2014-04-12T19:32:07.352Z,1397331127.352 [Supervisor](DEBUG): Initializing supervisor.
2014-04-12T19:32:07.367Z,1397331127.367 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2014-04-12T19:32:07.368Z,1397331127.368 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-12T19:32:07.377Z,1397331127.377 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2014-04-12T19:32:07.382Z,1397331127.382 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-12T19:32:07.408Z,1397331127.408 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-12T19:32:07.419Z,1397331127.419 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2014-04-12T19:32:07.420Z,1397331127.420 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-04-12T19:32:07.423Z,1397331127.423 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2014-04-12T19:32:07.430Z,1397331127.430 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-12T19:32:07.430Z,1397331127.430 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-12T19:32:07.440Z,1397331127.440 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-12T19:32:08.032Z,1397331128.032 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-12T19:32:08.033Z,1397331128.033 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-12T19:32:08.429Z,1397331128.429 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-12T19:32:08.430Z,1397331128.430 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-12T19:32:08.581Z,1397331128.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-12T19:32:08.592Z,1397331128.592 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-12T19:32:08.909Z,1397331128.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-12T19:32:08.910Z,1397331128.910 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-12T19:32:09.157Z,1397331129.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-12T19:32:09.163Z,1397331129.163 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-12T19:32:09.628Z,1397331129.628 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-12T19:32:09.629Z,1397331129.629 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-12T19:32:09.926Z,1397331129.926 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-12T19:32:11.755Z,1397331131.755 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-12T19:32:12.346Z,1397331132.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-12T19:32:12.351Z,1397331132.351 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-12T19:32:12.596Z,1397331132.596 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-12T19:32:12.596Z,1397331132.596 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-12T19:32:13.363Z,1397331133.363 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-12T19:32:13.364Z,1397331133.364 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-12T19:32:13.572Z,1397331133.572 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-12T19:32:13.572Z,1397331133.572 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-12T19:32:13.708Z,1397331133.708 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-12T19:32:13.851Z,1397331133.851 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-12T19:32:13.867Z,1397331133.867 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-12T19:32:14.007Z,1397331134.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-12T19:32:14.008Z,1397331134.008 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-12T19:32:14.188Z,1397331134.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-12T19:32:14.190Z,1397331134.190 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-12T19:32:14.207Z,1397331134.207 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-12T19:32:14.366Z,1397331134.366 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-12T19:32:14.554Z,1397331134.554 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-12T19:32:14.664Z,1397331134.664 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-12T19:32:16.048Z,1397331136.048 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-12T19:32:16.201Z,1397331136.201 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-12T19:32:16.319Z,1397331136.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-12T19:32:16.407Z,1397331136.407 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-12T19:32:16.511Z,1397331136.511 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-12T19:32:16.612Z,1397331136.612 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-04-12T19:32:16.625Z,1397331136.625 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-12T19:32:17.320Z,1397331137.320 [AHRS_sp3003D] Loaded
2014-04-12T19:32:17.320Z,1397331137.320 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-12T19:32:17.616Z,1397331137.616 [Batt_Ocean_Server] Loaded
2014-04-12T19:32:17.617Z,1397331137.617 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-12T19:32:17.630Z,1397331137.630 [Depth_Keller] Loaded
2014-04-12T19:32:17.631Z,1397331137.631 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-12T19:32:17.636Z,1397331137.636 [DropWeight] Loaded
2014-04-12T19:32:17.636Z,1397331137.636 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-12T19:32:17.777Z,1397331137.777 [DVL_micro] Loaded
2014-04-12T19:32:17.777Z,1397331137.777 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-12T19:32:17.877Z,1397331137.877 [NAL9602] Loaded
2014-04-12T19:32:17.878Z,1397331137.878 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-12T19:32:17.930Z,1397331137.930 [Onboard] Loaded
2014-04-12T19:32:17.930Z,1397331137.930 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-12T19:32:17.931Z,1397331137.931 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-12T19:32:17.932Z,1397331137.932 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-12T19:32:18.127Z,1397331138.127 [InternalSim] Loaded
2014-04-12T19:32:18.127Z,1397331138.127 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-12T19:32:18.128Z,1397331138.128 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-12T19:32:18.128Z,1397331138.128 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-12T19:32:18.413Z,1397331138.413 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-12T19:32:18.414Z,1397331138.414 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-12T19:32:18.422Z,1397331138.422 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-12T19:32:18.427Z,1397331138.427 [AsyncPiEstimator] Loaded
2014-04-12T19:32:18.428Z,1397331138.428 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-12T19:32:18.429Z,1397331138.429 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4069E4E0
2014-04-12T19:32:18.429Z,1397331138.429 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-12T19:32:18.430Z,1397331138.430 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-12T19:32:18.523Z,1397331138.523 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-12T19:32:18.524Z,1397331138.524 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-12T19:32:18.541Z,1397331138.541 [NavChart] Loaded
2014-04-12T19:32:18.541Z,1397331138.541 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-12T19:32:18.542Z,1397331138.542 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-12T19:32:18.542Z,1397331138.542 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-12T19:32:18.611Z,1397331138.611 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-12T19:32:18.721Z,1397331138.721 [VerticalControl] Loaded
2014-04-12T19:32:18.722Z,1397331138.722 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-12T19:32:18.722Z,1397331138.722 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-12T19:32:18.789Z,1397331138.789 [HorizontalControl] Loaded
2014-04-12T19:32:18.789Z,1397331138.789 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-12T19:32:18.790Z,1397331138.790 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-12T19:32:18.792Z,1397331138.792 [SpeedControl] Loaded
2014-04-12T19:32:18.792Z,1397331138.792 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-12T19:32:18.793Z,1397331138.793 [LoopControl](DEBUG): Construct LoopControl.
2014-04-12T19:32:18.793Z,1397331138.793 [LoopControl] Loaded
2014-04-12T19:32:18.793Z,1397331138.793 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-12T19:32:18.794Z,1397331138.794 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-12T19:32:18.795Z,1397331138.795 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-12T19:32:18.824Z,1397331138.824 [DepthRateCalculator] Loaded
2014-04-12T19:32:18.824Z,1397331138.824 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-12T19:32:18.829Z,1397331138.829 [PitchRateCalculator] Loaded
