI;))i)I < 4Initializing EZServoServo.=6Initializing BuoyancyServo.)Ih  Y&Ayt"C>t":E.Parsing RMC sentence: $GPRMC,233141.00,A,3648.16976,N,12147.28256,W,2.780,24.14,250319,,,A*44 {,Y|.@7Y&Ay|.?|.;|.wfB@KJor^6hGPS fix at 20190325T233141: (36.802829, -121.788043) |.?)|.>)~>= ~<}rG>Fz||=~C|i  ? ;) Y  ) n:I I?i;)I:iI%?i%;!!)!I%i:i! D1C=;=q=ZC9bCAjCArCEiQIU;)Q)YYYiYa)aIe<)y Sending 213 bytes from file Logs/20190325T233344/Courier0004.lzma6h  :Y&Ayt"C>t F F$&=$}-ՃG)-4=im94=9mmFƹ=Ci ):)I9)I9 DC;*a code=08C8 owner=006D element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 6zInitialize ReadDataComponent to sense platform_communicationsZCbCjCrCiI;))i)I<)9h TY&Aytp>tBE)~"= ~&UC}RG>F^``=bCdih h)jU:)lIn:)pIr9 DxCz;ZCxbCxjCxrC~i I ;) )i)I<)1 xMoved sent file to Logs/20190325T233344/Courier0004.lzma.bak $SBD MOMSN=10244103 h nY&Ayt >t ;E}}jG`;9F=Ci )J:)IQ9)I9 DC;ZCbCjCrCi)I5;)1)111i19)AIE<)Y^!h \Y&Ayt"k>t"q;E"F"4=*F&p=&A$)z4Iz4iz8z:z:z:z8)~B= ~BPC}0G xA >F!!=%C!i) ))-:)1I5D9)9I=v9a E E7>iM7>a M YMA DQCU;ZCYbCYjCYrC]Be?BzBiI;))i)=SAI=<)y((h 5Y&Ayt">t"J>E}^G>F!!=%C!i1 1)5:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)I<)~R.h bY&Ayt">t"+7E)~.= ~.UC}b$G 0=9Fơơ=CƩi );)I9)Iv9y>iy>Y DC;ZCbCjCrCB%?BazBaiI;))i)It"9EF$F$,.=}z0G~=%=>F))=-C)i9 9)=::)IIM!:)YI]g:e>im>Yi D1C=;ZC=bCAjCArCEBM?BzB iAIE;)i)iiiii)qI} >tBo=E)~` ~d}-Gmt<m,=9imFƩƩ=CƱiI I)M7:)qIu9)yI}9iY DC;ZCbCjCrCB?BzBiI;))i)!I-t":E}`>Fƥ?ƥ?=Cƥ>i ):)I9)Iʽ9 i Y  DC;ZCbCjCrCB?BazBaiI;))i)It" 4E$$)~.= ~.PC}boGbyAbxAɈddftihhihh)h hIh l)lɉlllrّCɊpipIppItiv{A vqt)tt z{Axxɋxxz{AIzxi)xi|>F}yƁ=CƅXM?i )^:)Iw:)I~:?i?Y DC;ZCbCjCrCB?BzBiI;))i) It"v5E}^BGף;#=9DMb~jt?~jthpAɀ )AIIi<D>FƩƩ=Cƭ?i )9:)I:)IB:iY DC;ZCbC!jC!rC%B%?BzBiI;))i)It"9E)~6= ~4}jՃG>F]aa=eCe?ii i)mU:)yI}9)yI}i9iY DC;ZCbCjCrCB?BzBiI;))i)!I%<)))) xA) xAY) [h qY&Ayt"->t"t7EF F ((} ÃG%=U<U,=9UUQ롿~jt?MbPUAQɀQQ Q)UxAIQIU\iQU>Fmqq=uCu@iy y)}7:)Is9)I9iY DC;ZCbCjCrCB?B)zB)i9I=;)9)AAAiA)IIMt" 2E)~0 ~2UC}bXG>F  = C @i ) :)!I%9)!I%׾9)i1Y1 D9C=;ZCEbCAjCArCEBE?BzBiI;))i)It"&=E}j0G>F!=%C%3@i ):)I:))I- ;YiaYa DiC;ZCbCjCrCB?BzBiQIU;)Y)YYYiY)iIi>Y)۱nh Y&Ayt" >t"o=E"F"p=*F (()~6= ~4}fGdjyA`;=9L7A`堿Zd;O?MbPɀ )II+ij<>F-11=5C5M@i9 9)=n:)AIEs9)IIM9Uft"v5E}nՃG>F!!=%C%g@i1 1)5:)9I=9)AIE׾9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It"$?E)~, ~0}bÃG;=9DV-~jt?~jthpAɀ )AIIi<D>F!!=-C-@i1 1)5:)9I9)AIE9IiIYI DYC];ZC]bCajCarCeBe?BzBiI;))i)I< wA)Y)ph f2 Y&AytB7>tBCFEFBAAF@J=H} G=>F%))=-C-@i1 1)5:)9I=9)AIEʽ9M`]?iM`]?YQ DYC];ZC]bCYjCarCeBe?BzBiI;))i)It"M:E)~) ~)}G=9S㥛S㥛?Mb`GAɀ )IAI/ݼi/<>F =C@i! !)%n:))I-s9)1I5l99i9YA DICM;ZCMbCIjCQrCUBU?ByzByiI;))i)ItB3E}jG>F59A=ECE@iI I)M:)QIU9)YI]9aiaYa DqCu;ZCubCqjCyrC}B}?BzBiI;))i)IiR>Y)ۙ$h YY&Ayt">t"KFnpp=vCv$@ix x)z:)|I~89)I9 i Y  DC;ZCbCjCrCB%?BAzBAiQIU;)Y)YYYiY)1I=t"DE}bGEA9EE:vy&1?AAɀAA A)AIAIEԼiE`FơƩ=Cƭ@i )<)YI]9)aIaiiiYi DC;ZCbCjCrCB?B!zB!iqIu;)q)yyyiy)It"FUYY=eCe@ii i)m:)qIu9)yI}89v?iv?Y DC;ZCbCjCrCB?BzB!i1I5;)1)199i9)I< xA)Y)jeh  iY&Ayt>ϙ>t>&=EFDFHN=L}=GE4=A`e<9MbI +?pAɀ送 A)IIi94<)̐CI |A頝`ɠF ɡC顝zAiēFi C{A) FI ̑C){AɢףF颭Cɣ|AiI>FȊCi{A 飽F)餽C zAFɤCAI)Fi>FMQQ=UCUs@iY Y)]:)aIe+9)AIE9IiIYQ DYC];ZC]bCYjCarCeBe?BzBiI;))yiy)ItFUYY=]C][@ia a)e:)yI}9)I.9iY DC;ZCbCjCrCB?BzB i9I=;)9)999iA)AImtR&=E}5G>F=C@i ):)Ii9)I9iY DC;ZC5bC9jC9rC=B=?BzBiI;))i)IiU>Y))1h dY&Ayt">t"KF=C[Ai ))ID9)I9?i?Y D C;ZCbCjCrCB?B9zB9iI;))i)It"6E}bՃG>Fnpp=vCvOAix x)zn:)|I~9)I!9 i Y  DC;ZCbCjCrCB%?BzBiI;))i)!I-tNm?E)~X ~\}ÃG94=9V- rh?MbP?ɀ送 )IIiC =>F!!=%C%mAi) ))-b<)iIm9)qIu9iY DC;ZCbCjCrCB?BzBi)I-;)))111i1)9I=< mwA)iYA)Ih yBY&Ayt">t"J>EF F $&=}b]Gb%=b=>Fnpp=rCv<Aix x)z :)YI]9)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)It"KFrpt=vCvAix x)z:)|I~9)I9 f?i f?Y  DC;ZCbC!jC!rC%B%?BizBiiI;))i)It">E}^oGĻ9D;S㥛Q?~jth?GAɀ )IIAI/ݼi\=D;>F=AA=ECEZ!AiI I)M :)I9)IS9iY DC;ZCbCjCrCB?BazBaiQIU;)Q)QQQiQ)YIeYI)Q h c Y&Ayt"2>t "F *F$&A$)~0 ~0}bGfyAd>Fnpp=rCv'Aix x)zU:)|I~b9)I9 i Y DC;ZCbC!jC!rC%B%?BizBiiyI};)y)yyyi)I<=},got command show stack=} Behavior Stack: =0Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope=0~Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope=0Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope3jPriority 3: lineCaptureHoming:NeedComms:B.GoToSurface3RPriority 4: lineCaptureHoming:NeedComms:D/HPriority 5: lineCaptureHoming:I.Mass/PPriority 6: lineCaptureHoming:J.Buoyancy/>Priority 7: lineCaptureHoming:K/>Priority 8: lineCaptureHoming:L/>Priority 9: lineCaptureHoming:MY)Qh ᩣY&Ayt"S>t"-5E}b0G `  0=9 ; F}ƁƁ=Cƅh.Ai ):)I$9)I!9 i Y  DqCu;ZC}bCyjCyrC}B}?BzBiqIu;)q)qqyiy)It" 4E)~.= ~.PC}^G>Fnpp=vCv4Aix x)z:)|I~D9)I9 i Y  DC;ZCbCjCrC%B%?BazBiiI;))i)!I-< uxA)qYI)YSending 63 bytes from file Logs/20190325T233344/Courier0007.lzmah ϡݣY&Ayt>t"m?EF"?AF &=&=}\bF~=C;Ai  ) )I9)I׾9!i!Y! D1C5;ZC5bC1jC1rC=B=?BazBaiqIu;)q)yyyiy)It";E)~, ~,}^ՃG<9ף;I +Zd;O?{Gzt?Aɀ IA)II94ij<ף;>F!!=%C%AAi1 1)5n:)9I=9)AIE9IiIYI DQC];ZC]bCYjCarCeBe?BzBiI;))i)It2:E}zG>F =C% HAi) ))))9I=Q9)AIE:9M?iU?YQ DYCe;ZCebCajCarCeBm?BzBiI;))i)Ii%>Yi)y xMoved sent file to Logs/20190325T233344/Courier0007.lzma.bak $SBD MOMSN=10244106ZK i w-+Y&Ayt"C>t":E"F&R=*F&p=*A()~x ~x}]ՃG]xAY`j<9I +/$?{Gzt?ɀ這 )IIi<>F=CNAi )s:)1I59)9I=9AiAYA DQCU;ZCUbCQjCYrC]B]?ByzBiI;))i)ItNCFE}%G>F=AA=ECEUAiI I)M:)YI]9)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)I t"9E)~, ~,}jՃG>F =C]AiA A)E :)IIM9)QIU]9]?i]?YY DC;ZCbCjCrCB?BzBi I ;) ) i)I=< I)IY1)Ai UxY&Ayt"0>t"(;EF"@AF$&=&=}^Gb=b=11915~jt/$?{Gzt?11ɀ11 1)1I1I5Di11ɍMCMzAMiMFMiUCU{A)U` U\FIU ]ّC)]{AɎ]Ļ]F]]Cɏ]{AieIegFeIeCie{A ee>F)mm C m{Am\m_FɐmuCu{AIu)u^Fiu)}CI}A}ɑ}yF }>FƉƉ=Cƍ!bAi ):)I9)Iv9iY DC;ZCbCjCrCB?BzBiI;))i) I t"J>E)~.= ~.UC}^G>F]aa=eCehAii i)ma:)qIu9)yI}93?i3?Y DC;ZCbCjCrCB?BAzBAiaIe;)i)iiiii)qI}t"#AE}\9I +I +?{Gzt?ɀ )II94i9<>Fƹ=C*oAi ))I9)IG9iY  DC;ZCbCjCrCB?BzBiiIu;)q)qqqiq)yIi>Ya)q*1i OƤY&Ayt"̖>t"r9E"F"a=*F &A$)~.= ~2PC}`fyAfyA>Fnpp=rCv.uAix x)z:)|I~D9)Iv9 i Y  DC;ZCbCjCrCB%?BAzBAiQIU;)Y)YYYiY)It"Fnpp=vCv{Aix x)z:)|I~9)I9 i Y  DC;ZCbCjCrC%B%?BzBiI;))i)ItM:E)~( ~(}Z0GĻ=9I +Q?{Gzt?Aɀ A)II9i<>FUYY=eCe.Aii i)m+:)qIu9)I9iY DC;ZCbCjCrCB?B!zB!iQIU;)Q)QQYiY)aIe< q)qYi)qMDi Y&Ayt"C>t":EF"AAF $$}voGv%=v%=>F~=CPAi  ) :)I9)I9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBaiI;))i)It"5E)~0 ~0}rBG--Q8=9-D;-V- rh?~jth?-pA)ɀ)) -A))I-AI-i-C =-D;>FEII=MCMAiQ Q)U+;)ID9)I9iY DC;ZCbCjCrCB?BzBiI;))i) It"-5E}ZjG>Fnpp=rCvAix x)z:)|I~9)I9 i Y  DC;ZCbCjCrCB?BzBiI;))i)!I-Y))9\Wi raY&Ayt"ϙ>t"&=E"F"p=*F $$)~, ~0}bGbzAfxA>Fnpp=vCvAix x)z:)|I~]9)I9 i Y  DC;ZCbCjCrCB%?B9zB9iIIM;)I)QQQiQ)It"6E}^G94=9V- rh?~jth?ɀ )IIi>F]aa=eCeVAiq q)u:)yI}i9)I9iY DC;ZCbCjCrCB?BzBiI;))i)It"?E)~, ~,}ZG>F~= C yAi ):)I9)!I%ʽ9)i)Y) D1C=;ZC=bC9jCArCEBE?BizBiiyI};)y)yi)I< )Y)ۙX5ki Y&Ayt">t"AEF"@AF$&=$}\`b=D,=9;y&1Mb?Mb`?GAɀ )AII`i=;>F=AA=ECEėAiI I)M:)QIU9)YI]9aiiYi DqCu;ZC}bCyjCyrC}B}?BzBiI;))i)It2>E)~@ ~@}roG>F!!=%C-Ai1 1)5:)9I=9)AIE׾9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It"9E}fG>F]ƁƉ=CƍAi ):)I9)I[9iY DC;ZCbCjCrCB?BzBiI;) )   i )Ii%p>Y)3q~i -Y&Ayt">t"m?E"F&R=*F&a=&A$)~2= ~2UC}rGrxAryA%%=9%%S㥛y&1?%A!ɀ!! !)%EAI%AI%/ݼi%`<%)=ِCI99ɠ9 9ɡ=CAAiAAiAE{A)E III MّC)IɢIIIUCɣQiQIQQIYi]{A ]Y)Ya aaaɤaeCaIi)iii>FUYY=]C]Aii i)i)qIu9)qIu9iY DC;ZCbCjCrCB?BzBiI;))i)!I-t"4E}ZՃG>F]aa=eCeAii i)m:)qIu9)yI}v9iY DC;ZCbCjCrCB?BzBiI;))i)It"?E)~.= ~.PC}bXG:t=9:v~jt?Aɀ )xAIIԼi<>F=CAi ):)1I59)9I=9AiAYI DQC;ZCbCjCrCB?BzBiQIU;)Q)QQQiQ)YIe< q)qYI)Qki &JY&Ayt">t"Fnpp=rCvAix x)z:)|I~D9)IQ9 i Y  DC;ZCbCjCrCB%?BAzBAiI;))i)It"KF~=C SAi ):)I9)!I%9)i)Y) D1C=;ZC=bC9jCArCEBE?BzB iI%;)!)!!!i!))I5t"R4E}^ՃG%;%;9!%MbpMbP%A!ɀ!! %IA)!I%AI%i%!>Fuyy=}CƅAi ))I;)Ix9iY DC;ZCbCjCrCB?B9zB9iII;))i)IY )i Y&AytNk>tRq;E"FRa=*FPZAX)~n= ~nUC}=ÃG99>F]aa=eCeAii i)m:)qIu <)9I=9AiAYA DICM;ZCbCjCrCB?BzBiqI};)y)yyyiy)It"O8E}h;<9~jtQ?MbPɀ A)AIIiu<>F]aa=eCeAii i)ma:)yI}9)I9iY DC;ZCbCjCrCB?BzBiQIU;)Y)YYYiY)aImt )~, ~,}^G>Fnpp=rCv8Aix x)zU:)AIEx9)AIE9QiQYQ DYCe;ZCebCajCarCeBm?BzBiI;))i)I< y)yYI)Y1i  KY&Ayt"~>t"M:EF$F$.=.=}~G  4=>F=Q1=5C5Ai9 9)=:)AIEs9)IIM[9iY DC;ZCbCjCrCB?BzBiI;))i)It">E)~B= ~BPC}vjG--/<9--~jtFMQQ=UCUAiy y)}:)I9)Io9i1Y1 DACE;ZCEbCAjCArCMBM?BzBiI;))i)I5t"8E}b{G>Fnpp=vCvAix x)z:)|I~9)I9 i Y  DC;ZCbCjCrC%B%?BzBiI;))i)Ii>Y)ۙi 2Y&Ayt">t "F"p=*F $$)~, ~0}b0GdfxA  t<9 : ~jtx~jtx?MbP? 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D1C5;ZC5bC9jC9rC=B=?BazBaiqIu;)q)yyyiy)It6K=<{@}U0GUR=Yף;9D~jtx?~jth=Aɀ逑 A)IIi;D>F=C>Ci ):)I9)I9iY DC;ZC%bC!jC!rC%B-?BIzBIiYI];)Y)aaaia)iIm< y)yY9)A=Dgot command show variable speedCmd=PSpeedControl.speedCmd (meter_per_second) q r6Y&AytB>tB;E)~  ~ }eG>Fơơ=CƥCi )U:)I9)I]9iY DC;ZCbCjCrCB?BzBiI;))i)!I-t"q;E}\>F~= C Ci ):)I!9)!I%9)i)Y) D1C;ZCbCjCrCB?BzBiI;))i)It2!CE"F2a=*F6a=44)~@ ~@}pvxAt--9--~jtx?~jtx?Mbp))ɀ)) )))I)I-;i)->FEII=UCUnCiY Y)]7:)aIe9)iIm9qiqYq DC;ZCbCjCrCB?ByzByiI;))i)Iia>Yi)q³q Y&Ayt"ߕ>t"O8E}`>F~= C Ci ):)I9)!I!)i)Y) D1C=;ZC=bCAjCArCEBE?BizBiiyI};)y)i)It"/3E)~, ~,}bՃG Ļ ;9  Mb`?y&1|?Mbp  ɀ   ) I I ;i `; >F%))=-C-;Ci1 1)5M:)AIE9)AIE9QiQYQ DYCe;ZCebCajCarCeBm?BzBiI;))i)It2x3EF6@AF46=6=}rXGr4=t>F!!=%C%Ci1 1)5:)9I=89)9I=v9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)I< )Yq)yq WY&Ayt2J>t2EE)~@ ~B`C}r0G>F!!=%C% Ci1 1)5U:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It&CE}fjG ף `e<9  y&1|y&1? A ɀ   ) I I `i `e< >Fƹƹ=CƽCi ):)I9)I9iY DC;ZCbCjCrCB?BzBi)I5;)1)111i1)9IEt"!CE"F$*F&p=&A$)~0 ~2UC}rGpryA)zCIz{Azhɥz_F zɦzّC~|A~`i~yF~i~C~{A)\ @FI ّC){AɧBF  Cɨ S{Ai I F ICivzA F)C {A\jFɩ>F}ƁƁ=CƅCi ):)I׾9)I9iY DC;ZCbCjCrCB?B9zB9iIIM;)Q)QQQiQ)IY)ۑLt.BE}nG==u<99={Gz~jt?99ɀ99 9)9I9I=#i=D<9>F=CGCi  ) :)I9)I9!i!Y! D1C5;ZC5bC9jC9rC=B=?BazBaiqIu;)q)yyyiy)It">E{()~h ~h}-G>F=CCi ):)I9)I9i Y  DC;ZCbCjCrCB%?BAzBAiQI];)Y)YYYiY)aImt":EF F &=&=}))-4=>F599==C=CiI I)M:)QIUD9)YI]9aiaYa DiCm;ZCubCqjCqrCuB}?BzBiI;))i)I < wA)Y) *wq tzY&Ayt"s>t"FE{()~h ~h}1uu9u;uMb`?u=AqɀquxA uA)qIqIuiuu;ɒّC钍=|AitFȋCzA) FI ̑C)A|Aɓ`廩F铝ّCɔ{AiDIFICi{A 锭F)镭C {ADxFɕC{AI)4FiCalculating totals. Valid battery stick count: 56. 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D)C-;ZC5bC1jC1rC5B5?BYzBYiiIm;)q)qqqiq)yIt"J>E}^0GD;<9 rh:v?{GztAɀA )AIAICi>Fyy=}C}b9Ci )U:)I9)I9iY DC;ZCbCjCrCB?BzBiI;))i)It27E"F2a=*F488FbSBD MO Status=2, MOMSN=2448, MT Status=2, MTMSN=0FZFailed to initiate SBD session. Error code: 2)~L ~L}~ՃG~xA|>F  =C9Ci ):)!I%Z9))I-Q91i1Y1 DACE;ZCEbCAjCIrCMBM?BizBqiI;))i)Ii>Y)ۙlBs EY&Ayt60>t6(;E}}XG;9<9 rhQ?MbpAɀEA )xAIAIiu<>F-11==C=7:CiA A)E:)IIMs9)QIU9YiYYY DiCm;ZCmbCijCqrCuBu?BzBiI;))i)It"4E)~.= ~.PC}^0G>F~= C :Ci ):)IQ9)!I%i9)i)Y) D1C=;ZC=bC9jC9rCEBE?BizBiiyI};)y)i)It2DEF4F6@A6=6=}rGv=v%=>F!!=%C%:Ci) ))))1I59)9I=9IiIYI DQCU;ZC]bCYjCYrC]B]?BzBiI;))i)I< wA)Yq)y} t cc4Y&Ayt>tFUYY=]C]f;Cia a)e:)iIm9)qIu9iY DC;ZCbCjCrCB?BzBiI;))i)It&8E}zG>F=AA=ECE;CiI I)M+:)QIU.9)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)ItV$?E"FZp=*FXbA`)~h ~l}5ÃG=yA9}y9}}:v:v?Mbpyyɀy}EA y)}xAIyI}Ti}T<}>Fƙƙ=CƝ7i->Y)v t Y&Ayt"E>t"=E}zXG>F=AA=ECEt"+7E)~@ ~@}rG>F~=C=Ci )+:)ID9)!I%9)i)Y) D1C=;ZC=bC9jC9rC=BE?BzB i9I=;)9)999i9)AIMtBCFEFBAAF@J=H}ՃG %= 4=M`I9MMF%))=-C-r=Ci9 9)=:)AIE9)IIM9QiQYQ DYCe;ZCebCajCarCeBm?BzBiI;))i)I < xA)wAY)3t Y&Ayt>t>E)~ ~ }RXG>Fbdd=fCf=Cil l)n:)pIrv9)tIvi9xixYx D|C;ZCbCjCrCB ?BIzBIiyI;))i)It8E{&}%0GmmĻ9mף;m{Gzt?~jth{Gzt?m3AiɀimEA mxA)iIiImף;imDmף;>FƉƉ=Cƍ<>Ci )z:)Is9)IiY DC;ZCbCjCrCB?BIzBIi9I=;)9)999iA)aImt"*9E"F"=*F"p=$$)~h ~h}5jG5zA5yA>F]aa=eCe>Cii i)m:)qIu׾9)yI}9iY DC;ZCbCjCrCB?BzBiI;)!)!!!i!))I-i=>YI)QFt Y&Ayt"E>t"=E}jG>F~=C ?Ci ):)9I=9)AIEv9IiIYI DQCU;ZC}bCyjCyrC}B?BzBiI;))i)I t"?E)~, ~,}jGUUu9U;U{Gz?I +~jtx?UfAQɀQUxA Q)UAIUIAIU#FƑƑ=CƵr?C]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i )n:Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 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Using default value of nan m/s. )=~No pitch setting specified. Using default value of nan degrees. )ENo speed setting specified. Using default value of 1.000000 m/s. )ENo surface timeout specified. 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MUSoftware Fault U U U )IIM9]eUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 e-eSoftware Fault)YI]9iqqqqiI;))i)I<)ۡ-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-!xSoftware Fault in component: DeadReckonWithRespectToSeafloor{ Y&Ayt"2>t">E&=&=&;&ibV>}`b4=`>F~= D ii)I-;))))))i11)9I=<)I!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1 8{ tY&Ayt"k>t"q;E)~0 ~0}boG;ף;9{GztMb`?fAɀ A)IIףi;>F!!=%D!5lInitializing DeadReckonUsingSpeedCalculator component.9i9YAiAAIIiQIU;)Q)YYYiYa)aIm<)y!{ SY&Ayt">t"KF}ƁƁ=DƁi )N:)I:)I& :iYiiI;))i)I<) J{ *Y&Ayt"->t"t7E*A*A*A*A)~@ ~D `)h}rGvyAt-;-<9--Mb~jth?MbP-A)ɀ)-A -A)-AI-AI-i-D;->F}ƁƁ=DƁi ):)I]9)I9iYiiI;))i)I<)2| Y&Ayt>tT2E}NՃG>Fbdd=fDdil l)n:)pIp)tIvi9xixYxi|||i I ;) ) i)I%<)1^| Y&AytX>t"Fnpp=rDpix x)z:)|I~9)I9 i Y ii!I%;)!)!))i)))1I5<)I | ˻8Y&Ayt6~>t6M:E:=:=:=>}zՃGz=x5ף;5<95D5QMb?~jth5=A1ɀ15xA 1)5xAI5IAI5ui5<5D>FMQQ=UDQiY Y)]:)aIe9)iIm9qiqYyiyiI;))i)I<)۱En| yRY&Ayt"ϙ>t"&=E.bSBD MO Status=0, MOMSN=2448, MT Status=0, MTMSN=0..No messages in MT queue)~4 ~4} XG>Fuyy=DƁi ):)Ig9)IS9iYiiI;))i)I<)| uslY&Ayt" >t"#AE}Z0G~D;~/<9~ף~/$ rh?{Gzt||ɀ|| ~A)|I~AI~i~C<~ף>Fqq=uDqi )a:)I9)I9iYiiI;))i)I<)!| +MY&Ayt"5>t"BE$&A$&A^Fix Requested `)`)~h ~jeC}5G15xA>F=Di ):)I9)Iv9iYii I ;))i)I%<)1e'| &Y&Ayt2>t2FBE>Parsing RMC sentence: $GPRMC,233703.00,A,3648.15744,N,12147.28541,W,0.952,0.00,250319,,,A*79 {BY|BY&Ay|BE?|B/;<|B ~bfB@|pr^FhGPS fix at 20190325T233703: (36.802624, -121.788090) |B>)|B}ՃG>F=Di!%E?%/;<)!Y! !)%7:I!I5E?i5/;<11)1I5B:i1! eE! iE! mE! qEI=E?i=/;<99)9I=:i9Ub?iUb?YUB1]q]iYYaaiiIm;)i)qqqiqq)yI<)ۑL-| GY&Ayt">t"m?E)~T ~V`C} GUףU<9UĻUy&1/$?~jtxQQɀQQ Q)QIQIU`eiUFeii=mDqiy y)}7:)Is9)Ii9?i?YiiI;))i)I<)I V>i V>6| ZKY&Ayt"ϙ>t&&=E*=*=*p;*p<} jG%==>F=AA=EDAiI I)M:)QIU]9)I9?i?YiiI;))i)I<)5<| c+Y&Ayt" >t"#AE)~:= ~:eC}nG5195ף5 rh rh?{Gzt5A1ɀ11 1)5AI1I5Ci5C<5ף>FUYY=]Daii i)m:)yI}:)I :iYiiI;))i)I<)nC| Y&Ayt">t"F!!=%D!i1 1)5:)9I=]9)AIEv9M6?iM6?YIiQQQQiaIe;)a)aaiiii)qIu<)۩ ) I| 1(Y&Ayt.>t.*9E02A)~>= ~>`C}nGlnyA;<9Ļ~jtI +?~jtxAɀ )xAIIAIi94<Ļ>F599==D9iA A)E:)QIU׾9)Io94?i4?YiiI;))i)I<)dP| BY&Ayt">t"EE}d>Fnpp=rDtix x)x)|I~89)I9 i Y ii!I%;)!))))i)))1I5<)iV| \Y&Ayt" >t"o=E)~, ~,}X>F = D i ):)I9)!I%]9-?i-?Y1i11YYiaIe;)i)iiiiiq)qI}<)ۉI i Y>\| LpvY&Ayt">t"+7E&=&=}X^4=^%=~;~j<9~~Fơơ=DƩi ):)I9)I9!i)Y)i1111iAIE;)A)AAAiII)II<)c| 8KY&Ayt"ߕ>t"O8E)~, ~,}\>Fnpp=rDtix x)z:)|I~Q9)IG9 i Y ii!I%;)!))))i)))1I5<)i j| &Y&Ayt">t"F]aa=mDiiq q)u :)I9)I:9P?iP?YiiI;))11YiYY)aIe<)y ) p| rY&Ayt"ߕ>t"O8E&A$)~, ~0}^jGbxA`>Fnpp=vDtix x)z:)|I~]9)YI]9aiaYaiiiqqiyI};)y)i)I<)ۡw| 8Y&Ayt">t"v5E}Z{G>F~=Di ):)I:9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)i Sending 221 bytes from file Logs/20190325T233344/Courier0010.lzmaN}| [Y&Ayt">t"/3E)~, ~,}^0G~;~C<9|~QFMQQ=]DYii i)mh:)qIu9)yI}i9}?i}?YiiI;))i)I<)Iy i ?0| SY&Ayt.">t.CE:=:=>p;><}oG>F=Di! !)%:))I-9)1I5Q9=?i=?YAiAIIIiQIU;)Q)YYYiYa)aIm<)y xMoved sent file to Logs/20190325T233344/Courier0010.lzma.bak $SBD MOMSN=10244205{[| q+Y&Ayt.>t2>E)~! ~)}G`;u<9Q{Gzt?AɀxA )AIIAIiף;>F=Di ):)I9)I9 m?i m?Yii!I-;))))))i)1)9I=<)IB| IEY&Ayt^>t^;E}eG>F}ƁƁ=DƁi )a:)I9)I9iYiiI;))i)I<)! ) l| q!_Y&Ayt">t"Fnpp=vDtix x)z:)|I~!9)I9 i Y ii!I%;)!))))i)))1I5<)I| axY&Ayt" >t"o=E}ZjG~~<9~ף;~~jtI +?{Gzt?~A|ɀ|~ |)|I~AI~i~9<~ף;>F =Di! !)%:))I-9)1I599iAYAiIIIIiQIU;)Y)YYYiYa)aIm<)y<~| oؒY&Ayt">t":E)~, ~,}^G>F~=D i )U:)I9)!I%i9)i)Y)i1111iAIE;)A)AIIiII)QIU<)iI i a>離| ȱY&Ayt">t"4E&=&=&=&<}^G``ף<9D;y&1/$?~jth?ɀ )II`ei<D;>F=Di) ))-:)1I59)9I=9iYiiI;))i)I<)| ֐Y&Ayt">t">E)~, ~,}ZG>Fnpp=rDtix x)z:)|I~!9)I9 i Y iiAIE;)A)IIIiII)QIU<)ۉ | lY&Ayt">t"m?E}^ՃG>Fvxx=zDxi )z:) I 9) I Q9iYi!!!!i1I5;)1)111i19)AIE<)y ) |  FY&Ayt"->t"t7E&A&A&A&A)~0 ~0}vGzzAzyA5;5T<955~jty&1|?Mb`5=A1ɀ15xA 1)5xAI1I5Di5`;5>Fƹ=Di ):)ID9)I9iYiiI;))i) I <)ۙ| "Y&Ayt"[>t"H@E}^jG>Fnpp=rDtix x)z:)9I=9)AIE9IiIYIiQQQQiI;))i)I<)۩| -Y&Ayt">t">E)~( ~.eC}^{Gף;9:~jtxMbP?ɀ A)AIIĻi:>F=AA=EDAiI I)M:)I9)I:9iYi  iAIE;)A)AAAiAI)IIU<)aI i V>| GY&Ayt">t *=*=**p<}r0Gtv=>F~  = D i )/:)!I%:))I- :9iAYAiIIIIiYI];)a)aaaiai)qI}<)ۉ | aY&Ayt"U>t"8E)~< ~<}rՃG>F~=Di ):)ID9)!I%:9)i)Y)i1111iAIE;)A)AIIiII)QIU<)i%3| {Y&Ayt"ܒ>t"4E}Z]G~~9~;~MbP?Mb`?~A|ɀ|~A |)|I|I~:i|~;>F =DiA A)E:)IIM9)QIU9yiyYyiiI;))i)I<) ) +| wfY&Ayt"̖>t"r9E&A&A&A&A)~0 ~0}^BGbxA`>F  = D i ):)I9)!I%Q9)i)Y)i1119iAIE;)A)IIIiII)QIU<)i6F| IY&Ayt>t"KF=Di) ))-a:)1I59)9I=9AiAYAiIIIIiYI];)Y)Yaaiaa)iIm<)ہJ-| q!Y&Ayt"n>t"$?E)~, ~,}h>Fnpp=vDtix x)x)|I~9)Ii9 i Y ii!I%;)!))))i)))1I5<)II R>i ]V| +Y&Ayt"0>t"(;E&=&=&p;&p<}^ՃG^%=^%=>F!!=%D!iA A)E:)QIU1l:)aIeG9iiiYiiqqqqiI;))i)I<)ۡǀ| Y&Ayt2>t2/3E)~< ~<}nXGEEף<9AE:vQ?EAAɀAE A)EAIAIETiEuF]aa=eDaii i)mU:)qIu.9)I:9iYiiI;))i)I<)h} Y&Ayt"~>t"M:E}^G>F~=Di )n:)I9)!I%v9)i)Y)i1111iAIE;)A)AAIiII)QIU<)i ) \ }  0Y&Ayt"ã>t"eIE&A&A&A&A)~2= ~0}bG```;<9DMby&1|?~jthɀ )IIi`;D>F!!=%D)i1 1)5:)9I=׾9)I9iYiiI;))i)I<)#{} gJY&Ayt"y>t"2E}ZjG>Fnpp=rDtix x)z:)|I~9)I9 i Y ii!I%;)!))))i)))1I5<)IS} [CdY&Ayt"~>t"M:E)~.= ~,}fG>Fnpp=vDtix x)z:)|I~9)I9 i Y iiQI};)y)i)I<)QI V>i Y>} ~Y&Ayt"E>t"=E&=&=&=&<}^ÃG\`t<C<9F=%D!i) ))))1I5s9)9I=9iYiiI;))i)I<)I%} vY&Ayt" >t"#AE)~, ~.`C}X>Fnpp=rDtix x)z:)|I~ʽ9)I.9 i Y iiAIE;)A)AIIiII)QIU<)ib+} |ԱY&Ayt"2>t">E}fGD;#<9F-)1=5D1iY Y)]] :)aIe9)iImi9qiqYiiI;))i)I<) @A) U2} Y&Ayt">t"@E&A&A&A&A)~0 ~2eC}^oGbzAbxA>F!!=%D!i) ))-a:)1I59)9I=.9AiAYIiIQQQiyI;))i)I<)ۡ8} FY&Ayt >to=E}fBG>F~ =Di )v:)I9)Ib9iYii1I5;)1)999i99)AIE<)YJ?} dY&Ayt">t">E)~, ~.`C}ZjG~;~t<9|~y&1I +?Mb`~fA|ɀ|~A ~A)|I~AI~`ei~94<|>F =Di! !)%:))I-9)1I5i99i9YAiAIIIiQIU;)Q)YYYiYa)aIm<)yeSending 721 bytes from file Logs/20190325T233344/Express0011.lzmaI R>i YF} @Y&Ayt">t"AE"=&=&=&<}ZG^4=\>F~=Di  ) :)I9)Iv9)i)Y)i1111iAIE;)A)AAIiII)QI]<)i/L} 3Y&Ayt2U>t28E)~< ~<}nG!%<9%%Zd;O{Gz?%A!ɀ!% !)!I!I%ji%ף<%>F59A=EDAiI I)M:)QIU9)YI]9aiaYiiiiqqiyI};))i)I<)ۡMxMoved sent file to Logs/20190325T233344/Express0011.lzma.bakM$SBD MOMSN=10244222S} LY&Ayt2k>t2q;E}jG>F~ = D i )a:)I9)!I%v9)i)Y)i1119iAIE;)A)IIIiII)QIU<)i ?A) 2BY} RfY&Ayt2n>t2$?E>A>ABABA)~T ~T}1=xA9}:}9<9y}Mby&1?yyɀyy }A)yI}AI}i}`eF=Di  ) :)I]9)I9!i!Y!i)))1i9IE;)A)AAAiAI)IIU<)aYs )`} OY&Ayt>>tB9E}|>F!!=%D!i) ))-U:)9I=9)AIEv9IiIYIqUqU,U4Initialize Wait Component.iQQyyiI;))i)I<)Sf} Y&Ayt">t"F~=Di )a:)Ii9)!I%9)i)Y)i1111iI;))i)I<)۩YsI V>i V>}l} aY&Ayt">t"J>E&=&=&p;&p<}^jG^%=\-D;-C<9-D-y&1{Gz?~jth-=A)ɀ)-EA -A)-AI)I-`ei-#<-D>F}ƁƁ=DƁi )I:)I9)I9iYiiI;))i)I<)es} >?Y&Ayt">t"8E)~0 ~4}b0G>Fnpp=rDtix x)zU:)|I~׾9)I9 i Y iiAIE;)A)AIIiII)QIU<)y} 5(Y&Ayt>>t>F}ƁƁ=DƁi )<)!I%9))I-9QiQYYiaaaaiI;))i)I<) ) v} RY&Ayt`>tGEAAAA)~ ~"eC}R{GPP>Fb`d=fDdih h)j:)lInQ9)pIr9titYtixxx|iI;))  i  )I<)ہ1} Y&Ayt">t"6E}ZG>Fnpp=rDpix x)z:)|I~v9)Ii9 i Y iiAIE;)A)AAIiII)QIU<)iˌ} 25Y&Ayt">t"6E)~, ~,}^G~~\=9~;~~jt?Mb`?~A|ɀ|~ ~A)|I|I~̼i~<~;>F=Di! 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Z&Ayt>t8E)~ ~ }VBGXX>F^``=b4Ddih h)h)lIl)pIr9titYtixxxxiI;))i ) I<)Qn z Z&Ayt"X>t"F=4D]-Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. ---Software Fault 5- 9- A- i! !)%:=Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. ==Software Fault = = E )9I=9]MUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 M-MSoftware Fault)IIM9iYYaaiiIm;)i)qqqiqq)yI}<)ۑ-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-!xSoftware Fault in component: DeadReckonWithRespectToSeafloorضu  Z&AytB>tB/3E)~L ~X} 0G>F=AA=E4DAiQYYYiaIe;)i)iiiiiq)qI}<)ۉ!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1 I V>i Y>{  Z&Ayt">t"J>E}^ՃG^<^=%%T=9!%Q롿{Gz?Mbp?%A!ɀ!! 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A ɀ   A) I IAI DF]aa=eDaii i)m:)qIu9)yI}9iYiiI;))i)I<)IR>i]>h կZ&Ayt"ɓ>t"5E}n0Gn%=n%=>F!!=%D!i) ))-n:)1I5)9)9I=i9IiIYIiQQQQiYIe;)a)aaaiai)iIu<)ہ Z&Ayt2>t2m?E6=6=:;:<)~@ ~@}rՃG%<%94<9%D%:vMb`?~jth%pA!ɀ!! %IA)!I!I%Ti%;%D>F=AA=EDAiI I)Ma:)QIU:)aIe9iiiYiiqqqqiI;))i)I<)ۡ{ 3jZ&Ayt=>t"2E}ZG>F~=Di  ) )I9)Iv9)i)Y)i1111iAIE;)A)AAAiAI)IIU<)a ?A)| ?Z&Ayt">t"KF%99=EDAiY Y)]:)qIut:)I:iYiiI;))i )I%<)Aξ Z&Ayt2>t2:E46A46A}~XGEE949E:EMb?MbMbP?EAAɀAA EA)AIAIEF]aa=eDaii i)m:)qIu(:)yI}G9iYiiI;))i)I<)rŰ Z&Ayt"f>t" 4E)~, ~,}^0G>F~= D i )U:)I9)aIe9qiqYqiyyyyiI;))i)I<)۩IiV>˰ 1Z&Ayt2U>t28E}jjGj=lĻ9{Gzt?MbpfAɀEA )IIף;i>F-11=5D1iA A)E:)IIM9)IIM9YiYYYiaaaaiqIu;)q)qqqiq9)AIE<)QoҰ *KZ&Ayt2>t2KFvxx=zDx]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i| |)|Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 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"A # DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m! 2A i@# DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m! BA # DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m0 6Construct AltitudeEnvelope. 1E 0Construct DepthEnvelope.H< R` Z&Ayt"h>t"7E&=&=&p;&<$()~< ~@}rjG>F~=D i ):)I9)!I%9)i)Y)I=;iA)AAAiAI)IIM<)a16Construct OffshoreEnvelope.M#\Inserting Stack: Missions/Insert/NeedComms.xml%B%@#-~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h5B5@#=DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 mineBi#mDefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeguBy#}DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sB#DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/sC#~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 minC#DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4e,Construct GoToSurface. <Construct.<&Construct Buoyancy.a @ Construct.!  @ Construct.a  a   D Construct.D Construct.J &Construct Waypoint.a% a%  a%  f =#Z&Ayt"̖>t"r9E}b{G>F~=Di ))9I=b9)AIEB:iYKConstruct.I=;i9)AAAiI%])I<)۩ LConstruct Wait. OE"Construct SetNav.'}'' @A)OConstruct Wait. RM&Construct Waypoint. SConstruct Wait.# I Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. = fLoaded ./Missions/Engineering/lineCaptureHoming.xmlِ =Z&Ayt2>t2:E)~@ ~BeC}r0GvxAt-;-9<9)-F}ƁƁ=DƉi )vA:)I9)I!9iYiiI;))i)I<)y VZ&Ayt>t"jCE"A&A&A&A&=&=}rG>F!!=%D!i) ))-:)1I59)9I9IiIYIiQQQQiaIe;)a)aaaiai)iIu<)ہ pZ&Ayt2>t2:E)~@ ~@}|ED;E#<9EDEFUaa=eDaii i)m:)qIu9)yI}9iYiiI;))i)I<)I)i-V>݊" 멊Z&Ayt2C>t2:E{:}ejGae%=>Fơơ=Dơi ):)I9)I9iYiiI;))i)I<)( RZ&Ayt"2>t&>E*=*=**p<,,)~l ~l}{G=;=<99=FUYY=]DYia a)e:)qIu:)yI}:9iYiiI;))i)I<) .  \Z&Ayt"n>t"$?E}^G>F~= D i ):)I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i ?A)U5 8Z&Ayt"S>t"-5E)~, ~0}bGbyAbyA>F~=D i ):)I9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<)i%; fZ&Ayt"0>t"(;E&A&A&A&A*R=*=}^Gף;t=9V-I +?GAɀ )IIi9<>F]aa=eDaiq q)u:)yI}!9)I9iYiiI;))i)I<)B  Z&Ayt"h>t"7E)~0 ~0}fG>F  = D i )3w:)!I%l9))I-i91i1Y1i9999iIIM;)I)IIQiQQ)YI]<)qIR>iY>I %Z&Ayt"ɓ>t"5E}ՃG%=4=>F]ii=mDiiq q)un:)yI}9)I׾9iYiiI;))i)I<)=Fgot command show variable InitDepth=FlineCaptureHoming.InitDepth (meter)=VlineCaptureHoming.InitDepthTimeout (minute),O H?Z&Ayt">t"KFƑƙ=Dƙi )+:)I&:)I9iYiiI;))i)I<) 2V (YZ&Ayt">t"6E}=G>FMQQ=UDQiY Y)]:)aIe9)iImD9qiqYyiiI;))i)I<)۹ )>\ p[sZ&Ayt2>t2KeC}lrxArxAM;Mj<=9M;MFeii=mDiiy y)}:)I9)I9iYiiI;))i)I<)*&c L5Z&Ayt">t"J>E&A&A&A&A*a=*a=}^oG>F~= D i ):)I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i%Si iZ&Ayt.{>t26E)~L ~NoC}BGEףE=9E#<E~jtX9v?{Gz?EAAɀAA EA)AIAIEļiEF]aa=eDaii i)mH:)yI}9)I9iYiiI;))i)I<)IiV>8p $Z&Ayt"y>t"2E}ZG^=^%=>F~=Di ):)I!9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)iAbv Z&Ayt">t"x3E*=*=*p<*p<,,)~4 ~8}fՃG>F~= D i ))I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)iz| Z&Ayt">t"?E}^G~`~\=9~t<~{GzQ?F=Di) ))-a:)1I59)1I5:AiAYAiIIIIiYI];)Y)Yaaiaa)iIm<)ہ )t F~Z&Ayt&f>t& 4E)~4 ~6eC}bjGdfyA>F~=D i ))Iv9)!I%Q9)i)Y)i1111iAIE;)A)AIIiII)QIU<)i< c(Z&Ayt>tx3E"A"A"A"A&=&=}r0G--=9-ף;-S㥛S㥛?{Gzt?-A)ɀ)) -A)-AI)I-/ݼi-/<-ף;>FEII=MDIiQ Q)U:)YI]9)aIev9iiqYqiyyyyiI;))i)I<)۩J @3BZ&Ayt">t"T2E)~0 ~2oC}^G>F%))=-D)i1 1)50:)9I=]9)AIE9IiIYQiQYYYiiIm;)i)iiiiiq)qI}<)ۉIiY>Ű \Z&Ayt">t"!CE{&}%jG-<-=>F=AA=EDIiQ Q)U:)I9)I9iYiiI;))i)I<)ڜ uZ&Ayt"+>t"3E&=&=&p;&<(()~d ~feC}-{Gm<mD9mtm~jth?y&1FƉƉ=DƉi ):)I9)I9iYii I ;) )   i)9I=<)I`£ ~ďZ&Ayt"f>t" 4E}\>F = D i ):)I׾9)!I%i9)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)i )0 Z&Ayt">t"/3E)~, ~,}^0G^yA\94<9:MbMb?MbP?Aɀ A)xAIIi<:>F=%D!i) ))-z:)1I59)9I=9AiAYAiIIQQiYI];)a)aaaiai)iIm<)ہ`԰ zZ&Ayt"y>t"2E$&A$&A*=*=}^$G>F~= D i ):)I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i \Z&Ayt>t"m?E)~, ~,}^0G>Fnpp=rDpix x)x)|I~Q9)IG9 i Y ii!I%;)!)!!)i)))1I5<)ہIt>iV>) 4Z&Ayt">t"+7E}fjGj4=j%=Ļ#9TL7A`?Zd;O:v(Aɀ@ A)IIAI+=ijT>F-11=5D1i9 9)=:)IIM9)IIM9yiyYyiiI;))i)I<)}ľ  Z&Ayt">t"J>E*=*=*p;.=00)~8 ~:oC} G>F!!=-D)i1 1)5:)9I=D9)AIE9IiIYIiQQQQiaIe;)a)iiiiii)qIu<)ۉ:ʾ 2*Z&Ayt">t":E}rXGE`E`e9EEQ?{GztMbE\AAɀAEx@ EIA)EAIAIEuFUyy=DƁi ))Is9)I9iYiiI;))!i!!))I-<)a )Q#Ѿ DZ&Ayt"2>t">E)~, ~0}^0G`bxA>F~=Di )U:)Io9)!I%9)i)Y)i1111iAIE;)A)AAAiII)QIU<)aM׾ ^Z&Ayt">t"8E&A&A&A&A*a=*=}^oG>Ffhh=jDhil l)n:)tIv9)tIvʽ9xi|Y|iiI;))i)I%<)1vݾ yxZ&Ayt">t"/3E{()~d ~feC= tgot command set lineCaptureHoming.InitDepth 0.000000 meter:@ }]G;9MbPMb`?Aɀ逝 A)IIi;>Fƹƹ=Dƹi )+:)I9)I9iYiiI;))i) I <)!IV>i^侖 ?UZ&Ayt"X>t"F=AA=EDAiI I)MU:)QIU9)aIei9iiiYiiqqqqiI;))i)I<)ۡˈ꾖 +/Z&Ayt">t"F!!=-D)i1 1)5:)9I=i9)AIE!9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉp  Z&Ayt&y>t&2E}^jG>F~= D i )U:)I9)!I%]9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i ) Z&Ayt2k>t2q;E)~< ~>eC}~0GzAyA>F =Di! !)%z:))I-s9)1I5ʽ99i9Y9iAAAAiQIU;)Q)QQYiYY)aIe<)y Z&Ayt"@>t"Q6E&A&A&A&A(*p=}^G15L=915Q롿FMQQ=]DYia a)e:)iIm9)qIuv9yiyYiiI;))i)I<)۹ xZ&Ayt"h>t"7E)~0 ~0}^ՃG>F~= D i ):)I9)!I%9)i)Y)i1119iAIE;)A)IIIiII)QIU<)IiH  `x-Z&Ayt2>t2J>E}jÃGnF599=EDAiI I)M:)QIU9)YI]9aiaYaiiiiqiyI};))i)I<)ۡ˾ QGZ&Ayt"X>t"F~= D i ):)I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i= got command run= Running  -aZ&Ayt"U>t"8E{*}%G>F]aa=eDaii i)m:)qIu9)Iv9iY1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckIn1#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq0JInitialize AltitudeEnvelopeComponent. 1DInitialize DepthEnvelopeComponent.1JInitialize OffshoreEnvelopeComponent.1 <Initialize.q<xInitialize ReadDataComponent to sense acoustic_contact_range >Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame=tInitialize ReadDataComponent to sense platform_orientation =xInitialize ReadDataComponent to sense height_above_sea_floorq D1C;B1q1B?BzBqI%;i%9)!!)i))-SAI5<)a )  {Z&Ayt">t")E)~T ~V`C} xAxAU`;U=9UUJ +{Gz?Mb`UAQɀQQ UA)UAIUAIUHiU#=U>Fmqq=uDqiy y)}:)I9)I9iY DCBi@qBBzBI-;i)))))i))1I=<)ہw$ Z&Ayt">t">E&A&A&A&A&R=&R=}\>Fnpp=vDtix x)z:)|I~9)Ii9 i Y  DCB!%q%B!BizBiI;i)i)I<)Q%+ ®Z&Ayt>>tB*9E)~L ~ReC}|Eף;E\=9AEA`"Zd;O?Mb`AAɀAA A)AIAIEYiEj<=A>F}ƁƁ=DƁi )z:)I9)I.9iY DCC @qBBAzBAIu;iq)yyyiy)Ii]> 2 9Z&Ayt">t"R4EF"?AF }njGn4=n4=>F~??=D+yCi )n:)I!9)!I%v9)i)Y) DYCYC]eq#eFenAggregate::initialize lineCaptureHoming:StartingMissionBaBzBI;i)i)I< xA)xAY)68 tZ&Ayt"->t"t7E&=&=&p;*;(()~0 ~4}b0G>Frpt=vDvyCix x)z:)qIu)9)I9iY DC9hAggregate::initialize lineCaptureHoming:SurfaceComms1C1q:lAggregate::initialize lineCaptureHoming:SurfaceComms:BBBzBI;i)i) I  vSZ&Ayt"0>t"(;E}^jG~~C=9~~Zd;OJ +?||ɀ|| |)|I|I~jF=DzCi ):)I9)I:9i Y  D1C1=3=bAggregate::initialize lineCaptureHoming:NeedCommsq=4=@Initialize GoToSurfaceComponent.4=HReceived depth rate setting nan m/s.4ERReceived pitch setting 19.999999 degrees.4EHReceived speed setting 1.000000 m/s.4ENo surface timeout specified. Using default value of 1000.000000 seconds.4MnReceived pitch timeout configuration 60.000000 seconds.1MZCMbCIjCIrCM4ulast time_fix was: 1553557023.000000 second since 1970/01/01T00:00:00Z 1uB}?BzBiXz:I;))i)It"6E"F"4=*F )~, ~,}^{G``>Fnpp=rDvazCix x)z:)|I~9)I9 i Y  DC;ZCbCjCrC%B%?BazBiiI;))i)!I%t"r9E&A&A&A&A(*a=}b0GDL=9 rhl?pAɀ A)xAIIC i=>F=AA=EDEzCiI I)M+:)yI}9)yI}:9iY DC; 5\Initialize ReadDataComponent to sense time_fixZCbCjCrCB?BzBiI;))i)It"M:E)~0 ~0}bjG>Fnpp=rDv/{Cix x)z:)|I~9)I9 i Y  DC;ZCbCjCrCB%?BazBaiI;))i)IͅX #cZ&Ayt"Š>t"*EF"@AF$}fƄG>F~ = D {Ci! !)%:)9I=h:)QIU;:iiqYq DC;ZCbCjCrCB?BzBiIIM;)Q)QQQiQ)YIe< i)iY1)9^ }Z&Ayt2>t2}-E6=6=6<6p<)~D ~D}rG--T=9)-FEII=MDM|CiQ Q)UH:)YI]9)aIev9qiqYq DyC};ZCbCjCrCB?BzBiI;))i)It66E}z{G>F=AA=EDEi|CiI I)M:)QIU9)YIYiiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)It28E"F6a=*F4)~@ ~B`C}~GUD;U<9QUQI +?UpAQɀQQ UxA)QIUAIUuiU94Fmqq=uDu|Ciy y)}a:)I9)I׾9iY DC;ZCbCjCrCB?BzBiI;))i)Ii4>Y)ǩr +Z&AytB >tBo=EFAFAFAFA}BG>F=MDU6}CiY Y)]:)aIe9)iIm]9qiqYq DC;ZCbCjCrCB?BzBiI;))i)It.*9E)~H ~JeC}5ՃG>F]=D}Ci );:)I9)IQ9iY DC;ZCbCjCrCB?B!zB!i1I=;)9)999i9)AIMi]>~ zZ&Ayt">t"6EF&AAF$}^Gz6only read 2 of 4 data itemszHFailed to parse: :BS, +10, -23, z@ z z@ z z@ z z@ z >FEAI=MDM~CiQ Q)U>)YI]]9iiiYi DqC};ZC}bCyjCyrC}B?BzBiI;))i)I< wA)Y)ۡJ慿 Z&Ayt2+>t23E6=6=6C=6<:vA8)~@ ~@}roG>F!!=%D%m~Ci) ))-I?)1I5S:AiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It2KF=AA=EDM~CiQ Q)U?)YI]9iiiYi DqC};ZC}bCjCrCB?BzBiI;))i)ItB4E"FBp=*F@)~P ~P}~{G>F=AA=EDE=CiI I)M?)QIU:aiiYi DqCu;ZC}bCyjCyrC}B}?BzBiI;))i)Ii>Y)۹m" PfZ&AytB>tDRAVAVAVA}u0G              =9)\()\(?Aɀ XA)AIIAIGaiGa=>F=DCi ):)I9) I `9iY D!C%;ZC%bC)jC)rC-B-?BQzBQiaIm;)i)iiiii)qI}t2*9E{:)~t ~t}MG>F}ƁƁ=DƅCi ):)IQ9)I9iY DC;ZCbCjCrCB?BzBiI;))i) I iY>=,got command show stack= Behavior Stack: =0Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope=0~Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope=0Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope3jPriority 3: lineCaptureHoming:NeedComms:B.GoToSurface3RPriority 4: lineCaptureHoming:NeedComms:C/HPriority 5: lineCaptureHoming:I.Mass/PPriority 6: lineCaptureHoming:J.Buoyancy/>Priority 7: lineCaptureHoming:K/>Priority 8: lineCaptureHoming:L/>Priority 9: lineCaptureHoming:M4 Z&Ayt">t"/3EF F }5jG>F]aa=eDe:Cii i)m:)yI}9)yI}]9iY DC;ZCbCjCrCB?B)zB)iyI;))i)I< xA)wAY)=^ *Z&Ayt">t"*9E&=&=&%=&<)~0 ~0}v0G55<915~jt rh?5pA1ɀ11 5xA)1I1I5Di5C<1>FEII=UDUmCiY Y)]7:)aIe9)iIm9qiqYy DC;ZCbCjCrCB?BzBiI;))i)It" 0E}jjG>F!!=%D%Ci1 1)5:)9I=I9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)ItJ4E"FRa=*FT)~\ ~`}0Gt;9Mb`?I +?Aɀ逍A )AII;i94<>FƩƩ=DƭրCi ):)I9)IiY DC;ZCbCjCrCB?BzBi!I%;)!))))i))1I5iE>Y))1W ~pZ&Ayt2ɓ>t25E6A6A6A6A}vG>F!!=%D%Ci1 1)5a:)9I=9)AIEv9IiIYI DQCU;ZC]bCYjCYrC]Be?BzB i!I%;)!))))i))1I=t"T2E)~0 ~2oC}\>F~=D;Ci ):)Ii9)!I%9)i)Y) D1C5;ZC=bC9jC9rC=BE?BqzBqiI;))i)Iia>̿ t&5Z&Ayt2>t2AEF6?AF4}l%#%ף;9!%Mbp?I +?!!ɀ!! !)!I!I%;i!!>F59A=EDEoCiI I)MU:)QIUg9)YI]9aiaYa DqCu;ZCubCqjCqrC}B}?BzBiI;))i)I< )xAY)ܓӿ eOZ&Ayt2y>t22E6=6=6<6<)~@ ~BeC}rՃG>F!!=%D%Ci1 1)5:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It2F=DفCi )4;)I9)I9 i Y  D1C=;ZC=bC9jC9rC=BE?BzBiI;))i)It"=E"F *F$)~< ~>oC}jG>F!!=%D% Ci1 1)5U:)9I=v9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)Iix>Yq)y!濖 hZ&Ayt"c>t"V0E&A&A&A&A{(}9>F}ƁƁ=Dƅ?Ci ):)I.9)I9iY DC;ZCbCjCrCB?BzBiI;))i)It26E)~t ~t}iT<9D;MbpQ?~jth?GAɀ逭 )IIiu<D;>F=DtCi ):)I9)Ii9iY DC;ZCbCjCrCB ?B)zB)i9IE;)A)AAAiA)IIU IZ&Ayt2~>t2M:EF6AAF4}nՃGpp>F!!=%D%C]5Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 5 -5Software Fault 55 95 A5 i1 1)5:EUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. E ESoftware Fault M M M )AIE9]UUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 U -USoftware Fault)QIU)9 DiCm;ZCubCqjCqrCuiI;))i)I< )Y)۹-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-!xSoftware Fault in component: DeadReckonWithRespectToSeafloor{  %Z&Ayt"C>t":E&=&=&p;&<*uA()~0 ~2eC}bGĻ#<9~jth~jt?pAɀ )AIIDiD<>F!!=%D-قC D9CE;ZCAbCAjCArCEiYI];)Y)YYaiaa)iIm< })}I}i}Y )!-Clearing failed state for component DeadReckonUsingMultipleVelocitySources - - - - !-Clearing failed state for component DeadReckonUsingSpeedCalculator - !5Clearing failed state for component DeadReckonWithRespectToSeafloor1 5  [&Ayt"S>t"-5E}nG>F%%=%D!5lInitializing DeadReckonUsingSpeedCalculator component.9i9Y9 DICM;ZCIbCIjCIrCMBU?ByzByiI;))i)SAI<)۱ ) [&Ayt"h>t"7E"F&p=*F$)~0 ~6`C}`dfyA>Frpt=vDtix x)za:)|I~.9)I9 iY DC;ZC%bC!jC!rC%B%?BIzBIiYI];)Y)aaaia)iIm<)ہBH  7[&Ayt">t"6E&A&A&A&A*C=*R=}bjGף;9y&1|?Mb`ɀ )IIi`;>F!!=%D)i1 1)5:)9I=9)AIE9IiIYI DQC];ZC]bCYjCarCeBe?BzBiI;))i)I<)0 Q[&Ayt&k>t&q;E)~4 ~6eC}f{G>F~= D i )U:)I9)!I%9)i)Y) D9C=;ZC=bCAjCArCEBE?BizBiiyI};)y)i)Iii>JZ lk[&Ayt"->t"t7EF&@AF$}n0G%ף%#<9%%~jth{Gz?!!ɀ!! !)!I!I%Di%#<%>F5E?E?=EDE CiI I)M:)QIUA:)YI]9aiiYi DqCu;ZC}bCyjCyrC}B}?BzBiI;))i)It2;E6=6=64=6<)~@ ~@}roG>F599==D=ACiA A)A)IIM9)QIU2:aiaYa DiCm;ZCubCqjCqrCuBu?BzBiI;))i)It2+7E}nBG>Fvxx=zDztCi| |)~n:)I9) I 9iY D!C%;ZC-bC)jC)rC-B-?BQzBQiI;))i)It"/3E"F&a=*F$)~8 ~8}jՃG;9DMb`Mbp?~jthɀ )IIi;D>F-11=5D5CiA A)E+:)IIM9)QIUv9YiYYY DaCm;ZCmbCijCirCmBu?BzBiI;))i)I=< ExA)ExAY)!3~4 I[&Ayt2>t26E:A:A:A:ANR=L}XG>F=D܃Ci) ))-:)1I59)1I5:AiAYA DICM;ZCUbCQjCQrCUB]?ByzByiI;))i)It"6E)~4 ~4}^0GDt<9{GztF=AA=EDECiI I)M:)YI]9)aIe9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)IiY>;A [&Ayt2E>t2=EF6AAF4}nG>F!!=%D%CCi1 1)1)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)Ii>Yq)y޻G *p [&Ayt">t"J>E&=&=&4<&<)~0 ~0}`>F~=DvCi  ) :)I!9)I9)i)Y) D1C5;ZC=bC9jC9rC=B=?BazBaiqI};)y)yyyiy)It6+7E}vjG--<9--{Gzt~jtx?MbP))ɀ)) )))I)I)i-;->FEII=MDMCiQ Q)U)K:)aIe9)aIe9qiqYq DyC};ZCbCjCrCB?BzBiI;))i)It2:E"F64=*F4)~@ ~BoC} {G>F!!=%D%ބCi) ))-:)1I59)9I=x9AiAYI DQCU;ZCUbCQjCQrC]B]?BzBiI;))i)I< )Yq)yZ zm[&Ayt"k>t"q;E&A&A*A*A*a=*=}b0G9{Gzty&1|?MbPɀ )IIi`;>F]aa=eDeCii i)mU:)Ix9)I.9iY DC;ZCbCjCrCB?B!zB!iQI];)Y)YYYiY)aImt2:E)~@ ~BeC}njG>Fvxx=zDzECi ):) I s9) I Q9iY D!C%;ZC-bC)jC)rC-B5?BQzBQiaIm;)i)iiiii)qIUi]> h [&Ayt">t":EF F }^0G>Fnpp=rDvxCix x)z:)|I~׾9)IS9 i Y  DC;ZCbCjCrC%B%?BazBiiI;))i)Ii>Y)ۑ3n [&Ayt"f>t& 4E*=*=*=*<)~4 ~4=BJgot command get SpeedControl.speedCmd=RDSpeedControl.speedCmd 1.000000 m/s}rjG%D%D<9%:%~jtx{Gz?MbP?!!ɀ!! 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[&Ayt2y>t22E6=6=6p<6<{8)~t ~veC}MG>Fƙƙ=DƝ:Ci ):)I9)Ix9iY DC;ZCbCjCrCB?B zB i!I%;)!)!!!i!))I5rF–   [&Ayt2>t28E}MG>F}ƁƁ=DƅmCi )+:)Ii9)I9iY DC;ZCbCjCrCB?BAzBAiQI];)Y)YYYiY)aImt" 2E"F&a=*F$)~0 ~0}bՃGD<9`;{Gz~jt?y&1|?ɀM@ A)IIףi<`;>F!!=%D%Ci) ))-U:)1I5(:)9I=G9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)I< wA)Y)ۙ>S– N [&Ayt2>t28E:A:A>A>A@B=}zXG>F = D ҔCi )a:)I9)!I%9)i)Y) D9C=;ZC=bCAjCArCEBE?BizBiiyI};)y)i)It27E)~T ~T} 0GUU9U`UQ?y&1y&1|UzAQɀQUx@ Q)UxAIQIUuFmqq=uD}Ci ):)I9)I9iY DC;ZCbCjCrCB?BzBiI;))i)Ii)ܗ`– | [&Ayt.U>t.8EF2@AF2@A}nՃG>F!!=%D%:Ci) ))-:)1I59)9I=9AiIYI DQCU;ZC]bCYjCYrC]B]?BzBiI;))i)Ii>Yq)yif– zQ [&Ayt6S>t6-5E:=>=>p;><)~H ~JoC}vG>F!!=%D%nCi1 1)5:)9I=9)AIAIiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It20E}zjG5;5#=95;5Q:v?Mbp?5A1ɀ15M@ 5A)1I1I5i5<5;>FMQQ=UDUCia a)e+:)iIm9)qIui9yiyYy DC;ZCbCjCrCB?BzBiI;))i)It".E"F"p=*F&p=)~0 ~2eC}^{G>F~=DՕCi  ) :)I$9)iIm9yiyYy DC;ZCbCjCrCB?BzBiI;))i)I< )Y)۹{y–  [&Ayt">t">E&A&A&A&A}^0Gף;+=9;S㥛{Gz?~jtx?(Aɀ A)II/ݼiף<;>F=AA=EDE CiI I)Mn:)QIUv9)YI]9iiiYi DqCu;ZCbCjCrCB?BAzBAiqIu;)q)qyyiy)It26E)~D ~H}rG>F!!=-D-=Ci1 1)5+:)IIMx9)QIU9YiYYY DaCm;ZCmbCijCirCmBu?BzBiI;))i)I–  [&Ayt">t"Fơơ=DƥsCi ):)I9)I(:iY DC;ZCbCjCrCB?BzBi!I%;)!)!))i))1IY)۱8– s7 [&Ayt2č>t2W.E:=:=:=:<)~D ~FoC}rG)-\=9-ף;-V-/$?{Gzt?-A)ɀ)) ))-AI-AI-i-<-ף;>F=AA=MDMCiQ Q)U:)YI]9)aIe9iiiYi DyC};ZC}bCyjCrCB?BzBiI;))i)It2Q6E}nXG>F!!=%D%ؖCi1 1)5U:)9I=V9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It&5E"F(*F()~4 ~6eC}f0G `; =9 ; MbI +?Mbp?  ɀ   ) I I i 9< ;>F%))=-D- Ci9 9)=z:)AIE9)IIM9QiQYQ DaCe;ZCebCajCarCmBm?BzBiI;))i)I< vA)xAY)ۙ&3– F [&Ayt2>t2T2E46A46A}ՃG>F=AA=EDE@CiI I)Ma:)QIU9)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)It"1E)~0 ~2oC}bXG>F-11==D=sCiA A)En:)IIM9)QIUi9YiYYa DiCm;ZCmbCijCirCuBu?BzBiI;))i)Ii%V>– ˻ [&Ayt2>t2F=AA=EDECiI I)M:=Fgot command show variable InitDepth)QIU<)I 9iY DC;ZC5bC1jC9rC=B=?BzBiI;))i)Iiu>Y))1=FlineCaptureHoming.InitDepth (meter)=VlineCaptureHoming.InitDepthTimeout (minute)n– 1 [&Ayt">t"8E&=&=&;&<)~0 ~0}^0G>F~=DڗCi ):)I9)!I%i9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBaiqI};)y)yyyiy)It2M:E}nՃG<`9I +Mb(Aɀx@ )AIAIi94>F]aa=eDeCii i)m:)yI}׾9)yI}9iY DC;ZCbCjCrCB?BzBiI;))i)It">E"F"a=*F&a=)~, ~,}^XG>F~=DACi )a:)Iv9)!I%9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBaiyI};)y)yyyiy)I< xA)YQ)Y– V( [&Ayt">t &A&A&A&A}^0G>F~=D uCi ):)I9)!I%9)i)Y) D1C=;ZC=bC9jC9rC=BE?BazBiiyI};)y)yyyi)It"5E)~, ~.eC}^jG#9`MbP?~jty&1|ɀ )II:iD`>F]aa=eDeCii i)m:)qIuG9)I!9iY DC;ZCbCjCrCB?BzBiI;))i)Ii%a> – S [&Ayt"U>t"8EF"@AF$}j0G>F!!=%D%ݘCi) ))-U:)9I=:9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)IYq)yM– m [&Ayt>t}-E"="=";"<"wA$)~, ~.oC}ZՃG5`;5915MbP?I +y&1|11ɀ11 1)1I1I1i5941>FMQQ=]D]Cia a)e:)iIm9)qIu9yiyYy DC;ZCbCjCrCB?BzBiI;))i)It25E}nG>Fvxx=zDzCCi| |)~+:)I9) I 9iY D!C%;ZC-bC)jC)rC-B-?BQzBQiI;))i)It2R4E"F0*F4)~@ ~BeC}nՃG>Fvxx=zDzwCi ):) I 9)I]9iY D!C-;ZC-bC)jC)rC-B5?BQzBQiiIm;)i)iiiii)qI}< )Yy)ۑ"– #I [&Ayt"~>t"M:E,.A,.A}jG;`9F-11==D=CiA A)E7:)IIMg9)QIU9YiYYa DiCm;ZCmbCijCqrCuBu?BzBiI;))i)It2=E)~P ~T}jG>F=AA=EDECiI I)M:)QIU9)aIe.9iiiYi DyC};ZC}bCjCrCB?BzBiI;))i)Ii%V>5–  [&Ayt2ϙ>t2&=EF6?AF4}r0G9999=FUYY=]D]Cia a)e:)iIms9)qIu:iY DC;ZCbCjCrCB?BzBiI;))i)IY)Q"Ö o [&Ayt*>t.*9E2=2=2p;2<)~< ~>oC}noG>F=DGCi! !)!))I-9)1I599iAYA DICM;ZCUbCQjCQrCUBU?ByzByiI;))i)It"{/E}jBG>F%))=-D-{Ci1 1)5}G:)AIE9)AIE9QiQYQ DYC];ZCebCajCarCeBe?BzBiI;))i)I-t"v5E"F$*F$)~0 ~2eC}rG5ף;5t95Ļ5~jth?{Gz~jtx11ɀ11 1)1I1I5D;i5#5Ļ>FMQQ=UDUCia a)eD:)iIm9)qIu9yiyYy DC;ZCbCjCrCB?BzBiI;))i)I< )Y)۹ YÖ +nV [&Ayt">t"0E&A&A&A&A}`>F  = D Ci )0<)aIe9)iIiqiqYq DC;ZCbCjCrCB?BzBiI;))i)It2>E>bSBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0>ZFailed to initiate SBD session. Error code: 2)~L ~NoC}~ՃGED;E=9Eף;EV-~jt?{Gzt?EAAɀAEM@ A)EAIAIEiEF]aa=eDeCii i)m:)qIu<)9I=`9AiAYA DQCU;ZCubCqjCyrC}B}?BzBiI;))i)Ii%a>k"Ö J' [&Ayt.h>t27EF0F0}M]G>F}ƁƁ=DƅKCi ):)I9)I׾9iY DC;ZCbCjCrCB?BazBaiI;))i)Ii>Yi)q= >got command show variable dpeth(Ö q [&Ayt"{>t"6E&=&=&p;&<*vA()~4 ~6eC}jBG>F=%D%}CiA A)E :)yI}:)I:iY DC;ZCbCjCrCB?B zB iI;))!!!i!))I-t0}nG=9Q:v?{Gzt?Aɀ A)AIIi<>F]aa=eDeCii i)m:)yI}.9)I:9iY DC;ZCbCjCrCB?BzBiI;))i)It"(;E"F$*F$)~0 ~2oC}bjG>F =DCi! !)%:))I-9))I-99i9Y9 DACE;ZCMbCIjCIrCMBU?BqzBqiI;))i)I< wA)wAYq)ye;Ö m [&Ayt*y>t*2E.A.A.A.A}f{G9y&1S㥛?{Gzt?Aɀ )AII`i/<>F-)1=5D5Ci9 9)=+:)AIEg9)IIM9QiQYY DaCe;ZCmbCijCirCmBm?BzBiI;))i)It2&=E)~@ ~BeC}~0G>F=AA=EDELCiQ Q)U:)YI]9)aIe9iiiYi DqC};ZC}bCyjCyrCB?BzBiI;))i)Ii%V>HÖ H% [&Ayt"2>t">EF&@AF(}mjG;#=9V-S㥛?{Gzt?ɀ )IIi>F=DCi  ) SI:)I89)I9)i)Y) D1C=;ZC=bC9jC9rC=BE?BazBaiyI};)y)yyyiy)IYi)qR OÖ !? [&Ayt&>t&8E*=*=*4=*<)~4 ~4}f{G>F~=D Ci ):)I9)!I%9)i)Y) D1C=;ZC=bC9jC9rCEBE?BzBiI;))i)I t29E}t>F~=DCi  ) :)IF:)I9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBaiqIu;)y)yyyiy)It"Y,E"F$*F${2)~d ~d}-Gmm=9m;my&1:v?~jtx?m(Aiɀii i)mxAIiIm`imFƉƉ=DƕCi ):)Is9)I9iY DC;ZCbCjCrCB?BzBiI;))   i )I< xA)xAY)ۙFcÖ  [&Ayt2{>t26E:A:A:A:A}eÃG>Fơơ=DƥPCi ):)I.9)I9iY DC;ZCbCjCrCB?BzBiI;))i)!I-tR>E{l)~A ~EoC}XG'=9`;V-y&1?y&1|?ɀ )IIi`<`;>F =DCi ):)!I%s9))I-99i9Y9 DACE;ZCMbCIjCIrCMBU?BqzBqiI;))i)IpÖ t&Q6EF*?AF(}-{G>F]aa=eDeCii i)m:)qIu9)yI}9iY DC;ZCbCjCrCB?BzBiI;))i)Ii>Y)۹=>got command show variable depth=-depth (meter)=5:depth_rate (meter_per_second)=]Fsea_floor_depth_below_geoid (meter)=M>Depth_Keller.loadControl (none)=U,Depth_Keller.ad (none)=U0Depth_Keller.adRes (bit)=]HDepth_Keller.adTimeout (millisecond)=]4Depth_Keller.adVref (volt)=ERVerticalControl.buoyancyPumpDepth (meter)=EJVerticalControl.depthDeadband (meter)=MhVerticalControl.depthRateDeadband (meter_per_second)=MPVerticalControl.depthRateSamples (count)=UXVerticalControl.dropWtDepthExcursion (meter)=}\VerticalControl.excursionDepthTimeout (second)=jVerticalControl.kdDepth (radian_per_second_per_meter)=HVerticalControl.kdDepthBuoy (second)=PVerticalControl.kdDepthRateBuoy (second)=jVerticalControl.kiDepth (radian_per_second_per_meter)=^VerticalControl.kiDepthBuoy (reciprocal_second)=ZVerticalControl.kiDepthOff (meter_per_second)=fVerticalControl.kiDepthRateBuoy (reciprocal_second)=TVerticalControl.kpDepth (radian_per_meter)=FVerticalControl.kpDepthBuoy (ratio)=NVerticalControl.kpDepthRateBuoy (ratio)=VVerticalControl.limitDepthTrajectory (bool)=%XVerticalControl.maxDepthInt (angular_degree)=-RVerticalControl.minDepthExcursion (meter)=-TVerticalControl.stopDepthExcursion (meter)=5XVerticalControl.useElevIntInDepthMode (bool)=m,CBIT.stopDepth (meter)=u.CBIT.abortDepth (meter)=>CBIT.abortDepthTimeout (second)=}PConfig/Simulator.mixedLayerDepth (meter)= PDepthRateCalculator.loadAtStartup (bool)=5 fTempGradientCalculator.numConsecutiveDepths (count)== xVerticalTemperatureHomogeneityIndexCalculator.depth1 (meter)== xVerticalTemperatureHomogeneityIndexCalculator.depth2 (meter)=E xVerticalTemperatureHomogeneityIndexCalculator.depth3 (meter)=E xVerticalTemperatureHomogeneityIndexCalculator.depth4 (meter)=E VerticalTemperatureHomogeneityIndexCalculator.depthWindow (meter)= FBuoyancyServo.fastPumpDepth (meter)= FConfig/workSite.beaconDepth (meter)= BDepth_Keller.loadAtStartup (bool)= HDepth_Keller.simulateHardware (bool)= HDepth_Keller.maxPressBound (decibar)= HDepth_Keller.minPressBound (decibar)= :Depth_Keller.offset (decibar)= 2Depth_Keller.power (watt)= @Depth_Keller.scale (micropascal)=- t201E:<:=BwA@)~L ~NeC}%G>F=AA=EDECiI I)I)YI]9)YI]9iiiYi DqC;ZCbCjCrCB?B!zB!iqIu;)y)yyyiy)I<=hDeadReckonUsingMultipleVelocitySources.depth (meter)=XDeadReckonUsingSpeedCalculator.depth (meter)=5ZDeadReckonWithRespectToSeafloor.depth (meter)==XNavChart.sea_floor_depth_below_geoid (meter)=M6CTD_NeilBrown.depth (meter)=}bDepthRateCalculator.depth_rate (meter_per_second)=^TempGradientCalculator.thermoclineDepth (meter)=TTempGradientCalculator.targetDepth (meter)Y)۱=NCBIT.binnedDepthRate (meter_per_second)=@VerticalControl.depthCmd (meter)=^VerticalControl.depthRateCmd (meter_per_second)=pVerticalControl.depth2buoyIntInternal (cubic_centimeter)=TVerticalControl.depthErrorInternal (meter)=\VerticalControl.depthIntegralInternal (radian)=VVerticalControl.smoothDepthInternal (meter)=>NavChartDb.closestDepth (meter)=8NavChartDb.nextDepth (meter)=%FlineCaptureHoming.InitDepth (meter)=eVlineCaptureHoming.InitDepthTimeout (minute)=mNlineCaptureHoming.DepthDeadband (meter)=mDlineCaptureHoming.MaxDepth (meter)=uhlineCaptureHoming:StandardEnvelopes.MaxDepth (meter)=}~lineCaptureHoming:NeedComms.SurfaceDepthRate (meter_per_second)n|Ö % [&Ayt>t"R4E}rG)-#=9-<-V-y&1?Mb?))ɀ)) )))I)I)i)-<>F=D Ci )n:)1I59)9I=9AiAYA DqCu;ZC}bCyjCyrC}B}?BzBiI;))i)It "F *F )~0 ~2oC}b{G>Fnpp=rDvPCix 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GA ɀ   ) I I 'i C = >F%))=-D-Ci1 1)5GH:)9I=89)AIE9IiQYQ DYC];ZCebCajCarCeBe?BzBiI;))i)It29E}l>Fvxx=zDz;Ci| |)~:)I9) I ׾9iY D!C%;ZC-bC)jC)rC-B-?BQzBQiiIm;)i)iiiii)qIt&x3E"F(*F()~4 ~4}d>F~=D oCi )U:)IG9)!I%9)i)Y) D1C=;ZC=bC9jC9rCEBE?BizBiiyI};)y)yyi)I< )YQ)aS) Ŗ 37[&Ayt&>t&:E2A2A2A2A}r0GE;EC =9EEy&1{Gz?MbEGAAɀAEx@ EA)AIAIE`iEףF]aa=eDeCii i)m:)qIu9)yI}9iY DC;ZCbCjCrCB?BzBiI;))i)It*2E)~L ~L} G>F=AA=EDEתCiQ Q)Q)YI]Z9)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)I<Ŗ j[&Ayt">t"EEF"@AF$}^ՃG`b%=D;`<9tI +F=D Ci )<:)I9)I9iY DC;ZCbCjCrCB?B!zB!i9I=;)9)999i9)AIMi]>Y))1"!Ŗ DĄ[&Ayt2>t26E6=6=66<)~D ~FeC}vXG>F!!=%D%>Ci1 1)5U:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It27E}nG>Fvxx=zDzqCi ) :) I g9) I 89iY D!C%;ZC-bC)jC)rC-B5?BQzBQiaIm;)i)iiiii)qI}t24E"F2p=*F6p=)~@ ~BoC}rG%:!9!%/$~jt?F=AA=EDECiQ Q)U:)YI]9)aIe9iiiYi DyC};ZC}bCyjCyrCB?BzBiI;))i)I< wA)Y)= Ngot command show variable trackAcoustic_4Ŗ U[&Ayt">t"9E&A&A&A&A{(}-G>F=AA=EDEګCiQ Q)U:)YI]׾9)aIe9iiiYi DqC};ZC}bCyjCyrC}B?BzBiI;))i)I tfx3E)~I ~MeC}ף+=9kt?GAɀ )II 0iL=>F  = D Ci ):)I9)!I%9)i1Y1 D9C=;ZCEbCAjCArCEBE?BizBiiyI};))i)IpAŖ  [&Ayt2>t2+7EF4F4}rՃG>FEAI=MDMACiQ Q)Ub::)YI]9)aIe9iiiYi DyC};ZC}bCjCrCB?BzBiI;))i)IY)۹GŖ [&Ayt">t"{/E&=&=&=*<(()~0 ~4}^G>F  = D tCi ):)I9)!I%׾9)i)Y1 D9C=;ZC=bCAjCArCEBE?BizBiiI;))i)I t2?E}vՃG5D5'=915S㥛Mb?5A1ɀ11 5A)1I1I5/ݼi5=1>FMQQ=UDUCiY Y)]:)aIe9)iIm9qiyYy DC;ZCbCjCrCB?BzBiI;))i)IUt2t7E"F2a=*F2a=)~P ~RoC}ÃG>F=AA=MDMܬCiQ Q)U1:)YI]9)aIaiiiYi DyC};ZC}bCyjCyrCB?BzBiI;))i)I< )Y)۹FZŖ Wxm[&Ayt2{>t26E:A:A:A:A}rXG%%Q8=9%;%X9vL7A`?Mb`?!!ɀ!! !)!I!I%i%+=%;>F=AA=EDECiI I)M:)YI].9)aIe9iiiYq DyC};ZCbCjCrCB?BzBiI;))i)It2/3E)~@ ~@}n0G>F!!