diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index a8e9b4597bb5e0904eb011cf8afb3f496b6583e8..5b6d1c49edcbffb8025c284f6fc76e168e084223 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -37,6 +37,60 @@ public:
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+signals:
+    // ESPECIAL SLUGS MESSAGE
+    void slugsCPULoad(UASInterface* uas,
+                      uint8_t sensLoad,
+                      uint8_t ctrlLoad,
+                      uint8_t batVolt,
+                      quint64 time);
+
+    void slugsAirData(UASInterface* uas,
+                      float dinamicPressure,
+                      float staticPresure,
+                      uint16_t temperature,
+                      quint64 time);
+
+    void slugsSensorBias(UASInterface* uas,
+                         double axBias,
+                         double ayBias,
+                         double azBias,
+                         double gxBias,
+                         double gyBias,
+                         double gzBias,
+                         quint64 time);
+
+    void slugsDiagnostic(UASInterface* uas,
+                         double diagFl1,
+                         double diagFl2,
+                         double diagFl3,
+                         int16_t diagSh1,
+                         int16_t diagSh2,
+                         int16_t diagSh3,
+                         quint64 time);
+
+    void slugsPilotConsolePWM(UASInterface* uas,
+                              uint16_t dt,
+                              uint16_t dla,
+                              uint16_t dra,
+                              uint16_t dr,
+                              uint16_t de,
+                              quint64 time);
+
+    void slugsPWM(UASInterface* uas,
+                  uint16_t dt_c,
+                  uint16_t dla_c,
+                  uint16_t dra_c,
+                  uint16_t dr_c,
+                  uint16_t dle_c,
+                  uint16_t dre_c,
+                  uint16_t dlf_c,
+                  uint16_t drf_c,
+                  uint16_t da1_c,
+                  uint16_t da2_c,
+                  quint64 time);
+
 };
 
 #endif // SLUGSMAV_H
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 135cd28fdd997abb62781ef62fdd2e1e5fa93ed4..c160346fefe12ac7996bfd8479d8678291cea1bf 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -385,57 +385,6 @@ signals:
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
 
 
-    // ESPECIAL SLUGS MESSAGE
-    void slugsCPULoad(UASInterface* uas,
-                      uint8_t sensLoad,
-                      uint8_t ctrlLoad,
-                      uint8_t batVolt,
-                      quint64 time);
-
-    void slugsAirData(UASInterface* uas,
-                      float dinamicPressure,
-                      float staticPresure,
-                      uint16_t temperature,
-                      quint64 time);
-
-    void slugsSensorBias(UASInterface* uas,
-                         double axBias,
-                         double ayBias,
-                         double azBias,
-                         double gxBias,
-                         double gyBias,
-                         double gzBias,
-                         quint64 time);
-
-    void slugsDiagnostic(UASInterface* uas,
-                         double diagFl1,
-                         double diagFl2,
-                         double diagFl3,
-                         int16_t diagSh1,
-                         int16_t diagSh2,
-                         int16_t diagSh3,
-                         quint64 time);
-
-    void slugsPilotConsolePWM(UASInterface* uas,
-                              uint16_t dt,
-                              uint16_t dla,
-                              uint16_t dra,
-                              uint16_t dr,
-                              uint16_t de,
-                              quint64 time);
-
-    void slugsPWM(UASInterface* uas,
-                  uint16_t dt_c,
-                  uint16_t dla_c,
-                  uint16_t dra_c,
-                  uint16_t dr_c,
-                  uint16_t dle_c,
-                  uint16_t dre_c,
-                  uint16_t dlf_c,
-                  uint16_t drf_c,
-                  uint16_t da1_c,
-                  uint16_t da2_c,
-                  quint64 time);
 
 
 
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index b70a853f189163e48dbed65c21168c146dbc995b..150fcabb4e03d7280ee2896700d7ef72af35a847 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -113,6 +113,8 @@ void SlugsDataSensorView::refresh()
             ui->m_SlugsGyBiases_textEdit->setText(QString::number(Gyb, 'f', 4));
             ui->m_SlugsGzBiases_textEdit->setText(QString::number(Gzb, 'f', 4));
 
+
+
     }
 
 }
diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui
index 9ecc9a54ae5ecbcedcc3c391ec255657300de05a..e3d8e8403dd9fc8aff0bec03eee8b4183d38c807 100644
--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>335</width>
+    <width>353</width>
     <height>646</height>
    </rect>
   </property>
@@ -24,2018 +24,85 @@
   </property>
   <property name="maximumSize">
    <size>
-    <width>335</width>
-    <height>649</height>
+    <width>16777215</width>
+    <height>16777215</height>
    </size>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>10</y>
-     <width>317</width>
-     <height>628</height>
-    </rect>
-   </property>
-   <property name="currentIndex">
-    <number>3</number>
-   </property>
-   <widget class="QWidget" name="tab">
-    <attribute name="title">
-     <string>Position</string>
-    </attribute>
-    <widget class="QGroupBox" name="position_groupBox">
-     <property name="geometry">
-      <rect>
-       <x>9</x>
-       <y>9</y>
-       <width>293</width>
-       <height>108</height>
-      </rect>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="0">
+    <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <pointsize>10</pointsize>
-       <weight>75</weight>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="title">
-      <string>Position</string>
-     </property>
-     <widget class="QLabel" name="label">
-      <property name="geometry">
-       <rect>
-        <x>10</x>
-        <y>26</y>
-        <width>16</width>
-        <height>16</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="font">
-       <font>
-        <pointsize>10</pointsize>
-        <weight>75</weight>
-        <bold>true</bold>
-       </font>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::NoFrame</enum>
-      </property>
-      <property name="text">
-       <string>X</string>
-      </property>
-     </widget>
-     <widget class="QPlainTextEdit" name="ed_x">
-      <property name="geometry">
-       <rect>
-        <x>32</x>
-        <y>26</y>
-        <width>65</width>
-        <height>18</height>
-       </rect>
-      </property>
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::WinPanel</enum>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_2">
-      <property name="geometry">
-       <rect>
-        <x>103</x>