2014-04-12T19:32:18.830Z,1397331138.830 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-12T19:32:18.837Z,1397331138.837 [SpeedCalculator] Loaded
2014-04-12T19:32:18.837Z,1397331138.837 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-12T19:32:18.854Z,1397331138.854 [TempGradientCalculator] Loaded
2014-04-12T19:32:18.854Z,1397331138.854 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-12T19:32:18.859Z,1397331138.859 [YawRateCalculator] Loaded
2014-04-12T19:32:18.860Z,1397331138.860 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-12T19:32:18.860Z,1397331138.860 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-12T19:32:18.861Z,1397331138.861 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-12T19:32:18.989Z,1397331138.989 [CTD_NeilBrown] Loaded
2014-04-12T19:32:18.989Z,1397331138.989 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-12T19:32:18.990Z,1397331138.990 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407404E0
2014-04-12T19:32:19.026Z,1397331139.026 [WetLabsBB2FL] Loaded
2014-04-12T19:32:19.026Z,1397331139.026 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-12T19:32:19.028Z,1397331139.028 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407704E0
2014-04-12T19:32:19.028Z,1397331139.028 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-12T19:32:19.031Z,1397331139.031 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-12T19:32:19.148Z,1397331139.148 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-12T19:32:19.159Z,1397331139.159 [SBIT] Loaded
2014-04-12T19:32:19.160Z,1397331139.160 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-12T19:32:19.160Z,1397331139.160 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-12T19:32:19.173Z,1397331139.173 [IBIT] Loaded
2014-04-12T19:32:19.173Z,1397331139.173 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-12T19:32:19.175Z,1397331139.175 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-12T19:32:19.245Z,1397331139.245 [CBIT] Loaded
2014-04-12T19:32:19.245Z,1397331139.245 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-12T19:32:19.246Z,1397331139.246 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-12T19:32:19.248Z,1397331139.248 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-12T19:32:19.317Z,1397331139.317 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-12T19:32:19.318Z,1397331139.318 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-12T19:32:19.438Z,1397331139.438 [BuoyancyServo] Loaded
2014-04-12T19:32:19.438Z,1397331139.438 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-12T19:32:19.450Z,1397331139.450 [ElevatorServo] Loaded
2014-04-12T19:32:19.451Z,1397331139.451 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-12T19:32:19.462Z,1397331139.462 [MassServo] Loaded
2014-04-12T19:32:19.462Z,1397331139.462 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-12T19:32:19.474Z,1397331139.474 [RudderServo] Loaded
2014-04-12T19:32:19.475Z,1397331139.475 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-12T19:32:19.486Z,1397331139.486 [ThrusterServo] Loaded
2014-04-12T19:32:19.486Z,1397331139.486 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-12T19:32:19.486Z,1397331139.486 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-12T19:32:19.487Z,1397331139.487 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-12T19:32:19.526Z,1397331139.526 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-12T19:32:19.528Z,1397331139.528 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-12T19:32:19.529Z,1397331139.529 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-12T19:32:19.535Z,1397331139.535 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-12T19:32:19.536Z,1397331139.536 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083E4E0
2014-04-12T19:32:19.541Z,1397331139.541 [Supervisor](DEBUG): Running supervisor.
2014-04-12T19:32:19.542Z,1397331139.542 [CommandLine](INFO): Thread ID is 773
2014-04-12T19:32:19.545Z,1397331139.545 [controlThread](INFO): Thread ID is 772
2014-04-12T19:32:19.546Z,1397331139.546 [controlThread](DEBUG): Initializing ControlThread
2014-04-12T19:32:19.546Z,1397331139.546 [CycleStarter](INFO): Thread ID is 771
2014-04-12T19:32:19.549Z,1397331139.549 [logger](INFO): Thread ID is 774
2014-04-12T19:32:19.568Z,1397331139.568 [AsyncPiEstimator](INFO): Thread ID is 849
2014-04-12T19:32:19.569Z,1397331139.569 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-12T19:32:19.597Z,1397331139.597 [CTD_NeilBrown](INFO): Thread ID is 850
2014-04-12T19:32:19.597Z,1397331139.597 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-12T19:32:19.600Z,1397331139.600 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-12T19:32:19.610Z,1397331139.610 [WetLabsBB2FL](INFO): Thread ID is 851
2014-04-12T19:32:19.611Z,1397331139.611 [WetLabsBB2FL](INFO): Powering down
2014-04-12T19:32:19.637Z,1397331139.637 [NavChartDb](INFO): Thread ID is 852
2014-04-12T19:32:19.644Z,1397331139.644 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-12T19:32:19.647Z,1397331139.647 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-12T19:32:19.647Z,1397331139.647 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-12T19:32:19.647Z,1397331139.647 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-12T19:32:19.648Z,1397331139.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-12T19:32:19.648Z,1397331139.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-12T19:32:19.648Z,1397331139.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-12T19:32:19.648Z,1397331139.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-12T19:32:19.649Z,1397331139.649 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-12T19:32:21.242Z,1397331141.242 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-04-12T19:32:21.273Z,1397331141.273 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-12T19:32:21.544Z,1397331141.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-12T19:32:21.544Z,1397331141.544 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-12T19:32:21.545Z,1397331141.545 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-12T19:32:21.546Z,1397331141.546 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-12T19:32:21.574Z,1397331141.574 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-12T19:32:21.574Z,1397331141.574 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-12T19:32:21.575Z,1397331141.575 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-12T19:32:21.591Z,1397331141.591 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-12T19:32:21.591Z,1397331141.591 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-12T19:32:21.592Z,1397331141.592 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-12T19:32:21.592Z,1397331141.592 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-12T19:32:21.593Z,1397331141.593 [SBIT](INFO): Initialize SBIT Component.
2014-04-12T19:32:21.593Z,1397331141.593 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11196
2014-04-12T19:32:21.594Z,1397331141.594 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-12T19:32:21.594Z,1397331141.594 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-12T19:32:21.594Z,1397331141.594 [IBIT](INFO): Initialize IBIT Component.
2014-04-12T19:32:21.595Z,1397331141.595 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-12T19:32:21.596Z,1397331141.596 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-04-12T19:32:21.621Z,1397331141.621 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-12T19:32:21.668Z,1397331141.668 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-12T19:32:21.689Z,1397331141.689 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2014-04-12T19:32:21.690Z,1397331141.690 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-12T19:32:21.780Z,1397331141.780 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-12T19:32:21.782Z,1397331141.782 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-12T19:32:21.806Z,1397331141.806 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-12T19:32:21.814Z,1397331141.814 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-12T19:32:21.817Z,1397331141.817 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-12T19:32:21.838Z,1397331141.838 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-12T19:32:21.892Z,1397331141.892 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-12T19:32:21.895Z,1397331141.895 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-12T19:32:21.925Z,1397331141.925 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS">