=%D%CCi1 1)5:)9I=9)AIE]9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)I=e,got command show stack=e Behavior Stack: =0mPriority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope=0m~Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope=0mPriority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope3mjPriority 3: lineCaptureHoming:NeedComms:B.GoToSurface3uRPriority 4: lineCaptureHoming:NeedComms:C/uHPriority 5: lineCaptureHoming:I.Mass/uPPriority 6: lineCaptureHoming:J.Buoyancy/}>Priority 7: lineCaptureHoming:K/}>Priority 8: lineCaptureHoming:L/}>Priority 9: lineCaptureHoming:MrgŖ 3[&Ayt& >t&o=EF(F(}bjG>F~=DvCi  ) n:)Iv9)I9)i)Y) D1C=;ZCbCjCrCB?BzBiI;))i)Ii>Y)7nŖ [&Ayt"{>t"6E&=&=&=*<(()~0 ~4}~0G=99==QL7A`?99ɀ99 9)9I9I=i9=>FUYY=eDeCii i)m:)qIu9)yI}9iY DC;ZCbCjCrCB?BzBiI;))i)It"2/E{*}=ՃG>F]aa=eDe߭Cii i)ma:)I9)I:9iY DC;ZCbCjCrCB?B)zB)iIIU;)Q)QQQiY)YIet23E"F0*F4)~t ~t}MÃG;<9DI +{Gz?~jthAɀ逽@ )II9iף<D>F=DCi )+:)I9)I=9iY D C;ZCbCjCrCB?B9zBAiQIU;)Q)QQQiY)YIe< uxA)qY))9D Ŗ  [&Ayt2->t2t7E6A6A6A6A}rG>F~ = D ECi ))I9)!I%9)i)Y) D9C=;ZC=bC9jCArCEBE?BizBiiyI};)y)yi)It"01E)~0 ~0}bjG>Frpt=vDvxCix x)z:)|I|)I:!i)Y) D9C=;ZC=bCAjCArCEBE?BizBiiyI};)y)yi)IaŖ UQ<[&Ayt">t"@EF&AAF${(}-{GmmH=9m:mQ롿 rh?MbP?mAiɀim i)iIiIm\imC =m:>FƉƉ=DƍCi )P:)I+9)I9iY DC;ZCbCjCrCB?BzBiI;))i) Ii%>Y)eIŖ ,V[&Ayt2>t2v5E6=6=6p;6<88)~t ~t}A>F}ƁƁ=DƅCi ):)I9)I9iY DC;ZCbCjCrCB?BzBiI;))i)I t&1E}f0G D; =9  Q? 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D)C5;ZC5bC1jC1rC=B=?BazBaiqIu;)q)qqyiy)It"KF~=D 2Ci ):)IG9)!I%.9)i)Y) D1C=;ZC=bC9jC9rC=BE?BazBiiyI};)y)yyyi)I[&Ayt">t"x3E"F&4=*F&a=)~0 ~0}bG>F~=D fCi ):)I!9)!I%׾9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBiiyI};)y)yyyi)I< wA)Y)۹.,ǖ [&Ayt">t"+7E&A&A(*A}bjGD=9&1)\(?Mbp?GAɀ A)IIPiGa=>F!!=%D%Ci) ))-:)1I5x:)9I=9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It2F!!=%D%λCi1 1)5:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)Ii%V>>C9ǖ [&AytN>tR?EFV@AFX}=0G}}+=9}}MbMb?yyɀyy y)yIyI}@i}@=}>Fƙƙ=DƝCi ):)Il:)I9iY DC;ZCbCjCrCB?BzBiI;))i)!I%i5>Y )(@ǖ [&Ayt">t")E&=&=&4=*=)~0 ~0}njG>F!=%D%5Ci) ))-a:)1I5s9)9I=9AiAYA DQCU;ZCUbCQjCQrC]B]?BzBiI;))i)It"v5E}^{G>F!!=%D%iCi) ))))1I59)9I=`9AiAYI DQCU;ZCUbCQjCYrC]B]?BzBiI;))i)It">E"F&p=*F&p=)~0 ~2tC}b0G<9`I +I +?y&1|Aɀx@ )II9i9<`>F!!=%D%Ci) ))-:)1I5A:)AIE!9IiIYI DQCU;ZCbCjCrCB?B!zB!iQIU;)Q)YYYiY)aIe< )xAYQ)YeSǖ t2:E46A6A6A}nՃG>Fvxx=zDzϼCi )) I 9)I]9iY D!C-;ZC-bC)jC)rC-B5?BQzBQiaIm;)i)iiiii)qI}t.KFEAI=MDMCiQ Q)Q)YI]9)aIe9qiqYq DyC};ZCbCjCrCB?BzBiI;))i)Ii]>w`ǖ [&Ayt2>t2:EF2AAF4}G>F=AA=EDE8CiI I)M:)QIU9)aIev9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)IY).fǖ }Λ[&Ayt2 >t2o=E:=:=:=:<)~@ ~D}rÃG>F!!=%D%kCi1 1)5:)9I=b9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It"9E}^XG~D;~<9~`~{GzMb?y&1|~QA|ɀ|~@ |)|I|I~ףi~<~`>F=DCi! !)%+:)1I59)9I= 9AiAYA DICM;ZCUbCQjCQrCUB]?ByzByiI;))i)It6.E"F8*F8{<)~t ~t}M{G>F}ƁƁ=DƅԽCi )a:)I9)I9iY DC;ZCbCjCrCB?BzBiI;))i)I < )Y)Ayǖ _[&Ayt"P>t"y1E&A&A&A&A}M0G;@=9Q롿Mb?GAɀ逍 )II\i=>FƩƩ=Dƭ Ci ):)I9)I9iY DC;ZCbCjCrCB?B zBi!I%;)!)!!!i)))I5t )~0 ~0}bG>F~=D 9Ci ):)I9)aIe9iiqYq DyC};ZCbCjCrCB?BzBiI;))i)Ii%V>2ǖ [&Ayt2>t2Fvxx=zDzmC]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.  -Software Fault 5 9 A i| |)~:Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.  Software Fault    ) I :]%Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 % -%Software Fault)!I%$9 D1C5;ZC=bC9jC9rC=iQIU;)Q)QQQiQY)eIeiu>YY)a-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-!xSoftware Fault in component: DeadReckonWithRespectToSeafloorǖ 6[&Ayt"0>t"(;E&=&=&p;&;*xA()~0 ~0}bXG94=9X9vX9v?ɀ )IIi<>F=AA=EDEC DYC];ZCabCajCarCeiqIu;)y)yyyiy)I< )IiYE)I!eClearing failed state for component DeadReckonUsingMultipleVelocitySources e e e e !eClearing failed state for component DeadReckonUsingSpeedCalculator e !mClearing failed state for component DeadReckonWithRespectToSeafloor1 m bǖ P[&Ayt">t"FBE}^0G>F~=DlInitializing DeadReckonUsingSpeedCalculator component.iY D)C-;ZC)bC)jC)rC5B5?BQzBYiiIm;)i)iiiiq)uSAI}<)ۑ !)!*ǖ 3j[&Ayt2ɓ>t25E"F6a=*F6a=)~@ ~@}njGrzAp%%<9%;%F=AA=EDAiQ Q)Ua:)YI]9)aIe9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)I<)Xǖ [&Ayt2>t2>E6A:A:A:A:R=:p=}r0G>F!!=%D!i1 1)5U:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)I<)qp=ǖ ][&Ayt6C>t6:E)~H ~H}vՃG>F!!=%D!i1 1)5:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)Ii%]>gǖ ~:[&Ayt"U>t"8EF"?AF$}nG%%+=9%:%Zd;OZd;O?MbP?%GA!ɀ!! %A)!I!I%ji%j<%:>F]e?e?=eDe׾Cii i)mz:)qIu9)I9iY DC;ZCbCjCrCB?B!zB!iQIU;)Q)YYYiY)aIe< xA)wAYI)YOǖ H[&Ayt">t"T2E&=&=&=&=)~0 ~0}bՃG>F~=D Ci ):)I$9)yI}9iY DC;ZCbCjCrCB?BzBiI;))i)It2q;E}nG%;%t<9%D%y&1~jt?~jth%A!ɀ!%@ !)!I!I%`ei%D<%D>F=AA=EDE>CiI I)M:)YI]9)aIe9iiiYi DqCu;ZCbCjCrCB?BAzBAiqIu;)q)yyyiy)It2m?E"F2=*F6p=)~@ ~@}njG>Fvxx=zDzpCi ):) I 9)ID9i!Y! 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D)C-;ZCUbCQjCQrCUB]?BzBiI;))i)It"?E$$&C=*p=}^jG>Fnpt=vDvCix x)zn:)|I~9)I]9 i Y  DC;ZCbC!jC!rC%B%?BzBi1I=;)9)999i9)AIME>tB=E)~N= ~RtC}{GEDE9Eף;EMb?Mbp{Gzt?AAɀAA A)AIAIEF}ƁƁ=Dƅ=Ci )<)1I59)YI]9aiaYa DiC;ZCbCjCrCB?BzBi I;))i)I%< 1)1Y )I!i%V>WRAʖ )[&Ayt">t">EF"@AF$}\b=`>Fnpp=rDvnCix x)zU:)|I~9)I9 i Y  DC;ZCbCjCrCB%?BazBaiI;))i)It"t7E&;&4<*vA()~2= ~2oC}^0G>Fnpp=rDvCix x)z:)|I~Q9)I.9 i Y  DC;ZCbCjCrCB%?BzBiI;))i)I t":E}^jGף9<Q?MbMb?=Aɀ A)IIuF=AA=EDECiI I)M:)YI]!9)YI]9iiiYi DqC;ZCbCjCrCB?B!zB!iqIu;)q)yyyiy)Ii>Y) !)!LTʖ 1$S)[&Ayt>t:E"F"p=*F"p=)~, ~.tC}^{GbyA`>Fnpp=rDr Cit t)v:)xIzi9)|I~9i Y  DC;ZCbCjCrCB?BazBaiI;))i)It"Q6E$$(*=}t)-u9-;-y&1?y&1|~jtx?-A)ɀ)) ))-AI)I-`eFơơ=Dƥ@Ci )a:)I9)I9iY  DCU;ZCUbCQjCYrC]B]?BzBiI;))i)I%t"-5E)~< ~>oC}>F=9A=EDErCiI I)MU:)QIU9)YI]9aiaYi DqC;ZCbCjCrCB?BzB!iqIu;)q)qqqiq)yI< )wAY)۱I!i%]>=%dgot command get lineCaptureHoming.InitDepthTimeout=%`lineCaptureHoming.InitDepthTimeout 30.000000 minYgʖ 欠)[&Ayt"ϙ>t"&=EF&AAF&AA{8}m0Gm%=i>Fơơ=DƥCi ):)I)I9iY DC;ZCbCjCrCB?B!zB!i9I=;)9)999iA)AIMt2/3E::p;:wA:vA)~t ~t}MG9:~jtx?~jtxMbP?AɀA xA)II;iĻ:>F=DCi )lK:)ID9)I9 i Y  DC;ZCbCjCrCB%?BAzBIiYI];)Y)YYYia)aImt2>E{8}EjG>F]aa=eDeCiq q)u:)yI}9)I9iY DC;ZCbCjCrCB?BzBiYI];)Y)YYaia)iImYI)Y !)!*{ʖ =)[&Ayt2@>t2Q6E"F0*F4)~t ~vtC}M0GMxAID;9Mb`MbP?fAɀ逍EA )IIi:>FƩƱ=DƵCCi ):)I9)I9iY DC;ZCbCjCrCB?BzBi!I%;)!))))i))1It2V0E44:=8}nՃG>Fvxx=zDztCi ):) I 9)ID9iY D!C-;ZC-bC)jC)rC-B5?BQzBQiaIm;)i)iiiii)qI}t2#AE)~B= ~@}nXG>F!!=%D%Ci1 1)5:)9I=9)AIE9IiIYI DiCu;ZC}bCyjCyrC}B?BzBiI;))i)I< xA)xAY)I!i%Y>?Bʖ >;*[&Ayt&>t&F%))=-D-Ci1 1)5n:)AIE9)IIM9QiQYQ DaCe;ZCebCajCarCeBm?BzBiI;))i)It2:E46p<:vA:wA)~B= ~@}G>F%))=-D-Ci1 1)5}G:)9I=ʽ9)AIEi9IiQYQ DYC];ZCebCajCarCeBe?BzBiI;))i)It2>E}nG==9==Mb`MbP=A9ɀ99 9)=xAI9I=i==>FUYY=]D]DCia a)eU:)iIm9)qIuN:iY DC;ZCbCjCrCB?BzBiI;))i)IiY)۹ !)!<ʖ _*[&Ayt"{>t"6E"F$*F$)~0 ~2oC}bjG``>F~= D vCi ):)I9)!I%v9)i)Y) D1C=;ZC=bC9jCArCEBE?BzBiI;))i)I fʖ :*[&Ayt2ڏ>t20E44:=:=}z{G>FEQY=]DeCiy y)}Q:)I:)I<QiqYy DC;ZCbCjCrCB?BzBi!I%;)!)!!!i!))I5t2:E)~@ ~@}rƄG%<%9%D%{Gzt~jtx~jth!!ɀ!! !)%AI%AI%ףi%Ļ%D>F=AA=EDECiI I)Ma:)QIU:)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)I< )Y)I%R>i%]>?xʖ *[&Ayt2>t2KF}ƁƁ=DƅCi ):)I9)I9iY DC;ZCbCjCrCB?BzBiI;))i)I t"q;E&=$(()~d ~ftC}-G m@ m m@ m m@ u u@ u u@ u@ u@ u@ u mB m)mmMb@Mb@Mb@mmɀmi m)mImImim‰m>FƑƑ=DƕGCi )%>)I9iY DC;ZCbCjCrCB?BzBiI;))   i )It2/3E{4}EG>F}yƁ=Dƅ{Ci )N?)IS:iY DC;ZCbCjCrCB?BzBiI;))i)Ii>Y) !)!wʖ ܂$+[&Ayt"~>t"M:E"F&=*F$)~d ~foC}MGUyAQ>Fƙƙ=DƥCi )*?)I_:AiAYA DqC};ZC}bCyjCrCB?BzBi9I=;)9)99AiA)iIu+[&Ayt">t"*9E((.=2p=} E E E E M M M M M M M M M MM}=9MM/$ ףp= ?MzAMɀMI MXA)MAIMIAIM,iMQ8=M>Feii=mDmCiq q)uXD:)yI}9)I`9iY DC;ZCbCjCrCB?BzBiI;))i)It2r9E)~P ~RtC}>F=AA=MDMCiQ Q)U:)YI]׾9)aIe9iiiYi DyC};ZC}bCyjCyrCB?BzBiI;))i)I< )wAY)۹I!i%V>ʖ {r+[&Ayt2>t29EF0F6@A}rjGr=r%=%D%+=9%D;% ףp= J +?~jth?%A!ɀ!! %A)%xAI!I%Q8i%H=%D;>F=AA=EDEICiI I)M:)YI]9)aIe9iiiYi DqCu;ZCbCjCrCB?B!zB!iQIU;)Q)YYYiY)aIet2&=E6C=6=:wA:vA)~@ ~BoC}r{G>Fzx|=~D~{Ci ):) I 9)I89iY! D)C-;ZC-bC)jC1rC5B5?BYzBYiiIm;)i)iqqiq)yI}tNr9E}a;9&1/$?Mb`Aɀ逡 )AIAIPi,=>F=DCi ):)I9)I9iY DC;ZCbCjCrCB?B!zB!iI;))i)IY) )= got command stopN ^Stop Mission called by CommandLine::commandStop,ʖ +[&Ayt">t">E"F&a=*F&a=)~2= ~2tC}`fxAd>Frtt=zDzCi| |)~D:)I9)Ie9iY D)C-;ZC-bC1jC1rC5B5?BYzBY#e8MissionManager is completed.#ePUninitializing Mission lineCaptureHominge/eRAggregate::uninitialize lineCaptureHoming1e 0evAggregate::uninitialize lineCaptureHoming:StandardEnvelopesqe0eNUninitialize AltitudeEnvelopeComponent.m 1mUninitialize.m1mNUninitialize OffshoreEnvelopeComponent.m3mfAggregate::uninitialize lineCaptureHoming:NeedCommsqm4mDUninitialize GoToSurfaceComponent.mm9mlAggregate::uninitialize lineCaptureHoming:SurfaceCommsqm:upAggregate::uninitialize lineCaptureHoming:SurfaceComms:B1u t"+7E$$&C=&=}^0G>F~=DCi )I:)I9)!I%9)i)Y)#5.Started mission Default115 (5:Aggregate::initialize Default5 )5@Initialize GoToSurfaceComponent. )=No depth rate setting specified. Using default value of nan m/s. )=~No pitch setting specified. Using default value of nan degrees. )=No speed setting specified. Using default value of 1.000000 m/s. )ENo surface timeout specified. Using default value of 1000.000000 seconds.)EnReceived pitch timeout configuration 60.000000 seconds.qE(M4Initialize Wait Component.iMIIIiYI];)Y)YYaiaa)mImc>t>V0E)~N= ~NoC}~jG=;==9==Zd;Okt?=GA9ɀ99 =A)=xAI=IAI=jFUYY=]D]LCia a)e:)qIu9)yI}9iYiiI;))i)I< )IiI%V>i%a>YE)I&˖ 7 ,[&Ayt">t"8E{$}-{G-4=-4=>F=EE=EDAiQ Q)U:)YI]9)aIe9iiiYiiqqqqiI;))i)I<)۩R ˖ e',[&Ayt>>tB>ENF=Di ):)I9)I9 iYii!I-;))))))i)1)1I=<)I(8˖ @,[&Ayt"̖>t"r9E{(}=G>Fmqq=uDqi )7:)Is9)I9iYiiI;))i)I<) !)!b˖ KZ,[&Ayt2>t2?E)~d ~ftC}-G5yA1>F]aa=eDaii i)m+:)qIu 9)I9iYiiI;))i)I<)˖ t,[&Ayt"̖>t"r9E&A&A&A&A*=(}^ՃG9TMb?I +:v\Aɀ@ A)IIAIF]aa=eDaii i)m:)qIul9)I9iYiiYI];)a)aaaiai)iIu<)}#˖ 衎,[&Ayt>t:E)~( ~(}VÃG>Fvxx=zDxi ):) I X9)I.9iYi!!!!i1I5;)9)999i9A)AIE<)YI]>iY>)˖ xb,[&Ayt.+>t.3E}fGj%=j%=#9~jt?MbP?Mbɀx@ IA)IIDF-)1=5D1iY Y)]? :)iIm9)iIm;iYiiI;))i)I<)\0˖ 3,[&Ayt"P>t"y1E&=&=&4<&=*wA()~2= ~0}bՃG>F~= D i ):)I9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<)i 6˖ ,[&Ayt*>t*x3E}fG>Fjpp=rDpit t)va:)xIzs9)|I~9iY i  iI;)!)!!!i!)))I5<)A )))<˖ p,[&Ayt"->t"t7E)~2= ~0}nGpp%%#9!%~jtx?y&1|Mb%(A!ɀ!! %A)%xAI%AI%;i%`廉!>F=AA=EDAiI I)I)QIU:)YI]G9iiiYiiqqqqiI;))i)I<)ۡrC˖ -[&Ayt">t"F599==D9iA A)A)IIM9)QIU89aiaYaiiiiiiqI};)y)yyyiy)I<)ۙI˖ )-[&Ayt"H>t"kAE)~4 ~8}bÃG%ף;%=9%D;%QI +?~jth?%A!ɀ!%M@ %A)%AI!I%i%9<%D;>F=AA=EDAiI I)M:)QIU <)I{9iYiiI;))i) I <)!I%V>i!P˖ t|C-[&Ayt*>t.x3E{D}EGM=M=>F}ƁƁ=DƁi ):)I9)I9iYii9I=;)9)999i9A)AIM<)YV˖ :W]-[&Ayt2n>t2$?E6=6=:;:4<88)~t ~t}MՃG>FUaa=eDaii i)m:)qIu9)yI}`9iYiiI;))i)I<)@3]˖ ]w-[&Ayt~>tM:E}RGv`v 0=9v#<vF  = D i ):)!I%s9))I-91i1Y1i9999iIIM;)I)IIQiQQ)YI]<)q )d˖  -[&Ayt20>t2(;E{4)~v= ~t}MՃGUxAQ>Fơơ=Dơi )U:)I{9)I9iYiiI;))i)I<)=zgot command load ./Missions/Engineering/lineCaptureHoming.xml#%zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml]a#enDefineArg lineCaptureHoming.MissionTimeout = 4.000000 hu)q#}tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 mini#fDefineArg lineCaptureHoming.Repeat = 1.000000 count#`DefineArg lineCaptureHoming.DockLat = nan arcdeg!#`DefineArg lineCaptureHoming.DockLon = nan arcdeg%)#bDefineArg lineCaptureHoming.StartLat = nan arcdeg)i#bDefineArg lineCaptureHoming.StartLon = nan arcdeg-#pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1#fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5)#dDefineArg lineCaptureHoming.DockRange = 4.000000 m9 i # jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=  #% DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minA  # jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE  @ # tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minI @ # jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM *@ # xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQM :@M >@#U fDefineArg lineCaptureHoming.InitDepth = 30.000000 mU J@ # xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minY Z@ # xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count] j@ # tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta @ # pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole @ #% `DefineArg lineCaptureHoming.Speed = 1.000000 m/si- @) #5 lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m;j˖ d-[&Ayt"n>t"$?E"A&A&A&A&C=&p=mR@P#VhDefineArg lineCaptureHoming.MinAltitude = 5.000000 mqZ@X#^fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m}-Gu;u#9utu{Gzt?FƑƑ=DƑu@#jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy@#hDefineOutput lineCaptureHoming.HomingActive = 1 booli )D:)I9)I9iYI ;i )   i }@#%jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool-@-)QI]<)i#dDefineOutput lineCaptureHoming.DoingComms = 0 bool A#pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#lInserting Stack: Missions/Insert/StandardEnvelopes.xml!"A#DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m! 2A i@#DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!EBAA#MDefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m0U6Construct AltitudeEnvelope. 10Construct DepthEnvelope.1U6Construct OffshoreEnvelope.#\Inserting Stack: Missions/Insert/NeedComms.xml B @# ~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h B @# DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min B # DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg B # DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s B #e DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/su Cq #u ~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min C # DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4 ,Construct GoToSurface.$q˖ -[&Ayt>t"!CE{, F]aa=eDaii i)m:)qIu9)yI}9iYI;i)i)IJ]&Construct Waypoint.a%a% a% K Construct.%e LmConstruct Wait. O"Construct SetNav.'''O-Construct Wait. R&Construct Waypoint. SConstruct Wait.#I Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =fLoaded ./Missions/Engineering/lineCaptureHoming.xml Nw˖ -[&Ayt"k>t"q;E}IM4=M%=>Fƹ=Di )+:)Ip:)IS9iYiiI;))  i  )I<))(w}˖ lz-[&AytB>tBF]aa=eDaiq q)u:)yI}:9)I9iYiiI;))i)IU<)i^˖ T.[&Ayt">t"*9E}^jG>F~= D i ))I9)!I%]9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i !)!^˖ 1,.[&Ayt"ϙ>t"&=E)~, ~.oC}^GbyA`D;j<=9Q롿Q?Aɀ )II\i<>F!!=%D!i) ))-:)1I5:)9I=l9AiIYIiIQQQiYIe;)a)aaaiai)iIu<)ہ+q˖ g F.[&Ayt" >t"#AE&A&A&A&A(*=}^G>F~=Di ))I.9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)iᚗ˖ _.[&Ayt&>t*+7E)~6= ~6tC}fG>F~= D i ):)I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)iI!i%Y>˝˖ Qy.[&Ayt*2>t*>E}zG||9==9==Q:v?Mb=zA9ɀ9=@ =A)=xAI9I=i=<=>FUYY=]DYia a)ea:)iIm9)qIu9yiYiiI;))i)I<)۹:˖ .[&Ayt">t"4E&=*=*<*<:xA8)~B= ~@}rjG>F=AA=EDAiI I)M+:)QIU_:)YI].9iiiYiiqqqqiI;))i)I<)۩=- Fgot command show variable InitDepth֪˖ Ov.[&Ayt">t"9E}bGY=9;~jt~jt?Mb`?Aɀ A)IIi=;>F=AA=EDAiQ Q)U:)I9)I:9iYii!I%;)!)!!!i!)))I5<)i=FlineCaptureHoming.InitDepth (meter)=VlineCaptureHoming.InitDepthTimeout (minute) !)!k˖ T.[&Ayt"C>t":E{$)~d ~foC}-G-xA)>F]aa=eDaii i)m:)yI}!9)yI}9iYiiI;))i)I<)A˖ M-.[&Ayt"ϙ>t"&=E&A&A&A&A*=*=}-jG>F]aa=eDaii i)m:)qIu9)I9iYiiI;))i)I<)˖ 1.[&Ayt">t"9E)~0 ~0}^G;h=9DA`"Mb?~jthAɀ A)AIIYi@=D>F=AA=EDAiQ Q)U:)YI]v9)aIe9iiiYiiqqqqiI;))i)I<)۩I%R>i!:˖ /[&Ayt2@>t2Q6E}nÃGll>F!!=%D!i1 1)5I:)9I=9)AIEi9IiIYIiQQQQiaIe;)a)aaiiii)qIu<)ۉ~&˖ ./[&Ayt"ќ>t"@E&=&=&p;&<*wA()~2= ~2tC}^Gt=9;~jtZd;?Mbp?ɀ )IIDiy=;>F!!=%D!i) ))-:)1I5:)9I=9AiIYIiIQQQ(UDone Waiting.qU(U8Uninitialize Wait Component.iaIe;)a)aaaiii)iIu<)ہ ˖ H/[&Ayt">t"AE}ՃG>F!!=-D)i1 1)1)9I=9)AIEv9IiIYIiQQQQ])}JAggregate::initialize Default:CheckIn1}iI;))i)I<)۩ !)!7˖ hwb/[&Ayt">t":E)~, ~,}ZÃG\p>F%11==D9iA A)E7:)IIMs9)QIU׾9YiYYaiaiiiiqIu;)y)yyyiy)I<)ۡa˖ R|/[&Ayt"̖>t"r9E&A&A&A&A*R=*R=}^G+=9:MbZd;O?MbP?ɀ )II@ij<=:>FYY=eDaii i)m:)qIu9)I9iYiiI;))i)I<)%I˖ +/[&Ayt">t"6E)~2= ~0}^G>F~= D i )I:)I:9)!I%v9)i)Y)i1111iAIE;)A)AIIiII)QIU<)iI%V>i%]>s˖ /[&Ayt">t"F=Di ):)I$9)YI]9aiaYaiiiiqiI;))i)I<)![˖ /[&Ayt2ߕ>t2O8E6=6=66<88)~v= ~t}I>FUaa=eDaii i)m:)qIu9)yIyiYiiI;))i)I<).˖ /[&Ayt"X>t"Fnpp=rDpix x)z':) I j[:)Iʇ:9i9YAiQQQYiqI};))i)I<) !)!˖ $/[&Ayt2>t2= ~>oC}nՃGnyAryA%%9%%Mb`?%GA!ɀ!% %A)%AI%AI%;i%%>F5AA=EDAiI I)M:)QIU9)YI]:9aiiYiiiqqqiyI;))i)I<)ۡ<̖ s0[&Ayt*>t*/3E.A.A.A.A02C=}fÃG>F~= D i ):)I9)!I%]9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i" ̖ 8M10[&Ayt">t"KFuƙơ=Dơi ):)ID:)I9iYiiI;))i)I<) I!i%R>̖ *K0[&Ayt2>t0}{G4=>F%))=-D)i1 1)5:G:)AIE9)AIED9QiQYQiYYYYiiIm;)i)iiiiqq)qI}<)ۉl̖ e0[&Ayt">t"8E&=*=**;(()~:= ~8}x>FEQQ=Di ):)I9)IQ9iYii I ;) ) i)I<)1s̖ n~0[&Ayt">t"F=Di) ))-a:)1I59)1I5$:AiAYAiIIIIiYI];)Y)Yaaiaa)iIm<)ہ !)!;%̖ ^0[&Ayt"0>t"(;E)~, ~,}^jGbxA`>Fnpp=rDtix x)z:)|I~Q9)I9 i Y ii!I%;)!))))i)))1I5<)IB,̖ 0[&Ayt"̖>t"r9E"A&A&A&A&C=&=}^{GY9~jt?lMbPAɀ )IAI=i>F5YY=]DYii i)m:)qIu9)yI}9iYiiI;))i)I<)?2̖ t0[&Ayt">t"KFnpp=rDtix x)za:)|I~9)I9 i Y ii!I%;)!))))i)))1I5<)II%R>i%Y>H%9̖  \0[&Ayt>>t@}=ՃG=%=9}:}9};}y&1?Mb~jtx?}=Ayɀy}EA y)yIyI}`eFƙƙ=Dƙi ):)IG9)I!9iYi  iI;))!i!!))I5<)A @̖ )1[&Aytby>tb2Ef=f=ff4F]aa=eDaii i)m:)qIuv9)yI}G9iYiiI;))i)I<)4F̖ 1[&Ayt">t":E{&}=0G>F]aa=eDaii i)m:)yI}9)yI}9iYiiI;))i)I<) )))^L̖ m31[&Ayt"->t"t7E)~d ~d}-G11;949Dy&1? rh~jthGAɀ逝 A)II`F=Di )n:)It;)I9!i!Y!i))))iYI];)Y)YYaiaa)iIm<)ۡbES̖ =M1[&Ayt">t"6E&A&A&A&A*=*=}fՃG>Frpt=vDtix x)z:)|I~9)I9 i Y ii!I%;))))))i)1)1I5<)IUqY̖ g1[&Ayt2>t2R4E)~B= ~@}rXG--`9-D;-{Gz?{Gz~jth?-pA)ɀ)) )))I-AI-ףFEII=MDIiQ Q)U :)yI}9)Ii9iYiiI;))i)I<)I%V>i!=tgot command set lineCaptureHoming.InitDepth 0.000000 meter:@VX`̖ r1[&Ayt"U>t"8E}Z0G^4=\>Frtt=vDtix x)zS:)I&%:) I 9iYiAAAAiQIU;)Q)QQQiy)I<)۹uf̖ oI1[&Ayt"ܒ>t"4E&=&=&p;&<(()~0 ~2tC}bjG>Frpt=vDtix x)za:)|I~v9)I9 i Yii!I%;))))))i)1)1I=<)I>l̖ W'1[&Ayt">t";E}^0G~~=9~t<~~jtQ?F99==D9iI I)M:)QIU9)QIU9iYiiI;))i)I<) !)!js̖ 1[&AytB0>tB(;E)~N= ~L}~G~yAxA>F!!=%D!i) ))-:)9I=i9)AIE9IiIYIiQQQQiaIe;)a)aaiiii)qIu<)ۉAy̖ 1[&Ayt"~>t"M:E$&A$&A*R=*=}ՃGU:U99U:UQ? rhMbP?UAQɀQU UA)QIUAIUuF}ƁƁ=DƉi )1:)Ia:)I :iYiiI;)!)!!!i!))1I]<)ۑ+̖ 2[&Ayt"0>t"(;E)~6= ~4}fG>Fnpp=vDtix x)z:)AIE9)AIE:9QiQYQiYYYYiiIm;)i)iiiiqq)yI}<)ۉI%R>i%V>mІ̖ 2[&Ayt" >t"o=E}jՃGn=l>F!!=%D!i) ))-U:)1I59)9I=9IiIYIiQQQQiI;))i ) I<)!̖ m62[&Ayt"~>t"M:E&=*=*<*p<*xA,{,)~f= ~d}-XGmף;mj<9mmV-?FƉƉ=DƉi )z:)I9)Ii9iYi9999iAIM;)I)IIIiIQ)qI}<)ۉ̖ HP2[&Ayt">t"/3E}-0G>F]aa=eDaii i)m:)qIu9)yI}9iYiiI;))i)I<) !)!( ̖ h$j2[&Ayt20>t2(;E)~< ~@}njGrxAp%;% 09%;%V-?MbMb`?!!ɀ!! !)!I!I!i%%;>F=AA=EDAiI I)M:)QIUS:)YI]G9iiiYiiqqqqiI;))i)I<)̖ۡ 2[&Ayt"->t"t7E$&A$&A*C=(}^G>F~= D i ):)I9)!I%i9)i)Y)i1111iAIE;)A)IIIiII)QIU<)iL̖ vߝ2[&Aytߕ>t"O8E)~6= ~4}fG>F~=Di  ) +:)I!9)I9)i)Y)i1111iAIE;)A)AAAiAI)IIU<)aI%V>i!OH̖ 2[&Ayt6>t6J>E} G < MDM949MD;M rh?V-~jth?IIɀII I)IIIIMC =iMMD;>Feii=mDqiy y)}z:)I9)I9iYiiI;))i)I<)F0̖ q2[&Ayt">t":E&=&=*p;*;*wA()~6= ~4}^jG>F=AA=EDAiI I)MU:)QIU9)YI]9iiiYiiqqqqiI;))i)I<)ۡZ̖ 'k2[&Ayt2E>t2=E}nGԼ9<{Gz? rhMb?zAɀ逝E@ )IAIףF=Di  ) a:)I9)9I=.9AiAYAiIIQQiYI];)a)aaaiai)iIu<)ۡ !)!B̖ I3[&AytB >tB#AE)~N= ~L}~ÃG|>F!!=%D!i1 1)5+:)9I=9)AIEi9IiIYIiQQQQiaIe;)a)aaiiii)qIu<)ۉl̖ t$3[&Ayt">t">E &A$&A&a=&R=}^]G>Fnpp=vDtix x)z:)|I~9)I]9 i Y iiAIE;)A)AIIiII)QIU<)۩ٕ̖ &83[&Ayt">t"01E)~0 ~0}bBG<994<:vy&1?I +?Aɀ@ A)xAIAITi`e<94<>F=AA=EDAiQ Q)Ua:)YI]l9)I9iYiiI;))i)I<))I!i%]>~̖ R3[&Ayt">t"AE{$}-ՃG-=)>F=AA=EDAiI I)M:)YI]׾9)aIe9iiiYiiqqqqiI;))i)I<)̖ pl3[&Ayt">t">E&=&=&;&4<$()~d ~foC}-Gm:m9<9m#<mMbQ?{Gz?mzAiɀii i)mAImAImimuFƉƉ=DƑi ):)I9)I9iYii I ;) )iQ)YI]<)iM̖ 3[&Ayt&f>t& 4E}bjG>Frpt=vDtix x)z:)|I~9)I]9 i Y ii!I%;)!))))i)))1I5<)I !)!}̖ bj3[&Ayt"C>t":E)~4 ~:tC}v{Gtt>F~= D i )n:)Iv9)!I%i9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i2̖ C3[&Ayt"C>t (*A(*A:C=:C=}r0G--<9-<-:v:v?Mb?-A)ɀ)) ))-xAI-AI-Ti-T<-<>FEII=MDIiQ Q)UȈ<)ID9)I!9iYi1999iAIE;)A)IIIiII)qI}<)ۉ̖ 3[&Ayt">t"v5E)~2= ~0}bjG>F~= D i ):)I9)!I%i9)i)Y)i1111iAIE;)A)IIIiII)QIU<)I%R>i%V>̖ 3[&Ayt">t"8E}^{G^%=^4=~~t9~~F=D!i) ))-:)1I59)9I=9AiAYAiIIQQiYIe;)a)aaaiai)iIu<)ہ ͖ g4[&Ayt"0>t"(;E&=&=&;&4<*uA()~2= ~0}b0G>F~= D i )a:)I9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<)i=egot command set lineCaptureHoming.InitDepthTimeout 30.000000 secondJ@e>@/͖ B!4[&Ayt2~>t2M:E}nՃG>F!!=%D)i1 1)5:)9I=9)AIE9IiIYIiQQQQiaIe;)a)aiiiii)qIu<)ۡ %@A)!2͖ ;4[&Ayt2n>t2$?E)~< ~@}nGryAp%`;%<9%D;%~jt{Gz?~jth?%A!ɀ!%@ !)%xAI%AI%i%#<%D;>F=AA=EDAiI I)M:)QIU(:)YI]`9iiiYiiqqqqiI;))i)I<)ۡc͖ bgU4[&Ayt&U>t*8E(.A,.A,2a=}fjG>Fnpp=vDtix x)z:)I9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)ۉUD͖ Ao4[&Ayt"h>t"7E)~2= ~2oC}nG%ף;%;9%%{Gzt~jthMbp%A!ɀ!% %A)!I%IAI%ףi%D%>F=AA=EDAiI I)Mn:)QIU9)YI]9aiiYiiqqqqiyI;))i)I<)ۡI%V>i%Y>,"͖ K4[&Ayt"U>t"8E}^G\^%=>F%))=-D)i1 1)5{<:)9I=89)AIE]9IiIYQiQYYYiaIm;)i)iiiiiq)qI}<)ۉ]V(͖ +4[&Ayt">t"6E&=&=$&<*xA()~2= ~2tC}b{G>Fn=Di  ) U:)I:)I9)i)Y)i1111iAIE;)A)AAAiAI)IIU<) ?.͖ JҼ4[&Ayt">t"8E}~0GףD;9DMb`?{Gzt?~jthGAɀ送 A)AIAI;iף;D>F=Di! !)%:))I-9)1I599iAYAiIIIIiYI];)Y)YYYiYa)aIm<)y %?A)!h5͖ }4[&Ayt">t"R4E)~, ~,}^jG``>Ffhh=jDhip p)p)tIvs9)tIv9|i|Y ii!I%;)!)!!!i!)))I5<)An;͖ U4[&Ayt"S>t"-5E&A&A&A&A*a=*=}^ƄG9494<9Q?Mb`ɀ )IIiu<>F!!=%D!i) ))-:)1I59)9I=l9AiAYIiIQQQiYIe;)a)aaaiai)iIu<)ہ= Dgot command show variable SpeedCmdzB͖ f 5[&Ayt& >t&o=E)~>= ~<}nBG>F~=D i ):)Iv9)!I%9)i)Y)i1111iaIe;)a)aiiiii)qIu<)۩=PSpeedControl.speedCmd (meter_per_second)I!i%V>H͖ D$5[&Ayt"ɓ>t"5E{,}UjGe4=a>F=Di )ʢ:)I9) I D9iYi!!!!i)I-;)1)111i19)9IE<)QN͖  >5[&Ayt"H>t"kAE$&=&&4<*wA()~~= ~|}]0G`e9<9;~jtx:v?Mbp?ɀ這 )xAIIAIĻi<;>Fƹƹ=Dƹi )+:)I9)I9iYiiI;))i) I <)!wU͖ W5[&Ayt"h>t"7E}^jG>F~= D i )U:)I:)YI]9iiiYiiqqqqiI;))i)I<)ۡ !)![͖ [q5[&Ayt2̖>t2r9E{4)~t ~t}M0GII``e<9{GztQ?ɀ A)I|AIףiu<>F=Di ):)I_:)IiYi  iI;)!)!!!i!)))I-<)Ab͖ 65[&Ayt">t"/E&A&A&A&A*R=*p=}-G>F]aa=eDaii i)i)qIu9)yI}9iYiiI;))i)I<)h͖ 5[&Ayt"ԟ>t"DE6MT Queue status failed to be acquired within timeout. Will not retry this session.)~D ~D}<9D:vy&1?~jthzAɀ选 IA)IITi`e<D>FƩƩ=DƩi ):)I9)IiYiiI;))i)I<)I%R>i%Y>o͖ c5[&Ayt"̖>t"r9E}\\\>F~=D i ):)I`9)!I%v9)i1Y1i9999iIIM;)I)IIIiIQ)QI]<)i<v͖ h@5[&Ayt"->t"t7E&=&=&p;&<((^Fix Requested)~d ~d}-ՃG>F=AA=MDIiQ Q)U_/:)YI]ʽ9)aIeQ9iiiYiiqqyyiI;))i)I<)۩.|͖ 5[&Ayt&+>t&3E}bXG  9<9  MbQ?Mbp  ɀ   ) I I i u< >F%!)=-D)i1 1)5:)9I=9)AIE9IiIYQiQYYYiiIm;)i)iiiiqq)qI}<)ۉ !)!͖ { 6[&Ayt2ϙ>t2&=E)~< ~<}~G|>F =Di )D:))I-9))I-i91i9Y9iAAAAiQIU;)Q)QQQiQY)aIe<)qC͖ D&6[&Ayt.>t2:EBAFAFAFAVa=V=}MG;<9ף~jt?{GztAɀ這 A)II̼i<ף>FƱƱ=Dƹi ):)Is9)I9iYiiI;))i)I<)(͖ m@6[&Ayt">t";E)~0 ~0}^G>F~=D i ):)I9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<)I%V>i%V>S͖ ׆Z6[&Ayt2>t2:E}jGll>Fvtx=zDxi| |)~7:)I9) I ʽ9iYi!!!!i)I-;)1)111i19)9IE<)Q|͖ `t6[&Ayt"X>t"F!!=%D!i) ))-a:)1I5:)9I=G9IiIYIiQQQQiaIe;)a)aaaiii)iIu<)ہd͖ C;6[&AytB >tB#AE}moG>F}ƁƁ=DƁi )U:)I9)I9iYiiI;))i)I<) !)!͖ _$6[&Ayt.S>t.-5E)~` ~d}-BG-xA)<9S㥛F=Di )n:)I9)I9iYii I ;) )111i19)9IE<)q= Xgot command report mod SpeedControl.speedCmd*a code=08CA owner=0048 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 /w͖ 6[&Ayt">t"+7E&A&A&A&A&C=*=}^jG>Fnpp=vDtix x)z<:)|I~v9)I9 i Y iiaIe;)a)aaaiai)iIu<)ۡ$DSpeedControl.speedCmd 0.000000 m/sԠ͖ 6[&Ayt"̖>t"r9E)~0 ~0}nG>Fvxx=zDxi ):) I 9) I ʽ9iYi!!!!i1I5;)1)111i19)AIE<)QI-x>i-e>˼͖ ֪6[&Ayt">t"*9E}ZG^%=\!%/<9!%~jtQ?~jtx%A!ɀ!! %A)!I!I%ļi%uF59A=EDAiI I)Ma:)QIU9)YI]9aiaYiiiqqqiyI;))i)I<)ۡղ͖ M7[&Ayt">t"R4E&=&=&<&<(()z6Iz6iz6 z6z6.)~@ ~@}njG>F = D i ):)I9)!I%i9)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)͖ ^)7[&Ayt"U>t"8E}^0G|~<9|~Mb?~jtx||ɀ|| |)|I|I~̼i~<|>F))=-D)i1 1)5@:)AIE9)AIE9QiQYQiYYYYiiIm;)i)iiiiqq)qI<)ۑ !)!*͖ :C7[&Ayt">t".E^Fix Requested)~d ~d}%G!!>F]aa=eDaii i)mU:)yI}9)I9iYiiI;))i)=$got command report$vDUSBL_Hydroid.acoustic_contact_range reporting when touched$VDUSBL_Hydroid.xAngle reporting when touched$NSpeedControl.speedCmd reporting changesI<)F͖  ]7[&AytFܒ>tF4ENANANANA^a=`fParsing RMC sentence: $GPRMC,235850.00,A,3648.16268,N,12147.28012,W,0.058,0.00,250319,,,A*7E {jY|jZ&Ay|jOx?|jl;|je>fB@nr^nhGPS fix at 20190325T235850: (36.802711, -121.788002) |jn<)|j}MjG>F]aa=eDaiimOx?ml;)iYi i)mL:IiI}Ox?i}l;yy)yI}k:iy! e! i! m! qIOx?il;)I:i??i??YA1qiiI;))i)I<)n͖ Nv7[&Ayt">t"FƩƩ=DƩi )7:)I9)I9)?i)?YiiI;))i)I<)I%V>i%V>;͖ d7[&Ayt"X>t&F=%D!i) ))-U:)1I59)9I=9AiAYAiIIIIiYI];)Y)aaaiaa)iIm<)͖ۡ 7[&Ayt"H>t"kAE)~.= ~,}^jG;<9`I +y&1?y&1|Aɀ A)IIi`e<`>F!!=%D!i) ))-a:)1I5:)9I=G9IiIYIiQQQQiaIe;)a)aaaiii)iIu<)ۉ  ) ͖ h7[&AytvX>tvFơơ=Dơi ):)I9)I9Lq?iLq?YiiI;))!!!i!!))I-<)Ax͖ 7[&Ayt">t"+7E&A&A&A&A)~2= ~2tC}`bwAd  <9 Ļ /$:v?~jtx  ɀ   ) I I i T< Ļ>F%))=-D)i1 1)5Ԛ;)YI]9)aIe9mbq?imbq?YqiiI;))i)I<)KΖ lz8[&Ayt"k>t"q;E}nG>F~= D i )+:)I9)!I%9-Fq?i-Fq?Y)i1119iAIE;)I)IIIiIQ)QIU<)ۉ=5 got command run== Running I i e>Ζ GZ8[&Ayt">t">E)~.= ~.oC}^G>F =Di9 9)= :)AIE9)IIMi9Uq?iUq?Yy1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckInq#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq0JInitialize AltitudeEnvelopeComponent. 1DInitialize DepthEnvelopeComponent.1JInitialize OffshoreEnvelopeComponent.1 <Initialize.q<xInitialize ReadDataComponent to sense acoustic_contact_range >Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame=tInitialize ReadDataComponent to sense platform_orientation =xInitialize ReadDataComponent to sense height_above_sea_floorq D1C;B1q1B?B9zB9EqEIU;iu9)qqqiq)}SAI<)$DSpeedControl.speedCmd 1.000000 m/s) Ζ n578[&Ayt"2>t">E&=&=&p;&<}^ՃG^4=^%=~ף;~<9~`~Qy&1|?y&1|~(A|ɀ|| |)~AI|I~ui~`;~`>F=Di ):)Ii9)I.9iY DCBi@qBBazBaI;i)i)I<)uΖ  Q8[&Ayt">t"Frpt=vDtix x)zU:)|I~9)I9 i Y  D9C9BAEqEBABzBI=;i9)99AiA)IIMtKF 1==D9iA A)E+:)IIM9)QIU ;iY DCC @qBByzByI;i)i)It" 2E$&A$&A)~, ~2tC}^GbxA`>Fnr?r?=rDvCix x)z:)|I~D9)I9 i Y  DCCq#%F%nAggregate::initialize lineCaptureHoming:StartingMissionB!BizBiI;i)i)It"*9E}^ՃG>Fnpp=rDrCix x)z:)|I~]9)I i Y  D9C9=9=hAggregate::initialize lineCaptureHoming:SurfaceComms1ECE1EqE:ElAggregate::initialize lineCaptureHoming:SurfaceComms:BBABzBI;i)i)I<>0>y5w:I==i=R=Y))I Y>i V>w-Ζ }8[&Ayt"0>t"(;EF"AAF )~, ~.oC}^G~ף~<9~~Mb`F=AA=EDECiI I)M:)yI}9)I9r?ir?Y DC3bAggregate::initialize lineCaptureHoming:NeedCommsq4@Initialize GoToSurfaceComponent.4HReceived depth rate setting nan m/s.4RReceived pitch setting 19.999999 degrees.4HReceived speed setting 1.000000 m/s.4No surface timeout specified. Using default value of 1000.000000 seconds.4nReceived pitch timeout configuration 60.000000 seconds.1ZCbCjCrC4last time_fix was: 1553558330.000000 second since 1970/01/01T00:00:00Z 1B?B9zB9iMXz:IU;)Q)QQYiY)YIew:Y)ۉm_4Ζ 6W8[&Ayt">t"9E&=&=&&p<}jjGll>F!!=-D-Ci1 1)5+:)9I=9)AIE9Mr?iMr?YI DQC];ZC]bCYjCYrC]eBe?BzBiI;))i)I<=Sending 62 bytes from file Logs/20190325T233344/Courier0016.lzmaYI)Y?:Ζ 18[&Ayt2>t2AE)~>= ~@}~0GE94E<9Eף;Ey&1|Zd;O?{Gzt?EGAAɀAA EA)ExAIEIAIE`iEjFUYa=eDeOCii i)m:)qIu9)yI}9r?ir?Y DC; 5\Initialize ReadDataComponent to sense time_fixZCbCjCrCB?BzBiI;))i)I< xA)wAY)  ) XqAΖ $ 9[&Ayt">t"9E"F *F$}ZG>F~=DCi ):)I9)!I%9)i)Y) D1C5;ZCbCjCrCB?BzBiI;))i)I<5xMoved sent file to Logs/20190325T233344/Courier0016.lzma.bak5$SBD MOMSN=10244554Y)KGΖ 9[&Ayt2č>t2W.E46A:xA8)~B= ~BtC}pryAp>Fz||=~D~Ci ):) I 9)ID9!i!Y! D)C-;ZC5bC1jC1rC5B5?BYzBYiiIm;)i)qqqiq)yIt2:EnFix Requested}EjGף;9Mb?ɀ选 )AIAIi<>FƩƩ=DƭCi ):)Ig9)I9iY DC;ZCbCjCrCB?BzBiI;))i)Ii ]>.TΖ VS9[&Ayt2f>t2 4EF0F4>Parsing RMC sentence: $GPRMC,235858.00,A,3648.16257,N,12147.28059,W,0.156,0.00,250319,,,A*7A {@Y|BZ&Ay|B"g?|B~;|B!XU/fB@nr^FhGPS fix at 20190325T235858: (36.802709, -121.788010) |B[=)|@)~P ~P}{G>F =DCi!%"g?%~;)!Y! !)%n:I!I-"g?i-~;))))I-e:i)I="g?i=~;99)9I=j:i9M?iM?YMsA DQCU;]q]ZC]bCYjCYrCeBe?BzBiI;))i)I̖>tBr9EF=F=}mGmF=DTCi )7:)I9) I 9iY D!C%;6-zInitialize ReadDataComponent to sense platform_communicationsZC-bC)jC)rC-BU?BzBi!I%;)))))iii)qI}t&v5E"F6R=*F4)~D ~D}vG>F  =DCi ):)!I%9))I)1i1Y9 DACE;ZCebCajCirCmBm?BzBiI;))i)In>t>$?E}zG5;195D5MbpMbp~jth5A1ɀ11 1)1I5AI5i15D>F=DCi )))I-9)1I599i9YA DIC;ZCbCjCrCB?BzBiIIM;)I)IIIiI)QI]t"x3E&A(*A*A)z8Iz)~D ~D}5ՃG5xA1>F]aa=eDeCii i)m:)I9)I9iY DC;ZCbCjCrCB?B!zB!iQIU;)Q)YYYiY)aIet"Fnpp=rDv,Cix x)z:)AIE 9)AIE9QiQYQ DYCe;ZCebCajCarCeBm?BzBiI;))i)I|Ζ x(9[&Ayt"ќ>t"@E)~.= ~,}^GD9~jth?Mb`Mb`pAɀ )AIID;i>F=AA=EDEaCiI I)Ma:)I9)I:9 i Y  D1C=;ZC=bC9jC9rC=BE?BzBiI;))i)It"6E&=&=}^XG^%=b%=>Fnpp=rDvCix x)z:)|I~9)I9 i Y  DC;ZCbCjCrC%B%?BazBiiI;))i)I<R>8>y1Y )Ζ (:[&Ayt">t"m?E)~.= ~,}^{G:T9DMb?{Gz~jthAɀ@ )xAIAIF=aa=eDeCii i)mn:)I9)I`9iY DC;ZCbCjCrCB?BzBiI;))i)It"5E}Z0G>Fnpp=rDvCix x)zU:)|I~9)I9 i Y D9C=;ZC=bCAjCArCEBE?BzBiI;))i)It"&=E&A&A)~, ~,}^GbyA`>Fnpt=vDv.Cix x)z:)|I~9)I9 i Y  DC;ZC%bC!jC!rC%B%?BIzBIiyI};)y)i)I<vAyv:Yi)yΖ xv:[&Ayt>t;E}ZՃG~`~#<9~D<~Mb`~jt?~jt?~QA|ɀ|~@ ~|A)|I~AI~i~D<~D<>FUYY=eDedCii i)m:)qIu9)yI}9iY DC;ZCbCjCrCB?BzBi1I5;)1)999i9)AIE<Ζ J:[&Ayt">t"F!!=%D%Ci) ))-n:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It"V0E&=$}^jGr4=p%%<9%T<%I + rh?:v?%zA!ɀ!! %A)%AI%AI%94i%C<%T<>F]aa=eDeCii i)m+:)yI}9)I9iY DC;ZCbCjCrCB?BzBiI;))i)I<>Y>y>w:Y)ۙΖ a:[&Ayt2S>t2-5E"F4*F6p=)~B= ~@}rG>FMQQ=UDUCiY Y)]:)aIe9)iIm89qiqYy DC;ZCbCjCrCB?BzBiI;))i)It";E}ZG>Fnpp=vDv1Cix x)za:)|I~9)I9 i Y  DC;ZCbCjCrC%B%?BIzBIiYI];)Y)YYaia)iImt $$)~.= ~.oC}^ՃG^xA`T9D;F!=%D%eCi) ))-:)1I5s9)9I= 9AiAYI DQCU;ZCUbCQjCYrC]B]?BzBiI;))i)It"KFnpp=rDvCix x)x)|I~׾9)IS9 i Y  DC;ZCbCjCrC%B%?BazBiiI;))i)I[Ζ 7q+;[&Ayt>t"R4E)~.= ~.tC}ZՃG|~P9~~F]aa=eDeCii i)m:)I 9)I9iY DC;ZCbCjCrCB?B!zB!iQIU;)Y)YYYiY)aIet"&=E&=&=}^XGbFnpp=rDvCix x)zU:)|I~9)I9 i Y  DC;ZCbCjCrC%B%?BazBiiI;))i)I<YY)ikΖ  _;[&Ayt&̖>t&r9E"F*a=*F()~@ ~@}rG>F~= D 4Ci ))I9)!I%9)i)Y) D9C];ZC]bCYjCarCeBe?BzBiI;))i)It"6E}zG=`;=/]9==L7A`?/$MbP=pA9ɀ99 9)9I=AI=+=i=,=>FMQy=}D}iCi )n:)I9)IN;iY DC;ZCbCjCrCB?B9zB9iIIM;)I)IIIiQ)YI]t"2E$$*A*A)~0 ~0}fGfwAd>F!!=%D%Ci) ))-a:)1I5F:)9I=.9AiIYI DQCU;ZCubCyjCyrC}B}?BzBiI;))i)It&?EF&@AF$}`-ף-9--:v?~jt-A)ɀ)) -|A))I)I-FƩƩ=DƭCi )2 :)I9)I9iY DC;ZCbCjCrCB?BIzBIiYI];)Y)aaaia)iImi ]>ŐΖ ;[&Ayt">t"4E)~, ~,}\>Frtt=vDvCix x)z:)|I~89)Iv9 iY D9C=;ZCEbCAjCArCEBE?BzBiAIE;)A)AIIiI)QIut"y1E&=$&;&<}\^4=^%=>Fnpp=rDv6Cix x)z:)|I~.9)I9 iY D9C=;ZCEbCAjCArCEBE?BzBiI;))i)It":E"F"p=*F"a=)~, ~,}^ՃGC 9;?Zd;OMb`?Aɀ A)IIF11=5D5jCi9 9)=:)AIE9)IIM9QiYYY DaCe;ZCmbCijCirCmBm?BzBiI;))i)It">E}ZG>F~=DCi ):)I9)!I%9)i)Y) D1C5;ZC=bCAjCArCEBE?BizBiiyI};)y)i)It.{/E2A2A6A6A)~< ~<}nGnyAp%%P9%%F=9A=EDECiI I)M:)QIU.9)YI]9iiiYi DqC};ZC}bCyjCyrC}B?BzBiI;))i)It"6EF"AAF$}l>F!!=%D%Ci) ))-U:)9I=9)AIED9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)IPriority 7: lineCaptureHoming:K/>Priority 8: lineCaptureHoming:L/>Priority 9: lineCaptureHoming:MI V>i o ϖ a<[&Ayt"+>t"3E)~, ~0}bjG>F~=D9C]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i ):%Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. %%Software Fault e- i- q- )!I%:9]5Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 5-5Software Fault! = ! = ! = )1I59 DICM;ZCMbCQjCQrCUiI;))i)It"FuƁƁ=DƅnC DC;ZCbCjCrCiI;))i)I < =)=I=i=Y)!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1 <%ϖ j<[&Ayt"=>t"2E"F"a=*F )~, ~,}fG>Fnrr=rDpzlInitializing DeadReckonUsingSpeedCalculator component.|iY D C ;ZC bCjCrCB?B9zB9iIIU;)Q)QQQiQ)SAI<)$=DSpeedControl.speedCmd 1.000000 m/s  ?A) D+ϖ C<[&Ayt2U>t28E}joGj9D;F519==D9iA A)E:)IIM9)QIU:aiaYa DiCm;ZCubCqjCqrCuBu?BzBiI;))i)9I=<)I-2ϖ #<[&Ayt2H>t2kAE>A>A>A>A)~P ~P}%G))>F}ƁƁ=DƁi )U:)I9)Iv9iY DC;ZCbCjCrCB?BzBi I;))i)I%<))6V8ϖ <[&Ayt"`>t"GEF&?AF$}zÃG>F!!=%D)i1 1)5a:)9I=D9)AIEi:aiaYi DC;ZCbCjCrCB?B!zB!iQIU;)Q)YYYiY)aIei V>Y>ϖ <[&Ayt"=>t"2E)~0 ~0}bXG/ݼ9{Gz?~jtzAɀ A)AIIAIףF=E?E?=EDECiI I)M:)yI}9)yI}9iY DC;ZCbCjCrCB?BzBi1I=;)9)999i9)AIMtM:E"="=&=&<}ZG^4=\>Fnpp=rDrCit t)va:)|I~9)|I~9 i Y  DC5;ZC=bC9jC9rC=B=?BzBiI;))i)It" 4E"F&p=*F&p=)~H ~H}vGuuxi9quˡE?+uAqɀqq q)qIuAIu'=iuq>FƩƱ=DƵ Ci ):)I9)I9iY D!C%;ZC%bC)jC)rC-B-?BqzBqiI;))i)It"+7E}zBG>F!!=%D%=Ci) ))-:)9I=9)AIE9IiIYI DQCU;ZC}bCyjCyrC}B?BzBiI;))i)I t">E.A2A2A2A)~:= ~8}vjGzxAx>F=DtCi! 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D)C-;ZC5bC1jC1rC5B5?BYzBYiiIm;)q)qqqiq)yIt22EF6AAF6AA}n0G%D;%=9%%y&1?MbP%A!ɀ!! !)!I%|AI%`i%<%>F=AA=EEE DiI I)M:)QIU:)YI]l9aiiYi DqCu;ZC}bCyjCyrC}B}?BzBiI;))i)It6AEF=F=)~L ~P}~G>F =E Di! !)%:))I-9))I-Q99i9Y9 DACE;ZCMbCIjCIrCMBM?BqzBqiI;))i)It":E*=*=*%=*<}  = Mף;M`e<9MDMy&1~jtx?~jthMpAIɀII MxA)IIIIM`eiM;MD>Feii=mEmDiy y)}+:)I)Iv9iY DC;ZCbCjCrCB?BzBiI;))i)It"Q6E"F&=*F&p=)~4 ~6tC}`>F~=E Di )U:)I9)iIiyiyYy DC;ZCbCjCrCB?BzBiI;))i)It"=E&wA$}\>F~=E3Di ):)I9)!I%9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBaiI;))i)I t"F!!=%E%MDi1 1)5:)9I=9)AIEv9IiIYI DQC];ZC]bCYjCYrCeBe?BzBiI;))i)It25EF0F6@A{8}EjG>F}ƁƁ=EƅhD]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i )i :Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 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D)C-;ZC5bC1jC1rC5B5?BYzBYiiIm;)i)qqqiq)yI}tnF=EG)Di )I:)I9)I9 iY DC%;ZC%bC!jC!rC%B-?=ELlineCaptureHoming.HoldAltitude (meter)=MblineCaptureHoming.InvalidAltitudeTimeout (minute)=uJlineCaptureHoming.MinAltitude (meter)=}nlineCaptureHoming:StandardEnvelopes.MinAltitude (meter)BzBiI;))i)Ii V>>N|ݖ u[&Ayt&>t*{/E,.p=)~8 ~:1C}b{G  ף9 <  rh?~jtMb? \A ɀ  @ A) AI AI CF!!=-E-`)Di1 1)5:)9I=9)AIE9IiIYI DYC];ZC]bCajCarCeBe?BzBiI;))i)I< xA)xAY)ۙ6ݖ x v[&Ayt">t"8E&=&=&p;&=}nGr4=r=>F~= E y)Di ):)I9)!I%9)i)Y) D1C=;ZCEbCAjCArCEBE?BzBiI;))i)It61E)~D ~D}rXGM;M9M:M~jt?QMbP?MGAIɀIM MA)MAIMAIMDFeii=mEm)Diy y)}z:)I9)I]9iY DC;ZCbCjCrCB?BzBiI;))i)It";E*wA(}^{G>F~=E )Di ):)I9)!I%9)i)Y) D1C=;ZC=bC9jC9rC=BE?BzBiI;))i)I i{>Y)Nrݖ  [v[&Ayt2ɓ>t25E46A46A)~@ ~@}vGxx>F = E )Di )a:)I9)!I%9)i)Y1 D9C=;ZC=bCAjCArCEBE?BizBiiyI};)y)i)It"8E}^Gף;D9Q?lɀ A)IAIF!=%E%)Di) ))-U:)1I5g9)9I=9AiAYI DQCU;ZCUbCQjCQrC]B]?BzBiI;))i)Ii ]>Dݖ v[&Ayt2>t2>E6=:={8)~t ~t}MG>F}ƁƁ=Eƅ)Di ):)I.9)I9iY DC;ZCbCjCrCB?BzBiI;))i)I < wA)Y)jݖ 9v[&Ayt"ܒ>t"4E&=&=&p;&p<}%ՃG)-=m;m949m;mQ?MbMb`?mpAiɀii i)iImAIiimm;>FƉƉ=Eƍ*Di ):)I9)Iv9iY DC;ZCbCjCrCB?BzBiI;))i) Ito=E)~, ~,}^G>F~=E.*Di  ) U:)I9)I9!i)Y) D1C5;ZC=bC9jC9rC=B=?BazBaiqIu;)y)yyyiy)It:&=EJvAJvA}jG>F=AA=EEEI*DiI I)M:)QIU9)aIeQ9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)IY)ۙsݖ A,v[&Ayt2>t24E6A6A46A)~@ ~B6C}{G]]9];]V-?:vMbp?YYɀYY Y)YIYI]Fmqq=}E}c*Di ):)I9)I:iY DC;ZCbCjCrCB?BzBiI;))i)It"?E}^0G>F~=E |*Di ):)I?B:)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)Ii ݖ *)w[&Ayt"2>t">E*=()~0 ~0}bG9<MbP?Mb`?Mb?Aɀ@ )II:i;<>F!!=%E%*Di) ))-:)1I5C:)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)!I-< 1)9Y)xݖ Cw[&Ayt{>t6E"="=&&<}\\^%=>Fnpp=rEr*Dit t)v:)xIz׾9)|I~9 i Y  DC;ZCbCjCrCB%?BazBaiI;))i)It"M:E)~, ~.1C}^jG>Fnpp=rEv*Dix x)z:)|I~9)IS9 i Y  DC;ZCbCjCrC%B%?BazBaiI;))i)It29E6wA:wA}n0G!%`e9%;%~jt?MbMb`?%A!ɀ!%@ !)!I%AI%DF59A=EEE*DiI I)Ma:)QIU9)YI]9aiaYa DqCu;ZCubCqjCyrC}B}?BzBiI;))i)Ii>Y){ ݖ 3Ow[&Ayt2f>t2 4E46A6A6A)~@ ~@}rՃGvwAt>F!!=%E%*Di1 1)5:)9I=9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)It6O8E{<}EXGD;`e<9`;~jtMb?y&1|?Aɀ逍@ A)IAIDi<`;>FơƩ=Eƭ+Di )H:)I9)I9iY DC;ZCbCjCrCB?B zB iI;))!!!i!))I-i V>z2ݖ uw[&Ayt2S>t2-5E:a=:=)~x ~x}M{G>F}ƁƁ=Eƅ2+Di ):)I9)I9iY DC;ZCbCjCrCB?BzBiI;))i)I < )Y)\ݖ w[&Ayt">t"8E&=&=&;*<}b0Gb%=`>F  = E K+Di )+<)iIm!9)qIuv9yiyYy DC;ZCbCjCrCB?BzBiI;))i)It"6E)~4 ~4}bՃG  C<9 ; :vI +?~jtx?  ɀ   ) xAI AI Ti 94< ;>F%))=-E-e+Di1 1)5P:)AIE9)IIM9QiQYQ DYCe;ZCebCajCarCeBm?B zB iI;)!)!!!i!))I-t2#AE44}nG>Fvxx=zEz~+Di| |)~z:)I9) I Q9iY D!C%;ZC-bC)jC)rC-B-?BQzBQiiIm;)i)iiiii)qI}i>YQ)aX ޖ t,x[&Ayt2ܒ>t24E46A46A)~@ ~@}rBGryAp%%D<9%<%~jtx~jt?Mb?%zA!ɀ!! !)%AI!I%Ļi%D<%<>F=AA=EEE+DiQ Q)Un:)YI]9)aIe!9iiiYq DyC};ZCbCjCrCB?BzBiI;))i)It2r9E}njG>F!!=%E%+Di1 1)5+:)9I=!9)AIE9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)Ii a>Ъޖ (`x[&Ayt">t"?E(*a=)~0 ~0}b0G>F~=E +Di ):)I9)!I%9)i)Y) D1C5;ZC=bC9jC9rC=BE?BazBiiyI};)y)yyyi)I< xA)wAYq)yޖ zx[&Ayt6>t6K=B=B%=Bp<}~jG||==`e<9=`;=FUYY=eEe+Dii i)ma:)qIu :)yI}`9iY DC;ZCbCjCrCB?BzBiI;))i)It22E)~P ~P}-{G>F=AA=EEE,DiI I)MU:)QIU:)YI]!9aiiYi DqCu;ZC}bCyjCyrC}B}?BzBiI;))i)It"7E*vA*vA{,}E0G:t9~jt?y&1ɀ逕@ )xAIIDFƱƱ=EƵ,Di )n:)I9)Iv9iY DC;ZCbCjCrCB?BzBi)I-;))))))i1)9I=iM>Y) 1ޖ x[&Ayt"C>t":E&A&A&A&A)~d ~f6C}-jG-xA)>F]aa=eEe4,Dii i)mU:)qIu9)I9iY DC;ZCbCjCrCB?B!zB!i9I=;)9)999i9)AIMt2CE}M{G>Fơơ=EƥN,D]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i )Y:Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. Software Fault    )I÷:]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software Fault)I,: DqC};ZC}bCyjCyrC}iI;))i)Ii V>#>ޖ Nx[&AytBH>tBkAEF=J=)~P ~P}0GEEu9AE~jt?F]aa=eEeh,D DyC};ZCybCjCrCiI;))i)I< )IiYe)i!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1  Eޖ %y[&Ayt">t"m?E&=&=}bGb4=b=>F~=E lInitializing DeadReckonUsingSpeedCalculator component.iY! D)C-;ZC)bC)jC1rC5B5?BYzBYiiIm;)i)iiqiq)}SAI}<)ۑ$DSpeedControl.speedCmd 1.000000 m/se5Kޖ /y[&Ayt">t"F}ƁƁ=EƁi ):)IG9)I9iY DC;ZCbCjCrCB?BAzBAiyI};)y)yyyiy)I<)۹ ) 2Rޖ Hy[&AytB>tBJ>EJwAH}~ÃG>F=AA=EEAiI I)MU:)QIU9)YI]9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)I<)QVGXޖ $by[&Ayt">t"4E$&A)~, ~26C}z]G>F=AA=EEAiI I)M:)QIU.9)YI]9qiyY DC;ZCbC1jC9rC=BE?BzBiI;))i)I-t2H@E}nBG=;=D99={Gzt?:vMb`=A9ɀ99 =A)9I9I=ף;i=T9>FU]?]?=]E],Dii i)mn:)qIus9)yI}l9iY DC;ZCbCjCrCB?BzBiI;))i)Ii ]>Xeޖ my[&Ayt">t"8E(*=)~0 ~21C}bjG>F~= E ,Di ):)Ii9)!I%i9)i)Y) D1C=;ZC=bC9jC9rCEBE?B!zB!iQIU;)Y)YYYiY)aImt"=E&=$&<&<}^{G`b%=ף;949DMbp?I +~jthAɀ |A)II;i94D>F!!=%E%,Di) ))-U:)1I5l:)9I=:9AiIYI DQCU;ZC]bCYjCYrC]B]?BzBiI;))i)It">E{$)~d ~d})>F]aa=eEe,Dii i)i)yI}.9)Iv9iY DC;ZCbCjCrCB?BzBiI;))i)It2o=E8:wA}i=Xgot command show best height_above_sea_floor=height_above_sea_floor best is RDI_Pathfinder.height_above_sea_floor>F!)=-E-,Di1 1)5z:)9I=9)AIEQ9IiIYI DYC];ZC]bCYjCarCeBe?BzBiYI];)Y)YYYia)aI< xA)xAYi)qF~ޖ y[&Ayt2ܒ>t24E6A46A6A)~@ ~@}v0Gx|%6only read 3 of 5 data items-VFailed to parse: :BI, -3, -5,-32768,A -@ - -@ - -@ - -@ - >FEII=MEM-DiQ Q)U>)YI]D9iiiYi DyC};ZC}bCjCrCB?BzBiI;))i)It":E}ZjG>Fnpp=rEv-Dix x)zgD?)|I~9 i Y  DC;ZC=bC9jC9rC=BE?BzBiI;))i)Iыޖ 1z[&Ayt"~>t"M:E&R=&=)~, ~0}rG - - - - - - - - --ף;9--~jthMbp?Mbp-A)ɀ)) -A))I)I-Di-;->FEII=MEM7-DiY Y)]7:)aIe9)iIm9qiqYq DC;ZCbCjCrCB?BzBi!I%;)!)!!!i)))IUie!>Y))9ޖ nKz[&Ayt"C>t":E&=&=&a=&=}^XGb%=`>F=EP-Di! !)%+:))I-9)1I5x:AiAYA DICM;ZCUbCQjCQrCUBU?BzBiI;))i)It"4E)~< ~@}G>FƑƑ=Eƕk-Di )D:)Is9)IQ9iY DC;ZCbCjCrCB?B1zBQiaIe;)a)aiiii)It"m?E$$}^XG|~;9|~{GztMbp?Mbp||ɀ|| |)|I|I~ףi||>FYY=]E]-Dia a)e:)iIm9)qIu9iY! D)C-;ZC-bC)jC1rC5Bu?BzBiI;))  i)I< -wA)-wAY )ޖ mz[&Ayt">t"KFnpp=rEv-Dix x)z:)|I~]9)Iv9 i Y  DC;ZCbC!jC!rC%B%?BIzBIiyI};)y)yi)It"q;E}^G~D;~t<9|~F99==E=-DiA A)E:)QIUg9)Ie9iY DC;ZCbCjCrCB?BzBi9I=;)9)AAAiA)IIMi ]>ޖ Iz[&Aytnԟ>tnDEva=va=)~| ~|}]ՃG>F}ƁƁ=Eƅ-Di )I:)I9)I9iY DC;ZCbCjCrCB?BazBaiAIE;)A)IIi)Ii>Ya)q=,got command show stack= Behavior Stack: =0Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope=0~Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope=0Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope3jPriority 3: lineCaptureHoming:NeedComms:B.GoToSurface3RPriority 4: lineCaptureHoming:NeedComms:E/HPriority 5: lineCaptureHoming:I.Mass/PPriority 6: lineCaptureHoming:J.Buoyancy/>Priority 7: lineCaptureHoming:K/>Priority 8: lineCaptureHoming:L/>Priority 9: lineCaptureHoming:M6ޖ z[&Ayt50>t5(;E===={A}%G%4=!;94<9DI +Mbp?~jthɀ逡 )II94i;D>F=E-Di  ) n:)Is9)I9iY D C ;ZCbCjCrCB?ByzByiI;))i)It"o=E)~d ~f1C}-jG>F=AA=EEE.DiI I)M:)YI]i9)YI]v9iiiYi DqCu;ZC}bCyjCyrC}B?BzBiI;))i)!I%t"4E&vA$}Z0G>F!!=%E%.Di) ))-:)1I5:9)9I=9IiIYI DQCU;ZC]bCYjCYrC]Be?BzBiI;))i)I< xA)xAYq)y~mޖ % 4{[&Ayt">t":E$&A)~0 ~0}bjGbxA`ף;D<9~jt{Gzt?~jthɀ )IIDiף;>F}ƁƁ=Eƅ:.Di )n:)I9)I9iY DC;ZCbCjCrCB?B!zB!iQIU;)Q)YYYiY)aIet29E}n{G>Fvxx=zEzR.Di| |)~:)I9) I +9iY D!C%;ZC-bC)jC)rC-B-?BQzBQiaIe;)a)iiiii)qIui V>قޖ ~g{[&Ayt&2>t&>E2R=4)~< ~>6C}l%;%94<9%%~jtMbp?Mbp!!ɀ!! 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D)C-;ZC-bC1jC1rC5B5?BYzBYiiIm;)q)qqqiq)yIt26E)~@ ~@}n0G>F~^F  = E IDi ))f:)!I%]9)!I%D91i1Y1 D9C=;ZCEbCAjCArCEBE?BizBiiyI;))i)It2m?E48}njG%D;%+9%%/$?:vMbp%pA!ɀ!% !)!I%AI%F=^F=@AA=EEMIDiQ Q)U:)YI]9)aIe9iiiYi DyC};ZC}bCyjCrCB?BzBiI;))i)I< )Y)۹ a[&Ayt&v>t&2/E*A.A.A.A)zzF^F  = E JDi )b:)I]9)!I%9)i1Y1 D9C=;ZCEbCAjCArCEBE?BizBiiyI;))i)It2R4E}x=`;=9==I +?MbMbP=GA9ɀ99 9)9I=AI=9FM^FU@YY=]E]2JD]mUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. m-mSoftware Fault 5m 9m Am ia a)e:}Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. }}Software Fault }   )yI}G9]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software Fault)I9 DC;ZCbCjCrCiI;))i)Ii Y>, H[&Ayt"ߕ>t"O8E&C=$^Fix Requested)~d ~d}A>F}^FyƁƁ=EƅLJD DC;ZCbCjCrCiI;))i)I< )IiY)۩!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1  a[&Ayt"h>t"7E&=&=}-ƄG5R=5%=>F^Fƕƕ=EƑlInitializing DeadReckonUsingSpeedCalculator component.iY D!C-;ZCQbCYjCYrC]Be?B zB iI;))!!!i!)-SAI5<)I$eDSpeedControl.speedCmd 1.000000 m/s6B {[&Ayt2>t2+7E)~t ~t}MGD;Լ9D;Mb?{Gz~jth?Aɀ选 )IAIF^F@ƩƩ=EƱi1 1)5:)9I=9)AIEv9IiIYI DYC];ZC]bCYjCYrCeBe?BzBiI;))i)I<)۹ ?A) * ?[&Ayt"E>t"=E((}^{G>F~^F  = E i ):)I9)!I%i9)i)Y1 D9C=;ZC=bCAjCArCEBE?BizBiiyI};)y)i)I<))ET [&Ayt2>t28E46A)~@ ~@}r0Gpp%%`e9%;%{Gz?F=^FE@AI=MEIiQ Q)U}G:)YI]D9)aIe]9iiiYq DyC};ZCbCjCrCB?BzBiI;))i)It26E)zDIzDizDzFzFzFzD}~jG>F=^F9E?E?=MEMfJDiQ Q)U:)YI]9)aIe9iiiYi DqC};ZC}bCyjCyrCB?BzBiI;))i)Ii V>e 8[&Ayt*>t*9E2=2a=)~8 ~8}rƄG>F^F!11==E=JDia a)e:)yI}4:)IQ:iY DC;ZCbCjCrCB?BizBqiI;))i)I< wA)xAYq)[ [&Ayt"f>t" 4E&=$&&p;bFix Requested}=BGE=Aj<9D; rh?X9v~jth?pAɀ逍 A)IIC =iD;>F^F@ƩƩ=EƵJDi )a:)I9)Ii9iY DC;ZCbCjCrCB?BzBi!I%;)!)!))i))1I5t"!CE)~d ~d}EjG>F]^FYaa=mEmJDiq q)u:)yI}9)I9iY DC;ZCbCjCrCB?BzBiI;))i)It2F^F@=EJDi )n:)I9)IiY DC;ZCbCjC rC B ?B1zB1iAIE;)A)AIIiI)QIUie=Y))9 eJ[&AytB>tB;EFADFAFA)~P ~P}~GxA>F ^F=EJDi! 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D!C!B)BzBI;) i)iD)It",`E"F"a=*F$)~D ~FZC}rG>F^F!!=%E-eDi1 1)5a:)9I=9)AIE9IiIYIE EE"EDDDDDD DCBBzB)I5;)11 1i1)199i=e)AIEt"pfE}b[GD;t<9F^F%@!)=-E-fDi1 1)5:)9I=9)AIE:9IiIYQE] EaEa"EaDaDaDiDiDiDi DqCqBqBzB9I=;)AA AiA)AAAiE3/)IIU< Y)YIYiYY)X  [&Ayt"ޫ>t"\SE&A&A&A&A)~, ~0}fIGjwAh>F~^F|= E +fDi )U:)Iv9)!I%v9)i)Y)E] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i )It"~VEF"AAF }fG<9:v:v?Aɀ )t!AIITiT<>F5^F5@9A=EEEFfDiI I)M+:)QIU7:)YI]9iiiYiE EE"EDDDDDD DCBB zB YI];)aa aia)aaaie )iI5] ó[&Ayt">t"w^E)~, ~0}bG>Fn^Fppt=vEv_fDix x)z:)|I~Q9)Iʽ9 i Y E E!E!"E!D!D!D)D)D)D) D)C1B1BizBmI;) i)i6Y )It"zZEv x &8****** ping requested *******=.=2%=2=:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }!5<1>F^FƩƩ=EƭzfDi )3:)IbT<)YI]:iiiYiE EE"EDDDDDD DCBBzBqI};)y i)i')ItZ0\E"F*F%^unknown deviceResponse_: !U100,186,80,81,0C,FF q%%(Communications Faulta% a% a% )~Q ~UUC}[G--`;9--Mbpy&1|?Mb`-A)ɀ)-t!A ))- AI)I-i-`;->Fe^Fe@iƩ=EƭfDi )D:)I9)I[9iYE EE"ED!D!D!D!D!D) D)C)B1B9zB=QIU;)QQ QiY)i})IZ>t>U[EBPowering downFBFB"FF*FF}-IG>FM^FQQY=]E]fDia a)e:)iIm׾9)qIu9yiyYE EE"EDDDDDD DCBBzBQIU;)QQ QiY)YYYi])It"0\E$&A$&A)~0 ~2ZC}dfyAhDD<9~jtx{Gz?Aɀ )IIĻi#<>F-^F-@11=5E5fDi ) :)I9)I9iYE  E E"EDDDDDD DCBBzBiIm;)iq qiq)qqqiu)yIt".^E}ZG>Fn^Fppt=vEvfDix x)z:)|I~]9)I׾9 i YEU EE"EDDDDDD DCBBazBeI;) i)ic&)Ii Y>] ^[&Ayt"1>t"YE)~.= ~.UC}r[G>F~^F = E fDi )K:)IQ9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It6VE:=:=:p;>%=}vIGv4=v4=)-#<9)-{GztFE^FM@II=UEUgDiY Y)]:)aIe+9)iIm9qiqYyE EE"EDDDDDD DCBBzBI;) i)i3)I< xA) Y)An$ h[&Ayt">t"`E)~.'= ~.ZC}\>F^F!))=-E-.gDi1 1)5:)9I=i9)AIEi9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i>)It2SE}nG=ף=ף<9=;=I +FM^FU@YY=]E]HgDia a)e:)iIm9)qIu<:iYE EE"EDDDDDD DCBBzBI;) i)i)I t2|XE46A46A)~@ ~BUC}rGpp>F^F!))=-E-bgDi1 1)5/:)9I=9)AIE]9IiIYQE] EaEa"EaDaDaDiDiDiDi DqCqBqBIzBMyI};)y i)i*)Ii>Yi)ye7 &[&Ayt2>t2_E6Powering up66Initializing DUSBL_Hydroid.}MG>F}^FyƁƁ=Eƍ|gDi )a:)Iv9)Iv9iYE EE"EDDDDDD DCBBIzBuI;) i)i<)Ii = [&Ayt24>t2]E)~>= ~@}n[G%D%9!%Q?I +Mb`?%A!ɀ!! %A)%t!AI!I%uF5^F=@AA=EEEgDiI I)M:)QIU7:)YI]:9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)io1!)It2WE6=6=6p;:4<}nIGpr%=>F^F!!)=-E-gDi1 1)5:)9I=9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i")I< vA)wAY)J J-[&Ayt2>t2S]E)~B'= ~@}nG%%T<9%%Mb{Gz?%A!ɀ!! %A)!I!I%i%#<%>F=^F=@AA=EEEgDiI I)M:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i$)It:YE}vG>F^F!!)=-E-gDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i `&)It2R_E6A6A6A:A)~@ ~@}GxA>F%^F!))=-E5gDi9 9)=z:)AIEg9)IIM׾9QiQYQEe EaEi"EiDqDqDDDD DCBBzBI;) i)i!() IiM>Y)1"^ J{[&Ayt"j>t"~VE}^G~;~̼9~~Mb?~jtMbP~A|ɀ|| ~A)~ AI|I~F^F@yy=}E}hD]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i ):Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. Software Fault    )I9]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software Fault)I9J,Location not readable.E EE"EDDDDDD DCI;) i)i/)i)Ii e> e *[&Ayt"!>t"^E)~.= ~,}^G>Fn^Fptt=vEv0hDJ ,Location not readable.E  E E "E DDDDDD D!C!9I=;)99 9iA)AAAiE+iI)QIUtBYEF=F=F=Fp<}~[GAE9EE{Gz?Zd;OEAAɀAA A)AIAIEףF}^F}@ƁƁ=EƅKhDlInitializing DeadReckonUsingSpeedCalculator component.iYE EE"EDDDDDD DCBBqzBuI;) i)iЎ-)I< xA)xAY)۱zr ȵ[&Ayt"ӵ>t"_E)~2'= ~0}bG>Ff^Fhll=nEndhDip p)r:)tIv9)xIz9iYE EE"EDDDDDD! 