-        <y>26</y>
-        <width>16</width>
-        <height>16</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="font">
-       <font>
-        <pointsize>10</pointsize>
-        <weight>75</weight>
-        <bold>true</bold>
-       </font>
-      </property>
-      <property name="text">
-       <string>Y</string>
-      </property>
-     </widget>
-     <widget class="QPlainTextEdit" name="ed_y">
-      <property name="geometry">
-       <rect>
-        <x>126</x>
-        <y>26</y>
-        <width>65</width>
-        <height>18</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::WinPanel</enum>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_3">
-      <property name="geometry">
-       <rect>
-        <x>197</x>
-        <y>26</y>
-        <width>16</width>
-        <height>16</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="font">
-       <font>
-        <pointsize>10</pointsize>
-        <weight>75</weight>
-        <bold>true</bold>
-       </font>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::NoFrame</enum>
-      </property>
-      <property name="text">
-       <string>Z</string>
-      </property>
-     </widget>
-     <widget class="QPlainTextEdit" name="ed_z">
-      <property name="geometry">
-       <rect>
-        <x>219</x>
-        <y>26</y>
-        <width>64</width>
-        <height>18</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::WinPanel</enum>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_4">
-      <property name="geometry">
-       <rect>
-        <x>10</x>
-        <y>65</y>
-        <width>16</width>
-        <height>16</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="font">
-       <font>
-        <pointsize>10</pointsize>
-        <weight>75</weight>
-        <bold>true</bold>
-       </font>
-      </property>
-      <property name="text">
-       <string>Vx</string>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_5">
-      <property name="geometry">
-       <rect>
-        <x>103</x>
-        <y>65</y>
-        <width>17</width>
-        <height>16</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="font">
-       <font>
-        <pointsize>10</pointsize>
-        <weight>75</weight>
-        <bold>true</bold>
-       </font>
-      </property>
-      <property name="text">
-       <string>Vy</string>
-      </property>
-     </widget>
-     <widget class="QPlainTextEdit" name="ed_vy">
-      <property name="geometry">
-       <rect>
-        <x>126</x>
-        <y>65</y>
-        <width>65</width>
-        <height>18</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::WinPanel</enum>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-     <widget class="QLabel" name="label_6">
-      <property name="geometry">
-       <rect>
-        <x>197</x>
-        <y>65</y>
-        <width>16</width>
-        <height>16</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="font">
-       <font>
-        <pointsize>10</pointsize>
-        <weight>75</weight>
-        <bold>true</bold>
-       </font>
-      </property>
-      <property name="text">
-       <string>Vz</string>
-      </property>
-     </widget>
-     <widget class="QPlainTextEdit" name="ed_vz">
-      <property name="geometry">
-       <rect>
-        <x>219</x>
-        <y>65</y>
-        <width>64</width>
-        <height>18</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::WinPanel</enum>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-     <widget class="QPlainTextEdit" name="ed_vx">
-      <property name="geometry">
-       <rect>
-        <x>32</x>
-        <y>65</y>
-        <width>65</width>
-        <height>18</height>
-       </rect>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>0</width>
-        <height>0</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>16777215</width>
-        <height>16777215</height>
-       </size>
-      </property>
-      <property name="frameShape">
-       <enum>QFrame::WinPanel</enum>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="readOnly">
-       <bool>true</bool>
-      </property>
-     </widget>
-    </widget>
-    <widget class="QGroupBox" name="attitude_groupBox">
-     <property name="geometry">
-      <rect>
-       <x>9</x>
-       <y>123</y>
-       <width>293</width>
-       <height>107</height>
-      </rect>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <pointsize>10</pointsize>
-       <weight>75</weight>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="title">
-      <string>Attitude</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_7">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Roll</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QPlainTextEdit" name="m_SlugAttitudeRoll_plainTextEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_8">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Pitch</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QPlainTextEdit" name="m_SlugAttitudePitch_plainTextEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="4">
-       <widget class="QLabel" name="label_9">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
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-        <property name="font">
-         <font>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Yaw</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="5">
-       <widget class="QPlainTextEdit" name="m_SlugAttitudeYaw_plainTextEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-    <widget class="QGroupBox" name="navigation_groupBox">
-     <property name="geometry">
-      <rect>
-       <x>9</x>
-       <y>236</y>
-       <width>293</width>
-       <height>108</height>
-      </rect>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <pointsize>10</pointsize>
-       <weight>75</weight>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="title">
-      <string>Navigation</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_6">
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="m_SlugsUm_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_27">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Pitch C</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QTextEdit" name="m_SlugsPitchC_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_28">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Psi_d C</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QTextEdit" name="m_SlugsPsidC_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_29">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Phi C</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QTextEdit" name="m_SlugsPhiC_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="0">
-       <widget class="QLabel" name="label_30">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Ay body</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="1">
-       <widget class="QTextEdit" name="m_SlugsAyBody_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QLabel" name="label_31">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