        <When>
            <Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS">
            <Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Sequence/><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium">

        <Sequence/>

<!-- Run at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium">

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or><Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Assign><Sequence/><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

        <Guidance:GoToSurface>
            <Parallel/>
        </Guidance:GoToSurface>

    </Aggregate>

</Mission>


2014-04-12T19:32:21.929Z,1397331141.929 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-04-12T19:32:22.017Z,1397331142.017 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-12T19:32:22.213Z,1397331142.213 [DVL_micro](INFO): Initializing
2014-04-12T19:32:22.339Z,1397331142.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:22.439Z,1397331142.439 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-12T19:32:22.444Z,1397331142.444 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-12T19:32:22.451Z,1397331142.451 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-12T19:32:22.481Z,1397331142.481 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-12T19:32:22.487Z,1397331142.487 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-12T19:32:22.493Z,1397331142.493 [MassServo](DEBUG): Initializing MassServo.
2014-04-12T19:32:22.498Z,1397331142.498 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-12T19:32:22.505Z,1397331142.505 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-12T19:32:22.522Z,1397331142.522 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-04-12T19:32:22.529Z,1397331142.529 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-12T19:32:22.808Z,1397331142.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:23.380Z,1397331143.380 [NAL9602](INFO): Powering up NAL9602
2014-04-12T19:32:23.413Z,1397331143.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:24.083Z,1397331144.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:24.626Z,1397331144.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:25.100Z,1397331145.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:25.676Z,1397331145.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:26.124Z,1397331146.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:26.907Z,1397331146.907 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:27.823Z,1397331147.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:28.434Z,1397331148.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:28.903Z,1397331148.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:29.403Z,1397331149.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:29.884Z,1397331149.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:30.341Z,1397331150.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:30.798Z,1397331150.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:31.301Z,1397331151.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:31.911Z,1397331151.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:32.447Z,1397331152.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:32.900Z,1397331152.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:33.321Z,1397331153.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:33.762Z,1397331153.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:34.271Z,1397331154.271 [NAL9602](INFO): NAL9602 initialized
2014-04-12T19:32:34.312Z,1397331154.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:34.771Z,1397331154.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:35.243Z,1397331155.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:35.788Z,1397331155.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:36.270Z,1397331156.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:36.871Z,1397331156.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:37.324Z,1397331157.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:37.369Z,1397331157.369 [SBIT](IMPORTANT): Beginning Startup BIT
2014-04-12T19:32:37.372Z,1397331157.372 [CBIT](IMPORTANT): Beginning GF scan
2014-04-12T19:32:37.883Z,1397331157.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:38.399Z,1397331158.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:38.890Z,1397331158.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:39.347Z,1397331159.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:39.937Z,1397331159.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:40.481Z,1397331160.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:41.130Z,1397331161.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:41.718Z,1397331161.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:42.430Z,1397331162.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:43.006Z,1397331163.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:43.601Z,1397331163.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:44.109Z,1397331164.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:44.603Z,1397331164.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:45.083Z,1397331165.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:45.532Z,1397331165.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:46.000Z,1397331166.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:46.489Z,1397331166.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:46.938Z,1397331166.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:47.616Z,1397331167.616 [NAL9602](INFO): SBD MO Status=0, MOMSN=24929, MT Status=0, MTMSN=0
2014-04-12T19:32:47.616Z,1397331167.616 [NAL9602](INFO): No messages in MT queue
2014-04-12T19:32:47.651Z,1397331167.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:48.116Z,1397331168.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:48.572Z,1397331168.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:49.096Z,1397331169.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:49.534Z,1397331169.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:50.022Z,1397331170.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:50.532Z,1397331170.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:51.001Z,1397331171.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:51.432Z,1397331171.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:51.898Z,1397331171.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:52.550Z,1397331172.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:53.033Z,1397331173.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:54.093Z,1397331174.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:54.602Z,1397331174.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:55.131Z,1397331175.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:55.635Z,1397331175.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:56.132Z,1397331176.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:56.609Z,1397331176.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:57.218Z,1397331177.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:57.883Z,1397331177.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:58.368Z,1397331178.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:58.924Z,1397331178.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:32:59.610Z,1397331179.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:00.198Z,1397331180.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:00.719Z,1397331180.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:01.168Z,1397331181.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:01.612Z,1397331181.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:02.106Z,1397331182.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:02.682Z,1397331182.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:03.163Z,1397331183.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:03.742Z,1397331183.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:04.210Z,1397331184.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:04.706Z,1397331184.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:05.203Z,1397331185.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:05.739Z,1397331185.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2014-04-12T19:33:06.127Z,1397331186.127 [NAL9602](IMPORTANT): GPS fix at: 1397331153.00
2014-04-12T19:33:06.169Z,1397331186.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2014-04-12T19:33:13.635Z,1397331193.635 [NAL9602](INFO): Powering down
2014-04-12T19:33:31.547Z,1397331211.547 [SBIT](IMPORTANT): SBIT PASSED
2014-04-12T19:33:32.010Z,1397331212.010 [MissionManager](IMPORTANT): Started mission Startup
2014-04-12T19:33:32.010Z,1397331212.010 [Startup] Running Loop=1
2014-04-12T19:33:32.010Z,1397331212.010 [Startup](INFO): Aggregate::initialize Startup
2014-04-12T19:33:32.010Z,1397331212.010 [Startup:A.GoToSurface] Running Loop=1
2014-04-12T19:33:32.010Z,1397331212.010 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-12T19:33:32.017Z,1397331212.017 [Startup:StartupSatComms] Running Loop=1
2014-04-12T19:33:32.017Z,1397331212.017 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2014-04-12T19:33:32.017Z,1397331212.017 [Startup:StartupSatComms:A] Running Loop=1
2014-04-12T19:33:32.412Z,1397331212.412 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-12T19:33:32.781Z,1397331212.781 [NAL9602](INFO): Powering up
2014-04-12T19:33:43.695Z,1397331223.695 [NAL9602](INFO): NAL9602 initialized
2014-04-12T19:34:02.932Z,1397331242.932 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=24930, MT Status=1, MTMSN=1703
2014-04-12T19:34:02.932Z,1397331242.932 [NAL9602](INFO): Data available in MT queue
2014-04-12T19:34:03.674Z,1397331243.674 [NAL9602](INFO): Received command:sched asap "load Science/science_to.xml;set science_to.MaxDepth 50 meter;set science_to.YoYoMaxDepth 40 meter;set science_to.Wpt1Lat 33.5644 degree;set science_to.Wpt1Lon -117.9985 degree;set science_to.Wpt2Lat 33.6065 degree" 3qu9m 1 2
2014-04-12T19:34:03.734Z,1397331243.734 [CommandLine](IMPORTANT): got command schedule asap "load Science/science_to.xml;set science_to.MaxDepth 50 meter;set science_to.YoYoMaxDepth 40 meter;set science_to.Wpt1Lat 33.5644 degree;set science_to.Wpt1Lon -117.9985 degree;set science_to.Wpt2Lat 33.6065 degree" 3qu9m 1 2.000000
2014-04-12T19:34:03.735Z,1397331243.735 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=3qu9m