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:!i!Y!E EE"EDDDDI DQCQBQBzBI;i)i) It2)dE-:bResponse from modem unexpected: $CADQF,208,1*5A :A:A:A:A-BjResponse from modem unexpected: $CAMSG,BAD_CRC,0*21 )~J'= ~H}zG~wA|>FZF =E:lDi )>@)!I%91i1Y1EE EAEI"EIDIDIDQDQ DQCQBQBzBI;i))111i1)9I=t"YEF&AAF&@A->Response from modem unexpected: $CACST,6,1,20190326001428.352153,06,511,27,0094,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,208,0.05,-999,9760,4000*53 }~[G } } } } }    @  @  @  @     )Mb@Mb@Mb@Aɀ送  A)AI AIi>F^F@=EXlDi )@)I9iYE5 E1E1"E1D9D9D9D9DADA DACABIBzBI ;)   i)i+)Ii a>ߍt ӹ[&Ayt">t"WE)~8 ~:ZC}jG>F^F!))=-E-nlDi1 1)50@)9I=9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCqBqBzBI;) i)iTS)It"[E*=*;>*=*<}bGb4=d                  @   @   @   @   @    )  Mb@Mb@Mb@  ɀ   ) I I i  >F%ZF-@11=5E5lDi9 9)=*@)AIE9QiQYQEe EiEi"EiDiDiDqDq DqCqByBzBI;i)i)It"[E"F&R=*F&<)~4 ~4}fG>F~ZF  = E lDi )@)I!9)i)Y)E= E9EA"EADADADIDI DICIBQBzBI;i)i)It:YE}rG>FZF!!)=-E-lDi1 1)5@)9I=v9IiIYIE] EYEY"EYDaDaDiDi DiCiBqBzBI;i)i)It2PaE6A6A6A6A)~@ ~@}GxA U U ] ] ] ] ] ] ] ] ] ] ] ]]T9]]{Gz?Fu^Fu@yƁ=EƅlDi ):)I9)IV9iYE EE"EDDDDDD DCBBzBI;) i)!%!i%[F))I-t2aEF6@AF6AA}v[G>FE^FAII=MEMlDiQ Q)UD=:)aIe9)aIe]9qiqYqE EE"EDDDDDD DCBBzBI;) i)iz5_)I6 6=n[&Ayt2>t2 ]E)~< ~@}nG%:%D;9!%~jthMbP?%=A!ɀ!! %A)%t!AI!I%Di%:!>F5^F=@AA=EEE mDiI I)M:)QIU:)YI]:9iiiYiE EE"EDDD!D!D!D! D!C)B)BzBI;) i)i)It2VEv4x4:8****** ping requested ******B=B=F;F<NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }5[GE=I>F^Fơơ=Eƭ$mDi )"`:)I :)I:iYE EE"ED D DQDQDQDQ DQCQBYBzBI;)  i )   i )ItB)dE"FBp=*FFa=)~\ ~\}G>F-^F1II=UEU=mDiY Y)]7:)aIe9)iIm׾9qiqYqE EE"EDDDDDD DCBBIzBMI;) i)i2 )!I%t"]E}bG9=Aɀ ) AI|AIi>F^F@!!=-E-WmDi1 1)5:)9I=]9)AIE89IiIYIE] EYEY"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i^&)It2WE46A4:A)~@ ~D}r[GvyAt>F^F!!=%E%qmDi) ))-:)9I=9)AIE9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBqBzBI;)ߣ i)iB)ItB0\EF@FF@A}~IGAE;9E:EMb`MbP?EAAɀAA A)Et!AIAIEiAE:>FU^F]@aa=eEemDii i)m:)qIu:)yI}`9iYE EE"EDDDDDD DCBBzBI;) i)iX^) It2ME)~< ~@}~G>F=^F9AA=MEMmDiQ Q)U:)YI]v9)aIe]9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)iIy)It"^E&=&=&<*<}fGf4=f4=>F~^F  = E mDi ) h;)Iy:)I]:iYE] EYEY"EYDYDaDaDaDaDi DiCiBqBzBI;) i)i) I5t2+bE"F6a=*F4)~@ ~@}l!%u<9%D;%I +I +?~jth?%A!ɀ!! !)% AI%AI%94i%94<%D;>F=^F=@AA=EEEmDiQ Q)Ua:)YI]!9)aIe!9iiiYiE EE"EDDDDDD D C B BzBI;) i)i)It2UE}jG>Fr^Fttt=zEzmDi| |)~:)I9) I i9iYE% E!E)"E)D)D)D1D1D1D1 D1C9B9BqzBuI;) i)i!)I< )IiY) | p[&Ayt2>t2_E6A6A6A6A)~@ ~@}nͅGrxAp%;!9%%~jtF=^F=@AA=EEM nDiQ Q)U:)YI]v9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;)! i)i])It"\SEF$F$v$x$*8****** ping requested ******:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G>Fe^Fiyy=}E}&nDi ):)Ig9)IN3:iYE EE"EDDDDDD DCBB9zB=YI];)YY Yia)aaaie¼)qI}i ]> T[&Ayt.Z>t.U[Ev2 w0)w2v>Iw2+>iw0w2Aw0w2nBw2o2At?MG&c)|)~p ~t}u[GD;t<9F^F@=EAnDi  ) D:)I9)I9)i)Y)E= E9E9"E9D9D9DADADADA DICIBQBzBI;) i)i#м)It6NE>=>=>p;>4<}vIGz%=z%=>F=^F9AA=EEMZnDiQ Q)U:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)iݼ)It"R_E"F$*F$)~4 ~4}rG>F ^F =EsnDi! !)%:))I-9)1I5Q99i9Y9EM EIEI"EIDQDQDQDQDYDY DYCaBaBzBI;) i)i)It2YE}nG=:=<9=;=y&1|{Gzt?Mb`?=A9ɀ99 9)9I9I=`i=ף;=;>FU^FU@YY=]EenDii i)ma:)qIus9)yI}9iYE EE"EDDDDDD DCBBzBI;) i)i)I < )IiY)_  [&Ayt2>t2YE46A46A)~@ ~@}r[GrwAp>F^F!!)=-E-nDi1 1)5:)9I=9)AIEi9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBIzBMyI};)}+ i)i )It>ZEFDFD}=IG};}`e<9}}I +F^F@ƙƙ=EƥnDi ))Iv9)I9iYEU EQEQ"EQDYDYDYDYDaDa DaCaBiBzBI;) i)iR )!IMi V>+- ?[&Ayt" >t"0\E)~0 ~0}bG>Fj^Fhll=nEnnDip p)r:)tIv9)xIz:iYE EE"EDDDDD!D! D!C!B)BazBeqIu;)qy yiy)yyyi}|g)I< vA)Y) 0Y[&Ayt2U>t2SE6=6=:p;:<}vGzF^F!!=-E-nDi1 1)5:)9I=i9)AIE]9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)I 2Zs[&Ayt2>t2YE"F0*F4)~@ ~@}p--t<9--~jtxy&1|?Mbp-A)ɀ)-A -EA)-t!AI)I-Ļi-`;->F=^FE@II=MEMoDiQ Q)UH:)YI]9)aIe9iiqYqE EE"EDDDDDD DCBBzBI;) i)i)It:|XEv<x<B8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }EG>F}^Fơơ=Eƭ)oDi ):)I:)I:iYE EE"EDDD D D D  DCBByzB}I;) i)i&)I< )IiIe>ie>Y1)AS) \[&Ayt:j>t:~VEJAJAJAJA)~l ~p}=ͅGExAAC =9:~jt~jt?MbP?Aɀ逅 ) AIIļi<:>F^F@ƩƩ=EƭCoDi )+:)Ig9)I9iYE EE"EDDDDDD DCBB1zB5AIE;)E5A AiI)IIIiM-)QI]t"[EF$F$}bG>F~^F  = E \oDi ):)iIm 9)qIuv9yiyYyE EE"EDDDDDD DCBBzBI;) i)iT4)Ib6 ڼ[&Ayt">t"[E)~4 ~4}^[G>F~^F = E voDi )U:)I9)!I%׾9)i)Y)EE EAEA"EADADADIDIDIDI DQCQBQB zB 9IE;)AA AiA)AAAiEo;)IIU< exA)aY))9Œ< H[&Ayt2в>t2[E6=6=66p<}nޅGn%=r%=%D;%;9%%~jthMbP%A!ɀ!! %A)%t!AI!I%Di%%>F=^F=@AA=EEEoDiI I)M:)YIY)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzByI};) i)iB)It2YE"F2=*F6p=)~@ ~@}nlG>Fv^Ftxx=~E~oDi ):) I 9)ID9i!Y!E- E1E1"E1D1D1D9D9D9D9 DACABAByzBI;) i)i=H)It"WE}ZG~~9~;~~jtx?Mbp?~pA|ɀ|| ~A)~ AI|I~;i|~;>F^F@=%E%oDi) ))-U:)1I59)9I=9AiAYAEU EQEQ"EQDYDYDaDaDaDa DaCiBiBzBI;) i)iO)Iix>Y)۱P 4B[&Ayt2 >t2|XE6A6A6A6A)~@ ~@}rGpp>Fz^Fx||=~E~oDi ):)I9)I:!i!Y!E5 E1E1"E1D1D1D9D9DADA DACABIBzBI;)4@ i)iV)I< )IiY) pV \[&Ayt2>t2YWEF2?AF0}nVG>Fv^Ftxx=zEzoDi )n:) I s9) I ]9iYE- E)E)"E)D)D1D1D1D1D9 D9C9BAByzB}I;) i)i>])I\ u[&Ayt2>t2zZE)~T ~T} ͅGM;M#9MMMbp?{GzMpAIɀII I)IIIIM;iM#M>Fe^Fm@iq=uEupDiy y)}:)I9)IiYE EE"EDDDDDD DCBBzB I ;)   i )id)I< 1)1Y)c Ə[&Ayt2>t2YEv4x4:8****** ping requested ******N=N=Rp;R<RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }"G4==>F^F=E,pDi ) i:)I7;)IU:)i)Y1EM EIEI"EIDQDDDDD DCBBzBI;) i)i5l) It2UE"F6p=*F6a=6^unknown deviceResponse_: !U1,0,187,80,81,08,FF q::(Communications Faulta: a: a: -^Response from modem unexpected: $CACST,6,1,20190326001444.136885,06,344,25,0104,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,203,0.00,-999,9760,4000*59 )~t ~t}G]D]D;9]]Mbp?MbP]AYɀY]A Y)YIYI]i];]>F^F@=EHpDi  ) x:)1I59)1I59AiAYAEu EqEq"EqDyDyDyDyDD DCBBzBI;) i)iJs)!Im >tB|XEBPowering downFBFF"FF*FF}=[G>FM^FQYY=]E]cpDia a)e:)iImv9)qIui9yiyYE EE"EDDDDDD DCBBzBI;)64I i)iHz)Ii ]>Y)v Wݽ[&Ayt2>t2YE6A6A8:A)~@ ~D}rGpt>F^F!!!=-E-xpDi1 1)5:)9I=9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzB9I=;)9A AiA)AAAiEI<)IIUt2]E}rG%D;%9%%~jthMbPMb`%A!ɀ!! !)%AI!I%Di%%>F=^FE@AI=MEMpDiQ Q)UD=:)YI]]9)aIe9iiiYqE} EE"EDDDDDD DCBBzBI;) i)i<)I< xA)xAYHY)۹!bClearing failed state for component DUSBL_HydroidqI i e>  [&Ayt2G>t2y\E)~< ~>`C}n[G>Fv^Ftxx=zEzpDi )a:) I 9) I Q9iYE- E)E)"E)D)D1D1D1D1D9 D9C9BAByzB}I;) i)i)I< )Ii I)MxAY)); !*[&Ayt24>t2]E6=6=6;6a=}nޅGpr%=%Ļ%`;9%%F=^F=@AA=EEEpDiI I)M:)YI]v9)aIe!9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i)It6WE)~L ~L}zG>F=^F9AA=MEMpDiQ Q)U:)YI]Q9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i!)It"zZE}zG>F=^F9AA=MEMpDiQ Q)U:)YI]9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;)OS i)i8)IY)w %zx[&Ayt2ˬ>t2TE8:A:A:A)~@ ~D}rGvyAte<e<9eeMb~jtx?MbPeGAaɀae a)aIaIeie;e>F}^F}@ƁƁ=EƍqDi )}G:)I׾9)I9iYE EE"EDDDDDD DCBB zB I%;)!! !i!)!!)i-#))I5t2VE6Powering up66Initializing DUSBL_Hydroid.}]G>F^F=E/qDi ):)I9)I9 i Y E EE"EDD!D!D!D!D) D)C)B1BazBmyI};)yy i)i )Ii R>x 2[&AytB>tBTE)~` ~`}%Geeu<9ee{GzI +?Mb`eAaɀaeA a)aIe|AIe#ie94F}^F}@ƁƁ=EƅHqDi )8<:)Iʽ9)I9iYE EE"EDDDDDD DCBBzBI;) i)i>)It2_E:=:=::<}pr=p>Fz^Fx||=~E~aqDi  ) :)I9)Ib::!i!Y!E5 E1E1"E1D9D9DADADADA DACABIBzBI;) i)ia)It2aE)~D ~D}v[G>F^F!!=%E-{qDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i䢽)It2NE}~IGEDEC<9E;E{Gzy&1?Mb`?EAAɀAE EA)AIEAIAiE`eFU^F]@aa=eEeqDii i)m:)yI}]9)yI}9iYE EE"EDDDDDD DCBBzBI;)] i)i/m) I< )IiIR>i>Yy)ہ( =[&Ayt2ӵ>t2_E:A:A:A:A)~@ ~D}rGvxAt>F^F!!)=-E-qDi1 1)5U:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)ixө)It"UE}fGt<u=9J +F-^F5@99==E=qDiA A)E:)IIM9)QIUs:aiaYaEu EqEq"EqDqDqDyDyDD DCBBzBI;) i)iP)Ii a>( SG[&Ayt2>t2YE)~< ~>ZC}l>Fv^Ftxx=zEzqDi9 9)=:)AIE9)IIMʽ9QiQYYEm EiEi"EiDiDiDqDqDqDq DyCyByBzBI;) i)iŰ)I< vA)Y)@ .a[&Ayt2>t2YWE6=6=66p<}lr%=p>F^F!!)=-E-qDi1 1)5:)9I=9)AIE9IiIYIE EE"EDDDDDD DCBB)zBMaIe;)aa aii)iiiim")It2w^E)~< ~B`C}n[G%%<9%%y&1{Gz?%GA!ɀ!! %A)%AI!I%`ei%ף<%>F5^F=@AA=EEErDiI I)M:)QIU:)YI]9iiiYiE} EyEy"EyDyDDDDD DCBBAzBEyI};) i)i۷)It2sbE}nG>Fr^Ftxx=zEz/rDi| |)~n:)Is9) I ʽ9iYE- E)E)"E)D)D)D1D1D1D1 D9C9B9BqzBuI;)h i)i)I< xA)xAY]I4=ip>Y)ۑV% ¿[&Ayt2m>t21ZE6A6A6A6A)~@ ~@}rGryAp%ף%#<9%D%~jthI +?~jth% A!ɀ!% A !)!I!I%Di%94<%D>F=^FE@AA=MEMJrDiQ Q)U:)YI]9)aIe9iiiYiE} EyE"EDDDDDD DCBBzBI;) i)i)It2|XE}nG>F^F!!!=-E-crDi1 1)5:)9I=]9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i½)I< )IiY9)AI i V>f7 Kv[&Ayt2>t2WE)~< ~<}nG>Fv^Fx  =E}rDi )+:))I-s9))I-91i9Y9EM EIEI"EIDIDQDQDQDQDY DYCYBaBzB9IE;)AA IiI)QQYi]Ž)iI< xA)Y)۹a aQ[&Ayt2>t2SE6=6=6=64<}[G=M;M9<9MM{Gz~jt?MpAIɀIM I)M AIIIMףiMDF]^Fe@ii=mEmrDiq q)u^:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i )   i ɽ)It"WE)~0 ~0}^ޅG>F%^F!))=-E-rDi1 1)5=:)AIE9)AIE9QiQYQEe EaEa"EaDaDiDiDiDiDq DqCqBqBzBI;) i)iO}̽)It"WYE}^lG~D~<9|~:v rh?~GA|ɀ|| |)~AI|I~Ti~C<|>F^F@=E%rDi) ))-:)1I5s9)9I=9AiAYAEU EQEQ"EQDDDDDD DCBBAzBEqIu;)urq yiy)yyyi}н)Ii>Y)ۙY[ I[&Ayt24>t2]E6A6A6A6A)~@ ~@}rIGpp>Fz^Fx||=~E~rDi )+:) I 9)I9!i!Y!E5 E1E1"E1D1D1D9D9D9DA DACABIBzBI;) i)iB^ӽ)It2XE}t>FE^FIaa=eEmrDi )d:)Il:)Iv:iYE EE"ED D DDDD DCBBzBI;)   i )   i <׽)Ii a> }[&Ayt2>t2 ]E)~< ~@}l%%C =9%%~jt~jt?Mb`%A!ɀ!! %|A)% AI!I%ļi%<%>F5^F=@AA=EEEsDiI I)M:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i`ڽ)It"R_E&=&=&<&p<}\b4=b%=>Fn^Fptt=vEv2sDix x)z:)|I~׾9)I׾9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)iݽ)It"YE)~, ~.ZC}\;=9:V-:v?MbP?Aɀ IA)AIIi<:>F=^F=@AA=EEELsDiQ Q)Ua:)yI}9)I9iYE EE"EDDDDDD DCBBIzBMYI];)Ya aia)aaaies)iIu< y)yIyiyI%>i%>Y) @A) 2 '3[&Ayt$>tsbE}fG>Fn^Flpp=vEvfsDix x)z:)|I~i9)I9 i Y E EE!"E!D!D!D)D)D)D) D)C1B1BzBI;)| i)iZ)It&ZE2A2A6A6A)~H ~L}GxAףP=9D;Mb{Gz?~jth?Aɀ )IIi#=D;>F^F@  = EsDi ):)!I%9))I-9QiQYYEe EaEa"EiDiDiDDDD DCBBzB)I-;))I IiI)QQQiU)YI] H[&Ayt"U>t"SE}`>Fr^Fptt=vEvsDix x)z:)|I~v9)I9 iYE% E!E!"E!D!D!D)D)D)D1 D1C1B1B)zB-YIe;)aa aia)aaaim)iI< )wAYq)yI Y>i V>E [&Ayt">t"QE)~, ~.`C}^G>Fn^Fptt=vEvsDix x)z:)|I~9)Iv9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1B)zB-yI;) i)iKZ)It"S]E&=&=&=&4=}flGj=j=t< 0=9ףl~jt?{GztGAɀ ) AIIi<ף>F-^F-@11=5E]sDia a)e:)iIm9)qIu9iYE EE"EDDDDDD DCBBzB I ;))) 1i1)111i5)QIUt"YE)~0 ~0}bG>Fr^Fptt=vEvsDix x)z:)|I~]9)I9 iYE% E!E!"E!D!D)D)D)D)D1 D1C1B1BzBI;) i)i)Ii]>Y)۹ ?A) $Y 6Zf[&Ayt>>tBaE}E[Gu=9;/$kt?Mbp?Aɀ送 )AII,i 0=;>F^F@=EtDi ):)1I5l9)9I=9AiAYAEu EqEy"EyDyDyDDDD DCB)BzBI;)˃ i)i))AIE< I)IIIiQY)۱ ` *[&Ayt">t"7TE&A&A&A&A)~2= ~2ZC}^IG``>Fr^Fptt=vEvtDix x)z:)ID9)Ii9iYE% E!E!"E!D!D)D)D)D)D1 D1C1B9BizBuI;) i)i)It6[E}vG>F=^FAAA=MEM5tDiQ Q)U:)YI]9)aIaiiiYiE} EyE"EDDDDDD DCBBzBI;) i)il@)I< ) Y)I R>i a>]l ޳[&Ayt2>t2TE)~>'= ~>`C}~[GEE 0=9EEV-Mb?EGAAɀAA A)E AIAIEiE=E>F]^F]@aa=eEeOtDiq q)u:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;)  i)ip) It2SE6=6=6=6<}nGr4=r4=>Fe^Fiiq=uEuitDiy y)}:)I9)I9iYE EE"EDDDDDD DCBBzB I ;)   i ) i)It.PE)~< ~<}nG=9:v?MbpGAɀ )IIԼi<>F^F@=EtDi )+:)!I%9))I-;QiQYYEe EaEi"EiDiDiDDDD DCBBQzB]I;) i)iS)Ii5>Y)) ) 2X q[&Ayt">t"YE}bG>F~^F = E tDi ):)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)i&)I< )IiY9)A=U Bgot command show variable contact=e dacoustic_contact_direction_vehicle_frame (unknown)=e Dacoustic_contact_address (unknown)=e @acoustic_contact_range (unknown) 3N[&Ayt">t"R_E*A*A*A*A)~ ~}GyA>F^F=EtDi )+:)IQ9)I]9iYE EE"EDD!D!D!D!D) D)C)B)BzB1I=;)99 9i9)999i=8 )AIt"TE}f[GףT<9~jtx:v?pAɀ A)IIĻiT<>F%^F-@11=5E5tDi9 9)=n:)AIEs9)IIM9YiYYYEm EiEi"EiDiDiDqDqDqDy DyCyBBzBI;) i)iL )I< )xAY)I V>i V> O[&Ayt2>t2SE)~>= ~>ZC}nIG>F^F!!!=-E-tDi1 1)5:)9I=]9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)iZ] )It&S]E.=.=.p;.<}fޅGdf%=Dt<9I +Q?MbpAɀA IA)II94iu<>F-^F-@11=5E5uDiA A)E:)IIMs9)QIU9YiYYYEm EiEi"EiDqDqDqDyDyDy DyCBBzBI;) i)i~)It" [E)~2'= ~0}jG>F ^F =EuDi! !)%:))I)))I-99i9Y9EM EIEI"EIDIDQDQDQDQDY DYCYBaBzBI;) i)iC)Ii>Y)ۙ ) Ц [&Ayt6r>t6aE}r[G>F^F!!=%E%7uDi) ))-:)1I5:)9I=9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBiBzBI;) i)i܏)I>tB\EFAFAFAFA)~P ~R`C}GwAED;E<9EEZd;O~jt?MbPEAAɀAE A)EAIAIEjiEF^F@=ESuDi ):)I:)IiYE EE"EDDD!D!D!D! D!C!B)BazBmyI};)yy yi)iff)It"ZE}^G>F~^F = E kuDi )a:)I9)!I%i9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)i)yI}< )wAY)ۑI R>i a>  %[&Ayt2ί>t23XE)~@ ~D}t15`e<955~jtMb?Mb`5fA1ɀ15A 1)1I1I5Di5<5>FM^FM@QQ=UEUuDiY Y)]7:)iIm9)iIiyiyYyE EE"EDDDDDD DCBBzBI;) i)i)It2WE:=:=:p;:p<}r[GrF^F!!)=-E-uDi1 1)5:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i~)ItB0\EF DUSBL Version:O )~| ~}]ޅG>F^Fơơ=EƥuDi ):)I9)Iv9iYE EE"EDDDDDD DCBB)zB-9I=;)9A AiA)AAAiEK)IIUiep>Y) ) H 7[&AytBӵ>tB_EvDxDJ8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }mGףף;9y&1|?Aɀ ) AIIi`;>F ^F @=EuDi) ))-T:)9I= :)AIE:QiQYYEm EqEq"EqDyDyDDDD DCBBzBI;) i)i!) 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Aɀ )II;i>F^F%@!)=-E-vDi1 1)54:)9I=89)AIE9IiIYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i()It"YEF&?AF$}rG>F^F  = E vDi )&@:)!I%Q9)!I%׾91i1Y1Ee EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)   i D))I5< A)AY)I i O i [&Ayt2>t2TE)~P ~P}%[G>F-^F119==E=vDiA A)E:)IIM9)QIU]9YiaYaEm EqEq"EqDqDqDyDyDyDy DCBBzBI;) i)if+)It25VEv4x4:8****** ping requested ******J=J=Jp;J4<NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }ޅG`9{Gzt?{GztMbP?Aɀ )AIIף;iף>F^F@Ʃ!=%E-vDiQ Q)U:)YI]9)aIe9iYE EE"EDDDDDD DCBBQzBUI;) i)i)-)It2_E"F2a=*F6a=)~L ~L}~G>F=^FAAI=MEMvDiQ Q)U:)Ix9)I:iYE EE"EDDDDDD DCBB!zB%1I5;)99 9i9)999i=4/)AIMi]>Y1)9 )  em[&Ayt"W>t"WE}bG`949;:v?~jthMb`?3Aɀ )t!AIITF^F@!!=%E- wDi1 1)1)9I=9)AIE9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCiBqBzB9I=;)99 AiA)AAAiEH0)IIUt2YWE8:A:A:A)~D ~D}ptt>F^F!!)=-E-#wDi1 1)5n:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i}2)It2_EF6@AF4}nG>F^F!))=-E-2. ڌ[&Ayt"j>t"~VE)~0 ~0}^Gt9D;y&1?MbP~jth?3Aɀ )II`eF^F@!!=%E%VwDi) ))-a:)1I5:)9I=G9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBqBzBI;) i)i5)It2`E6=6=6;6p<}n[Gn=n4=>F^F!!=%E%pwDi) ))-:)9I=9)AIEv9IiIYIE] EYEY"EYDaDaDaDaDiDi DiCiBqBzBI;) i)iگ7)It6.^E"F:p=*F:p=)~D ~D}vG5Ļ5`95;5FM^FM@QQ=UEUwDiY Y)]:)iIm9)iIm9yiyYyE EE"EDDDDDD DCBBzBI;) i)iq9)Ii >Y) ) ]-B ! [&Ayt2m>t21ZE}~G>F=^F9AA=EEEwDiQ Q)Q)YI]v9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i+;)It"aE&A&A&A*A)~2= ~0}b[GfxAh>F^F=EwDi );)!I%:)9I=Ɵ:YiaYaE EE"EDDDDDD DCBBzBI;) i)i=)!I-t"\EF$F$v$x$*8****** ping requested ******:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=GM;Mt9MMMbp?F^F@ƹƹ=EƽwDi ):)I9)I!9iYE EE"EDDD!D!D!D! D!C!B)BzBI;) i)i>)I< )Y)۹I i hU V[&Ayt"U>t"SE)~>'= ~<}j[G>F^F!!)=-E-wDi1 1)5:)9I=9)AIEQ9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzB9I=;)9A AiA)AAAiEY@)IIUt2aE6=:=:p<:<}nGn%=n%=!%T9%:%~jtx?~jtMbP?%3A!ɀ!! %A)!I!I%;i%D%:>F5^F=@AA=EEE xDiI I)M:)QIUa:)aIe=9iiiYiE} EyE"EDDDDDD DCBBzBI;) i)iB)It"3XE"F *F&a=)~6= ~4}bG>F~^F = E %xDi ):)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)iC)IY) ) ޤh pA[&Ayt2>t2 ]E}x>FE^FIYa=eEe?xDi ):)It:)I,:iYE EE"EDDDDDD D C B BAzBEYI];)YY YiY)aaaie|E)iImt.U[E2A6A6A6A)~< ~<}n[GryAp%:!9%;%F=^F=@AA=EEEYxDiI I)M:)YI]9)YI]9iiiYiE} EyEy"EyDyDDDDD DCBBzBI;) i)iLG)It"~VEF&AAF$}jޅG>Fr^Fptt=vEvrxDi| |)~E:)I9) I 9iYE% E!E!"E!D)D)D)D)D1D1 D1C1B9BqzBuI;) i)iH)I< )xAYq)yI i V>{ [&AytU>tSE)~( ~,}ZG%%D9!%Mb?MbMb`?% A!ɀ!! !)% AI!I%Fu^F}@ƁƁ=EƅxDi )a:)I:9)I9iYE EE"EDDDDDD D C B BAzBEYIe;)aa aia)aaaimJ)qIut"\E&=&=&4=&<}^G\\>F~^F = E xDi ):)qIu :)yI}9iYE EE"EDDDDDD DCBBzBI;) i)i}L) I tRsbE"FZR=*FX)~r'= ~t}e8GT9D;I +?Mb~jth? Aɀ )II94F^F@=ExDi )D:)I9) I 9iYE% E!E)"E)D)D)D1D1D1D1 D9C9B9BqzB}I;) i)iSN)Iil>Yi)q ) V ,e?[&Ayt2>t2 [Ev4x4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }UG>F^FƑƑ=EƕxDi ):)Is9)IJ:iYE EE"EDDDDDD DCBBIzBMaIe;)aa aia)iiiim-P)IY[&Ayt2ӵ>t2_Ev2aF w0)w2{r=Iw21>iw0w2Bw0w2@w2I߿f?MȿBABABABA)~R= ~T}G xA >F^F!!=%E%xDi) ))-:)1I59)9I=9AiIYIEU EYEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)inQ)It"S]EF$F$}bG  `e9 ; {Gz?F%^F%@))=-E-yDi1 1)55L:)AIE9)AIE9QiQYQEe EaEa"EaDaDiDiDiDiDq DqCqByBzBI;) i)ijS)I< xA)wAY)I i Y> V[&Ayt2,>t2RE)~D ~FZC}vG>F^F!!)=-E-(yDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)iY%U)It^^QEb=b=bb<}=[GE=A9D;I +?F^F@ơơ=EƥByDi )7:)I9)I9iYE EE"EDDDDDD DCBB)zB-9IE;)AA AiA)AAIiMV)QIUt"3XE"F&a=*F&p=)~0 ~2`C}jG>F^F!!=%E%[yDi) ))-:)1I5:)9I=9AiIYIEU EYEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i@X)Ii>Y)۹ ) S [&Ayt">t"fE}ZG>F^F!!=%E%uyDi) ))-:)1I5:)AIE9QiQYQEe EaEa"EaDaDiDiDiDiDq DqCqByBzBI;) i)i~YZ)It2YE:A:A:A>A)~H ~H}zlGxx11915I +?FM^FM@QQ=UEUyDi )z:)I9)IV;iYE EE"EDDDDDD D!C!B!BzBI;) i)i}6\)It2^EF0F4}ޅG>F ^F=EyDi! !)%:))I-s9)1I5i99iAYAEM EQEQ"EQDQDQDYDYDYDY DaCaBaBzBI;)1 1i1)999i=])AIE< q)qY1)9I i V> "([&AytFW>tFWE)~V'= ~X} GUQ9QU~jt?Mb~jth?U AQɀQQ Q)QIQIUDFm^Fm@qq=uEuyDi )a:)I9)I:iYE EE"EDDDDDD DCBBzBI;) i)i_)It20\Ev4x4:8****** ping requested ******B=B=F;F<NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }5GM4=MC=>F^Fƙƙ=EƝyDi )0:)I?:)I:iYE EE"EDDDDDD D C BBazBmI;) i)iPsa) I5t"dE"F"R=*F&a=&^unknown deviceResponse_: 00000,187,80,81,11,FF q&&(Communications Faulta* a* a* )~>= ~@}n[G>F^F!!)=-E-yDi1 1)5::)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)ic)IY)۹-!m`Communications Fault in component: DUSBL_Hydroid )  u[&Ayt:>t:S]E>Powering downF>F>"FB*FB}-Gqq9quI +?Mb~jth?uAqɀqq q)uAIqIu94F^F@=EzDi ):) I 9)I9iYEM EIEQ"EQDQDQDYDYDYDY DYCaBaBzBI;) i)i0e)It2sbE6A6A:A:A)~D ~D}[G>F]^FYaa=eEm+zDiq q)u:)yI}9)Iv9iYE EE"EDDDDDD DCBBzBI;) i)iBf) It"zZE}bIG ף 9  :v?y&1|~jth? 3A ɀ   ) t!AI I TFu^F@ơơ=EƥEzDi )n:)I 9)I.9iYE EE!"E!D!D!D)D)D)D) D)C1BQBzBI;) i)i-^h)I< !)!Y )!-bClearing failed state for component DUSBL_Hydroidq-I i Y>p O@[&Ayt>t"\E)~, ~,}bG>Fn^Fppp=vEv]zDix x)za:)|I~Q9)I9 i Y E EE!"E!D!D!D)D)D)D) D)C1B1BIzBMI;) i)i j)It"5VE&=&p>&<&<}b[GfR=f%=>Fn^Fppt=vEvwzDix x)z:)|I|)I9 i Y E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)it"YE)~.'= ~,}^GC9;Q?{GzMb`?Aɀ )IIuF^F@!!=%E%zDi) ))-:)1I5:)9I=9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBqBzBI;) i)igm)IY)۹ ) @ 6[&Ayt2ί>t23XE}n[G>F^F!!)=-E-zDi1 1)5U:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i#o)It2OE6A6A6A6A)~B= ~BjC}rGryAp)-u9-D;-:v?Mb~jth?-3A)ɀ)-A )))I)I-TF=^FE@II=MEMzDiQ Q)U:G:)YI]89)aIe9iiiYqE EE"EDDDDDD DCBBzBI;) i)i?p)It6aE:Powering up:6Initializing DUSBL_Hydroid.}MG>F}^FyƁƁ=EƍzDi ):)I9)Iv9iYE EE"EDDDDDD DCBB zB I;)!! !i!)!!!i%r))I5< EvA)AY)I i V>U= p]^[&Ayt2!>t2^E)~B'= ~@}|>F ^F =EzDi! !)%7:))I-s9)1I5Q99i9Y9EM EIEI"EIDQDQDQDQDYDY DYCaBaBzBI;) i)iMTt)It2XE6=6=64<:<}n[Gpp%D%T9!%I +?y&1|~jth?% A!ɀ!! !)% AI!I%94F^F@ơơ=Eƥ{Di )a:)Il9)I!9iYE EE"EDD!D!D!D!D) D)C)B1BzBI;) i)i`5v)I t2u`E)~B= ~B`C}nG>Fv^Fxx|=~E~,{Di )U:) I 9)IQ9i!Y!E- E1E1"E1D1D1D9D9D9D9 DACABABzB I;) i)119i=w)AIEY1)9 ) y* ([&Ayt2ػ>t2gE}vG)-u9-;-~jt?FE^FM@II=UEUG{DiY Y)]:)aIe9)iIm9qiqYyE EE"EDDDDDD DCBBzBUaIe;)ii iii)iiiim۠y)It2|XE8:A8:A)~P ~P}[GxA>F=^FAII=MEMa{DiQ Q)U^:)YI]9)aIe]9iiqYqE EE"EDDDDDD DCBBzBI;) i)iOJ{)It2WE}rޅG>F^F!!!=-E-z{Di1 1)5U:)9I=]9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i})I< xA)Y)1I R>i Y>= [&Ayt2D>t2XE)~@ ~@}nG%!9!%~jt?F=^F=@AA=EEE{DiI I)Ma:)QIU_:)YI]9iiiYiE} EyEy"EyDyDDDDD DCBBzBI;) i)ii~)It:WEF=F=FF<}[G = >F=^F9AA=EEE{DiQ Q)U:)YI]9)aIev9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i3>)It25VE)~P ~RjC}%ޅGee`e9ae{Gz?{GzMbp?e Aaɀaa a)aIaIe#F^F@=E{Di ) :)!I%9)!I%91i1YYEm EiEi"EiDiDiDDDD DCBBzBIIU;)QQ QiQ)QQYi]3)aIeiu>YI)Q ) Q G[&AytB>tBZE}~G>F ^F =E{DiQ Q)U?:)YI]9)aIe9iiqYqE EE"EDDDDDD DCBBzBI;) i)i#)It"cE&A&A&A&A)~0 ~0}b[GbzAbyA>Fn^Fptt=vEv{Dix x)z:)|I~9)Iv9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1B)zB-II;) i)iyނ)IUt"WYE}^GT9D;F^F=@AA=EEE|DiQ Q)Q)YI]9)IG9iYE EE"EDDDDDD DCBBzBqI};)yy yiy)yyyiQ˃)I< )Yi)qI i V>#d e[&AytB>tB.^E)~L ~N`C}~G>F^F!!=-E-/|Di1 1)5I:)9I=]9)AIE]9IiIYIE} EyEy"EDDDDDD DCBB zB I;) i)i)It"zZE&=&=&<&;}\b%=`9;Mb?{GzMb`? 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I s9iYE EE"EDDDDDD DCBBzB I;) i)i)!I%i5p>Y) )  %z[&Ayt2>t2 ]E}nG>Fv^Ftxx=zEz}Di )ߙ?) I 9iYE- E)E)"E)D)D)D1D1D1D1 D9C9BABqzBI ;) i)i)!I-t"WYE$&A&A&A)~0 ~2jC}\bxA`                 #9 ; ~jt?Mb`Mb`? 3A ɀ   ) I I DF]^F]@aa=mEm}Diq q)un;:)yI}]9)I9iYE EE"EDDDDDD DCBBizBmI;) i)i)It2U[E}l>F^F  = E }Di )8<:)!I%9))I-91i1Y1EE EAEA"EADIDIDIDQDQDQ DQCQBYBzBI;) i)i)I< )Y)۹I i ]>~ g&f[&AytJ>tNZE)~ ~`C}qt949y&1?MbPMb`?3Aɀ逹 )II`eF^F@=E~Di )D:)I9)I9iYE EE"EDDDDD!D! 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D)C)BIBzBI;) i)i))I-t2]E-NResponse from modem unexpected: $CACST,6,1,20190326001545.440751,06,553,27,0092,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,204,0.00,-999,9760,4000*50 NANARARA)~\ ~\}ޅG!>F-^F)11=5E5DiA A)E:)IIM9)QIU9YiYYYEm EiEi"EiDqDqDqDyDyDy DyCBBzBI;) i)i)It"UEF&@AF&@A}jG>F~^F  = E Di ):)I9)!I%9)i)Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)I< wA)Y)I i V>8M qt7[&Ayt2J>t2,`E)~@ ~B`C}rG%D%ף9!%{Gzt?MbP%A!ɀ!! !)%AI!I%ף;i!!>F=^FE@AA=MEMDiQ Q)U:)YI]]9)aIe9iiiYqE EE"EDDDDDD DCBBzBI;) i)i)It6YE>=>=>4F ^F =EDi! !)%+:))I-9)1I599i9Y9EM EIEI"EIDQDQDQDYDaDa DaCaBiBzBI;) i)i)It"UE"F"p=*F&<)~0 ~2jC}bIG15Ļ915~jtx?~jth5 A1ɀ11 1)5 AI1I5;i5D1>FM^FU@YY=]E]Dia a)ea:)iIm9)qIuڦ:iYE EE"EDDDDDD DCBBzBI;) i)i) I Y) ) ~2a [&Ayt2>t2 [E}jG>F~^F  = E Di ). <)YI]:9)aIev9iiiYiE} EE"EDDDDDD DCBBzBI;) i)i)It"aE&A&A&A&A)~0 ~0}bG``>F~^F = E Di ):)I9)!I%.9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQB zB !I%;)!! !i!)!))i))1IUt2QEF2?AF0}p--D9)-Mb`?Mb`- A)ɀ)) )))I)I-;i-)>F}^F}@ƁƁ=Eƅ*Di )a:)I9)I9iYE EE"EDDDDDD DCBBzBI;) i)i)I < xA)Y)I i nt [&Ayt2>t2 [E)~< ~<}nG>Fv^Ftxx=zE~6Di )U:) I 9)I]9iYE- E)E)"E)D1D1D9D9D9D9 DACABAByzB}I;) i)i)It"`Ev x &8****** ping requested ******&=&=&*p<*Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G%=D;D<9D{Gz~jtx?~jthAɀ IA)II#i;D>F=^FE@II=uEuDDiy y)}:)I9)Iv<qiqYqE EE"EDDDDDD DCBBzB!I%;))) )i))))1i1)9It"\E"F&a=*F&a=)~< ~>`C}rlG>F~^F  = E PDi )!:)I9)!I%i9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQB zB aIe;)aa aia)iiiii)ItUE}^ޅG>Fj^Fhll=nEn]Dit t)vv&:)xIx)|I~9iYE EE"EDDD!D!D!D! 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!)!I!I%#i!!>F=^F=@AA=MEMDiQ Q)U:)YI]9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBYI];)YY aia)aaaia)iIut20\EF2@AF0}nG>Fv^Ftxx=zEzDi ):) I 9) I Q9iYE- E)E)"E)D)D1D1D1D1D9 D9C9BAByzB}I;) i)i)Ii  [&Ayt&>t&YWE)~8 ~8}rG>F=^FAYa=eEeDi )/:)It:)IҨ:iYE  E E "E D D DDDD DCB!BYzB]iIm;)ii iiq)qqqiq)yIt2VE6=6=6=6p=}lr=r=%D;%<9%%Mb~jth?%A!ɀ!! !)!I!I%i!%>F5^F=@AA=EEE,DiI I)M:)QIU:)YI]G9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i)It:S]E"F:a=*F:p=)~H ~H}r[G>F^F!!)=-E-9Di1 1)1)9I=v9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It2WYEv4x4:8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }uG-ף;-ף9-;-y&1|Mbp?-A)ɀ)) -A)-t!AI)I-i-`廉-;>F^F@=EGDi )n:) I x9)I.9!i!Y!EU EQEQ"EQDQDQDYDYDYDa DaCaBaBzBI;) i)i)IIUt2]Ev2@. w0)w2`=Iw2>iw0w2pAw0w2=jAw2۬?U>ſBABABABA)~P ~V`C}G wA yA>F^FƉƉ=EƍSDi )z:)I9)I+9iYE EE"EDDDDDD DCBBzB!I%;)!) )i)))))i))1I=t&_EF.AAF,}=[GĻ9D;Mb~jth?Aɀ )IIiD;>F^F@=E`Di ):)I׾9)Iv9 i Y E EE"ED!D!D!D!D)D) D)C)B1BizBmyI;) i)i)I~  "?[&Ayt">t"YWE)~4 ~6jC}bIG>F^F  = E lDi )D=:)!I%+9)!I%i91i1Y1EE EAEA"EADADIDIDIDIDQ DQCQBQBzBI;) i)i)It"~VE&=&=&p;&R=}\b4=b4=>F^F  = E yDi )Z:)!I%9))I-91i1Y1EE EIEI"EIDIDIDQDQDQDQ DQCYBYBzBI;) i)i)It"^E"F$*F$)~0 ~0}^GD;9;~jth?~jtxMbp?3Aɀ ) AIID;iĻ;>FE^FE@II=MEMDiQ Q)U?:)YI]9)aIe9qiqYqE EE"EDDDDDD DCBBzBI;) i)i)It"]E}bG>Fn^Flpp=vEvDix x)za:)|I~9)I]9 i Y E EE!"E!D!D!D)D)D)D) D)C1B1BzBI;) i)i)ItbSEjAjAjAjA)~t ~t}AMxAMxA<9MbMbp?Aɀ选 IA)IIi;>F^F@ƩƱ=EƵDi ):)Is9)I:iYE EE"EDDDDDD DCBB9zB=IIM;)IQ QiQ)QQQiQ)YIet" [EF&@AF&AA}jG>F ^F =EDi! !)%+:))I)))I-99i9Y9EM EIEI"EIDIDQDQDQDQDY DYCYBaBzBI;) i)i)IZC6 D[&Ayt2?>t2^QE)~< ~@}nͅG>Fv^Ftxx=zEzDi9 9)=D:)AIE9)IIM9QiQYYEe EiEi"EiDiDiDqDqDqDq DyCyBBzBI;) i)i)It"0\Ev$x$*8****** ping requested ******2=2=6p<6p<:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=GIM%=II9IMMb~jth?MAIɀII I)IIIIIiMD;I>F^F@!!=%E%ɁDi) ))- :)QIQ)YI]9aiaYiE} EyEy"EyDyDyDDDD DCBBzBAIE;)AA AiA)iiiii)qIut"]E"F&p=*F&a=v&Pwֽ w$)w&D>Iw&1>iw$w&@w$w&\sBw&kΔ?4ޮ`º)~@ ~@}rG>F^F!!)=-E-ԁDi1 1)5:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)Iut.~VE}n[G;t<9F5^F5@99==E=DiI I)M:)QIU9)YI].9aiaYaEu EqEy"EyDyDyDDDD DCBBzBI;) i)i)It2[E6A:A:A:A)~D ~D}rGtt>F^F!!)=-E-Di1 1)5:)9I=9)AIEi9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It" [EF"AAF"@A}^[G>F~^F  = E Di )!E:))I-i :)1I5 :IiIYIEe EaEa"EaDiDiDqDqDqDq DyCyBBzBI;) i)i) I\  hu[&Ayt:>t:cE)~P ~P}IGED;A9AEMbMbp?EAAɀAA A)AIAIEiE;A>F]^F]@aa=mEmDiq q)u;:)yI}v9)I9iYE EE"EDDDDDD DCBBzBI;) i) i )It2]E:=:=:4=:<}))-4=>F=^F9AA=EEEDiI I)Ma:)QIU:)YI]9iiiYiE} EyEy"EyDyDDDDD DCBBzBI;) i)i)It"[E"F$*F&p=)~0 ~4}bG  <9  Mb~jth?MbP A ɀ   ) I I i D; >F^F@ƩƩ=EƵ"Di ):)IZ9)I9iYE EE"EDDDDDD DCBB1zB5AIM;)II IiI)IIIiQ)YI]t"zZE}^G>F~^F  = E .Di )b::)ID9)!I%]9)i)Y1EE EAEA"EADADADIDIDIDI DQCQBQB zB 9IE;)AA AiA)AAAiA)IIUt. ]E:A:A>A>A)~L ~L} >F%^F)11==E=;DiI I)M0:)QIU:)aIe!:iiqYqE EE"EDDDDDD DCBBzBI;) i)i)I t"_EF$F$v$x$*8****** ping requested ******>Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }a;t<9F^F@=EIDi )2:) I $:)I:)i)Y)EU EYEY"EYDYDYDaDaDaDa DiCiBBzBI;)!! !i!)!!IiI)QI]i V> [&Ayt2>t2w^Ev6%K w4)w6#s=Iw4iw4w6Bw4w6@w6w?a^?g4Lɿ-VResponse from modem unexpected: $CACST,6,1,20190326001605.906873,06,459,26,0091,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,209,0.00,-999,9760,4000*53 )~d ~d}-[G>F5^F9AA=EEEUDiI I)MU:)QIUS:)YI]9aiiYiEu EyEy"EyDyDyDDDD DCBBzBI;) i)i)It"VE*=*=*;*p<}jIGn=n%=D;<9Mb~jth?Mb`fAɀ )AIIi>F5^F5@yy=}E}bDi )7:)I+9)I9iYE E1E1"E1D1D9D9D9D9DA DACABIBzB I ;)   i)i)I%t&_E"F*a=*F*a=)~8 ~8}nG>F~^F  = E oDi ):)9I=9)AIE9IiIYQE EE"EDDDDDD DCBB zB 9IE;)AA AiA)AAAiI)IIU. &^[&AytBв>tB[E}G>F=^F9AA=MEM|DiQ Q)U:)YI]]9)aIei9iiiYiE EE"EDDDDDD DCBB)zB-YI];)Ya aia)aaaia)iIt"]E&A&A&A&A)~, ~0}^G``AEt<9EEF}^F}@ƁƁ=EƅDi )a:)I9)I9iYE EE"EDDDDDD  D C BBzBI;) i)i)It" ]EF F$}^G>Fn^Fptt=vEvDix x)z:)|I~9)Iv9 iYE% E!E!"E!D!D!D)D)D)D) D1C1B1B)zB-9IE;)AA AiA)AAAiI)IIj [[&Ayt"}>t"ZUE)~, ~.`C}^G~;|9~~F^F@!!=%E%Di) ))-U:)1I5;)YI]x9aiaYiE EE"EDDDDDD DCBBzBI-;)11 1i1)111i1)9IEt")dE&=&=&4<&<}^[G^R=\>Fn^Fptt=vEvDix x)z:)|I~9)Iv9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)i)It"1ZE"F&p=*F$)~0 ~2jC}bޅG>Fr^Fptt=vEvDix x)za:)|I~]9)I׾9 iYE% E!E!"E!D!D)D)D)D)D1 D1C1B1BzBI;) i)i)It".^Ev$x$&8****** ping requested *******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }%G9{GzMbp?Mb`fAɀ逩 )II#i>F^F@!!=%E%ʂDi1 1)5T:)AIE :)IIMǙ;yiyYyE EE"EDDDDDD DCBBAzBEI;) i)i)It"VEv"f; w )w"=Iw">iw w"Aw w"Aw"tv?m~Sǿ2A2A2A2A)~@ ~@}rGtt>F~^F = E ւDi ):)I9)!I%v9)i)Y1E= E9EA"EADADADIDIDIDI DICQBQBzB!I%;)!) )i)))))i))QI]t"_EF&@AF$}nG!%u<9%%:vMb?%A!ɀ!% !)!I!I%Ti%<%>F]^Fe@ii=mEmDiq q)u;)Iv9)I9iYE EE"EDDDDDD DCBBizBmI;) i)i)Ii  F[&AytB*>tBNE)~P ~P}%G>F]^FYaa=eEmDiq q)u:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)i ) IY) `[&Ayt"o>t"]E&=&=&p;&=}^Gb4=b=>F~^F = E Di )U:)I9)!I%]9)i)Y)E EE"EDDDDDD DCBB)zB-9I=;)AA AiA)IIIiI)aIut"1ZE"F *F )~, ~,}^GC<9QF^F@!!=%E% Di) ))-:)1I5:)9I=9IiIYIE] EYEY"EYDYDYDaDaDaDi DiCiBiBzBQI];)YY YiY)YYaia)iImt2|XE}n[G>Fr^Ftxx=zEzDi| |)~:)I9) I i9iYE% E)E)"E)D)D)D1D1D1D1 D9C9B9BqzBuI;) i)i)I< )Y)ۙ <[&Ayt2>t2[E6A6A6A6A)~@ ~@}rIGryAp%D;%t<9%%MbMbp?MbP%A!ɀ!%A !)!I!I%i%;%>F=^FE@AA=MEM$DiQ Q)U:)YI]]9)aIe9iiiYiE} EE"EDDDDDD DCBBzBI;) i)i)It"|XEF$F$}^G>F~^F  = E 1D]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i ):-Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. --Software Fault - - - )!I%9]=Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 =-=Software Fault)1I5V9JU,Location not readable.EU EQEQ"EQDYDYDaDaDaDa DaCiyI};)y i)ii)I$ b[&Ayt">t"[E)~0 ~0}b[G>F~^F|= E >DJ},Location not readable.Ey EE"EDDDDDD DCI;) i)ii)Ii->Y)! Clearing failed state for component DeadReckonUsingMultipleVelocitySources       !Clearing failed state for component DeadReckonUsingSpeedCalculator !Clearing failed state for component DeadReckonWithRespectToSeafloor1 :B )[&Ayt2>t2eEv4x4:8****** ping requested ******>=B=FF<JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }eGiu=<9:y&1F^F@!!=%E%MD5lInitializing DeadReckonUsingSpeedCalculator component.9i9Y9EI EiEi"EiDDDDDD DCBB9zB=qIu;)qy yiy)yyyiy)It2R_E"F0*F4v6 w4)w6<=Iw6$>iw4w6@w4w6)Bw6RQ?_ ɴ)~P ~P}G>F=^FAII=MEMXDiQ Q)U;:)YI]89)aIe9iiiYqE EE"EDDDDDD DCBBzBI;) i)i)IT  /[&Ayt">t }b[G`;9y&1|~jth?AɀA )II`iD;>F^F%@!)=-E-eDi1 1)5:)9I=]9)AIAIiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)I< )Y)< _I[&Ayt2>t2[E6A:A:A:A)~D ~D}rGtt>F^F  = E qDi )<:)Ii9)!I%v9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It".^EF&AAF$}fG>F^F  = E ~Di )7:)!I%Ӆ:)9I=v\:YiYYaE EE"EDDDDDD DCBBqzBuI;) i)i)I( }[&Ayt.>t. [E)~8 ~<}jG;<9y&1|Mbp?Aɀ )IIi;>F5^F5@99==E=DiI I)M:)QIU9)QIU:aiaYaEu EqEq"EqDqDyDyDDD DCBBzBI;) i)i)IY)۹?x% [&Ayt21>t2YE6=6=:p;:p<} lG  4=>F=^F9AA=MEMDiQ Q)Ua:)YI]9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i)It"y\E"F&4=*F&p=)~0 ~0}bޅG55<95;5QQ?Mb`?5A1ɀ15 1)5AI1I5ui5u<5;>FM^FM@QQ=]E]Dia a)e+:)iIm9)qIu]9yiYE EE"EDDDDDD DCBBzBI;) i)i)It2RE}nlG>F^F!!)=-E-Di1 1)5:)9I=9)AIE9IiIYIE EE"EDDDDDD DCBB zB I;)!! !i!)!!!i!))I5< A)EwAY)?8 [&Ayt4>t]E &A$&A)~, ~0}IG xA>F]^Faqy=}EƅDi ):)I9)I9!i!Y!E5 E1E1"E1D9D9D9DADADA DACABIBzBI;) i)i)I h][&AytB>tBZEFDFDvDxDJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }}G<9D; rhF^FM@QQ=UEU΃DiY Y)]U:)aIe9)iImx9yiyYyE EE"EDDDDDD DCBB)zB-AIE;)AA iii)iiiiq)yI`E 8[&Ayt2j>t2~VE6^unknown deviceResponse_: !U1,R,278,80,81,09,FF q6:(Communications Faulta: a: a: )~L ~N`C}G>F ^F=EكDi! !)%7:))I-9)1I5Q99iAYAEM EQEQ"EQDQDQDYDYDYDY DaCaBaBzBI;) i)i)Iip>Y)-!`Communications Fault in component: DUSBL_HydroidK 2[&Ayt2!>t2^E6Powering downF6F6"F6*F6==<p<}%=9~jt?I +~jth?pAɀ A)IIDF^F@=EDi ):)I9) I 9iYE% E!E)"E)D)D)D1D1D1D1 D9C9B9BqzBuI;) i)i)It2YWE)~@ ~FjC}p>F^F!!)=-E-Di1 1)5:)AIE!9)AIE9QiQYQEe EaEa"EaDaDiDiDiDiDq DqCqBqBzBI;) i)i)ItNhE}99;~jt?{GzMb`?Aɀ送 A)IIi#;>F^F@ơơ=EƥDi )K:)I+9)I9iYE EE"EDDDDDD DCBB)zB-9I=;)AA AiA)AAAiA)IIU< a)aY))1!MbClearing failed state for component DUSBL_HydroidqM,_ <[&Ayt2U>t2SE6A6A6A6A)~@ ~@}|yA>F=^F9AA=MEM DiQ Q)U:)YI]9)aIe9iiiYiE EE"EDDDDDD DCBBzBI;) i)i)It"dE}^G>F~^F  = E Di ):)YI] 9)aIe9iiiYqE EE"EDDDDDD DCBBzBI;) i)i)I>l [[&Ayt2>t2R_E)~< ~<}jG<9:{Gz/$?MbP?GAɀ IA) AIIףi<:>F5^F5@99==E=&DiI I)M:)QIU9)QIU$9aiaYaEu EqEq"EqDDDDDD DCBByzB}I;) i)i)Ii>Y)('s u9[&Ayt2в>t2[E6=6=6%=6<}n[Gn%=l>F^F!!=%E-3Di1 1)5:)9I=9)AIE]9IiIYIE] EYEY"EYDaDaDaDiDiDi DiCiBqBzBI;) i)i)IZ>t>U[E)~H ~L}zIG9=+=99=Zd;O~jt?MbP?=GA9ɀ99 9)9I9I=ji=<9>FU^FU@YY=]E]@Dii i)m:)qIu:)yI}S9iYE EE"EDDDDDD DCBBzBI;) i)i) I t2R_E6Powering up66Initializing DUSBL_Hydroid.}EG>F}^FyƁƁ=EƅNDi )U:)Ii9)Ii9iYE EE"EDDDDDD DCBB zB I;)!! !i!)!!!i!))I5< =wA)ExAY)b *[&Ayt2>t2WYE46A46A)~@ ~@}rGrwAp>F^F!!)=-E-ZDi1 1)5n:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It&^QE}b8G : `e9  F]^F]@aa=mEmgDiq q)u:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)i ) Iu N[&Ayt">t"ZE)~4 ~4}vG>F~^F = E tDi ))I9)!I%׾9)i)Y)E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i) IY)) >[h[&Ayt">t *=*=*<*p<}nGr=pm;i9imMb?~jtmAiɀii i)iIiImF^F@ƱƱ=EƵDi ):)I9)Ii9iYE EE"EDDDDDD DCBB9zB=IIM;)II IiQ)QQQiQ)YIet"R_E)~0 ~0}b[G>F~^F  = E Di )I:)IQ9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQB zB !I%;)!! !i!))))i))1I=t20\E}nޅG>Fr^Ftxx=zEzDi| |)~:)I9) I Q9iYE- E)E)"E)D)D)D1D1D1D1 D9C9B9BqzBuI;) i)i)I< xA)wAYQ)aڬ [&Ayt2D>t2XE6A6A6A6A)~@ ~@}rlGrxAp%ף;%`<9%%Zd;OMb?Mb`%GA!ɀ!! %IA)!I!I%ji%<%>F=^F=@AA=MEMDiQ Q)Ua:)YI]9)aIe9iiiYiE} EyE"EDDDDDD DCBBzBI;) i)i)It"RE}^IG>F~^F  = E Di ):)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)Ii V>h n[&Ayt2ޫ>t2\SE)~D ~D}vG)-<9--:vFE^FM@QQ=UEU„DiY Y)]:)aIe9)iIiqiyYyE EE"EDDDDDD DCBBzBI;) i)i)Ii {>Y) =|[&Ayt6>t6[E>=B=Bp;B<} G=>F=^F9AA=MEMτDiQ Q)Un:)YI]v9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i)It"3XE)~0 ~0}`>F ^F =EۄDi! !)%:))I-9)1I5]99i9Y9EM EIEI"EIDQDQDQDQDYDY DYCYBaBzBI;) i)i)It"[E}X~~\=9~~~jt:v?~A|ɀ|| |)|I|I~ļi~<~>F^F@yy=}E}Di ):)I9)I9iYE EE"EDDDDDD DCBBzBI;) i)i)!I-< 9)9Y )  Q[&Ayt2>t2`E6A6A6A6A)~@ ~@}rGryAp>F^F!!)=-E-Di1 1)5I:)9I=v9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqB)zB-9IE;)AA AiA)AAAiA)IIut.QE}jG#=9y&1V-?Aɀ )II`i<>F5^F5@99==E=DiA A)E:)QIUs9)YI]x9aiaYaEu EqEq"EqDyDyDyDDD DCBBzBI;) i)i)Ii ]>J# ń[&Ayt">t"WYE)~, ~,}Z[G>F~^F = E Di )U:)I׾9)!I%Q9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzBI;) i)i)Ii>Y)۹M E[&Ayt2>t2TE6=6=6p;6p<}nGr%=r4=>F^F!))=-E-Di1 1)5:)9I=Q9)AIE9IiIYQE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It"WYE)~, ~,}^G~;~<9~ף~F^F@!=%E%)Di) ))-n:)1I5s9)9I=9AiIYIEU EYEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i)It:YE}t>F^F!!)=-E-6Di1 1)5:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)I< )Y)۹' 0[&Ayt">t"cE&A&A&A&A)~0 ~0}lppED;EH=9E:ElMb?MbP?EGAAɀAE A)E AIAIEiE=E:>F]^Fe@aa=mEmCDiq q)uZ:)yI}׾9)I9iYE EE"EDDDDDD DCBBzBI;) i)   i )It"UE}\>F~^F  = E PDi ):)YI]9)aIe9iiqYqE EE"EDDDDDD DCBBzBI;) i)i)Ii V> [&Ayt2W>t2WE)~< ~<}l>Fv^Ftxx=zEz\Di ):) I 9)IQ9iYE- E)E)"E)D)D1D1D1D9D9 D9CABABzB)I-;)QQ QiQ)YYYiY)aIeYQ)q8  9[&Ayt2r>t2aE6=6=6a=6<}n[Gr=r%=%;%j<=9%D;% rhX9v?~jth?%GA!ɀ!! !)!I!I%C i%<%D;>F=^F=@AA=EEEjDiQ Q)U:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBYI];)YY aia)aaaia)iIut2UE)~@ ~@}nIG>Fv^Ftxx=zE~vDi ):) I 9)Ii9iY!E- E)E1"E1D1D1D9D9D9D9 DACABAByzB}I;) i)i)It2\SE}jޅGQ8=9;L7A`堿Q?Mb`?GAɀ )II+i<;>F5^F5@99=EEEDiI I)MU:)QIU9)YI]9aiaYaEu EqEq"EqDyDyDDDD DCBBzBI;) i)i)I< )Y)! ~R[&Ayt">t".^E(*A(*A)~2= ~4}^GbxA`>F~^F  = E Di ):)I9)!I%Q9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It&TE}fG>F~^F  = E Di ):)I9)!I%v9)i)Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)IW.  [&Ayt2 >t2|XE)~>= ~@}GEף;E<9EĻE{Gzy&1?~jtxEAAɀAEA A)AIAIEףiE`eF]^F]@aa=eEmDiq q)q)yI}i9)I9iYE EE"EDDDDDD DCBBzBI;) i)i) Ii%]>Y)84 [&Ayt2>t2SE6=6=6<:p<}rGr%=p>F5^F199==E=DiI I)M:)QIU9)QIU:aiaYaEu EqEq"EqDqDyDyDDD DCBBzBI;) i)i)It"zZE)~0 ~0}` : 94=9  MbQ? 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Ⱥ[&Ayt2U>t2SE}|AE#=9EE rhI +?EAAɀAA A)AIAIEC iE9F]^F]@aa=e"EeDiq q)un:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)   i )It*XE.A.A.A.A)~:= ~:jC}djxAh>F%^F!))=-"E-Di1 1)5]?:)9I=9)AIEi9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It"UE}\%`;%=9!%MbI +?%A!ɀ!! !)!I!I%i!!>F5^F=@="EĊDi ):)I <)9I=9AiAYAE EE"EDDDDDD DCBBazBeI;) i)i)Ii>Y)۱I V>i V> Z[&Ayt">t"dE)~, ~,}^G>F~^F = "E ЊDi ))Ii9)!I%i9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;)! !i!)!!!i!))I5t2^E6=6=6p;6<}nGr=r4=>Fv^Fx||="E݊Di! !)%:))I-9)1I5׾99i9YAEM EIEQ"EQDQDQDYDYDYDY DaCaBaBzBI;) i)i)It"WE)~0 ~0}^lGף;+=9S㥛{Gz?Aɀ )II/ݼiף<>F^F@!!=%"E%Di) ))-R:)AIE{9)IIM:9QiYYYEm EiEi"EiDiDqDqDqDqDy DyCyBBzBI;) i)i)I< )Y)۹ ?A) 9 1U[&Ayt2}>t2ZUE}rDG>F^F!!)=-"E-Di1 1)5a:)9I=i9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It"aE&A&A&A&A)~, ~0}^GbwA`:9MbPpAɀ A) AIIi>F=^F=@AA=E"EMDiQ Q)U:)YI]v9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i)It6aE}rG>F^F!!)=-"E-Di1 1)5U:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)Ii{>Y)۹I R>i a>u l|[&Ayt">t"_E)~.= ~2oC}x>F^F!9A=E"EMDia a)e:)Ie:)I:iYE EE"EDD DDD!D) D1C1B1BizBmI;) i)i)It",`E&=&=&=&<}`b4=b%=949y&1|?F^F@="E,Di ):)Ix9)I.9!i)Y)E} EyEy"EyDyDyDDDD DCBB1zB5AIE;)AI IiI)iiiii)qI}t"u`E)~0 ~0}`>Fr^Fptt=v"Ev8Dix x)z:)|I~9)Iv9iYE% E!E!"E!D!D)D)D)D)D1 D1C1B1BIzBMYIe;)aa aia)aaaii)iI< )Yq)y )  [&Ayt">t"S]E}X~~D9|~Mb?F^F@="E%EDi) ))-:)1I59)yI}9iYE EE"EDDDDDD DCBBzB1I5;)11 1i1)999i9)AIEt"YE&A&A&A&A)~0 ~0}b[G``>Fn^Fptt=v"EvRDix x)za:)|I~9)I9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)i)It"YWE}-ޅG>F^FƑƑ="Eƽ_Di ):)I9)I9iYE  E E "E DDD9D9D9D9 D9CABAB9zBMaIe;)aa aia)aiiii)Ii>Y)ۑI i R> E>[&Ayt">t"7TE)~@ ~@}rG%%T9%:%{Gz?F=^F=@AA=M"EMlDiQ Q)U;)yI}9)I9iYE EE"EDDDDDD DCBBIzBMyI};) i)i)It"[E&=*=*<*<}bGb%=d>Fn^Fptt=v"EvxDix x)z:)|I~9)I9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)i)It )~2= ~2jC}r[G%!9!%{Gz?F=^FE@II=M"EMDiQ Q)U;)yI}.9)I9iYE EE"EDDDDDD DCBBIzBMyI;) i)i)I< wA)Y)ۙ ) l" 6[&Ayt">t"YE}fG>Fz^F|="EDi  ) :)Iȕ;)9I=9AiIYIE} EyEy"EyDyDyDDDD DCBBzB9I=;)99 9i9)9AAiA)IIM>t>7TETZA\^A)~Y ~Y}GxA9F5^F=@AA=E"EEDii i)mP:)qIu9)yI}9iYE EE"EDDDDDD DCBBAzBeyI};)yy yiy)yi)It"WYE}^[G>Ff^Fhhl=n"EnDip p)r:)tIv9)xIzʽ9|i|YE  E E"EDDDDDD D!C!B!BYzB]qIu;)qq qiq)qyyiy)IY)I i ]>$6 &[&Ayt2/>t25VE)~N= ~NoC} IG>F%^F!)1=5"E5DiA A)E51:)IIM:)YI]:iiiYiE} EE"EDDDDDD DCBBzBI;) i)i)It2UE:=:=::4<}G4=4=AE9E:EMbP?EpAAɀAA EA)AIAIEiEE:>F]^F]@aa=m"EmƋDiq q)u:G:)yI}׾9)Iv9iYE EE"EDDDDDD DCBBzBI;) i) i )It"]E)~0 ~4}f[G>F~^F  = "E ӋDi ):)IQ9)!I%9)i)Y)E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)I< )Y)ۙ ) ~aI X'[&AytF/>tF5VE} GUQ9QUMbP?MbP?MbP?UpAQɀQQ Q)QIQIU:iU:Q>Fm^Fm@qq=u"EuDi ):)I9)I9iYE EE"EDDDDDD DCBBzB I ;) i)i)!I%t6UE: DUSBL Version:O rArArArA)~x ~x}UGUyAUyA>F^Fơơ="EƥDi )a:)I9)Ii9iYE EE"EDDDDDD DCBB)zB-9I=;)99 AiA)AAAiA)IIUt"1ZEv$x$*8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }a>F^FơƩ="EƭDi ) ^:)I :)I(:iYE EE!"E!D)D)DQDQDQDY DYCYBaBzB I ;)   i )i)Ii->Y!)YI V>i V>\ ;t[&Ayt>tR_E-&bResponse from modem unexpected: $CADQF,196,1*5E -*jResponse from modem unexpected: $CAMSG,BAD_CRC,0*21 )~0 ~4}`::9Mb`MbP?Aɀ )t!AIIi>F-^F-@11=="E=DiA A)E<)I`9)I9iYE  E E "E DDDDDD DCBABzBI;) i)i)It2WE"F6p=*F6<-NResponse from modem failed NMEA checksum: $CACST,6,1,20190326001723.873866,06,337,25,0099,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-999-999-999,-9.9,196,0.0-99,9760,400*5 N=N=NR=Np<-VResponse from modem failed NMEA checksum: CAREV,001724,AUV,2.0.27690*15 }=%=>F]^FYaa=e"EmDiq q)uU:)qIu9)yI}9iYE EE"EDDDDDD DCBBAzBEyI};)yy yiy)yi)It"S]E)~:= ~:jC}h=%,got command show stack=% Behavior Stack: =0-Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope=05~Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope=05Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope/5HPriority 3: lineCaptureHoming:I.Mass/5PPriority 4: lineCaptureHoming:J.Buoyancy/=>Priority 5: lineCaptureHoming:K/=>Priority 6: lineCaptureHoming:L/=>Priority 7: lineCaptureHoming:M=CEtPriority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A=CEPriority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed=CEPriority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo=EMXPriority 11: lineCaptureHoming:RequestPing:A=EMXPriority 12: lineCaptureHoming:RequestPing:B=JU~Priority 13: lineCaptureHoming:Lap:MidcourseGuidance:A.WaypointD;9~jthMb`?MbP?Aɀ )IIDi;>F^F@ƉƑ=#Eƕ!Di )z:)Ig9)I9iYE EE"EDDDDDD DCBBzB1I5;)11 1i1)999i9)AIE< )Yi)q ) Rp z[&Ayt"Z>t"U[E}b[G>F~^F  = #E -Di )Ni:)I9)!I%]9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It2NcEF6AAF6@A>A>A>A>A)~R= ~RoC}G%wA%xA>F5^F9AA=E#EM;DiQ Q)U]:)aIe& :)iIm!:yiYE EE"EDDDDDD DCBB zB)I-;)11 1i1)999i9)AIMt"|XE}fG : ;9  {Gzt~jth?MbP? GA ɀ   ) AI I ףi D; >F%^F-@)1=5#E5GDi9 9)=:)AIE9)IIM9QiQYYEm EiEi"EiDiDiDqDqDqDq DyCyByBzBI;) i)i)IY)۹I R>i w؃ %![&Ayt*>t*TE)~H ~H}x>F^F=#ETDi! !)%-:)1I5D9)9I=i9AiAYAEU EQEQ"EQDYDYDYDYDaDa DaCaBiBzBI;) i)i)It6aE"F:=*F:p=>=B=Bp;B<}z[G~%=~4=Mף;MD<9MM~jt{Gzt?MGAIɀII I)IIIIMDiMף;M>Fe^Fe@ii=u#EubDiy y)}:)IF:)I9iYE EE"EDDDDDD DCBBzB I;) i)i)!I%t"1ZE)~2= ~2jC}^G>F^F =#EnDi )n:)!I%s9))I-i91i1Y9EE EIEI"EIDIDIDQDQDQDQ DYCYBaBzBI;) i)i)I< xA)xAY)ۙ )  ][&Ayt"B>t"UEv$x$*8****** ping requested ******:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G>F^F))=-#E-|Di ):)I9)I]9iYE% E!E!"E!D!D)DQDQDYDY DYCYBaBzBI;) i)i)It2[EF6@AF4>A>ABABA)~R= ~RoC}GxAE<E#=9AEL7A`堿Zd;O?EAAɀAA EIA)AIAIE+iEjF^F@=#EDi )!:)I89)I9 i Y E EE!"E!D!D!D)D)D)D) D)C1B1BizBmyI;) i)i)It" ]E}bG>Fr^Fptt=v#EvDix x)z:)Iv9)I׾9iYE% E!E!"E!D!D)D)D)D)D1 D1C1B1BzBI;) i)i)Iip>Yq)yI V>i Y>J +[&Ayt"\>t" _E)~0 ~0}b[G  =9  Mb/$? A ɀ   ) I I i < >F^F%@))=-#E-Di1 1)5J:)9I=ʽ9)AIE9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It2YE"F0*F06=6=6p;6<}rGpr=>F^F!!=%#E-Di1 1)5:)9I=9)AIE9IiIYIE] EYEY"EYDaDaDiDiDiDi DiCiBqBzBI;) i)i)It"7TE)~, ~0}^G>F^F  = #E Di )=:)!I%9)!I!1i1Y1EE EAEA"EADADIDIDIDIDQ DQCQBYBzBI;) i)i)I< )Y)۱ ) % {[&AytJ>tJUE} GU#<U 0=9UUl~jt?Mb`UAQɀQQ Q)QIQIUiUFm^Fm@qq=u#EuɌDi ):)I9)I9iYE EE"EDDDDDD DCBBzB I ;) i)i)I%t2S]EF2AAF446A6A6A)~@ ~@}|yAyA>FM^FIQQ=]#E]֌Dia a)ea:)iIm9)qIu]9yiyYE EE"EDDDDDD DCBBzBI;) i)i)It"QE}\|~L=9~~/$V-?~GA|ɀ|| |)~ AI|I~,i~<~>F^F@!=%#E%Di) ))-:)1I59)I39iYE EE"EDDDDDD DCBBazBeI;) i)i)IY)۱I i  RF[&Ayt.j>t2~VE)~D ~H}[G>F^F!)=-#E-Di9 9)=`J:)AIE :)QIU[:aiaYaE} EyEy"EDDDDDD DCBBzBI;) i)   i))1I=t20\E"F0*F4v4x4:8****** ping requested ******J=J=Np;N<NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=GMR=MC=>F}^Fƙƙ=#EƥDi )I8:)I):)I:iYE EE"EDDDDDD  D1C9BABzBI;) i)i)It v"M w )w"=Iw"1>iw w"Cw w"Aw" S[?iɿ-FResponse from modem unexpected: $CACST,6,1,20190326001731.588439,06,454,26,0090,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,192,-0.05,-999,9760,4000*78 )~T ~T}GM<MH=9IM{GzV-?MGAIɀII I)IIIIM#iII>F]^Fe@ii=m#Em Diq q)uqF:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)   i )I< ))-wAY)۱$`DUSBL_Hydroid.acoustic_contact_range 20.700001 m$LDUSBL_Hydroid.xAngle -11.500000 arcdeg @A) ȼ ޓ[&Ayt2ˬ>t2TE}vG>F^F!!)=-#E-Di1 1)5:)9I=v9)AIEi9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It27TEF6@AF48:A:A:A)~F= ~FjC}vGtvxA-;-Q8=9)-F}^F}@ƁƁ=#Eƅ$Di ):)I9)I9iYE EE"EDDDDDD DCBB zB I%;)!! !i!)!!)i))1I5t"]E}`>Fj^Fhll=n#En0Dip p)rU:)xIzs9)xIz9iYE EE"EDDDDD!D! D!C!B)BazBeqIu;)qq yiy)yyyiy)IYQ)aI i  *p[&Ayt" >t"0\E)~.= ~.oC}l>Fv^Ftxx=z#Ez=Di ):) I 9)I]9iYE- E)E)"E)D1D1D1D1D9D9 D9CABABzBI;) i)i)It2 ]E"F6p=*F6a=6=6=64<:<}|4=%=e;e9<9eףe rhy&1?{GzteAaɀaeA a)aIaIeCie`eF}^F}@ƁƁ=#EƅJDi )n:)I9)I9iYE EE"EDDDDDD DCBB zB !I%;)!! !i!)!!)i))1I5t"[E)~2= ~2jC}\>F~^F  = #E WDi ):)I9)!I%v9)i)Y1E EE"EDDDDDD DCBBzBI ;)   i )  i)I< -wA))Y) ?A) 4  q/[&Ayt2 >t20\E}j[G@=9:Mb rh?MbP?GAɀ )IIiC =:>F5^F5@99==#EEdDiI I)M:)QIUs9)YI]9aiaYiEu EqEq"EyDyDyDDDD DCBBazBeyI;) i)i)It2|XEF0F46A6A6A:A)~B= ~BoC}rIGpp>Fz^Fx||=~#E~qDi  ) :)I9)IA:!i!Y!E5 E1E1"E1D1D9DADADADA DACABIBzBI;) i)i)It"1ZEv$x$&8****** ping requested *******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }%G>Fe^FiƁƉ=#Eƕ~Di )U;)I:)Ih:iY E= E9EA"EADIDIDYDaDaDa DaCaBiBzBI;) i)i)Ii)Y)I i V>"q |[&Ayt2>t2YWE6^unknown deviceResponse_: 00000,187,80,81,12,FF q66(Communications Faulta6 a6 a6 )~L ~L}~GEףEH=9E;EX9v~jt?Mb`?EGAAɀAA A)AIAIEiE=E;>FU^F]@aa=e#EeDii i)m:)qIu:)yI}9iYE EE"EDDDDDD DCBBzBI;) i)i) It2w^E6Powering downF6F6"F6*F6==p;<} [G5R=1>F^Fƙƙ=#EƝDi ):)I9)I9iYE  EE"EDDDDDD D!C!B!BzBI;) i)i)It6sbE)~H ~H}zG51915V-{Gz?Mb`?5GA1ɀ11 1)1I1I5i5#=1>FM^FU@QY=]#E]Dia a)ea:)iIm9)qIu:yiYE EE"EDDDDDD DCBBzBI;) i)i)I < )xAY) ) j2  $[&Ayt2L>t2cE}vG>F^F!!)=-#E-Di1 1)1)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It&zZE.A.A.A.A)~:= ~:jC}lrwAt>F}^Fƙƙ=#EƥDi ):)Ix9)I9!i!Y)EU EYEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i)!I% [&Ayt2>t2SE}lף/<9ĻQZd;O?~jtxAɀA )IIuij<Ļ>F5^F5@AA=E#EEˍDiI I)M:)QIUg9)YI]9aiaYiEu EqEy"EDDDDDD DCB BzBI;) i)i)IY)I i ]>E [&Ayt2j>t2~VE)~< ~<}nG>F^F!!)=-#E-؍Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It2^QE6=6=6;64<}nGr4=p%:%j<9%`% rhQ?y&1|%fA!ɀ!! !)%AI!I%Ci%u<%`>F=^F=@AA=E#EEDiI I)M:)QIU9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i)It2u`E)~< ~<}nG>F^F!!)=-#E-Di1 1)5n:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)I< )wAY) @A) GX 4Ge[&Ayt2o>t2]E:Powering up>6Initializing DUSBL_Hydroid.};=9DX9vZd;O?~jthAɀ )IIij<D>F^F@=#EDi  ) :)I9)I!i!Y)E= E9E9"E9D9D9DADADADA DICIBIBzBI;) i)i)It6\E@BA@BA)~X ~X}yAyA>F%^F!))=-#E5 Di9 9)=a:)AIE9)IIMQ9QiQYQEe EaEa"EaDiDiDiDqDqDq DqCqByBzBI;) i)i)It2WE}|>F^F =#EDi ):)!I%9))I-ʽ91i9Y9EM EIEI"EIDIDIDQDQDQDQ DYCYBaBzBI;) i)i)Ii>Y)ۙI R>i V>]l sز[&Ayt"W>t )~0 ~0}^[G9X9vZd;O?MbPGAɀ ) AIIi>F^F]@aa=e$Ee&Dii i)m:)qIu;)I9iYE EE"EDDDDDD DCBBazBeI;) i)i)It2YWE6=6=6;6p<}nIGr%=r4=>Fv^Ftxx=~$E~2Di )+:) I 9)I׾9iY!E- E)E)"E1D1D1D9D9D9D9 DACABABzB I ;)  i)111i1)9IEt2WE)~R= ~RoC} GIM=9MMMb~jt?MGAIɀII I)IIIIMiMFe^Fe@ii=u$Eu@Diy y)}:)I9)I5:iYE EE"EDDDDDD DCBBzBI;) i)i)I< xA) xAY) ?A) Z Uj[&Ayt2>t2\E}j[G>Fr^Ftxx=z$EzLDi| |)~a:)I9) I D9iYE% E)E)"E)D)D)D1D1D1D1 D9C9B9BqzBuI;) i)i)It2^E6A6A6A6A)~B= ~BjC}rIGrwArxA>F^F!!)