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-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>From WP</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="4">
-       <widget class="QTextEdit" name="m_SlugsFromWP_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QLabel" name="label_32">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>To WP</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="4">
-       <widget class="QTextEdit" name="m_SlugsToWP_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="3">
-       <widget class="QLabel" name="label_33">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Tot Run</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="4">
-       <widget class="QTextEdit" name="m_SlugsTotRun_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="3">
-       <widget class="QLabel" name="label_34">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Dist to G</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="4">
-       <widget class="QTextEdit" name="m_SlugsDistToGround_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_26">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>U_m</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-    <widget class="QGroupBox" name="diagnosticMessages_groupBox">
-     <property name="geometry">
-      <rect>
-       <x>9</x>
-       <y>350</y>
-       <width>293</width>
-       <height>107</height>
-      </rect>
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-     <property name="font">
-      <font>
-       <pointsize>10</pointsize>
-       <weight>75</weight>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="title">
-      <string>Diagnostic Messages</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_8">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_35">
-        <property name="text">
-         <string>Fl1</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_36">
-        <property name="text">
-         <string>Fl2</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_37">
-        <property name="text">
-         <string>Fl3</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_38">
-        <property name="text">
-         <string>Sh1</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QLabel" name="label_39">
-        <property name="text">
-         <string>Sh2</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_40">
-        <property name="text">
-         <string>Sh3</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="m_SlugsFl1_textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QTextEdit" name="m_SlugsFl2_textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QTextEdit" name="m_SlugsFl3_textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QTextEdit" name="m_SlugsSh1_textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QTextEdit" name="m_SlugsSh2_textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="3">
-       <widget class="QTextEdit" name="m_SlugsSh3_textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-    <widget class="QGroupBox" name="logMessages_groupBox">
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-       <y>463</y>
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-       <height>107</height>
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-     <property name="font">
-      <font>
-       <pointsize>10</pointsize>
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-     </property>
-     <property name="title">
-      <string>Log Messages</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_9">
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-       <widget class="QLabel" name="label_41">
-        <property name="text">
-         <string>Fl1</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_42">
-        <property name="text">
-         <string>Fl2</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_43">
-        <property name="text">
-         <string>Fl3</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_44">
-        <property name="text">
-         <string>Fl4</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QLabel" name="label_45">
-        <property name="text">
-         <string>Fl5</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_46">
-        <property name="text">
-         <string>Fl6</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="textEdit">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QTextEdit" name="textEdit_2">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QTextEdit" name="textEdit_3">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QTextEdit" name="textEdit_4">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QTextEdit" name="textEdit_5">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="3">
-       <widget class="QTextEdit" name="textEdit_6">
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </widget>
-   <widget class="QWidget" name="tab_3">
-    <attribute name="title">
-     <string>Navigation</string>
-    </attribute>
-    <widget class="QGroupBox" name="gpsData_groupBox">
-     <property name="geometry">
-      <rect>
-       <x>0</x>
-       <y>40</y>
-       <width>301</width>
-       <height>121</height>
-      </rect>
-     </property>
-     <property name="title">
-      <string>GPS Data</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_7">
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_47">
-        <property name="text">
-         <string>Time</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_48">
-        <property name="text">
-         <string>Date</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_49">
-        <property name="text">
-         <string>Longitude</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_50">
-        <property name="text">
-         <string>Latitude</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="textEdit_7"/>
-      </item>
-     </layout>
-    </widget>
-   </widget>
-   <widget class="QWidget" name="tab_5">
-    <attribute name="title">
-     <string>Page</string>
-    </attribute>
-    <widget class="QLineEdit" name="lineEdit_2">
-     <property name="geometry">
-      <rect>
-       <x>62</x>
-       <y>99</y>
-       <width>133</width>
-       <height>20</height>
-      </rect>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_54">
-     <property name="geometry">
-      <rect>
-       <x>201</x>
-       <y>99</y>
-       <width>46</width>
-       <height>16</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-    <widget class="QLineEdit" name="lineEdit_4">
-     <property name="geometry">
-      <rect>
-       <x>253</x>
-       <y>99</y>
-       <width>133</width>
-       <height>20</height>
-      </rect>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_52">
-     <property name="geometry">
-      <rect>
-       <x>10</x>
-       <y>99</y>
-       <width>46</width>
-       <height>16</height>
-      </rect>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_51">
-     <property name="geometry">
-      <rect>
-       <x>13</x>
-       <y>12</y>
-       <width>46</width>
-       <height>16</height>
