/s: F    0   -1 1 cc_behavior_state enum
( 1( pump_mod$ 2$ 4L $ uvalue XF 3" n Rdepthk L  4* _final 
5.   6*  X *  7(  (  80 heading  9,  ,  1 inflectionY 1/  s_comatose bool1 @missW  /us^  ^ _pitch*   *  Othre41 thruster   -  + eime_tik% s5 c2S & w 2	222   $  2k n ' q | 3}1 c_acoustic!m_target_id341 d2cp_on sec3P_air_-
A }A lt_recall msec93t$   	e p_amar_num_fields_to_send nodi3Q  1  y`_argos 3s'tt_debug!3p"  4l t 4[e utoballastq g
@4k0 *  t* Wvolump4x( ud_max_berQ4?uvb4 1 
4,zfV4badd_clear_remote_data4/  " 1col>0us_lP50 `_min_ru%5  
( tries int+ + 3U5# ownload_range 5) initial_wait . put_parse-  t- n5" 
5 h ' 76_retry 6#se66btransa=:num6 Eed c6am_char Zbefore_surfacing` Y_m_cmd6m ^repor 6@m_in Nvity9m	7mber_of_echos 7md977zm_updatPT   7# 0=@ttpo7  ud@empt
 ) i 70b2c	
7 1 
V7y b2flsV2T 85 
X 8# 3X  38X 4X  
X 4X { 5X 	5 
 `6X 
5 X 7X 9798X 8X 9X 9X V T 99 +10
 *10?lssR 
 3 	T)10O3slo )105 X 	# )105 X 	 # 	3 T 	i`	1
m1 ?fl2`1	5 
 1 X  13 T ?sip1 3 T _c3sfl 2 R [climbxTD =  $  2	1  ! 	L1_console1K [ouloms1" otd41cpd'125 

2## ^  RdeltaY
") Wspeed'  <P_runnc0avg AT  1
! 23	de_oil_vol
1qdigifin
 \		1 * 0rea

'130T 0wri + (Odive` 3" 3 # 
_C ^3@dmon[
1 v3z   Pdroidm
6 
XZ lsndr85~& ?k80{ 1 v wXextct  8
! 4usfin radh1OFIRe z1  fl2PeCdo46 
Z fl2UrRh 4 V  flVb5 X #   l3 T flbbbbV1V 5 X 	X 	5 
X ) # ce03 T 	?bbr43 T 	b)131 P 	?ntu2 R 	 	 ?flu1 
  OglbpS%2 R  g  ! 57heap_measurement_period min1[hover$ hydrophone_dr{1. 0ura1+ Jgain)  Yzchannel'18-1  ]% 0pos	9lay  - Lping / /re[  `?preZ Z asampleJ	4 Hz8iridium_atok9out :, bconnec= 2  
 %	DF  1"	) 0urr A, U l	;zer'19,  
H90 !no	   S     7
tm9,  0  0pownG/^ predials 4 9off22
4 ` 2?,  giH/20 !recconfig_files button2I^  Zcallbackg pleakdet#20 *  ^ 2<Aliss	'202 	_'20@lith| w:ery'20z/lmC2@ 0 
x ?logger_ctrl.25+ L amicroRide5277 \ miniProCO	2?7 \  "opR_over#21 - '21& 
u , __nbct	2S z  ob*tx O Oobsv~^2  :ocr504I	2[4 V 	" RV 4 V    7 V 7 Oq"  b4 
 Zooxy3832d4 V V Qwphasb
s 
; d /xy(23 1 P p1 P T"6
"
2{pressure!b}( 4Pprimapt_x_lmc2 ' y' 0pro"   ?rbr\  :orbrodo3 HF  2rbrtrident8 ^ 9 0rec*$ U maXsd!2 orinkoI754  'Hroll s'25# 0 j ?satW2t3 
T bsbe41n_pD2  G6 Z 5science_al
2  
' _enabledl/ 6R Pprintd%2hM  %  
v   stWgnsors/D	6_eaOWLh3 
Qu_solocQ7>4 V %m/ <, 5
	{O@ D ! )in! 7LsscsB	y _trobe  p?unanf1 
\_svs60h4)12Ma6 W m<tar8/ta('28 0 m ythermal_acR/es80 D - #28% Yupdow.22L Ivalv<(2/ C*0:cal9. X 4/ '2. %onv'(29,gon_avg% 	,% '_n'2") 7sumR ) % 	O, 	 3  P%io3ime_sync	3?ubaG31 	3, !uM+!   uE( )de3uviluxPAH:36    _%	veh_temp 3(  30vip olB0 3- #Pion_d \ 4 4 3$  +Zerror#31 y* \start1 (1 