=-$E-YDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It"S]E}bG ; =9 ; y&1?Mb`? GA ɀ   ) I I `i < ;>F%^F%@))=-$E-fDi1 1)5:)aIe9)aIe9qiqYqE EE"EDDDDDD DCBBzB5AIM;)II IiI)IIIiI)yI}i>Yi)qI Y>i V uN[&Ayt*j>t*~VE)~:= ~:oC}nG>F~^F|=$E sDi )U:)I]9)!I%9)i)Y)E= E9E9"EADADADIDIDIDI DICQBQBzBI;) i)i)It[E"="="p;"<}vGvR=tUU\=9QU~jt?Mb`?UGAQɀQQ Q)QIQIUļiQQ>Fe^Fm@qq=u$EuDi )n:)I;)Io9iYE EE"EDDDDDD DCBByzB}I;) i)i)It"WE)~0 ~0}jͅG>F~^F  = $E Di ):)aIe9)iIm9qiqYqE EE"EDDDDDD DCBBYzB]iIm;)ii qiq)i)I< vA)wAY)ۙ ) y ͐[&Ayt">t" ]E}bG>Fn^Fppt=v$EvDix x)z:)|I~9)I i YE EE!"E!D!D!D)D)D)D) D)C1B1BzBI;) iI)IQQiQ)YI]t"SE&A&A&A&A)~0 ~0}vlGvxAt5D5<955FM^FM@QQ=U$EƕDi )a:)I9)I׾9iYE EE"EDDDDDD DCB BzB)I-;))) )i))111i1)9I=t"U[E}fG>Fn^Fppt=v$EvDix x)z:)|I~-:) I :iYE5 E1E1"E1DYDYDaDaDiDi DiCqBBzB)I-;) i)i)I i%>Y!)1I V>i Ϲ  $[&Ayt>t"SE)~4 ~4}jG<9:I +F^F@ơơ=$EƥDi )j;)I9)I!9iYE EE"EDDD D D D  DC1B1BIzBMaIe;)aa aia)aii)It" ]E&=&=*;*<}v[GvF^F!!=%$E%ΎDi1 1)5U:)9I=9)AIE9IiIYIE EE"EDDDDDD DCBBAzBEyI};)yy yiy)yi)ItPaE)~( ~(}bޅG>Fn^Fptt=v$EvڎDix x)x)I9)I9iYEE EAEA"EADADIDIDIDIDQ DQCQBYB)zB-9IE;)AA AiA)AAAiI)IIu< xA)xAY) )  6[&Ayt">t"aE}jlGQ8=9DX9vMb?~jthAɀ |A)IIi=D>F-^F5@99=E$EEDiI I)M:)QIU9)YI]9aiaYaEu EqE"EDDDDDD DCBBzBI;) i)i)It"cE*A*A*A*A)~4 ~8}fGfyAh>F^FƑƑ=$EƝDi ):)I9)Ii9iYE  E E "E D DDDDD DCB!BYzB]iIm;)qq qiq)qqqiy)yIt"sbE}zGף<9~jt~jt?MbPAɀ A)IIDi<>F^F@=$EDi! !)%+:))I-g9)1I5l99i9YAEM EIEQ"EQDQDQDYDYDYDY DaCaBaBzBI;) i)i)Ii{>Y)ۙI N>i R> |B[&Ayt">t" [E)~0 ~0}^[G>F~^F = $E Di ):)I9)!I%9)i)Y)E= EAEA"EADADADIDIDIDI DQCQBQBzB AIE;)AI IiI)iiiii)qI}t"5VE&=&=&<&p<}bޅGf=d>F^F=$EDi) ))-:)1I59)9I=9AiAYAEU EQEQ"EQDDDDDD D!C!B!BzB1I5;)19 9i9)999i9)AIMt"ZE)~, ~,}blG--j<9-:-y&1~jt?MbP?-A)ɀ)) ))-AI)I-`ei)-:>F^F@=$E)Di! !)%:))I-4;)aIeI9iYE EE"EDDDDDD DCBBQzBUaIm;) i)i)I< )Y)۩ ) @ w[&Ayt$>t"sbE}fIG>F~^F|= $E 5Di ):)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)  i)It"[E&A*A*A*A)~@ ~@}xzxAzyA55`e<955{Gz{Gz?Mb`5pA1ɀ11 5A)5 AI1I5#i5#<5>Fm^Fm@qq=}$E}CDi )a:)I2<)I9iYE- E1E1"E1D1D1D9D9D9D9 DACABABzB)I-;))) 1i1)111i1)9IEt5VE}bG>Fn^Flpp=r$ErODix x)zI:)|I~]9)I9 i Y E EE"ED!D!D!D)D)D) D)C)B1B!zB%I;) i)i)I i>Y)I V>i Y>| h[&Ayt"ӵ>t"_E)~, ~,}bG>Fn^Fppt=v$Ev\Dix x)z:)|I~9)I9 i YEE EAEA"EADADADIDIDIDI DQCQBQB!zB-I;) i)i)It"="="p;&<}blGdf4=  <9  F%^F%@))=-$E-iDi )z:)I;)I9iYE EE"EDDDDDD DC B BzBI;) i)i)It"NE)~8 ~8}jG>Fr^Fptt=v$EzvDi| |)~D:)I9) I ʽ9iYE% E!E!"E!D)D)D)D1D1D1 D1C1B9BqzBuI;) i)i)I< wA)wAY)ۙ )  fl[&Ayt"J>t",`E}^GD`<9;I +y&1?Mb`?GAɀ )AII94i`<;>F-^F5@99==$E=DiA A)E:)IIM9)QIU :aiaYaEu EqEq"EqDqDqDDDD DCBBzBI;) i)i)Im>tB1ZEFAFAFAFA)~P ~P}GwAxA>FU^FYaa=e$EeDii i)i)qIu9)I9iYE EE"EDDDDDD DCBBazBeI;) i)i)It\E}RG>Fb^F`dd=f$EfDih h)ja:)pIr]9)pIrQ9xixYxE EE"EDD D D D D DCBB zB !I%;)!! !i!)!))i))1Ii>Yq)ہI R>i V>B- T[&Ayt">t"VE)~.= ~.jC}^[G~~<9~~{GzI +?~pA|ɀ|| |)~ AI|I~ףi~9<~>F]^F]@aa=e$EeDii i)m:)I9)I!9iYE] EqEq"EqDqDqDyDyDyDy DCBBzBqIu;)qq yiy)yyyiy)It"0\E&=&=&=&=}^G^%=^%=>F~^F|= $E Di ):)9I=9)AIE9IiIYIE EE"EDDDDDD DCBBzB1I5;)99 9i9)999i9)AIMt"`E)~2= ~2oC}bG<L=9DˡEQ?~jthAɀ IA)AII'i<D>F=^FE@AI=M$EMÏDiQ Q)U:)I9)I9iYE EE"EDDDDDD DCBBYzB]iIm;)iq qiq)i)I%< )))Y))1 ) A X[&Ayt"m>t"1ZE}^[G>Fn^Fptt=v$EvЏDix x)z:)|I~v9)I9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)i)It"u`E&A&A&A&A)~2= ~2jC}bIG``>Fn^Fptt=v$EvݏDix x)x)|I~9)I9 i YE] EYEY"EYDaDaDaDaDiDi DiCiBqBzBI;) i)i)!I-t"eE}jG==/]=9==Fm^Fu@ƙƙ=$EƝDi )a:)I9)I9iYE EE"EDDDDDD! D!C!B)BzBI;) i)i)Ii>Y)I i ]>*U U[&Ayt"в>t"[E)~.= ~.oC}^G>F^F  = $E Di )SI:)!I%9)!I%v91i1Y1Ee EaEa"EaDaDaDiDiDiDi DqCqBBzB!I%;)!! !i!))))i))1I]t"eE&=&=&p;&4<}^[G^=\~94~=9~;~~jtS㥫?Mb`?~A|ɀ|| ~|A)~AI|I~i~/]=~;>F^F@=$EDi ):)I9)I9iYE EE"EDDDDDD D C B BIzBMYI];)YY aia)aaaia)iIut"u`E)~0 ~0}^G>F~^F  = $E Di )a:)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzB)I-;)11 1i1)QQQiQ)YIe< uvA)qYI)Y ) Zfh :;[&Ayt2>t2 [E}vG>F~^F| = %E Di) ))-0;)AIEΊ:)YI]:iYE EE"EDDDqDqDyDy DyCyBBzB I ;))) 1i1)111i1)9IEt2OE:A:A:A:A)~D ~D}v[Gxx55+=95D;5Zd;O~jt?~jth?5pA1ɀ11 5A)5 AI1I5ji5<5D;>FM^FM@QQ=U%EU+Dia a)e7:)iIm9)iIm9iYE EE"EDDDDDD DCBBzBI;) i)i) It" _E}bG>F~^F  = %E 8Di ):)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)IY)ۙI Y>i V>{ [&Ayt2>t2[E6 DUSBL Version:O )~h ~h}-GuD;uT<9uDu~jty&1|?~jthupAqɀqq q)qIqIuDiu`;uD>F^F@ơơ=%EƥEDi ):)I]9)I9iYE EE"EDDDDDD DCBB)zB-9I=;)9A AiA)AAAiA)IIUt6 [Ev8x8>8****** ping requested ******F=J=Jp;N<RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }Ym=m=>F^Fƹƹ=%EƽRDi )\:)I :)I::iYE  EE"EDDD!D!D!D! D)C)B1BzBI;) i)i)It_E)~< ~@}Q9y&1|~jt?MbPGAɀ )AII`iD<>F^F @=%E_Di ):)!I%9))I-:9i9Y9EM EIEI"EIDIDQDQDQDYDY DYCYBaBzBI;) i)i)I< wA)xAY)ۑ ) ގ ]>[&Ayt2j>t2~VE}r[G>F5^F9AA=E%EEkDiI I)MU:)QIU:)YI]9iiiYiE EE"EDDDDDD DCBBzBI;) i)i)It2R_EF6AAF6@A:A:A:A:A)~D ~D}vGtt>F^F!!)=-%E-xDi1 1)5:)9I=9)AIE9IiIYIEe EaEa"EaDaDaDiDiDiDi DqCqBqBIzBMyI};)y i)i)It2+bE}nGC<9D;{Gz:v?~jth?GAɀ )II#iT<D;>F5^F5@9A=E%EEDiI I)M:)QIU9)YI]9aiaYiEu EqEy"EDDDDDD DCBBzBaIe;)ai iii)iiiii)Ii>Y)ۙI R>i Uآ [&Ayt2>t2R_E)~< ~<}nG>Fv^Ftxx=z%EzDi ):) I 9)Iʽ9i!Y!E- E1E1"E1D1D1D9D9D9D9 DACABABzBI;) i)i)ItN1ZE"FVp=*FZ<^=b=b=f<}UG]R=]%=;9MbPMbp?Mb`Aɀ逩 )t!AIIi;>F^F@=%EDi ):)I9)I9iYE EE"ED D DDDD DCBBQzBUaIm;)ii iii)iqqiq)yI}t"+bE)~2= ~2jC}^G>F^F  = %E Di )S.:)ID9)!I%v9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)I< )wAY)۹ ) ? [&Ayt*>t.TE}nG>F^F!!=%%E-Di1 1)5:)9I=i9)AIEQ9IiIYIE] EYEY"EYDaDaDaDiDiDi DiCiBqBAzBEyI};)yy yiy)i)It"WEF F$*A*A*A.A)~:= ~:oC}~GyAEףEĻ9EEMb?EAAɀAEA EEA)EAIAIEFU^F]@aa=e%EeƐDii i)m:)qIuI9)I:9iYE EE"EDDD!D!D!D! D)C)B)ByzBI;) i)i)It2\Ev4x4:8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }[G>F^F  = %E ԐDiy y)}::)I :)I::iYE5 E9E9"E9D9D9DADADADA DICIBiBzBI;) i)i )9IEYA)QI i R>]S T'[&Ayt:>t:[E-^Response from modem unexpected: $CACST,6,1,20190326001802.067501,06,408,26,0091,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,0.00,-999,9760,4000*5D )~l ~l}G--9)-Mb`?- A)ɀ)) -A)-t!AI)I-;i))>FE^FM@QQ=U%EUDiY Y)]a:)aIe9)iIm9qiyYyE EE"EDDDDDD DCBBzBI;) i)i)ItB5VE"FFa=*FFa=J=N=}G%==>F]^FYaa=e%EmDiq q)u+:) I 9)Ix9i!Y!E- E1E1"E1D1D1D9D9D9D9 DACABAByzB}I;) i)i)It"~VE)~2= ~6jC}f[G>F~^F  = %E Di ):)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)I< xA)Y)ۙ ) Ì Mt[&Ayt">t"cE}bIG  ;9  Mb`?Mb` A ɀ   )  AI I i ; >F]^F]@aa=e%EmDiq q)u:)I!9)I9iYE EE"EDDDDDD DCBBzB I ;) i)i)I%tB [EFF@AFDJAJA)~T ~T}G xA >F^F=%EDi ):)I9) I 9iqYqE EE"EDDDDDiDi DqCqBqB1zB5IIM;)II IiI)QQQiQ)IY) uX[&Ayt">t"u`E}^G~|9|~MbPMb`?Mb`~A|ɀ|~ |)~t!AI|I~i||>F^F@!!=%%E% Di1 1)5U:)9I=!9)AIE9IiIYIE] EYEY"EYDaDaDiDiDiDi DiCiBqBzBI;) i)i)!I%i Y> 4[&Ayt:>t: [E)~J= ~JoC}z[G>F^F  = %E -Di )}G:)I9)!I%v9)i1Y1EE EAEA"EIDIDIDQDQDQDQ DQCYBYBzBAIE;)AA IiI)IIIiI)qI}t2 _E"F4*F46=68>}~ޅG4=4=>F^F!!)=-%E-:Di1 1)5n:)aIe9)iIm9qiqYqE EE"EDDDDDD DCBB1zB5AIM;)II IiI)IIQiQ)YI]< mwA)mxAYI)Y y[&Ayt"1>t"YE)~2= ~2jC}bG;Ļ9Mb`?~jtxMb`GAɀ )AII;iĻ>F^F]@aa=e%EeGDiq q)u+:)I9)I!9iYE  E E "E D D DDDD DC!B!BzBI;) i)i)It28REv4x4:8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=G>F^F=%EVDi  ) }K;)!I%9)1I5$99i9Y9EM EIEI"EIDQDQDQDQDYDY DYCYBaBzBI;) i)i)It2XEF2AAF0v6Ht w4)w6=Iw4iw4w6PAw4w6WBw6)4-?bgPο@@)~P ~P}yAEED9E;E~jth?MbPMb`?EGAAɀAA A)AIAIED;iEE;>F]^Fe@ai=m%EmaDiq q)uK<)I89)I9 i YE EE"EDDDDDD DCBBzBI;) i)i))I5i=>Y)$ `DUSBL_Hydroid.acoustic_contact_range 53.939995 m$LDUSBL_Hydroid.xAngle -13.700000 arcdeg~ sC[&Ayt"m>t"1ZE}\>F~^F|= %E nDi )I:)I9)!I%]9)i)Y)E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)i)Ii  X][&Ayt2>t2 ]E)~B= ~FoC}p>F^F!!!=-%E-{Di1 1)5:)9I=i9)AIEi9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It&ZE"F*p=*F(.=.=}f[Gf%=f%=  `9  Mb?Mb`Mb`? A ɀ   ) t!AI I F%^F-@11=5%E5Di9 9)=:)AIE9)IIM]9QiQYYEm EiEi"EiDiDiDqDqDqDq DCBBzBI;) i)i)I < )wAY)$  [&Ayt">t" ]E)~0 ~0}jG>F ^F =%EDi! !)!))I-9)1I5׾99i9Y9EM EIEI"EIDQDQDQDQDYDY DYCYBaBzBI;) i)i)ItBVE}zGUU#9UUMb?y&1|UAQɀQQ Q)QIQIQiU`廉U>Fm^Fu@ƙƙ=%EƝDi ):)Is9)I9iYE EE"EDDDDDD DCBB!zB%1I5;)99 9i9)999i9)AIMt2WEF6?AF444)~@ ~@}rGrxAp>F^F!!)=-%E-Di1 1)1)9I=9)AIE9IiIYIE EE"EDDDDDD DCBB9zB=IIM;)QQ QiQ)QQYiY)YIeiu>Y))9L7 [&Ayt"в>t"[E}^G>F~^F  = %E Di ):)Ii9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)11i1)9IEi ]>6w= z[&Ayt2>t2zZE)~< ~<}n[G%:%9%%{Gzt?y&1|Mb`%A!ɀ!! %A)!I!I%ף;i!%>F5^F=@AA=E%EEȑDiI I)M:)QIU_:)YI]G9aiiYiE EE"EDDDDDD DCBBzBI;) i)i)It" [E"F&a=*F&p=v$x$*8****** ping requested ******2=0:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }IG!)>FU^Faqq=%Eƅ֑Di ):)I :)I:iYE EE"EDDDDDD DCBBIzBMaIm;)ii iii)i)I< )xAY)ۑ͈J 4/,[&Ayt">t v&@. w$)w&=Iw$iw$w&@w$w&(TAw&۬?U>ſ)~@ ~@}rޅG%%Ļ9%%~jtx?~jth%A!ɀ!! !)% AI!I%;i%D%>F=^FE@II=M%EMDiQ Q)UJ:)YI]9)aIe9iiqYqE EE"EDDDDDD DCBBzBI;) i)i)I t:S]E}zlG>F5^F199==%E=DiA A)EU:)IIM9)QIUv9YiaYaE} EE"EDDDDDD DCBBzBI;) i)i)It"YEF$F$(()~D ~H}vGxx>F^F!!!=-%E-Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)Ii>Y)] y[&Ayt">t".^E}^G<9;{Gzt~jtx?Mb`?Aɀ )t!AIIףi;;>F5^F5@99==%E= DiA A)E:)IIMs9)QIU$:aiaYaEu EqEq"EqDqDqDDDD DCBBzBI;) i)i)Ii V>d [&Ayt2ί>t23XE)~< ~<}l>Fv^Ftxx=z%EzDi )) I ) I 9iYE- E)E)"E)D)D1D1D1D1D DCBB!zB-9I=;)99 9iA)AAAiA)IIUt2zZE"F2p=*F46=4}lr4=r4=!%t<9!%y&1|~jtx?Mb`?%A!ɀ!! !)!I!I%`i!!>F=^F=@AA=E&EE#DiQ Q)U:)YI]9)aIe!9iiiYiE EE"EDDDDDD DCB!BzBI;) i)i)I< xA)wAY)Ͼq  R[&Ayt2D>t2XE)~@ ~@}l>Fv^Ftxx=z&E~0Di )7:) I 9)IQ9iYE- E)E)"E1D1D1D9D9D9D9 DACABABzBI;) i)i)It2[E}nG>F^F!))=-&E-=Di1 1)5{<:)9I=ʽ9)AIED9IiIYQEe EaEa"EaDaDaDiDiDiDi DqCqBBzBI;) i)i)It2 [EF6AAF444)~@ ~@}rGryAp!%T<9%:%{GzMb?MbP?%A!ɀ!! !)!I!I%#i%<%:>F=^FE@II=M&EMJDiQ Q)UH:)YI]9)aIe9iiiYqE EE"EDDDDDD DCBBzBI;) i)i)Ii>Y1)9 [&Ayt",>t"REv$x$&8****** ping requested *******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G>F^Fƙơ=&EƥWD]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i )3:Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. Software Fault    )I:]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software Fault)IS:J ,Location not readable.E EE"EDDD!D!D!D) D)C)IIM;)QQ QiQ)YYYiYia)iImi e>& .[&Ayt">t"S]Ev&z0 w$)w&=Iw$iw$w&0Aw$w&Bw&uW?t?ۿ)~L ~L})qu<9uu rhMb?uAqɀqq q)qIqIuCiuF^F@ơơ=&EƥdDJ,Location not readable.E EE"EDDDDDD DCI;) i)ii)It"R_E"F *F$*=*=}`xz%=>F^F!!=-&E-pD5lInitializing DeadReckonUsingSpeedCalculator component.9iAYAEI EQEQ"EQDQDQDYDYDYDY DaCaBaBzBI;) i)i)I< )Y)۹7 tb[&Ayt">t" [E)~4 ~4}`>F^F  = &E }Di )<)iIm:)I\:iYE E E "E DDD)D1D1D9 DACIBYBzBI;) i)i)It"zZE}\~~=9|~S㥛?~=A|ɀ|| ~A)|I|I~̼i~/<|>F^F@!=%&E%Di) ))-:)1I5g9)9I=l9AiAYIEU EQEQ"EYDYDYDaDaDaDa DiCiBiBAzBEqIu;)yy yiy)yyyiy)It2XEF2@AF444)~@ ~@}ppp>Fz^Fx||=~&E~Di  ) :)I9)I_:!i!Y!E5 E1E1"E1D1D9D9D9DADA DACABIBzBI;) i)i)IY)۹1s O[&Ayt">t" ]E}^VG~D~<9~:~Mb/$?MbP?~A|ɀ|| ~A)~ AI|I~i~<~:>F^F@!=%&E%Di) ))))1I59)9I=l9AiAYIEU EQEQ"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i)Io[ [&Ayt2>t2VE)~< ~<}nG>F^F!!!=-&E-Di1 1)5a:)9I=i9)AIEi9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It2S]E"F4*F4:=8}~G= >F-^F1QQ=]&E]Diq q)u:) I D9)I1:i!Y!E- E1E1"E1D1D1D9D9D9D9 DACABAByzBI;) i)i)I< )xAY)۱ [&Ayt*>t.R_E)~H ~H}MMj<9M;M:vFe^Fm@qq=u&Eu˒Di )z:)I9) I 91i1Y1EE EAEA"EADIDIDIDQDQDq DqCqByBzBI;) i )   i )1I=t"[Ev$x$&8****** ping requested *******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }UG>F^F=&EؒDi )x1:)I :)I9iYE EIEQ"EQDQDQDYDYDYDY DaCaBaBzBI;) i)!!i!))I5t2y\EF4F4v6b w4)w6Iw6>iw6Cw6Aw4w6w6qc87?F#̿-VResponse from modem unexpected: $CACST,6,1,20190326001818.699009,06,399,26,0102,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,190,0.10,-999,9760,4000*5F XX)~d ~d}%Gmm<9mm~jtQ?mAiɀii i)iIiImDimuF^F@ƉƉ=&EƍDi )R:)I9)I:iYE EE"EDDDDDD DCBB)zB-AIE;)AA AiA)IIIiI)QI]ie>Y))1$bDUSBL_Hydroid.acoustic_contact_range -37.500000 m$LDUSBL_Hydroid.xAngle -12.700000 arcdeg3 ()K[&Ayt2m>t21ZE}z[G>F=^FAAA=M&EMDiQ Q)U:)YI]i9)aIe׾9iiiYiE EE"EDDDDD D  D C BBIzBMYI];)aa aia)aaaia)iIu e[&Ayt2D>t6XE)~` ~d}=G;<9F^F@=&EDi ):)I9)yI}`9iYE EE"EDDDDDD DCBBAzBEQI];)YY YiY)YYaia)iImt"0\E"F&a=*F&a=*=*=}fGf%=f4=>Fr^Fptt=v&Ev Dix x)z:)|I~Q9)Ii9 iYE% E!E!"E!D!D!D)D)D)D) D1C1B1BizBmI;) i)i)I< vA)wAY)P [&Ayt">t"cE)~0 ~0}`>F^F  = &E Di )/:)I׾9)!I%׾9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It"YWE}^[G~D;~<9|~:vF^F@!!=%&E%%Di) ))-a:)1I5(:)9I=:9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBiBzBI;) i)i)It61ZEF:AAF8<<)~D ~H}rGvxAt>F^F!!)=-&E-2Di1 1)5I:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzB I ;)   i )i)ItBaE}EG;C<9:vI +?Mb`Aɀ )t!AIIi94<>F^F@=&E@Di  ) GH:)I9)I9!i)Y)E= E9E9"E9D9DADADADADI DICIBQBzBI;) i)i)I  t([&Ayt2>t2S]E)~P ~P}8G>F=^FAII=M&EMLDiQ Q)UU:)YI]9)aIei9iiiYqE} EyEy"EyDyDDDDD DCBBzBI;) i)i) I5t" ]E"F&=*F$v$x$*8****** ping requested ******:=>=>Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G)5%=>F^FƩƩ=&Eƭ[Di )7:)I9)I]9iYE EE"E D D DDDD DCBBQzB]iIm;)ii qiq)qqqiq)yI< wA)YI)Y]  3[&Ayt">t v&d{ w$)w&=Iw$iw&Cw&Aw$w&Aw&k@ 1 ? .Ͽ)~@ ~@}rG%%94<9%%MbMb?MbP%A!ɀ!! !)!I!I%i%<%>F]^F]@aa=e&EmfDiq q)u:)I9)I:9qiqYqE EE"EDDDDDD DCBB1zB5AIE;)II QiQ)QQQiQ)YIet"YE}bG>F~^F|= &E sDi ):)I9)!I%Q9)i)Y)E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)i) I>t>VEFB@AF@DD)~R= ~RjC}lG  MĻMD;9M:MMb`?~jtx?MbP?MAIɀII I)IIIIM;iM;M:>Fe^Fe@ii=m&EmDi ):)I9)I9 i)Y1E= EAEA"EADADADIDIDIDi DqCqBqBzBI;) i)i) Ii>Y)oW  n[&Ayt">t"YE}^G>F^F  = &E Di ) >:)!I%D9)!I%׾91i1Y1EE EAEA"EADADIDIDIDIDQ DQCQBYBzBI;) i)i)Ii a>& ^K[&Ayt*>t*`E)~8 ~8}jG>F%^F!))=-&E-Di1 1)5D=:)9I=+9)AIEi9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It"R_E"F&a=*F$&=$}n8Gpp5t5T<95;5~jthMb?Mb`?5A1ɀ11 1)1I1I5Di5<5;>FU^FU@YY=]&E]Dia a)ea:)qIu9)qIu9iYE EE"EDDDDDD DCBB zB I%;)!! !i!)!!)i))1I5< ExA)AY)3 P[&Ayt">t".^E)~2= ~2oC}^G>F%^F!))=-&E-Di1 1)5;:)AIE9)AIEi9QiQYQEe EaEa"EiDiDiDqDqDqDq DqCyBBzBI;) i)i)It"VE}^G~~<9~:~Mb~jt?MbP?~=A|ɀ|| ~A)|I|I~i~<~:>F^F@!=%&E%Di) ))-:)1I59)9I=9AiAYIEU EQE"EDDDDDD DCB BzBI;) i)i)It2R_EF2AAF444)~@ ~@}r[GrzAp>Fv^Fx||=~&E~͓Di ):) I Z9)ID9!i!Y!E5 E1E1"E1D1D1D9D9D9DA DACABIBzBI;) i)i)IUie>Y))9F [&Ayt">t"UEv$x$*8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G>F^F!!=%&E%ܓDi ):)I9)IQ9)i)Y)E} EyE"EDDDDDD D)C)BABzB)I-;))) )i1)111i1)aImi R>SL n6[&Ayt2!>t2^E6^unknown deviceResponse_: !U1,R,F1C,000,1,0A,FF q66(Communications Faulta6 a6 a6 )~L ~L}~[G==C<9==I +:v?=A9ɀ99 9)= AI9I=94i=T<=>FU^FU@aa=e&EeDii i)m:)qIuR;)I9iYE EE"EDDDDDD DCBBzB I ;)   i)i)I%t"7TE"Powering downF&F&"F&*F&}=}=}UIGU4=Q>Fm^Fqqy=}&E}Di )n:)I9)I9iYE EE"EDDDDDD DCBB9zB=QIU;)QQ QiQ)YYYiY)aI< )Ya)i Z "j[&Aytj>t~VE)~( ~,}\~;~#<9~~F^F@9A=E&EEDiI I)M+:)QIU9)I09iYE EE"EDDDDDD DCBBqzBuI;) i)i)It"_E}fG>Fn^Fptt=v&EvDix x)z:)|I~9)IQ9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)i)It" _E$$)~, ~,}^[G^xA\>F^F!!=-&E-Di1 1)5:)YI]:9)aIei9iiiYiE EE"EDDDDDD DCBB)zB-9IE;)AA AiA)AAAiA)IIui>Yi)qGm [&Ayt">t" ]E}fG  t<9  y&1|~jtx?Mb` A ɀ   ) I |AI `i  >F%^F-@11=5'E5(Di ) :)I9)I9iYE EE "E D D DDDD1 D9C9B9BzBI;) i)i)I0t ![&Ayt"4>t"]E)~< ~<}nG>F~^F = 'E 5Di ):)I9)!I%׾9)i)Y)E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It"YE$$&p;&=}bG``;9Mb{Gzt?Mb`Aɀ )IAIiף;>F=^F=@AA=E'EMBDiQ Q)UU:)I9)I.9iYE EE"EDDDDDD DCBBzB!I-;))) )iI)QQQiQ)qIu< wA)Y))1A 1E[&Ayt"в>t"[E)~, ~0}\>Fr^Fptt=v'EvNDix x)z:)|I~v9)I9iYEE EAEA"EADADADIDIDIDI DQCQBQBzB I;) i)119i9)AIEt"YE"Powering up&6Initializing DUSBL_Hydroid.}-G>F=^F9AA=E'EM\DiQ Q)U:)YI]9)aIe9iiiYiE EE"EDDDDDD DCBB9zB=IIM;)IQ qiq)yi)YIet"0\E$$&A&A)~0 ~0}^GbyA`:T<9{GzMb?Mb`Aɀ )II#i<>F=^F=@AA=E'EEiDiQ Q)U:)I.9)I9iYE EE"EDDDDDD DCB!BzBI;) i)i)Iia>Yi)q9~ bR[&Ayt"r>t"aE}fG>Fn^Flpp=r'EvuDix x)z:)|I~S:)I9 i Y E EE"ED!D!D)D)D)D) D)C)B1BizBmI;) i)i)I l[&Ayt"r>t )~, ~,}l!%D<9%%F5^F=@AA=E'EEDiI I)M:)QIUF:)YI]9aiiYiE EE"EDDDDDD DCBBzBI;) i)i)It2bE6=6=6p;64<}lr%=r=>F5^F199=E'EEDiI I)I)QIU9)YI]`9aiaYaEu EqEq"EqDDDDDD DCBBzBI;) i)i)I< xA) Y) ^h[&Ayt">t" ]E)~0 ~0}\>F^F  = 'E Di )9:)IQ9)!I%]9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQB1zB5I;) i)i)I%t2PE}lT<9;Mb{Gz?Mb`?=Aɀ )IIi#<;>F5^F5@9A=E'EEDiI I)M:)QIUZ9)YI]l9aiaYiEu EqE"EDDDDDD DCBBQzBUI;) i)i)It2~VE6A6A6A6A)~@ ~@}r[Gpp>Fz^Fx||=~'E~Di  ) a:)I9)I:!i!Y!E5 E1E1"E1D1D9D9DADADA DACABIBzBI;) i)i)Iii>Y)ۙ' [&Ayt"Z>t"U[E}^G~~ף<9~:~:vQ?MbP?~A|ɀ|| |)|I~|AI~Ti~u<~:>F^F@!!=%'E%ÔDi) ))-:)1I59)9I=9AiAYIEU EQEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i)Ii ]>c [&Ayt2>t2.^E)~D ~H}v[G>F^F!!)=-'E-ДDi1 1)5a:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It2|XE6=:=::p<}~G%=>F=^FAYY=e'EeݔDii i)m:)qIuW;)I9iYE EE"EDDDDDD DCB!BzB I ;) i)i)I%< wA)xAY)۩>2 ;[&Ayt6>t6WYE)~H ~H}vG55<915I +~jt?MbP?5=A1ɀ11 1)1I5AI594i5D<1>FM^FM@QQ=U'EUDia a)e:)iIm9)iIm9iYE E E "E D D DDDD1 D9C9B9BzBI;) i)i)ItBbE} G>F=^F9AA=E'EMDiQ Q)U:)YI]v9)aIe9iiiYiE EE"EDDDDDD D C B BazBeqIu;)qy yiy)yyyiy)It"TE$&A$&A)~0 ~0}blGbxA`u<9;I +{Gz?Mb`?Aɀ ) AIIi#<;>F]^F]@aa=m'EmDiq q)u<)I9)I!9iYE EE"EDDDD D D  D C BBzBI;) i)i)IY)۱, [&Ayt2>t2S]E}nG>Fv^Ftxx=z'EzDi )a:) I 9) I 9iYE- E)E)"E)D)D1D1D1D1D9 D9C9BABzB I ;)   i ) i)9I=i V>V [&Ayt2>t2TE)~@ ~@}zG>F^F  = 'E Di )D:)!I%~}:)1I5i:QiYYaE EE"EDDDDDD DCBBzB9IE;)AA AiA)AAIiI)QIUt2zZE6=6=66p;}nGpp%;%9%:%Mb`MbP?%A!ɀ!! 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[&Ayt2>t2WYE)~>= ~>yC}l>FvZFtxx=z(EzSDi )8@) I 9iYE- E)E)"E)D)D)D1D1 D9C9BABqzBuI;i)i)It"zZE&=&=&<&<}\b4=b%=         @   @   @   @   )Mb@Mb@Mb@ɀ )IIi>F%ZF%@))=-(E-aDi1 1)5a@)AIAQiQYQEe EaEa"EaDaDiDiDi DqCqBqBzBI;i)i)I< )wAY)ۡĐ P9C[&Ayt">t"PE)~0 ~0}^[G>FZF  = (E mDi )'@)I9)i)Y1E= EAEA"EADADADIDI DICIBQBzBI;i)i)It"[E}^G>F~ZF  = (E zDi )@)I׾9)i)Y)E= E9EA"EADADADIDI DICIBQBzBI;i)i)It&5VE.A2A2A2A)~:= ~>oC}nGpp % % % % % % % % %@ - -@ - -@ - -@ - - - ! !)!%Mb@Mb@Mb@% A!ɀ!%@ % A)%xAI% AI!i!!>FE^FE@II=M(EMDiQ Q)UJ@)aIe9iiqYqE EE"EDDDDDD DCBBzBI;)G  i)i6)Ii>Y) ʐ[&Ayt"ӵ>t"_E}p>F^F!!)=-(E-Di1 1)5@)9I=9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCiBqBzBI;) i)i9^)Ii a>a+ ][&Ayt2>t2WYE6 DUSBL Version:O )~h ~h}[G           `9~jtx?MbpMbPAɀ#A )t!AIAI;i>F^F@  = (EDi )7:)!I%9))I-x91i1Y9EE EAEI"EIDIDIDQDQDQDQ DYCYBYBzBI;) i)iz۪)ItBU[EvDxDJ8****** ping requested ******R=R=V;Vp<bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G%=>FE^FAQq=}(E}Di );)Ii%:)I<QiQYQEe EaEa"EaDiDiDDDD DCBBzBAIM;)II IiI)IQQiU)YImt2 [E)~H ~H}zІG>F^F  = (EDi )C:)!I%s9))I-׾91i1Y1EE EAEA"EADIDIDIDQDQDQ DQCQBYBzBI;)11 1i9)999i=ʱ )AIMt2bE}n[G %@ % %@ % %@ % %@ % %@ %@ %@ %@ - %B %)%%Mb@Mb@Mb@%%ɀ%% !)%I%I%i%‰%>F=ZFE@II=M(EMȖDiQ Q)U>)YI]׾9iiiYiE EE"EDDDD DCBBzBI;i)i)It2|XEF6AAF6@A8:A)~D ~D}rIG>FZF!!)=-(E-ՖDi1 1)5O?)9I=9IiIYIE] EYEY"EYDaDaDaDi DiCiBqBzBI;i)i)Ii>Y)۱y l+[&Ayt2m>t21ZE}nG    % % % % % %@ % %@ % %@ % %@ % ! !)!%Mb@Mb@Mb@%!ɀ!! !)!I!I!i!!>F]ZF]@aa=m(EmDiq q)u?)I.9iYE EE"EDDDD DCBBzBI ;i )   i )Ii V>hg vE[&Ayt*>t*aE)~8 ~8}f[G>FZF=(EDi! !)%U?))I-!99i9YAEU EQEQ"EQDQDQDYDY DYCaBaBzBI;i)i)I< )IiYq)yy /_[&Ayt">t"TE"F&a=*F&<&=&=}rG>FzZF|=(EDi  ) 6@)I9!i!Y!E5 E1E1"E1D9D9DADA DACABIBzBI;i)11i1)9IE< I)UxAY1)Q Iy[&Ayt">t"ZE)~, ~,}^G % % % % % % % % % % % % % %%j<9%%QF=^FE@AI=M(EM DiQ Q)UG:)YI]D9)aIe 9iiqYqE EE"EDDDDDD DCBBazBeyI};)yy yiy)yi)It2UE}rlG>F5^F9AA=E(EEDiI I)M:)QIUS:)YI]9aiaYiE EE"EDDDDDD DCBBzBI;) i)iR\) I t"|XEF&@AF$$$)~0 ~0}bޅGĻt<9;Mb rh?Mb`? Aɀ@ )t!AIAIiC<;>F^F@!!=-(E-"Di1 1)5n:)9I=v9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqB)zB-YI];)YY aia)aaaie)iIuYi)y- {[&Ayt2z>t2QEv4x4:8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=G>Fu^F=(E0Di ) :)Is9)IQ9iYE% E)E)"E)D)D)DQDQDQDQ DYCYBYBzBI ;)   i )i )I% [&Ayt2>t2UE)~H ~H}zG>F^F  = (E t2'fE"F4*F6a=:=:=}rGpp)-D9)-~jtx?Mb`?Mb`?- A)ɀ)-(@ )))I)I-;i-;)>F^F@ƑƑ=(EƕJDi ):)I9)I9iYE EE"EDDDDDD DCBBzB)I-;))) 1i1)111i59&)9IE< I)QY1)9 [&Ayt"m>t"1ZE)~4 ~4}b[G>F~^F = (E VDi ):)I9)!I%9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzBI;) i)iA)It:8RE}vG5D;5;955Mbp5 A1ɀ11 1)1I1I5i55>FM^FM@QQ=U(EUcDiY Y)]7:)aIe9)iImv9iYE EE"EDDDDDD DCBB)zB-9I=;)AA AiA)AAAiE.^)IIUt2zZEF4F46A4)~@ ~@} G>F^F!))=-(E-pDi1 1)5G:)9I=89)AIE9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBIzBMyI};)y i)inwz)Ii>Yi)yw' v3b[&Ayt">t"\E}^G>F~^F  = (E }Di ):)Is:)I:iYE  E E"EDD!D)D1D9D9 DACIBQBzBI;) i)i,g)Ii V>Q |[&Ayt2Z>t2U[E)~>= ~>yC}nlG%;%C =9%%y&1{Gz?Mb`% A!ɀ!%@ !)!I!I%`i%ף<%>F5^F=@AA=E(EEDiI I)Ma:)QIU:)YI]9aiiYiEU EQEQ"EQDYDYDYDaDaDa DaCaBiBzB I ;)   i)i{)I%t"]E"F&p=*F&p=$&=}^Gb4=`>F~^F  = (E Di ):)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i]A) I< )Ii ExA)EwAY))c+ į[&Ayt2>t2u`E)~>= ~BoC}n[G%;%'=9%%MbS㥛?Mbp% A!ɀ!! !)!I%7AI%i%/<%>F=^F=@AA=E(EEDiQ Q)U:)YI]9)aIe9iiiYiE EE"EDDD!D!D!D! D)C)B)BAzBEYI];)]X7!Y YiY)aaaie)iIt2WEv4x4:8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=IG>Fu^F=(EDi )2:)I :)I: iYE- E)E)"E)D)D1D9D9D9DA DACABIBzBI;) i)i¼)Iz[&AytB>tBSEFDFDF^unknown deviceResponse_: !U1,R,EFA,000,1,07,FF qFJ(Communications FaultaJ aJ aJ PP)~l ~p}mG}yA6only read 3 of 4 data itemshFailed to parse: :RA, 0.00, 0.00, 100.91, 93.26 @  @  @  @  >F ^F =(EDi! !)%w>))I-99i9Y9EM EIEI"EIDIDQDQDYDYDY DYCYBaBzBI;) i)iSм)Ii>Y)1-!M`Communications Fault in component: DUSBL_Hydroid> `W[&Ayt"4>t"]E"Powering downF&F&"F&*F&}G>F5^F199==(E=͗DiA A)EZ?)IIM9YiYYaEu EqEq"EqDqDqDyDyDyDy DCBB9zB=IIM;)IQ QiQ)QQQiUN)YIei Y>܇E 2[&Ayt2ί>t23XE)~@ ~@}G>F=^F9AA=M(EMؗDiQ Q)U?)YI]9iiiYiE EE"EDDDDDD DCBBzBI;) i)i܃)It2WYE6=6=}jGln=    % % % % % %:%j<=9!% rhMb?Mbp% A!ɀ!! !)!I!I%C i%=!>F5^F@=(EDi )U:)I9)I09iY E= E9E9"E9D9D9DADADADA DICIBIBzBI;) i)ie) I t"`E)~, ~,}^G>Ff^Fdhh=j(EjDip p)r:)tIv9)xIzQ9|i|Y|E  E E "E DDDDDD D!C!B!BYzB]iIu;)u4X+q qiq)qqiAW)I< )IiYy)ہ ) X d[&AytB>tBYE}E[G,=9V-X9v?MbP Aɀ逡 )IIi<>F^F@=(EDi )a:)I9)I9iYE} EyEy"EyDyDyDDDD DCBBzB 9I=;)99 9i9)AAAiEZG )IIUt2YE6A446A)~B= ~ByC}nIGrxAp>Fv^Fx||=~(E~ Di )+:) I Գ9)Iʽ9i!Y!E5 E1E1"E1D1D1D9D9D9DA DACABABzBI;) i)iO)IiY)۹e  y[&Ayt">t"S]E}ZG>F~^F  = (E Di ):)I9)!I%v9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)iF)It"_E)~, ~,}^[G#=9;:vX9v?Mb`? 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D)C)B)BzBI;) i)i)It2_EF2AAF6@A}jG>F^F  = -E ,Di )::)ID9)!I%9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzB)I-;)11 1i1)QQQiY)YIet2y\E6A6A6A6A)~@ ~@}rlGrxArxA>Fz^Fx||=~-E~9Di  ) :)IԳ9)Il:!i!Y!E5 E1E1"E1D1D9D9D9DADA DACABIBzBI;) i)i)Ii]>Y)| $ \&Ayt">t"YE}bIG<9y&1:v?Mb`Aɀ jA)"AII`eiT<>F-^F-@11=5-E5FDiA A)ED:)IIM9)QIUv9YiYYYEm EiEi"EiDqDqDqDqDD DCBBzBI;) i)i)Ii Y>䓃 \&Ayt2/>t25VE"F4*F6p=)~< ~@}nG>F^F!!)=--E-SDi1 1)5:)9I=9)AIE׾9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It2y\Ev4x4:8****** ping requested ******B=F=F=Jp<NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }]Gim%=9:v?:vMbPz AɀM@ )t!AIITF ^F@=%-E%aDi) ))-:)9I= :)AIE:YiYYYEu EqEq"EqDyDyDDDD DCBBzBI;) i)i)I < )Y) kB\&Ayt61>t6YE)~P ~P}~G>F=^FAAA=M-EMmDiQ Q)U:)YI]]9)aIe9iiiYiE EE"EDDDDDD DCBBzBI;) i)i)It"cEF&@AF$}nG>F ^F =-EzDi! !)%7:))I-9))I-Q99i9Y9EM EIEI"EIDIDQDQDQDQDY DYCYBaBzBI;) i)i)It"PaE&A&A*A*A)~4 ~4}bGdd ; Q8=9 D L7A`堿Q?~jth  A ɀ  @ ) "AI 7AI +i < D>F^F@=-EDi )a:)IQ9)I9iYE EE"EDD!D!D!D)D) D)C)B1BzBI;) i)i)IY) G\&Ayt2_>t2bE}nG>F^F!!)=--E-Di1 1)5U:)9I=9)AIE9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBIzBMaIe;)aa aia)iiiii)qI}i V>  '\&Ayt2>t2YWE"F0*F0)~< ~<}nG%%@=9%;%Mb rh?Mb`?% A!ɀ!! !)!I%AI%i%C =%;>F5^F=@AA=E-EEDiI I)I)QIU(:)YI]9iiiYiE} EyEy"EyDyDDDDD DCBBzBqI;) i)i)It2YE6=6=66<}nGr4=p>Fv^Ftxx=z-E~Di )n:) I Գ9)I9iYE- E)E)"E)D1D1D1D9D9D9 D9CABAByzB}I;) i)i)I< )Y)ۙ j\&Ayt"m>t"1ZE)~.= ~0}^G>F~^F  = -E Di ):)I9)!I%]9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It"YEF"?AF$}ZlG~~9~<~MbP?Mb`Mb?~3A|ɀ|| ~IA)|I|I~:i~~<>F^F@=-EǠDi! !)%a:))I-9)1I5:AiAYAEU EQEQ"EQDQDYDYDYDaDa DaCaBiBzBI;) i)i)It6\E:A>A>A>A)~F= ~D}vGzwAx>F~^F = -E ԠDi )U:)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)i)Iit>Y)ۙY j+\&Ayt"o>t"]Ev$x$*8****** ping requested ******6Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }mGף;9`;~jthMbp?y&1|?\AɀM@ A)t!AIIDi;`;>F-^F5@ƁƁ=-EƅDi )̱;)Ii9)I!9iYE EE"EDDD D D D  DQCQBQBzBI;) i)i)Ii a>B MIE\&Ayt">t"aE"F *F&a=v&%K w$)w$Iw$iw$w&Aw$w$w&w?a^?g4Lɿ)~@ ~@}p>Fm^Fiqy=}-E}Di )7:)Is9)I׾9iYE EE"EDDDDDD DCBB zB I%;)!! !i!)!!!i!))I5t2R_E:=:=:;:<}pr%=r4=>F^F!!=%-E-Di1 1)5:)9I=9)AIE]9IiIYIE] EYEY"EYDaDaDaDiDiDi DiCiBqByzBI;) i)i)I< )Y)۩  x\&Ayt2G>t2y\E)~D ~D}v[G-;-t=9-\=-:vJ +?Q?- A)ɀ)-@ -|A)- AI)I-Ti-H=-\=>FE^FE@II=M-EMDiY Y)]:)aIes9)iIm9qiqYqE EE"EDDDDDD DCBBzBI;) i)i)It2rdEF2@AF6AA}nG>F^F!!)=--E-Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It"aE&A&A&A*A)~2= ~2C}bGbyA`  /]=9  l~jt?Mb`  A ɀ  @ ) "AI 7AI i = >F^F%@))=--E-"Di1 1)5}G:)9I=׾9)AIE!9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)Ii>Y)ڏ \&Ayt">t"YE}^G>F^F  = -E /Di ):)IQ9)!I%]9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)Ii V> fl\&Ayt"ָ>t"NcE"F *F"p=)~.= ~.yC}^G>Fn^Fptt=v-Ev;Dix x)z:)|I~9)Iv9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;)!! !i))1QYiY)It"[E&=&=&<&<}r[GvR=v%=>F~^F = -E HDi ):)I9)!I!)i)Y)E] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI%;)!! !i!)!!)i))1I5< A)ExAY) "\&Ayt"ù>t"rdE)~, ~0}^IG>F^F  = -E UDi ):)!I%9)!I!1i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzB)I-;)11 1iQ)QQQiQ)YIet"ZEF F"@Av$x$&8****** ping requested *******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }G6only read 1 of 4 data items8Failed to parse: :BS, .00 @  @ E M@ M M@ M >F]^FYai=m-EmgDiy y)}?)I:i!Y!E= EE"EDDDDDD DCBBzBQI];)YY YiY)YYaia)iIut"~VEv&>b w$)w&:>Iw$iw&Cw&Cw$w&zBw&%9?O.f̿2A2A06A)~D ~D}vGtt>F~^F = -E oDi )N?)I9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzB1I=;)99 9i9)999i9)AIMt"cE}^VG>Fn^Fptt=v-Ev|D]zUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. z-~Software Fault 5~ 9~ A~ ix x)zɚ? Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.  Software Fault    )I9]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -%Software FaultJU,Location not readable.EU EQEQ"EQDQDyDyDyDD DCI;) iq)yyyii)Ii e>73 2{\&Ayt">t"YWE"F$*F&a=-.Response from modem failed NMEA checksum: $CATRC,RECV,IDEM, 523,Missed start of FSK packet )~4 ~8}j8G         D;&>9ʡE!rh?Mb`\ Aɀ@ ) AIAIil=>F5^F5@yy=}-E}DJ,Location not readable.E EE"EDDDDDD DCI;) i) i i )It"cE&=*=*<*<}bGb=`>Fr^Fptt=v-EvD~lInitializing DeadReckonUsingSpeedCalculator component.iYE EE"EDDD!D!D!D! D)C)B)BzBI;) i)i)It"1ZE)~.= ~,}^GY=9l~jt?Mb` Aɀ@ )t!AI7AIi=>F^F@!!=--E-Di1 1)5a:)YI]:9)aIe9iiiYiE EE"EDDDDDD DCBB)zB-9IE;)AA AiA)AAAiI)IIUt"^EF F }^G>Fn^Fptt=v-EvDix x)z:)|I~i9)I]9 i YE= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i ) I5iE>Y)W8 L\&Ayt">t"u`E$&A&A&A)~2= ~0}G%xA)>F}^Fƙƙ=-EƥDi )z:)I:)I:iYE5 E1E1"E1D9D9D9D9DADA DACABIBzBI;) i)i)I \&Ayt"в>t"[E}bG%D%#=9%:%:vX9v?MbP?% A!ɀ!! !)!I!I%Լi%<%:>F=^F=@AA=E-EEʡDiI I)M:)YI]9)aIe9iiiYqE EE"EDDDDDD DCBBzBI;) i)i)Ii V>hE \&Ayt2>t2YE"F4*F4)~@ ~@}nlG>F^F!!!=--E-סDi1 1)5:)9I=9)AIE]9IiIYIE EE"EDDDDDD DCBBzB%1I5;)11 1i9)999i9)AIE< Q)UwAY)K &0\&AytB>tBWEvDxDJ8****** ping requested ******N=R=V=V=ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }mG}%=5`;1955L7A`堿Zd;O?Mb`5 A1ɀ11 1)1I5AI5+i5j<5>FM^FU@YY=]-E]Dia a)e:)iImi9)qIu9yiyYE EE"EDDDDDD DCBBzBI;) i)i)I tBaE)~X ~\}G>F%^F)))=5-E5Di9 9)=a:)AIE9)IIMQ9QiQYQEe EaEi"EiDiDiDqDqDqDq DqCyByBzBI;) i)i)It"U[EF*AAF,}EG<9 rh~jt? Aɀ逹 ) AIICi<>F^F@=-EDi ):)Is9)I9iYE EE"EDDD!D!D!D! D!C)B)BazBeI;) i)i)I i=p>Y )^ ~\&Ayt2ί>t23XE:A:A:A:A)~D ~D}vGvyAt>F~^F|=-E Di ):)I_:)!I%9)i)Y)E= E9E9"E9DADADADIDIDI DICIBQBzBI;) i)i)ItVXE}%G>F]^FYaa=m-EmDiq q)u:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)i) Ii e>k ұ\&AytB>tBWYE"FFa=*FD)~L ~P}%[Gmmt<9m;m:v:v?Mb`?m Aiɀii i)mt!AIiImTimTF}^F@ƉƉ=.Eƍ%Di ):G:)Is9)I9iYE EE"EDDDDDD DCBB zB !I%;)!! !i!))))i))1I=< A)AY)r m\&Ayt2>t2YE:=>=>p;><}nIGpp>F^F!!)=-.E-1Di1 1)5U:)9I=9)AIE9IiIYIE EE"EDDDDDD DCBB!zB%1I=;)99 9i9)999iA)AIMt> _E)~r= ~rC}=G @  @  @  @  @ @ @ @  B )Mb@Mb@Mb@ɀ逅 )IIi‰>FZF@ơƩ=.Eƭ?Di1 1)5.>)9I=Z9IiIYIE} EyEy"EyDyDyDD DCBBzBI5;i1)9=9i=)AIet2WYEF6@AF4}vG>FZF!!)=-.E-KDi1 1)5N?)9I=i9IiIYIE] EYEY"EYDaDaDaDi DiCiBqBzBI;i)i)Ii>Y)ۙ{ pA\&Ayt2в>t2[E46A46A)~B= ~ByC}nGpp>FZF!!=-.E-XDi1 1)50?)9I=9IiIYIE] EYEY"EYDaDaDaDi DiCiBiBzBI;i)i)It2WYEv4x4:8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=G         @  @  @  @   )Mb@Mb@Mb@ɀ )IIi>FZF@=.EfDi  ) ?)I:)i1Y1EM EIEI"EIDQDQDYDY DaCaBiBzBI;i)i)I  M\&Ayt* >t*|XE"F.p=*F,)~F= ~D}vG>F5ZF199==.E=rDiA A)E@)IIM9YiYYaEm EqEq"EqDqDqDyDy DyCBBzBI;i)i)I< )Y)۱D f\&AytN>tN_EV=V=V4F}ZF@ƁƉ=.EƍDi )@)Is9iYE EE"EDDDD DCBB zB I;i!)!!!i!))I5t2^E)~F= ~FC}>F=ZF9AA=M.EMDiQ Q)UF5@)YI]9iiiYiE} EyEy"EyDDDD DCBBzBI;i)i)It"aEF&AAF&AA}^[G>F~ZF = .E Di )N@)aIe9qiqYqE EE"EDDDD DCBBzBI;i)i)Ii>Y)*} a\&Ayt2m>t21ZE6A6A6A6A)~@ ~@}rIGrxAp % % % % - - - - - - - - - --D=9-<-X9vl?Mb?- A-ɀ--M@ -A)- AI-AI-i-=-<>FE^FE@II=M.EMDiQ Q)UD:)aIe9)iIml9qiqYqE EE"EDDD D D D  DC1B9BzBI;)\  i)i1)It2WYE}jG>F^F!!!=-.E-Di1 1)5:)9I=9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i]\)Ii Y>^ \&Ayt2>t2ZE"F2a=*F6p=)~>= ~>yC}nG%:!9%D<%Q롿L7A`?~jt?%A!ɀ!! %A)!I!I%\i%+=%D<>F5^F=@AA=E.EEDiI I)Ma:)QIUX:)aIe.9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i-)I< xA)Y)v \&Ayt2r>t2aE6=6=6;6p<}nGr4=r%=>F^F!!)=-.E-̢Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)ipݻ)It2U[E)~>= ~<}nG>Fv^Ftxx=z.Ez٢Di ):) I 9)I9iYE- E)E)"E)D1D1D1D1D9D9 D9C9BAByzB}I;) i)ii )It:_EF>@AF>@Av@x@B8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=G;<9;Zd;O~jt?~jtx?Aɀ@ )I|AIji<;>F^F@ = .E Di )j:))I-U9:)1I5:AiIYIEe EaEa"EiDiDiDyDyDyDy DCBBzBI;) i)i;() Ii]>Y))9p ׅO\&Ayt">t".^E&^unknown deviceResponse_: 00000,187,80,81,15,FF q&&(Communications Faulta& a& a& .A.A)~>= ~>C}EGAA>F]^FYaa=e.EmDiq q)u:)yI}9)I9iYE EE"EDDDD!D!D! D!C!B)BzBI;)J i)iaC)It"u`E&Powering downF&F&"F&*F&}Gt<9;~jtxy&1|?Mb`?Aɀ A)t!AIIĻi`;;>F%^F-@11=5.E5Di9 9)9)AIE9)IIMl9QiYYYEe EiEi"EiDiDiDqDqDqDy DyCyByBzBI;) i)i b)Ii ]>! :\&Ayt2o>t2]E)~@ ~ByC}p>F^F!!)=-.E- Di1 1)5U:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBIzBMYI];)aa aia)aaaiez)iIut2zZE6=6=}hnF^F!!=%.E-Di1 1)5:)9I=v9)AIEi9IiIYIE] EYEY"EYDaDaDaDiDiDi DiCiBqBzBI;) i)iu)I< wA)wAYm?YI)i!bClearing failed state for component DUSBL_Hydroidqe (\&Ayt2>t2SE)~< ~>C}l%%<9!%/$Zd;O?Mb`?%A!ɀ!! !)!I!I%i%jF5^F=@AA=E.EE'DiI I)M:)QIU:)YI]x9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)iq)I< )IiYY)a ) ? 2\&Ayt2>t2zZE}jG>Fr^Fptt=z.Ez4Di| |)~D:)I9) I i9iYE% E!E!"E)D)D)D1D1D1D1 D1C1B9BqzBuI;) i)i)Ii>Yq)yd+ i\&Ayt2>t2YWE44)~@ ~ByC}nlGpp%%<9%%:v:v?%=A!ɀ!! !)!I%AI%Ti%T<%>F=^FE@AI=M.EMADiQ Q)Ua:)YI]9)aIe9iiiYiE} EE"EDDDDDD DCBBzBI;)U! i)i/)It"5VE}fG>F~^F  = .E MDi ):)I9)!I%9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)Ii = x_\&Ayt"ޫ>t"\SE)~.= ~,}jG>F ^F =.EZDi )n:))I-9))I-91i9Y9EM EIEI"EIDIDIDQDQDQDY DYCYBaBzBI;) i)iϼ)I< )Y)ۙqg  88\&AytB >tB|XEBPowering upF6Initializing DUSBL_Hydroid.~=~=<<}[G=u<9I +I +?Mb`Aɀ )I|AI94i94<>FU^F]@Ya=e.EeiDii i)m:)qIui9)yI}.9iYE EE"EDDDDDD DCBBAzBEqI};)yy yiy)yyyil߼)It"YE)~2= ~2C}bIG>Ff^Fhll=n.EntDip p)r:)tIv9)xIz׾9|iYE  EE"EDDDDDD D!C!B!BzBI;) i)i)!I%t"VE}X|~t<9|~y&1|~jtx?Mb`~3A|ɀ|~A |)~ AI~AI~`i~;|>F^F@=.EDi) ))-U:)1I5g9)1I59AiAYAEU EQEQ"EQDQDYDYDaDaDa DaCaBiBzBI5;)11 9i9)999i=R)AIMY!))ba! 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)It"TE)~0 ~2C}bG`e<9{Gz{Gz?Aɀ )II#i>F^F@!!=%/E%FDi1 1)1)9I=9)AIE9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCiBqBzBI;) i)i)Iil>Y)۹ ) 9 Ͽ\&Ayt2\>t2 _E}jG>F^F!!)=-/E-SDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)iW)I< )IiY9)Qr  Z(\&Ayt2в>t2[E46A46A)~B= ~@}rGryAp%D;%D<9%%I +y&1|?Mb`%A!ɀ!! !)!I!I%94i%`;%>F=^FE@AI=M/EM`DiQ Q)UGH:)YI]׾9)aIe9iiiYqE EE"EDDDDDD DCBBzBI;)i i)i)It60\E}v[G>F^F!!)=-/E-lDi1 1)5:)9I=i9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i ½)I< )Y)۹I i u Q\\&Ayt2O>t2LE)~D ~JyC} G>F=^F9AA=M/EMzDiQ Q)UU:)YI]v9)aIe]9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i܉Ž)ItB_EF=J=Jp;J<}EGII:T<9{GzF^F@ƩƩ=/EƵDi ):)I9)Ii9iYE EE"EDDDDDD DCBB1zB5AIM;)II IiI)IIIiU5ɽ)YI]t"S]E)~8 ~:C}nG>F~^F  = /E Di ):)9I=9)AIE9IiQYQE EE"EDDDDDD DCB!BzBI;) i)i>̽)Ii>Y)۱ ) 4) \&Ayt>e>tBOE}-Gף;9~jth{Gzt?Aɀ )IIDiף;>FE^FE@QQ=U/E]Dia a)e;)I]?:)I):iYE EE"EDDDDDD DCBBqzBuI;) i)iFgн)I< )IiY)0 \&Ayt">t"SE& DUSBL Version:O RARAVAVA)~n= ~nyC}=G99>F]^FYaa=e/EeDiq q)uU:)yI}9)Iv9iYE EE"EDDDDDD DCBB)zB-I;) bt i)!!i%yӽ))I5t"YEv$x$&8****** ping requested ******.Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 } >FE^FQyy=/EƅDi )!;)IK :)I:iYE EE1"E1D9D9DADADADI DICIBqBzBI;) i)i׽)I< wA)YQ)aI {>i a>j?= \&Ayt>t)~2= ~0}`  T<9  ~jtx~jt? A ɀ   ) I I Ļi D< >F%^F%@))=M/EMǥDiQ Q)U:)YI]9)aIe;iYE EE"EDDDDDD DCBBIzBMaIe;) i)i6~ڽ)It"UE&=&=&;&<}v[Gv4=t>F~^F = /E ԥDi ):)Ii9)!I%i9)i)Y)E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)iݽ) It",`EF&AAF&@A)~4 ~4}zIG5D5`;915Mb`y&1|?5A1ɀ11 1)1I1I5i5`;1>FM^FU@QY=]/E}Di )n:)I9)I;iYE EE"EDDDDDD DCBByzB}I;) i)iu)IY)ۑ ) 3Q E\&Ayt"ܨ>t"OE}ZG>Fn^Fppt=v/EvDix x)z:)|I~9)I9 iYE EE"EDDDDDD DCBB)zB-yI};)y i)i )It"w^E$&A$&A)~.= ~,}^GbwA`>Fn^Fppt=v/EvDix x)z:)|I~9)I9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1B)zB-yI;)J~ i)i_)I< )IiYQ)Y] x\&Ayt"1>t"YE"F"a=*F"<}^[G~~ף;9~~~jth~jth?Mb`~A|ɀ|| |)|I|I~Di~D;~>F]^F]@aa=m/EmDiq q)uؙ;)I9)I9iYE] EYEY"EYDaDaDaDaDiDi DiCiBB!zB-yI};)yy yiy)i)I< )Y)I V>i V>+od =\&Ayt">t"WE)~.= ~,}^IG>Fn^Fptt=v/EvDix x)z:)|I~9)Iʽ9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)iE)It2~VE6=6=6p;6<}vGv=z4=5D;5<915:vFM^FM@QQ=U0EU"DiY Y)]z:)iIm9)iIm9yiyYyE EE"EDDDDDD DCBBzBI;) i)i)It"R_EF"?AF$)~, ~2C}bG>F~^F = 0E .Di ):)I9)!I%9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzBI;) i)i)Ii>Y)۱ ) ɪw (\&Ayt2h>t2REv4x4:8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }Q>F^FƑƙ=0EƝt28RE:A:A>A>A)~` ~`})-xA)mףi9mmMbQ?m=Aiɀii i)iIm|AImimuF^F@ƉƑ=0EƕIDi )n:)I9)I9iYE EE"EDDDDDD DCBBzB)I-;)-01 1i1)111i5)9IEt2PaE"F6=*F6p=}l>F=^F9AA=M0EMUDiQ Q)U:)YI]9)aIe]9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i:)I ǹ-\&Ayt"ί>t"3XE)~4 ~4}`  <9 ; {GzMb?Mbp? =A ɀ   ) I I #i < ;>F%^F%@))=-0E-bDi1 1)5 :)I+9)I9iYE EE"EDDDDDD DCBBQzBUyI;)  i)i )I< )IiY1)AΑ G\&Ayt21>t2YE6=6=6=6<}ln4=r%=>Fv^Ftxx=z0EzoDi )+:) I g9)ID9iYE- E)E)"E)D1D1D1D9D9DA DACABIBzBI;) i)it)!I-t2|XEF2AAF4)~@ ~@}l>Fv^Ftxx=~0E~|Di ):) I 9)I׾9iY!E- E)E)"E1D1D1D9D9D9D9 DACABABzBI;) i)ig)It25VE}h#<9~jtxMb?Aɀ )t!AIIĻi<>F5^F5@99==0EEDiI I)Mn:)QIU9)YI] 9aiaYaEu EqEq"EqDyDyDDDD DCBBzBI;) i)iy()It2YE6A6A6A6A)~@ ~ByC}lpp>F^F!))=-0E-Di1 1)5::)9I=89)AIEi9IiIYQE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i6)It2UE"F2p=*F2a=}t-:-+9--Zd;O?~jtMbP-A)ɀ)) -A))I-AI-jFE^FM@QQ=U0EUDiY Y)]:)aIeg9)iImv9qiyYyE EE"EDDDDDD DCBBzBI;) i)i͢ )I r\&Ayt:o>t:]E)~Z= ~ZC}>F%^F!))=-0E5Di9 9)=z:)AIE9)IIM]9QiQYQEe EaEa"EaDiDiDiDqDqDq DqCqByBzBI;) i)iX )I< )IiY9)QF \&Ayt27>t2PaEv4x4:8****** ping requested ******J=N=R4=R<VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }  6only read 0 of 4 data itemsHFailed to parse: :BS-32768,-32768,V @  @  @  @  >F^F=0EDi )%>)Is9iYE EE"EDDD)D)D)D1 D1C1B9BzBI;)! !i!))))i-*)1I=t" ]EF$F$*^unknown deviceResponse_: !U1,R,F0A,000,1,07,FF q**(Communications Faulta* a* a* )~@ ~@}rG>F^F!!)=-0E-ɦDi1 1)5N?)Ib9iYE] EYEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i)!I-Y )-!-`Communications Fault in component: DUSBL_Hydroid ?A) X m\&Ayt">t"u`E&Powering downF&F&"F&*F&} G>FU^FQYY=]0E]٦Dia a)eH?)iIm9yiyYE EE"EDDDDDD DCBBzBI;) i)it)I t2ZE6A:A:A:A)~F= ~FyC}rGvyAt - - - - - - - - 5@ 5 5@ 5 5@ 5 5@ 5 5@ 5@ 5@ 5@ 5 -B -)--Mb@Mb@Mb@--ɀ-) -)-I-I-i-‰->FMZFM@QQ=U0E]Dia a)e?)iIm9yiyYyE EE"EDDDD DCBBzBI;i)i)It2,`E}l>FZF!!)=-0E-Di1 1)5<@)9I=9IiIYIE] EYEY"EaDaDaDiDi DiCiBqBzBI;i)i)I< )Y)۹!bClearing failed state for component DUSBL_HydroidqI i e>& c\&Ayt2!>t2^E)~@ ~@}rG>F ZF!)=-0E-DiA A)ES@)YI]}:iYE EE"EDDDD DCBB9zB=IM;iI)IIIiQ)YI]t"w^E&=&=&p<&=}^G``         @  @   @   @   )Mb@Mb@Mb@ɀ )IIi>F%ZF%@))=-0E- Di1 1)54@)9I=׾9IiIYQE] EaEa"EaDaDaDiDi DiCqBqBzBI;i)i)It6S]E)~D ~D}rG>FZF!!)=-0E-Di1 1)5N@)9I=9IiIYIE] EYEY"EaDaDaDiDi DiCiBqBzBI;i)i)Iix>Y)ۙ )  \&Ayt2 >t2|XE}zG 5 5 = = = = = = =@ = =@ = =@ = =@ = 9 9)9=Mb@Mb@Mb@=9ɀ99 9)9I9I9i99>FUZF]@aa=e0Ee$Dii i)m#i@)qIu-:iYE EE"EDDDD DCBBzBI;i)i)It2 ]E6A6A6A6A)~@ ~@}rGpp>F]ZFYaa=e0Ee1Dii i)m@)qIu:iYE EE"EDDDD DCBBzBI;i)i)It" _E&Powering up&6Initializing DUSBL_Hydroid.}q = = = = = = = = = = = = = =`=9=D;={Gz?~jth?= A=ɀ== @ 9)= AI=7AI=#FU^F]@Ya=e0Ee?Dii i)m:)qIu9)yI}9iYE EE"EDDDDDD DCBBzBI;)`b  i)i) I< )Y)I R>i V>`  :"\&Ayt2>t2w^E)~B= ~BC}nG>F^F!!)=-0E-KDi1 1)5:)9I=]9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i[)It2[E6=6=6p;6<}nGpp>Fv^Fxx|=~0E~WDi ):) I 9)IQ9iY!E- E)E1"E1D1D1D9D9D9D9 DACABAByzB}I;) i)ir)It2|XE)~B= ~@}nG%;%=9%%S㥛F=^F=@AA=E0EEeDiI I)M:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)iUݻ)IY) ) F L\&Ayt2>t2\E}h>F^F!!)=-0E-rDi1 1)5:)9I=9)AIEi9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i " )I>t> ]EFAFAFAFA)~L ~L}|yAEDE=9EE~jty&1?E AAɀAA A)AIE7AIEļiE`F]^F]@aa=e0EeDii i)mH:)yI}9)yI}v9iYE EE"EDDDDDD DCBBzBI;) i)it&) It"0\E}h>F~^F  = 0E Di ):)I9)!I%Q9)i)Y1E= EAEA"EADADADIDIDIDI DICQBQBzBI;)Q i)iNA)Ii Y>C& F\&AytB>tBTE)~L ~NyC}[G>F-^F)11=50E5Di9 9)=7:)AIE9)IIM]9QiYYYEm EiEi"EiDiDiDqDqDqDy DyCyBBzBI;) i)im])It@F=F=FpF^F@=0EDi ):)I9)Iʽ9iYE  E E "E D D DDDD DCB!BYzB]iIm;)ii iiq)qqqiu8z)yIt"R_E)~0 ~0}^G>F~^F  = 0E Di )7:)I9)!I%9)i)Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i>)I< =wA)=xAYNI=il>Y) ) 9 \&Ayt2G>t2y\E}h:;9#<Mb`{Gz?(Aɀ A)"AIIi#<>F5^F5@99==0E=DiI I)M:)QIU9)QIU9aiaYaEu EqEq"EqDqDyDDDD DCBBzBI;) i)iZ)I< )IiYy)ہVg@ l\&Ayt2>t2cE6A6A6A6A)~@ ~BC}prwArxA>Fz^Fx||=~0E~̧Di  ) :)I9)I:!i!Y!E5 E1E1"E1D1D9D9D9DADA DACABIBzBI;) i)i2쥼)It2WE}l>Fv^Ftxx=z0Ez٧Di ):) I 9)ID9iYE- E)E)"E)D1D1D1D1D9D9 D9CABAByzB}I;)  i)iM)I< )Yq)yI R>i L 5\&Ayt*>t. ]E)~:= ~8}j[G94<9F-^F5@19==0E=DiA A)E:)IIM9)QIU9YiYYaEm EqEq"EqDqDqDyDyDyDy DCBBzBI;) i)i)It2YE6=6=6p;6<}G %=>F=^F9AA=M0EMDiQ Q)U:)YI]Q9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)irϼ)It )~2= ~2yC}bG--H=9--Q롿 rh?Mb`-( A)ɀ)) -))I)I-\i-C =->FE^FE@II=M0EMDiQ Q)UG:)aIe9)aIe9qiqYqE EE"EDDDDDD DCBBzBI;) i)iݼ)I i>Y ) ) &` \&Ayt"J>t",`E}bG>F~^F|= 0E  Di ):)I9)!I%9)i)Y)E= E9E9"EADADADIDIDIDI DICQBQB!zB%1I5;)99 9i9)999i=)AIMt"\E&A&A$&A)~0 ~0}b8GbyA`>F~^F|= 0E Di ):)Iv9)!I!)i)Y)E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)i%&)I< 9)9I9i9Y)ۡ] m 뭶\&Ayt">t"UE}^IGף`9D<F^F@!!=%1E%&Di) ))-:)9I=:)AIE9IiIYIE] EYEY"EYDaDaDaDaDiDi DiCiBqBzBI;)f+ i)i)I< )xAY)I i s \&AytB4>tB]E)~L ~NC}|>F ^F =1E3Di! !)%+:))I-9))I-99i9Y9EM EIEI"EIDIDQDQDQDYDY DYCYBaBzBI;) i)i`x )It2NcE6=6=:;:<}rGprC=%%ף;9%;%~jthMbp?~jtx?% A!ɀ!%M@ %A)%t!AI%AI%Di%;%;>F=^FE@AA=M1EM@DiQ Q)U:)YI]9)aIe!9iiiYqE} EE"EDDDDDD DCBBzBI;) i)i)It6WE)~D ~FyC}vG>F~^F|=1E MDi ):)IS:)!I%9)i)Y)E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)iL)IY) ) - \&Ayt2>t2zZE}t>F^F!!)=-1E-ZDi1 1)5:)9I=9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)iM)It"1ZE$&A*A*A)~2= ~2C}``` Ļ 9  y&1|?~jtx?  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D!C!B!BzBI;) i)i=U()Ii V>k  P%\&Ayt"j>t"~VE&^unknown deviceResponse_: 00000,187,80,81,17,FF q&&(Communications Faulta& a& a& -BResponse from modem unexpected: $CACST,6,1,20190326002140.162197,06,307,24,0095,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,190,0.00,-999,9760,4000*56 )~P ~RC}|AA9E`eE~jtx?~jtxy&1EAAɀAE@ A)AIAIE;iAE`e>FM^FM@QQ=U3E]%Dia a)e:)iIm9)Ie9iYE EE"EDDDDDD DCBBYzB]I;) i)iu*)IY)۱-!`Communications Fault in component: DUSBL_Hydroidr  k*%\&Ayt">t"R_E&Powering downF&F&"F&*F&===<}[G%%=%4=>FU^FQYY=]3E]3Dia a)e:)iIm9)qIu9yiYE EE"EDDDDDD DCBBzBI;) i)ib+)It&_E)~D ~J1C}Gu9{Gz?I +y&1Aɀ逅@ )II#F^F@ơơ=3Eƥ>Di )U:)I9)I9iYE EE"EDDDDDD DCBBzBI;) i)ie-)It2]E}r[G>Fv^Fxx|=~3E~JDi ):) I 9)I89iY!E- E)E1"E1D1D1D9D9D9D9 DACABAByzB}I;) i)i".)I< )Yq)! bClearing failed state for component DUSBL_Hydroidq   &\&Ayt" >t"0\E$&A$&A)~, ~,}^GbyAbxA>F~^F = 3E WDi ):)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)iɴ0)It[E}ZG|~949~u~y&1|?MbQ~A|ɀ|| |)|I|I~`;i~~u>F ^F@=3EdDi! !)%:))I-9)1I5Z:9iAYAEM EQEQ"EQDQDQDYDYDYDY DaCaBaBzBI;) i)is2)Ii ]>  rL&\&Ayt:>t8)~H ~JC}t>F^F!!)=-3E-qDi1 1)5+:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i[04)IY)۹#  Vf&\&Ayt2>t2\E:=:=>C=>%=}-G-4=5%=quD9uuF^F@ƑƑ=3EƕDi ):)I9)I:G:iYE EE"EDDDDDD DCBBzB)I5;)11 1i1)999i=r5)AIEt"]E)~.= ~,}^G>F~^F  = 3E Di )U:)aIe9)iIm9qiqYyE EE"EDDDDDD DCBBzBI;) i)i7)It2YWE2Powering up66Initializing DUSBL_Hydroid.}EG>F^F=3EDi )B2:)I׾9)I9 i Y E EE"E!D!D!D)D)D)D) D1C1B9ByzB}I;) i)i>9)I< )xAYi)y]  ޳&\&AytB>tB_EFAFAFAFA)~R= ~P}xAAA9AEMb?MbMbEAAɀAA A)AIAIEF]^F]@aa=m3EmDiq q)um:)yI}9)I9iYE EE"EDDDDDD DCBBizBmyI;) i)i9;)It2 _E}l>F^F!!)=-3E-Di1 1)5:)9I=v9)AIE]9IiIYIEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i<)Ii V>r  &\&Ayt.D>t.XE)~< ~<}h9~jth?Mb`MbAɀ )A"AIAID;i>F5^F5@99==3EEDiI I)I)QIU(:)YI]!9aiaYaEu EqEq"EyDyDyDDDD DCBBzBI;) i)i>)IY)W   p'\&Ayt2>t2zZE6=6=66<}lr=p>F^F!))=-3E-̬Di1 1)5b::)9I=D9)AIE]9IiIYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)iQ@)It&0\E)~4 ~4}d>F^F  = 3E جDi )9:)IQ9)!I%Q9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i$ B)It"RE}hĻ9~jtx?MbpMbAɀ )II;i>F5^F5@99==3E=DiA A)En:)QIU9)QIUN:aiaYaEu EqEq"EqDqDyDyDyDD DCBBzBI;) i)iC)I< wA)wAY)۹ܓ  eO'\&Ayt2>t2 [E6A:A:A:A)~@ ~@}lrwAp>F=^F9AA=E3EEDiQ Q)U+:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)iɈE)It"cE}\`9~jtx?~jthMbAɀ )IIiD>F^F@!!=%3E%Di) ))-:)1I5:)AIE:9IiIYIE EE"EDDDDDD DCBBzBI;) i)ixfG) I5  ('\&Ayt2в>t2[E)~F= ~D}x>F^F  = 3E  Di )H:)IQ9)!I%i9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)iH)Iui>YI)Y0  ٗ'\&Ayt2\>t2 _E:=:=:;:<}4= >F^F=%3E%Di) ))-:)1I5g9)9I=G9AiAYAEU EQEY"EYDYDYDaDaDaDa DaCiBiBzBI;) i)iJ)It"u`E)~2= ~4}`  Ļ9 u {Gzt?Mb`Q A ɀ   ) I AI ף;i  u>F]^F]@aa=m3Em&Diq q)u:)yI}i9)I9iYE EE"EDDDDDD DCBBzBI;) i) i {L)It2_E}n[G>Fv^Ftxx=z3Ez3Di )7:) I 9)I]9iY!E- E)E1"E1D1D1D9D9D9D9 DACABAByzB}I;) i)i5(N)I< )Yq)y  F"'\&Ayt*>t*.^E.A.A.A.A)~:= ~8}jIGjxAnyA9{Gzt?~jthMbAɀ )IIiD>F5^F5@9A=E3EE@DiI I)M:)QIUs9)YI] 9aiaYaEu EqEq"EyDyDyDDDD DCBBzBI;) i)iO)It"WYE}jޅG>F~^F  = 3E MDi ):)Ii9)!I%i9)i)Y1EE EAEA"EADIDIDIDIDQDQ DQCQBYBzBI;) i)i?Q)I  b(\&Ayt">t"cE)~0 ~0}bG>F%^F!))=-3E-ZDi1 1)58<:)AIE9)AIE9QiQYQEe EaEa"EiDiDiDqDqDqDq DqCyByBzBI;) i)ibS)Ii>Y)۹;H  7(\&Ayt2>t2 [E6=6=66<}nlGr%=p%%t9!%Mb?~jtxMb%A!ɀ!! !)!I%AI%F=^F=@AA=M3EMgDiQ Q)U:)I 9)I9iYE EE"EDDDDDD DCBBizBmI;) i)it2[E)~B= ~ByC}nG>Fv^Fxx|=~3E~sDi ):) I 9)I9i!Y!E- E1E1"E1D1D1D9D9D9D9 DACABAByzBI;) i)inV)It2YE}j[G`e9u{Gz?F5^F5@99=E3EEDiI I)M:)QIU9)YI]9aiaYaEu EqEq"EqDyDyDDDD DCBBzBI;) i)iחX)I< xA)Y)B!  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 c?+\&Ayt2>t2)dEv4x4:8****** ping requested ******B=B=Fp;F<JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }Qae=>F^F=4EDi )L^:)I :)I0:iYE E!E!"E!D!D)D)D1D1D1 D9C9BABzBI;) i)i)It"7TE)~:= ~8}t>F~^F  = 4E Di )a:)!I%]9)!I%]91i1Y1EE EAEA"EADADIDIDIDIDQ DQCQBYBzBI;) i)ii)It2.^E}z[G==99=MbP?Mb=A9ɀ99 9)9I9I=:i=9>FU^FU@YY=]4E]Dia a)e+:)iIm9)qIu0:iYE EE"EDDDDDD DCBBzBI;) i)i )I < )Y)  +\&Ayt2,>t2RE"F6p=*F6<8:A8:A)~F= ~D}vGzxAx>F^F!!)=-4E-Di1 1)5:)I9)Ii9iYE EE"EDDDDDD DCBBzB)I-;))) )i))111i1)9IE>tBzZE}~G=;=Ļ9=`=~jth?~jtxy&1|=A9ɀ99 9)=A"AI9I=D;i=Ļ=`>FU^FU@YY=]4EeDii i)m:)qIu:)yI}9iYE5 E1E1"E1D1D9D9D9D9DA DACABIBzBI;) i)i)I i Y>[(  C+\&Ayt2m>t21ZE)~< ~@}l>Fv^Ftxx=z4Ez+Di ):) I 9)ID9iYE- E)E)"E)D1D1D1D1D9D9 D9CABAByzB}I;) i)i)Ii>Yq)ہS  +\&Ayt2>t2_EF6@AF6@A6=6=:R=:=}r[Gr=r%=>F^F!!!=-4E-8Di1 1)5:)9I=v9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It"WE)~2= ~0}bG<9y&1Mb?MbPAɀ@ )t!AII`ei<>F^F%@!!=-4E-EDi1 1)5:)9I=9)AIE.9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It&`E}rG>F^F!!!=-4E-RDi1 1)5:)9I=9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)I< xA)xAY)۹,  /(,\&Ayt:>t:WE"F8*F>p=@BA@BA)~^= ~\}[GyA]:];9]t]{Gzt~jth?Fu^Fu@yy=4Eƅ_Di ):)I9)I9iYE EE"EDDDDDD DCBBzBI;) i)!!i!))I-t2SEv4x4:8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }ޅG>F^F=4ElDi )]:) I i :)I:!i)Y)E EE"EDDDD1D1D1 D9C9B9BzBI;) i)i)Ii   1[,\&Ayt">t"\E)~< ~<}nG>Fv^Ftxx=z4EzyDi ):) I 9)IQ9iYE- E)E)"E)D1D1D1D1D9D DCBBzB)I-;))) )i1)111i1)9IEiMx>Y)8  Cu,\&Ayt2D>t2XEF6AAF4:=:=:p;:<}rGtt-D-t9--Mb?{GztMbp-A)ɀ)) ))-t!AI)I-FE^FE@II=M4EMDiQ Q)U:)aIeg9)iIm9qiqYqE EE"EDDDDDD DCBBIzBMI;) i)i)It27TE)~D ~D}r[G>F^F!))=-4E-Di1 1)5a:)9I=9)AIEi9IiIYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It2ZUE}nG%%E=9%<%T㥛 T㥛 ?~jt?%A!ɀ!%@ !)%A"AI!I%i%=%<>F5^F=@AA=E4EEDiI I)M:)QIUB2:)YI]9iiiYiE} EyEy"EyDyDDDDD DCBBzBI;) i)i)I< )wAY)0  :,\&Ayt2>t2.^E"F4*F6a=6A6A:A:A)~@ ~@}nGnxAp>F%^F!))=-4E-Di1 1)5D=:)9I=9)AIE]9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It"\E}^[G>F~^F  = 4E Di )I:)I9)!I%i9)i)Y1EE EAEA"EADADIDIDIDQDQ DQCQBYBzBI;) i)i)Ii V>=  ,\&AytB!