-      </rect>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>46</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-    <widget class="QLineEdit" name="lineEdit">
-     <property name="geometry">
-      <rect>
-       <x>65</x>
-       <y>12</y>
-       <width>80</width>
-       <height>19</height>
-      </rect>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>80</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>100</width>
-       <height>19</height>
-      </size>
-     </property>
-    </widget>
-    <widget class="QLabel" name="label_53">
-     <property name="geometry">
-      <rect>
-       <x>150</x>
-       <y>10</y>
-       <width>46</width>
-       <height>16</height>
-      </rect>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>46</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-    <widget class="QLineEdit" name="lineEdit_3">
-     <property name="geometry">
-      <rect>
-       <x>200</x>
-       <y>10</y>
-       <width>133</width>
-       <height>20</height>
-      </rect>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>133</width>
-       <height>0</height>
-      </size>
-     </property>
-    </widget>
-   </widget>
-   <widget class="QWidget" name="tab_4">
-    <attribute name="title">
-     <string>Sensor Biases</string>
-    </attribute>
-    <widget class="QGroupBox" name="sensorBiases_groupBox">
-     <property name="geometry">
-      <rect>
-       <x>9</x>
-       <y>237</y>
-       <width>311</width>
-       <height>111</height>
-      </rect>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>311</width>
-       <height>111</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>311</width>
-       <height>111</height>
-      </size>
-     </property>
-     <property name="title">
-      <string>Sensor Biases</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_3">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_10">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Axb</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="m_SlugsAxBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_13">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Gxb</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QTextEdit" name="m_SlugsGxBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_11">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Ayb</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QTextEdit" name="m_SlugsAyBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QLabel" name="label_14">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Gyb</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QTextEdit" name="m_SlugsGyBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_12">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Azb</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QTextEdit" name="m_SlugsAzBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_15">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Gzb</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="3">
-       <widget class="QTextEdit" name="m_SlugsGzBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-    <zorder>sensorBiases_groupBox</zorder>
-    <zorder>lineEdit</zorder>
-    <zorder>label_51</zorder>
-    <zorder>lineEdit</zorder>
-    <zorder>lineEdit_2</zorder>
-    <zorder>lineEdit_3</zorder>
-    <zorder>lineEdit_4</zorder>
-    <zorder>label_51</zorder>
-    <zorder>label_52</zorder>
-    <zorder>label_53</zorder>
-    <zorder>label_54</zorder>
-    <zorder>lineEdit</zorder>
-   </widget>
-   <widget class="QWidget" name="tab_2">
-    <attribute name="title">
-     <string>PWM Command</string>
-    </attribute>
-    <layout class="QGridLayout" name="gridLayout_11">
-     <item row="0" column="0">
-      <widget class="QGroupBox" name="PWMCommands_groupBox">
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Position</string>
+      </attribute>
+      <widget class="QGroupBox" name="navigation_groupBox">
+       <property name="geometry">
+        <rect>
+         <x>9</x>
+         <y>236</y>
+         <width>293</width>
+         <height>108</height>
+        </rect>
+       </property>
        <property name="minimumSize">
         <size>
-         <width>311</width>
-         <height>171</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
-         <width>311</width>
-         <height>171</height>
+         <width>16777215</width>
+         <height>16777215</height>
         </size>
        </property>
+       <property name="font">
+        <font>
+         <pointsize>10</pointsize>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
        <property name="title">
-        <string>PWM Commands</string>
+        <string>Navigation</string>
        </property>
-       <layout class="QGridLayout" name="gridLayout_5">
-        <property name="spacing">
-         <number>6</number>
-        </property>
-        <item row="0" column="0">
-         <widget class="QLabel" name="label_16">
+       <layout class="QGridLayout" name="gridLayout_6">
+        <item row="0" column="1">
+         <widget class="QTextEdit" name="m_SlugsUm_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_27">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2056,12 +123,12 @@
            </font>
           </property>
           <property name="text">
-           <string>Thro</string>
+           <string>Pitch C</string>
           </property>
          </widget>
         </item>
-        <item row="0" column="1">
-         <widget class="QTextEdit" name="m_SlugsThro_textEdit">
+        <item row="1" column="1">
+         <widget class="QTextEdit" name="m_SlugsPitchC_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2088,8 +155,8 @@
           </property>
          </widget>
         </item>
-        <item row="1" column="1">
-         <widget class="QTextEdit" name="m_SlugsAile_textEdit">
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_28">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2102,22 +169,20 @@
             <height>16777215</height>
            </size>
           </property>
-          <property name="frameShape">
-           <enum>QFrame::WinPanel</enum>
-          </property>
-          <property name="verticalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOff</enum>
-          </property>
-          <property name="horizontalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOff</enum>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
           </property>
-          <property name="readOnly">
-           <bool>true</bool>
+          <property name="text">
+           <string>Psi_d C</string>
           </property>
          </widget>
         </item>
         <item row="2" column="1">
-         <widget class="QTextEdit" name="m_SlugsElev_textEdit">
+         <widget class="QTextEdit" name="m_SlugsPsidC_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2144,8 +209,8 @@
           </property>
          </widget>
         </item>
-        <item row="3" column="1">
-         <widget class="QTextEdit" name="m_SlugsRudd_textEdit">