m1  Brese | q ~  g _1tur6` . n- |#,vrS'3/vr3 0 
'= ?vsf2"sf'*33  fo&U*G3'  
( #32' `eight_S	2wetlabsA 5 
# BX `5 X 7# CX 5 X ?whf3G 3 T DOwispP3T 2 R T   a 7 8 c,alat lam.  ? & 8 Eon l3j3  
b30dc_.1,3( w+3* 
! b" 01-#341$ j	3* :30dhs 	3 # C3   %dB s1 	h5# !il*lvb	3u'  @ absGr r Ivali3b o Cxmit#35f04 f3 3 alg  6Bstab s| 6   > _until_goo#7Ifm H5&( _mount_offset3P 3iformat+	fL%p_passiv tr. m 7 ery_spik0 E vol3 > c9T%3+ m cc/Vol0 [ db_frac_dz3 eadz_width 
A_nom[: ve&#36f  reqd_vel  k asafety0 t T3 2 Uinche
( m( 	7- 	,  x 
{b f] x. | 2 u / n`  %msQpacks*en3 Rf_ccdE\, clock_sourc32f)  z capacity amp-hr04 Rcalib!v_factor0{f_crush3A    e_methodg;* 4sub6 	8~X . _default_deep; ; yshallow> Pdevic L6 m%33o  4
 k9`finishe 9   E2mumR_flux
D  *!gex  0actH wve_open	? 
/  	- in_syste2	+ !poo91tagL
29 	4 +in4 	4  +zhreshol5;3 6 2mov$ Z4!f_!,*4! mb4G 4(  Zx 9	* S7radP4 U |4" n4+  0ign8.B/4 f!#yk44 E#3 	#4f/4fT#k2ctr=$C4-11 @work7N4f	24! :Xf \motor_analyzKadba+>'41XPneutr=m4  t &  4 f_noise_floor4 % d	.<C4 )  Mqf_oceanfull_scale bar#1 4, 4f ?	 *  .   Zess_b ' 
;4

N ( yc	fK  ! i=0roc  -	 f'ax'43s
	43Aaf_tcm3zKpoin4 f_ 3  " . $
. Xal_p031 . 'v0J-  Z $ 	Lhas_feed'43. Ti0 m-	47# 1D-amp6' 2' 	+   vND	S =min( GP  4watx4I+ *in+ 	X4]W ,   $rpA4j	*  v0'JjM vq	lf@to_b@wire
R 4y _close_high_X D 	7 7 ?low6 6 h s!
0 a / b_  f. 	/  nB4 restrictn4H  F:   
9 Aoptops_acrosp>
G z F   Hp4m_aground_wa	f!m 	4!  !%46m1nex8g	 |X  lFu4s`  6ageT+  % 9+ 6tudD4gI   8	`  ppF Ce_atZCKs  "100 7i(tCF*  1Z * 
#4IK sn/9I ( {8I   estamp 
 t>mB $evf2 *teS4  sN	Y_ >;@ecut`Z  C / [_risk&4Gm;
8K& H&   K   !vg6GHwardL W8Y d=!!  I ( 8		+  3*ft1 1  * ,up 'Vshoot 5 62 -yom&l4%  	!) 	!#49V,  !4Y energy joul50 
T-  1:= - F! F! [_inst& 
& .5 { Ks0}  Y1<6 1    &1 v_failur98 w Bdiff[  o1<,  !)50   7 in5mz4aft4     ' I_raw5 Jin_uQ5X    ~ z_anomalb52 v@Pamphr 5- Oebay (    emergencyy  +la- 5 4  p	xmf 2 x2bms6 )   / 5K`8bit	5
0m_b 
c:VLc'er
5 W certainlyz 2S9L ssSLy_abP5"/ pwith_cd
"2 5  3tot
d" omms_or_gps; % Rtickl%5*Y Cc5# mis_dis,5%, 
	5'  % 
&) 
  #1b<+ Xtotal-/  !16'  3a' 
  -  "k- !1 Uwatt_   %pm_critiyHabor"5(oI_numpR '!17
	5W" "_d
&5$ #   U
` #_i" 5$ 
5M""   'alr
5	, E	.  d  | 
E5	1 j	
5	- ?thr  u
 Zeject_05"   	#55{  J 6Q e_! vaz , 55/pdriversRlv
 bn,"l g : 	M& 0odd
' ' 0warG
 O "   "5
+  <act. . Rsecon%WFP
 25   
7  #18 	?H5Y   -5% 	5n 	5Q Z
"deE+
5"m! ? +*  d/md^U }  y075 ?y  	2" @stepq!