>tB^E)~L ~L}~IG==j9==FU^FU@aa=e4EeǯDii i)m:)qIu:)yI}9iYE EE"EDDDDDD DCBBzBI;) i)i) Ii%>Y)D  -\&Ayt2 >t2|XEF2@AF06=6>6=6<} G R=>F^F!!=-4E-ӯDi1 1)5:)9I=9)AIE׾9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It"\E)~.= ~0}^[G%%9<9%%MbQ?%A!ɀ!%@ !)!I!I%i%u<%>F=^F=@AA=E4EMDiQ Q)U:)YI]9)aIev9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i)It2QEv4x4:8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }=IG>F%^F!11=54EuDi )B2:)I9)I9iYE5 E1E1"E1D9D9D9D9DADA DACABIBzBI;) i)i)I< wA)Y)c=W  ]^-\&Ayt2>t2[E"F2=*F4v6 g w4)w6>Iw4iw4w6Aw4w6Bw6AR/?A14ֿBABAFAFA)~P ~T}G  >F=^F9AA=M4EMDiQ Q)U:)YI]9)aIei9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i)It2ZE}rG%;%9%u%Mb?y&1Q%A!ɀ!%M@ !)!I!I%F=^F=@AA=M4EMDiQ Q)U:)YI]9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i)Ii Y>fOd  -\&Ayt2ӵ>t2_E)~B= ~F1C}rG>F^F!!)=-4E-Di1 1)5a:)9I=9)AIEi9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)Ii>Y)uyj  -\&Ayt2>t2YEF4F6AA6=6=6:p;}nGr4=p%t%Ga9%%Zd;O?L7A`堿%z A!ɀ!! %)%t!AI!I%j<=i%+%>F=^F=@AA=M5EM!DiQ Q)Q)YI]v9)aIe9iiiYiE} EyE"EDDDDDD DCBBzBI;) i)i)It"y\E)~2= ~2C}\>F~^F  = 5E .Di ):)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)ItJPE}G>F-^F)11=55E5;DiA A)E:)IIM9)IIMQ9YiYYYEm EiEi"EiDiDqDqDqDyDy DyCyBBzBI;) i)i)I< xA)Y)}  s-\&Ayt2L>t2cE"F6R=*F6p=:A:A:A:A)~P ~T}=GEyAA<9I +I +?MbpAɀ逅@ jA)"AII94i94<>F^F@=5EHDi ):)I9)I9iYE EE"EDDDDD D  D C BBIzBMYIe;)aa aia)aaaia)iIut"`E}^G>F~^F  = 5E TDi ):)I9)!I%i9)i)Y1E EE"EDDDDDD DCBBzBI;) i)i ) INJ  6-.\&Ayt">t"u`E)~, ~,}^G;t9{Gzt?MbMbPz AɀM@ )t!AIIף;i>F^F@!!=%5E%aDi) ))-:)1I5:)9I=:9AiIYIEU EYEY"EYDYDYDaDaDaDa DiCiBiB!zB%YI];)YY YiY)Yaaia)iImit>Yi)y{  G.\&AytB/>tB5VEF@FF@AvDxDJ8****** ping requested ******R=R=VF^F=5EoDi )1:)I] :)I<iYEU EQEQ"EQDYDYDYDYDaDa DaCaBiBzBI;) i)i)I t"R_E&^unknown deviceResponse_: 00000,187,80,81,13,FF q&&(Communications Faulta* a* a* )~B= ~@}nG>F^F!!)=-5E-{Di1 1)5:)9I=9)AIEi9IiIYIE} EyE"EDDDDDD DCBBzBI;) i) i )!I5t2YE6Powering downF6F6"F6*F6}%G;994<{Gzt?y&1|?I +?\Aɀ逭@ jA)"AIAIi`;94<>F^F@=5EDi )U:)I)I9iYE  E E "EDDDDDD DCB!BYzB]iIu;)qq qiq)qqqiy)yI< )Ya)i  j.\&Ayt2>t2aE6A6A:A:A)~D ~D}r[GvxAt>F^F!!)=-5E-Di1 1)5:)9I=9)AIEi9IiIYIE] EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i)It6[E}rIG%;%D9%t<%{GztF=^FE@II=M5EMD]UUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. ]-]Software Fault 5] 9] A] iQ Q)U:mUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. mmSoftware Fault m m m )aIe9]}Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 }-}Software Fault)qIuV9J,Location not readable.E EE"EDDDDDD DCI;) i)ii)Ii Y>  ].\&Ayt"o>t"]E)~, ~,}jޅG>F^F!!=-5E-DJE,Location not readable.EA EAEA"EADIDIDIDQDQDQ DQCYiIm;)ii qiq)qqqiqiy)yIii>YQ)Y!uClearing failed state for component DeadReckonUsingMultipleVelocitySources u u u u !uClearing failed state for component DeadReckonUsingSpeedCalculator }!}Clearing failed state for component DeadReckonWithRespectToSeafloor1 }'  4.\&Ayt2G>t2y\E6=6=6p;6<}nlGn4=n=>FU^FQYY=]5E]DmlInitializing DeadReckonUsingSpeedCalculator component.iYE EE"EDDDDDD DCBBzBI;) i)i)It"|XE)~, ~0}^ޅGD;;9{GztMbP?F^F@!!=%5E%ɰDi1 1)5a:)9I=9)AIE.9IiIYIE] EYEY"EaDaDaDiDiDiDi DiCiBqBAzBMyI};)yy yi)i)It2YWE}jlG>Fr^Ftxx=z5EzְDi| |)~7:)I9) I ]9iYE% E)E)"E)D)D)D1D1D1D1 D9C9B9BqzBuI;) i)i)I< wA)xAYq)yc  .//\&Ayt"4>t"]E&A&A&A&A)~2= ~0}bGbyA``H=9ĻQ{Gz?~jtx Aɀ )A"AIIi#=Ļ>F^F%@!!=-5E-Di1 1)5+:)9I=]9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It"YE&Powering up&6Initializing DUSBL_Hydroid.}-G>F]^FYaa=m5EmDiq q)u:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)i ) Ii V>u  p|c/\&Ayt2ί>t23XE)~>= ~@}lG>F]^FayƁ=5EƅDi )@:)IՐ:)I0:iYE EE"EDDDDDD D C B BAzBEYI];)YY YiY)aaaia)iImi}x>Yi)y  TW}/\&Ayt&>t&cE.=.=.p<.=}fGdj4=z6only read 3 of 4 data itemszhFailed to parse: :RA, 0.00, 69.97, 100.91, 93.26 z@ z z@ z z@ ~ ~@ ~ >F=^F9AA=M5EM DiQ Q)Uw>)YI]9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i)It2RE)~@ ~@}~[G>F=^FAAI=M5EMDiQ Q)U)L?)YI]i9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i)It"SE}^IG         :<9`;Mby&1?y&1|?Aɀ@ XA)t!AI7AIi`e<`;>F5^F5@99=E5EE#DiI I)Ma:)QIU9)YI]9aiaYaEu EqEq"EyDyDyDDDD DCBBzBI;) i)i)I< )Y)ؙ  /\&Ayt2>t2WYE6A6A46A)~@ ~@}rޅGrxAp>F^F!!)=-5E-0Di1 1)5:)9I=v9)AIE9IiIYIE EE"EDDDDDD DCBB)zB-9I=;)AA AiA)AAAiA)IIUt65VE}-GD; >9!rhS㥻?Mb`\ Aɀ逝@ ) AIAIli/=>F^F@!!=%5E%>Di) ))-:)1I5D9)9I=9AiIYIE] EYEY"EYDYDYDaDaDaDa DiCiBiBzBI;) i)i)I2  s/\&Ayt"ӵ>t"_E)~0 ~21C}\>F~^F = 5E JDi )U:)Iv9)!I%]9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzBI;) i)i)Ii>Y)ۙ  Sy0\&Ayt">t"WYE*=*=*R=*p<}bG`b%=>F~^F  = 5E WDi ):)I9)!I%i9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)i)It"R_E)~.= ~2C}^G:H=9Q롿 rh? 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[Ev0x068****** ping requested ******F=F=JJ<RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }5GE4=E4=>Fu^Fơơ=9EƥPDi )}G:)ID9)I]9iYE EE"EDDDDDD DC B BizBmI;) i)i\Il)I\&Ayt">t&\Ev*@> w()w*=Iw*1>iw(w* Aw(w*(Aw*%:y0?9-F^F=9E]Di ):)Is9)!I%9)i)Y)E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)iFs)I\&Ayt"G>t"y\E"F *F&a=}`9=9==Mb= A9ɀ9=@ 9)=AI9I=i==>FU^FU@YY=e9EeiDii i)ma:)qIu9)yI}9iYE EE"EDDDDDD DCBBzBI;) i)ijy) I Y)۱ 2W>\&Ayt2>t28RE:A:A:A:A)~D ~D}tzwAx>Fu^FyƁƁ=9EƅvDi ):)I9)Iv9iYE EE"EDDDDDD DCBBzB I;)qJ !i!)!!!i%l))I5\&Ayt">t"YE}\;9#Mb`?{GzAɀ )t!AIIi;#>F^F@!!=%9E%Di) ))-:)1I5S:)9I=l9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBqB!zB%9I=;)99 9i9)AAAiE냽)IIMY))1I) i)  >\&AytB>tBzZEFB@AFD)~L ~R1C}|>F%^F!))=-9E-Di1 1)5=:)AIE9)AIE]9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)iB)I< )IiYY)aĨ Ĥ>\&Ayt2J>t6,`EB=F8>Fa=J=}M[GU%=U%=D;C9T{Gz?y&1:vAɀ逩 )A"AII#F^F@=9EDi ):)I)I9iYE EE"ED D DDDD DCBBzBI;) i)i' )I\&Ayt27>t2PaE)~>= ~BC}nG>Fv^Ftxx=z9EzDi ):) I 9)I׾9iYE- E)E)"E)D1D1D1D1D9D9 D9CABAByzBI;) i)i")I\&Ayt2t>t2LeE"F0*F4}nG>Fv^Ftxx=z9EzDi )) I 9) I iYE- E)E)"E)D)D1D1D1D1D9 D9C9BAByzB}I;) i)ie)I\&Ayt6>t6WYE>A>A>A>A)~F= ~H}tzxAx55L95j5FM^FM@QQ=U9EUĸDia a)ez:)iIm9)qIu9yiyYyE EE"EDDDDDD DCBBzBI;)U i)i,)I t"7TEv$x$&8****** ping requested ******6Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }]G>F}^FƉƉ=9EƕѸDi ) ^:)IT<)9I=::IiQYQE EE"EDDDDDD DCBBqzBuI;) i)iC)Ii- Y> L&?\&Ayt.ί>t23XEF8F:AAB^unknown deviceResponse_: 00000,186,80,81,16,FF qBB(Communications FaultaB aB aB )~r= ~p}GUU̼9UuU~jt? rhQUAQɀQU@ Q)QIQIUFu^Fu@yy=}9E}߸Di ),q:)I9)I9iYE EE"EDDDDDD DCBByzB}I;) i)i|)It"TE&Powering downF&F&"F&*F&]=]=]p;]p<}G4=4=>F^F=9EDi! !)%:)1I5]9)1I59AiAYAEU EQEQ"EQDQDYDYDYDYDa DaCaBaBzBI;) i)i)It2NcE)~B= ~D}nG>F%^F!))=-9E-Di1 1)5>:)AIE9)AIE9QiQYQEe EaEa"EaDiDiDiDiDqDq DqCqByB1zBUaIe;)ii iii)iiiim))It"PaE}\~;~9~~ ףp= ?+η~( A|ɀ|~@ ~)|I|I~Q=i~v~>F^F@=9EDi) ))-U:)1I59)1I5.F:AiAYAEU EQEQ"EQDYDYDaDaDaDa DaCiBiBzBI;) i)io)I< wA)wAY&VY)!bClearing failed state for component DUSBL_Hydroidq5 Wv?\&Ayt2ޫ>t2\SE6A6A6A:A)~B= ~@}pvyAt>F]^FiyƉ=9EƍDi ):)Ix9)I:iYE  E E "E DDDDD!D! 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!i!)!!!i%s&))I5Y)4 fD\&Ayt:>t:7TENANANANA)~T ~X}GyAY]`9]]I +? rhMb]AYɀY]@ Y)YIYI]9Fm^Fu@yy=}:E}~Di )U:)Il:)I9iYE5 E1E1"E1D1D1D9D9D9D9 DACABABzBI;) i)iN()I-t2_E}t>F^F!!)=-:E-Di1 1)5:)9I=9)AIE]9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i))IsC& ZED\&Ayt">t" ]E& DUSBL Version:O )~Z= ~X}G>F]^FYaa=e:EeDiq q)uU:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)iJ+) I< !)!Y)sn, )$D\&Ayt">t"YWEv x$&8****** ping requested ******&=&=*p;*4<*Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }ElGIM%=Լ9{Gz? rhMbAɀ逡 )IIףF^F@=:EDi  ) ;)9I= :)AIE$:qiqYqE EE"EDDDDDD DCBBIzBUaIe;) i)iM-)It"[E)~8 ~8}jG>F~^F = :E Di ):)I9)!I%9)i)Y)E] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i) i #/)I5tF,`E"FJ=*FJ<}GMף;Mu9MCM+?Zd;O rhMAIɀIM@ I)IIIIM=iMjF]^Fe@ii=m:EmDiq q)uu :)I9)I9iYE EE"EDDDDDD DCBBizBmI;) i)ip0)Iip>Y)g@ ٳE\&Ayt">t"WE&A&A*A*A)~2= ~4}fGfxAd>F^F!!=%:E%˻Di) ))-:)9I=v9)AIE9IiIYIE} EyEy"EyDyDDDDD DCBBzB 9I=;)99 9iA)AAAiE2)IIUt"]E}ZG>Fn^Fppt=v:EvػDix x)zI:)|I~9)I9 i YE EE"EDDDDDD DCBB)zB-9IE;)AA AiA)AAAiMU4)IIUi- Y>%L  j5E\&Ayt"7>t"PaEF"AAF"@A)~, ~,}^[G;`e9F=^F=@AA=E:EMDiQ Q)U:)yI}9)I.9iYE] EYEY"EYDYDYDaDaDaDi DiCiBiB!zB%9I=;)99 9i9)9AAiE46)IIM< ]xA)YY))1S $EOE\&Ayt">t"JE&=&=&R=&<}^ޅG^%=`>F~^F= :E Di )a:)9I=9)AIE9IiIYQE} EE"EDDDDDD DCBBzBI;) i)i97)It"y\E)~4 ~4}fGD9ˡE?~jt~jtAɀ )II'=i>F-^F5@1y=}:E}Di )n:)I9)I <iYE EE"EDD1D9D9D9D9 D9CABABzB)I-;))) )i))111i59)9I=t".^E"F *F&a=}rG>F~^F  = :E  Di ) :)I9)!I%9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBqBzBI;) i)  i ;;)IUie>YI)qSf VלE\&Ayt"!>t"^E&A&A*A*A)~0 ~0}bG`d>Fn^Fptt=v:EvDix x)x)|I~v9)Iv9 iYE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)iG<)ItFaEvHxHN8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }MG99u rh?y&1Q AɀM@ )IICF^F@!!=%;E%'Di1 1)53:)AIEu :)IIMp:YiYYaE} EyEy"EyDyDDDDD DCBBzBI;) i)   i >)Is E\&Ayt"\>t" _EF"@AF$)~8 ~8}jG>F-^F)11=5;E53DiA A)E:)IIM9)QIUʽ9YiYYYEm EiEi"EiDqDqDqDqDyDy DyCBBzBI;) i)iRg@)I< wA)Y)۹z eE\&Ayt2>t2u`E:=:=:p;:4<}lr=r4=%:%L9%ļ%Q?F^F@ƱƱ=;Eƽ@Di ):)I9)I9iYE EE"EDDDDDD DCBB9zB=IIU;)QQ QiQ)QYYi]4B)aIet2XE)~D ~D}p>F^F!!)=-;E-LDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBIzBMYIe;)aa aia)aaaie?C)iIut"7TE"F$*F&p=}\>F~^F = ;E YDi ):)I)!I%9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzBI;) i)i`E)IY)ۙW 7F\&Ayt">t"\E$&A(*A)~0 ~0}`byA`T9~jt?Q롿/$Aɀ )II=i\>F^F%@))=-;E-fDi1 1)5E:)9I=׾9)AIAIiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)iSG)It }X>F~^F = ;E sDi ):)Iv9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)i I)IiU V> j )kF\&Ayt"m>t"1ZEF&AAF$)~0 ~0}bGL9ļF^F@!!=%;E%Di1 1)5:)9I9)AIE9IiIYIE] EYEY"EYDaDaDaDiDiDi DiCiBqBzBI;) i)isJ)I< xA)Y)۹Q {F\&Ayt6>t6ZE>=>=>p;><}vGv4=v%=>F^F!!)=-;E-Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i>L)ItB~VE)~L ~L}G>F-^F)11=5;E5DiA A)En:)IIM9)QIU׾9YiYYYEm EiEi"EiDqDqDqDyDyDy DyCyBBzBI;) i)i)DN)IF\&Ayt"G>t"y\E"F&p=*F&a=v$x$*8****** ping requested ******:Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }Yף,9ԼL7A`?:v:vAɀ )II+=iԼԼ>Fe^Fe@q=;EDi ):)!I%9))I-;QiYYYEm EiEi"EiDDDDDD DCBB9zBEqIu;)qq qiy)yyyi}^P)IY)۱׍ F\&Ayt2ί>t23XE6^unknown deviceResponse_: 00000,186,80,81,19,FF q66(Communications Faulta: a: a: >ABABABA)~P ~P}[GxA>F^F=;EDi! !)%U:))I-9)1I5 :AiAYAEU EQEQ"EQDQDQDYDYDYDa DaCaBiBzBI;) i)iQ)It21ZE6Powering downF6F6"F6*F6}MG#9y&1?V-~jtAɀ這 )II`F^F@ƹƹ=;EüDi ):)I9)I9iYE EE"EDDDDDD DC B BAzBEQI];)YY YiY)YYaieNS)iImiM a> NG\&Ayt2/>t25VE)~B= ~D}r[G>F^F!!)=-;E-μDi1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)iI0U)I< wA)Y)۹ u G\&Ayt27>t2PaE6=6=6%=6<}nޅGr%=p>F^F!!)=-;E-ۼDi1 1)5:)9I=9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i*V)ItB~VE)~L ~L}~GED;ES9EEʡE?#~jE AAɀAA E)AIAIE=iE㥽E>FU^F]@aa=e;EeDii i)m:)qIu:)yI}.9iYE EE"EDDDDDD DCBBzBI;) i)i X) It*,`E}bG>F~^F= ;E Di ):)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)i^Z)IY)ۙ- =nG\&Ayt"Z>t&U[E&A*A*A*A)~0 ~0}nGpp==什9=;=i|?5?v/Mb`?= A9ɀ9=@ 9)="AI=7AI=q=i=xi=;>FU^FU@YY=e;EeDii i)m:)qIu9)yI}9iYE EE"EDDDDDD DCBBzBI;) i)i&\) I t"OE}rG>F=^F9AA=E;EEDiQ Q)U:)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i])I" (G\&Ayt">t"ZE)~B= ~D}x>F=^F9AA=M;EMDia a)e:)I:) I ;AiIYIE EE"EDDDDDD DCBBzBI;) i)i_)!I%< 1)1Y )7B λG\&Ayt"!>t"^E&Powering up&6Initializing DUSBL_Hydroid.b=b=b4F^F@ƙƙ=;EƝ)Di ):)Ig9)I9iYE EE"EDqDqDyDyDyDy DCBBzBI;) i)i|a)!I%t2aE)~@ ~@}rG>Fz^Fx||=~;E~5Di )U:)I9)I89!i!Y!E5 E1E1"E1D1D1D9D9DADA DACABIBzBI;) i)i>c)It2|XE}jGt9`e~jt?:vy&1(Aɀ@ XA)IIDF5^F5@9A=E;EEBDiI I)M:)QIQ)YI]S9aiaYaEu EyEy"EyDyDyDDDD DCBBzBI;) i)id)Ii>Y)1< _ H\&Ayt2>t2\E6A6A6A6A)~B= ~@}rGpryA>F%^F!))=-;E-ODi1 1)5>:)9I=9)AIED9IiQYQEe EaEa"EaDaDaDiDiDiDi DqCqBqBzBI;) i)i'f)It&|XE}jG>F%^F)IQ=U;EU\Diq q)u:)I:)I:iYE EE"E D DD)D)D1D1 D1C9B9BqzBuI;) i)i\h)IiM e>n +=H\&Ayt"o>t"]E)~.= ~.1C}l%;%9%C%~jth~jth rh%\A!ɀ!%@ %A)%t!AI%AI%Di%D%C>F5^F=@AA=E;EEiDiI I)Mn:)QIU:)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)i#j)I< )Y)@x VH\&Ayt2>t2`E6=6=64=64<}n[Gr%=p>F5^F199==;E=vDiI I)M:)QIUg9)QIU:aiaYaEu EqEq"EqDqDyDDDD DCBBzBI;) i)ik)It"1ZE)~0 ~2C}^Gt<994{GztMb?I +Aɀ )IAIףi<94>F=^FE@AI=M;EMDiQ Q)UU:)I9)I9iYE EE"EDDD D D D  DCBBIzBMaIe;)aa aii)iiiimm)qI}t"5VE}^G>F~^F = ;E Di ):)I9)!I%9)i)Y)E= E9EA"EADADADIDIDIDI DICQBQBzBI;) i)i'*o)IiE>Y)( ؃H\&Ayt2>t2UEBAFAFAFA)~\ ~\}QeyAexA<9#~jtI +?{GzAɀ@ )IIDi94<#>F^F@=;EDi )+:)I9)I9 iYE EE"EDDDDDD DCBBazBeqI};)yy yiy)yyyi}3(q)It"YE}fG>F~^F  = ;E Di ):)I9)!I%9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)ior)IiM V>b5 8H\&Ayt2}>t2ZUE)~R= ~P}G>F=^F9AA=M;EMDiQ Q)Ua:)YI]v9)aIe]9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)iet)I< xA)Y)Q ; XH\&Ayt. >t.0\E6=6=6:4<}nGpp!%;9%t%MbpMb`?F=^F=@AA=M;EMýDiQ Q)UM:)YI]9)aIe9iiiYiE} EyE"EDDDDDD DCBBzBI;) i)ig"v)It" [E)~2= ~0}jG>F~^F  = ;E нDi )U:)I9)!I%i9)i)Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)iRw)ItNSE}eGC 9D~jt?Zd;O~jt\Aɀ逭M@ )IIF^F@=;E޽Di )7:)I9)I9iYE EE"EDD D D DD DCBBQzBUaIe;)aa iii)qqqiuy)yI}YA)Q,O a?I\&Ayt2ˬ>t2TE6A6A6A6A)~@ ~@}r[GrxAp>F]^FYaa=e;EeDii i)m:)qIu9)I9iYE EE"EDDDDDD DCBBzBI;) i)iX{) It"^E}^ޅG>F~^F  = ;E Di )U:)I9)!I%9)i)Y1EE EAEA"EADADIDIDIDIDQ DQCQBYB zB AIE;)AA AiA)IIIiM})QI]iM ]>>\ \sI\&Ayt"/>t"5VE)~, ~.1C}ZG|~9<9~~MbQ?~ A|ɀ|~@ |)|I|I~i~u<~>F^F@=;E%Di) ))-:)1I59)9I=9AiAYAEU EQEQ"EQDYDYDaDaDaDa DiCiBiBzBI;) i)iM~)I< )Yi)y&c 6I\&Ayt2Z>t2U[E6=6=6a=6p<}nGr4=r4=>Fv^Ftxx=~;E~Di )z:) I 9)I׾9iYE- E)E)"E1D1D1D9D9D9D9 DACABAByzB}I;) i)i:>)Iί>t>3XE)~N= ~NC}~[G=;=C=9=ף;=J +Zd;O?{Gzt?=A9ɀ9=@ =|A)9I9I=Hi=j<==ף;>F]^F]@aa=e:)yI}ʽ9)I9iYE EE"EDDDDDD DCBBzBI;) i)i#) It"S]E}^G>F~^F  = i>Y)ۙbv CI\&Ayt6 >t60\E<>A<>A)~H ~H}rGvyAt>F^F!))=-t"7TE}\C9I +?y&1z AɀM@ )t!AII94F5^F5@99==iM Y>t _~J\&Ayt2$>t2sbE)~>= ~<}l>FE^FAII=Mt &=&=&;&p<}``b%=T=9D rh{Gz?~jth Aɀ@ )"AIIC i#=D>F^F%@!!=-t2w^E)~@ ~@}p>Fv^Fx||=~t"YE}Z[G>F~^F  = i>Y)۹ڜ uJ\&Ayt2$>t2sbE6A6A6A:A)~B= ~@}rGrxAp-;-9-t<-:v?MbFE^FE@II=Mt2_E}nG>F^F!!)=-iM ]>* jJ\&Ayt2D>t2XE)~>= ~@}n"G%;%94=9%%L7A`堿y&1?%( A!ɀ!%M@ %)% AI%AI%+i%`<%>F5^F=@AA=Et2SE6=6=64<6<}G%= >F=^F9AA=Mt" ]E)~0 ~21C}bG>F%^F!))=-t2.^E}jG;9#<~jth{Gz?Aɀ@ A)t!AIAIiD#<>F5^F5@99==Y)ۙ  K\&Ayt">t"aE&A&A*A*A)~0 ~0}bG``>F~^F = t2WE}nlGH=9:L7A`堿F5^F5@99==iM V># DK\&Ayt"B>t"UE)~0 ~4}bޅG>F~^F|= t2aE6=6=66<}nlGr4=p>F^F!!)=-t"]E)~, ~.C}^G~;~<9|~Q~jt?MbP?~ A|ɀ|~@ |)~t!AI~AI~ui~D<|>F=^F=@AA=Et6WYE}rG>F^F!!)=-i>Y)۹  0K\&Ayt"r>t"aE&A&A&A&A)~0 ~0}nlGpp E@ E E@ E E@ E E@ M M@ M@ M@ M@ M EB E)EEMb@Mb@Mb@EEɀEE A)EIEIEiE‰E>FeZFe@ii=m)yI}9iYE EE"EDDDD DCBBzBI;i)i) I t" ]E}^G>F~ZF  = t2WE)~< ~<}nG>FvZFtxx=zt2u`E6=6=6;6;}lpp % % % % % % % % % % % - - %%:9%:%Mb`?~jth?MbP?%A%ɀ%! %A)% AI%AI%;i%D;%:>F=^FE@II=Mt2cE)~D ~D}vG>F~^F = t2|XE}vlG-:-u<9--I +FE^FE@II=Mi x>Y) RGL\&Ayt"в>t"[E* DUSBL Version:O bAbAbAbA)~h ~j1C}5G5wA9>F}^FyƁƁ=t2ZEv4x4:8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }]G>F^FƑƙ=iI d  {L\&Ayt2>t2UE)~V= ~VC} MM<9IM rhFe^Fm@ii=ut2^E6=6=6;:<} G>F^F!))=-t2.^E"F6a=*F6<)~D ~D}vG-ף-\=9-;-/$V-?Mb`?-A)ɀ)) ))- AI)I-i-<-;>F^F@=t2fE}jG>Fv^Ftxx=ziY)a78 6vL\&Ayt2W>t2WE6A6A6A6A)~B= ~@}zGzxAx>F ^F = 7QL\&Ayt2ӵ>t2_EF2AAF6@A}nlG%:%t<9%%y&1~jt?Mb`%A!ɀ!! %A)!I!I%`ei%D<%>F=^F=@AA=MiM Y>JE #/M\&Ayt"ί>t"3XE)~, ~0}^G>F~^F  = tB ]EF=F=FF]^Fe@ai=mt6YWE"F8*F:a=)~D ~F1C}v[G>F~^F|= t2SEv4x4:8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 }eG>F^F  = Y!)1(^ =}M\&Ayt"e>t"OE*A*A*A.A)~8 ~:C}nGnyAl 6only read 3 of 5 data items VFailed to parse: :BI, +1, +0,-32768,A  @   @   @   @  >Fu^Fqyy=)Il9iYE5 E1E1"E1D1D1D9D9D9D9 DACABABzB I ;)   i)i)Iet"R_EF"?AF }bG>Fn^Fptt=v'k ~QM\&Ayt>o>tB]E)~P ~P} M M M M M M M M M;M:9MM{Gzt~jthMbPM=AIɀII MA)Mt!AIIIMףiMDM>Fe^Fe@ii=u=Eu#Di ):)I9)I`9iQYQEe EaEa"EaDaDiDiDiDiD DCBBizBmI;) i)i")I< wA)xAY9 )Yy)ہr ,M\&Ayt">t"SE&=&=&C=&<}\^4=\>Fn^Fptt=v=Ev/Dix x)z:)|I~9)I9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;)Ab+ i)it)It2~VE"F8*F:p=)~P ~P}-Gף;9~jth~jth?GAɀ选 A)AIIDiD;>F^F@==E=Di )D:)I9)Ii9i1Y1EE EAEA"EADIDIDqDqDqDq DqCyByBzBI;) i)   i X )It"YE}ZG>Fn^Flpp=v=EvIDix x)z:)|I~9)I9 i Y E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)im) I< )IiI>i]>Yy)ہ+ N\&Ayt">t"YWE&A&A)~, ~,}\bxA`>Fn^Fptt=v=EvVDix x)z:)|I~9)I9 i YE% E!E!"E!D!D!D)D)D)D) D1C1B1BzBI;) i)i`])ItF[EFHFH} GmDm9m;m~jth?Mb`?mAiɀimA mEA)iIiImD;imm;>F^F@ƩƩ==EƭdDi ):)I9)I9iYE% E!E!"E!D)D)D)D)D1DQ DQCQBYBzBI;) i )i7)It"5VE)~.= ~,}^G>F^F  = =E pDi )I:)!I%9)!I%!91i1Y1Ee EaEa"EaDaDaDiDiDiDi DqCqBBzB!I%;)!! !i!)!))i-^&)1Iu< wA)YI)Y% \fN\&AytN>tN7TEvXxX^8****** ping requested ******f=f=rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 } G  t<9:v:v?Aɀ A)t!AIITiT<>F^F @ ==EDi )V;)AIE9)IIM9QiQYQE EE"EDDDDDD DCBBzBI;)l6 i)i/)I  *N\&Ayt"J>t",`E"F"p=*F"a=&^unknown deviceResponse_: 00000,186,80,81,14,FF q&&(Communications Faulta& a& a* )~>= ~<}n[G>F~^F = =E Di ):)Iv9)!I%]9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQBzBI;) i)i~4) I-t"UE"Powering downF&F&"F&*F&}-G>F^FƑƙ==EƝDi ))Ii9)IQ9iYE EE"EDDDDDD DCBBzB)I5;)11 1i1)119i=Q<)AIEiU>Y!))] ޳N\&AytB>tBSEDDFAJA)~P ~T}G yA MD;M<9M;M rh:v?Mbp?MGAIɀII I)MAIIIMCiIM;>F^F@ơơ==EƥDi ):)I)I9iYE EE"EDDDDDD DCBB)zB-9IE;)AA AiA)AAAiE'B)IIUt6YE}p>F^F  = =E Di ):)I9)!I%Q9)i1Y1EE EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)iH)It[E)~( ~*1C}X`e9{Gz?F-^F5@99===E=DiA A)Ea:)IIM:)QIU`9aiaYaEu EqEq"EqDqDyDyDyDD DCBBzBI;) i)iO)It2_E6=6=64=6<}nGlp>F^F!!)=-=E-Di1 1)5n:)9I=9)AIE9IiIYQE EE"EDDDDDD DCBB!zB%9I=;)=>@9 9i9)AAAiEV)IIM< Q)QIQiQY) MKO\&Ayt2>t2)dE)~>= ~>C}nG>Fv^Ftxx=z=EzDi )z:) I 9) I Q9iYE- E)E)"E)D)D1D1D1D1D9 D9C9BAByzB}I;) i)i])It"1ZE}^G~D~ף<9~~~jtMb?~GA|ɀ|| ~A)|I|I~Di~<~>F^F@==E%Di) ))-:)1I1)9I=09AiAYAEU EQEQ"EQDYDYDaDaDaDa DaCiBiBzBI;) i)imd)IY) OO\&Ayt2>t2 [E6A6A6A6A)~B= ~@}nGrxAp>F^F!!)=-=E-Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i6zk)It"WYE&Powering up&6Initializing DUSBL_Hydroid.}-Gu;u/<9uĻu~jtQ?~jtxuAqɀquA uIA)u AIqIuļiuuF^F@ƑƑ==EƕDi ):)I9)I9iYE EE"EDDDDDD DCBBzB)I5;)11 1i1)199i=Or)AIE  тO\&Ayt*в>t*[E)~8 ~8}jG>Fn^Fppt=v=Ev Dix x)zz:)|I~Գ9)I׾9 iYE E!E!"E!D!D!D)D)D)D1 D1C1B9BqzBuI;) i)i=:y)It6^E:=:=><><}vGvR=t>F^F!!)=-=E-Di1 1)5{<:)9I=D9)AIEʽ9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;)J i)i}")I< )IiY9)A mO\&Ayt2>t2_OE)~>= ~@}~GEףE+=9E:Ekt?MbP?EAAɀAE E|A)EAIAIE 0iEL=E:>F]^F]@aa=e=Ee&Dii i)mU:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i)i9) It"]E}X>F~^F  = =E 2Di )<)YI]9)aIe9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i)Ii>Y)$  W$O\&Ayt2G>t2y\E46A4:A)~B= ~@}r[GryAt-#<-xi=9--~jtL7A`?Mb`-A)ɀ)) ))- AI)I-Di-+=->FE^FE@II=M=EM?DiQ Q)U}G:)aIe+9)aIev9qiqYqE EE"EDDD D D D  DCB1BzBI;) i)iϊ)It23XE}nIG>F^F!!)=-=E-LDi1 1)5:)9I=9)AIE]9IiIYIE] EaEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)I P\&Ayt2G>t2y\E)~< ~B1C}l>Fv^Ftxx=z=E~YDi ):) I 9)I9iYE- E)E)"E)D1D1D1D9D9D9 D9CABAByzB}I;) i)ih)It"[E&=&=&=&=}bGb4=`<Y=9DktX9v?~jthAɀ )II 0i<D>F^F@!!=-=E-fDi1 1)5:)9I=9)AIE:9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;)T i)i씽)It2WE)~@ ~@}nG>Fv^Fxxx=~=E~sDi )z:) I 9)Iv9iY!E- E)E1"E1D1D1D9D9D9D9 DACABAByzB}I;) i)i@W)I< xA)xAYuTYq)y I )I CZ lkP\&Ayt*>t.ZE}f[GC<9~jt:v?Aɀ A)IIDiT<>F-^F-@11=5=E5DiA A)E:)IIM9)IIM9YiYYYEm EiEi"EiDiDqDqDqDyDy DyCyBBzBI;) i)iߛ)I< )IiIm>iiY9)AB! FP\&Ayt2>t28RE6A6A6A6A)~@ ~BC}ޅGxA>F%^F!))=-=E-Di1 1)5E:)AIA)AIED9QiQYQEe EaEa"EaDaDiDiDiDiDq DqCqByBzBI;) i)iOT)It"YE}^G>F^F!!=%=E%Di) ))-:)1I5:)9I=9IiIYIE] EYEY"EYDYDaDaDaDaDi DiCiBiBzBI;) i)iɢ)IiM ]>v- P\&Ayt">t"S]E)~.= ~,}^GĻ9y&1|?MbPMbpAɀ@ A)I|AI`;i>F^F@!!=%=E%Di) ))-:)1I5g9)9I=9AiIYIEU EE"EDDDDDD DCBBazBeI;) i)it)I< )Y)ۑA~4 P\&Ayt2!>t2^E6=6=6p;6<}lpr4=>Fv^Ftxx=z=E~Di ):) I 9)I׾9iYE- E)E)"E)D1D1D1D9D9D9 DACABAByzB}I;)X_ i)i[)IP\&Ayt2/>t25VE)~B= ~B1C}n[G%ף;%<9%D%F=^F=@AA=E=EEDiI I)M:)QIU:)aIeG9iiiYiE} EyEy"EyDDDDDD DCBBzBI;) i)i7)It2[E}rG>F^F!!)=-=E-Di1 1)1)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)IY)mG j Q\&Ayt2>t2YWE6A6A6A6A)~@ ~BC}rGryAp>F^F!!)=-=E-Di1 1)5U:)9I9)AIEv9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i&)ItUE}Tzףzt<9zzF ^F @==EDi! !)%7:))I-9))I-׾99i9Y9EM EIEI"EIDQDQDQDQDYDY DYCYBaBzBI;) i)i)IiM V>iT S TQ\&Ayt2>t2 [E)~J= ~L}x>F^F   ==EDi )n:)!I%9))I-Q91i1Y1EE EAEA"EIDIDIDQDQDQDQ DQCQBYBzBI;) i)iR)I< )Ii I)IY))Z mQ\&Ayt2>t2UE6=6=6p;6p<}   %=MM<9IM rhMb?MGAIɀII MIA)IIIIMCiII>Fe^Fe@ii=u=EuDiy y)}7:)I)I9iYE EE"EDDDDDD DCBBzB I ;) i  i ) i٘)I%t"QE)~2= ~21C}^[G>F~^F  = =E Di ):)Iv9)!I%9)i)Y1E EE"EDDDDDD DCBBzB I ;)   i ) i½)It2ZE}nIG>Fv^Ftxx=z>EzDi )7:) I 9)ID9!i!Y!EM EIEI"EIDIDIDQDQDQDQ DYCYBaBzBiI;) i)iϕŽ)Ii-x>Y)2n Q\&Ayt"b>t"cKE&A&A&A&A)~, ~0}\bxA`<<9/${Gz?GAɀ )IIi#<>F]^F]@aa=e>Ee(Diq q)un:)yI}9)I9iYE EE"EDDDDDD DCBBzBI;) i) i )Ƚ)It"ZE}^ޅG>F^F  = >E 5Di )::)!I%9))I-91i1Y1EE EAEA"EADADIDIDIDIDQ DQCQBYBzBI;) i)i[Y̽)IiM ]>D{ 9CQ\&Ayt2 >t20\E)~>= ~BC}nG%ף;!9!%~jt~jt?%GA!ɀ!! !)!I!I%i%DF5^F=@AA=E>EMBDiQ Q)U:)YI]v9)aIe9iiiYiE} EyEy"EDDDDDD DCBBzBI;) i)iRϽ)It.XE6=6=6<6<}nGnR=l>Fv^Ftxx=z>EzNDi ):) I 9) I 9iYE- E)E)"E)D)D1D1D1D9D9 D9C9BAByzBI;)F$t i)iCӽ)I< )IiY)\V '"R\&Ayt6!>t6^E)~F= ~J1C}~G>FE^FIaa=m>Em\Di )L:)I:)Ig:iYE% E!E!"E)D1D9DADIDIDQ DQCYBYBzBI;) i)i׽)It2YE}vG55<955 rhMb?MbP5GA1ɀ11 1)1I1I5Ci5<5>FM^FM@QQ=U>EUiDia a)e:)iIm9)qIu9yiyYyE EE"EDDDDDD DCBBzBI;) i)igLڽ)I i>Y)h yVR\&Ayt2>t2S]E6A6A6A6A)~@ ~BC}rGpp>F]^FYaa=e>EevDii i)m:)yI}9)Ii9iYE EE"EDDDDDD DCBBzBI;) i)  i ݽ)It" [E}\|~<9~~F^F@!!=%>E%Di) ))-::)9I=%:)IIM:YiYYYEu EqEq"EDDD!D!D)D) D)C1BYBzB)IU;)i i)i)IiM Y>z eR\&Ayt2D>t2XE)~F= ~D}vG>F~^F|=>E Di ):)I9)!I%9)i)Y)E= E9E9"EADADADIDIDIDI DICIBQBzBI;) i)iK)ItBUEV=Z=Zp;Z4<}lG=;9<9F^F@  = >EDi ):)!I%9))I-<iYE EE"EDDDDDD DCBBzBI;)~ i)i)Ii>Y)۹ή R\&Ayt2>t2\E)~@ ~@}rIG>Fz^Fx||=~>E~Di  ) a:)I9)I:!i!Y!E5 E1E1"E1D1D9D9DADADA DACABIBzBI;) i)iE)It2 [E}jޅG>F~^F = >E Di ):)Iv9)!I%]9)i)Y1E= EAEA"EADADADIDIDIDI DQCQBQBzBI;) i)ix)It"WE&A&A&A&A)~>= ~<}vGvyAt-ף;-<9-D-FE^FM@II=U>EUDiY Y)]z:)aIe9)iIm9qiqYyE EE"EDDDDDD DCBBzBI;) i)i)I< )Ii xA)YY)aj  S\&Ayt2 >t20\E}zG>F^F  = >E Di ).F:)!I%9))I-D91i1Y1EE EAEA"EADIDIDIDIDQDQ DQCQBYBzBI;) i)iV)IiM a>f h%S\&AytN1>tRYE)~n= ~l}uGD;<9Q~jt?Mb`GAɀ週 )IIuiD<>F^F@=>EDi ):)I:)IS9iYE  E E"EDDDDDD DC!B!BYzB]qIu;)qq qiq)qyyi})It"[E&=&=*4<*p<}`b<`>F~^F  = >E Di ):)Ii9)!I%v9)i)Y)E= EAEA"EADADADIDIDIDI DICQBQB zB 9I=;)=PA AiA)AAAiEx)IIUYQ)Y W=YS\&Ayt2>t2YWE)~B= ~B1C}n[G>Fv^Fxxx=~>E~Di )+:) I 9)I]9iY!E- E)E1"E1D1D1D9D9D9D9 DACABABzBI;) i)i()It2[E}jG;ף<9~jt{Gz?Mb`GAɀ )IIi#<>F5^F5@99==>E=DiI I)M:)QIU9)YI] 9aiaYaEu EqEq"EqDyDyDyDDD DCBBzBI;)  i)i)It06A6A6A6A)~@ ~@}rGpp>F^F!!!=->E-Di1 1)5:)9I=9)AIE9IiIYIE] EYEa"EaDaDaDiDiDiDi DiCqBqBzBI;) i)i)It:ME}t5;5<955FM^FM@QQ=U>EUDia a)ea:)iImZ9)qIu9yiyYyE EE"EDDDDDD DCBBzBI;) i)iii)IiE V>( S\&Ayt*b>t.cKE)~H ~JC}|>F=^FAAI=M>EM*DiQ Q)U:)YI]9)aIe9iiiYiE} EyE"EDDDDDD DCBBzBI;) i)i!)It"XE.=.=.p<.4<}EGE%=E=>F^Fƙƙ=>EƝ8Di ):)I9)Il9iYE EE"EDDDDDD DCBB!zB%#-8MissionManager is completed.#-PUninitializing Mission lineCaptureHoming-/-RAggregate::uninitialize lineCaptureHoming1- 0-vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq-0-NUninitialize AltitudeEnvelopeComponent.- 1-Uninitialize.515NUninitialize OffshoreEnvelopeComponent.15 <5Uninitialize.q5<5@Uninitialize Buoyancy Component.5515q5>5bAggregate::uninitialize lineCaptureHoming:DiveCmd5 ?=zAggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDiveq!=B=~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo!= C=Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive!=1"= D=Uninitialize.q"=D=Uninitialize."= E=jAggregate::uninitialize lineCaptureHoming:RequestPing"E1#E#E GEZAggregate::uninitialize lineCaptureHoming:Lap#EGEdAggregate::uninitialize lineCaptureHoming:Lap:Dive1$E HEhAggregate::uninitialize lineCaptureHoming:Lap:Dive:A1%E JE~Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidanceq%EJE>Uninitialize WaypointComponent.']']']%ma% ma% ua%ua a ! a!!!}yuqmiea]YUQMIEA=951-)%!I;) i8)i )I< ) I i I=i{>Yq)ہ'} aS\&Ayt"j>t"~VE& DUSBL Version:O )~Z= ~X}m"GDC =9I +:v?MbPGAɀ )II9i<>F^F@=>EEDi ):)I9) I 9iY#.Started mission Default!1% (%:Aggregate::initialize Default% )%@Initialize GoToSurfaceComponent. )%No depth rate setting specified. Using default value of nan m/s. )%~No pitch setting specified. Using default value of nan degrees. )-No speed setting specified. Using default value of 1.000000 m/s. )-No surface timeout specified. 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A ɀ   ) AI I i < ;>F^F@ƉƑ=JEƑi ):)I9)I9iYiiI;)1)111i19)9IE<)Q㥀  ȷ\&Ayt"2>t">E)~, ~,}^BG>Ff^Fdhh=jJEhip p)rn:)tIv9)xIz9|i|Y|iiI;))i)!I%<)9 I )I І  \&Ayt&>t&T2E}bG>F~^F = JE i ):)I9)!I%9)i)Y)i1199iAIE;)I)IIIiIQ)QIU<)i+  /n6\&Ayt2>t2*9E6A6A6A6A88)~B= ~@}GyAeDe<9ae~jtZd;O?Mb`?eAaɀaa a)aIaIaiejFu^F}@ƁƁ=JEƁi ):)Il:)I9iYiiI;))i)I<)  GP\&Ayt"%>t"Y,E}^G>F^F!!)=-JE)i1 1)5:)I9)I!9iYiiI;))i)I<) IM p>iM ]>  &j\&Ayt"̖>t"r9E)~, ~,}^{G9:~jtZd;O?MbP?Aɀ )IIi:>F]^F]@aa=eJEaiq q)q)qIuV9)yI}.9iYiiI;))i)I<)  \&Ayt"~>t"M:E&=&=&p;&<&C=$}\b%=`>Fn^Fptt=vJEtix x)x)|I~9)I]9 i Yii!I-;))))))i)1)1I]<)i  ؝\&Ayt">t"m?E)~2= ~2yC}`>Fr^Fptt=vJEtix x)z+:)Iv9)I9iYii)I-;))))))i)1)1I=<)I I )I H  \&Ayt">t"v5E}Z0G~~<9|~~jt~jt?MbP?~A|ɀ|| |)|I|I|i~<|>F^F@=JE!i) ))))1I59)yI}9iYiiI;))i)I<):2  т\&Ayt>t4E"A"A"A"A&vA$)~.= ~.oC}^jGbxA`>Fn^Flpp=rJEpix x)z:)|I~9)I9 i Y ii!I%;)!))))i)))1IU<)iY  wj\&Ayt">t">E}j0G<9Q/$?Aɀ )IIui<>FM^FU@yy=}JEyi )a:)Is9)IA;iYiiI;))i)I <)IM V>iM Y>B  I\&Ayt"->t"t7E)~.= ~,}^jG>F~^F = JE i ):)9I=.9)AIE9IiIYIiQQyyiI;))i)I<)۩l  S$\&Ayt"ܒ>t"4E&=&=&=&p<&=(}^{G``>Fn^Fptt=vJEtix x)z:)|I~i9)I9 i YiiI;))i)I<)T  *8\&Ayt">t"KF=^FE@AI=MJEIiQ Q)U;:)YI]89)aIe9iiiYqiqiI;))  i  )I5<)I I )I ~  4R\&Ayt"X>t"F~^F = JE i )+:)I9)!I%9)i)Y)i1119iAIE;)A)IIIiII)QIU<)i  l\&Ayt2>t2J>E46A46A:wA8>bSBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0BZFailed to initiate SBD session. 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Will not retry this session.)~( ~,}ZjGmm<9im{Gzty&1|?MbP?mAiɀii i)iIiImףim`;i>F^F@=SEi  ) Ǚ;)1I59)9I=9AiAYAiIiqqiyI};)y)i)I<)ۡ)) {OF\&Ayt"ߕ>t"O8E&=&=&p;&<&=&=}^{Gb4=`>Fn^Fptt=vSEtix x)z:)|I~9)I9 i Yii!I-;))))))i)1)1I<)]) &`\&Ayt">t"+7E)~2= ~0}bƄG>Fr^Fptt=vSEtix x)z:)|I~i9)I9 iYii)I-;))))))i)1)1I=<)I )f՝) z\&Ayt"0>t"(;E}^G|~#<9~~~jtxMb?~A|ɀ|| |)|I|I~Ļi~<~>F]^F]@aa=eSEaiq q)q)I9)I!9iYiiI;))i)I<)P) ᓦ\&Ayt"h>t"7E$&A$&A)~.= ~,}bƄGbyA`>Fn^Fptt=vSEtix x)z:)|I~9)I]9 i Yii!I-;))))))i)1)1I=<)Il) ᷭ\&Ayt">t"8E}ZׄG~~94<9|~y&1|Mb?~A|ɀ|| |)|I|I~`i||>F^F@99==SE9iI I)M+:)QIU9)QIU;iYiiI;))i)I<)IV>iY>]ϱ) }Ǧ\&Ayt"E>t"=E)~, ~,}^G>Fn^Fptt=vSEtix x)z:)|I~ʽ9)IQ9 i Yi99iAIE;)I)IIIiIQ)QI}<)ۉ) 7p\&Ayt6>t69E:=:=:p;><}v{Gv%=t>F~^F|= SE i ))IX:))I-]u:AiIYIiQQQQiaIe;)a)aaaiii)iIu<)ہSending 2232 bytes from file Logs/20190325T233344/Express0023.lzma#) EK\&Ayt"C>t":E)~, ~,}\<9~jtI +?Aɀ )IIDi94<>F^F@ƁƁ=SEƉi )<:)I9)I9iYiiI;))i)I<) ) ) c&\&Ayt">t"9E}X>F~^F = SE i ):)!I%9)!I%v91i1Y1i9999iIIM;)I)IIIiIQ)QI]<)ixMoved sent file to Logs/20190325T233344/Express0023.lzma.bak$SBD MOMSN=102453405) u/\&Ayt"ϙ>t"&=E&A&A&A&A)~0 ~0}`bwA`;D<9{Gzy&1|?MbPGAɀ )IIAI#i`;>F^F@!!=%SE)i1 1)5+:)9I=9)AIE.9IiQYQiYYYYiaIm;)i)iiiiiq)qI}<)ۉ) H\&Ayt"->t"t7E}\>Fn^Fptt=vSEtix x)z:)|I~]9)I9 iYii)I-;))))))i)1)1I]<)qIa>iV>Ys G) b\&Ayt">t"?E)~, ~,}d>Fn^Fppt=vSEtix x)z:)|I~9)Iv9iYq-q5,54Initialize Wait Component.i1YYYiI;))i)I<))q) d|\&Ayt"U>t"8E"=&=&p=&<}^0G^<^=~~t<9~;~{GztMb?Mb`?~A|ɀ|| ~A)|I~AI~ףi~<~;>F]^F]@aa=eSEaiq q)u;)I:9)I9iYiiI;))i)I<)YsY) n\&Ayt"U>t )~4 ~4}fG>Fn^Flpp=rSEpix x)z:)|I~l:)I9 i Y ii!I%;)!)!))i)))1I5<)I )) jK\&Ayt"y>t"2E}fjGף<9:vQ?Mb`?pAɀ A)IAITiu<>F-^F-@11=5SE1iY Y)] :)iIm9)iIm9iYiiI;))i)I<)k) p&ʧ\&Ayt"y>t &A&A&A&A)~.= ~.oC}^{GbyA`>F^F!!=%SE!]5Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 5 -5Software Fault 55 95 A5 i) ))-P:EUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 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!)%:))I-s9)1I5:AiAYAiIIIIiYI];)Y)YYaiaa)iIm<)yW$1 \&Ayt"y>t"2E&=&=&p;&<}^ƄG^%=b=>F~^F= ZE i )a:)I9)!I%]9)i)Y)i1119iAIE;)A)IIIiII)QIU<)i*1 \&Ayt2C>t2:E)~< ~>`C}nׄG%D%=9%:%MbDl?MbP?%A!ɀ!! %A)!I!I%i%O=%:>F5^F=@AA=EZEAiI I)M:)QIU;:)YI]9iiiYiiqqqqiI;))i)I<)۩ )/11 \&AytBU>tB8E}zBG>F=^FAAA=MZEIiQ Q)U1:)YI]89)aIe9iiiYiiqqyyiI;))i)I<)۩71 ګ\&Ayt"C>t":E&A&A&A&A)~0 ~2jC}bGbxA`>F~^F = ZE i )n:)I9)!I%i9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)i=1 I\&Ayt&>t&4E}jBG^=9;Zd;x&?Mb`?Aɀ )IIyi7=;>F5^F5@99==ZEAiI I)Ma:)QIU9)YI]9aiaYaiiiiiiyI};)y)i)I<)ۡIa>iY>D1 a\&Ayt"ڏ>t"0E)~B= ~B`C}~jG>F^F!!)=-ZE)i1 1)5:)9I=9)AIEi9IiIYIiQQYYiaIe;)i)iiiiiq)qI}<)ۉ"K1 <.\&Ayt2>t2>E6=6=:p;:<}r{Gpr4=]ף]P=9]t]L7A`堿+?Fu^Fu@yƁ=ZEƁi ):)I:)I9iYiiI;))i)I<)Q1 H\&Ayt2ܒ>t24E)~< ~<}l>Fv^Ftxx=~ZE|i ):) I g9)I9iY!i!!))i1I5;)1)999i9A)AIM<)Y )X1 a\&Ayt"v>t"2/E}\>F^F  =ZEi )z:)!I%9))I-91i1Y1i9AAAiIIM;)I)QQQiQQ)YIe<)ۑJB^1 l{\&Ayt2ɓ>t25E6A6A6A6A)~@ ~@}nƄGpp!%=9%;%Q뱿ʡE?Mb`?%pA!ɀ!% !)%AI!I%\i%=%;>F=^F=@AA=MZEIiQ Q)U:)YI]9)aIaiiiYiiqqqyiI;))i)I<)۩)e1 \&Ayt"U>t"8E}^G>F~^F  = ZE i )a:)Ii9)!I%]9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)iI>ia>t"0E)~, ~.jC}^{G;=9Q뱿p= ף?Mb`?Aɀ )xAIIi=>F^F@!!=%[E!i) ))-+:)1I5:)9I=S9IiIYIiQQQQiaIe;)a)aaaiai)iIu<)ہt*-5E*=.=..4<}ddf%=>F~^F = [E i )U:)Iv9)!I%9)i)Y)i1199iAIE;)I)IIIiIQ)QI]<)iex1 29\&Ayt2>t201E)~H ~H}>F5^FAQQ=][EYiq q)u:)I\:)I:iYiiI;) )  i)!I%<)9 )~1 \&Ayt">t"8E}X;ף<9F-^F-@11==[E9iA A)E:)IIM9)QIUx:YiYYaiiiiiiqI};)y)yyyiy)I<)ۙRx1 ^\&Ayt2>t2{/E6A6A6A6A)~@ ~@}lrzAryA>F^F!!!=-[E)]5Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 5 -5Software Fault 5= 9= A= i1 1)5:MUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 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!)%AI!I!i%%>F^F@=lEi ):)I9)Il9iYi    iI;))!!i!!))I-<)AB kG ]&Ayt>t:E"wA }ZXG>Fz^Fx||=~lE|i ):)I9)I9!i!Y!i))))i9I=;)9)999iAA)AIM<)YI%R>i%V>HB .a ]&Ayt6X>t6FE^FAQQ=UlEQia a)e:)iIm9)qIu׾9yiyYyiiI;))i)I<)ZB  { ]&Ayt2{>t26E6=6=6p;64<}lpp%%;9%;%Mb`~jth?Mb`?%pA!ɀ!! !)%AI!I%i%D;%;>F=^F=@AA=ElEIiQ Q)U:)YI]v9)aIe9iiiYiiqqqqiI;))i)I<)۩B  ]&Ayt">t"6E$*R=)~0 ~0}\>F~^F  = lE i ))I9)!I%v9)i)Y1i1999iAIM;)I)IIIiIQ)QIm<)y 1)9%B n ]&Ayt">t"KF^F@=%lE!i) ))-:)1I59)9I=x9AiAYIiIIQQiYI];)a)aaaiai)iIu<)ہZ B | ]&Ayt&>t&x3E*A*A.A.A)~4 ~8}nGpp>F^F!!)=-lE)i1 1)5U:)9I=׾9)AIE9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉ7B t ]&Ayt">t"01E((}vBG>F%^F)99=ElEAiY Y)]:)qIuɪ:)I:iYiiI;))i) I<)II5V>i1$bB T ]&Ayt">t"8E)~, ~,}^jG%D;%9!%Mb`Mb`MbP?%A!ɀ!% !)!I!I%i%!>F=^F=@AA=ElEAiQ Q)U:)YI]9)aIe9iiiYiiqqqyiI;))i)I<)۩IC + ]&Ayt"ܒ>t"4E&=&=&p;&<}^{G``>F~^F  = lE i )U:)I)!I%v9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)s C c0 ]&Ayt">t".E&=&=)~0 ~0}^0G;9~jthMbP?Aɀ )IIiD>F=^F=@AA=MlEIiQ Q)U:)YI]9)aIe9iiiYiiqqyyiI;))i)I<)۩ 1)1h[C I ]&Ayt">t"4E}jjG>F~^F  = lE i )+:)I׾9)!I%׾9)i)Y)i1199iAIE;)I)IIIiIQ)QIU<)iC c ]&Ayt>t8E"A"A&A&A)~, ~,}{G!!>F}^FƑƙ=lEƙi ):)Iʽ9)Il9iYiiI;))i)I<)FC } ]&Ayt"č>t"W.E((}^0G9~jthMbP?AɀEA )IIi>F=^FE@AI=MlEIiQ Q)U:)YI]9)aIe9iiiYiiqqqyiI;))i)I<)۩I5R>i1= zgot command load ./Missions/Engineering/lineCaptureHoming.xml# zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml>%C Bw ]&Ayt">t"9E{$)~d ~fUC}-ՃG>F]^FYaa=elEaiq q)un:)I9)I9iYI;i)i)I <)Y#nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h)#tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 minU iQ #] fDefineArg lineCaptureHoming.Repeat = 1.000000 countm i #m `DefineArg lineCaptureHoming.DockLat = nan arcdeg!} y #} `DefineArg lineCaptureHoming.DockLon = nan arcdeg% ) # bDefineArg lineCaptureHoming.StartLat = nan arcdeg) i # bDefineArg lineCaptureHoming.StartLon = nan arcdeg-  # pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1  # fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5 ) # dDefineArg lineCaptureHoming.DockRange = 4.000000 m9 i # jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=  # DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minA  # jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE  @ # tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minI% @! #- jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM5 *@1 #= xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQM :@M >@#M fDefineArg lineCaptureHoming.InitDepth = 30.000000 mU] J@] @#e xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYm Z@i #u xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count]} j@y # tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta @ # pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole @ # `DefineArg lineCaptureHoming.Speed = 1.000000 m/si @ # lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm @ # hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq @ # fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mu @ # jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy @ # hDefineOutput lineCaptureHoming.HomingActive = 1 bool} @ # jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool @ #% dDefineOutput lineCaptureHoming.DoingComms = 0 bool-  A- #5 pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#5 lInserting Stack: Missions/Insert/StandardEnvelopes.xml! "A # DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m! 2A i@# DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m! BA # DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 mt+C V ]&AytU>tU6Ee=e=e=e<0u6Construct AltitudeEnvelope. 10Construct DepthEnvelope.}EGAI9{Gzt?y&1|Aɀ选 )IIף;i`廉1=6Construct OffshoreEnvelope.>FM^FM@QQ=]lEYiau a)e<)I9)I:9iYI;i)i)I<#\Inserting Stack: Missions/Insert/NeedComms.xml)1%B%@#-~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 hmBm@#uDefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min}By#DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdegB#DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sB#DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s C # ~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min% C! #- DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4U ,Construct GoToSurface.*n code=00AA name="lineCaptureHoming:I." *a code=08CC owner=00AA element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CD owner=00AA element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CE owner=00AA element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CF owner=00AA element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D0 owner=00AA element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D1 owner=00AA element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D2 owner=00AA element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0675 elementURI="TrackAcousticContact.contact_label" type=02 *a code=08D3 owner=00AA element=0675 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0676 elementURI="TrackAcousticContact.contact_latitude" type=02 *a code=08D4 owner=00AA element=0676 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0677 elementURI="TrackAcousticContact.contact_latitude_lowpass" type=02 2C * ]&Ayt"ϙ>t"&=E&R=*=*a code=08D5 owner=00AA element=0677 universal=3FFF unitName="degree" type=2F size=0004 fl=05 )~0 ~2ZC*e code=0678 elementURI="TrackAcousticContact.contact_longitude" type=02 }^jG>Fn^Fptt=vlEtix x)z:)|I~9)I9 iYI%;i!)!!!i!)))I5<)A*a code=08D6 owner=00AA element=0678 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0679 elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 *a code=08D7 owner=00AA element=0679 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=067A elementURI="TrackAcousticContact.eastings_to_contact" type=02 *a code=08D8 owner=00AA element=067A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=067B elementURI="TrackAcousticContact.northings_to_contact" type=02 *a code=08D9 owner=00AA element=067B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=067C elementURI="TrackAcousticContact.contact_depth" type=02 *a code=08DA owner=00AA element=067C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=067D elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 *a code=08DB owner=00AA element=067D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08DC owner=00AA element=066C universal=3FFF unitName="none" type=1F size=0008 fl=05 *e code=067E elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 *a code=08DD owner=00AA element=067E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=067F elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *a code=08DE owner=00AA element=067F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0680 elementURI="TrackAcousticContact.heading_to_contact" type=02 *a code=08DF owner=00AA element=0680 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0681 elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=08E0 owner=00AA element=0681 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0682 elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=08E1 owner=00AA element=0682 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0683 elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *a code=08E2 owner=00AA element=0683 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=0684 elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *a code=08E3 owner=00AA element=0684 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *n code=00AB name="lineCaptureHoming:J.Mass" UConstruct.*a code=08E4 owner=00AB element=0284 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08E5 owner=00AB element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E6 owner=00AB element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08E7 owner=00AB element=0136 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=00AC name="lineCaptureHoming:K.Buoyancy" V}&Construct Buoyancy.*a code=08E8 owner=00AC element=026A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08E9 owner=00AC element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08EA owner=00AC element=05F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 !+*a code=08EB owner=00AC element=0118 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=00AD name="lineCaptureHoming:N" *n code=00AE name="lineCaptureHoming:DiveCmd:InitialDive:A.SetSpeed" WeConstruct.*a code=08EC owner=00AE element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08ED owner=00AE element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08EE owner=00AE element=05F8 universal=3FFF unitName="second" type=0B size=0003 fl=05 +=*n code=00AF name="lineCaptureHoming:DiveCmd:InitialDive:B.Pitch" WMConstruct.*a code=08EF owner=00AF element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F0 owner=00AF element=05F4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 +]*a code=08F1 owner=00AF element=05F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08F2 owner=00AF element=05DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08F3 owner=00AF element=05D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08F4 owner=00AF element=05D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08F5 owner=00AF element=05F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 +m*a code=08F6 owner=00AF element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00B0 name="lineCaptureHoming:DiveCmd:InitialDive:B.Pitch:A_Timeout" 1)1*n code=00B1 name="lineCaptureHoming:DiveCmd:InitialDive:B.Pitch:A_Timeout:A" *a code=08F7 owner=00B1 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00B2 name="lineCaptureHoming:DiveCmd:InitialDive:C" *a code=08F8 owner=00B2 element=0661 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00B3 name="lineCaptureHoming:DiveCmd:AltitudeServo:A" *a code=08F9 owner=00B3 element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=00B4 name="lineCaptureHoming:DiveCmd:AltitudeServo:B.SetSpeed" Zm Construct.*a code=08FA owner=00B4 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08FB owner=00B4 element=05D5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08FC owner=00B4 element=05F8 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00B5 name="lineCaptureHoming:DiveCmd:AltitudeServo:C.AltitudeServo" Z Construct.*a code=08FD owner=00B5 element=0167 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08FE owner=00B5 element=0431 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08FF owner=00B5 element=05F4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0900 owner=00B5 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0901 owner=00B5 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 J &Construct Waypoint.a% a%  a%  K Construct.F8C x ]&Ayt2v>t22/E}]0GD;9FU^FU@YY=]lEYia a)e:)Io9)I9iY O"Construct SetNav.I;i)i)I%<')ۙ''OConstruct Wait. R]&Construct Waypoint. SConstruct Wait.#EI Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =MfLoaded ./Missions/Engineering/lineCaptureHoming.xml]>C C ]&Ayt">t"x3E&A&A&A&A)~, ~0}bGbxA`>Fn^Fptt=vlEtix x)z:)|I~9)I]9 i Yii!I-;))))))i)1)1I=<)IEC  ]&Ayt">t"v5E$$}\>F ^F=lEi! !)%:))I-9)1I19iAYAiIIIIiQIU;)Y)YYYiYa)aIm<)yI1i5]>LC 12 ]&Ayt"S>t"-5E)~, ~0}\C9:~jt?~jtMbP?pAɀ )AIIDF^F@aa=elEaii i)mU:)qIu(;)I9iYiiI;))i)I<)RC `rL ]&Ayt"+>t"3E&=&=&p;&<}\``>F~^F = lE i ))I9)!I%9)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)iB$YC Wf ]&AytNC>tN:ERC=VR=)~\ ~\}jG]ף]t9];]{Gz?Mb`Mbp?]AYɀYY Y)]AIYI]#Fu^Fu@yy=}lEƁi )n:)I9)I.9iYiiI;))i)I<)a ))1 `C ( ]&Ayt"C>t }^{G>F~^F = lE i ):)I)!I%]9)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)ie4fC 6 ]&Ayt2E>t2=E6A6A6A6A)~@ ~@}ppp>Fz^Fx=lEi  ) a:)I9)IS9!i!Y)i)111i9IE;)A)AAAiAI)IIU<)a]lC {ݳ ]&Ayt"c>t"V0E((}b0G949y&1|?MbpAɀ )AII`;i>F^F@!!=-mE)i1 1)5:)9I=9)AIE9IiIYIiQQQYiaIm;)i)iiiiiq)qI}<)ۉI5V>i5V>0FsC  ]&Ayt">t"T2E)~.= ~.UC}ZՃG>F~^F = mE i ))Ii9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)ipyC  ]&Ayt">t".E&=&=&p;&<}nXGr=p15C<955~jt~jt?Mb`5A1ɀ11 5A)1I1I5Di5D<5>FM^FM@QY=]mEYia a)e:)iIm9)qIu:yiyYiiI;))i)I<)۹wWC n]&Ayt2>t2F^F  = mE i )L$<)iIi)qIu׾9yiyYyiiI;))i)I<)۹ 5@A)11C L]&AytB>tB1E}x>F%^F!))=-mE)i1 1)5D=:)9I=+9)AIE]9IiQYQiYYYYiaIm;)i)iiiiiq)qI <)C &5]&Ayt2a>t2,E6A6A6A6A)~@ ~BZC}prwAp%D%T9%%I +?y&1|%pA!ɀ!! %xA)!I!I%94FE^FE@II=MmEIiQ Q)U+;:)aIe9)aIe9qiqYqiyyyyiI;))i)I<)۩C `O]&Ayt"=>t"2E$&vA}\>F~^F = mE i ):)Iv9)!I%v9)i)Y)i1119iAIE;)A)IIIiII)QIU<)iI1i5a>= Fgot command show variable initDepthC h]&Ayt"v>t"2/E)~, ~,}` ` ף9 ף; F}^F@ƁƉ=mEƉi );)I9)I9iYiiI;))   i  )I=<)I= FlineCaptureHoming.InitDepth (meter)=VlineCaptureHoming.InitDepthTimeout (minute)0C  ]&Ayt">t"4E&=&=&;&<}\^%=\>F~^F = mE i ):)I9)!I%9)i)Y)i1119iAIE;)A)IIIiII)QIU<)iϦC l]&Ayt&>t&KF^F!!)=-mE)i1 1)5:)9I=9)AIEi9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉ 5?A)1$C n]&Ayt2C>t2:E{4}E0GD9Mb`?Mb`?=Aɀ逍EA A)II;i;>F^F@ƩƩ=mEƩi )D:)I9)I9iYiiI;))i)I<)C #I]&Ayt" >t"o=E&A&A&A&A)~f= ~fZC}EjGMyAI>F]^FYaa=mmEiiq q)u:)I.9)Iv9iYiiI;))i)I<)! C %#]&Ayt">t"6E$*wA}b0G9Mb`Aɀ )IIi>F^F@!!=%mE)i1 1)5:)9I=9)AIE9IiIYIiQQQQiI;))i)I<)I5R>i5V>C z]&Ayt">t"8E)~, ~2`C}^jG>F~^F = mE i ):)I)!I%9)i)Y)i1199iAIE;)I)IIIiIQ)QI]<)i!C ]&Ayt"~>t"M:E&=&=&=&={(}%{G-=-=>F]^FYaa=emEiiq q)u:)yI}9)Ii9iYiiI;))i)I<)GC 7]&Ayt"C>t":E.a=.a=)~d ~fZC}-0Gm;mף9mDm~jt?Mb~jthmpAiɀii mxA)iIiImDF^F@ƉƑ=mEƑi ):)Ig9)Iv9iYiiI;))i)I<) 1)1!0C ֐Q]&Ayt2>t2/3E}jՃG>F^F!!)=-mE)i1 1)5:)9I=9)AIE9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉC\C dtk]&Ayt>t01E"A"A"A"A)~, ~,}^XG^xA`9:v?MbMb`pAɀ )IITF=^F=@AA=EmEAiI I)M:)qIu9)yI}9iYiiI;))i)I<)AC E]&Ayt"@>t"Q6E((}n{G>F~^F  = mE i ))I)!I%9)i)Y1i9999iAIM;)I)IIIiIQ)QI}<)ۉI5V>i5]>lC $]&Ayt"@>t )~.= ~.`C}^0G>Fn^Fptt=vmEtix x)zU:)|I|)I i Yii!I-;))))))i)1)1I<)C ]&Ayt">t"*9E&=&=&=&p<}^jG^%=^%=~~t9~~:v?:vMbP~pA|ɀ|| |)|I|I|i~T~>F^F@=mEi )s;)I9)I i Y i111iAIE;)A)AAAiII)QIU<)i}C g]&Ayt">t"Fr^Fptt=vmEtix x)zI:)|I~9)I9 iYii!I-;))))))i)1)1I]<)i 1)1ɨC []&Ayt"y>t"2E}ZƄG|~C9|~~jt?~jtMbP~pA|ɀ|| |)|I|I~DF ^F@=mEi! !)%:))I-9)1I5:AiAYAiIIIIiQI];)Y)YYYiYa)aIm<)yDD ֎]&Ayt">t"1E&A&A&A&A)~0 ~2`C}bG``>F~^F = mE i ):)Iv9)!I%9)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)i= tgot command set lineCaptureHoming.InitDepth 0.000000 meter:@ (D h ]&Ayt"y>t"2E$*vA}^{G>F~^F  = mE i )n:)I9)!I%9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)iI1i5Y> D  E:]&Ayt2>t28E{4)~t ~vZC}M0G9~jt?