+        <item row="3" column="0">
+         <widget class="QLabel" name="label_29">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2158,22 +223,20 @@
             <height>16777215</height>
            </size>
           </property>
-          <property name="frameShape">
-           <enum>QFrame::WinPanel</enum>
-          </property>
-          <property name="verticalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOff</enum>
-          </property>
-          <property name="horizontalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOff</enum>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
           </property>
-          <property name="readOnly">
-           <bool>true</bool>
+          <property name="text">
+           <string>Phi C</string>
           </property>
          </widget>
         </item>
-        <item row="4" column="1">
-         <widget class="QTextEdit" name="m_SlugsFailSafe_textEdit">
+        <item row="3" column="1">
+         <widget class="QTextEdit" name="m_SlugsPhiC_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2200,8 +263,8 @@
           </property>
          </widget>
         </item>
-        <item row="1" column="0">
-         <widget class="QLabel" name="label_17">
+        <item row="4" column="0">
+         <widget class="QLabel" name="label_30">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2222,12 +285,12 @@
            </font>
           </property>
           <property name="text">
-           <string>Aile</string>
+           <string>Ay body</string>
           </property>
          </widget>
         </item>
-        <item row="2" column="0">
-         <widget class="QLabel" name="label_18">
+        <item row="4" column="1">
+         <widget class="QTextEdit" name="m_SlugsAyBody_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2240,20 +303,22 @@
             <height>16777215</height>
            </size>
           </property>
-          <property name="font">
-           <font>
-            <pointsize>10</pointsize>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
           </property>
-          <property name="text">
-           <string>Elev</string>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
           </property>
          </widget>
         </item>
-        <item row="3" column="0">
-         <widget class="QLabel" name="label_19">
+        <item row="0" column="3">
+         <widget class="QLabel" name="label_31">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2274,12 +339,12 @@
            </font>
           </property>
           <property name="text">
-           <string>Rudd</string>
+           <string>From WP</string>
           </property>
          </widget>
         </item>
-        <item row="4" column="0">
-         <widget class="QLabel" name="label_20">
+        <item row="0" column="4">
+         <widget class="QTextEdit" name="m_SlugsFromWP_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2292,20 +357,22 @@
             <height>16777215</height>
            </size>
           </property>
-          <property name="font">
-           <font>
-            <pointsize>10</pointsize>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
           </property>
-          <property name="text">
-           <string>FailSafe</string>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
           </property>
          </widget>
         </item>
-        <item row="0" column="2">
-         <widget class="QLabel" name="label_21">
+        <item row="1" column="3">
+         <widget class="QLabel" name="label_32">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2326,12 +393,12 @@
            </font>
           </property>
           <property name="text">
-           <string>Thro Trim</string>
+           <string>To WP</string>
           </property>
          </widget>
         </item>
-        <item row="0" column="3">
-         <widget class="QTextEdit" name="m_SlugsThTrim_textEdit">
+        <item row="1" column="4">
+         <widget class="QTextEdit" name="m_SlugsToWP_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2358,8 +425,8 @@
           </property>
          </widget>
         </item>
-        <item row="1" column="2">
-         <widget class="QLabel" name="label_22">
+        <item row="3" column="3">
+         <widget class="QLabel" name="label_33">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2380,12 +447,12 @@
            </font>
           </property>
           <property name="text">
-           <string>Aile Trim</string>
+           <string>Tot Run</string>
           </property>
          </widget>
         </item>
-        <item row="1" column="3">
-         <widget class="QTextEdit" name="m_SlugsAileTrim_textEdit">
+        <item row="3" column="4">
+         <widget class="QTextEdit" name="m_SlugsTotRun_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2412,8 +479,8 @@
           </property>
          </widget>
         </item>
-        <item row="2" column="2">
-         <widget class="QLabel" name="label_23">
+        <item row="4" column="3">
+         <widget class="QLabel" name="label_34">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2434,12 +501,12 @@
            </font>
           </property>
           <property name="text">
-           <string>Elev Trim</string>
+           <string>Dist to G</string>
           </property>
          </widget>
         </item>
-        <item row="2" column="3">
-         <widget class="QTextEdit" name="m_SlugsElevTrim_textEdit">
+        <item row="4" column="4">
+         <widget class="QTextEdit" name="m_SlugsDistToGround_textEdit">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2466,8 +533,8 @@
           </property>
          </widget>
         </item>
-        <item row="3" column="2">
-         <widget class="QLabel" name="label_24">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_26">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2488,40 +555,272 @@
            </font>
           </property>
           <property name="text">
-           <string>Rudd Trim</string>
+           <string>U_m</string>
           </property>
          </widget>
         </item>
-        <item row="3" column="3">
-         <widget class="QTextEdit" name="m_SlugsRuddTrim_textEdit">
-          <property name="minimumSize">
-           <size>
-            <width>0</width>
-            <height>0</height>
-           </size>
+       </layout>
+      </widget>
+      <widget class="QGroupBox" name="diagnosticMessages_groupBox">
+       <property name="geometry">
+        <rect>
+         <x>9</x>
+         <y>350</y>
+         <width>293</width>
+         <height>107</height>
+        </rect>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>10</pointsize>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="title">
+        <string>Diagnostic Messages</string>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_8">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_35">
+          <property name="text">
