The Refactoring

This year has primarily been a software year for Team SubjuGator, as our excellent mechanical and electrical systems which were completely redesigned last year have proved to be very reliable and extensible. We began the year with a large scale refactoring that eventually reached every worker process that runs on the sub. Our communications framework, DDS, allowed us to keep the sub operational at all points during the refactoring, because though workers were changing sometimes dramatically on t
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