~jtpAɀ选 )IIi>F^F@ƩƩ=mEƩi ))I9)I׾9iYiiI;))i)I<)D !T]&Ayt"(>t" 0E&=&=&;&=}%jG-4=-4=>F]^FYaa=emEaiq q)u:)yI}9)I9iYiiI;))i)I<)>D t26E6=6=)~@ ~B`C} {GIMT9IMFe^Fe@ii=mmEiiy y)}:)I9)ID9iYiiI;))i)I<) 1)1`!D sև]&Ayt2ڏ>t20E}h>F^F!!=%mE!i) ))-U:)1I5_:)9I=9IiIYIiQQQQiaIe;)a)aaaiai)iIu<)ہ(D ]&Ayt"c>t"V0E&A&A&A&A)~0 ~0}b0GbyA`>F^F =mEi! !)%:))I-9)1I5Q99i9Y9iAAAAiQIU;)Q)QQYi)I<)YQ2.D n]&Ayt">t"+7E(*wA}^jG`e9I +?F^F@!!=%mE!i) ))-:)1I5:)9I=9IiIYIiQQQQiaIe;)a)aaiiii)qIu<)ۉI5R>i5]>5D g]&Ayt"Š>t"*E)~, ~0}^{G>F~^F = mE i ):)I9)!I%9)i)Y1i1199iAIM;)I)IIIiIQ)QI]<)iE;D D]&Ayt"h>t"7E&=&=&4=&p<}\\^%=~~#<9|~~jtxF^F@AA=EmEAiI I)Mn:)QIU_;)yI}9iYiiI;))i)I<)!,BD ? ]&Ayt"@>t"Q6E&4=&R=)~0 ~2ZC}\>F~^F  = mE i )b::)I89)!I%v9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)i 1)1VHD "]&Ayt&>t*>E}h>F%^F)99=EmEAiY Y)]:)qIu:)I{r:iYiiI;))i) I<)1ND A<]&Ayt"~>t"M:E&A&A&A&A)~0 ~0}zGzwAx15ף;915Mb`{Gzt?5=A1ɀ15EA 1)1I1I5i5ף;1>FM^FU@YY=]mEYia a)e:)iIm9)qIu:iYiiI;))i)I<)۹>hUD V]&Ayt">t"x3E(*vA{(}=XG>F]^Faaa=mmEiiq q)u+:)I9)I_:iYiiI;))i)I<)I5V>i5V>[D p]&Ayt"S>t"-5E)~d ~f`C}-{G<9; rh~jt?Mb`?Aɀ逕 A)IICi<;>F^F@ƱƱ=mEƱi )7:)I9)Iv9iYiiI;))i)I<){bD g]&Ayt";>t".E&=&=&<&p<}ZƄGXX>Fn^Fptt=vmEtix x)z;)I׾9)!I%]9)i)Y1i19YYiaIm;)i)iiiiiq)qI}<)ۉQhD !?]&Ayt"׌>t"4-E6C=4)~D ~FZC}G>Fe^Fiƹƹ=nEƹi ):)I9)I;iYi    iI;))i)I<) 1)1BnD ]&Ayt">t"01E}b{Gt<9~jt:v?Aɀ A)IIDiT<>F]^F]@aa=enEaiq q)u:)I9)I9iYiiI;))i)I<))-uD ]&Ayt"̖>t"r9E&A&A&A&A)~0 ~0}b0GbyA`>Fn^Fptt=vnEtix x)z:)|I~i9)I]9 i Yii)I-;))))11i11)9IE<)Q {D ]&Ayt">t"v5E&vA&wA}nG`9;y&1|?~jthMb`?pAɀ xA)II`;iD;>F5^F5@yy=}nEƁi ):)I9)I9iYiiI;))i) I <)AI5Y>i1IɂD  ]&Ayt">t"0E)~, ~,}njG>F~^F = nE i )U:)I9)!I%i9)i)Y)i1119iAIE;)I)IIIiIQ)QI]<)iD )%]&Ayt.f>t2 4E:=>=>p;><}=0G=%=9}D}9y}Mb?MbpMb`?}pAyɀyy y)yIyI}F^F@ơơ=nEơi )J:)I׾9)I9iYiiI;))i)I<)D c?]&Ayt"f>t &a=$)~0 ~0}^G>Ff^Fhhl=nnElip p)r:)tIv9)xIz]9|i|Yi   iI;))i!)!I-<)9=Mgot command set lineCaptureHoming.InitDepthTimeout 1.000000 minuteJ@UN@ 1)1/D HY]&Ayt>c>t>V0E}>F^F=nEi) ))-:)1I5s9)9I=9AiAYAiIIIIiYI];)Y)aaaiaa)iIm<)ہ.D s]&Ayt">t"/3E*A*A*A*A)~D ~D}rjGvxAt--949)-Mb?MbMb`?-pA)ɀ)) )))I)I)i-)>FE^FE@II=UnEQiY Y)]D:)aIe9)iIm9qiqYqiyiI;))i)I<)۱D ]&Ayt"U>t"8E((}b0G>F^F  = nE i )<:)Iʽ9)!I%Q9)i1Y1i9999iAIM;)I)IIIiIQ)QI]<)iI5>i5]>CD ܦ]&Ayt>f>t> 4E)~L ~L}~jG=:=t9==~jt?y&1=A9ɀ99 9)=AI9I=DFU^F]@Ya=enEaii i)m:)qIu9)yI}9iYiiI;))i)I<)(D ]&Ayt&ߕ>t&O8E*=*=.p;.<}f0Gj=h>F^F!!!=-nE)i1 1)5a:)9I=9)AIEi9IiIYIiQQQQiaIe;)a)iiiiii)qIu<)ۉRD ]&Ayt">t"8E$*=)~0 ~0}vjG>F~^F  = nE i ):)I9)!I!)i1Y1i9999iIIM;)I)IIIiIQ)QI]<)i 1)1= got command run= Running GD j]&Aytǐ>t 2E}^{G9:v?{GzMb`Aɀ )IITFU^F]@aa=enEaii i)ma:)I9)I9iY1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckIn1#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq0JInitialize AltitudeEnvelopeComponent. 1DInitialize DepthEnvelopeComponent.1JInitialize OffshoreEnvelopeComponent.*UDInitializing TrackAcousticContact.*UInitialize.1+ VtInitialize ReadDataComponent to sense platform_orientation%*a code=0905 owner=007B element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 =%xInitialize ReadDataComponent to sense height_above_sea_floor1+%RG!*-2G-;*- U-Tracking...U-2Tracking contact label: 2BQ1UqU1UUBU?BɾzBqI;i9)i) SAI<)Q$uDSpeedControl.speedCmd 1.000000 m/seD :?]&Ayt">t",E&A&A&A&A)~0 ~0}dfyAh>Fn^Fptt=vnEtix x)zu :)I9)I~9iYRG)2G1 U5Tracking...U52Tracking contact label: 2B5i@q55BBIzBII;i)i)I<)!׎D (]&Ayt">t"/E&wA(}^0Gף;D9MbP~jtxAɀEA )IIiĻ>F=^FE@AI=MnEIiQ Q)U:)yI}9)I!9iYRGY2GY U]Tracking...U]2Tracking contact label: 2BaeqeBaB9zB9IM;i)i)I<)1I5V>i5Y>wD A]&Ayt">t"+E)~, ~,}^jG>Fn^Fptt=vnEtix x)zI:)|I~i9)Iv9 i YRGA2GA UETracking...UE2Tracking contact label: 2CE @qMMBIBzBI;iq)qqyiy)It"2/E&=&=&;&<}^{Gb%=`>Fn^Fpv?v?=vnEv^Dix x)z:)|I~9)IQ9 i YRG2G! U%Tracking...U%2Tracking contact label: 2C%%q#%F-nAggregate::initialize lineCaptureHoming:StartingMissionB)BzBI;i)i)It &=&={()~d ~d}-ƄGmm9mD;mMb`?~jth?mAiɀii i)iIiImim;mD;>F^F@ƑƑ=nEƵlDi ):)I9)I9iYRG 2G  U Tracking...U 2Tracking contact label: 2 9 hAggregate::initialize lineCaptureHoming:SurfaceComms1C15q5:5lAggregate::initialize lineCaptureHoming:SurfaceComms:BB9BzBI];iY)Yaaia)iImt"9EF"AAF"@A}-G>F=^F9AA=EnEMxDiQ Q)Un:)YI]9)aIe9iiiYiRGy2Gy U}Tracking...U}2Tracking contact label: 2}3bAggregate::initialize lineCaptureHoming:NeedCommsq4@Initialize GoToSurfaceComponent.4HReceived depth rate setting nan m/s.4RReceived pitch setting 19.999999 degrees.4HReceived speed setting 1.000000 m/s.4No surface timeout specified. Using default value of 1000.000000 seconds.4nReceived pitch timeout configuration 60.000000 seconds.1ZCbCjCrC4last time_fix was: 1553558754.000000 second since 1970/01/01T00:00:00Z 1B?B1zB1iEXz:IM;)I)IIIiI)qI}tB7EDFA)~P ~R`C}{GwAE;E;9EEMbpMbP?EpAAɀAE A)EAIAIEiE:E>F]^Fe@ai=mnEmDiq q)u;)I89)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BazBaiI;))i)It"2E$$}n0G>F~^F = nE Di ):)Ii9)!I%9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2 5E\Initialize ReadDataComponent to sense time_fixZCEbCIjCIrCMBM?BzBiI;))i)I +D ]&Ayt"+>t"3E"F"p=*F"a=)~, ~.ZC}^G>F-^F)11=5nE5Di9 9)=:)AIE9)IIM׾9YiYYYRGa2Ge; UeTracking...Um2Tracking contact label: 2ZCmbCijCirCmBu?BzBiI;))i)It2+7E6=6=}nGpp%:%`;9%:%~jtxMbp?MbP?%A!ɀ!%EA !)%AI!I%Ļi%;%:>F=^F=@AA=EnEEDiI I)M:)QIUo9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?ByzByiI;))i)It2/E6a=:a=)~@ ~@}r{G>Fv^Fxx|=~nE~Di ):) I s9)IQ9i!Y!RG)2G-; U-Tracking...U-2Tracking contact label: 2ZC5bC1jC1rC5B=?BizBqiI;))i)I<R=a=y{:Y)ۑ 1)1\+ E H*]&Ayt2>t2?EF2@AF4}l%;%D9%%{GztMbP%pA!ɀ!% !)%AI!I%i%ף%>F5^F=@AA=EnEEDiI I)M:)QIU:)YI]S9iiiYiRGq2Gu; UuTracking...U}2Tracking contact label: 2ZC}bCyjCrCB?BzBiI;))i)It2y1E6A46A6A)~@ ~@}rGpp>F^F!!)=-nE-Di1 1)5:)9I=v9)AIEv9IiIYIRGQ2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)It2/E88}nG>F^F!!)=-nE-Di1 1)5:)9I=9)AIAIiIYQRGY2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)Ii1XgE 8x]&Ayt6>t64E"F8*F8)~D ~D}vBG--;9-;-MbpMbp?Mb`?-pA)ɀ)) )))I)I-i-;-;>FM^FM@QQ=UnEUDiY Y)]:)aIe9)iIm9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It22E6=464=64<}G4= >F^F!))=-nE-Di1 1)5:)9I=9)AIEQ9IiIYQRGY2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)I<Y)ۡy*E ]&Ayt2ڏ>t20E6R=8)~@ ~@}rBGUU9UUMb`?UAQɀQUEA Q)QIQIU;iUU>Fm^Fm@qq=unEuDi ):)I9)Ii9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i) I t2O8EF6AAF4}njG>F^F!!)=-nE-Di1 1)5:)9I=v9)AIE9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)It28E:A:A8:A)~D ~D}vƄGxx>F^F!!)=-nE- Di1 1)5a:)9I=9)AIE׾9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)It"6E*vA*vA}bGף;<9ףF^F@!!=%nE%-Di1 1)5:)9I=i9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)Ii1ӝDE \]&Ayt"c>t"V0E"F"a=*F&p=)~, ~0}b{G>Fn^Fptt=vnEv:Dix x)x)|I~9)I9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It"-E&=&=&<&<}\``9`F=^F=@AA=EnEMGDiQ Q)UU:)YI]v9)aIe9iiiYiRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It62E>=>=)~H ~H}p>F-^F)11=5nE5TDiA A)E:)IIM9)IIMQ9YiYYYRGa2Ge; UmTracking...Um2Tracking contact label: 2ZCmbCijCirCuBu?BzBiI;))i)It")EF&?AF$}n0G>F~^F  = nE aDi )+;:)Iʽ9)!I%9)i1Y1RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It"/3E$&A&A&A)~0 ~0}bjGbyA` D; #=9 # Q:v?{Gz =A ɀ  EA ) I IAI i < #>F}^F}@ƁƁ=nEƍnDi );)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?ByzByiI;))i)It22E6wA8{8}E0G>F^FƩƩ=nEƭ{Di )D:)I9)ID9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B!zB!i1I=;)9)999i9)AIMi=a>kE ]&Ayt20>t2(;E"F2R=*F6a=)~| ~|}UjGף;=9V-Mb?pAɀ逝 )xAIAIhi=>F=^FE@AI=MoEMDiQ Q)U:)YI]9)aIe9iiiYiRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I[]&Ayt">t"KF~^F = oE Di ):)Iv9)!I!)i)Y)RG12G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?ByzBiI;))i)It%,E)~Y ~Y}0G]]94=9]]:vl?Mb] AYɀY]A Y)YIYI]Լi]=]>Fu^Fu@yy=}oE}Di )F:)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B9zB9iIIM;)I)QQQiQ)YI]t"01EF"@AF }bjG>Fn^Fppt=voEvDix x)z:)|I~9)I9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It"0E&A&A)~0 ~0}f{G>Fn^Fppt=voEvDix x)z?:)|I~9)I i YRG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)I < =xA)=wAY))9@E )0]&AytN+>tN3E}1}D;}t<9}}Mb{Gzt?} Ayɀy}EA })}AIyI}i}ף;}>F^F@ƙƙ=oEƝDi ):)IV;)IS9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I|E kJ]&AytFf>tF 4E"FFp=*FD)~| ~|}}0G>F^F=oEDi )z:)I9)Iv9iYRG2G; UTracking...U2Tracking contact label: 2ZCbC jC rC B ?BzBiI;))i)It"01E2=6=:4<:=}-jG=9#:vy&1?{GzAɀ A)xAIAIԼi`<#>F5^F5@99=EoEEDiI I)M;)qIul9)yI}G9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B9zB9iI;))i)It"T2E&a=&R=)~, ~0}b0G>Fz^F9AA=EoEEDiI I)M:)YI]9)iImb9iYQRGa2Ge; UeTracking...Ue2Tracking contact label: 2ZCmbCijCirCmBu?BzBiI;))i!)!IMt"0EF F }bG>Fn^Fptt=voEvDix x)zb:)|I~9)I9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiqIu;)q)qyyiy)It"V0E((*A*A)~8 ~8}nՃGpp%<%=9%%p= ףA`"?%A!ɀ!% !)!I!I%i%Y=%>F]^F]@aa=eoEe Diq q)u;)I:9)I!9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB ?BzBiiIu;)q)qqqiq)yIt"O8E8:wA}vXG>F~^F|= oE Di ):)IQ9)!I%9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)I i]>^E F]&Aytn̖>tnr9E"Fra=*Fp)~= ~UC}}{G%;%j<9!%{GzI +?%GA!ɀ!! %A)%AI%AI%ףi%94F=^F=@AA=MoEM$Diq q)u:)I9)Id:iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I t"8E&=&=}r0Gv%=v4=>F~^F|= oE 0Di ),<)iIm!9)qIu9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)ItB[*E)~V= ~VZC}jG>F^F!!=%oE%=Di) ))-:)1I5:)9I=9AiAYIRGQ2GU; UUTracking...U]2Tracking contact label: 2ZC]bCYjCYrC]Be?B1zB1iAIM;)I)IIIiI)YI]t2;EF6AAF4}n{G%%<9%ף;%~jtI +?{Gzt?%A!ɀ!! %A)%AI!I%i%9<%ף;>F=^F=@AA=EoEEJDiI I)M7:)YI]9)YI]9iiiYiRGq2Gu; U}Tracking...U}2Tracking contact label: 2ZC}bCjCrCB?BzBiI;))i)YI]tB*9EFAFA)~\ ~\}!))>F=^F9AA=EoEEWDiQ Q)U :)YI]i9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBi I;))i)I< -wA))Y)EE ef]&Ayt.y>t.2E}l%%<9%%y&1Mb?Mb`%pA!ɀ!! %A)%xAI!I%`ei%<%>F=^F=@AA=EoEEdDiQ Q)U:)YI]+9)aIe9iiiYiRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?ByzByiiIm;)i)qqqiq)yI}iY>)E ޯ]&Ayt">t"KFn^Fppt=voEvpDix x)z:)|I~v9)I9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It":E$$}`f=f%=>Fr^Fptt=voEv}Dix x)z:)I89)I9iYRG2G; U%Tracking...U%2Tracking contact label: 2ZC%bC!jC!rC-B-?BzBiI;))i)It"}-E&=&=)~0 ~0}zQG]]=9]]Zd;OZd;O?MbP]AYɀYY Y)YI]AI]ji]j<]>F^F@=oEDi ):)I`J:)!I%9)i)Y)RGY2Ge; UeTracking...Ue2Tracking contact label: 2ZCebCijCirCmBm?BzBiI;))!!i!))IUt"*9EF"@AF"AA{$}eG>F}^FyƁƁ=oEƅDi )n :)Iv9)I!9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BAzBAiI;))i)It"Y,E$$&A&A)~d ~d}uG}wAy--D;9-D-~jth?~jth-A)ɀ)) -A)-EAI-AI-i-D;-D>F^F@ƱƱ=oEDi) ))-:)9I=9)AIE9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BQzBYi!I-;))))))i))1I=t*2E00}zG>F^F =oEDi9 9)=P:)AIE9)IIMD9QiQYqRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii]>sF ]&AytBܒ>tB4E"FBa=*FBp=)~P ~P} {G>F^F!!)=-oE-Di1 1)5;)YI]9)aIe9iiiYiRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It"4E&=$}\^=\~D;~q=9~:~kt{Gz?MbP?~A|ɀ|| ~A)~AI|I~ 0i~#=~:>F]^F]@aa=eoEeDiq q)u:)I9)I:9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI-;)))111i1)9I=il>Ya)qF O]&Ayt"P>t"y1E&a=&p=)~0 ~0}`>Fn^Fptt=voEvDix x)z:)|I~9)Ii9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)I<=MJgot command get SpeedControl.speedCmd=MDSpeedControl.speedCmd 1.000000 m/sY)1 @A)aF 5`i]&Ayt2>t26EF0F6@A}r0G%;%=9%%V-~jt?%A!ɀ!! %IA)!I%AI%i%<%>F=^F=@AA=EoEEDiQ Q)U:)YI]9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It69E:A>A)~D ~F`C}vjGzyAx>F^F!!)=-oE-Di1 1)5:)9I=9)AIEi9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)I< xA)Y)ۙT&F D]&Ayt2>t2;E48}~{G>F=^F9AA=MoEMDiQ Q)Un:)YI]9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)IiY>z-F ]&Ayt2>t2KFe^Fm@iq=uoEu Diy y)}:)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i) I t2Q6E6=4{8}EjGM%=I>F^FƱƱ=oEƵDi ):)IԳ9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B)zB)i9IE;)A)AAAiA)IIUY))9^+:F P]&Ayt2>t2/3E:R=:R=)~v= ~v`C}M{GD;9Mb`Mb`MbPAɀ选 )AIIAIi>F^F@ƩƩ=oEƵ&Di )+:)I9)Ii9QiQYQRGa2Ge; UeTracking...Ue2Tracking contact label: 2ZCmbCijCirCmBm?BzBiI;))i) I t" 2EF&AAF&AA}b0G>Ff^Fhll=noEn2Dip p)r:)tIv9)xIz89|iYRG 2G ; U Tracking...U2Tracking contact label: 2ZCbCjCrCB?BIzBQiaIe;)a)aaaii)iIut2F^F  = oE ?Di )GH:)!I%89)!I%91i1Y1RG92G=; UETracking...UE2Tracking contact label: 2ZCEbCAjCArCMBM?BzBiI;))i)I< wA)Yq)ۉgMF :8]&Ayt">t"4E:vA:vA}n{G%%9%D;%{Gz?I +~jth?%A!ɀ!! 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Software Fault    )I9]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1  -Software Fault)I09RG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCiI;))i)ItB{/EFHFL}jGD;+=9:v/$?Aɀ )IIԼi<>F^F@=qE$DRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrC iI;))!!!i!!))I-< =)=I=i=Y)!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator  !Clearing failed state for component DeadReckonWithRespectToSeafloor1  q ?H " ]&Ayt2S>t2-5E44)~@ ~@}r{GrxAp>F^F!%-=-qE)5lInitializing DeadReckonUsingSpeedCalculator component.9iAYARGI2GM; UMTracking...UM2Tracking contact label: 2ZCQbCQjCQrCUB]?BzBiI;))i)SAI<)$DSpeedControl.speedCmd 1.000000 m/sEH !]&Ayt.>t.[*E6vA6vA}l>F^F!!=%qE!i) ))-:)9I=i9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZC]bCajCarCeBe?BzBiI;))i)I<)IiV>`LH 2!]&Ayt6>t6*9E"F:p=*F8)~D ~D}t5;5`<95:5Zd;O rh?MbP?5A1ɀ11 1)5AI5AI5ji5C<5:>FE^FM@QQ=UqEQiY Y)]+:)aIe9)iIm9qiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I<)`SH )L!]&Ayt2ߕ>t2O8E6=6=}~0G|=>F=^F9AA=MqEIiQ Q)U:)YI]i9)aIe׾9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I@>t>Q6E@D)~L ~L}~Gm;m<9m;m{Gz rh?Mbp?mAiɀii i)mAImIAImףiim;>F}^F@ƍ?ƍ?=qEƍ1Di ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BazBaiI;))i)It"6EF"@AF }^G>F~^F  = qE=Di! 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UTracking...U2Tracking contact label: 2ZCbCjCrCB?B)zB)i9I=;)9)99AiA)IIM< Y)YY1)9_$J W(]&Ayt2ڏ>t20E6=4{8}EƄGMR=I>F}^FyƁƁ=sEƅDi ):)I9)Ii9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;))i)I%t&2E,,)~d ~d}-GmmQ89m;mL7A`?X9vMb`?mpAiɀii mA)iIiIiimm;>F^F@ƑƑ=sEƕDi ):)Ig9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B zB iI%;)!)!!!i!))I5t2 0EF4F4}~XG>F=^F9AA=MsEMDiQ Q)U:)YI]v9)aIaiiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii>Y)۹7J (]&Ayt"{>t"6E$$)~0 ~0}b0GbwA`>F5^F199==sE=DiA A)E:)IIMs9)QIUg:aiaYaRGi2Gm; UuTracking...Uu2Tracking contact label: 2ZCubCqjCqrC}B}?BzBiI;))i)It"2E*vA(}^GP9F^F@!!=%sE%Di) ))-:)9I=S:)AIE.9IiIYIRGQ2GU; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B9zB9iIIM;)I)IIQiQ)YI]i]>DJ )]&Ayt2ߕ>t2O8E"F2a=*F4)~B= ~BZC}rjG>Fv^Fxx|=~sE~Di )) I Z9)I]9i!Y!RG)2G-; U-Tracking...U-2Tracking contact label: 2ZC5bC1jC1rC5B=?BizBqiI;))i)I< )Y)ۡ?JJ :x-)]&Ayt2>t28E6=6=}n{GrF=^F=@AA=EsEEDiQ Q)U+:)YI]9)aIe9iiiYiRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It28E:=:=)~B= ~BUC}p>F~^F  = sE  Di )_/:)I9)!I%i9)i1Y1RG92G=; UETracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It2 2EF6AAF4}nƄG>F%^F)AI=MsEM.DiQ Q)UH:)YI]ʽ9)aIeD9iiiYqRGy2G}; U}Tracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiAIM;)I)QQYiY)iIY)۱,^J 0{)]&Ayt>t/E"A$)~.= ~.ZC}^BGbxA`;ļ9y&1?~jtAɀ A)AIAI`eF=^F=@AA=EsEE;DiI I)M|;)yI}i9)yI}9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B9zB9iIIM;)I)Iiqiq)yI}t"x3E$&vA{*}%G>F]^FYaa=esEmHDiq q)u:)yI}9)Ii9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)IiV>^%kJ 修)]&Ayt2f>t2 4E"F6=*F6p=)~t ~t}MjG<9F^F@ƩƱ=tEƵUDi ):)I9)Iv9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B)zB)i9I=;)9)99AiA)IIM< Y)YY))9W rJ o)]&Ayt2ϙ>t2&=E6=4}n{Gr4=r4=>FM^FIQQ=UtEUaDiY Y)]:)aIeg9)iIm89yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It"R4E*C=*={()~f= ~d}E0G>F^F!AI=MtEMoDia a)e:)iImɨ;)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It0F6@AF8}mG;j<=9F^F@9=EtEE|DiI I)Ms:)YI]9)YI]9iiiYiRGq2Gu; U}Tracking...U}2Tracking contact label: 2ZC}bCyjCyrCB?BzBiI;))i)Iix>Y)JJ /*]&Ayt">t"*E&A$)~2= ~0}``d>F~^F= tE Di ):)I9)!I%]9)i)Y)RG12G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?BzBiI;))i)It22/E6wA8}p%%<9%D;%F=^F=@AA=EtEMDiQ Q)U:)YIY)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii]>i[J I*]&Ayt2>t29E"F6a=*F6a=)~@ ~@}rjG>F^F!!)=-tE-Di1 1)5:)9I9)AIE]9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)I< xA)Y)ۡ=Hgot command show variable doingComms=EFlineCaptureHoming.DoingComms (bool)J c*]&Aytk>tq;E"="=}z0G|%=>F]^FayƁ=tEƅDi ) :)I]9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi!I-;))))))i))1I=t2+E:R=:R=)~F= ~FUC}G]]`;9]]{Gzt{Gzt?]AYɀYY Y)]xAI]AI]ףi]ף;]>Fu^Fu@yy=tEƅDi ):)Is9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI ;) )   i )It201EF6AAF6AA}njG>FE^FAII=UtEUDiY Y)]:)aIe9)iIm9qiqYqRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii>Y)۹J aP*]&AytBܒ>tB4EDD)~P ~P}~{GMM=9IMQ?MpAIɀII MA)IIMAIM̼iMF]^Fe@ii=mtEmDiq q)u<)I9)I9 i Y RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?BzBi)I-;)))111i1)9IEt2v5E4:wA}n0G>Fv^Ftxx=ztEzDi )z:) I 9)I]9iYRG!2G-; U-Tracking...U-2Tracking contact label: 2ZC-bC1jC1rC5B5?BqzBqiI;))i)IiV>+׸J j*]&AytNP>tNy1E"FT*FT)~p ~p}EGD<9ףF^F@ƩƱ=tEƵDi ):)I)I:iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B!zB)iI;))i)I< wA)Y)J r*]&Ayt"=>t"2E&=&=}\b%=`>F~^F  = tE Di )U:)I9)!I%]9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?ByzBiI;))i)It201E88)~@ ~@}rG>Fz^Fx||=~tE~ Di ):) I 9)ID9!i!Y!RG)2G-; U-Tracking...U52Tracking contact label: 2ZC5bC1jC1rC5B=?BqzBqiI;))i)It60EF8F:@A}vG-D-=9--~jty&1?-GA)ɀ)) )))I-IAI-ļi-`<->FE^FM@IQ=UtEUDiY Y)]:)aIe9)iIm׾9qiqYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It2(;E44)~@ ~@}{G yA >F=^F9AA=MtEM#DiQ Q)UU:)YI]9)aIe]9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)ItNO8EVvAT}50G}} =9}D;}Zd;Q?~jth?}pAyɀyy y)}AI}AI}yi}u=}D;>F^F@ƙƙ=tEƝ0Di ):)I:)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi)I-;)))))1i1)9I=i]> J V(+]&Ayt2ߕ>t0"F4*F4)~@ ~@}rG>Fv^Fx||=~tE~=Di )) I s9)I89i!Y!RG)2G-; U-Tracking...U52Tracking contact label: 2ZC5bC1jC1rC5B=?BizBqiI;))i)I< !)!Y)3J X+]&Ayt2>t20E6=6=}lr4=p>Fv^Fxxx=~tE~JDi ):)I9)I:!i!Y!RG)2G-; U5Tracking...U52Tracking contact label: 2ZC5bC1jC1rC=B=?BqzBqiI;))i)It":E(*=)~0 ~0}bGĻC =994{Gzy&1?I +AɀxA )xAIIףi`<94>F^F%@!)=-tE-WDi1 1)5+:)9I=9)AIE9IiIYQRGY2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)It20EF4F6AA}nBG>F^F!!)=-tE-dDi1 1)5a:)9I9)AIE]9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)Iii>Y)*pJ  +]&Ayt"{>t"6E$$)~2= ~2ZC}bjGbwA` 0=9#QMb?{Gz AɀA )IIi=#>F^F%@))=-tE-qDi1 1)5H:)9I=D9)AIE9IiIYQRGY2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)It"7E&wA&vA{*}%{G>F]^FYaa=etEe~Diq q)u:)yI}9)Iʽ9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)IK N,]&Ayt2>t26E"F6R=*F4)~  ~}y>F^F=tEDi )L^:)I :)Is:iYRG2G; UTracking...U2Tracking contact label: 2ZC%bC!jC!rC%B-?BazBaiqI};)y)yyyiy)I< xA)Yi)yL K '5,]&AytB>tBT2EHJ=}50G19}D}u<9}}F^F@ƙƙ=tEƝDi ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi!I%;)!))))i))1I=t2:E:C=:=)~B= ~FUC}rjG>F^F!!)=-tE-Di1 1)5:)9I=i9)AIE׾9IiIYIRGQ2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B zB iI%;)!)!!!i!))I5t2&=EF6?AF6@A}n0G%%H=9%D% rhQ?~jt%fA!ɀ!! %A)%AI!I%C i%\=%D>F=^F=@AA=EtEEDiQ Q)Ua:)YIY)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBi)I-;)))111iQ)YIeiml>YQ)Y֥ K ,]&Ayt"0>t"(;E$$)~0 ~0}bjGbxA`>F~^F  = tE Di ):)I9)!I!)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It"2E$$}^0G>Fn^Fptt=vtEvDix x)z:)|I~9)I]9 i YRG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)Ii,K o,]&Ayt"->t"t7E"F"a=*F$)~.= ~2ZC}bG;=9{Gz?MbAɀ )xAIAI̼iף<>F^F%@))=-tE-Di1 1)5;)YI]ʽ9)aIe9iiiYqRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi)I5;)Q)QQQiQ)YIe< mwA)qYI)Y=M Xgot command get lineCaptureHoming.DoingComms=M FlineCaptureHoming.DoingComms 1 bool3K v,]&Ayt>t+7E=}ZjGX^=>Ff^Fdhh=jtEjDil l)n:)tIv]9)xIzi9|i|Y|RG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BAzBAiQIU;)Q)YYYiY)It:t7E>a=B=)~J= ~JUC}v0G5ף5<95`5y&1/$?y&1|5A1ɀ15A 1)1I1I5`ei5<5`>FM^FM@QQ=UtEUDia a)e:)iIm9)iIm9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It24EF2AAF4}~G>F=^F9AA=MtEMDiQ Q)UI:)YI]9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii>Y)۹)GK -]&Ayt2>t26E44{8)~t ~vZC}ujGuyAy>F^F=tE Di ):)I)IiYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B9zB9iIIM;)I)QQQiQ)YIetB/ENvAP}e{GDף<9ף:vMb?{GztfAɀEA )AIITi<ף>F^F@=tEDi ):)I9) I 9iYRG!2G%; U%Tracking...U%2Tracking contact label: 2ZC-bC)jC)rC-B-?BazBaiyI};)y)yyyi)IiV>0TK Q-]&Ayt"ܒ>t"4E"F *F )~@ ~@}rƄG>F~^F = tE %Di )U:)I9)!I%9)i)Y)RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))qqqiq)yI< vA)Yi)y{ZZK lk-]&Ayt"ڏ>t"0E*=*=}^G`b4=t<9ĻMbpF=^F=@AA=MtEM3DiQ Q)Ua:)yI}G9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)1I=t"01E&=()~0 ~0}b0G>Fn^Fptt=vtEv?Dix x)zU:)|I~v9)I9 iYRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBi I;))QQQiQ)YIet"2EF"@AF }^jG>Fn^Fptt=vtEvLDix x)z :)|I~׾9)I9 iYRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)Ii>Yq)ۑٖmK X-]&Ayt">t".E$$)~0 ~2UC}b{GbxA`9;~jth?Mb`Mb`?pAɀ xA)IID;i;>F^F%@!)=-uE-YDi1 1)5;)YI]9)aIev9iiiYqRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi)I5;)Q)QQQiQ)YIetF-5ELL} >F^F!!=-uE-fDi1 1)5:)9I9)AIE9IiIYIRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBi I ;))11i1)9IEiY>zK ȵ-]&Ayt">t"[*E"F *F"p=)~0 ~0}`5:5;955Mb`5A1ɀ11 1)5AI5AI5i55>FM^FM@QQ=UuEUsDiy y)}:)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BIzBIiyI};)y)yyi)I< )Y)ۙK Ő.]&Ayt"ɓ>t"5E&=&=}\b=`>Fn^Fptt=vuEvDix x)z:)|I~9)I i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BYzBYiiIm;)q)i)I>tB/EFR=F={H)~  ~ }mG>F}^FyƁƁ=uEƅDi ) :)I9) I 9iYRG92GE; UMTracking...Uu2Tracking contact label: 2ZC}bCjCrCB?BzBiI;))i)It"v5EF F }-Gmm;9m;m~jth~jth?Mb`?mAiɀimEA i)iImAImDimD;m;>F^F@ƉƉ=uEƕDi ):)I9)IqiqYqRGy2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BAzBAiQI];)Y)YYYiY)aImYI)QV͔K 5$T.]&Ayt"=>t"2E$$)~, ~,}^jG^yA`>F~^F= uE Di ):)Ii9)!I%]9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?ByzBiI;))i)It"?E&wA&wA}^{G|~9~;~Mbp?~A|ɀ|~ |)|I|I~i~~;>F^F@!=%uE%Di) ))-:)1I5s9)9I=9AiAYIRGQ2GU; UUTracking...UU2Tracking contact label: 2ZC]bCYjCYrC]Be?BzBiI;))i)IizޡK և.]&Ayt2a>t2,E"F2p=*F6a=)~@ ~BZC}rƄG>F^F!!!=-uE-Di1 1)5:)9I=!9)AIE׾9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)I< xA)Y)ۙK .]&Ayt6>t6/E8<}vׄGv4=z%=>F^F!!=%uE%Di) ))-:)1I5:)9I=9IiIYIRGQ2GU; UUTracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBi9I=;)A)AAIiI)aImt"7E$&a=)~, ~2UC}^G-D;-Ļ9-:-Mb`?y&1|MbP?-A)ɀ)-EA )))I)I-;i-`廉-:>F}^F}@ƁƁ=uEƅDi )=:)I׾9)I!9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I;))i)I%t"(;EF$F$}b{G>F ^F =uEDi! !)%:))I-9)1I5v99i9Y9RGA2GM; UMTracking...UM2Tracking contact label: 2ZCMbCQjCQrCUBU?BizBiiI;))i)Ii>Y)ۑDK B.]&Ayt2>t2.E44)~@ ~@}r0Gtt-D-9--y&1?FM^FM@QQ=UuE]Dia a)e+:)iIi)qIu9yiyYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BizBiiI;))i) IPriority 8: lineCaptureHoming:L/E >Priority 9: lineCaptureHoming:M/E @Priority 10: lineCaptureHoming:N,K  /]&Ayt׌>t4-E"vA }ZjG>Fn^Fptt=vuEvDix x)z:)|I~v9)I׾9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BazBaiqIu;)q)qqqiy)Iia>:XK "/]&Ayt"ڏ>t"0E"F*=*F,)~< ~<}r{G>FM^FQii=uuEuDi ):)I:)I:iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB%?BAzBAiQIU;)Q)QYYiY)aIe< q)qYA)QـK t",E&=&={(})))mmt9m:m~jt?:vMbP?mpAiɀii i)mAIiImDF^F@ƉƉ=uEƕDi ):)I9)IQ9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B zB iI;))!!!i!))I-t23E6a=:R=)~t ~zZC}M0G>F}^FyƁƁ=uEƅ(Di )U:)I!9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;))i)I%t67EF:?AF8}vjG559495;5{Gz?{GztMbp?5pA1ɀ11 1)1I1I5#FM^FM@QQ=UuEU5DiY Y)]:)aIe9)iImv9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii>Y)zK Qf/]&Ayt2~>t2M:E44)~@ ~@}{G xA >F^F!!=%uE%BDi) ))-:)9I=9)AIE9IiIYIRGQ2GU; U]Tracking...U]2Tracking contact label: 2ZC]bCajCarCeBe?BzBiI;))i)It&1E8:vA}E0Gף;94<9I +Mbp?Aɀ A)II94i;>F^F@ =uEPDi! !)% 3:)1I5:G:)9I=-:IiIYIRGY2Ge; UeTracking...Ue2Tracking contact label: 2ZCmbCijCirCmB}?BzBiI;))i)IiV>K G/]&Ayt2U>t28E"F6p=*F4)~D ~D}vG>F^F!!)=-uE-\Di1 1)5n:)9I=9)AIEv9IiIYIRGY2G]; UeTracking...Ue2Tracking contact label: 2ZCebCajCirCmBm?BazBaiI;))i)I< )Y)ۙƶK Q/]&Ayt2#>t2(E6=6=}lpp>Fv^Ftxx=zuE~hDi ):) I s9)ID9iYRG)2G-; U-Tracking...U-2Tracking contact label: 2ZC5bC1jC1rC5B5?BizBiiI;))i)It2(;E6C=8)~@ ~@}p%%`9%ף;%{Gzt?Mbp{Gzt?%pA!ɀ!! %xA)!I!I%ף;i%%ף;>F=^F=@AA=EuEEvDiQ Q)U:)YI]9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It24-EF6AAF4}njG>F^F!!)=-uE-Di1 1)5:)9I=9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)Ii>Y)gL :%0]&AytN׌>tP^A\)~r= ~p}E{GAAD;#<9F^F@ơƩ=uEƭDi ):)I9)Ii9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B!zB!i1I=;)9)999i9)AIMt64E}r0G>Fz^F|=uEDi  ) :)Is9)IG9!i)Y)RG12G5; U5Tracking...U52Tracking contact label: 2ZC=bC9jC9rC=BE?BqzByiI;))i)Ii]>L }?Y0]&Ayt2>t2>E"F2a=*F6p=)~B= ~BUC}G>F=^FAII=MuEUDia a)eC:)iIm :)qIug5:iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi!I-;))))))i))9IE< Y)YY1)A(/L s0]&Ayt2>t201E:=:=}txz4=];]9];]~jtxMbp?]AYɀY]xA ]xA)]AIYI]i]Ļ];>Fu^F}@ƁƁ=uEƅDi ):)I9)I.9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;) ) i)It2q;EJa=H)~R= ~RZC}>F=^F9AA=MuEMDiQ Q)UU:)YI]9)aIei9iiiYiRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B)zB)i9I=;)A)AAAiA)IIMt*:EF.@AF,}jjGD;<9y&1|~jth?Aɀ A)EAII`iD;>F-^F5@99==uE=DiA A)E:)QIU:)YI]9aiaYaRGi2Gm; UuTracking...Uu2Tracking contact label: 2ZCubCyjCyrC}B}?BzBiI;))i)QIUie>YI)Q(0L 0]&Ayt">t"R4E&A$)~2= ~2UC}b0GbwA`>F~^F = uE Di ):)Ii9)!I%i9)i)Y)RG92G=; 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UuTracking...U}2Tracking contact label: 2ZC}bCyjCyrCB?BzBiI;))i)I=O ofI>]&Ayt.f>t. 4E"F0*F2p=)~< ~<}njG>F^F!!=%yE%Di) ))-U:)9I=9)9I=׾9IiIYIRGQ2GU; U]Tracking...U]2Tracking contact label: 2ZC]bCYjCarCeBe?BzBiI;))i)I< vA)Y)ۙ]fO G;c>]&Ayt"X>t"F5^F9QQ=]yE]Diy y)}:)I:)I :iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B1zB1iAIE;)A)AIIiI)QI]]&Ayt20>t2(;E6=:=)~@ ~@}jG]]9Y]MbP?Mb`?]AYɀYY Y)YI]IAI]i]:Y>Fm^Fu@yy=}yE}Di ):)I9)I<:iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))   i )I]&Ayt2>t2+7EF2AAF4}n{G>FE^FAII=MyEMDiQ Q)UD=:)YI]s9)aIe9iiqYqRGy2G}; U}Tracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)Ii>Y)۹O Ͱ>]&Ayt"=>t"2E$${()~d ~d})))mDm949mD;m{Gz?{Gzt~jth?mAiɀii mA)iImAIm#F^F@=yEDi )D:)I9) I ]9iYRG!2G%; U%Tracking...U-2Tracking contact label: 2ZC-bC)jC)rC-B5?BizBiiyI};)y)yyi)I]&Ayt"k>t"q;E(*wA}!>F]^FYaa=eyEmDiq q)uU:)yI}׾9)IQ9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BYzBYiiIm;)q)i)Ii]>O τ>]&Ayt2>t29E"F8*F>a={H)~ ~}; 09V-?MbMbPAɀ )IIF^F@=yEDi )+:)!I%9))I-<iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB-?BzBi1I5;)1)999i9)AIM< UxA)QY!))߾O  `>]&Ayt"a>t",E&=$}-0G-4=)>F=^F9AA=MyEMDiQ Q)U:)YI]׾9)aIe׾9iiiYiRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBi I ;))11i1)9IEt"9E&=&=)~0 ~0}bjG>Fn^Fppt=vyEvD]zUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. z-~Software Fault 5~ 9~ A~ ix x)z+: Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.  Software Fault    )I:9]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software Fault)Ib9RG)2G-; U5Tracking...U52Tracking contact label: 2ZC5bC1jC1rC]iiIm;)i)iqqiqq)ItBr9EFF?AFD}{GIMGa9MM~jt?{GzMGAIɀII MA)IIMAIM=iM#M>Fe^Fe@ii=myEmDRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCiI;))i)I< )I5i5Y)!Clearing failed state for component DeadReckonUsingMultipleVelocitySources     !Clearing failed state for component DeadReckonUsingSpeedCalculator ! Clearing failed state for component DeadReckonWithRespectToSeafloor1 O K?]&Ayt"+>t"3E$$)~, ~0}ptt>F~^F = yE lInitializing DeadReckonUsingSpeedCalculator component.i!Y!RG)2G-; U-Tracking...U52Tracking contact label: 2ZC1bC1jC1rC5B=?BzBiI;))i)SAI<)Y$}DSpeedControl.speedCmd 1.000000 m/sFO e?]&Ayt>>tB8ERvARvA}=0G};}P9}}Mb?ˡEMbP}Ayɀyy y)}AI}AI}=i}'}>F^F@=yEi ):)I.9)I9!i!Y!RGI2GM; UUTracking...UU2Tracking contact label: 2ZCUbCQjCQrC]B]?BzBiIIM;)I)IIIiI)QI]<)ۉIV>iV>-O a?]&Ayt">t"R4E"F *F )~, ~0}^jG>Fn^Fptt=vyEtix x)z:)|I~]9)I9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BYzBYiiIm;)q)i)I<)QO ?]&Ayt"ܒ>t"4E.=.=}n{Gn%=l>F~^F|=yE i ):)I9)!I%9)i)Y)RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?B9zB9iIIu;)q)qqqiq)It">E:C=8)~@ ~@}lD#9Q?:vpAɀ A)AIAIF5^F]@e?e?=eyEe#Dii i)m:)qIu;)Il9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;) )   i )It"t7EF"AAF }`>Fn^Fptt=vyEv/Dix x)zU:)|I~9)I9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)I< xA)wAY)ITO 2!?]&Ayt>t>E {$)~` ~`}%0G))m`;i9mDm~jt?L7A`堿~jthmAiɀii mA)iIiImF^F@ƉƉ=yEƵ=Di )n:)I9)I ;iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B1zB9iIIM;)I)IQQiQ)YI]t&2E,,}-ՃG>F]^FYaa=myEmJDiq q)u:)yI}i9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;) )i)I%iY>bP @]&Ayt2->t2t7E"F6p=*F4{8)~t ~t}EG>F}^FyƁƁ=yEƅWDi )I:)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B zB iI;))!!i!))I-i==Y)Ì P M4@]&AytB>tB/3EDD}jG4=4=#9;~jt?{GztMbp?pAɀ A)IAIF ^F @=yEdDi ):))I-9))I-v99i9Y9RGA2GE; UMTracking...UM2Tracking contact label: 2ZCUbCQjCQrCUB]?BzBiI;))i)It24E:R=:=)~@ ~@}rƄG>F^F!!)=-yE-pDi1 1)5:)9I=9)AIE9IiIYIRGQ2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi!I%;)!))))i))1I5t2O8EF4F6AA}nBG%Ļ%Q89%%F5^F=@AA=EyEE}DiQ Q)U:)YI]9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?B9zB9iIIM;)I)QQqiq)yI}< wA)Yi)y P 4@]&Ayt2>t2x3E44)~@ ~@}rՃGrwAp>Fz^Fx||=~yE~Di  ) :)I9)I:!i!Y!RG)2G-; U5Tracking...U52Tracking contact label: 2ZC5bC1jC1rC=B=?BqzBqiI;))i)It"*9E*wA*wA}^XG>F~^F = yE Di ):)I9)!I%v9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?ByzBiI;))i)IiV>,P @]&Ayt"@>t"Q6E"F$*F$)~0 ~0}b{Gף9Q?~jtAɀ A)IAIF^F@!!=-yE-Di1 1)5:)9I=9)AIE9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)Ii>Y)ۙ=3P O@]&Ayt.P>t2y1E6=4}n0Gn%=n%=>F^F!!=%yE%Di) ))-:)9I=9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZC]bCYjCarCeBe?BzBiI;))i)It64E>=>=)~H ~H}vjG55/]955~jt?+Mb`5pA1ɀ11 5A)1I1I5=i55>FM^FM@QQ=UyEUDia a)ez:)iIm9)qIu9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It28EF4F6@A}ƄG>F ^F=yEDi! 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%A)!I%AI!i%D%;>F]^F]@aa=ezEmfDiq q)u:)yI}׾9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I < )Y)P SB]&Ayt">t"0E$$)~0 ~2ZC}b0GbyA`>F~^F = zE sDi ):)I9)!I%v9)i)Y1RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It..E46vA}njG;9;~jtxMb`?Aɀ )xAIIiĻ;>F5^F=@AA=EzEEDiI I)M:)QIU9)YI]9aiiYiRGq2Gu; U}Tracking...U}2Tracking contact label: 2ZC}bCyjCyrC}B?BzBiI;))i)Ii]>)P SB]&Ayt6ϙ>t6&=E"F8*F:p=)~D ~D}v{G>F^F!!!=-zE-Di1 1)5:)9I=v9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)Ii>Y)ۙ?P .B]&Ayt2ɓ>t25E6=4}|%=4=>FE^FAII=MzEMDiQ Q)U.F:)aIe9)aIeQ9iiqYqRGy2G}; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B)zB)iiI};)y)i)It"y1E&C=$)~0 ~0}^0G9MbP?Mb`?Aɀ )II:i>F^F@ƉƉ=zEƍDi ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B zB iI;))!!!i!))I-t2M:EF6@AF4}njG>F^F!!)=-zE-Di1 1)5U:)9I=9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?ByzByiI;))i)I< xA)Yi)ya%P B]&Ayt">t"6E&A$)~0 ~0}bGbxA`9MbP?MbP?Aɀ )IAIi:>F^F%@!)=-zE-Di1 1)5:)9I=i9)AIAIiIYQRGY2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)It"2E&wA&wA}^XG>F~^F = zE Di ):)I9)!I%9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?ByzBiI;))i)IiV>\7P !v"C]&Ayt2>t2*9E"F4*F6a=)~@ ~D}v0G>F%^F)AA=MzEMDii i)m:)I:)IY:iYRG2G; UTracking...U 2Tracking contact label: 2ZCbCjCrC%B-?BqzByiI;))i)IY )~aP LQt2(E46=}njGr4=r%=%%ף9%%y&1?y&1Mbp%A!ɀ!! %A)!I!I%`eF=^F=@AA=EzEEDiI I)MU:)YI]9)aIe9iiiYiRGq2Gu; U}Tracking...U}2Tracking contact label: 2ZC}bCjCrCB?BzBiI;))i)It6R4E>=>=)~D ~D}vƄG>F~^F|= zE Di ))Ii9)!I%9)i)Y)RG12G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?ByzByiI;))i)It2:EF2AAF4}~BGAE#9EDEy&1|?y&1|~jthE=AAɀAA EA)AIAIE`;iE`廉ED>FU^F]@aa=ezEeDii i)mn:)qIu3A:)yI}G9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I< wA)Y)U[P C]&Ayt2>t2*9E6A4)~@ ~@}rGryAp>FU^FQYY=]zEeDii i)m:)qIus9)yI}`9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It6E&vA&vA}zՃG>FE^FIYa=ezEeDi )D:)I+9)I9iYRG!2G%; U%Tracking...U%2Tracking contact label: 2ZC-bC)jC)rC-BM?BzBiI;))i)I-i]>P ԘC]&Ayt2>t2;E"F0*F4)~@ ~@}nG%D;!9!%{Gzt?{Gz~jth%A!ɀ!! !)%AI!I%ף;i%#!>F=^F=@AA=EzEM(DiQ Q)U7:)YI]9)aIe9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))qiq)yI}i>Yi)yP yC]&Ayt.{>t26E:=>={D}}jG=>F^F=zE5Di ) 3:)I :)Io:iYRG2G; U%Tracking...U%2Tracking contact label: 2ZC-bC)jC)rC-B5?B1zB1iAIE;)A)AIIiI)It23EJR=H)~  ~ }mƄGDC9y&1?{GzMb`Aɀ逩 A)xAII`eF^F@=zEBDi ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZC bC jC rC B ?BIzBIiYI];)a)aaaia)iIut2v5EF6@AF4}rG>F^F!!)=-zE-ODi1 1)5:)9I=9)AIE9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)I< xA)Y)ۙQ 4%D]&AytV>tZ8EfAd)~| ~UC}e{GexAa9~jth?Mb`?Aɀ逡 A)IAID;i;>F^F@=zE\Di ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB ?BAzBAiYI];)Y)YYYiY)aImD]&Ayt">t"0E&wA$}\>F^F  = zE hDi )::)!I%g9)!I%91i1Y1RG92G=; UETracking...UE2Tracking contact label: 2ZCEbCAjCArCMBM?BzBiI;))i)IQ XD]&Ayt2S>t2-5E"F4*F4)~@ ~BZC}p>FM^FIQQ=UzEUvDiY Y)]:)iIi)iIm׾9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)IY)Q ̖rD]&Ayt2>t2>E44}lpr4=%;%ף9%;%Mb`?{GztMb`?%A!ɀ!! !)!I!I%;i%ף%;>F=^F=@AA=EzEMDiQ Q)U+:)YI]9)aIe9iiiYiRGq2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?ByzByiI;))i)It2O8E:a=:=)~@ ~@}p>Fv^Fx||=~zE~Di )) I 9)I89!i!Y!RG)2G-; U-Tracking...U52Tracking contact label: 2ZC5bC1jC1rC5B=?BqzBqiI;))i)ItN+7EFRAAFP}G];]9Y]~jth?MbMb`?]AYɀYY Y)YIYI]D;i]Y>Fu^Fu@yy=}zE}Di ):)I::)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI ;) )   i )I< -wA))Y)ۑ 0Q (D]&Ayt"׌>t"4-E&A$)~0 ~0}bXGbwA`>F~^F = zE Di )I:)I9)!I%9)i)Y)RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?ByzBiI;))i)It"7E*vA*wA}bG>F~^F  = zE Di )U:)I9)!I%׾9)i)Y1RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)Ii]>^t&t7E"F*=*F*p={0)~d ~fUC}-Gimt9im{Gz?QMb`?mAiɀii i)iIiIm#F^F@ƉƉ=zEƍDi ):)IZ9)Ii9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))!!i!))I-Y)ECQ  E]&Ayt2>t2AE6=4}EGM%=M=>F}^FyƁƁ=zEƅDi )a:)Iv9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;))i)!I%t"6E*=()~0 ~2`C}bG5;5`e95D;5~jtx?y&1~jth?5A1ɀ11 5xA)5AI5AI5;i5`e5D;>FM^FM@QQ=UzE]Dia a)e:)iIm9)qIui9yiyYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It24EF2@AF6AA}rXG>F^F!!)=-zE-Di1 1)5U:)9I=]9)AIED9IiIYIRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))!!i!))I-< =vA)9Y )VQ fK[E]&Ayt">t"8E$$)~0 ~2ZC}bƄGbxA`>Fr^Fptt=vzEvDix x)z::)I9) I i9iYRG2G%; U%Tracking...U%2Tracking contact label: 2ZC%bC!jC)rC-B-?BazBaiqIu;)y)yyyiy)It"0E*wA(}^ׄGt<C9:~jtx?F^F%@!!=-zE-Di1 1)5:)9I=9)AIEv9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)IiV>cQ E]&Ayt2>t2;E"F6p=*F6a=)~@ ~@}rBG>F%^F!))=-zE-Di1 1)5::)AIE9)AIEi9IiQYQRGY2G]; UeTracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)Ii>Y)iQ {ܨE]&Ayt2>t24E6=4}nGr=rR=%`;%̼9%%:v?I +%pA!ɀ!! 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-}-y-u-q-m-i-e5a5]5Y5U5Q5M5I5E5A5=5955515-5)=%=!=====iAIE;)I)iiiii)qI}t"-5E}Z0G>F~^F = |E Di ):)I9)!I%i9)i)Y)#5.Started mission Default115 (5:Aggregate::initialize Default= )=@Initialize GoToSurfaceComponent. )=No depth rate setting specified. Using default value of nan m/s. )=~No pitch setting specified. Using default value of nan degrees. )ENo speed setting specified. Using default value of 1.000000 m/s. )ENo surface timeout specified. Using default value of 1000.000000 seconds.)EnReceived pitch timeout configuration 60.000000 seconds.qM(M4Initialize Wait Component.iMIIIiYI];)Y)aaaiaa)mIm< }xA)yYQ)Y$}DSpeedControl.speedCmd 0.000000 m/s+R jK]&Ayt2y>t22E6A4)~@ ~@}rjGryAp%;%@=9%%~jty&1?%A!ɀ!! %A)%AI!I%i%`<%>F=^F=@AA=E|EMDiQ Q)U:)YI]i9)aIe9iiiYiiqqqqiI;))i)I< )IiY%))HR K]&Ayt6=>t62E<<}v0G>Fz^F|=|Ei  ) :)I9)I.9!i)Y)i1111i9IE;)A)AAAiAI)IIU<)aIe>iV>T=R l]K]&Ayt"->t"t7E)~0 ~0}nG>F^F  = |E i )+;:)!I%+9)!I%ʽ91i1Y1i9999iIIM;)I)IIIiIQ)QI]<)ixR  K]&Ayt.>t.KF^F@=|Ei )+:)I;)Ix9!i!Y!i))))iYI];)Y)aaaiaa)iIu<)ہ_R WK]&Ayt">t"*9E&C=&C=)~0 ~0}b0G>Fn^Fptt=v|Etix x)zU:)|I~׾9)I9 i Yii!I%;))))))i)1)1I=<)I )0R 5K]&Ayt">t"F^F@=|Ei  ) &@:)ID9)I9!i)Y)i1iI;))i) I<)!rS L]&Ayt">t"6E"A$&A&A)~, ~0}f{GfwAd>Fn^Fppt=v|Etix x)z:)|I~v9)I9 i Y ii!I%;))))))i)1)1I}<)ۉS lL]&Ayt">t $&vA}d>Fn^Fppt=v|Etix x)z:)|I~9)I9 iYii!I-;))))))i)1)1I=<)IIV>i]> S 9L]&AytN+>tN3E)~\ ~\}%G<9tF^F@=|Ei )n:)I9) I i9iYi!!i)I-;)))qqqiqy)yI<)ۑvS SL]&Ayt->t"t7E&=&=&C=&p<}nXGr4=r%=>F~^F|=|Ei )7:)I9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)aDS OxmL]&Ayt"+>t"3E)~, ~,}^{G%%;9%%MbPMbp?MbP%A!ɀ!! %)%AI!I%i%;%>F5^F5@AA=E|EAiI I)M:)QIU_/:)YI]9aiiYiiqqqqiyI;))i)I<)ۡ )!S 7SL]&Ayt"C>t":E}^0G>F~^F = |E i ):)Ii9)!I%9)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)A'S .L]&Ayt2#>t2(E6A6A6A6A)~@ ~@}njGpp>Fv^Ftxx=~|E|i ):) I 9)Iʽ9iY!i))))iIIU;)Q)QQQiQY)aIe<)q.S L]&Ayt">t"/3E}^{G~;~<9~ף~QI +?{Gzt~A|ɀ|~EA ~EA)~xAI|I~ui~94<~ף>F^F@!=%|E!i) ))-:)1I59)9I=9AiAYAiIIIQiYI];)a)aaaiai)iIm<)ہIiV>Y4S 2L]&Ayt2+>t23E)~< ~<}jG>F^F!!!=-|E)i1 1)5:)9I=9)AIEQ9IiIYIiQQQQiaIe;)a)iiiiii)qIu<)ۉ$;S ׽L]&Ayt">t"+7E&=&=*=*p<}bXGb=`,=9TV-X9v?:vAɀxA A)AIAIi<T>F^F@!!=%|E)i1 1)5+:)9I=D9)AIE9IiIYIiQQQQiaIe;)a)aaaiii)iIu<)ہ BS M]&Ayt&>t&:E)~4 ~4}f{G>F~^F  = |E i ):)I9)!I%9)i)Y1i1199iAIM;)I)IIIiIQ)QI]<)i )f7HS Kv"M]&Ayt"ɓ>t"5E}p>F%^F)99=E|EAia a)eŧ:)qIu3w:)I7:iYiiI;))i) I<)IaNS ~Qt" 4E*A*A*A*A)~4 ~4}dfyAhMM/]=9IM~jt~jt?:vMAIɀIMA MA)MAIMAIMiM=I>Fe^Fm@iq=u|Eqiy y)}+:)I9)I9iYiiI;))i)I<)HUS *VM]&Ayt">t",E}\>Ff^Fdhh=j|Ehip p)r:)tIv9)xIz]9|i|Y|iiI;))i!)!I%<)9IR>i]>s[S pM]&Ayt"ܒ>t"4E)~, ~,}^Gף;<9:vF^F@!!=%|E!i) ))-:)1I5:)9I=:9IiIYIiQQQQiaIe;)a)aaaiai)iIu<)ہf[bS M]&Ayt"~>t"M:E$&=&p;&%=}^Gb%=`>F^F  = |E i )9:)!I%9))I-ʽ91i1Y1i9999iIIM;)I)IIIiIQ)QI]<)ihS ƣM]&Ayt>tFr^Ft|=}Ei) ))-:)AIE߆:)QIUc:iiqYqiiI;))i)I<) )nS M]&Ayt">t"8E}Z{G~ף~<9~`~QI +?y&1|~fA|ɀ|| |)~AI~AI~ui~9<~`>F^F@=}Ei) ))-:)1I59)1I5e:AiAYIiIIQQiYIe;)a)aaaiai)iIu<)ہuS zM]&Ayt.~>t.M:E2A2A6A6A)~>= ~<}n0GrxAp>F^F!!=%}E!i) ))-a:)9I=9)AIE]9IiIYIiQQQQiaIe;)a)iiiiii)qI}<)ۉ"{S 8MM]&Ayt"h>t"7E}^jGD;<9ĻQI +?~jtxfAɀ )xAIIAIi94<Ļ>F5^F5@99==}E9iI I)Mz:)QIU9)YI]{9iYiiI;))i)I<)!IiV>sS f. N]&Ayt"+>t"3E)~, ~,}Z{G>F~^F|=}E i ):)I9)!I%v9)i)Y)i1111iI;))i)I<)ՈS  %N]&Ayt*̖>t*r9E6=6=6=:<}0G =]]9<9Y]:vFm^Fm@qq=}}Eyi ):)I9)Ii<9i9Y9iAAAAiIIU;)Q)QQQiQY)YIe<)qoS ]>N]&Ayt>t9E)~ ~ }RjG>FV^FX\\=^}E\i` `)bn:)dIf9)hIjD9lipYpittttixIz;)|)|||i|)I <) @A)S XN]&Ayt2>t2:E}j{G>F^F!!)=-}E)i1 1)5:)9I=9)AIEv9IiIYIiQQQQiaIe;)a)iiiiii)qIu<)ۉS rN]&Ayt"U>t"8E$&A$&A)~0 ~0}\``u<9ףI +{Gz?{GztfAɀA )AII94i#<ף>F=^F=@AA=M}EIiQ Q)Ua:)YI]9)aIe9iiiYiiqqqqiI;))i)I<)۩]S qN]&Ayt">t"R4E}\>F~^F  = }E i ):)Iv9)!I%9)i)Y1i1119iAIE;)I)IIIiIQ)QI]<)iIV>iY>$S )ZN]&AytN>tN4E)~X ~X}0GUUT<9QU~jtx~jt?{GztUAQɀQUEA Q)QIUIAIUĻiUDFm^Fm@qq=u}Eqi ):)IZ9)Ig:iYi(Done Waiting.q(8Uninitialize Wait Component.iI;))i)I<)< S *N]&Ayt2f>t2 4E6=6=6=6<}jG4=>F=^F9AA=E}EAiQ Q)U+:)YI]9)aIe]9iiiYiiqqqqu)}JAggregate::initialize Default:CheckIn1}iI;))i)I<)۩|3S dN]&Ayt"C>t":E)~, ~0}^0G>Ff^Fdhh=j}Ehip p)rz:)tIvg9)xIzʽ9|i|YYiaaaaiiIu;)q)qqqiqy)yI<)ۑ ?A)]S N]&Ayt"h>t"7E}^jG~D~9~~{Gzt?~fA|ɀ|~xA ~xA)|I~AI~ף;i~~>F^F@=}Ei) ))-n:)1I59)1I5e9AiAYAiIIIIiI;))i)I<)ES  O]&Ayt"f>t" 4E&A&A&A&A)~0 ~0}b{GbyA`>F~^F = }E i ):)I9)!I%9)i)Y1i119QiYIe;)a)aaaiai)iIu<)ہoS  'O]&Ayt">t"+7ENFix Requested}%0Geeף9aeMbp?~jthepAaɀae a)aIaIe;ieDa>F}^F}@ƁƁ=}EƉi )M:)ID9)I9iYiiI;))i)I<)IR>iV>WS oAO]&Ayt2>t2:E44>Parsing RMC sentence: $GPRMC,003433.00,A,3648.16667,N,12147.28318,W,0.253,115.36,260319,,,A*78 {BY|B@\&Ay|Bm?|B;|BilfB@uor^FhGPS fix at 20190326T003433: (36.802778, -121.788053) |BG>)|B@)~P ~P}jG>F ^F=}Ei!%m?%;)!Y! !)%:I!I5m?i5;11)1I5:i1! eE! iE! mE! qEI=m?i=;99)9I=:i9U֖?iU֖?YUQA1]q]iYYaaiiIm;)i)qqqiqq)yI}<)ۑ܁S K[O]&AytB>tBR4EF=F=FF^Fơơ=}Eơi ):)I9)IQ9iYiiI;))i)I<)HS vO]&AytR>tRAE)~` ~`}%GD;9{GztpAɀ选 )IIiף>F^F@=}Ei )+:)I9)IG9iYi999iIIM;)I)IIIiIQ)QI=<)I )S ?O]&Ayt"ܒ>t"4E$&wA)z2Iz2iz2z2z2}vXG>F~^F = }E i )U:)I9)!I%v9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)i")S O]&Ayt"v>t"2/E$*A(*A)~0 ~4}b{GfxAd ף; 9  ~jthMbp A ɀ   ) AI I Di  >FE^FE@II=M}EIiQ Q)U:)aIei9)iIm9qiqYqiyyyyiI;))i)I<)۱S  BO]&Ayt"C>t":E}l>F=^F9AA=E}EIiQ Q)Ua:)yI}x9)I9iYiiI;))i)I<)IV>i]>= xgot command run ./Missions/Engineering/lineCaptureHoming.xml# zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xmlm.S O]&Ayt"C>t )~, ~,}^ƄG>Fn^Fppt=v}Etix x)z:)AIE9)IIM9U?iU?YQIe;ia)iiiiii)qI}<)ۉ  # nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h ) # tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min i # fDefineArg lineCaptureHoming.Repeat = 1.000000 count= A #E `DefineArg lineCaptureHoming.DockLat = nan arcdeg!U Q #U `DefineArg lineCaptureHoming.DockLon = nan arcdeg% ) # bDefineArg lineCaptureHoming.StartLat = nan arcdeg) i # bDefineArg lineCaptureHoming.StartLon = nan arcdeg-  # pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1  # fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5 ) # dDefineArg lineCaptureHoming.DockRange = 4.000000 m9 i #= jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=E A #M DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minXS O]&Ayt>t"m?E&=&=&<&p<AJH}^G^4=\~;~;9|~Mb`~A|ɀ|~EA |)|I|I~i~|>F^F@!!=%}E!i1 1)5:#jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE @#tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minI@#jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM*@#xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min)Ib9)I9?i?YI;i)i))1I5<)IQ:@>@#fDefineArg lineCaptureHoming.InitDepth = 30.000000 mUJ@ @#xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYZ@#xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count]j@#tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta@#pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole@#`DefineArg lineCaptureHoming.Speed = 1.000000 m/si @ #lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm@#hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq@#fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mu@#jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy@#hDefineOutput lineCaptureHoming.HomingActive = 1 bool}@#jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool@#dDefineOutput lineCaptureHoming.DoingComms = 0 bool A#pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#lInserting Stack: Missions/Insert/StandardEnvelopes.xml!"A#DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m!2Ai@# DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!% BA! #- DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m05 6Construct AltitudeEnvelope. 1 0Construct DepthEnvelope.1E 6Construct OffshoreEnvelope.U # \Inserting Stack: Missions/Insert/NeedComms.xml@T P]&Ayt>t"Fn^Fptt=v}Eti| |)~:)I9) I [9iYI-;i)))11i1)I<)]B]@#~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 hB@#DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 minB!#%DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg5B1#}DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sB#DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/sC )#5~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min}Cy#DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4-,Construct GoToSurface.*] * * * * * * * * * * * * * *  *  * U Construct. j T 2+P]&Ayt2P>t2y1E}{G;9:Mb`~jth?MbP?Aɀ选 )IIiD;: V&Construct Buoyancy.!+>F^F%@))=-}E)i ) :)I9)I9i WConstruct.+WConstruct.YI;i)i ) I<)!+5+= ZConstruct.Z=Construct.JU&Construct Waypoint.a%ma% ma% mK Construct.%e LConstruct Wait. O%"Construct SetNav.'-'u'uOConstruct Wait. R} &Construct Waypoint. SE Construct Wait.# I Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. = hRunning ./Missions/Engineering/lineCaptureHoming.xmlRT /EP]&AytS>t-5E  A  A)~! ~!}>F^Fơơ=}Eơi ):)Il9)I9%?i%?Y)1- (->Aggregate::uninitialize Default- )-DUninitialize GoToSurfaceComponent.5)5NAggregate::uninitialize Default:CheckInq5#5BStarted mission lineCaptureHoming15/5NAggregate::initialize lineCaptureHoming15 0=rAggregate::initialize lineCaptureHoming:StandardEnvelopesq=0=JInitialize AltitudeEnvelopeComponent.= 1=DInitialize DepthEnvelopeComponent.=1=JInitialize OffshoreEnvelopeComponent.*=U=DInitializing TrackAcousticContact.*=U=Initialize.1+E VEUtInitialize ReadDataComponent to sense platform_orientation]=]xInitialize ReadDataComponent to sense height_above_sea_floor1+]RGY*]2G];*e UeTracking...Ue2Tracking contact label: 2Ba1eqe1eeBm?BIzBqI ;i 9)i)SAI<)q$DSpeedControl.speedCmd 1.000000 m/s)|T d_P]&Ayt&>t&4E}`>Fn^Fptt=v}Etix x)zU:)|I~9)Ii9 i YRG2G! U%Tracking...U%2Tracking contact label: 2B%i@q%-B)BzBI;i)i)I<)1IiV>T  CyP]&Ayt"(>t" 0E)~, ~,}jƄG94<9y&1|Mb?3Aɀ A)II`i<>F}^F}@ƁƁ=}EƁi ):)I9)I:9iYRG2G UTracking...U2Tracking contact label: 2BqBByzByI;i)i)It"W.E&=&=&p;&<}^G\\>Fn^Fptt=v}Etix x)za:)QIU:)YI]9aiaYiRGq2Gq UTracking...U2Tracking contact label: 2C @qBBzBI%;i)))))i))1I=t2R4EF6@AF4)~@ ~@}r{G:<9Q:v?Aɀ逕 )AIIuiT<>F=^F=@E?E?