+           <string>Fl1</string>
           </property>
-          <property name="maximumSize">
-           <size>
-            <width>16777215</width>
-            <height>16777215</height>
-           </size>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_36">
+          <property name="text">
+           <string>Fl2</string>
           </property>
-          <property name="frameShape">
-           <enum>QFrame::WinPanel</enum>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_37">
+          <property name="text">
+           <string>Fl3</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <widget class="QLabel" name="label_38">
+          <property name="text">
+           <string>Sh1</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="2">
+         <widget class="QLabel" name="label_39">
+          <property name="text">
+           <string>Sh2</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QLabel" name="label_40">
+          <property name="text">
+           <string>Sh3</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QTextEdit" name="m_SlugsFl1_textEdit">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
+         </widget>
+        </item>
+        <item row="1" column="1">
+         <widget class="QTextEdit" name="m_SlugsFl2_textEdit">
           <property name="verticalScrollBarPolicy">
            <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
           <property name="horizontalScrollBarPolicy">
            <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
-          <property name="readOnly">
-           <bool>true</bool>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QTextEdit" name="m_SlugsFl3_textEdit">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
          </widget>
         </item>
-        <item row="4" column="2">
-         <widget class="QLabel" name="label_25">
+        <item row="0" column="3">
+         <widget class="QTextEdit" name="m_SlugsSh1_textEdit">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="3">
+         <widget class="QTextEdit" name="m_SlugsSh2_textEdit">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="3">
+         <widget class="QTextEdit" name="m_SlugsSh3_textEdit">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QGroupBox" name="logMessages_groupBox">
+       <property name="geometry">
+        <rect>
+         <x>9</x>
+         <y>463</y>
+         <width>293</width>
+         <height>107</height>
+        </rect>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>10</pointsize>
+         <weight>75</weight>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="title">
+        <string>Log Messages</string>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_9">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_41">
+          <property name="text">
+           <string>Fl1</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_42">
+          <property name="text">
+           <string>Fl2</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_43">
+          <property name="text">
+           <string>Fl3</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <widget class="QLabel" name="label_44">
+          <property name="text">
+           <string>Fl4</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="2">
+         <widget class="QLabel" name="label_45">
+          <property name="text">
+           <string>Fl5</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QLabel" name="label_46">
+          <property name="text">
+           <string>Fl6</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QTextEdit" name="textEdit">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="1">
+         <widget class="QTextEdit" name="textEdit_2">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QTextEdit" name="textEdit_3">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="3">
+         <widget class="QTextEdit" name="textEdit_4">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="3">
+         <widget class="QTextEdit" name="textEdit_5">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="3">
+         <widget class="QTextEdit" name="textEdit_6">
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="">
+       <property name="geometry">
+        <rect>
+         <x>9</x>
+         <y>9</y>
+         <width>297</width>
+         <height>145</height>
+        </rect>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QGroupBox" name="position_groupBox">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2541,13 +840,351 @@
             <bold>true</bold>
            </font>
           </property>
-          <property name="text">
-           <string>Available</string>
-          </property>
+          <property name="title">
+           <string>Position</string>
+          </property>
+          <layout class="QGridLayout" name="gridLayout">
+           <item row="0" column="0">
+            <widget class="QLabel" name="label">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>X</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QPlainTextEdit" name="ed_x">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>65</width>
+               <height>18</height>
+              </size>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::WinPanel</enum>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="2">
+            <widget class="QLabel" name="label_2">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Y</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="3">
+            <widget class="QPlainTextEdit" name="ed_y">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>65</width>
+               <height>18</height>
+              </size>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::WinPanel</enum>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="4">
+            <widget class="QLabel" name="label_3">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
+             <property name="text">
+              <string>Z</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="5">
+            <widget class="QPlainTextEdit" name="ed_z">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>64</width>
+               <height>18</height>
+              </size>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::WinPanel</enum>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="0">
+            <widget class="QLabel" name="label_4">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Vx</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QPlainTextEdit" name="ed_vx">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>65</width>
+               <height>18</height>
+              </size>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::WinPanel</enum>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="2">
+            <widget class="QLabel" name="label_5">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Vy</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="3">
+            <widget class="QPlainTextEdit" name="ed_vy">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>65</width>