3 !g Bresp
+ +  	dip_angle5d{free Mbyt$  us
% @dist T8h) 
! T ivE 5N	!m_dr_fixo	y(58m \/st' ip0F9'58# 
)5d' ! xr0ual8% ;ini"  "  tJ /ta+  ?r_y ` %  
myo 
ny 	veo 1$to_TX x;2V \?K6+! Y 'vx6+!& y&  } 
 62mi?wig6&!/ h_heap 6'!m/  Xg*G$ k6#!'  !prXc, 6A G1 
6L1 
o<6H# F ># Mn{	6; ( DH#61  # !d-' n' 	-6!' ni%N ' N  2' F   %22F >    wmag_var6 #  isatellite$6 C
 , 
6;* F ' N x6 =	6+ \oofar2p&  
w #un
6 qutc_dayn#63
$ Jhour% T% jminute' 	' Jonth&  t; 
	[6 N ;yea M }7  @m_hd w5 6l & 	6` ! OFrad-6U &  k  qG2K @ _deg deg=  )	L
 KN
6M&   * [ h*iZ( 	`& at79
,a- c%. 6J	V]  V* K
6V* V	5 HU  *J G/ W LO 0rcv+r]tQx J LPsigna'c Vh+th1   E' 0wai` p1$6T5  KKrati] 5  4@_mov	d / {* Y 	*   Iz 
P Xa_estim	 + %,[ .f6T g"  Tlat_1C6 R& 2& O& 3& @& 4& 
&  on 66 & 2& & 3& & 4&  j0 #24J t & %8  	2  RM. , 2,  / 4  z2'4  C4  814 @tack:  '6)  i  Z %  2%  	% %  	& NArela  egg6DN	-8M0  	 \d T6f7 ;dis:  29m9C magneticJ
:mag/6s;mag1
:mag^66 c( 9
 T \
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  35@_sec $to#7o31 v * sv .7s   2_ra' K3U0 71V 6  +197 	m   Q  (71 h!Qeffec_ !sE]  3 bhealth4!T  !  	sF  3k" "al"&70
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,  	0 ,s.7C 1	*%M(#77f4Ibursw'7 ' $7(  5$!7X  qS -7
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 / %I"  ' #' ]D vw ) 3, W* W*O	m$!_pBJ)20=  A  K"^)20Pms_em5ncy{  9  K?~N&20p"u_breadcr_miss#in8209sipar_darkG e 3$20"6, ^9)- +$20 [ _c3sfl1, =alcy(21- 6"ve: ~# k!&21"u_check_EScommsr(21 co:1O `omatosD$:_mu~?$21 0 (21 console_announcQ	 V - 1disN ; $2134 Poff_i*Oziridium7 k  cdR(21+& $21$Hsritical!11( 2( ( 3( Qx  4( P @respK	/ t/ 1mesID"V!dI3211j  dbWnsor_list_xmi"=7rolg$215  {(Y_zero f!_	 2 0subm  r"$21(  ge 4thr	 3 b #  &(0vol$214a T(pdisplayC(um$214` \ 2Qdigif$" "
'  hi  /)`ies_at;# `  V*Pdetec8unte# 0 Pmask_+ !q Wdiveclimb_msg_priI(21Z dmo"td, ]L(21W!dr`"Sme_msKdevi Z 2  hynamic8 32134 c /  Honfi$3213= x	/,8213	 )	h Svl_bk0masAy(
-/(21P#2dvlY_leveH(21 ) Pensem% !ouaA, ps_expec-E\4 ppf1 0  N3A f."rcrP$21 2pd6.supports_hm"41 0 t0!_s%U	D2  ! E d0
 +0neaF?1expt& .a&v(  pwO0b2x`Sextct
"$21   }8!(21* (21	) 	"!$21 	( 
(212FIRZafl2PeC  ]1 
+ l5$21<5 
#15}
e pE M   OUrRh. Mrhod "	) "3 Nuran\ w ) \ {3  ,"V2;1"
+ _ 	k". ?1", A1"0 &	  Z +  . ;64
) U lW 97* 77*X 5" ]phycou1W *  	bbbbV1_bb1	* 1* 1	* T 3* f1") V / 2-	Y *  	5* - T - T -W} -!$21,	 [  cd+' &' )P V ) 	,  * V. T2 /rh(2 T ' (2' R)2	*  2r~2  )  +20R &2y  $ #GL   ' 2@flnt\  	(  j  - p", >turKp4	' isf NTU!2Mflrh2"  	 rhA2?flu qu2i ucr P y'Qin_sh3y2YQ 0ree7{ 4 KBb(22V >?wig