=E}EE DiQ Q)UR;)I 9)I9?i?YRG2G UTracking...U2Tracking contact label: 2Cq#FnAggregate::initialize lineCaptureHoming:StartingMissionBBQzBQIe;ia)iiiii)qIu<}xA}xAyM{:IUC=i]=Y!)1 )z1T P]&Ayt">t"v5E}\>Fn^Fppt=v}EvDix x)za:)|I~]9)I]9 Ɩ?i Ɩ?YRG92G9 UETracking...UE2Tracking contact label: 2E9EhAggregate::initialize lineCaptureHoming:SurfaceComms1ECE1EqM:MlAggregate::initialize lineCaptureHoming:SurfaceComms:BBIB9zBAIU;i)i)It &A&A&A&A)~, ~0}`bwA`>Fn^Fptt=v}Ev%Dix x)z:)|I~i9)I9 iYRG2G U%Tracking...U%2Tracking contact label: 2%3%bAggregate::initialize lineCaptureHoming:NeedCommsq%4%@Initialize GoToSurfaceComponent.4-HReceived depth rate setting nan m/s.4-RReceived pitch setting 19.999999 degrees.4-HReceived speed setting 1.000000 m/s.45No surface timeout specified. Using default value of 1000.000000 seconds.45nReceived pitch timeout configuration 60.000000 seconds.15ZC5bC1jCYrC]4mlast time_fix was: 1553560473.000000 second since 1970/01/01T00:00:00Z 1mB?BzBiUXz:IU;)Y)YYYiY)aIet"*9E"F"=*F }b0G  ;9 ; ~jth~jth?Mb`? A ɀ   xA) AI I Di D; ;>F%^F-@11=5}E52DiA A)E:)IIM):)QIU?':aiaYaRGi2Gu; UuTracking...Uu2Tracking contact label: 2ZCubCjCrCB?BzBi!I%;)!))))i))QI]< wA)wAY) IR>i]>DT iQ]&Ayt%>tY,E)~0 ~4}fjG>Fn^Flpp=r}Ev?Dix x)zI:)|I~9)I׾9 i Y RG2G; UTracking...U2Tracking contact label: 2 5%\Initialize ReadDataComponent to sense time_fixZC%bC!jC!rC%B-?BzBiI;))i)I.Q]&Ayt">t"v5E*=*=*p;*4<}~{G=AE:9AEMbPMb`?EAAɀAEEA A)AIAIEiEA>F]^F]@aa=e}EeLDii i)mn:)yI}9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It2Q6EF6AAF48:R=)~D ~D}0G>F-^F119==}E=YDiA A)E:)IIM9)QIUʽ9aiaYaRGi2Gm; UmTracking...Uu2Tracking contact label: 2ZCubCqjCqrCuB}?BzBiI;))i)It2R4ErFix Requested}jG>F^F=}EgDi! !)%?:)1I5:)IIM:aiiYiRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I<xMoved sent file to Logs/20190325T233344/Courier0025.lzma.bak$SBD MOMSN=10245639Y)۹=B^T 6{Q]&Ayt2f>t2 4E6A6A6A6ABParsing RMC sentence: $GPRMC,003442.00,A,3648.16652,N,12147.28392,W,0.117,115.36,260319,,,A*79 {@Y|B\&Ay|B?|B<|BYWfB@qor^JhGPS fix at 20190326T003442: (36.802775, -121.788065) |Bv=)|@)~P ~T}{GxA IMD9IMMbP?Mb`Mb`?MAIɀII I)IIIIM:iMI>F5^F=@AA=E}EEtDiIM?M<)IYI I)M/:IIIu?iu<qq)qIus:iqI?i<)I6g:i ?i ?YARG2G; UTracking...U2Tracking contact label: 2qZCbCjCrCB?BAzBAiqIu;)q)qqyiy)yIt"v5E"F&p=*F$6vA6vA}=ƄG>F}^FƉƉ=}EƕDi )9:)I :)1I5Z:AiAYARGY2G]; UeTracking...Ue2Tracking contact label: 26mzInitialize ReadDataComponent to sense platform_communicationsZCmbCijCqrCuB}?BzBiI;))i)IiV>'imT ?Q]&Ayt&k>t&q;E.=.=)~\ ~^`C}]BG;9{GztMb`?Aɀ這 )IIiף>F^F@=~EDi )+:)I9)I)9!i!Y)RGQ2GU; UUTracking...UU2Tracking contact label: 2ZC]bCYjCYrC]Be?BzBi I;))i)I%t";E)z6Iz4iz4z4z6}njG>F^F!!=-~E-Di1 1)5:)9I=i9)AIEi9IiIYIRGQ2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi!I-;))))))i))1I=t"8EF"@AF$&4=$)~0 ~2ZC}b{G9:~jth~jthMbP?Aɀ )IIDiD:>F=^F=@AA=E~EMDiQ Q)U:)yI}:9)I9iYRG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?BzBi I;))i)Ii>Y)۱aT \R]&Ayt">t"/3E&A&A}^ƄG>Fn^Fptt=v~EvDix x)x)|I~9)I׾9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It"6E)~, ~,}^G>Fn^Fptt=v~EvDix x)z:)|I~9)I]9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)I5t "F"a=*F }Z0GzD;x9z;zMb`Mb`Mb`?zAxɀxx x)xIxIzizz;>F ^F @=~EDi! !)%+:))I-9)1I59YiYYYRGi2Gm; UmTracking...Um2Tracking contact label: 2ZCubCqjCqrCuBu?BzBi!I%;)!)!!!i!))IU< a)aY))9T YSR]&Ayt>t}-E==)~( ~(}ZjGZR=X>Fb^F`dd=f~EfDih h)j:)pIr9)pIrv9xixYxRG|2G~; UTracking...U2Tracking contact label: 2ZCbCjC rC B ?= got command stopN^Stop Mission called by CommandLine::commandStopBzB#8MissionManager is completed.#PUninitializing Mission lineCaptureHoming/RAggregate::uninitialize lineCaptureHoming1 0vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq0NUninitialize AltitudeEnvelopeComponent. 1Uninitialize.1NUninitialize OffshoreEnvelopeComponent.3fAggregate::uninitialize lineCaptureHoming:NeedCommsq4DUninitialize GoToSurfaceComponent.q9lAggregate::uninitialize lineCaptureHoming:SurfaceCommsq:pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B* UHUninitializing TrackAcousticContact.*UUninitialize.1+ V@Uninitialize Buoyancy Component.1q+q#FrAggregate::uninitialize lineCaptureHoming:StartingMission'''%%a% -a% -a%-+e+e+m!+u** * **************!!!%%}%y%u%q%m%i%e%a%]%Y-U-Q-M-I-E-A-=-9-5-1---)%!iI;))i)It"8E}ZƄGxz:9zz~jthMbPzAxɀxz x)xIxIzDizz>F^F@ơơ=~EƥDi ) <)IG9)I9 i Y #.Started mission Default1U (U:Aggregate::initialize DefaultU )U@Initialize GoToSurfaceComponent. )UNo depth rate setting specified. Using default value of nan m/s. )]~No pitch setting specified. Using default value of nan degrees. )]No speed setting specified. Using default value of 1.000000 m/s. )]No surface timeout specified. Using default value of 1000.000000 seconds.)enReceived pitch timeout configuration 60.000000 seconds.qe(e4Initialize Wait Component.ieaaiiI;))i)It"-5E)~, ~,}^ׄG>Fn^Fptt=v~EvDix x)z:)yI}9)IiYiiI;))i)I< )Ii )Y))٧T R]&Ayt">t"6E$$&A&A}^G^wA`>F^F!--=-~E)i9 9)=:)QIU<) I :!i)Y)i9AAAiI;))i)I<)GT "ƺR]&Ayt">t">E)~, ~2`C}^0G9~jthMb`Aɀ )IIi>F^F@!!=%~E!i1 1)5:)9I=;)aIeS9iiiYiiqqqqiI;))i)I<)AT 3R]&Ayt"%>t"Y,E}ZG>Fn^Fptt=v~Etix x)z$;)I9)!I%9)i1Y1i1YYYiaIm;)i)iiiiiq)qI}<)ۉIV>iT F~R]&Ayt"h>t"7E$&=&%=&<)~, ~.ZC}\^4=^4=~:~j<9~:~ rhQ?MbP?~=A|ɀ|| ~A)|I|I~Ci~u<~:>F=^F=@AA=E~EIiQ Q)UU:)YI]89)aIe9iiiYiiqqqqiI;))i)I<)ۡ@T WS]&Ayt">t"9E}^G>F~^F  = ~E i ))Iv9)!I%]9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)i{(T 7"S]&AytFU>tF8E)~T ~T}BG>F]^Fayy=~EƁi ):)Iݱ:)IJ:iYii!I%;)))))1i1A)IIU<)y )QT t"9E&A&A&A&A}njGrxAp%%94<9%%y&1|Mb?%3A!ɀ!%EA !)!I!I%`i%<%>F]^F]@aa=e~Eiiq q)u:)yI}89)I9iYiiI;))i)I<)g9T yUS]&Ayt">t",E)~0 ~0}n{G>F^F!!)=-~E)i1 1)5:)9I=9)AIEi9IiIYIiQQQYiaIe;)i)iiiiiq)qIu<)ۉcT *oS]&Ayt">t"/E}f0G D t<9 D; MbpMb?~jth? A ɀ   xA) I I i  D;>Fu^F}@ƁƁ=~EƁi )U:)I_:)I9iYiiI;))i)I<)Ii]>QKT bS]&Ayt>t:E===<)~4 ~4}bjGf=f%=>Fn^Fptt=v~Etix x)z:)|I~D9)I]9 i Yii!I%;))))))i)1)1I5<)9vT |S]&Ayt">t"8E}j0G>F^F =%~E!iA A)Eg:)YI]:)I);iYiQYYYiaIe;)i)iiiiiq)I<)۩T KZS]&Ayt">t"R4E)~, ~.`C}^jG--;9--MbpMbp?-A)ɀ)) )))I)I)i-;->FE^FE@II=M~EIiQ Q)UD:)I+9)I9iYiiI;))i)I<) )ՈT 6S]&Ayt>t"6E"A"A&A&A}R0GPP>F^^F`dd=j~Ehi  ) ;)9I=9)AIE9IiQYQiYYYYiiIm;)i)iiqiq)I<),T xS]&Ayt"+>t"3E)~, ~,}^jG;D;9:{GztMbP?Aɀ )IIףi:>F^F@ƹƹ=~Eƹi ):)I9)I9iYi    i9I=;)9)999iAA)AIM<)afU  T]&Ayt">t"0E}Z{G>Fn^Fppt=v~Etix x)z:)|I~v9)I9 i Yi9iAIE;)I)IIIiIQ)QI]<)iIR>iY>U K$T]&Ayt.>t2;E>=^=^;b<)~t ~vZC}]0GYa;9~jtxMb`MbP?Aɀ逝 )IIĻi>F^F@=~Ei) ))-:)1I59)9I=9AiAYAiIIIIiYI];)Y)YYYiaa)aIm<)ہU I>T]&Ayt"̖>t"r9E}^jG>F~^F|=~E i ):)I:)!I%9)i)Y)i1111iaIe;)a)aaiiii)qIu<)ۉU |XT]&Ayt"h>t"7E)~, ~,}^{G>Fn^Fptt=v~Etix x)z ;)I9)!I%9)i)Y1i11iI;))i)I<)  )U SrT]&Ayt">t">E$&A&A&A}^G\`9D;MbP?~jth?fAɀEA )AIIAIi:D;>F^F@!!=%~E!i) ))-U:)1I5Գ9)9I=:9AiAYIiIIQQiYI];)Y)aaaiaQ)YI]<)q"U w0T]&Ayt">t"T2E)~, ~,}^G>F~^F = ~E i )I:)I!9)!I%D9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)iSending 62 bytes from file Logs/20190325T233344/Courier0028.lzmag)U T]&Ayt.%>t2Y,E}vjG)-D9--Mb`?Mb`-pA)ɀ)- )))I-AI-;i-->FE^FM@IQ=U~EQiY Y)]:)aIe9)iImZ:qiyYyiyiI;))i)I<)۱Ii]>;/U GT]&Ayt"ܒ>t"4E*=*=*p;.p<)~8 ~8}fGj=h>F~^F = ~E i )+:)I9)!I%ʽ9)i)Y)i1111iAIE;)A)AIIiII)QIU<)ixMoved sent file to Logs/20190325T233344/Courier0028.lzma.bak$SBD MOMSN=10245642$6U T]&Ayt"ɓ>t"5E}nXG>F%^F!))=-~E)i1 1)5vA:)9I=s9)AIED9IiQYQiYYYYiaIm;)i)iiiiiq)qI}<)ۉANt&:E)~4 ~8}f{G9~jth?~jth?fAɀxA )IID;iD;>F-^F-@11=5~E1i9 9)=:)III)IIM]9YiYYYiaaaaiqIu;)q)qqqiqy)I<)ۑ )G6CU x U]&Ayt"ɓ>t"5E$&A&A&A}lryAp>Fv^Ftxx=z~E|i )+:) I 9)I9iYi!!!!i1I5;)1)111i19)9IE<)Ql`IU T'U]&Ayt";>t".E)~, ~.`C}\%D%t<9%ף%I +Q?{Gzt%A!ɀ!%EA %A)!I%IAI%94i%u<%ף>F]^Fe@aa=m~Eiiq q)u9:)yI}Q9)I9iYiiI;))i)I<)HPU ^.AU]&Ayt2h>t27E}h>F^F!!!=-~E)i1 1)5:)9I=9)AIE9IiIYQiQQQiI;))i)I<)IiV>qVU )[U]&Ayt2>t28E6=6=46=)~< ~BZC}v0Gz%=z=>F^F =~Ei! !)%:))I-:)1I5:AiAYAiIQQQiaIe;)a)iiiiiq)qI}<)ۙ\U tU]&Ayt">t"4E}fjG  u<9  I +I +?{Gzt A ɀ   ) xAI AI i 94< >F%^F%@))=5~E1i9 9)=P:)AIE+9)IIM9QiQYQiYYaaiiIm;)i)qqqiqq)yI<)ۑGcU  U]&Ayt2E>t2=E)~P ~P}{G>F ^F =~Ei! !)%n:))I-9)1I5Q99i9YAiAAAIiQIU;)Q)YYYiYa)aIm<)y @A)iU U]&Ayt"ϙ>t"&=E&A*A*A*A}^ƄGbxA`<9Ļy&1 rh?~jtx=Aɀ )AII`eiC<Ļ>F=^F=@AA=MEIiQ Q)UU:)YI]89)aIe9iiiYiiqqqqiI;))i)I<)ۡpU sU]&Ayt*>t*01E)~4 ~4}jBG>Fv^Ftx|=~E|i  ) q+:)Ia:)!I% :)i1Y1i9999(EDone Waiting.qE(E8Uninitialize Wait Component.iQIU;)Q)QYYiYa)aIm<)ۉbvU ]QU]&Ayt2>t21E}G>F=^F9AA=MEIiQ Q)U:)YI]9)aIei9iiiYiiqqqq})}JAggregate::initialize Default:CheckIn1}iI;))i)I<)۩Ii]>n|U ,,U]&Ayt">t"9E&=&=*p;*<)~@ ~@}rGr4=r%=%;!9%`%Mb:v?y&1|%fA!ɀ!! !)%AI!I%i%T<%`>F^F@ƹƹ=Eƹi ):)I9)I9iYiiI;))i)I <)҃U V]&Ayt2X>t2F^F!!)=-E)i1 1)5:)9I=9)AIEi9IiIYIiQQQYiaIe;)i)iiiiiq)qIu<) U )V]&Ayt2>t28E46wA)~@ ~B`C}rjG%%<9!% rh{Gz?y&1|%A!ɀ!! !)%xAI!I%Ci%ףF=^F=@AA=MEIiQ Q)U:)YI]]9)aIaiiiYiiqqyyiI;))i)I<)۩ ?A)U ZCV]&Ayt2E>t2=E6A6A6A6AnFix Requested}E{GEwAA>F}^FyƁƁ=EƉi )U:)Ii9)I9iYiiI;))i)I<)}U ]V]&AytB->tBt7ENParsing RMC sentence: $GPRMC,003502.00,A,3648.16907,N,12147.28817,W,0.097,115.36,260319,,,A*7C {PY|R\&Ay|R<^?|R<|RgfB@2(pr^VhGPS fix at 20190326T003502: (36.802818, -121.788136) |ReL=)|P)~` ~bZC}!>F5^F199=EEAiIM<^?M<)IYI I)MU:IIIU<^?iU<QQ)QIUO:iQIe<^?ie<aa)aIee:iau?iu?YuoB1}q}iyyyiI;))i)I<)۱8U uuwV]&Ayt"+>t"3E&=&p=} MM`<9IM rhI +?y&1|MAIɀII I)IIIIIiM9Fe^Fe@ii=uEqiy y)}a:)I9)Ii9iYiiI;))i)I<)IN>iY>M U rNV]&Ayt>t6E==<<)~( ~(}Z0G^=\>Fn^Fptt=vEtix x)x)|I~Q9)I9 iYi99iIIM;)I)IIIiIQ)QI}<)ۉJU =*V]&Ayt"P>t"y1E}fjGף;`e<9y&1~jtx?AɀA )II`ei;>F-^F-@11=5E1i9 9)=n:)IIM9)IIM9YiYYYiaaaaiqIu;)q)qqqiq)I<)ۙ3U  V]&Ayt">t"*9E.wA,)z:Iz8iz8z8z8)~@ ~D}rƄG>FE^FIQQ=UEQiY Y)Y)aIe9)iIm89qiyYyiiI;))i)I<)۹ )\U V]&Ayt"C>t":E&A&A&A*A}rBGpp>F~^F = E i ))I9)!I%9)i)Y1i19iI;))i)I<)JU V]&Ayt"y>t"2E)~0 ~2UC}bjG94<9Mby&1|?MbP(Aɀ )IAIi`;>F=^F=@AA=EEIiQ Q)U+:)yI}9)I9?i?YiQQQiYIe;)a)aaaiai)iI<)oU W]&Ayt">t":E}ZƄG>Fn^Fptt=vEtix x)z:)|I~9)I9 ?i ?Yii!I-;))))))i)1)1I]<)iIR>i]>]U zp,W]&Ayt"ߕ>t"O8E&=&=&<&p<)~0 ~2ZC}^Gb%=`;,=9#X9vy&1?{GzAɀEA 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file Logs/20190325T233344/Express0026.lzma!W І\]&Ayt6>t6>E}r0G>F^F!!)=-E)i1 1)5:)9I=9)AIEv9IiIYIiQQQYiaIe;)i)iiiiiq)qIu<)ۉIV>i'W \]&Ayt"f>t" 4E&=&=&%=&p<)~0 ~0}vjG>F^Fƙƙ=Eơi ):)Is9)I9iYiiI;))i) I<)YUxMoved sent file to Logs/20190325T233344/Express0026.lzma.bakU$SBD MOMSN=10245648-W 4\]&Ayt">t"KF%^F%@))=-E)i9 9)=+:)AIE9)IIMi9QiQYQiYYaaiiIm;)i)qqqiqy)yI}<)ۑ4W d\]&Ayt">t"9E)~, ~,}^0GɃ`b{AbĻiddidf{A)fH fqFId jC)hɄhhhlɅlinIllIpirzA pp)pp tttɆttv9|AIt)tix)xIzAzɇx x>F^F=Ei  ) E;)1I5:9)9I=v9IiIYIiiI;))i)I<) )y;W O>\]&Ayt">t";E&A&A&A&A}ZG~~@=9~:~L7A`堿L7A`?MbP?~GA|ɀ|| ~A)|I~AI~+i~+=~:>FU^F]@Ya=eEaii i)m:)qIu89)yI}9iYiiI;))i)I<)AW ]]&Ayt"S>t"-5E)~, ~,}^jG>Fe^Faii=mEiiq q)u&@:)yI}s9)IQ9iYiiI;))i)I<)HW !]]&Ayt"=>t"2E}b{G>F^F!!=-E)i1 1)5z:)IIMo:)YI] y:qiyYyiiI;))i)I<)!Ii]>ANW \;]]&Ayt"+>t"3E&=&=&=&<)~2= ~2`C}\#=9V-y&1?GAɀ )IIi`<>F^F%@))=-E)i1 1)5:)I9)I.9iYiiI;))i)I<))UW U]]&Aytk>tq;E}VƄG>Fb^F`dd=fEd]nUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. 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%A)!I%AI%i%<%D>F]^Fe@aa=mEiiq q)u;)ID9)I9iYiiI;))i)I<))}Y  d]&Aytv̖>tvr9E}e0G>F}^FyƁƁ=EƉi ):)I9)I9iYiiI;))   i  )I5<)I ) Y ȴ,d]&Ayt">t"KF^F@=Ei ):)I89)I9iYiiI;))i ) I<)!Y LFd]&Ayt+>t3E}0G>F^F=Ei  ) u <)QIU.9)YI]v9iiiYiiqiI;))i)I<)!Y /l`d]&Ayt">t"m?E)~, ~,}^G>Fn^Fptt=vEtix x)z:)|I~]9)I9 i Yi999iAIM;)I)IIIiIQ)QI}<)I=mxgot command run ./Missions/Engineering/lineCaptureHoming.xml#uzLoading Mission: ./Missions/Engineering/lineCaptureHoming.xmlIiY>-Y Czd]&Ayt"->t"t7E&=&=&=&<}bjGĻ<9;I +~jt?Mb`?GAɀ )xAII94i<;>F}^F}@ƁƁ=EƁi ):)Il9)I9iYI;i)i)I<) #nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h)#tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 mini#fDefineArg lineCaptureHoming.Repeat = 1.000000 count%!#-`DefineArg lineCaptureHoming.DockLat = nan arcdeg!51#=`DefineArg lineCaptureHoming.DockLon = nan arcdeg%)# bDefineArg lineCaptureHoming.StartLat = nan arcdeg)i#bDefineArg lineCaptureHoming.StartLon = nan arcdeg-%)#-pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m159#fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5)# dDefineArg lineCaptureHoming.DockRange = 4.000000 m95i1#=jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=MI#MDefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minA#jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE @#tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minI@#jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM *@ #UxDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQ]:@Y#efDefineArg lineCaptureHoming.InitDepth = 30.000000 mUmJ@i#xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYZ@#xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count] j@ # tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta% @! #% pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole @ # `DefineArg lineCaptureHoming.Speed = 1.000000 m/si @ #e lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm @ # hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq @ # fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mu @ # jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy @ #M hDefineOutput lineCaptureHoming.HomingActive = 1 bool}U @Y # jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool @ # dDefineOutput lineCaptureHoming.DoingComms = 0 bool  A # pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool# lInserting Stack: Missions/Insert/StandardEnvelopes.xml$Y d]&Aytrɓ>tr5E)~~= ~|}]0G>F}^FyƁƁ=EƉi ):)I9)Iv9 i Y I};iy)yyyi)I<)!"A#DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m!2Ai@#DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!-BA)#5DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m0=6Construct AltitudeEnvelope. 10Construct DepthEnvelope.1u6Construct OffshoreEnvelope.#\Inserting Stack: Missions/Insert/NeedComms.xml&*Y d]&Aytn>tr?E}]G<9D;F^F@!!=-E)#~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 hB@#DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 mini1 1)5:)I9)I9iYB#=DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdegEBA#MDefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sI];iYB#DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s)Yi)I<)C#~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min%C!#DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4%,Construct GoToSurface. )**** * * *M*U*U*U*]*]*]*]* e* e*eUmConstruct. V&Construct Buoyancy.!+ W= Construct.+- W5 Construct.+= +M  Z= Construct.ZM Construct./1Y d]&Ayt"{>t"6E&A&A&A&A)~2= ~0}bՃG>Fn^Fptt=vEtix x)zn:)|I~ʽ9)I9 i YI%;i!)!!!i!)))I5<)ہJ&Construct Waypoint.a%a% a% KuConstruct.% LConstruct Wait. O"Construct SetNav.'''%O-Construct Wait. R&Construct Waypoint. SConstruct Wait.#I Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. = hRunning ./Missions/Engineering/lineCaptureHoming.xml! 8Y 9d]&Ayt"v>t"2/E}fXG>F^F!!=-E)i1 1)5:)aIe:)qIuK;iY1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckInq#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq%0%JInitialize AltitudeEnvelopeComponent.% 1%DInitialize DepthEnvelopeComponent.-1-JInitialize OffshoreEnvelopeComponent.*-U-DInitializing TrackAcousticContact.*5UUInitialize.1+] V]tInitialize ReadDataComponent to sense platform_orientation=xInitialize ReadDataComponent to sense height_above_sea_floor1+RG*2G;* UTracking...U2Tracking contact label: 2B1q1B?BQzBQUqUIe;ie9)aaaia)-SAI5<)۱$DSpeedControl.speedCmd 1.000000 m/sP3>Y d]&Ayt"U>t"8E)~, ~,}^0G%%=9%%Zd;OZd;O?%GA!ɀ!! !)!I!I%ji!%>F]^Fe@ii=mEiiq q)uV;)I9)I9iYRG2G UTracking...U2Tracking contact label: 2Bi@qBB9zBAIU;iq)qqqiq)yI<)IR>iR>EY 8fe]&Ayt">t"8E&=&=&&<}^G>F=^F9AA=MEIiQ Q)U:)I$9)I9iYRG2G UTracking...U2Tracking contact label: 2BqBB zB I};iy)i)It"/3E)~.= ~,}^jGD#=9:vQ?pAɀ )IAIԼi<>F^F@!!=%E!i1 1)5a:)YI]`9)aIe:9iiiYiRG2G UTracking...U2Tracking contact label: 2C @qBBzBI;i)IIiI)QI]tbF}^Fyƅ?ƅ?=EƅDi ):)I9)Iv9iYRG2G UTracking...U2Tracking contact label: 2Cq#FnAggregate::initialize lineCaptureHoming:StartingMissionBBzBI ;i)i)It& 4E.A.A2A2A)~:= ~8}zG>Fe^Fayy=EƅDi ):)IO:)IR:iYRG2G  U Tracking...U 2Tracking contact label: 2 9 hAggregate::initialize lineCaptureHoming:SurfaceComms1 C1q:lAggregate::initialize lineCaptureHoming:SurfaceComms:BBBIzBII];ia)aaaia)iImt2F=^F=@AA=MEMDiQ Q)UU:)YI]9)aIe9iiiYiRGy2Gy U}Tracking...U}2Tracking contact label: 23bAggregate::initialize lineCaptureHoming:NeedCommsq4@Initialize GoToSurfaceComponent.4HReceived depth rate setting nan m/s.4RReceived pitch setting 19.999999 degrees.4HReceived speed setting 1.000000 m/s.4No surface timeout specified. Using default value of 1000.000000 seconds.4nReceived pitch timeout configuration 60.000000 seconds.1ZCbCjCrC4last time_fix was: 1553560502.000000 second since 1970/01/01T00:00:00Z 1B?BzBiXz:I;))i)It"=E"F&=*F$)~0 ~2ZC}`>F^F  = E ,Di! !)%D:))I-9))I-D99i9Y9RGA2GE; UMTracking...UM2Tracking contact label: 2ZCMbCIjCIrCMUBU?BzBiI;))i)Iia>ԒkY e]&Ayt6c>t6V0E>=>=}v0G-ף;-q=9)- ףp= ~jt?-A)ɀ)) ))-AI)I-Q8i-=)>FM^FM@QQ=]E]9Dia a)ea:)iIm9)qIu:yiYRG2G; UTracking...U2Tracking contact label: 2 5\Initialize ReadDataComponent to sense time_fixZCbCjCrCB?BzBiI;))i)It2:E:Powering up)~@ ~@}%jG>Fu^Fqyy=EƅFDi ):)IZ9)I:9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;) )   i )ItB5EFJ?AFL}{G6only read 2 of 4 data itemsHFailed to parse: :BS, +55, +0,A @  @  @  @  >F^F!!=%E%TDi) ))->)YI]+9! ee@! ie@! me@! qe@iiiYiRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBi1I5;)1)111i9)9IEt"8E$&A)~0 ~0}d>F~^F  = E `Di )K?)I9)i)Y1RG92G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBm?BYzBaiqI;))i)It"M:E}\>Fn^Fptt=vEvlDix x)z?)|I~=9 i Y RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBE?BzBiI;))i)It"r9E"F"a=*F )~, ~,}\         =9D;v/T㥛 ?~jth?pAɀ )xAIAIxii=D;>F%^F%@))=-E-zDiY Y)]D:)aIes9)iIm9qiqYqRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B!zB)iYI];)Y)YYYiY)aImi5;>Y)=% got command stopN%^Stop Mission called by CommandLine::commandStopIER>iEV>XɒY Kf]&Ayt"(>t" 0E$*=**<}`>Fn^Fptt=vEvDix x)z:)|I~9)Iv9 iYRG2G; U%Tracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzB#8MissionManager is completed.#PUninitializing Mission lineCaptureHoming/RAggregate::uninitialize lineCaptureHoming1 0vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq0NUninitialize AltitudeEnvelopeComponent. 1Uninitialize.1NUninitialize OffshoreEnvelopeComponent.3fAggregate::uninitialize lineCaptureHoming:NeedCommsq4DUninitialize GoToSurfaceComponent.9lAggregate::uninitialize lineCaptureHoming:SurfaceCommsq:pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B* UHUninitializing TrackAcousticContact.*UUninitialize.1+ V@Uninitialize Buoyancy Component.1q+q#FrAggregate::uninitialize lineCaptureHoming:StartingMission'' '' '' %a% %a% %a%%+]+]+e!+m*m* m* m*m*m*u***********!!!mm}mymumqmmmimemam]mYmUmQmMuIuEuAu=u9u5u1u-u)u%u!uuuuuiI;))i)I>t>:E)~\ ~^`C}aeQ8=9aeV- rh?~jth?eAaɀaa exA)eAIaIeieC =a>F}^F@ƉƉ=EƭDi ):)Ig9)I(;iY#.Started mission Default1 (:Aggregate::initialize Default )@Initialize GoToSurfaceComponent. )No depth rate setting specified. Using default value of nan m/s. )~No pitch setting specified. Using default value of nan degrees. )No speed setting specified. Using default value of 1.000000 m/s. )No surface timeout specified. 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Clearing failed state for component DeadReckonWithRespectToSeafloor1 D^ {]&Ayt2h>t27E46A46A)~< ~@}lɈv3Cv9|AtittizCx)zף xIx |)|ɉ||||ɊzAiII i /{A /] )   ɋ{AIY)SFi>F^F=ElInitializing DeadReckonUsingSpeedCalculator component.iYiiI;))iI)QIU<)ig^ z{]&Ayt">t"v5E}`  j9 `; F^F@=Ei  ) ;)1I5G9)9I=9AiIYIiqqqqiI;))i)I<)۩_ I|]&Ayt>>tB:E)~L ~L}ƄG>F^F=Ei )U:)Ii9)I׾9iYiiI;))i ) I<)!I5V>i5Y>_ ڑ|]&Ayt&>t&F~^F = E i ):)ID9)!I!)i)Y)i1111iAIE;)A)AIIiII)QIU<)i: _ nn6|]&Ayt">t"/3E)~0 ~0}rG!%ļ9%<%FE^FE@II=MEIiQ Q)UdE:)aIes9)aIe9qiqYqiyyyyiI;))i)I<)۩_ ILP|]&Ayt2>t2+7E}]ՃG>F^Fơơ=Eơi ):)I9)Ii9iYiiI;))i)I<) 1)9 _ [#j|]&Ayt">t"8E&A&A&A&A*&NAL9602 initialized)~0 ~0}bXGY9~jt?lMbPGAɀ )II=i>F%^F%@))=-E)i1 1)5:)9I=9)AIE9IiIYQiQYiI;))  i  )I<)) _ |]&Ayt">t"6E&wA*wA}^{G>F~^F  = E i ):)I9)!I%v9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)iQ'_ Y۝|]&Ayt"->t"t7E^Fix Requested)~d ~jZC})>F}^FyƁƁ=EƁi )::)I9)I9iYiiI;))i)I<)I9i=]>G-_ |]&Ayt^h>t^7Eb=f=fp;f<}/]9~jt?~jtMb`zAɀ )AIAIi>F^F@=Ei! !)%S.:))I-:)I:iYiiI;))i)I<)Q04_  |]&Ayt">t"6E.R=.=)~d ~f`C}E0G>F}^FyƁƁ=EƁi ):)I9)I9iYiiI;))i)I<)[:_ s|]&Ayt>t"/3E}njG!%Լ9%`;%~jt?~jty&1|?%A!ɀ!%EA %IA)!I!I%F=^F=@AA=EEAiI I)MK:)YI]]9)aIe9iiiYiiqqqyiI;))i)I<)۩ 1)1BA_ F}]&Ayt">t"6E*A*A*A*A)~H ~JZC}z0G>F^F=Ei ) :)QIU9)YI]9aiaYaiqqqqiI;))i)I<) rlG_  #}]&Ayt2>t2:E8:vA}EjG>F]^FYaa=mEiiq q)u:)yIy)I9iYiiI;))i)I<)}M_ 8}]&Ayt">t"F^F@ƱƱ=Eƹi )7:)Ig9)I:iYiiI;))i)I <)1I5N>i=Y>yT_ `S}]&Aytč>tW.E==;<}>FE^FIQQ=UEQiY Y)]:)I9)I9iYiiI;))i)I<)Z_ l}]&Ayt2>t2:E6=:a=)~@ ~@}r0G-D;-9-t<-:v? rhFE^FM@IQ=UEQiY Y)]:)aIe9)iImL9qiqYyiiI;))i)I<)۱ޏa_ *}]&Ayt2U>t28E}njG>F^F!))=-E)i1 1)5:)9I=]9)AIEi9IiIYQiQQYYiaIe;)i)iiiiiq)qI}<)ۉ 9)95g_ 4i}]&Ayt^>t^+7EbAfAfAfA)~l ~rZC}E{G>F]^FYiq=uEq=xgot command run ./Missions/Engineering/lineCaptureHoming.xml#zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xmli ) =)!I%ŋ<)I9iYIM;iI)IQQiQQ)YI]<)۩} y # nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h ) # tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min i # fDefineArg lineCaptureHoming.Repeat = 1.000000 count  # `DefineArg lineCaptureHoming.DockLat = nan arcdeg!  # `DefineArg lineCaptureHoming.DockLon = nan arcdeg% ) # bDefineArg lineCaptureHoming.StartLat = nan arcdeg) i # bDefineArg lineCaptureHoming.StartLon = nan arcdeg-  # pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1  # fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5 ) # dDefineArg lineCaptureHoming.DockRange = 4.000000 m9- i) #- jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool== 9 #= DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minAM I #U jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE]  @Y #e tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minIm @i #u jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM} *@y # xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQ :@ # fDefineArg lineCaptureHoming.InitDepth = 30.000000 mU J@ # xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minY Z@ # xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count] j@ # tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta @ # pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole @ # `DefineArg lineCaptureHoming.Speed = 1.000000 m/si @ # lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm @ # hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq @ #% fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mu- @) #5 jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy= @9 #E hDefineOutput lineCaptureHoming.HomingActive = 1 bool}M @I #U jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool] @] #e dDefineOutput lineCaptureHoming.DoingComms = 0 boolm  Ai #u pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#u lInserting Stack: Missions/Insert/StandardEnvelopes.xml! "A m_ F}]&Aytn>trR4EvvAt#=DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m}0G!2Ai@#DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!BA#DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m0=6Construct AltitudeEnvelope.e;e9e:e/$?~jtMbP?eAaɀae eA)aIeAIeF^F@ƉƉ=EƉi )(:)I9)Ii9 10Construct DepthEnvelope.1i1Y1Ie;ia)aaaia)I<)1-6Construct OffshoreEnvelope.E#\Inserting Stack: Missions/Insert/NeedComms.xmlB@#~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 hB@#DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 minB#DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg B #M DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sU BQ #] DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s C # ~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min C # DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4 ,Construct GoToSurface.* * * * * * * t_ }]&Aytfߕ>tfO8E*n)~p ~v`C*-}MoG>F}^FyƁƁ=EƉi ):)Iv9)I9iY****** * *UConstruct.I;i)i) I <)! Ve&Construct Buoyancy.!+m @Construct.! @Construct.a %a U DConstruct.DConstruct.J&Construct Waypoint.a%a% a% KConstruct.%  LConstruct Wait. O"Construct SetNav.'''%O5Construct Wait.I=a>i9 R&Construct Waypoint. SConstruct Wait.# J Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =% hRunning ./Missions/Engineering/lineCaptureHoming.xml-z_ }]&AytM>tM:EU=U=U=U<}G9=Y9==Fu^F}@ƁƁ=EƁi )2;)I9)I`9iY1 (>Aggregate::uninitialize Default )DUninitialize GoToSurfaceComponent.)NAggregate::uninitialize Default:CheckIn1#BStarted mission lineCaptureHoming/NAggregate::initialize lineCaptureHoming1 0rAggregate::initialize lineCaptureHoming:StandardEnvelopesq0JInitialize AltitudeEnvelopeComponent. 1DInitialize DepthEnvelopeComponent.1JInitialize OffshoreEnvelopeComponent.*UDInitializing TrackAcousticContact.*UInitialize.1+ VtInitialize ReadDataComponent to sense platform_orientation=xInitialize ReadDataComponent to sense height_above_sea_floor1+RG*2G;* UTracking...U2Tracking contact label: 2B1 q 1  B ?BAzBAEqEIU;iU9)QQQiY)]SAIe<)y$DSpeedControl.speedCmd 1.000000 m/s ށ_ ~]&Aytb>tb*9Ehj=)~p ~p}EG>F]^Faai=mEiiq q)u5<)I9)Io9iYRG 2G UTracking...U2Tracking contact label: 2B5i@q5=B9BzBI;i)i)I<)A_ !~]&Ayt"2>t">E}ZXG>F^F  = E i ):)!I%9))I-v91i1Y1RGA2GA UETracking...UE2Tracking contact label: 2BIMqMBIBYzBaI;i)i)I<)I 1)12_ z;~]&Ayt2@>t2Q6E6A6A6A6A)~@ ~@}n0G%;%9%`;%~jt?F=^FE@AI=MEIiQ Q)U:)YI]9)aIe.9iiiYiRGy2G UTracking...U2Tracking contact label: 2C @qBBzBI;i)i)ItB}-EF@F@HJwA{H}ejG>F^Fƥ?ƥ?=EƥDi ):)I9)IV9iYRG2G UTracking...U2Tracking contact label: 2Cq#FnAggregate::initialize lineCaptureHoming:StartingMissionBB!zB!I5;i1)199i9)AIEt2:E)~t ~t}M0G<L9DV-?ˡE~jthGAɀ逍 )IIF^F@ƱƱ=EƽDi ):)I89)Ib:iYRG2G UTracking...U2Tracking contact label: 29hAggregate::initialize lineCaptureHoming:SurfaceComms1C1q:lAggregate::initialize lineCaptureHoming:SurfaceComms:BBB1zB9IE;iI)IIIiI)QI]i=V>,_ ~]&Ayt6ܒ>t64E:=:=>p;><{@}EG>F}^FyƁƁ=EƅDi ):)I9)Ii9iYRG2G UTracking...U2Tracking contact label: 23bAggregate::initialize lineCaptureHoming:NeedCommsq4@Initialize GoToSurfaceComponent.4HReceived depth rate setting nan m/s.4RReceived pitch setting 19.999999 degrees.4HReceived speed setting 1.000000 m/s.4No surface timeout specified. Using default value of 1000.000000 seconds.4nReceived pitch timeout configuration 60.000000 seconds.1ZCbCjCrC4last time_fix was: 1553560502.000000 second since 1970/01/01T00:00:00Z 1B?BzBi-Xz:I-;)))111i1)9I=t"9E"F(*F(.C=.=)~ ~ZC}G5`;5 0955:v?Q롿5GA1ɀ11 1)5AI5AI5Fm^Fm@qq=uEuDiy y)}SI:)Iʽ9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i) I t2Q6E}nXG)tItvHɛt tɜtz{Axixxixx)zT |I| |)~|Aɝ|ɞzAiII i   )  zAɟI)i>F%^F))1=5E5Di )z:)Is9)I׾9iYRG2G; UTracking...U2Tracking contact label: 2 5\Initialize ReadDataComponent to sense time_fixZCbCjCrCB?== got command stopN=^Stop Mission called by CommandLine::commandStopBzB#8MissionManager is completed.#PUninitializing Mission lineCaptureHoming/RAggregate::uninitialize lineCaptureHoming1 0vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq0NUninitialize AltitudeEnvelopeComponent. 1Uninitialize.1NUninitialize OffshoreEnvelopeComponent.3fAggregate::uninitialize lineCaptureHoming:NeedCommsq4DUninitialize GoToSurfaceComponent.9lAggregate::uninitialize lineCaptureHoming:SurfaceCommsq:pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B* UHUninitializing TrackAcousticContact.*UUninitialize.1+ V@Uninitialize Buoyancy Component.1q+q#FrAggregate::uninitialize lineCaptureHoming:StartingMission'''%a% a% a%a -a 5! 5!+=*E* E* E*E*E*E*E*E*E*E*E*E*E*E*M*M*M}!!!}yuqmie-a-]-Y-U-Q-M-I-E-A-=-9-5-15-5)5%5!55555i9IE;)A)AAAiA)I< wA)wAY)i_ u~]&Ayt"c>t"V0E&A&A&A&A)~, ~2`C}^{G>F-^F199==E=DiA A)E:)IIMi9)QIU9YiaYa#e.Started mission Defaulta1m (m:Aggregate::initialize Defaultm )m@Initialize GoToSurfaceComponent. )mNo depth rate setting specified. Using default value of nan m/s. )u~No pitch setting specified. Using default value of nan degrees. )uNo speed setting specified. Using default value of 1.000000 m/s. )uNo surface timeout specified. 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%A)%EAI!I%ף;i%Ļ%ף>F^F@=Ei ):)Iv9)I9i Y ii!I%;)!)!!!i))))IM<)Y,rh dɡ]&Ayt">t">E*C=*R=)~0 ~0}bG>F}^FyƁƁ=EƁi )a:)I9)I9iYiiI;))i)I<)Vxh ]&Ayt">t&T2E}r{G>FE^FAƱƹ=Eƹi )]:)I:)I.9 i Y ii!I%;)!))))i)))1I=<)I )= xgot command run ./Missions/Engineering/lineCaptureHoming.xml# zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xmlX~h ]&Ayt"ϙ>t"&=E&A&A&A&A)~0 ~0}`  `e9 D I +?F}^F}@ƁƁ=EƉi )n:)I89)Iv9iYI};i)i)I<)#nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h)#tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 mini#fDefineArg lineCaptureHoming.Repeat = 1.000000 count#`DefineArg lineCaptureHoming.DockLat = nan arcdeg!#`DefineArg lineCaptureHoming.DockLon = nan arcdeg%)# bDefineArg lineCaptureHoming.StartLat = nan arcdeg)i#bDefineArg lineCaptureHoming.StartLon = nan arcdeg-%!#-pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m151#=fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5E)A#MdDefineArg lineCaptureHoming.DockRange = 4.000000 m9UiQ#]jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=ea#mDefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minAuq#}jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE @#tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minI@#jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM*@#xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQ:@#fDefineArg lineCaptureHoming.InitDepth = 30.000000 mUJ@#xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYZ@#xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count]j@#tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta@#pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole @ #`DefineArg lineCaptureHoming.Speed = 1.000000 m/si@#%lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm-@)#5hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq=@9#EfDefineArg lineCaptureHoming.MaxDepth = 205.000000 muM@I#UjDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy]@Y#ehDefineOutput lineCaptureHoming.HomingActive = 1 bool}m@i#ujDefineOutput lineCaptureHoming.SCPIRequested = 0 bool}@}#dDefineOutput lineCaptureHoming.DoingComms = 0 bool A#pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#lInserting Stack: Missions/Insert/StandardEnvelopes.xml!u "Aq #} DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m! 2A i@# DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m! BA # DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m0 6Construct AltitudeEnvelope. 1 0Construct DepthEnvelope.1M 6Construct OffshoreEnvelope.e # \Inserting Stack: Missions/Insert/NeedComms.xmlhh ]&Aytb2>tb>EfvAjwA}+G>F^F=Ei ):)I9)I)i)Y)I};iy)i)I<)1eBe@#~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 hB@#DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 minB#DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdegB#DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sB#DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/sC#~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min5C9#EDefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4,Construct GoToSurface.*E *E *E *E *m *m *m *u *u *u *} *} *} *} *  *  * U Construct. V &Construct Buoyancy.!+  @ Construct.!  @ Construct.a  a   D} Construct.D Construct.h Ɏ0]&Ayt"{>t"6E)~, ~2UC}fXG:949y&1|?Mb~jthAɀ )EAII`;i>F^F@ƩƩ=EƩi ):)Is9J=&Construct Waypoint.)Icm<IiIYII];ia)aaaiai)iIu<)ۉa%a% a% K5Construct.%E LuConstruct Wait. O"Construct SetNav.'''O5Construct Wait. R&Construct Waypoint. SConstruct Wait.#J Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =hRunning ./Missions/Engineering/lineCaptureHoming.xmlIie>zh IgJ]&Ayt"{>t &=&=&<&=}r0G>F^F  = E i )=:)!I%9)!I%i91i1Y115 (=>Aggregate::uninitialize Default= )=DUninitialize GoToSurfaceComponent.=)=NAggregate::uninitialize Default:CheckIn1=#=BStarted mission lineCaptureHoming9E/ENAggregate::initialize lineCaptureHoming1E 0ErAggregate::initialize lineCaptureHoming:StandardEnvelopesqE0EJInitialize AltitudeEnvelopeComponent.E 1EDInitialize DepthEnvelopeComponent.E1MJInitialize OffshoreEnvelopeComponent.*MUMDInitializing TrackAcousticContact.*MUMInitialize.1+M VMetInitialize ReadDataComponent to sense platform_orientatione=mxInitialize ReadDataComponent to sense height_above_sea_floor1+mRGi*m2Gm;*m UmTracking...Uu2Tracking contact label: 2Bq1uqu1uuBu?BzBqI;i9)i)SAI<)$DSpeedControl.speedCmd 1.000000 m/sAh Cd]&Ayt">t&*9E2R=0)~D ~FZC}ՃG;Ļ9Mb`?~jtxMbp Aɀ逽xA )II;iĻ>F^F@=Ei )a:)I(:)I9iYRG2G UTracking...U2Tracking contact label: 2Bi@qB!BQzBQIe;ii)iiiii)yI}<)ۙΞh a~]&Ayt2>t2;E}rG>F^F!!=%E!i) ))-:)1I5:)9I=.9IiIYIRGQ2GY U]Tracking...U]2Tracking contact label: 2BaeqeBaBzBI;i)i)It"M:E&A&A&A&A)~0 ~0}bjG>F~^F = E i ):)Iʽ9)!I%v9)i)Y)RG92G9 U=Tracking...UE2Tracking contact label: 2CE @qEEBABazBaI};iy)yyyiy)It2/3EF0F4:wA:vA}n{G%!9%D%y&1|?MbP~jth%fA!ɀ!%A !)%xAI%AI%`;i%%D>F=^FE@E?M?=MEMDiQ Q)UO:)YI]]9)aIe9iiiYqRGy2G UTracking...U2Tracking contact label: 2Cq#FnAggregate::initialize lineCaptureHoming:StartingMissionBBAzBAIU;iy)yyyiy)ItR 2E)~\ ~^UC})>FE^FAII=MEMDiQ Q)Uk;)I9)I]9iYRG2G UTracking...U2Tracking contact label: 29hAggregate::initialize lineCaptureHoming:SurfaceComms1C1q:lAggregate::initialize lineCaptureHoming:SurfaceComms:BBBzB!Iu;iq)qqqiq)yI<t>=yw: wA)wAYa)iIiV>h ]&AytBP>tBy1EN=N=}!e;e9eeMbPMbpMbpe3AaɀaeEA a)eEAIeAIeiee>F^F@ƉƉ=Eƍ#Di )z:)I9)I9iYRG2G UTracking...U2Tracking contact label: 23bAggregate::initialize lineCaptureHoming:NeedCommsq 4 @Initialize GoToSurfaceComponent.4 HReceived depth rate setting nan m/s.4RReceived pitch setting 19.999999 degrees.4%HReceived speed setting 1.000000 m/s.4%No surface timeout specified. Using default value of 1000.000000 seconds.4%nReceived pitch timeout configuration 60.000000 seconds.1-ZC-bC)jC)rC-45last time_fix was: 1553560502.000000 second since 1970/01/01T00:00:00Z 15B=?BzBiXz:I;))i))I5t2V0E6C=:=)~@ ~BZC}p>Fz^Fx|=E/Di  ) U:)I89)IG9!i!Y)RG12G5; U5Tracking...U52Tracking contact label: 2ZC=bC9jC9rC==BE?BqzBqiI;))i)It2R4E}n0G>F^F!!=%E%i=Y)ۙ /h 33]&Ayt68>t66+E:A>A)~D ~H}vG5;1915Mb`~jtxMbp5fA1ɀ15A 5A)1I1I5i5Ļ1>FM^FM@QQ=UEUIDia a)e:)iIm9)qIu9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It2Q6EF6@AF4:vA8}jG>F=^F9AA=MEMVDiQ Q)UI:)YI]i9)aIe׾9iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I+>t>3E)~L ~NUC}~{Gee9ee~jth?~jthMb`eAaɀaa a)eAIeAIeD;ieDe>F}^F}@ƁƁ=EƍcDi ):)Is9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I%< 1)1Y))1d)h ]&Ayt"ɓ>t"5E&=$&%=&<{*})>F^F=EtDi ):) I 9)Iv9iYARGI2GM; UMTracking...UU2Tracking contact label: 2ZCUbCQjCQrCUB]?BzBiI;))i) It"=E"F"R=*F &a=&=)~0 ~2ZC}`)hIhhɠh hɡlnzAlillipr{A)r\ rFIp t)v{AɢttttɣtixIxxIxiz{A z-x)|| |||ɤ|I)i>F=^F9AA=EEE}DiI I)M:)yI}9)yI}i9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI ;) ) IIiI)QI]t"6E}^ƄG~~;9~~Mb`?~A|ɀ|~EA ~A)~xAI|I~i~;~>F^F@ơơ=EƥDi );)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjC!rC%B%?B9zB9iI;))i)IiUN>Y!))eh )?Σ]&Ayt"~>t"M:E$$&A&A)~0 ~0}^G>F=^F9AA=EEMDiQ Q)U:)YI]]9)aIe]9iiiYiRGy2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It"4EF"?AF $(}^{G:9MbP?Aɀ )IIi:>F^F%@!)=-E-Di1 1)57;)YI]S9)aIe9qiqYqRGy2G}; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI5;)1)199i9)AIEtb:E)~t ~t}I>F}^FyƁƁ=EƅDi )Q>:)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BYzBYiiI;))i)It".E&=&=$&<}p>F~^F = E Di ):)I89)!I%]9)i)Y)RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It}v5E"F*FR=R=)~ ~}qq9quMbP?uAqɀqq q)qIqIqiqq>F^F@=EDi ):)I <)1I599i9Y9RGI2GM; UMTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiiIu;)q)qqqiq)yI Y)ۡϳi fO]&Ayt"{>t"6E}\>Fn^Fptt=vEvDix x)zU:)|I~9)Iv9 i YRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BYzBYiiIm;))i)It" 0E&A&A&A&A)~0 ~0}` D ף9  ~jtx?MbPMbP A ɀ  A A) AI I ;i  >F%^F%@))=-E-Di1 1)5 :)iIm89)iIm9yiyYyRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)I t3EF"AAF &wA$}`>Fn^Flpp=rEvDix x)za:)|I~9)I9 i Y RG2G; UTracking...U2Tracking contact label: 2ZC%bC!jC!rC%B%?BzBi)I-;)))i)It"6E)~0 ~2UC}^0G>Fn^Fppt=vEvDix x)zd:)|I~v9)Iv9 iYRG2G; UTracking...U%2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBi)I5;)1)IIIiQ)YI]t^6Ef=f=fp;f<}G  D;9  MbPMb`? A ɀ   ) xAI ;@I i ; >F%^F%@))=-E- Di9 9)=+:)AIE9)IIM9QiQYYRGa2Ge; UeTracking...Ue2Tracking contact label: 2ZCmbCijCirCmBm?B9zB9iiIu;)q)qqqiq)yIw:YY)ہ= ,got command show stack= Behavior Stack: =0 Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope=0 ~Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope=0 Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope3 jPriority 3: lineCaptureHoming:NeedComms:B.GoToSurface3 RPriority 4: lineCaptureHoming:NeedComms:C/ @Priority 5: lineCaptureHoming:I./ HPriority 6: lineCaptureHoming:J.Mass/ PPriority 7: lineCaptureHoming:K.Buoyancy/ >Priority 8: lineCaptureHoming:L/ >Priority 9: lineCaptureHoming:M/ @Priority 10: lineCaptureHoming:NQ4i Ф]&Ayt>y>tB2EFC=D)~I ~MZC}>F ^F   = E Di) ) )- :)A IE :)Q IU : i Y RG 2G ; U Tracking...U 2Tracking contact label: 2ZC bC jC rC B ?BI zBI iy I} ;)y ) i ) I i e>Yq )y :i ^]&Aytڏ>t0E}^G==9==~jth?Mb`=A9ɀ9=EA =jA)=AI=AI=D;i==ɍ鍉ii{A) I ){AɎ鎙ɏiIIi{A 鏩)鐱 zAEɐCI)i)Iɑ >F^F@=E'Di ):)I9)I9iYRGI2GU; UUTracking...UU2Tracking contact label: 2ZCUbCYjCYrC]B]?BzBiI;))i)It"6E &A)~, ~,}vBG>F}^FyƁƁ=Eƅ4Di ){<:)ID9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BYzBYiiI;))i)It"x3E&vA$}bG>F]^FYaa=eEe@Diq q)u;)I:)I:9i9YARGy2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B9zB9iiIm;)q)qqqiq)yIt"4E)~, ~,}`  #9  Mb?~jtxMb` fA ɀ  A A) xAI AI F%^F%@))=-E5MDi ) :)I9)Iv9iYRG2G; UTracking...U2Tracking contact label: 2ZC bC jC rC B ?BzBiI;))i)I  Ui ,U]&Ayt>t"6E"=&=}\>Fn^Flpp=vEvZDix x)zb:)|I~i9)I9 i Y RG2G; UTracking...U2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)I<Y)6[i o]&AytB>tB+7E"FFa=*FFp=J=J=)~P ~P} GUU9UUFm^Fm@yy=}E}gDi ):)I9)It9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i) It":E}bG>Fn^Fppt=vEvtDix x)z:)|I~9)I9 i Y RG2G; UTracking...U2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It"x3E&A$)~4 ~8}r{G>F%^F)AA=MEMDii i)m;)I;)I;!i!Y!RG)2G-; U-Tracking...UU2Tracking contact label: 2ZCUbCQjCYrC]B]?BzBiI;))i)I< )Y)۱qni ]&Ayt^>tb4EFb?AF`juAh}I949I +?{GztMb`Aɀ週 )xAIAI94F^F@=EDi) ))-:)1I5A:)9I=!9AiAYARGI2GU; UUTracking...UU2Tracking contact label: 2ZC]bCYjCYrC]B]?BzBiI;))i)ItF;E)~T ~T}y>F^F=EDi ):)I9)I9iYRG 2G ; U Tracking...U2Tracking contact label: 2ZCbCjCrCB?BQzBQiaIe;)a)aaiii)qIutB*9EF=F=}0GĻD9Dy&1|?Mb`?~jthAɀ )IAI`;i;D>F^F@!!=%E%Di) ))-:)1I59)9I=:9AiIYIRGQ2GU; U]Tracking...U]2Tracking contact label: 2ZC]bCYjCYrC]Be?BzBiI;))i)Iii>Y)ۙ ki y$ ]&AytR0>tR(;EZC=Z=)~ ~ }G>F^F=EDi )a:)I9)Iv9 i Y RG2G; UTracking...U2Tracking contact label: 2ZCbCjCrC%B%?BYzBYiiIm;)i)iiqiq)yI}t&r9E}1D;ף9MbP?{Gzt~jthAɀ逽EA A)II:iף>F^F@=EDi  ) P:)9I=89)9I=9IiIYIRGq2G}; U}Tracking...U}2Tracking contact label: 2ZC}bCjCrCB?BzBi)I5;)1)111i1)9IEt"1E $)~, ~0}d>Fn^Flpp=vEvDix x)z:)|I~9)I9 i Y RG2G; UTracking...U2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It"8E&vA$}bjG>Fn^Fppt=vEvDix x)zI:)|I~ʽ9)Ii9 i Y RG2G; UTracking...U2Tracking contact label: 2ZC%bC!jC!rC%B-?BzBiI;))i)It"6E)~0 ~4}j0G]]9]]~jth?Mb`?MbP]=AYɀYY ]A)YI]IAI]D;i];]>Fu^F@=EDi )I<)I9)9I=`9AiAYARGI2Gu; UuTracking...Uu2Tracking contact label: 2ZC}bCyjCyrC}B}?BzBiI;))i)It">E"=$&&4<}bjG>Fn^Fppp=vEvDix x)z0:)|I~9)I׾9 i Y RG92G=; U=Tracking...U=2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It^7E"Fd*Fdja=jR=)~x ~x}]0G949Mb?y&1|Aɀ )AIAIF ^F @=EDi! !)%:))I-;)QIU`9YiYYYRGa2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))aaaii)qIut" 2E}nG>F~^F|= E Di )g:)I9)!I%9)i)Y1RG92G=; U=Tracking...UE2Tracking contact label: 2ZCEbCAjCArCEBM?BzBiI;))i)It"8E$$&A&A)~0 ~0}\>F^F=EDi )U:)I{9)I]9iYRG 2G ; U Tracking...U2Tracking contact label: 2ZCbCjCrCB?BIzBQiaIe;)a)aaaia)qIut"v5EF&AAF$*wA*wA}` ; D9 D Mbp~jth \A ɀ  xA ) I I i  D)I%|A!ɠ! !ɡ!%zA)i))i)-{A)- )I) 1)5{Aɢ1119ɣ=|Ai9I99IAiE{A EhA)AI IIIɤIIIIUף)QiQ>F]^F]@aa=eEm)Diq q)q)I$9)I!9 i Y RG12G5; U=Tracking...U=2Tracking contact label: 2ZC=bC9jC9rC=BE?BzBiI;))i)It"4E.bSBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0.ZFailed to initiate SBD session. Error code: 2)~4 ~4}fՃG>F]^FYaa=eEm6Diq q)u:)yI}9)I׾9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzB iYI];)Y)aaaia)iIm_3i $&]&Ayt>t6E"="=&=&<}%XG m@ m m@ m m@ m m@ m m@ m@ m@ m@ m mB m)mmMb@Mb@Mb@mmɀmm i)mImImim‰m>FZF@=EDDi) ))-K>)1I59AiAYARGI2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BIzBQiaIe;)a)aaaia)It2J>E"F0*F6a=:=:p=)~@ ~@}r0G>FZF!))=-E-ODi1 1)5L?)9I=9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)It20E}njG>FZF!!)=-E-\Di1 1)5'?)9I=9IiIYIRGQ2GU; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBe?BzBiI;))i)It6t7E>A>A>A>A)~H ~H}v{G 5 5 5 5 5 5 5 5 5@ 5 5@ 5 =@ = =@ = 1 1)15Mb@Mb@Mb@51ɀ11 1)1I1I1i11>FUZFU@YY=eEejDii i)m?)qIu9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It22EF4F488}>FZF!!=%E%vDi) ))-@)1I5:IiIYIRGQ2GU; UUTracking...U]2Tracking contact label: 2ZC]bCYjCYrCeBe?BzBiI;))i)It2q;E)~@ ~@}l E M M M M M M M M M M M M MM9M;MMbP?MbP?Mb`?MAMɀMI MXA)MAIMIAIM:iM:M;>Fe^Fm@qq=uEuDiy y)}:)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i) I pgi ٱ]&Ayt2@>t2Q6E6=6=64<64<}l>F^F!!)=-E-Di1 1)5:)9I=9)AIE׾9IiIYIRGY2G]; U]Tracking...U]2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)9IEt26+E"F6=*F4:=:=)~@ ~@}p>F^F!!)=-E-Di1 1)5:)9I9)AIE9IiIYIRGY2G]; U]Tracking...Ue2Tracking contact label: 2ZCebCajCarCeBm?BzBiI;))i)ItB+7E}|999==Mb`?MbP?=zA9ɀ99 =IA)9I9I=;i9=>F]^F]@aa=eEeDii i)m+:)yI}׾9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBiI;))i)It06A:A:A:A{:)~v= ~t}I>F}^FyƁƁ=EƅDi ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;))i)I%>t>6EFB@AF@FvAFvA}eGĻD;9;Mb`?y&1|?Mb`?GAɀ逩 A)IIi`;;>F^F@=EDi )z:)I9)Ii9iYRG2G; UTracking...U2Tracking contact label: 2ZC bC jC rC B ?BAzBiI;))i)ItB2E)~R= ~P} XG>F^F=EDi  ) F:)I9)Iʽ9!i!Y!RG12G5; U5Tracking...U52Tracking contact label: 2ZC=bC9jC9rC=BE?ByzByi1I5;)1)111i1)9IEt2 0E6=6=6=6<}{GɍzAii) I !)%{AɎ%ף!!!ɏ)i)I))I)i) )1)11 5{A55Fɐ1AIII)IiI)IIIIɑQ Q>F}^FyƁƁ=EƅDi ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?BzBi I ;) )i)I%t"3E"F"R=*F$*R=*=)~2= ~0}\u9D{Gz?I +~jthpAɀ A)IAI#F^F@ƱƱ=EƽDi )n:)I9)I:iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCB?B)zB)#58MissionManager is completed.#5PUninitializing Mission lineCaptureHoming5/=RAggregate::uninitialize lineCaptureHoming1= 0=vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq=0=NUninitialize AltitudeEnvelopeComponent.= 1=Uninitialize.=1=NUninitialize OffshoreEnvelopeComponent.=3=fAggregate::uninitialize lineCaptureHoming:NeedCommsq=4=DUninitialize GoToSurfaceComponent.=E9ElAggregate::uninitialize lineCaptureHoming:SurfaceCommsqE:EpAggregate::uninitialize lineCaptureHoming:SurfaceComms:B*E UEHUninitializing TrackAcousticContact.*EUEUninitialize.1+E VE@Uninitialize Buoyancy Component.E1Eq+Eq#EFMrAggregate::uninitialize lineCaptureHoming:StartingMission'e'e'e%ma% ua% ua%ua a ! !+** * **************!!!}yuqmiea]YUQMIEA=951-)%!i I ;) )  i)It"KFu^FyƁƁ=EƅDi ):)I:)I9iY#.Started mission Default1 (:Aggregate::initialize Default )@Initialize GoToSurfaceComponent. )No depth rate setting specified. Using default value of nan m/s. )~No pitch setting specified. Using default value of nan degrees. )No speed setting specified. Using default value of 1.000000 m/s. )No surface timeout specified. 