+               <height>18</height>
+              </size>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::WinPanel</enum>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="4">
+            <widget class="QLabel" name="label_6">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Vz</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="5">
+            <widget class="QPlainTextEdit" name="ed_vz">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>64</width>
+               <height>18</height>
+              </size>
+             </property>
+             <property name="frameShape">
+              <enum>QFrame::WinPanel</enum>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAlwaysOff</enum>
+             </property>
+             <property name="readOnly">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+          </layout>
          </widget>
         </item>
-        <item row="4" column="3">
-         <widget class="QTextEdit" name="m_SlugsAvailable_textEdit">
+        <item>
+         <widget class="QGroupBox" name="attitude_groupBox">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -2560,26 +1197,1331 @@
             <height>16777215</height>
            </size>
           </property>
-          <property name="frameShape">
-           <enum>QFrame::WinPanel</enum>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
           </property>
-          <property name="verticalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOff</enum>
+          <property name="title">
+           <string>Attitude</string>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <item>
+              <widget class="QLabel" name="label_7">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <pointsize>10</pointsize>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Roll</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QPlainTextEdit" name="m_SlugAttitudeRoll_plainTextEdit">
+               <property name="minimumSize">
+                <size>
+                 <width>53</width>
+                 <height>21</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>53</width>
+                 <height>21</height>
+                </size>
+               </property>
+               <property name="frameShape">
+                <enum>QFrame::WinPanel</enum>
+               </property>
+               <property name="verticalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="horizontalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_8">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Pitch</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QPlainTextEdit" name="m_SlugAttitudePitch_plainTextEdit">
+               <property name="minimumSize">
+                <size>
+                 <width>54</width>
+                 <height>21</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>54</width>
+                 <height>21</height>
+                </size>
+               </property>
+               <property name="frameShape">
+                <enum>QFrame::WinPanel</enum>
+               </property>
+               <property name="verticalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="horizontalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_9">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Yaw</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QPlainTextEdit" name="m_SlugAttitudeYaw_plainTextEdit">
+               <property name="minimumSize">
+                <size>
+                 <width>53</width>
+                 <height>21</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>53</width>
+                 <height>21</height>
+                </size>
+               </property>
+               <property name="frameShape">
+                <enum>QFrame::WinPanel</enum>
+               </property>
+               <property name="verticalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="horizontalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+          </layout>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </widget>
+     <widget class="QWidget" name="tab_3">
+      <attribute name="title">
+       <string>Navigation</string>
+      </attribute>
+      <widget class="QGroupBox" name="gpsData_groupBox">
+       <property name="geometry">
+        <rect>
+         <x>0</x>
+         <y>40</y>
+         <width>301</width>
+         <height>121</height>
+        </rect>
+       </property>
+       <property name="title">
+        <string>GPS Data</string>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_7">
+        <item row="4" column="0">
+         <widget class="QLabel" name="label_47">
+          <property name="text">
+           <string>Time</string>
           </property>
-          <property name="horizontalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOff</enum>
+         </widget>
+        </item>
+        <item row="3" column="0">
+         <widget class="QLabel" name="label_48">
+          <property name="text">
+           <string>Date</string>
           </property>
-          <property name="readOnly">
-           <bool>true</bool>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_49">
+          <property name="text">
+           <string>Longitude</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_50">
+          <property name="text">
+           <string>Latitude</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLineEdit" name="lineEdit_5"/>
+        </item>
+        <item row="1" column="1">
+         <widget class="QLineEdit" name="lineEdit_6"/>
+        </item>
+        <item row="3" column="1">
+         <widget class="QLineEdit" name="lineEdit_7"/>
+        </item>
+        <item row="4" column="1">
+         <widget class="QLineEdit" name="lineEdit_8"/>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_55">
+          <property name="text">
+           <string>TextLabel</string>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
-     </item>
-    </layout>
-   </widget>
-  </widget>
+     </widget>
+     <widget class="QWidget" name="tab_5">
+      <attribute name="title">
+       <string>Page</string>
+      </attribute>
+      <widget class="QLineEdit" name="lineEdit_2">
+       <property name="geometry">
+        <rect>
+         <x>62</x>
+         <y>99</y>
+         <width>133</width>
+         <height>20</height>
+        </rect>
+       </property>
+      </widget>
+      <widget class="QLabel" name="label_54">
+       <property name="geometry">
+        <rect>
+         <x>201</x>
+         <y>99</y>
+         <width>46</width>
+         <height>16</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>TextLabel</string>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="lineEdit_4">
+       <property name="geometry">
+        <rect>
+         <x>253</x>
+         <y>99</y>
+         <width>133</width>
+         <height>20</height>
+        </rect>
+       </property>
+      </widget>
+      <widget class="QLabel" name="label_52">
+       <property name="geometry">
+        <rect>
