ecmascript:

MAXRPM        = 700;
MAXTHRUSTER   = 24;
MAXSONARRANGE = 30;

function initialize()
{
   forwardRudders          = 0;
   afterRudders            = 0;
   forwardPlanes           = 0;
   afterPlanes             = 0;
   portRpm                 = 0;
   stbdRpm                 = 0;
   forwardVerticalThruster = 0;
   afterVerticalThruster   = 0;
   forwardLateralThruster  = 0;
   afterLateralThruster    = 0;
   ST1000Bearing           = 0;
   ST1000Range             = 0; // MAXSONARRANGE;
   ST725Bearing            = 0;
   ST725Range              = 0; // MAXSONARRANGE;
}

function set_articulationParameters( value, timestamp )
{
   forwardRudders          =  value[0];
   afterRudders            = -value[0];
   forwardPlanes           = -value[1];
   afterPlanes             =  value[1];
   portRpm                 =  value[2] / MAXRPM;
   stbdRpm                 =  value[3] / MAXRPM;
   forwardVerticalThruster =  value[4] / MAXTHRUSTER;
   afterVerticalThruster   =  value[5] / MAXTHRUSTER;
   forwardLateralThruster  =  value[6] / MAXTHRUSTER;
   afterLateralThruster    =  value[7] / MAXTHRUSTER;
   ST1000Bearing           =  value[8];   
   ST1000Range             =  value[9];
   if      (ST1000Range <= 0)
            ST1000Range = 0;
   else if (ST1000Range > MAXSONARRANGE)
            ST1000Range = 0; // MAXSONARRANGE;
   ST725Bearing            =  value[11];
   ST725Range              =  value[12];
   if      (ST725Range <= 0)
            ST725Range = 0;
   else if (ST725Range > MAXSONARRANGE)
            ST725Range = 0; // MAXSONARRANGE;
}