2014-04-12T19:34:03.736Z,1397331243.736 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='3qu9m'): "load Science/science_to.xml;set science_to.MaxDepth 50 meter;set science_to.YoYoMaxDepth 40 meter;set science_to.Wpt1Lat 33.5644 degree;set science_to.Wpt1Lon -117.9985 degree;set science_to.Wpt2Lat 33.6065 degree" ASAP
2014-04-12T19:34:31.607Z,1397331271.607 [NAL9602](IMPORTANT): GPS fix at: 1397331239.00
2014-04-12T19:34:31.619Z,1397331271.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2014-04-12T19:34:31.621Z,1397331271.621 [Startup:StartupSatComms:A] Stopped
2014-04-12T19:34:31.622Z,1397331271.622 [Startup:StartupSatComms:B] Running Loop=1
2014-04-12T19:34:32.078Z,1397331272.078 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-12T19:34:51.080Z,1397331291.080 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=24931, MT Status=1, MTMSN=1704
2014-04-12T19:34:51.131Z,1397331291.131 [NAL9602](INFO): Sent 45 bytes from file Logs/20140412T192048/Courier0012.lzma
2014-04-12T19:34:51.131Z,1397331291.131 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:34:51.133Z,1397331291.133 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T192048/Courier0012.lzma.parts/0000.sbd
2014-04-12T19:34:51.133Z,1397331291.133 [NAL9602](INFO): Completed sending Logs/20140412T192048/Courier0012.lzma
2014-04-12T19:34:52.005Z,1397331292.005 [NAL9602](INFO): Received command:sched asap "set science_to.Wpt2Lon -118.0764 degree;set science_to.Wpt3Lat 33.6273 degree;set science_to.Wpt3Lon -118.0603 degree;set science_to.NeedCommsTime 45 minute;set science_to.Timeout 3 hour;run ; ()" 3qu9m 2 2
2014-04-12T19:34:52.018Z,1397331292.018 [CommandLine](IMPORTANT): got command schedule asap "set science_to.Wpt2Lon -118.0764 degree;set science_to.Wpt3Lat 33.6273 degree;set science_to.Wpt3Lon -118.0603 degree;set science_to.NeedCommsTime 45 minute;set science_to.Timeout 3 hour;run ; ()" 3qu9m 2 2.000000
2014-04-12T19:34:52.019Z,1397331292.019 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=3qu9m
2014-04-12T19:34:52.019Z,1397331292.019 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='3qu9m'): "set science_to.Wpt2Lon -118.0764 degree;set science_to.Wpt3Lat 33.6273 degree;set science_to.Wpt3Lon -118.0603 degree;set science_to.NeedCommsTime 45 minute;set science_to.Timeout 3 hour;run ; ()" ASAP
2014-04-12T19:34:52.207Z,1397331292.207 [CommandLine](IMPORTANT): got command load ./Missions/Science/science_to.xml
2014-04-12T19:34:52.207Z,1397331292.207 [MissionManager](INFO): Loading Mission: ./Missions/Science/science_to.xml
2014-04-12T19:34:52.345Z,1397331292.345 [MissionManager](INFO): DefineArg science_to.MinAltitude = 10.000000 m
2014-04-12T19:34:52.348Z,1397331292.348 [MissionManager](INFO): DefineArg science_to.MaxDepth = 105.000000 m
2014-04-12T19:34:52.351Z,1397331292.351 [MissionManager](INFO): DefineArg science_to.MinOffshore = 2000.000000 m
2014-04-12T19:34:52.390Z,1397331292.390 [MissionManager](INFO): DefineArg science_to.YoYoMinDepth = 3.000000 m
2014-04-12T19:34:52.393Z,1397331292.393 [MissionManager](INFO): DefineArg science_to.YoYoMaxDepth = 100.000000 m
2014-04-12T19:34:52.396Z,1397331292.396 [MissionManager](INFO): DefineArg science_to.YoYoUpPitch = 20.000000 arcdeg
2014-04-12T19:34:52.399Z,1397331292.399 [MissionManager](INFO): DefineArg science_to.YoYoDownPitch = -20.000000 arcdeg
2014-04-12T19:34:52.402Z,1397331292.402 [MissionManager](INFO): DefineArg science_to.Wpt1Lat = 0.000000 arcdeg
2014-04-12T19:34:52.405Z,1397331292.405 [MissionManager](INFO): DefineArg science_to.Wpt1Lon = 0.000000 arcdeg
2014-04-12T19:34:52.421Z,1397331292.421 [MissionManager](INFO): DefineArg science_to.Wpt2Lat = 0.000000 arcdeg
2014-04-12T19:34:52.426Z,1397331292.426 [MissionManager](INFO): DefineArg science_to.Wpt2Lon = 0.000000 arcdeg
2014-04-12T19:34:52.429Z,1397331292.429 [MissionManager](INFO): DefineArg science_to.Wpt3Lat = 0.000000 arcdeg
2014-04-12T19:34:52.432Z,1397331292.432 [MissionManager](INFO): DefineArg science_to.Wpt3Lon = 0.000000 arcdeg
2014-04-12T19:34:52.435Z,1397331292.435 [MissionManager](INFO): DefineArg science_to.Wpt4Lat = 0.000000 arcdeg
2014-04-12T19:34:52.502Z,1397331292.502 [MissionManager](INFO): DefineArg science_to.Wpt4Lon = 0.000000 arcdeg
2014-04-12T19:34:52.507Z,1397331292.507 [MissionManager](INFO): DefineArg science_to.NeedCommsTime = 120.000000 min
2014-04-12T19:34:52.511Z,1397331292.511 [MissionManager](INFO): DefineArg science_to.Speed = 1.000000 m/s
2014-04-12T19:34:52.514Z,1397331292.514 [MissionManager](INFO): DefineArg science_to.Timeout = 36.000000 h
2014-04-12T19:34:52.529Z,1397331292.529 [MissionManager](INFO): DefineArg science_to.BuoyancyNeutral = 0.000300 n/a
2014-04-12T19:34:52.533Z,1397331292.533 [MissionManager](INFO): DefineArg science_to.MassDefault = 0.000000 n/a
2014-04-12T19:34:52.536Z,1397331292.536 [MissionManager](INFO): DefineArg science_to.ZeroDeg = 0.000000 arcdeg
2014-04-12T19:34:52.543Z,1397331292.543 [science_to:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2014-04-12T19:34:52.551Z,1397331292.551 [science_to:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2014-04-12T19:34:52.609Z,1397331292.609 [science_to:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2014-04-12T19:34:52.617Z,1397331292.617 [science_to:D.Pitch](DEBUG): Construct.
2014-04-12T19:34:52.630Z,1397331292.630 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-04-12T19:34:52.707Z,1397331292.707 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.SurfaceDepthRate = nan m/s
2014-04-12T19:34:52.715Z,1397331292.715 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.SurfacePitch = 20.000000 arcdeg
2014-04-12T19:34:52.722Z,1397331292.722 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.SurfaceSpeed = 1.000000 m/s
2014-04-12T19:34:52.729Z,1397331292.729 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.IridiumTimeout = 30.000000 min
2014-04-12T19:34:52.732Z,1397331292.732 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.UnpackSplitAtSurface = 0 bool
2014-04-12T19:34:52.735Z,1397331292.735 [science_to:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-12T19:34:52.750Z,1397331292.750 [MissionManager](INFO): RedefineArg science_to:SURFACECOMMS.SurfacePitch = value:20.000000 arcdeg
2014-04-12T19:34:52.752Z,1397331292.752 [MissionManager](INFO): RedefineArg science_to:SURFACECOMMS.SurfaceSpeed = reader:science_to.Speed
2014-04-12T19:34:52.769Z,1397331292.769 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2014-04-12T19:34:52.884Z,1397331292.884 [MissionManager](INFO): DefineArg science_to:Science.SampleISUS = 0 bool
2014-04-12T19:34:52.888Z,1397331292.888 [MissionManager](INFO): DefineArg science_to:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2014-04-12T19:34:52.893Z,1397331292.893 [MissionManager](INFO): DefineArg science_to:Science.SampleISUSminPitch = -60.000000 arcdeg
2014-04-12T19:34:52.904Z,1397331292.904 [MissionManager](INFO): DefineArg science_to:Science.PeakDetectChlActive = 0 bool
2014-04-12T19:34:52.912Z,1397331292.912 [MissionManager](INFO): DefineArg science_to:Science.PeakDetectNO3Active = 0 bool
2014-04-12T19:34:52.915Z,1397331292.915 [MissionManager](INFO): DefineArg science_to:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2014-04-12T19:34:52.919Z,1397331292.919 [MissionManager](INFO): DefineArg science_to:Science.ComputeWaterCurrent = 0 bool
2014-04-12T19:34:52.923Z,1397331292.923 [MissionManager](INFO): DefineArg science_to:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2014-04-12T19:34:52.926Z,1397331292.926 [MissionManager](INFO): DefineArg science_to:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2014-04-12T19:34:52.930Z,1397331292.930 [MissionManager](INFO): DefineArg science_to:Science.EnabledAanderaaO2 = 0.000000 n/a
2014-04-12T19:34:52.933Z,1397331292.933 [MissionManager](INFO): DefineArg science_to:Science.EnabledNeilBrown = 1.000000 n/a
2014-04-12T19:34:52.937Z,1397331292.937 [MissionManager](INFO): DefineArg science_to:Science.EnabledTurbulence_NPS = 0.000000 n/a
2014-04-12T19:34:52.972Z,1397331292.972 [MissionManager](INFO): DefineArg science_to:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2014-04-12T19:34:52.980Z,1397331292.980 [MissionManager](INFO): DefineArg science_to:Science.EnabledDVL = 1.000000 n/a
2014-04-12T19:34:52.996Z,1397331292.996 [MissionManager](INFO): DefineArg science_to:Science.EnabledISUS = 0.000000 n/a
2014-04-12T19:34:53.001Z,1397331293.001 [MissionManager](INFO): DefineOutput science_to:Science.PeakChl = 0.000000 ug/l
2014-04-12T19:34:53.007Z,1397331293.007 [MissionManager](INFO): DefineOutput science_to:Science.PeakChlDepth = 0.000000 m
2014-04-12T19:34:53.011Z,1397331293.011 [MissionManager](INFO): DefineOutput science_to:Science.PeakChlLatitude = nan arcdeg
2014-04-12T19:34:53.014Z,1397331293.014 [MissionManager](INFO): DefineOutput science_to:Science.PeakChlLongitude = nan arcdeg
2014-04-12T19:34:53.017Z,1397331293.017 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3 = 0.000000 umol/l
2014-04-12T19:34:53.021Z,1397331293.021 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3Depth = 0.000000 m
2014-04-12T19:34:53.024Z,1397331293.024 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3Latitude = nan arcdeg
2014-04-12T19:34:53.028Z,1397331293.028 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3Longitude = nan arcdeg
2014-04-12T19:34:53.045Z,1397331293.045 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2014-04-12T19:34:53.083Z,1397331293.083 [science_to:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2014-04-12T19:34:53.109Z,1397331293.109 [MissionManager](INFO): RedefineArg science_to:Science.SampleISUS = value:1 bool
2014-04-12T19:34:53.116Z,1397331293.116 [MissionManager](INFO): RedefineArg science_to:Science.PeakDetectChlActive = value:1 bool
2014-04-12T19:34:53.117Z,1397331293.117 [science_to:H.Buoyancy](DEBUG): Construct Buoyancy.
2014-04-12T19:34:53.128Z,1397331293.128 [science_to:I.SetSpeed](DEBUG): Construct.
2014-04-12T19:34:53.135Z,1397331293.135 [science_to:J.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2014-04-12T19:34:53.174Z,1397331293.174 [science_to:K.YoYo](DEBUG): Construct YoYo.
2014-04-12T19:34:53.200Z,1397331293.200 [science_to:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2014-04-12T19:34:53.211Z,1397331293.211 [science_to:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2014-04-12T19:34:53.219Z,1397331293.219 [science_to:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2014-04-12T19:34:53.226Z,1397331293.226 [science_to:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2014-04-12T19:34:53.285Z,1397331293.285 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="science_to">