+         <x>10</x>
+         <y>99</y>
+         <width>46</width>
+         <height>16</height>
+        </rect>
+       </property>
+       <property name="text">
+        <string>TextLabel</string>
+       </property>
+      </widget>
+      <widget class="QLabel" name="label_51">
+       <property name="geometry">
+        <rect>
+         <x>13</x>
+         <y>12</y>
+         <width>46</width>
+         <height>16</height>
+        </rect>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>46</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>TextLabel</string>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="lineEdit">
+       <property name="geometry">
+        <rect>
+         <x>65</x>
+         <y>12</y>
+         <width>80</width>
+         <height>19</height>
+        </rect>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>80</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>100</width>
+         <height>19</height>
+        </size>
+       </property>
+      </widget>
+      <widget class="QLabel" name="label_53">
+       <property name="geometry">
+        <rect>
+         <x>150</x>
+         <y>10</y>
+         <width>46</width>
+         <height>16</height>
+        </rect>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>46</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>TextLabel</string>
+       </property>
+      </widget>
+      <widget class="QLineEdit" name="lineEdit_3">
+       <property name="geometry">
+        <rect>
+         <x>200</x>
+         <y>10</y>
+         <width>133</width>
+         <height>20</height>
+        </rect>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>133</width>
+         <height>0</height>
+        </size>
+       </property>
+      </widget>
+     </widget>
+     <widget class="QWidget" name="tab_4">
+      <attribute name="title">
+       <string>Sensor Biases</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_10">
+       <item row="0" column="0">
+        <widget class="QGroupBox" name="sensorBiases_groupBox">
+         <property name="minimumSize">
+          <size>
+           <width>311</width>
+           <height>111</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>311</width>
+           <height>111</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>Sensor Biases</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_3">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_10">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Axb</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QTextEdit" name="m_SlugsAxBiases_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_13">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Gxb</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QTextEdit" name="m_SlugsGxBiases_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_11">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Ayb</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QTextEdit" name="m_SlugsAyBiases_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLabel" name="label_14">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Gyb</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QTextEdit" name="m_SlugsGyBiases_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_12">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Azb</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QTextEdit" name="m_SlugsAzBiases_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLabel" name="label_15">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Gzb</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QTextEdit" name="m_SlugsGzBiases_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+      <zorder>sensorBiases_groupBox</zorder>
+      <zorder>lineEdit</zorder>
+      <zorder>label_51</zorder>
+      <zorder>lineEdit</zorder>
+      <zorder>lineEdit_2</zorder>
+      <zorder>lineEdit_3</zorder>
+      <zorder>lineEdit_4</zorder>
+      <zorder>label_51</zorder>
+      <zorder>label_52</zorder>
+      <zorder>label_53</zorder>
+      <zorder>label_54</zorder>
+      <zorder>lineEdit</zorder>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>PWM Command</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_11">
+       <item row="0" column="0">
+        <widget class="QGroupBox" name="PWMCommands_groupBox">
+         <property name="minimumSize">
+          <size>
+           <width>311</width>
+           <height>171</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>311</width>
+           <height>171</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>PWM Commands</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_5">
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_16">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Thro</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QTextEdit" name="m_SlugsThro_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QTextEdit" name="m_SlugsAile_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QTextEdit" name="m_SlugsElev_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QTextEdit" name="m_SlugsRudd_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QTextEdit" name="m_SlugsFailSafe_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_17">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Aile</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_18">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Elev</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_19">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Rudd</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_20">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>FailSafe</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_21">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Thro Trim</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QTextEdit" name="m_SlugsThTrim_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLabel" name="label_22">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Aile Trim</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QTextEdit" name="m_SlugsAileTrim_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLabel" name="label_23">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Elev Trim</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QTextEdit" name="m_SlugsElevTrim_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QLabel" name="label_24">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Rudd Trim</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="3">
+           <widget class="QTextEdit" name="m_SlugsRuddTrim_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="2">
+           <widget class="QLabel" name="label_25">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>10</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Available</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="3">
+           <widget class="QTextEdit" name="m_SlugsAvailable_textEdit">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::WinPanel</enum>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>