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!)!Ɏ!)))ɏ- {Ai)I))I1i1 11)19 9=@9ɐ99AIA)AiA)AIEAEףɑI I>FU^FQYY=]EYia a)e:)iIm9)qIuX):iYiiI;))i)I<)۹l lv]&Ayt"+>t"3E&wA*vA}\%:%`9%D;%Mbp?~jtx~jth?%A!ɀ!%A !)!I%AI%;i%Ļ%D;>F^F@=Ei )U:)I9)Ii9 i Y ii!I%;)!)!!!i))))I5<)Al I]&Ayt2>t2x3E)~< ~>UC}l>F}^FƉƉ=EƉi ):)IQ9)I9iYiiI;))i)I<)I]N>i]V> l #]&Ayt2>t2KF5^F=@AA=EEAiI I)M:)QIU9)YI]S9aiaYaiiiqqiyI};)y)i)I<)ۡl ò]&Ayt2~>t2M:E6=6=)~@ ~@}njG>Fz^Fx||=~E|i  ) )Ig9)IN:!i!Y!i))))i9I=;)9)9AAiAA)IIM<)al Yݲ]&Ayt"k>t"q;E}^0G>Fr^Fptt=vEtix x)z::)ID9)Iʽ9 iYii)I-;))))))i)1)1I=<)I Y)YGl ]&Ayt">t"8E&A&A&A&A)~0 ~2ZC}^jG949;F=^F=@AA=MEIiQ Q)U:)YI]ʽ9)aIe9iiiYiiqqqqiI;))i)I<)ۡ1l ]&Ayt>t":E$$}^G>F~^F|=Ei ):)I9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)iZl m+]&Ayt"X>t"F-^F5@YY=]EYia a)e+:)iIm9)qIu5;iYiiI;))i)I<)I]R>i]a>(Bl 9GE]&Ayt">t":E&=&=&<&p<}^{G>F^F!!=-E)i1 1)5:)9I=׾9)AIE9IiIYIiQQQQiaIe;)a)aaaiii)iIu<)ہml '_]&Ayt.ߕ>t2O8E6a=6=)~< ~@}n0G>Fv^Fx||=~E|i ):) I 9)IE<yiyYyiiI;))i)I<)۹wl x]&Ayt2>t29E}nG;ף;9D{GztMb`?~jthAɀ A)IIףi;D>F5^F=@AA=EEAiI I)Ma:)QIU :)YI]9aiiYiiqqqqiI;))i ) I <)A a)a?~l {ؒ]&Ayt&>t&01E.A.A2A2A)~@ ~@}vjG>F~^F|=Ei  ) :)I9)I9!i)Y)i1111i9IE;)A)AAAiAI)IIU<)a$l ]&Ayt2>t2v5E88}n{G%%;9%%~jthMb`?Mbp%=A!ɀ!%xA !)%xAI!I%Di!%>F=^FE@II=MEIiQ Q)UM:)YI]i9)aIe9iiqYqiyyyyiI;))i)I<)۩l uƳ]&Ayt2ܒ>t24E)~@ ~BUC}p>Fz^Fx||=~E|i  ) :)I9)I:!i!Y!i))))i9I=;)9)9AAiAA)IIM<)aI]V>i]V>)l i]&Ayt"ܒ>t &=&=&a=&<}^ƄG>F~^F = E i )U:)I׾9)!I%i9)i)Y)i1111iAIE;)A)AIIiII)QIe<)ہl E]&Ayt&>t&01E.C=.R=)~4 ~6ZC}jGD;<9D~jtQ?~jthGAɀ )AIAIiu<D>F-^F5@99==E9iA A)En:)IIM9)QIU:aiaYaiiiiiiqI};)y)yyyiy)I<)ۙm !]&Ayt">t"v5E}f{G>Fr^Fptt=vEtix x)z%:)I]9)I9iYii)I-;))))))i11)1I=<)Q Y)Y m /-]&Ayt"->t"t7E&A&A&A&A)~0 ~0}\55<955I +?Mbp5=A1ɀ15xA 1)1I1I5i594<5>FM^FU@YY=]EYia a)e:)iIm9)qIu9yiyYiiI;))i)I<)۹m EG]&Ayt2c>t2V0E46wA}l>Fv^Fx||=~E|i ):) I s9)IQ9i!Y!i))))i1I5;)9)9AAiAA)IIM<)m Wa]&Ayt2>t2x3E>bSBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0>ZFailed to initiate SBD session. Error code: 2)~D ~D}~0G>F=^FAII=MEIiQ Q)U:)YI]9)iImI9qiqYqiyyyyiI;))i)I<)۱IYi]a>a2m {]&Ayt"0>t"(;E&=&=&&<}%jGm;m/<9m:mI +Mb?MbP?mGAiɀim i)iIiIm9imF^F@=Ei ):)I9)I9iYiiI;))i ) I<)!6%m f]&Ayt2>t2x3E4:a=)~@ ~@}r{G>F^FƩƩ=EƩi )=:)I9)Iv9iYiiI;))i)I<) D+m pC]&Ayt"~>t"M:E}^0G|~<9~~~jt~jt?Mb`~A|ɀ|| |)~AI|I~ļi~<~>F^F@=Ei )A:)I9)I9iYiiI;) )   i )I<)) Y)Y9,2m ɴ]&Ayt&E>t&=E*A*A.A.A)~4 ~4}fjG>F~^F  = E i ):)I׾9)!I%9)i)Y)i1119iAIE;)A)IIIiII)QIU<)iqV8m ]&Ayt2>t29E44}M{G>F^Fƙơ=Eơi ):)Ig:)Il9iYiiI;))i)!I%<)1؀>m ]&Ayt"H>t"kAE)~, ~0}\--ף<9)-:vQ?Mb`-zA)ɀ)) )))I-IAI-Ti-u<)>FE^FE@II=MEIiQ Q)UP:)aIe9)aIe9qiqYqiyyyyiI;))i)I<)۩IYi]V>AhEm ]&Ayt">t"4E&=&=&p;&p<}\>Fn^Fptt=vEtix x)z+:)|I~]9)Ii9 i YiiI;))i)I<) `Km 0]&Ayt">t"R4E*=*=)~0 ~2UC}b0G D `;9 ף ~jthy&1|?{Gzt A ɀ  EA ) AI I Di `; ף>F%^F%@))=-E)i9 9)=u :)aIe9)iIm9qiqYqiiI;))i)YI]<)q;{Rm ZhJ]&Ayt"">t"CE}ZG>Fn^Fptt=vEtix x)zU:)|I~׾9)I9 i Yi999iAIM;)I)IIIiIQ)QI}<)ۉ Y)Y`Xm `?d]&Ayt"=>t&2E.A2A2A6A)~D ~FZC}jGD;9Mbp?{Gzt=Aɀ选 )AIAIi;>F^F@!!=%E!i) )))) I 09)1I599i9Y9iAAIIiQIU;)Q)YYYiY)I<) ^m !~]&Ayt"h>t"7E&vA&vA{*}-{G>F]^FYaa=eEiiq q)q)yI}9)Ii9iYiiI;))i)I<))em P]&Ayt>t>E)~T ~T} G>F^FƱƱ=EƱi )R:)I:)I:!i!Y)i1111iqIu;)y)i)I<)!I]Y>i]a>km б]&Ayt"@>t"Q6E*=*=*=*<FMT Queue status failed to be acquired within timeout. Will not retry this session.}zXG55D<955F5^F=@AA=EEAiI I)Ma:)QIUi9)YI]9aiaYiiiqqqiyI};))i)I<)ۡrrm 6˵]&Ayt">t"01E:R=:=)~@ ~BUC}{G>F^Fơơ=EƩi ):)Iʽ9)I9iYiiI;))   i  )I<))Axm ̖]&Ayt.>t./3EjFix Requested}mQG<9:vy&1?MbPAɀ週 A)IAITi`e<>Fm^Fu@yy=}Eyi ):)I9)I9iYiiI;))i)I<) Q)Qm =b]&Ayt"0>t"(;E&A&A&A&A)~d ~fZC}-{G>F]^Faai=mEiiq q)uU:)I9)IS9iYiiI;))i)I <)m =]&Ayt2+>t23E6wA6wA}M0G>F}^FyƁƁ=EƉi )I:)I9)I9iYiiI;))i)I<)a.m 3]&Ayt2>t26E)~< ~<}nG!%<9%;%/$Zd;O?Mb`?%A!ɀ!! !)%xAI%IAI%i%j<%;>F=^F=@AA=EEIiQ Q)U:)YI]9)aIe!9iiiYiiqqqqiI;))i)I<)۩I]R>i]Y>m L]&Ayt">t"+7E&=&=&p;&4<)z2 Iz2iz2z6z6}h>F^F!))=-E)i1 1)5U:)9I=9)AIEʽ9IiIYIiQQQYiaIe;)a)aiiiii)qIu<)ۉWCm f]&Ayt.>t.*9E6=6=)~< ~<}njG%D%<9%%Mb/$?%GA!ɀ!! !)%AI%AI%i%<%>F=^F=@AA=EEAiI I)MGH:)YI]89)aIe9iiiYiiqqqqiI;))i)I<)ۡ(m 竀]&Ayt&U>t&8E^Fix Requested}-{G>F]^FYaa=mEiiq q)uB:)yI}v9)Ii9iYiiI;))i)I<) Y)YRm ]&Ayt">t">E$&A$&A)~h ~h}50G>F}^FyƁƁ=EƁi ):)Iʽ9)Iv9iYiiI;))i)I<)}m Fa]&Ayt2>t2:E44}eGףt<9D;F^F@=Ei ):)I9)I9iYii I ;) )i)I%<)1em <ζ]&Ayt"->t"t7E)~0 ~0}bBG>F~^F  = E i )U:)I9)!I%9)i)Y1i1199iAIM;)I)IIIiIQ)QI<)I]V>i]]>ݎm ]&Ayt2@>t2Q6E6=6=6p;6;}njGD;`e<9~jtMb?Aɀ xA)IAIDi<>F5^F=@AA=EEAiI I)M:)QIU9)YI]$9aiiYiiqqqqiyI;))i)I<)ۡvm ]&Ayt2>t2;E:C=:=)zBIzBizF zFzD)~L ~NUC}~0G>F=^FAAI=MEIiQ Q)U:)YI]9)aIe9iiiYiiqqqyiI;))i)I<)۩#m O]&Ayt2>t2*9E}njG>F^F!!)=-E)i1 1)5:)9I=]9)AIE]9IiIYIiQQYYiaIe;)i)iiiiiq)qI}<)ۉ Y)Ym 5]&Ayt"@>t"Q6E&A&A&A&A^Fix Requested)~d ~h}-{Gu`u'=9u;u~jt rh?Mb`?uAqɀqq uA)qIuIAIuļiuC =u;>F^F@ƑƑ=EƑi )a:)I9)I9iYiiI;))iQ)YI]<)qm O]&AytV̖>tVr9E^vA^vA}>F^F=Ei )U:)I9)Ii9iYiiI;)) i  )I<))8m _i]&Ayt"f>t" 4E)~h ~jZC}M0Gt=9D;?~jth?GAɀ逑 )IAI̼i<D;>F^F@ƱƱ=Eƹi ))I9)I? :iYiiI;))i)I <)I]i>i]V>m 9]&Ayt">t"01E&=&=&p;&<}^G>F~^F = E i ):)I]9)!I%9)i)Y)i1119iAIE;)A)AIIiII)QIU<) fm ]&Ayt2f>t2 4E46R=)~@ ~@}njG>Fz^Fx||=~E|i  ) U:)I9)IA:!i!Y!i))))i9I=;)9)99AiAA)IIM<)am ]&Ayt"׌>t"4-E}Z{G~;~<9~~~jtMb?Mb`~GA|ɀ|| |)|I|I~i~<~>F=^F=@AA=MEIiQ Q)U:)YI]9)aIe9iiiYqiyyyyiI;))i)I<)۩ Y)Ym Cз]&Ayt"~>t"M:E$&A&A&A)z2 Iz6iz6z6z6 )~< ~>UC}h)pIppɠp pɡtvzAtittixz{A)x xIx |)~{Aɢ||||ɣ|iIȊCi )     ɤ AIף)i>F^F!!)=-E)i1 1)5:)9I=9)AIEi9IiIYIiQQQQiaIe;)a)aaiiii)qIu<)ہo+m ]&Ayt2>t24E:wA:wA}l%ף%#<9%%~jthI +?%GA!ɀ!! !)!I!I%Di%94<%>F^F@=Ei )7:)Iv9)I9 i Y ii!I%;)!)!!!i))))I5<)An 3]&Ayt.>t.T2EnFix Requested)~t ~vZC}A>F^F=Ei  ) :)I9)Ii9!i!Y!i)))1i9I=;)9)AAAiAA)IIU<)aI]V>iY6=n \]&AytB>tB4EF=F=FF=}a>F^Fơơ=Eơ]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault 5 9 A i )z:Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. Software Fault    )I9]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 -Software Fault)I$9iiI;))i)I<)-!-Software Fault in component: DeadReckonUsingMultipleVelocitySources-!5vSoftware Fault in component: DeadReckonUsingSpeedCalculator-!5xSoftware Fault in component: DeadReckonWithRespectToSeafloorh n S=8]&Ayt" >t"o=E.R=,)~l ~l}A9;Mb`?~jth?Mb`?Aɀ逡 )xAIAI;iD;;>F^F@=EiiI;))i)I<)!-Clearing failed state for component DeadReckonUsingMultipleVelocitySources - - - - !-Clearing failed state for component DeadReckonUsingSpeedCalculator -!5Clearing failed state for component DeadReckonWithRespectToSeafloor1 5iOn  R]&Ayt20>t2(;E}nƄG>F5^F9AA=EEAUlInitializing DeadReckonUsingSpeedCalculator component.YiYYYiaaaaiqIu;)q)qqyiyy)I<)ۙ Y)Yyn k]&Ayt"2>t">E$&A&A&A)~0 ~0}^BGף;`9MbP?MbMb`GAɀ )AIAI:i>F%^F%@))=-E)i1 1)5/:)AIEg9)AIE9QiQYQiYYYYiaIm;)i)iiiiiq)qI}<)ۉ:a!n Ʌ]&Ayt"@>t"Q6E$*vA)z6 Iz6iz4z4z4}nG>Fv^Ftxx=zE|i )a:) I Գ9)I׾9!i!Y!i))))i1I=;)9)999i9A)AIM<)Y'n n]&Ayt"0>t"(;E)~, ~0}^jG>F~^F  = E i ):)!I%9)!I%91i1Y1i9999iIIM;)I)IIIiIQ)QI]<)iIYi]Y>Y-n E]&Ayt">t"6E&=&=&p;&4<^Fix Requested}-{GuD;uD9uu{GztMbPuGAqɀqq q)qIqIuiuףu>F^F@ƑƑ=EƑi ):)I9)Ii9iYiiI;))i)I<)l4n >[Ӹ]&Ayt&>t&*9E,,)~d ~d}-0G>F}^FƉƉ=EƉi )]?:)I9)IiYiiI;))i)I<):n 6]&Ayt">t"6E}-jGmm949mmMb?MbmAiɀii i)iImAImFU^F]@Ya=eEaii i)mD:)qIu9)yI}9iYiiI;))i)I<) Y)YOAn  ]&Ayt">t"{/E(*A(*A)~8 ~8}f{GɍnCllillipp)rĻ pIp p)tɎttttɏtitIxxIxix xx)xy y}Dyɐy{AI)i)IA鑉ɑ >F^F=Ei ):) I 9)I9!i!Y!i))))i1I=;)9)999i9A)AIM<)YGn  ]&Ayt"ϙ>t"&=E8:wA}p>F^FƉƉ=EƉi )l:)IVo:)I:iYii!I%;)))))1i1A)II]<)ۉNn T:]&Ayt">t"R4E)~0 ~2UC}`9:I +?~jtMbP?Aɀ )II94F^F@!!=%E!i) ))-=:)9I=ʽ9)9I=9IiIYIiQQQQiaIe;)a)aaaiii)iIu<)ہI]R>iYUTn T]&Ayt">t"v5E&=&=&p=&<)z6Iz6iz4z6z4}h>F^F!!!=-E)i1 1)5:)9I=9)AIE9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉr[n }n]&Ayt2̖>t2r9E44)~@ ~BZC}r0G%D;%C9!%{Gz?y&1MbP?%GA!ɀ!! !)!I%AI%#F^F@ƹƹ=Eƹi )+:)I9)Is:iYiiI;))i)I <)an uY]&Ayt2>t28EnFix Requested}MjG)QIU{A]Dɥ]F Yɦ]C]{A]#iaaiae{A)eD eFIa i)m{AɧmDmuFiqɨqiqIqqI}Ciy yy)y驁 {A@Fɩ>F^F=Ei ):)IQ9)I9iYiiI;)) i  )I<)) Y)Y(hn \9]&Ayth>t"7E &A&A&A)~d ~d}={G>F^F=Ei9 9)=ީ:)IIM+9)QIU.9YiYYYiaaaaiqI};)y)yyyiy)I<)ۙQnn ]&Ayt6ԟ>t6DE>vA<}Qף9:v?MbAɀ逩 )IAITF]^F]@aa=mEiiy y)}q+:)I:)I:iYiiI;))i)I<)9un չ]&Ayt2H>t2kAE)~D ~FUC}0G>F%^F!))=-E)i1 1)5D:)AIE9)IIMv9QiQYQiYYYYiiIm;)i)iiiiqq)yI}<)ۉIaieV>c{n "]&Ayt"U>t"8E*=*=*p<*<}rGMI9M:My&1?QMbP?MGAIɀII I)IIMAIM`eF^F@ơơ=Eơi ):)IQ9)I9iYiiI;))i)I<)Kn @ ]&Ayt"(>t" 0E*C=()z6Iz6iz8z8z8)~@ ~@}rjG>F^F!!)=-E)i1 1)5:)9I=9)AIE9IiIYIiQQYYiaIm;)i)iiiiiq)qI<) wn #]&Ayt">t"v5E}nG>F=^FAYY=]EYiy y)}:)I:)I9iYiiI;))iQ)QI]<)i Y)Yn U=]&Ayt2>t28E46A6A6AnFix Requested)~t ~t}MG@9; rh?MbMb`?Aɀ选 A)IIC =i;>F^F@ƱƱ=EƱi ):)I9)I׾9iYiiI;))i)I<).n 3W]&Ayt">t"R4E$$}%G>F]^FYaa=eEaiq q)q)yI}9)I]9iYiiI;))i)I<)#n Rq]&Ayt">t"9E)~d ~d}-jGmDmT9im+?Q롿Mb`?mAiɀii i)iIiIm=im\i>F^F@ƉƑ=EƑi ):)I9)I9iYiiI;))i)I<)IYiYn 芺]&Ayt&>t&8E*=*=.p;.4<}b0G>F~^F = E i ):)I9)!I%i9)i)Y)i1111iAIE;)A)AIIiII)QIU<)aƨn Ϥ]&Ayt>>tB/3Ena=l)~| ~|}]GH9D;l?L7A`堿~jth?Aɀ逡 )II=i+D;>F^F@=Ei )SI:)I+9)I!9iYiiI;))i )I<)!7n ]&Ayt">t"v5E)z2Iz2iz0z0z0}jjG>F-^F111==E9iA A)E:)IIMg9)QIU9YiYYYiaaiiiqIu;)q)yyyiy)I<)ۙ Y)Yյn lyغ]&Ayt">t"F~^F = E i ):)Iv9)!I%9)i)Y)i1199iAIE;)A)IIIiII)QIU<)n T]&Ayt">t"hEE&wA(^Fix Requested})mmQ89imMb?X9v~jth?mAiɀii i)iIiIm=imi>F^F@ƑƑ=EƑi ):)I+9)I91i1Y9iAAAAiIIM;)Q)QQQiQY)YIe<)ۑn 0 ]&Ayt"P>t"y1E)~d ~fUC})>F]^FYaa=eEiiq q)u:)yI}9)IQ9iYiiI;))i)I<)I]V>i]Y>nn ]&]&Ayt>>t>8EB=B=Bp;B<}aD;9V-? rhpAɀ逡 )IAIF^F@=Ei ):)I9)I9iYiiI;))  i  )I<)!dt"KFn^Fptt=vEtix x)z:)|I~v9)I9 iYii!I-;))))))i)1)1I]<)i#n ]Y]&Aytf>td}E0G>F}^FyƁƁ=EƉi )+:)I9)Iv9iYiiI;))i)I<) Y)YMn s]&Ayt">t"DE&A&A&A&A)~0 ~0}^jG;j<9V-?F^F@ƑƑ=EƑi )D:)I9)I9iYiiI;))i)I<)5n w]&Ayt"U>t"8E$*vA)z6Iz6iz4z6z6}j{G>Fv^Ftxx=zExi ):) I 9)Iv9iYi!!!!i1I5;)1)119i99)AIE<)YI`n S]&Ayt">t"1E)~0 ~0}\ף;C9Mb?QAɀ A)IIF^F%@!)=-E)i1 1)5a:)9I=9)AIE9IiIYQiQYYYiaIm;)i)iiiiiq)qI}<)ۉIYi]]>Gn -]&Ayt"h>t"7E&=&=&&<^Fix Requested}-ƄG>F]^FYaa=mEiiq q)u:)yI}9)I9iYiiI;))i)I<)qn Sۻ]&Ayt">t"4E*=*=)~d ~fZC}-G>F]^Faai=mEiiq q)uG:)yI}ʽ9)Ii9iYiiI;))i)I<)]n ]&Ayt">t"Fm^Fm@qq=uEqiy y)}+:)I:)IG9iYiiI;))i)I<) ]@A)Yo Y]&Ayt&h>t&7E(*A,.A)~4 ~6UC}dɒnCn9|AnĻillinّCrzA)p pIp rّC)pɓptttɔv{AivIttIzCix xx)x| ~{A~|ɕ|I)i Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.y{Ic{A)&HIA%LReceived data from all battery sticks.>F-^F)11=5E1iA A)E:)IIM9)QIU׾9YiYYYiaaaaiqIu;)q)qqqiqy)yI<)ۑͮ o ؜(]&Ayt">t"8E$&wA}n0G%D;%D9!%y&1|?I +%A!ɀ!! !)%xAI%AI%`;i%94!>F]^Fe@ai=mEiiq q)uC:)yI}9)I9iYiiI;))i)I<):o JzB]&Ayt">t"6E)z>Iz>izz@)~H ~JZC}zG>F=^FAII=MEIiQ Q)UH:)YI]9)aIe׾9iiiYqiyyyyiI;))i)I<)۩I]R>i]V>o O\]&Ayt">t"T2E&=&=&&p<}\>F~^F = E i )U:)IQ9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<) &o *v]&Ayt2>t2F^F@ƩƩ=EƩi )Έ<)9I=9)AIE9IiIYIiqqqyiI;))i)I<)#o  ]&Ayt"ɓ>t"5E}%0G>F]^FYaa=eEaiq q)u:)yI}9)IQ9iYiiI;))i)I<) ]?A)Y3)o z᩼]&Ayt">t"0E&A&A&A&A)~d ~d}-jGm;mt9imMbp?F^F@ƉƉ=EƉi )a:)I9)I9iYiiI;))i)I<)0o ü]&Ayt"c>t&V0E(*vA}b0G>F~^F  = E i ):)I9)!I%v9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)i 7o ݼ]&Ayt">t"+7E)~0 ~0}^jG>F~^F|=Ei )+:)I)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)iIYi]]>e8=o .s]&Ayt6>t6J>E:=>=>p;>;}v0G5D5ף915~jtx?MbP5A1ɀ11 5A)1I5AI5;i51>FE^FM@IQ=UEQiY Y)]U:)aIe9)iIm]9qiqYqiyyyiI;))i)I<)۱? Do 8N]&Ayt"+>t"3E*R=*R=)z6Iz6iz4z6z6 )~< ~<}%jG>F-^F199==E9iA A)E+:)IIM9)QIU:aiaYaiiiiiiqI};)y)yyyiy)I<)ۙJJo *+]&Ayt">t"01E}ZƄG~D;~9~~~jt?QMb~A|ɀ|| ~A)|I~AI~DF ^F@=}Eyi ):)IZ9)I`9iYiiI;))i)I<) Y)Y62Qo WE]&Ayt"U>t"8E&A&A&A&A^Fix Requested)~d ~d}-BG>F]^FYaa=mEiiq q)u:)I9)I9iYiiI ;) )   i )I<))Z\Wo ^]&Ayt2>t2T2E46wA}MG>F}^FyƁƁ=EƉi ):)I9)I9iYiiI;))i)I<)an]o x]&Ayt">t"v5E)~d ~d})uu<9uu~jtQ?uGAqɀqq uA)qIqIuDiuuF^F@ƑƑ=EƑi )7:)I9)Ii9iYiiI;))i)I<)I]V>i]V>hndo  ]&Ayt">t"8E&=&=&&<}\>F~^F = E i ):)IQ9)!I%9)i)Y)i1111iAIM;)I)IIIiIQ)QI]<)ixjo p]&Ayt2>t2T2E44)~@ ~@}njG%D%`<9%D;%F=^F=@AA=EEAiQ Q)U:)YI]9)aIe9iiqYqiyyyyiI;))i)I<)۩qo Mƽ]&Ayt6%>t6Y,E)zJIzJizHzHzH}~0G>F ^F=Ei! !)%U:))I-9)1I599i9YAiAIIIiQIU;)Q)YYYiYa)aIm<)y Y)Y`wo &]&Ayt">t"?E&A&A&A&A)~0 ~2UC}vG>F~^F  = E i ):)I9)!I%i9)i)Y)i1199iAIE;)A)IIIiII)QIU<)i%}o ]&Ayt"ڏ>t"0E&uA$^Fix Requested}UjGD;#=9Q:v?Aɀ這 )AIIAIi<>F^F@=Ei );)I9)I!9 i Y i1111iAIE;)A)AAAiII)IIU<)io ]&Ayt">t"9E)~d ~fZC}-0G>F=^F9AA=EEAiQ Q)U:)YI]v9)aIe9iiiYiiqqiI;))i)!I%<)YIYi]a>uo -]&Ayt">t"6E&=&=&<&=}-GmDmt<9imI +Q?mGAiɀii mxA)mAIiIm94imuFE^FE@II=MEIiQ Q)U:)aIe9)aIe9qiqYqiiI;))i)I<) PΑo G]&Ayt"C>t":E*C=()~0 ~0}bBG>Fr^Fptt=vEtix x)z:)Iv9)I9iYii)I-;))))))i)1)1I=<)Iao *ra]&Ayt"+>t"3E}^jG>Fr^Ft||=~Ei  ) :)Is9)Il9!i!Y!i))))iaIe;)i)iiiiq)I<)) Y)Y;#o 'L{]&Ayt">t"4E&A&A&A&A)z2Iz0iz0z0z0)~8 ~<}j{G9I +y&1?GAɀ A)AIIi`e<>F^F@ơơ=Eơi ):)I]9)I9iYiiI;))i)I<)a% o t']&Ayt"k>t"q;E&wA$}\>Fn^Fptt=vEtix x)z:)|I~9)I9 i Yii!I-;))))))i)1)1I=<)IZ5o ]&Ayt">t"/ENFix Requested)~T ~ZUC} UU=9QU~jtV-?UAQɀQQ UA)UAIUAIUļiUFm^Fm@qq=uEqiy y)}:)I9)I׾9iYiiI;))i)I<)IYi]V>o Ⱦ]&Ayt"->t"t7E*=*=*p;*p<}I>F}^FƁƁ=EƉi )g:)I9)I9iYiiI;))i)I<)Fo ]&Ayt2ܒ>t24E:a=:a=)~| ~~ZC}ƄG=ף;=<9==I +Q?Mb`=zA9ɀ99 9)=AI=IAI=9i=u<=>FU^FU@YY=eEaii i)m:)qIu9)yI}9iYiiI;))i)I<)!qo ]&Ayt"P>t"y1E}^G>F~^F = E i ):)I9)!I%]9)i)Y)i1199iIIM;)I)IIIiIQ)QI]<)i Y)YXo l]&Ayt">t"8E&A&A&A&A)~0 ~0}^{G>F~^F = E i )U:)I9)!I%i9)i)Y1i1199iAIE;)A)IIIiII)QIU<)io 0H0]&Ayt2>t2+7E6vA6vA}n0G%%t=9%;%Zd;OV-?Mbp?%zA!ɀ!! !)!I!I%ji%<%;>F=^F=@AA=EEAiI I)M:)QIU_:)YI].9iiiYiiqqqqiI;))i)I<)۩ko J$J]&Ayt2 >t2o=E)zBIzBiz@zBz@)~H ~NUC}~G>F^F =Ei ):)!I%9))I-891i1Y9iAAAAiIIU;)Q)QQQiQY)YIe<)qIYi]]>o c]&Ayt"E>t"=E.=2=2;2p<}%BG;<9F^F@!!=%E!i) ))-U:)1I5Q9)9I=9AiAYIiIQQQiI;))i)I<)@o }]&AytB>tBR4EFR=FR=~Fix Requested)~  ~ ZC}mՃG>F^Fơơ=Eơi ):)Iv9)I9iYiiI;))i)I<) !o ]&Ayt">t":E}%XG>F]^FYaa=eEiiq q)u:)yI}]9)Ii9iYiiI;))i)I<) a)ao ]&Ayt">t"+7E&A&A&A&A)~d ~d}]0G<9I +~jt?Aɀ這 A)IIAI94iD<>F^F@=Ei ):)IQ9)I9i Y iiI%;)!)!!!i!)))I5<)A޸o j˿]&Ayt2>t29E:wA8}njG>Fv^Ftxx=~E|i )n:) I g9)I9iY!i!!))i1I5;)1)999i9A)AIM<)ao P]&Ayt*>t.?E)~D ~H}0GM;M9MM~jthMb`Mb`MGAIɀII MxA)IIIIMDiMM>Fe^Fe@ii=mEiiy y)}:)I9)Iv9iYiiI;))i1)1I=<)IIYi]V> o  ]&Ayt"ܒ>t"4E&=&=&;&p<)z6Iz4iz4z4z4}jG>Fr^Fptt=vEti| |)~:)I9) I i9iYii)I-;))))))i)1)1I=<)Ip D]&Ayt2>t2;E44)~@ ~@}njG>Fv^Fxx|=~E|i )7:) I )I9iY!i!)))i1I5;)1)999i9A)AIM<)Y p #2]&Ayt">t"4E^Fix Requested}%{Gmmj<9mm:v~jt?mAiɀii mA)mAImAImTimF^F@ƉƉ=EƉi ):)I9)I9iYiiI;))i)I<) Y)Yp L]&Ayt>t,E"A"A"A&A.Parsing RMC sentence: $GPRMC,004207.00,A,3648.17259,N,12147.27109,W,0.661,271.16,260319,,,A*7D {.Y|.W]&Ay|.?|. :|. ;fB@(lr^6hGPS fix at 20190326T004207: (36.802876, -121.787852) |.>)|.q@)~@ ~@}n0G>F^F!!=%E!i)-?- :))Y) ))- :I)I=?i= :99)9I=lf:i9! 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!)%:))I-9))I-D99iYiiI=;)9)AAAiIQ)aIm<)۩/p ӆ:]&Ayt">t"4E}^ƄG|~D9~D;~Mbp~jth?~A|ɀ|| ~A)|I~IAI~i~~D;>F^F@!=%E!i) ))-:)1I59)9I=9AiAYAiIIQQiYI];)a)aaaiai)iIm<)ہ ]?A)Yp aT]&Ayt"k>t"q;E$&A$&A)~0 ~0}^BG>F~^F = E i ):)I9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)ap ;n]&Ayt2>t21E}njGD;`;9y&1|~jth?Aɀ A)IAI`iD;>F5^F5@AA=EEAiI I)Mn:)QIU:)YI]S9aiiYiiqqqqiyI;))i)I<)ۡp ]&Ayt"=>t"2E)~, ~,}^{G>F~^F = E i ):)I9)!I%9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)iIYi]Y>p  ]&Ayt"f>t" 4E&=&=&4<&<}0G>FE^FIƹ=Ei ):)Ic:)In:)i1Y1iiI;))i)I<)=e *got command get depth=m depth 0.000000 mAp ̻]&Ayt^y>t^2E)~l ~l}MjG;9;Mb`~jthMb`?Aɀ )IIAIiD;>F ^F @=5E1iA A)E:)IIM9)IIM;yiyYyiiI;))i)I<)*p ]&Ayt"a>t",E}f{G>Fn^Fptt=vEtix x)z:)|I~9)I]9 i Yii!I-;))))))i)1)1I]<)i Y)YSp ]&Ayt"h>t"7E$&A&A&A)~0 ~0}^0G5;5;915~jthMb`?5A1ɀ11 5A)1I1I5Di51>F^F@=Ei )+:)I9)I9iYiiI;)) i  )I<)ہd<q ` ]&Ayt">t":E}ZjG>Fn^Fptt=vEtix x)z:)|I~]9)I׾9 iYi99iAIM;)I)IIIiIQ)QI<)!gq }@#]&Ayt.>t.0E)~8 ~8}~G>F=^FAYY=eEai )v:)I:)I<9i9Y9iAAAAiqIu;)q)qqqiyy)I<)ۙI]N>iYq =]&Ayt"S>t"-5E&=&=&<&<}^XG|~9~:~Mb`MbP?~fA|ɀ|~xA |)|I~AI~i~~:>F^F@!=%E!i) ))-:)1I59)yI}9iYiiI;))i)I<)wq RV]&Ayt">t"1E)~, ~0}^0G>Fr^Fptt=vEtix x)z:)I9)IQ9iYi99iAIM;)I)IIIiIQ)QI}<)ۉq lp]&Ayt"k>t"q;E}ZjG~~9|~Mb`MbP?~A|ɀ|| ~A)~xAI~IAI|i||>F^F@=Ei) ))-a:)1I59)1I51;aiaYaiiiiiiI;))i)I<) Y)Y"q v]&Ayt">t"8E&A&A&A&A)~, ~,}r0G>F^F!!)=-E)i1 1)5:)9I=9)AIE9IiIYIiQQQQiaIe;)a)aaiiii)qIu<)ہ Sending 676 bytes from file Logs/20190325T233344/Express0035.lzma(q L]&Ayt*>t*1E}jG9;Mb`?Mb`?=Aɀ )IAI;i;>F^F@=Ei ):)I9)I9!i!Y!i))))i9I=;)9)99AiAA)IIM<)Y.q 9_]&Ayt"(>t" 0E)~, ~.UC}^ƄG>Fn^Fptt=vEtix x)z:)AIE9)IIM9QiQYQiyyyiI;))i)I<)I]R>i]V> xMoved sent file to Logs/20190325T233344/Express0035.lzma.bak $SBD MOMSN=10245736V5q 8]&Ayt"C>t":E&=&=&4<&<}ZG>Fb^Fddd=jEhil l)l)pIrs9)tIvʽ9xixYxi||||i I ;) )   i)I<)1;q ]&Ayt">t"*9E)~, ~.ZC}b0GD9Mb`?~jth?Mb`?Aɀ IA)IIAIiD;>F=^F=@AA=MEIiQ Q)Ug;)yI} :)I :iYiiI;))i ) I<))LBq  ]&Ayt"y>t"2E}jG>F~^F|= E i ):)I9)!I%9)i)Y)i11YYiaIe;)i)iiiiiq)qI}<)ۉ Y)YYs Iq %]&Ayt.~>t.M:E>ABABABA)~` ~`}ՃGe:a9eeMbPeAaɀaa a)aIe|AIeiee>F^F@=Ei )n:) I ׾9)I9i!Y!q-q-,-4Initialize Wait Component.i))))i9I=;)9)999iAA)AIm<)ہ-Oq ;?]&Ayt>>tB:E}~XG>F^F!!=-E)i1 1)5a:)9I=9)AIE9IiIYIiQQYYiaIe;)i)iiiiiq)qI<)۩YsVq Y]&AytBh>tB7E)~L ~L}0G>F%^F!))=-E)i9 9)= :)AIEs9)IIMʽ9QiYYYiaaaaiiIu;)q)qqqiqy)yI<)ۑIaie]>>\q \s]&Ayt"C>t":E&=&=&C=&<}ZjG%%D9!%~jth?MbP%A!ɀ!! !)!I%AI%D;i!!>F^F@ơơ=Eơi ):)IQ9)Iv9iYiiI;))i)I<)&cq 7]&Ayt">t"6E)~, ~,}^0G>Fn^Fptt=vEtix x)zU:)|I~v9)I9 iYi99iAIM;)I)IIIiIQ)QI<) Riq ]&Aytϙ>t&=E}ZjG|~;9|~Mb`?~=A|ɀ|| ~A)|I~IAI~i~;|>FU^F]@aa=eEaii i)m:))I-9)qIu9yiyYyiiI;))i)I<)9 Y)Y8pq >]&Ayt>tR4EAAAA)~ ~ }R{G>Fb^F`dd=fEdih h)j:)lIn+9)pIr9titYxi||||iI;) )   i )I<)Ybvq ]&Ayt>y>tB2E}~0G>F^F!!)=-E)i1 1)5;)YI]l9)aIe9iiiYqiiI;))i)I<)L|q ]&Ayt">t"6E)~, ~,}^jGt9;~jtx?~jtxMb`?Aɀ IA)II;iĻ;>F=^F=@AA=EEIiQ Q)U:)yI}9)IiYiiI;))i)I<) I]]>iYTtq $}]&Ayt"C>t":E&=&=&&4<}j{G>F ^F =Ei )a:)!I%g9))I-׾91i1Y9iAAAAiIIM;)Q)QQQiQY)YIe<)q\q W(]&Ayt"ߕ>t"O8E)~, ~0}rƄG!%;9%%Mb`%=A!ɀ!! %A)!I!I%i%%>F=^FE@II=MEIiQ Q)Uؙ;)yI}9)I9iYiiI;))i)I<) #q 6B]&Ayt"ǐ>t" 2E}ZG>Fn^Fptt=vEtix x)z:)9I=9)AIE9IiIYIiQQQQiI;))i)I<) Y)Yǰq \]&Ayt"ǐ>t &A&A&A&A)~, ~,}^{G>F^F  = E i )N:)I+9)!I%D9)i)Y1i1999iAIE;)I)IIIiIQ)QI]<)ڜq u]&Ayt2>t2:E}l!%9%;%~jtx?~jtxMb`?%A!ɀ!! %IA)!I!I%;i%Ļ%;>F5^F=@AA=EEAiI I)M:)QIUS:)YI]G9iiiYiiqqqqiI;))i)I<)ۡ£q ŏ]&Ayt">t"v5E)~, ~,}^0G>F~^F  = E i ):)I9)!I%v9)i)Y)i1199iIIM;)I)IIIiIQ)QI]<)iI]R>iY~q ]&Ayt"ڏ>t"0E&=&=&p;&<}^G~~9~:~{Gzt?MbP?~=A|ɀ|| ~A)|I|I~ף;i~~:>F=^F=@AA=MEIiQ Q)U:)YI]9)aIe9iiqYqiyyyyiI;))i)I<)۩a԰q z]&Ayt">t")E)~0 ~2UC}\>Ff^Fdhh=nElip p)rn:)tIvZ9)xIz89|i|Yi   iI;))i!)!I-<)9hq ]]&Ayt">t"v5E}X>F~^F|=Ei ):)I9)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)i Y)Y(q 0]&Aytč>tW.EAA)~"= ~"ZC}h9MbP?MbP?MbP?fAɀ A)II:i:>F^F@ơơ=Eơi )a:)I9)I9iYii9I=;)A)AAAiAI)IIU<)aq I]&Ayt"X>t"F~^F|= E i ):)9I=G9)AIE9IiIYIiQQqyiI;))i)I<)۩;q *]&Ayt"S>t"-5E)~.= ~,}^{G~:~Ļ9|~~jth?{GztMbP?~A|ɀ|| ~IA)|I|I~D;i~ף|>F^F@ơơ=Eơi ))I!9)I!9iYii!I%;)!)!!!i))))IU<)aI]V>i]V>"q rD]&Ayt"(>t" 0E&=&=&<&<}^0G>Fn^Fptt=vEtix x)zU:)YI]l9)aIe9iiiYiiqqqqiI;))i ) I<)!Lq ^]&Ayt">t"x3E)~, ~,}^jG>Fr^Fptt=vEtix x)za:)|I~׾9)I9iYi99iIIM;)I)IIIiIQ)QI]<)iwq |x]&Ayt"f>t" 4E}Z{G~D;~:9~~~jthMbPMbP~A|ɀ|~A ~A)~AI|I~Di~~>F^F@=Ei! !)!)1I5s9)1I5ݖ;aiaYaiiiiiiI;))i)I<) Y)Y^q S]&Ayt">t"8E*A*A*A*A)~:= ~8}d>Fn^Fptt=vEtix x)z:)|I~׾9)I9 i Yii!I%;))))))i)1)1I5<)ۡYq 1]&Ayt"ڏ>t"0E}l9:Mb`?MbP?pAɀ )IAIi;:>F5^F5@Ya=eEaii i)i)qIu9)I9iYiiI;))i)I<)!eqq Z ]&Ayt"y>t"2E)~.= ~,}^0G>F^F!!=%E!i) ))-:)1I5_:)9I=9AiIYIiQQQQiYIe;)a)aaaiai)iIu<)ہIYi]]>q ]&Ayt"ڏ>t"0E&=&=&=&p<}rG>F^F!!)=-E)i1 1)5:)QIU9)YI]l9aiaYaiiiiqiyI};)y)i)I<)۱q  ]&Ayt2y>t22E)~>= ~<}nGAE9EEMbp?Mb`EAAɀAEEA A)ExAIAIE;iEE>FU^F]@aa=eEaii i)ma:)qIu:)yI}!9iYiiI;))i)I<)r o]&Ayt">t">E}ZG>F~^F|= E i ):)I9)!I%9)i)Y)i1111iI;))i)I<) Y)Y r v-]&Ayt2c>t2V0E6A6A6A6A)~@ ~@}zBG55ף915Mbp?~jth5fA1ɀ11 1)1I5IAI1i5D1>FM^FM@QQ=UEQia a)en:)iIm9)qIu9yiyYyiiI;))iii)iIu<)ہr RG]&Ayt">t"T2E}^G>Ff^Fdhh=jEhil l)n+:)pIrԳ9)tIvQ9xi|Y|ii I;))i)I%<)1r /a]&Ayt"S>t"-5E)~, ~,}ZjG>Fn^Fptt=vEti| |)~:)I:)!I%9)i)Y)i1111iAIE;)A)AAIiII)QIU<)iIYi]V>r {]&Ayt">t":E$&=&&<*Powering down****{*{*{* |.)|.)z.Iz.iz.z.z.z.z. {.){2I{2i{2{2}fG;9;Mb`MbP?Mb`?GAɀ )IIi:;>F]^F]@aa=eEiiq q)u+:)yI}9)I9iYiiI;))i)I<)$r ]&Ayt"0>t"(;E)~.= ~,}^XG>F~^F  = E i ):)Iv9)!I%]9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)io%+r +]&Ayt&>t&6E}b{G  9   GA ɀ   ) I I i  >F^F%@))=-E)i1 1)5I:)9I=]9)AIE9IiIYQiQYYYiaIm;)i)iiiiiq)qI}<)ۉ Y)Y= zgot command load ./Missions/Engineering/lineCaptureHoming.xml# zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml 2r ]&Ayt"U>t"8E&A&A&A&A)~0 ~0}t>F^F!!)=-E)i1 1)5:)9I=+9)AIE9IiIYII];iY)Yaaiaa)iIm<)#MnDefineArg lineCaptureHoming.MissionTimeout = 4.000000 hU)Q#]tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 mineia#mfDefineArg lineCaptureHoming.Repeat = 1.000000 countuq#}`DefineArg lineCaptureHoming.DockLat = nan arcdeg!#`DefineArg lineCaptureHoming.DockLon = nan arcdeg%)#bDefineArg lineCaptureHoming.StartLat = nan arcdeg)i#bDefineArg lineCaptureHoming.StartLon = nan arcdeg-#pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1#fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5)#dDefineArg lineCaptureHoming.DockRange = 4.000000 m9i#jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=#DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 minA# jDefineArg lineCaptureHoming.DockTimeout = 60.000000 sE @#tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 minI%@!#-jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM5*@1#=xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan minQE:@A#MfDefineArg lineCaptureHoming.InitDepth = 30.000000 mUUJ@Q#]xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYeZ@a#mxDefineArg lineCaptureHoming.TransponderCode = 2.000000 count]uj@q#}tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta@#pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole@#`DefineArg lineCaptureHoming.Speed = 1.000000 m/si@#lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm@#hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mq@#fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mu@#jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmy@#hDefineOutput lineCaptureHoming.HomingActive = 1 bool}@#jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool@# dDefineOutput lineCaptureHoming.DoingComms = 0 bool A#pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#%lInserting Stack: Missions/Insert/StandardEnvelopes.xml!"A#DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m!2Ai@#DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!BA#DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m06Construct AltitudeEnvelope. 1 0Construct DepthEnvelope.1}6Construct OffshoreEnvelope.#\Inserting Stack: Missions/Insert/NeedComms.xml78r w]&Ayt">t"v5E}d>F%^F)Ya=eEai )/:mBm@)I9)I9iY#~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 hB@#DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 minI5;i1)119i99)AIE<)YB#DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdegB#DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sB#%DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/sUCQ#U~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 mineCa#DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4,Construct GoToSurface.*E*E*M*M*M*M*U*U******* * *UConstruct. V&Construct Buoyancy.!+  @Construct.! @ Construct.a  a   D Construct.D Construct.a>r Q]&Ayt">t"8E)~, ~,}` : 9  MbP GA ɀ   ) I I i  >F^F%@))=-E)i1 1)5<)I9)I9iYI];iY)Yaaiaa)iIm Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =fLoaded ./Missions/Engineering/lineCaptureHoming.xmlIEr -]&Ayt"C>t":E&=&=&=&<}\>Ff^Fdhh=jEhil l)n:)pIr9)tIvI9xi|Y|ii I;))i)!I%<)9.tKr t 0]&Ayt&>t&x3E)~4 ~4}d  9   GA ɀ   ) I I i  >F%^F-@)1=5E1iA A)E:)III)QIU9YiYYYiaaiiiqIu;)y)yyyiy)I<)ۙi[Rr I]&Ayt2>t0}vG>F^F!!)=-E)i1 1)5U:)9I=9)AIEs9IiIYIiQQQYiaIe;)i)iiiiiq)qI}<)ۉ Y)YRXr c]&Ayt">t&8E.A.A2A2A)~D ~D}BG9GAɀ )IIi>F^F@=Ei )z:)Is9) I 9iYi!!!i)I-;)))111i19)9IE<)Q^r }]&Ayt"[>t"H@E}^jG>F~^F  = E i ):)I9)!I%9)i)Y)i1199iI;))i)I<)er v]&Ayt2C>t2:E)~< ~<}j0G>F^F!!=%E)i1 1)5:)9I=9)AIAIiIYIiQQQQiaIe;)a)aiiiii)qIu<)ۉIYiaFkr M]&Ayt2~>t2M:E6=6=6p;6<}rjG!!9%:%MbP?%GA!ɀ!! !)!I!I!i!%:>F=^F=@AA=EEIiQ Q)U:)YI]Q9)aIe9iiiYiiqqqqiI;))i)I<)۩7rr 9)]&Ayt">t"/3E)~, ~,}^0G>Ff^Fdhh=jElip p)r:)tIvg9)xIzQ9|i|Y|i  iI;))i!)!I%<)9=>got command show variable shore=6distance_from_shore (meter)= t&=E}jGDĻ9~jtx?~jthfAɀEA )II;iD>F^F@=Ei! !)%[;)IIM9)QIU9YiaYaiiiiI;))i)I<)۹ Q)Y}~r ]&Ayt&>t&4E*A*A.A.A)~4 ~4}f{G>F~^F = E i ):)ID9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<)ar ]&Ayt2>t2>E}x>F^F  = E i )H:)!I%9)!I%]91i1Y1i9999iIIM;)I)IIIiQQ)QI]<)ir 2]&Ayt">t"8E)~, ~,}^0G%%9!%y&1|?Mbp%A!ɀ!! !)!I%AI%`;i%!>F5^F=@AA=EEAiI I)M:)QIUl:)YI].9iiiYiiqqqqiI;))i)I<)ۡIYi]Y>#r ?tL]&Ayt">t "=&=&4<&<}ZjG>Fb^F`dd=fEhil l)l)pIrs9)tIv]9xixYxi||||i I ;) )   i )I<))+r xf]&AytFڏ>tF0E)~\ ~`}%{Gy}ף9y}{Gzt?Mb`}Ayɀy}xA y)yIyI}ף;i}y>F-^F-@11=5E1iI I)M:;)iImi9)iIm9iYiiI;))i)I<) r 5(]&Ayt}0>t}(;E}q>F^FƉƉ=EƉi )a:)I9)I <iYiiqIu;)q)qqqiqy)I<)Y Y)Y?3r e]&Ayt"(>t" 0E*A*A*A*A)~0 ~0}^G>Fj^Fhpp=rEpix x)z+:)|I~d:)Id:9iAYAiaaaii)I5;)1)111i19)AIE<)ۙ`]r ܳ]&Ayt"f>t" 4E}^XG : 9  MbP A ɀ   ) AI IAI i  >F%^F-@)1=5E1i9 9)=n:)AIEԳ9)IIM]9QiQYQiaaaaiiIm;)q)qqqiqy)yI<)ۑVGr n]&Ayt2>t2x3E)~< ~<}n0G>F^F!!=%E!i) ))-:)9I=9)AIE9IiIYIiQQQQiaIe;)a)aaaiii)iIu<)ہI]R>i]V>or ]&Ayt"{>t"6E&=&=&p;&<}rG%D;%;9%%MbpMbPMb`%=A!ɀ!%xA %A)!I!I%i!%>F]^F]@aa=eEiiq q)u:)yI}׾9)I9iYiiI;))i)I<){Wr n]&Ayt2׌>t24-E)~< ~<}>F ^F=Ei! !)%:))I-9)1I5]99iAYAiIIIIiQIU;)Y)YYYiYa)aIm<)yr UK]&Ayt"{>t"6E}ZjG>F~^F = E i )a:)YI]$9)aIe9iiiYqiqyyyiI;))i)I<)۩ Y)Yr %5]&Ayt">t"?E&A&A&A&A)~0 ~0}^{G9=Aɀ A)xAIIi>F=^F=@AA=MEIiQ Q)U:)YI]D9)aIe9iiiYiiqqqqi9I=;)A)AAAiAI)IIU<)ar PO]&Ayt2~>t2M:E}h>Fr^Ftxx=zExi| |)|)I9) I Գ9iYi!!!!i1I5;)1)111i99)AIE<)Q r h]&Ayt">t"8E)~, ~,}z0G}D}D9};}Mbp?Mb`?}=Ayɀyy y)yIyI};iy};>F^F@ƹƹ=Eƹi ):)I9)I9iYi    iI;))i)I<)9I]V>i]]>r ]&Ayt"h>t"7E&=&=&p;&<}^jG>F=^F9AA=EEIiQ Q)Q)aIe{9)aIe!9qiqYqiyyyyiI;))i)I<) r ]&Ayt"U>t"8E)~, ~,}^0G>Fn^Fptt=vEtix x)z:)|I~׾9)I׾9 i Yi99iAIE;)I)IIIiIQ)QI}<)ۑpr Po]&Ayt6>t66E}rՃG!%9%%Mbp?%=A!ɀ!! !)!I!I!i!%>F]^F]@aa=eEaiq q)q)yI}i9)I9iYiiI;))i)I<) Y)Yr G]&Ayt"C>t":E&A&A&A&A=:Zgot command get lineCaptureHoming.MinOffshore=:RlineCaptureHoming.MinOffshore 2.000000 km)~H ~H}MXG>F^F=Ei ):)I9)I]9iYiiI;))   i )I<)) r :#]&Ayt2ܒ>t24E}n0G==9=;=~jtx?{GztMb`?=A9ɀ99 =IA)9I=AI=;i=ף=;>FU^FU@YY=eEaii i)m:)qIuZ9)yI}9iYiiI;))i)I<)s \]&Ayt2~>t2M:E)~< ~<}njG>Fv^Ftxx=zExi )a:) I )ID9iYi!!!!i1I5;)1)111i99)AIE<)QI]R>i]R>s ]&Ayt">t"8E&=&=&p;&;}^{G>F~^F = E i ):)I]9)!I%]9)i)Y)i1119iAIE;)A)AIIiII)QIU<)iG s >7]&Ayt2>t2KF5^F=@AA=EEAiI I)M:)QIU:)YI]G9iiiYiiqqqqiI;))i)I<)ۡ0s }Q]&Ayt6+>t63E}r0G>F^F))=-E)i1 1)5 ;)IIMQ9)QIU9YiYYYiaaaaiqIu;)q)yyyiyy)I<)ۙ Y)YYs ik]&AytX>tFE^FM@ƑƑ=EƑi ):)I]9)I9iYii1I5;)1)119i99)AIM<)a,B!s IG]&Ayt&ڏ>t&0E}`>F~^F = E i ):)IQ9)!I%9)i)Y)i1199iAIE;)I)IIIiIQ)QIU<)il's $]&Ayt"h>t"7E)~.= ~,}njG>F~^F= E i ):)I9)!I%׾9)i)Y)i11YYiaIe;)a)iiiiii)qI}<)ۉI]V>i]]>-s ]&Ayt"0>t"(;E&=&=&;&4<}^0G-ף-Ļ9-D;-Mb?~jth?-A)ɀ)-xA -IA))I)I-F=^FE@II=MEIiQ Q)U:)IG9)I9iYiiI;))i)I<)}4s ]&Ayt"C>t":E)~, ~.`C}^jG>Fr^Fptt=vEtix x)z:)|I~ʽ9)I9 iYi99iAIM;)I)IIIiIQ)QI<) :s R]&Ayt"k>t"q;E}bƄG9:~jth?~jthMbP?pAɀA )AIAID;iD:>F=^F=@AA=EEAiQ Q)U:)yI}:9)I9iYiQQiYIe;)a)aaaiai)iI<)ۡ Y)Y܏As "]&Ayt"f>t" 4E&A&A&A&A)~0 ~2ZC}^G>Fn^Fptt=vEtix x)zI:)|I~9)Ii9 i Yii!I%;))))))i)1)1I5<)̺ۡGs k ]&Ayt>>tBx3E}z0G>F^F!!!=-E)i1 1)5a:)9I=9)AIEv9IiIYIiQYYYiI;))i)I<)۹GMs D:]&AytBk>tBq;E)~L ~L}~jGEE`9E;Ey&1|?MbpMb`?EpAAɀAEA A)ExAIE|AIE`;iEE;>FU^F]@aa=eEaii i)m:)qIu_:)yI}9iYiiI;))i)I<)I]R>i]V>2Ts mT]&Ayt"ϙ>t"&=E&=&=&<&=}n{G>F^F!!!=-E)i1 1)5a:)9I=9)AIE]9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉDZs Um]&Ayt2>t2FU^F]@aa=eEaii i)m:)qIu:)yI}9iYiiI;))i)I<)Xas Rև]&Ayt2+>t23E}zG>F%^F!))=-E)i1 1)5:)AIE9)IIMQ9QiQYQiYYYYiiIm;)i)iiqiqq)yI}<)ۉ Y)Y= xgot command set lineCaptureHoming.MinOffshore 0.000000 meter@ jhs :]&Ayt">t">E&A&A&A&A)~0 ~0}^jG>F~^F  = E i ):)I9)!I%9)i)Y)i1119iAIE;)A)IIIiI)I<)_2ns ]&Ayt">t"9E}^0G~;~`9~~~jth?y&1|~A|ɀ|| |)|I~AI~D;i~`廉~>F^F@!=%E!i) ))-7:)1I59)9I=$9AiAYIiIQQQiYIe;)a)aaaiai)iIu<)ہus g]&Ayt"̖>t"r9E)~, ~,}^jG>F~^F = E i ):)I9)!I%i9)i)Y)i1119iAIM;)I)IIIiIQ)QI]<)iI]V>i]a>LD{s A]&Ayt"v>t"2/E&=&=&p;&<}^{G~:~9|~Mb`~=A|ɀ|| ~A)~AI~AI~i~|>F=^F=@AA=MEIiQ Q)U:)YI]9)aIe9iiiYiiqqqyiI;))i)I<)۩:,s  ]&Ayt"ڏ>t"0E)~, ~.`C}\>F~^F  = E i ):)Ii9)!I%i9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)i1Xs "]&Ayt">t"v5E}d>F^F!99==EAiY Y)]а:)qIu:)I@:iYiiI;))i)I<)  Y)Y= got command run= Running s <]&Ayt"׌>t"4-E&A&A&A&A)~~= ~~ZC}Y9;Mbp?MbPMb`?Aɀ這 )xAI|AI;i;>F^F@= E i )$:)I9)!I%9)i)Y)15 (=>Aggregate::uninitialize Default= )=DUninitialize GoToSurfaceComponent.=)=NAggregate::uninitialize Default:CheckInq=,=8Uninitialize Wait Component.#=BStarted mission lineCaptureHoming9=/ENAggregate::initialize lineCaptureHoming1E 0ErAggregate::initialize lineCaptureHoming:StandardEnvelopesqE0EJInitialize AltitudeEnvelopeComponent.E 1EDInitialize DepthEnvelopeComponent.E1EJInitialize OffshoreEnvelopeComponent.*EUEDInitializing TrackAcousticContact.*MUMInitialize.1+M VMetInitialize ReadDataComponent to sense platform_orientatione=exInitialize ReadDataComponent to sense height_above_sea_floor1+eRGi*m2Gm;*m UmTracking...Um2Tracking contact label: 2Bi1uqu1uuBu?BzBqI;i9)i)SAI<)$DSpeedControl.speedCmd 1.000000 m/sis NV]&Ayt0>t"(;E}fG>F~^F|= E i ):)I9)!I%9)i)Y)RG92G9 U=Tracking...UE2Tracking contact label: 2BEi@qEEBAByzByI;i)i)I<)۹s p]&Ayt2ߕ>t2O8E)~>= ~<}jׄGE:E9EEMb`EAAɀAA EA)AIEAIEiEE>FU^F]@aa=eEaii i)m:)qIu:)yI}9iYRG2G UTracking...U2Tracking contact label: 2BqI;i)i)I<)۱IYi]V>Szs d]&Ayt">t"T2E&=&=&p;&<}^G>F~^F = E i ):)I9)!I%]9)i)Y)RG92G9 U=Tracking...UE2Tracking contact label: 2CE @qEEIU;iQ)QQYiAA)IIM< Y)YIYiYY)zs ?]&AytBC>tB:E)~` ~fUC}]{G9~jtx?~jtxAɀ逡 A)AIAI;iĻ>F^F@!!=%E!i) ))-+:)1I59)9I=9AiIYIRGY2GY U]Tracking...U]2Tracking contact label: 2C]]q#eFenAggregate::initialize lineCaptureHoming:StartingMissionIu;iq)qqyiyy)I<)yήs "]&Ayt">t"/3E}\>F~^F = E i ):)I9)!I%i9)i)Y)RG92G9 UETracking...UE2Tracking contact label: 2E9EhAggregate::initialize lineCaptureHoming:SurfaceComms1ECE1EqM:MlAggregate::initialize lineCaptureHoming:SurfaceComms:BI];iY)YYYiaa)aIm<)y Y)Y_s ]&Ayt"f>t" 4EF$F$&A&A&A*A)~0 ~2ZC}b0G>F~^F = E i ):)ID9)!I%]9)i)Y)RG12G9 U=Tracking...U=2Tracking contact label: 2=3=bAggregate::initialize lineCaptureHoming:NeedCommsqE4E@Initialize GoToSurfaceComponent.4EHReceived depth rate setting nan m/s.4ERReceived pitch setting 19.999999 degrees.4MHReceived speed setting 1.000000 m/s.4MNo surface timeout specified. Using default value of 1000.000000 seconds.4MnReceived pitch timeout configuration 60.000000 seconds.1UZCUbCQjCQrCU4]last time_fix was: 1553560927.000000 second since 1970/01/01T00:00:00Z 1]imXz:Im;)i)qqqiqq)yI}<)ۑ$DSpeedControl.speedCmd 0.000000 m/ss F]&Ayt">t"4E}^jG~:~9|~Mb`?Mbp~A|ɀ|| |)~AI|I~;i~|>F^F@=%E!i) ))-:)1I59)9I=9AiAYARGQ2GU; UUTracking...UU2Tracking contact label: 2ZCQbCYjCYrC]]iiIu;)q)qqqiqy)I<)ۑs  ]&Ayt.ߕ>t2O8E)~< ~<}n0G>F^F!!=%E!i) ))-:)9I=]9)9I=Q9IiIYIRGQ2G]; U]Tracking...U]2Tracking contact label: 2 5e\Initialize ReadDataComponent to sense time_fixZCabCajCarCeiyI};)y)yyyiy)I<)YIYi]]>'s .%]&Ayt^>t^:E"Fbp=*F`b=b=bp;f<fPowering up}=G}Ļ}`9}D;}F^F@ƙƙ=Eƙi ):)I9)I9iYRG2G; UTracking...U2Tracking contact label: 2ZCbCjCrCiI;))i)I<) 3s d?]&Ayt">t":E)~, ~,}njG>F ^F =Ei ):)!I%9))I-Q91i9Y9RGA2GE; UMTracking...UM2Tracking contact label: 2ZCIbCIjCIrCMiaIe;)a)aaiiii)qIu<}vA}wA= got command stopN%^Stop Mission called by CommandLine::commandStopyMz:)as >Y]&Ayt2>t2KF5^F9AA=EEAiI I)M:)QIU8r:)aIe09iiiYiRGq2G}; U}Tracking...U}2Tracking contact label: 2ZCbCjCrC#8MissionManager is completed.#PUninitializing Mission lineCaptureHoming/RAggregate::uninitialize lineCaptureHoming1 0vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq0NUninitialize AltitudeEnvelopeComponent. 1Uninitialize.1NUninitialize OffshoreEnvelopeComponent.3fAggregate::uninitialize lineCaptureHoming:NeedCommsq4DUninitialize GoToSurfaceComponent.9lAggregate::uninitialize lineCaptureHoming:SurfaceCommsq:pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B* UHUninitializing TrackAcousticContact.*UUninitialize.1+ V@Uninitialize Buoyancy Component.1q+q#FrAggregate::uninitialize lineCaptureHoming:StartingMission'' '' '' %a% a% a%a a ! !+** * **************%!-!-!-==}=y=u=q=m=i=e=a=]EYEUEQEMEIEEEAE=E9E5E1E-E)E%E!EMMMMiQI];)Y)YYYiYa)aIm<)ۙ e@A)i/s Cs]&Ayt"h>t"7E&A*A*A*A)~4 ~4}` D; 9  ~jthMb` A ɀ   A) AI I i D >F^F@=Ei ):)I9)I׾9iY#.Started mission Default1 (:Aggregate::initialize Default )@Initialize GoToSurfaceComponent. )No depth rate setting specified. Using default value of nan m/s. )~No pitch setting specified. Using default value of nan degrees. ) No speed setting specified. Using default value of 1.000000 m/s. ) No surface timeout specified. Using default value of 1000.000000 seconds.) nReceived pitch timeout configuration 60.000000 seconds.q(4Initialize Wait Component.ii!I%;)!)!!)i)))1I5<)As k]&Ayt">t":E}\>F^F  = E i );:)!I%9)!I%D91i1Y1i9999iIIM;)I)IIIiIQ)QI]<)iCs wܦ]&Ayt>t+7E)~*= ~(}X~|9~;~Mb`?Mb`?~A|ɀ|| |)|I~IAI~;i~~;>F ^F @=Ei! !)%:)1I5-:)9I=.9AiAYAiIIIIiYI];)Y)YYaiaa)iIm<)ہIUR>iUR>|(s Ω]&Ayt">t"8E&=&=&p;&<}^0G>FE^FAII=MEIiQ Q)U:)YI]9)aIe89iiiYqiqqyyiI;))i)I<)Rs ]&Ayt"׌>t"4-E)~, ~,}^jG>Fr^Fptt=vEtix x)z:)|I~D9)ID9 iYiiAIM;)I)IIIiIQ)QIe<)qAs j]&Ayt>t01E}Z{G|~D9|~~jth?MbPMb`?~A|ɀ|| |)|I|I~D;i~|>F ^F @=Ei! !)%:))I-9)1I5Z;YiaYaiaiiiiI;))i)I<) ]?A)Ydt ;]&Ayt">t"6E$&A$&A)~B= ~@}p>F~^F  = E i ):)I89)!I%D9)i)Y)i1111iaIe;)a)iiiiii)qIu<)ۉZ t (]&Ayt"ɓ>t"5E}ZGף;9~jtx?AɀEA )IIi;>FM^FU@Qy=}Eyi ):)IԳ9)I;iYiiI;))i)I <)9wt sA]&Ayt"ǐ>t" 2E)~, ~,}^G>Fn^Fptt=vEtix x)zI:)|I~׾9)I9 i YiiI;))i)I<) I]a>i]Y>]t B[]&Ayt">t"0E&=&=&=&4<}^jG>Fn^Fppt=vEtix x)x)YI]l9)aIeʽ9iiiYiiqqqqiI;))i ) I<)!t ʧu]&Ayt">t"?E)~, ~,}bƄG;<9D:v{Gz?~jthpAɀ )xAIAITi#<D>F^F=@AA=EEAiQ Q)U:)yI}:9)I9iYiiI;))i)I<)#t ]&Ayt">t".E}ZG>Fb^Fdhh=jEhil l)nU:)pIr9)tIv+9xixY|ii I ;))i)I%<)1 ]@A)Y3)t t_]&Ayt">t"R4E&A&A&A&A)~0 ~0}^Gף;9MbpMbp?~jthAɀxA )AIAIi;>F=^F=@AA=EEIiQ Q)Ua:)YI]9)aIe]9iiiYiiqqqqiI;))i)I<)۩0t :]&Ayt">t"*9E}fXG>F~^F  = E i ):)ID9)!I!)i)Y)i1119iAIE;)I)IIIiIQ)QIU<)i6t Y]&Ayt&>t*>E)~4 ~4}b0G>Fn^Fptt=vEtix x)zg:)|I~Q9)Ii9 i Yii!I-;))))))i)1)1I=<)II]V>i]V>N=t ]&Ayt">t"v5E&=&=&p;&4<}nՃG!%D;9!%Mb`Mb`?~jth%=A!ɀ!! !)!I%AI%i%;!>F]^F]@aa=eEaiq q)u:)yI}ʽ9)Iv9iYiiI;))i)I<)Dt h]&Ayt">t"KF5^F199=EEAiI I)M:)QIUԳ9)YI]:9aiaYaiiiiiiyI};)y)i)I<)ۡ+Jt ҩ*]&Ayt">t">E}ZƄG~;~t<9~~Mb{Gzt?Mbp~A|ɀ|~A |)|I~IAI~i~ף;~>F^F@=Ei! !)%:)1I5Ȳ9)1I59iYiiI;))!!i!!))I-<)a ]?A)Y-Qt ,D]&Ayt"ϙ>t"&=E&A&A&A&A)~, ~0}^G>F~^F = E i )W;)1I59)9I=.9AiAYAiIIIQiYI];)Y)aaaiaa)iIm<)ہ0=Wt \^]&Ayt.S>t.-5E}r{G>F^F!!)=-E)i1 1)5a:)9I=]9)AIED9IiIYIiQQQQiaIe;)a)iiiiii)qIu<)ۉg]t u9x]&Ayt2>t2}-E)~L ~P}|E`E<9ED;E:vZd;O?~jth?EAAɀAE A)AIAIETiEjFU^F]@aa=eEaii i)mU:)yI}ʽ9)yI}9iYiiI;))i)I<)IYi]Y>@Odt ^]&Ayt">t"DE&=*=*<*;}\>F~^F  = E i )I:)I9)!I%ʽ9)i)Y)i1111iAIE;)A)IIIiII)QIU<)iTyjt N]&Ayt&U>t&8E)~4 ~4}d  <9  ~jt/$? 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U-USoftware Fault 5U 9U A] iQ Q)U:eUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. eeSoftware Fault em im qm )aIe.9]uUnable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.1 u-uSoftware Fault! u ! } ! } )qIu$9iiI;))i)I<)۹-!Software Fault in component: DeadReckonUsingMultipleVelocitySources-!vSoftware Fault in component: DeadReckonUsingSpeedCalculator-!xSoftware Fault in component: DeadReckonWithRespectToSeafloor2u  ]&Ayt">t":E$*a=)~0 ~0}^{G>F~^F = E i!i)I-;))))11i11)9I=<)Q!eClearing failed state for component DeadReckonUsingMultipleVelocitySources e e e e !mClearing failed state for component DeadReckonUsingSpeedCalculator m!mClearing failed state for component DeadReckonWithRespectToSeafloor1 mF]u i]&Ayt&=>t&2E}`>F~^F|= E lInitializing DeadReckonUsingSpeedCalculator component.i!Y!i))))i1I5;)9)999i9A)AIM<)Y Y)Yu ]&Ayt"0>t"(;E&A&A&A&A)~2= ~0}t-:-949)-y&1|?Mb-A)ɀ)) )))I-AI-`;i-)>F}^F}@ƁƁ=EƉi )a:)I9)I9iYiiI;))i)I<)hnu  ]&Ayt2>t2KFv^Ftxx=zExi9 9)=:)AIEs9)IIM9QiQYYiaaaaiiIu;)q)qqqiqy)yI<)ۑu s]&Ayt"U>t"8E)~.= ~0}^0G;xi9ĻF^F@!!=%E!i) ))-:)1I5B:)AIES9IiIYIiQQQQiI;))i)I<)!IYi]V>lu bL]&Ayt">t"R4E&=&=&p;&<}^jG>Ff^Fdhh=jEhil l)nn:)pIr9)tIv]:yiyYyiiI;))i)I<)y u - ]&Ayt>t"4E&R=&R=)~, ~,}b{G>Fn^Flpp=vEtix x)z:)|I~v9)I9 i Y ii!I%;)!))))i)))1I5<)Iu :]&Ayt.S>t2-5E}~0GE:Et9Eף;E?S㥛{Gzt?E=AAɀAEEA A)EAIAIEFU^F]@aa=eEaii i)m:)qIu9)I`9iYiiI;))i)I<) Y)Yu S]&Ayt">t"x3E"A&A&A&A)~, ~,}bՃG>Fn^Fppt=vEtix x)x)|I~9)Ii9 i Y ii!I%;)!))))i)))1I5<)۩u sm]&Ayt>t}-E))}XG+9t<~jt?Zd;OF=^F=@AA=EEIiQ Q)U :)YI]9)aIe9iiiYiiiI;))i)I<)u |]&Ayt@>tQ6E)~, ~,}b{G>Fn^Fppp=vEtix x)z<)9I=9)AIE9IiIYQiYYYYiaIe;)i)iiiiiq)qI}<)ۉIYi]]>u |]&Ayty>t2E&=&=**;}>F^F!!=-E)i9 9)=/:)AIE:)IIM<!i!Y)iiI;))i)I<)Y#u N]&Ayt">t"4E6a=8)~@ ~@}v0G5D5Լ95`;5{Gz?Mby&1|?5=A1ɀ15EA 1)1I1I5ףFM^FM@QQ=UEyi ):)I9)I9<9i9Y9iAAAAiQI;))i)I<)d u |(]&Ayt"f>t" 4E}^G>F~^F= E i ):)Ii9)!I%9)i)Y)i1111iAIE;)A)IIIiII)QIU<)i Y)Y4u \]&Ayt">t"8E2A2A2A2A)~>= ~<}jjGף9;?F-^F5@19==E9iA A)E:)IIMg9)QIUv9YiYYYiaaaiiqIu;)q)qyyiyy)I<)ۙv ]&Ayt">t"+7E((}^0G>F~^F  = E i )U:)I9)!I%9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)i=Mzgot command load ./Missions/Engineering/lineCaptureHoming.xml#MzLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml  # nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h ) # tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min i # fDefineArg lineCaptureHoming.Repeat = 1.000000 count  # `DefineArg lineCaptureHoming.DockLat = nan arcdeg!% ) #- `DefineArg lineCaptureHoming.DockLon = nan arcdeg%= )9 #E bDefineArg lineCaptureHoming.StartLat = nan arcdeg)M iI #U bDefineArg lineCaptureHoming.StartLon = nan arcdegv cD$]&Ayt2ڏ>t20E)~` ~`}ujG-#pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m1#fDefineArg lineCaptureHoming.SCPIRange = 25.000000 m5)#dDefineArg lineCaptureHoming.DockRange = 4.000000 m9%i!#%jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool=5=999=~jt?~jt~jtx?=A9ɀ9=xA 9)9I9I=FM^F@ƙƙ=Eƙi ):E @#tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min)I9) I 9iYI-;I-@)#5jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 mM=*@9#ExDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan miniI)IIQiQQ)YI]<)Q:@#fDefineArg lineCaptureHoming.InitDepth = 30.000000 mUJ@#xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 minYUZ@Q#UxDefineArg lineCaptureHoming.TransponderCode = 2.000000 count]ej@a#tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 counta@#pDefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 boole@#`DefineArg lineCaptureHoming.Speed = 1.000000 m/si@# lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 mm@#hDefineArg lineCaptureHoming.MinAltitude = 5.000000 mqE@A#MfDefineArg lineCaptureHoming.MaxDepth = 205.000000 muU@U@@#]jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmIiV>y@#hDefineOutput lineCaptureHoming.HomingActive = 1 bool}@#%jDefineOutput lineCaptureHoming.SCPIRequested = 0 bool-@)#5dDefineOutput lineCaptureHoming.DoingComms = 1 bool] AY#epDefineOutput lineCaptureHoming.StartFromSurface = 1 bool#elInserting Stack: Missions/Insert/StandardEnvelopes.xml!"A#DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m!2Ai@#DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!BA@@#DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m06Construct AltitudeEnvelope. 1m0Construct DepthEnvelope.1 6Construct OffshoreEnvelope.= # \Inserting Stack: Missions/Insert/NeedComms.xmlv >]&Ayt"~>t"M:E&=&=*p;*=}v0G>F~^F|= E i )U:)I9)!I%Q9)i)Y)I=;i9)9AAiAy)yI<)ۑMBM@#M~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h]B]@#]DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 minmBi#mDefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdegB#DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/sB#DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/sC#~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min C # DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min4,Construct GoToSurface.**********%*%*%*-*-* -* -*5UEConstruct. VU&Construct Buoyancy.!+] @Construct.! @ Construct.a -a u DConstruct.D5Construct.J &Construct Waypoint.a% a%  a%  K Construct.%  L- Construct Wait. O] "Construct SetNav.'e 'm 'm O} Construct Wait. R &Construct Waypoint. S Construct Wait.# J Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the SCPI payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after SCPI is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. = fLoaded ./Missions/Engineering/lineCaptureHoming.xmlFv jW]&Ayt"ɓ>t"5E*p=*a=)~0 ~0}bjG>Fn^Fptt=vEtix x)x)|I~9)Ii9 i Yii!I-;))))))i)1)1I]<)iv pq]&AytF>tFKF]^Fe@aa=mEiiq q)u}G:)yI}׾9)I9iYiiI;))i)I<) )"v ]&Ayt">t"/3E&A&A&A&A)~0 ~0}bjG>F~^F  = E i ):)QIU9)I9iYiiI;))i)I<),(v C]&AytFɓ>tF5ETT}0GDy9Ļ ףp= ?ˡE~jtxAɀ送 )IAIQ8=i'Ļ>F^F@ơơ=Eơi ) :)I9)I9iYi!!!!i)IU;)Q)QQQiQY)YIe<)ۑ?/v h]&Ayt>t".E)~, ~,}ZjG>Fn^Flpp=vEtix x)z:)|I~9)I]9 i Y ii!I%;))))))i)1)1I=<)IIi]>56v J@]&Ayt"P>t"y1E&=&=&4<&4<}^{G>Fn^Fppt=vEtix x)za:)|I~ʽ9)Ii9 i Y iiI;))i)I<)ۡ.t"8E*R=()~0 ~4}b0G ` H9  +?Q A ɀ   ) I I =i  >F%^F%@))=-E)i1 1)5;)iIm9)qIu9iYiiI;))i)I<)pCv  ]&AytBh>tB7E}~jG>F^F!!=-E)i1 1)5U:)9I=9)AIE9IiIYIiQQYYiaIe;)a)iiiiiq)qI<)۩ )= >got command show variable shoreCIv &]&A=6distance_from_shore (meter)=t5EAAAA)~ ~}{G]]9]ף;]Q?Q{Gzt?]fAYɀY]EA Y)YI]AI]uF^F@=Ei )n:)AIEo9)IIM.9QiQYQiYYaaiI;))i)I <)!= HNavChart.distance_from_shore (meter)= 0CBIT.shorePowerOn (bool)(Pv  @]&Aytn>tr4E||}}G>F^Fơơ=EƩi =RlineCaptureHoming.MinOffshore (kilometer)=nlineCaptureHoming:StandardEnvelopes.MinOffshore (meter)):)I9)Iv9)i)Y)i11iI;))i)I<)!SVv Z]&Ayt"@>t"Q6E)~>= ~@}XG>F^F!!=-E)i1 1)1)9I=9)AIE9IiIYIiQQYYiaIe;)i)iiiiiq)qI<)۩IiV>|\v `t]&Ayt">t"KF^F@=Ei )s:)Is9)I9iYiiI;))   i  )I<))8ecv =]&Ayt">t"+7E&a=&R=)~.= ~0}\>F~^F = E i ):)I9)!I%9)i)Y)i1199iAIE;)I)IIIiIQ)QIU<)t2F5^F5@99==E9iI I)M:)QIUN9)QIU9aiaYaiiiiiiyI};)y)i)I<)ۡ )wpv s]&Ayt">t"x3E&A&A&A&A)~0 ~0}^G>F~^F = E i ):)I׾9)!I%v9)i)Y)i1111iAIE;)A)AAIiII)QIU<)i̠vv ]&Ayt2>t2+7E46vA}l>Fv^Ftxx=zExi )z:) I 9)I9iYi!!!)i1I5;)1)199i9A)AIM<)Y9|v H]&Ayt">t"KF^F@!!=%E!i1 1)5:)9I=!9)AIE9IiIYIiQQQQiaIe;)a)aiiiii)qIu<)ۉIi]>Dv P]&Ayt>t"*9E&=&=&p;&=}^{G>F~^F|= E i ):)I+9)!I%9)i)Y)i1111iAIE;)A)AAAiII)IIU<)aI݉v _)]&Ayt"f>t" 4E&R=$)~B= ~@}r0G%!9%%F=^F=@AA=EEAiQ Q)Ua:)YI]9)aIe9iiiYiiqqqqiI;))i)I<)۩/Őv  ;C]&Ayt2>t2v5E}vjG>F^F!!)=-E)i1 1)5:)9I=i9)AIEi9IiIYIiQQQYiaIe;)a)iiiiii)qIu<)ۉ )v ]]&Ayt">t"R4E&A&A&A&A)~0 ~0}b0G>F~^F = E i ):)qIu9)yI}:9iYiiI;))i)I<)v v]&Ayt2>t2+7E44}njG%D;%j9%;%y&1?F=^F=@AA=EEAiQ Q)U:)YI]!9)aIe9iiiYiiqqqqiI;))i ) I<)!v W͐]&Ayt">t".E)~, ~,}^ƄG>F~^F  = E i ):)I]9)!I%9)i)Y1i1199iAIE;)I)IIIiIQ)QI]<)iIY>iY>+v ]&Ayt"c>t"V0E&=&=&p;&<}^G~ף;~9|~{Gz? rh~jtx?~A|ɀ|~xA |)|I~AI~#F^F%@))=-E)i1 1)5:)9I=D9)AIE9IiIYIiQQYYiaIe;)a)iiiiii)qIu<)ۉv ]&Ayt"S>t"-5E*a=()~0 ~0}b0G>F~^F  = E i )U:)I9)!I%i9)i)Y1i1999iAIM;)I)IIIiIQ)QI]<)i=v _]&Ayt">t"8E}^G>Fn^Fptt=vEtix x)z:)|I~i9)Iv9 i Yi99iAIE;)I)IIIiIQ)QI]<)i )t/3EAAAA)~( ~(}ZjGxz9zף;zy&1|?Q{Gzt?z=Axɀxx x)zAIxIz`;izuzף;>F}^F}@ƁƁ=EƉi ))I+9)IiYiiI;))i)I<)AOv ]&Ayt"ɓ>t"5E(*wA*Failed to receive proper response when querying signal strength for MT queue check.Xreceived: +CSQ:0 OK49, 2, 0, 0, 0 OKData Fault    }{G>F5^F199==E9iA A)E:)QIU׾9)QIUQ9aiaYaiiiiiiyI};)y)yyyi)I<)ۙ-! @Data Fault in component: NAL9602yv +]&Ayt"@>t"Q6E&Powering down&***)~2= ~0}0GU;Q9U;Uy&1|?Q~jtx?U=AQɀQQ Q)QIQIQiQU;>Fm^Fm@Ƒƙ=Eƙi )U:)Is9)Ib9iYiiI;))i!)!I-<)YIV>i]> av E]&Ayt">t"8E&=&=&<&<}ZG>Fn^Fptt=vEtix x)z:)|I~V9)Iv9iYiiI;))i)I<) v 3_]&Ayt">t"6E)~.= ~,}ZjG>F~^F = E i ):)I)!I%i9)i1Y1i9999iAIM;)I)IIIiIQ)QI]<)i!VClearing failed state for component NAL9602v y]&Ayt2E>t2=E}j0Gף;u9ף;y&1|?Q{Gzt?=Aɀ )IIiף;>F5^F5@99==E9iA A)E:)IIM9)QIU:aiaYaiiiiiiyI};)y)yyyi)I<)ۙ ) v Y]&Ayt">t"FBE$&A$&A)~2= ~0}^G>F~^F = E i )I:)I9)!I%9)i)Y)i1111iAIE;)A)AIIiII)QIU<)av z7]&Ayt">t">E}vjGIMC9IMMb?Q{Gzt?M=AIɀII I)IIIIMFe^Fm@qq=uEqi )3:)I"`:)I :iYiiI;))i)I<)v ]&Ayt>ܒ>t>4E)~\ ~\}{G>F]^FYaa=eEiiq q)u:)yI}9)I9iYiiI;))i)I<)IiY>Wv ]&Ayt&(>t* 0E.=.=.2<}fG>F~^F = E i ) :)!I%Ί:)9I= y:IiIYIiQQQQiaIe;)a)aaaiai)iIu<)ہ=}xgot command set lineCaptureHoming.MinOffshore 0.000000 meter@}kv ]&Ayt2h>t27E)~>= ~<}~XGE;Eu9AEy&1|?y&1{Gzt?E=AAɀAA A)AIAIE`;iE`eA>FU^F]@aa=eEaii i)m:)qIu:)yI}9iYiiI;))i)I<)w H]&Ayt"h>t }Z{G>F^F!!=%E!i) ))-:)1I5:)9I=9IiIYIiQQQQiaIe;)a)aaaiai)iIu<)ہ )