    <Description>
        Vehicle yo-yo's to the specified waypoint, with science turned on.
    </Description>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>105.0</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000.0</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>3.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>100.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20.0</Value></DefineArg>

    <DefineArg Name="Wpt1Lat"><Description>
        Latitude of waypoint 1. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Description>
        Longitude of waypoint 1. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt2Lat"><Description>
        Latitude of waypoint 2. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Description>
        Longitude of waypoint 2. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Description>
        Latitude of waypoint 3. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Description>
        Longitude of waypoint 3. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt4Lat"><Description>
        Latitude of waypoint 4. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="Wpt4Lon"><Description>
        Longitude of waypoint 4. If zero, waypoint is skipped.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications, if the vehicle
        has a positive pitch. If the vehicle has a negative pitch, it will wait
        up to 10 minutes more to begin ascent.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="Timeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>36</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
        for active buoyancy
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="ZeroDeg"><Description>
        Constant value. Do not change.
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <Timeout Duration="Timeout"/>

    <Aggregate Id="AltEnvWrapper">

        <When>
            <Arg Name="MinAltitude"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:AltitudeEnvelope>
            <Description>
                Safety behavior that keeps vehicle off sea floor
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
        </Guidance:AltitudeEnvelope>

    </Aggregate>

    <Guidance:DepthEnvelope>
        <Description>
            Safety behavior that keeps vehicle from going too deep
        </Description>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Aggregate Id="OffshoreWrapper">

        <When>
            <Arg Name="MinOffshore"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:OffshoreEnvelope>
            <Description>
                Safety behavior that keeps vehicle away from the shore
            </Description>
            <Parallel/>
            <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
        </Guidance:OffshoreEnvelope>

    </Aggregate>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS">
        <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
        <RedefineArg Name="SurfaceSpeed"><Arg Name="Speed"/></RedefineArg>
    </Insert>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And><Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or><Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/><Add><Units:minute/><Value>10</Value></Add></Gt></Or>
        </When>

        <Call RefId="SURFACECOMMS"/>

    </Aggregate>

    <Insert Filename="Insert/Science.xml">
        <Description>
            If we're executing here or below, lets' get science data!
        </Description>
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:YoYo>
        <Parallel/>
        <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:YoYo>

    <Aggregate Id="Wpt1">

        <Sequence/>

        <Break><Arg Name="Wpt1Lat"/>
            <Eq><Arg Name="ZeroDeg"/></Eq>
            <Or><Arg Name="Wpt1Lon"/><Eq><Arg Name="ZeroDeg"/></Eq></Or>
        </Break>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
        </Guidance:Waypoint>

    </Aggregate>

    <Aggregate Id="Wpt2">

        <Sequence/>

        <Break><Arg Name="Wpt2Lat"/>
            <Eq><Arg Name="ZeroDeg"/></Eq>
            <Or><Arg Name="Wpt2Lon"/><Eq><Arg Name="ZeroDeg"/></Eq></Or>
        </Break>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
        </Guidance:Waypoint>

    </Aggregate>

    <Aggregate Id="Wpt3">

        <Sequence/>

        <Break><Arg Name="Wpt3Lat"/>
            <Eq><Arg Name="ZeroDeg"/></Eq>
            <Or><Arg Name="Wpt3Lon"/><Eq><Arg Name="ZeroDeg"/></Eq></Or>
        </Break>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt3Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt3Lon"/></Setting>
        </Guidance:Waypoint>

    </Aggregate>

    <Aggregate Id="Wpt4">

        <Sequence/>

        <Break><Arg Name="Wpt4Lat"/>
            <Eq><Arg Name="ZeroDeg"/></Eq>
            <Or><Arg Name="Wpt4Lon"/><Eq><Arg Name="ZeroDeg"/></Eq></Or>
        </Break>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt4Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt4Lon"/></Setting>
        </Guidance:Waypoint>