2Zl bu`/\2" gpu+Tn_wai2L ) valid_fixI1$22J  thd_brol~ afL ,ss7 @ ?7 ,0_re`12"	3 >e1/rad-4$22J
 2. 82B*  :X0 -	m2$22B4 i 	
 R5e 6  liabsoluteK4$228 2    _x)or6 rh  ]  23!by3;hDn 	Df 5 
Ef 0sec9%\  
4E
( 	0
2 1- d75 =0   44 5 	R
 =S
;Yba"Y(  [	- <(22_:4 3 9A_nom> 	2\5 :fT cc-s28225K:4 .7 k  27 cch 
h 1 g 4 Xe U<6
z:  3   ?hD_b X. m.   H64 _# 2   & i 50  <	e   3A,   7 increase_vacuum] |	* Afail \retri2 Porce_	%4+ #id9e
- , , 1max@_til  lbs<	5 throttle7$228 u_lat_goto_l99 la2 ustack_on_p+resent bool
s: F 2283   -1 4 u_lithium_battery_debug nodim/ 4/ 8/  on_goto_l99 lon$ 5$ S ow_power_cycle_time sec, 6,  hd_fin_ap_dgain1 E/rad5 75 4 12 82 i3 - 97 max_allowed_lastgasp_aborts#,905   Eter F*91#  bottom_slope m/( 2( clothesline_lag_for_consci s9  Qdepth* air_pump_est   0 expected_icebergA 0 	0 gpitch 9 * inflection_overshoo  . 
num_files_to_xmit_at_oncen 7   :`period;sensor_logs_p	^ +30 sequence_repeti 
+30thruster_speed m/+30 &_in_gliderdos +30Utotal od_miss   wa 
+30% P_life 6 yo 0  iniProCO2_no_data	9out 2 ?jup_wai0  /l i(31in_de_oil_flux cc/(31/inH(31&in_ascent_rat71#in71J_mod(31& param_a X(31	% b% 	CJ c% 	% d% 	% e% 2% f% 	% g% 	% h% 	s% i% s j% rk% rl% rm% rn% ro% 3rp% rq% rr% rs% rt% ru% rv% rw% rx% ry% 4rz% r year_base int4v0oto2	(34v% fs_travel_mult4no_comms; >4ocr504I_cal_coeff_c1 T(
6346/  2/ /  3/ /  4/ / dark_counts 	 50 2R50 30 0 40 0 Pimmer
 4   h   4  1 sO ib7d/35 itemp_a0( * 6 VCR 6 ( P R 
6	/ 6	/ 6	/ 6R
6 1Z0 V60 R60 N7R74   7 h  7 4  R7 7 *  R  ( P 7<
8
/ 8
/ 8
/  
/ 5k8
/ 6/ 
/ 7/ 780 80 8 	;M	0 5(0 60  	` 70 7 9 X9 4 \> 4 ` 4 d 4 h 4 
l4K l4G 4G* 
4D* ,Va/40  ' N  
%/40 ( P 	C-40	/ %-40	/ %48+	/ %4=/  %4A/  %4:/  %4D/ 	yN0 
4Y0 
/41 	 
/41 	0 
/41 	0 
4 2` T24  X24  \24  `24  d24  h %2%	/42 	* 3  Q   ' N  O  ( P  0xy43w_surface*'43deadband'43) 	2  	2 Gsz'43
( W 	1 @1 X 1X 4	' W 
0 0 vg_alpha	4M) Ccorr#S'444 e4O2 aenergy6sb volts4L, m  QdeltaTpos i#44 OZ ?test_availability-44 Dpressure_autocalD bar E 1 Zenabl(451   	e  m=ime_betweew5 pperforml ['45m jmedian( 	[ ( 4enu(45 . i#45. k;5 ` 	 Cprint_engXstatu4F Z rbrtridente
6Breqd kL+  isk_space MbyteG eset_tickle_af
 Pretry4 *ickF] inkoII_outpuQering
d OrollFs	5  +do:&!  !  pathlength+, 1xp1	' n' 2' [ '  * {_window| U  + Zoffse
'47| $ QtransK_valP Ibsatpar%X J| , 
\  <0 - PloosesX c!M<sbe41n_ph_f0'  ' 1' 5' 2' N 3' ' 4' ' I k	&  } !ci !@loggYerror9. &$ 4")   1off"40 , Wdelay-  $se!lip"`djustm[facto[qsci_cmdG1ack  / #- E - =%#49hyE_dbd"2ist6#xcontrolD5oseaOWLq5AsecsL$ F!avol_st"	 za# n57 _from_air$ 2 	5"d_criti~

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 1tan#2    #5bsvs603
Z_leve5, max_required<
%52 Gsamp( l B	mt5tarr_dsp $/  &5ps_befork&
uddriver;  &;min4 z4 odditie6 6 cwarnin;'l Ptherm`pin_esc_`1  " \(5/ valve_check}	h
0    Kdown  4 u &( C8off 9 ((  burst_freq hourS3(- m3
+ 	)53Y  `change% % f- 7max( 	( 	,)53 4 <,)531 ,56 X_deep8 	Ishal8 8 D9 #$. 6cmdg . () P, 0*,:max5@ ?"0nso	#54
- 8gps
5`ubat_f
Arate2	#54 Y 3 
5 + *5, u|*5 Modem_BNDe	# 9CST # 8DTO5" :FML i =hes' m5 ;SRC  pd with_invali5hupwardR . 5duse_ct  /iflyingg1 0urr
  0  . 	)io5 - amodifiI Y' or	'5;#sej,servo_memory m/ Frealin_simul5$8 viluxPAH QvacuuA_bag%DinHg$0  	1 1 	% B% m% T/Volt * recall m@
&  c )Cpdisplay	#/ Aopen
-#57R?r2c
vro_serial_nu5#vsf_100_dc$ s@7 I .25I $ I   % 5 $ I /sf * wetlabsA/ 	/ B/ 	^ C/ 	/    K_uni 45#!zm;@verbly#xs_altitud%58`xs_bal4Ded cb55& 5 gxs_fin5bxs_hdg07radU15 % 0ead"45# xsp4l45cxs_lat de9q )on "xs`	 8 Ydrift
6'G >0noih6!!xsm 6"xs%60 	$ $ L1acc26vol63+ /ft+ +  V j 2tubL3 z`
Z
	 1 xs_underh6qxs_vehi?80empC%61+& .rtd # Xx_lmc   y ~(
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 gwax_frac_froze(61e * L `p  3s t" U >  > _ab_lookupW!( >6  	61r r`9labN2]# Ps_mov8	6!M  $ _$ 0run@_one N	 5 	n6' gos_typeZ6Qx_att&	@6Cx_av9
s65 h 3)
( !M  	@s_of[	0t_dPocess+ 	6x p_passiv2traL:1a68 y 6.  ) )   	4S {achieved) "'   "  !c66x<9uce6x_climb_bR<f' GslowN 9N *;6
( O ( ( $
 O R= {
ixannounce+ma96x[_v56- D  u"6 !is4Ifailu5ntargetQ
6[!xr 0run )ms5,  X6 N  9ZnumbeL6, 1seg`, K$dc`)4enu6)     	E6K ^	K !demH	A_ier<q4 !deL<5 `de_ign#t 	>67!0   <6>!&    *'v	*  0  1   cy_disabl6x  kQ@@remox	e7?ive R &  & M ' M 7ndrop_weight r>xA 9! A {&4_st#u & U  C>63$   phardwarCpq .@'68. v[8  `have_w	1ved/ \l3v1 0d_b !isf  	80 r1&6 X  #D#69 '6S 6   9
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'!AI  7)  	7 U 	 7	+ ~ 7
& A#70 y i(  *i"

7 M[ 3 @7 /  W U=2iceQGr7, 
!C7* cICJ	7 /increase%	} s
:7  # g7. % E	
75 F	 3u 
j_dialoI77H @mandr D(os 8. 1wpt$la
7K
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7/2$ ]y72Ax_lc
7O`lmc_utXPh_eas.T 1T 4 Pnorth5 w i 0zon~ 0ar v+e
7y. Zdigit/ 9] Y :Y * U z + xy_sourc7yo=$7wKy	yameasur|6pth|h
e % q 7gnL {mds_donV S &olW *_1Y -  2- -  3- NpkI J:sci4 9@	7=) Md27>( ' .!7 ' XK7B' : w@prep	 ! isl,
#74- @manuSA (ow	7Iprior_segxL7K* y* M   8O ;1pth 	 S- ZE	P T **+ 
K. 
7A#  578   +!Nhreache0M7< 8P/C
8qsimdrvr %ou*/Asoft73s	'  ) Oj,	 (}$u-6( )- [ _final3 3 _initi5 
  /  	3 3 
)in3 3 * I  A( W7=*B)F_in  #77 -  \	7H X +  JP_back"
	7` l&A"S( c
/(7 [ A` ' e7[ "M  J#t
`   g	 TZmc_00f' 1' R	N 1N N 1N ,' xN ' y' e BO_too_highvj why_lensd0ple	"	e , %yo|Podim