    </Aggregate>

</Mission>


2014-04-12T19:34:53.286Z,1397331293.286 [CommandLine](IMPORTANT): Loaded ./Missions/Science/science_to.xml
2014-04-12T19:34:59.751Z,1397331299.751 [CommandLine](IMPORTANT): got command set science_to.MaxDepth 50.000000 meter
2014-04-12T19:34:59.784Z,1397331299.784 [CommandLine](IMPORTANT): got command set science_to.YoYoMaxDepth 40.000000 meter
2014-04-12T19:34:59.785Z,1397331299.785 [CommandLine](IMPORTANT): got command set science_to.Wpt1Lat 33.564400 degree
2014-04-12T19:34:59.786Z,1397331299.786 [CommandLine](IMPORTANT): got command set science_to.Wpt1Lon -117.998497 degree
2014-04-12T19:34:59.787Z,1397331299.787 [CommandLine](IMPORTANT): got command set science_to.Wpt2Lat 33.606499 degree
2014-04-12T19:35:04.722Z,1397331304.722 [NAL9602](INFO): SBD MO Status=1, MOMSN=24932, MT Status=0, MTMSN=0
2014-04-12T19:35:04.772Z,1397331304.772 [NAL9602](INFO): Sent 295 bytes from file Logs/20140412T193207/Courier0000.lzma
2014-04-12T19:35:04.773Z,1397331304.773 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:35:04.774Z,1397331304.774 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Courier0000.lzma.parts/0000.sbd
2014-04-12T19:35:04.774Z,1397331304.774 [NAL9602](INFO): Completed sending Logs/20140412T193207/Courier0000.lzma
2014-04-12T19:35:06.506Z,1397331306.506 [CommandLine](IMPORTANT): got command set science_to.Wpt2Lon -118.076401 degree
2014-04-12T19:35:06.507Z,1397331306.507 [CommandLine](IMPORTANT): got command set science_to.Wpt3Lat 33.627300 degree
2014-04-12T19:35:06.508Z,1397331306.508 [CommandLine](IMPORTANT): got command set science_to.Wpt3Lon -118.060303 degree
2014-04-12T19:35:06.509Z,1397331306.509 [CommandLine](IMPORTANT): got command set science_to.NeedCommsTime 45.000000 minute
2014-04-12T19:35:06.509Z,1397331306.509 [CommandLine](IMPORTANT): got command set science_to.Timeout 3.000000 hour
2014-04-12T19:35:06.510Z,1397331306.510 [CommandLine](IMPORTANT): got command run 
2014-04-12T19:35:06.512Z,1397331306.512 [CommandLine](IMPORTANT): Running 
2014-04-12T19:35:06.513Z,1397331306.513 [CommandLine](IMPORTANT): got command 
2014-04-12T19:35:06.513Z,1397331306.513 [CommandLine](FAULT): Syntax error. Try: help
2014-04-12T19:35:15.882Z,1397331315.882 [NAL9602](INFO): SBD MO Status=1, MOMSN=24933, MT Status=0, MTMSN=0
2014-04-12T19:35:15.930Z,1397331315.930 [NAL9602](INFO): Sent 130 bytes from file Logs/20140412T192048/Express0009.lzma
2014-04-12T19:35:15.930Z,1397331315.930 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:35:15.932Z,1397331315.932 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T192048/Express0009.lzma.parts/0000.sbd
2014-04-12T19:35:15.932Z,1397331315.932 [NAL9602](INFO): Completed sending Logs/20140412T192048/Express0009.lzma
2014-04-12T19:35:24.826Z,1397331324.826 [NAL9602](INFO): SBD MO Status=1, MOMSN=24934, MT Status=0, MTMSN=0
2014-04-12T19:35:24.879Z,1397331324.879 [NAL9602](INFO): Sent 142 bytes from file Logs/20140412T192048/Express0013.lzma
2014-04-12T19:35:24.880Z,1397331324.880 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:35:24.881Z,1397331324.881 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T192048/Express0013.lzma.parts/0000.sbd
2014-04-12T19:35:24.882Z,1397331324.882 [NAL9602](INFO): Completed sending Logs/20140412T192048/Express0013.lzma
2014-04-12T19:35:31.889Z,1397331331.889 [Startup:StartupSatComms:B](INFO): Timed out from 2014-04-12T19:34:31.6Z
2014-04-12T19:35:31.889Z,1397331331.889 [Startup:StartupSatComms:B] Stopped
2014-04-12T19:35:31.889Z,1397331331.889 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2014-04-12T19:35:31.889Z,1397331331.889 [Startup:StartupSatComms] Stopped
2014-04-12T19:35:31.889Z,1397331331.889 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2014-04-12T19:35:31.895Z,1397331331.895 [Startup](INFO): Completed Startup
2014-04-12T19:35:31.895Z,1397331331.895 [Startup] Stopped
2014-04-12T19:35:31.895Z,1397331331.895 [Startup](INFO): Aggregate::uninitialize Startup
2014-04-12T19:35:31.895Z,1397331331.895 [Startup:A.GoToSurface] Stopped
2014-04-12T19:35:31.895Z,1397331331.895 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-12T19:35:32.293Z,1397331332.293 [MissionManager](IMPORTANT): Started mission science_to
2014-04-12T19:35:32.293Z,1397331332.293 [science_to] Running Loop=1
2014-04-12T19:35:32.293Z,1397331332.293 [science_to](INFO): Aggregate::initialize science_to
2014-04-12T19:35:32.293Z,1397331332.293 [science_to:B.DepthEnvelope] Running Loop=1
2014-04-12T19:35:32.293Z,1397331332.293 [science_to:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2014-04-12T19:35:32.293Z,1397331332.293 [science_to:D.Pitch] Running Loop=1
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:D.Pitch](DEBUG): Initialize.
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science] Running Loop=1
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science](INFO): Aggregate::initialize science_to:Science
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science:A] Running Loop=1
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science:B] Running Loop=1
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science:C] Running Loop=1
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science:D] Running Loop=1
2014-04-12T19:35:32.294Z,1397331332.294 [science_to:Science:E] Running Loop=1
2014-04-12T19:35:32.295Z,1397331332.295 [science_to:Science:F] Running Loop=1
2014-04-12T19:35:32.295Z,1397331332.295 [science_to:Science:G] Running Loop=1
2014-04-12T19:35:32.295Z,1397331332.295 [science_to:Science:PeakDetectChl] Running Loop=1
2014-04-12T19:35:32.295Z,1397331332.295 [science_to:Science:PeakDetectChl](INFO): Aggregate::initialize science_to:Science:PeakDetectChl
2014-04-12T19:35:32.295Z,1397331332.295 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2014-04-12T19:35:32.295Z,1397331332.295 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2014-04-12T19:35:32.297Z,1397331332.297 [science_to:Science:PeakDetectNO3] Running Loop=1
2014-04-12T19:35:32.297Z,1397331332.297 [science_to:Science:PeakDetectNO3](INFO): Aggregate::initialize science_to:Science:PeakDetectNO3
2014-04-12T19:35:32.297Z,1397331332.297 [science_to:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2014-04-12T19:35:32.298Z,1397331332.298 [science_to:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2014-04-12T19:35:32.299Z,1397331332.299 [science_to:H.Buoyancy] Running Loop=1
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:H.Buoyancy](DEBUG): Initialize Buoyancy Component.
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:I.SetSpeed] Running Loop=1
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:I.SetSpeed](DEBUG): Initialize.
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:J.DepthEnvelope] Running Loop=1
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:K.YoYo] Running Loop=1
2014-04-12T19:35:32.300Z,1397331332.300 [science_to:K.YoYo](DEBUG): Initialize YoYoComponent.
2014-04-12T19:35:32.301Z,1397331332.301 [science_to:SURFACECOMMS] Running Loop=1
2014-04-12T19:35:32.301Z,1397331332.301 [science_to:SURFACECOMMS](INFO): Aggregate::initialize science_to:SURFACECOMMS
2014-04-12T19:35:32.301Z,1397331332.301 [science_to:SURFACECOMMS:A.GoToSurface] Running Loop=1
2014-04-12T19:35:32.301Z,1397331332.301 [science_to:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-12T19:35:32.302Z,1397331332.302 [science_to:K.YoYo] Running Loop=1
2014-04-12T19:35:32.307Z,1397331332.307 [science_to:J.DepthEnvelope] Running Loop=1
2014-04-12T19:35:32.313Z,1397331332.313 [science_to:I.SetSpeed] Running Loop=1
2014-04-12T19:35:32.317Z,1397331332.317 [science_to:H.Buoyancy] Running Loop=1
2014-04-12T19:35:32.322Z,1397331332.322 [science_to:Science] Running Loop=1
2014-04-12T19:35:32.326Z,1397331332.326 [science_to:Science:PeakDetectNO3] Stopped
2014-04-12T19:35:32.326Z,1397331332.326 [science_to:Science:PeakDetectNO3](INFO): Aggregate::uninitialize science_to:Science:PeakDetectNO3
2014-04-12T19:35:32.326Z,1397331332.326 [science_to:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2014-04-12T19:35:32.326Z,1397331332.326 [science_to:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2014-04-12T19:35:32.326Z,1397331332.326 [science_to:Science:PeakDetectChl] Running Loop=1
2014-04-12T19:35:32.331Z,1397331332.331 [science_to:Science:G] Running Loop=1
2014-04-12T19:35:32.332Z,1397331332.332 [science_to:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2014-04-12T19:35:32.333Z,1397331332.333 [science_to:Science:F] Stopped
2014-04-12T19:35:32.333Z,1397331332.333 [science_to:Science:E] Stopped
2014-04-12T19:35:32.333Z,1397331332.333 [science_to:Science:D] Running Loop=1
2014-04-12T19:35:32.334Z,1397331332.334 [science_to:Science:D](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2014-04-12T19:35:32.335Z,1397331332.335 [science_to:Science:D](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2014-04-12T19:35:32.336Z,1397331332.336 [science_to:Science:C] Stopped
2014-04-12T19:35:32.336Z,1397331332.336 [science_to:Science:B] Stopped
2014-04-12T19:35:32.336Z,1397331332.336 [science_to:Science:A] Stopped
2014-04-12T19:35:32.344Z,1397331332.344 [science_to:SURFACECOMMS:B] Running Loop=1
2014-04-12T19:35:32.345Z,1397331332.345 [science_to:SURFACECOMMS:B](INFO): Aggregate::initialize science_to:SURFACECOMMS:B
2014-04-12T19:35:32.345Z,1397331332.345 [science_to:SURFACECOMMS:B:A] Running Loop=1
2014-04-12T19:35:32.345Z,1397331332.345 [science_to:D.Pitch] Running Loop=1
2014-04-12T19:35:32.350Z,1397331332.350 [science_to:OffshoreWrapper] Running Loop=1
2014-04-12T19:35:32.350Z,1397331332.350 [science_to:OffshoreWrapper](INFO): Aggregate::initialize science_to:OffshoreWrapper
2014-04-12T19:35:32.350Z,1397331332.350 [science_to:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2014-04-12T19:35:32.350Z,1397331332.350 [science_to:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2014-04-12T19:35:32.350Z,1397331332.350 [science_to:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2014-04-12T19:35:32.392Z,1397331332.392 [science_to:B.DepthEnvelope] Running Loop=1
2014-04-12T19:35:32.401Z,1397331332.401 [science_to:AltEnvWrapper] Running Loop=1
2014-04-12T19:35:32.401Z,1397331332.401 [science_to:AltEnvWrapper](INFO): Aggregate::initialize science_to:AltEnvWrapper
2014-04-12T19:35:32.401Z,1397331332.401 [science_to:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2014-04-12T19:35:32.401Z,1397331332.401 [science_to:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2014-04-12T19:35:32.402Z,1397331332.402 [science_to:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2014-04-12T19:35:32.403Z,1397331332.403 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-12T19:35:32.411Z,1397331332.411 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2014-04-12T19:35:32.411Z,1397331332.411 [WetLabsBB2FL](INFO): Powering up
2014-04-12T19:35:32.841Z,1397331332.841 [science_to:SURFACECOMMS:B] Stopped
2014-04-12T19:35:32.841Z,1397331332.841 [science_to:SURFACECOMMS:B](INFO): Aggregate::uninitialize science_to:SURFACECOMMS:B
2014-04-12T19:35:32.841Z,1397331332.841 [science_to:SURFACECOMMS:B:A] Stopped
2014-04-12T19:35:32.841Z,1397331332.841 [science_to:SURFACECOMMS:C] Running Loop=1
2014-04-12T19:35:32.841Z,1397331332.841 [science_to:SURFACECOMMS:C](INFO): Aggregate::initialize science_to:SURFACECOMMS:C
2014-04-12T19:35:32.842Z,1397331332.842 [science_to:SURFACECOMMS:C:A] Running Loop=1
2014-04-12T19:35:33.304Z,1397331333.304 [science_to:K.YoYo] Preempted
2014-04-12T19:35:33.304Z,1397331333.304 [science_to:J.DepthEnvelope] Preempted
2014-04-12T19:35:33.304Z,1397331333.304 [science_to:I.SetSpeed] Preempted
2014-04-12T19:35:33.304Z,1397331333.304 [science_to:H.Buoyancy] Preempted
2014-04-12T19:35:33.304Z,1397331333.304 [science_to:Science] Preempted
2014-04-12T19:35:33.305Z,1397331333.305 [science_to:Science:D] Preempted
2014-04-12T19:35:33.305Z,1397331333.305 [science_to:Science:G] Preempted
2014-04-12T19:35:33.305Z,1397331333.305 [science_to:Science:PeakDetectChl] Preempted
2014-04-12T19:35:33.306Z,1397331333.306 [science_to:SURFACECOMMS:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-12T19:35:33.673Z,1397331333.673 [WetLabsBB2FL](INFO): Powering down
2014-04-12T19:35:34.252Z,1397331334.252 [NAL9602](INFO): SBD MO Status=1, MOMSN=24935, MT Status=0, MTMSN=0
2014-04-12T19:35:34.302Z,1397331334.302 [NAL9602](INFO): Sent 332 bytes from file Logs/20140412T193207/Express0001.lzma
2014-04-12T19:35:34.302Z,1397331334.302 [NAL9602](INFO): Packets left to send: 2
2014-04-12T19:35:34.304Z,1397331334.304 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0001.lzma.parts/0002.sbd
2014-04-12T19:35:36.411Z,1397331336.411 [NAL9602](IMPORTANT): GPS fix at: 1397331303.00
2014-04-12T19:35:36.422Z,1397331336.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2014-04-12T19:35:36.426Z,1397331336.426 [science_to:SURFACECOMMS:C:A] Stopped
2014-04-12T19:35:36.426Z,1397331336.426 [science_to:SURFACECOMMS:C:B] Running Loop=1
2014-04-12T19:35:36.874Z,1397331336.874 [science_to:SURFACECOMMS:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-12T19:35:50.448Z,1397331350.448 [NAL9602](INFO): SBD MO Status=1, MOMSN=24936, MT Status=0, MTMSN=0
2014-04-12T19:35:50.499Z,1397331350.499 [NAL9602](INFO): Sent 45 bytes from file Logs/20140412T193207/Courier0004.lzma
2014-04-12T19:35:50.499Z,1397331350.499 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:35:50.501Z,1397331350.501 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Courier0004.lzma.parts/0000.sbd
2014-04-12T19:35:50.501Z,1397331350.501 [NAL9602](INFO): Completed sending Logs/20140412T193207/Courier0004.lzma
2014-04-12T19:36:00.895Z,1397331360.895 [NAL9602](INFO): SBD MO Status=1, MOMSN=24937, MT Status=0, MTMSN=0
2014-04-12T19:36:00.943Z,1397331360.943 [NAL9602](INFO): Sent 73 bytes from file Logs/20140412T193207/Courier0008.lzma
2014-04-12T19:36:00.944Z,1397331360.944 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:36:00.945Z,1397331360.945 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Courier0008.lzma.parts/0000.sbd
2014-04-12T19:36:00.945Z,1397331360.945 [NAL9602](INFO): Completed sending Logs/20140412T193207/Courier0008.lzma
2014-04-12T19:36:10.726Z,1397331370.726 [NAL9602](INFO): SBD MO Status=1, MOMSN=24938, MT Status=0, MTMSN=0
2014-04-12T19:36:10.771Z,1397331370.771 [NAL9602](INFO): Sent 332 bytes from file Logs/20140412T193207/Express0001.lzma
2014-04-12T19:36:10.771Z,1397331370.771 [NAL9602](INFO): Packets left to send: 1
2014-04-12T19:36:10.772Z,1397331370.772 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0001.lzma.parts/0001.sbd
2014-04-12T19:36:18.310Z,1397331378.310 [NAL9602](INFO): SBD MO Status=1, MOMSN=24939, MT Status=0, MTMSN=0
2014-04-12T19:36:18.374Z,1397331378.374 [NAL9602](INFO): Sent 121 bytes from file Logs/20140412T193207/Express0001.lzma
2014-04-12T19:36:18.375Z,1397331378.375 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:36:18.376Z,1397331378.376 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0001.lzma.parts/0000.sbd
2014-04-12T19:36:18.376Z,1397331378.376 [NAL9602](INFO): Completed sending Logs/20140412T193207/Express0001.lzma
2014-04-12T19:36:32.343Z,1397331392.343 [NAL9602](INFO): SBD MO Status=2, MOMSN=24940, MT Status=2, MTMSN=0
2014-04-12T19:36:32.344Z,1397331392.344 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2014-04-12T19:36:51.983Z,1397331411.983 [NAL9602](INFO): SBD MO Status=1, MOMSN=24940, MT Status=0, MTMSN=0
2014-04-12T19:36:52.031Z,1397331412.031 [NAL9602](INFO): Sent 332 bytes from file Logs/20140412T193207/Express0005.lzma
2014-04-12T19:36:52.031Z,1397331412.031 [NAL9602](INFO): Packets left to send: 1
2014-04-12T19:36:52.032Z,1397331412.032 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0005.lzma.parts/0001.sbd
2014-04-12T19:37:04.692Z,1397331424.692 [NAL9602](INFO): SBD MO Status=1, MOMSN=24941, MT Status=0, MTMSN=0
2014-04-12T19:37:04.742Z,1397331424.742 [NAL9602](INFO): Sent 216 bytes from file Logs/20140412T193207/Express0005.lzma
2014-04-12T19:37:04.742Z,1397331424.742 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:37:04.744Z,1397331424.744 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0005.lzma.parts/0000.sbd
2014-04-12T19:37:04.744Z,1397331424.744 [NAL9602](INFO): Completed sending Logs/20140412T193207/Express0005.lzma
2014-04-12T19:37:17.924Z,1397331437.924 [NAL9602](INFO): SBD MO Status=1, MOMSN=24942, MT Status=0, MTMSN=0
2014-04-12T19:37:17.975Z,1397331437.975 [NAL9602](INFO): Sent 180 bytes from file Logs/20140412T193207/Express0006.lzma
2014-04-12T19:37:17.975Z,1397331437.975 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:37:17.977Z,1397331437.977 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0006.lzma.parts/0000.sbd
2014-04-12T19:37:17.977Z,1397331437.977 [NAL9602](INFO): Completed sending Logs/20140412T193207/Express0006.lzma
2014-04-12T19:37:53.600Z,1397331473.600 [NAL9602](INFO): SBD MO Status=2, MOMSN=24943, MT Status=2, MTMSN=0
2014-04-12T19:37:53.600Z,1397331473.600 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2014-04-12T19:38:10.650Z,1397331490.650 [NAL9602](INFO): SBD MO Status=1, MOMSN=24943, MT Status=0, MTMSN=0
2014-04-12T19:38:10.697Z,1397331490.697 [NAL9602](INFO): Sent 95 bytes from file Logs/20140412T193207/Express0009.lzma
2014-04-12T19:38:10.697Z,1397331490.697 [NAL9602](INFO): Packets left to send: 0
2014-04-12T19:38:10.699Z,1397331490.699 [NAL9602](INFO): Stored copy of sent data in Logs/20140412T193207/Express0009.lzma.parts/0000.sbd
2014-04-12T19:38:10.699Z,1397331490.699 [NAL9602](INFO): Completed sending Logs/20140412T193207/Express0009.lzma
2014-04-12T19:38:18.876Z,1397331498.876 [NAL9602](INFO): SBD MO Status=0, MOMSN=24944, MT Status=0, MTMSN=0
2014-04-12T19:38:18.992Z,1397331498.992 [science_to:SURFACECOMMS:C:B] Stopped
2014-04-12T19:38:18.997Z,1397331498.997 [science_to:SURFACECOMMS:C:C] Running Loop=1
2014-04-12T19:38:19.435Z,1397331499.435 [science_to:SURFACECOMMS:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-12T19:38:21.575Z,1397331501.575 [NAL9602](IMPORTANT): GPS fix at: 1397331469.00
2014-04-12T19:38:21.594Z,1397331501.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): Got GPS fix: latitudeAccuracy_ = 1.74533e-07, longitudeAccuracy = 1.74533e-07
2014-04-12T19:38:21.598Z,1397331501.598 [science_to:SURFACECOMMS:C:C] Stopped
2014-04-12T19:38:21.598Z,1397331501.598 [science_to:SURFACECOMMS:C](INFO): Completed science_to:SURFACECOMMS:C
2014-04-12T19:38:21.598Z,1397331501.598 [science_to:SURFACECOMMS:C] Stopped
2014-04-12T19:38:21.598Z,1397331501.598 [science_to:SURFACECOMMS:C](INFO): Aggregate::uninitialize science_to:SURFACECOMMS:C
2014-04-12T19:38:21.599Z,1397331501.599 [science_to:SURFACECOMMS](INFO): Completed science_to:SURFACECOMMS
2014-04-12T19:38:21.599Z,1397331501.599 [science_to:SURFACECOMMS] Stopped
2014-04-12T19:38:21.599Z,1397331501.599 [science_to:SURFACECOMMS](INFO): Aggregate::uninitialize science_to:SURFACECOMMS
2014-04-12T19:38:21.600Z,1397331501.600 [science_to:SURFACECOMMS:A.GoToSurface] Stopped
2014-04-12T19:38:21.600Z,1397331501.600 [science_to:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-12T19:38:21.600Z,1397331501.600 [science_to:Wpt1] Running Loop=1
2014-04-12T19:38:21.600Z,1397331501.600 [science_to:Wpt1](INFO): Aggregate::initialize science_to:Wpt1
2014-04-12T19:38:21.600Z,1397331501.600 [science_to:Wpt1:A.Waypoint] Running Loop=1
2014-04-12T19:38:21.600Z,1397331501.600 [science_to:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2014-04-12T19:38:22.018Z,1397331502.018 [science_to:K.YoYo] Running Loop=1
2014-04-12T19:38:22.018Z,1397331502.018 [science_to:J.DepthEnvelope] Running Loop=1
2014-04-12T19:38:22.019Z,1397331502.019 [science_to:I.SetSpeed] Running Loop=1
2014-04-12T19:38:22.019Z,1397331502.019 [science_to:H.Buoyancy] Running Loop=1
2014-04-12T19:38:22.020Z,1397331502.020 [science_to:Science] Running Loop=1
2014-04-12T19:38:22.021Z,1397331502.021 [science_to:Science:PeakDetectChl] Running Loop=1
2014-04-12T19:38:22.021Z,1397331502.021 [science_to:Science:G] Running Loop=1
2014-04-12T19:38:22.021Z,1397331502.021 [science_to:Science:D] Running Loop=1
2014-04-12T19:38:22.103Z,1397331502.103 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2014-04-12T19:38:22.104Z,1397331502.104 [WetLabsBB2FL](INFO): Powering up
2014-04-12T19:38:22.131Z,1397331502.131 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-12T19:38:25.982Z,1397331505.982 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 45 of 46
2014-04-12T19:38:25.982Z,1397331505.982 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 110.7 115.0 113.9 95.5 -290.5 -220.8 -289.2 -335.9 -270 -207 -381 -303 13 181.7 153.6 -306.4 1 -136.6 -8.9 -314.2 1 148 128 -313 2 -137 139 -313 2 -3.09 -0.30 93.7 95.5 16.2 0.005 35.0 1489 88
2014-04-12T19:38:29.215Z,1397331509.215 [NAL9602](INFO): Powering down
2014-04-12T19:38:39.480Z,1397331519.480 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:114 Calculated:125
2014-04-12T19:38:39.480Z,1397331519.480 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 0.2 119.5 95.5 -310.0 -50.0 311.1 53.7 -423 -136 242 23 13 20 34 19 -828.9 -138.4 1.3 1 -216.6 -810.9 -42.1 1 -887 -212 -79 2 -176 -895 -79 2 -6.38 -4.07 65.4 95.5 16.1 0.005 35.0 1489 114
2014-04-12T19:39:00.483Z,1397331540.483 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 45 of 46
2014-04-12T19:39:00.483Z,1397331540.483 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 99.1 98.0 101.0 102.3 -376.2 -160.1 -8.6 -204.2 -333 -148 -52 -169 18 21 33 14 -490.6 58.9 -202.0 1 74.9 494.6 -1375 28 -189 2 48 372 -189 2 -3.45 2.17 266.8 98.0 16.1 0.005 35.0 1489 66
2014-04-12T19:39:11.095Z,1397331551.095 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:99 Calculated:120
2014-04-12T19:39:11.096Z,1397331551.096 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 101.7 98.6 98.8 103.0 -637.5 -324.7 -103.8 -422.8 -505 -220 -81 -353 13 17 31 13 -712.3 130.9 -401.9 307.9 -470.5 1 -565 177 -312 2 567 172 -312 2 -5.60 -4.80 214.3 98.6 16.1 0.005 35.0 1489 99
2014-04-12T19:39:13.190Z,1397331553.190 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:75 Calculated:65
2014-04-12T19:39:13.190Z,1397331553.190 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 103.3 96103.5 27.5 290.4 458.4 212.5 117 301 438 175 14 23 31 16 -575.1 104.0 266.6 1 599.2 116.7 200.0 1 -428 168 278 2 460 -1 278 2 -0.94 -6.32 201.2 96.9 16.1 0.005 35.0 1489 75
2014-04-12T19:39:22.795Z,1397331562.795 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:87 Calculated:90
2014-04-12T19:39:22.795Z,1397331562.795 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 93.1 106.0 105.1 102.8 -300.4 49.4 -276.8 -114.7  201 -106 17 20 34 17 -31.5 219.0 -173.3 1 -5.3 -209.9 -186.8 1 -571 297 -4 2 622 -166 -4 2 -4.61 -25.63 192.5 93.1 16.1 0.005 35.0 1489 87
2014-04-12T19:39:30.136Z,1397331570.136 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 44 of 46
2014-04-12T19:39:30.137Z,1397331570.137 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 0 1 92.8 101.4 0 110.8 -237.1 -0.5 0 61.6 -227 -50 196 19 12 25 28 24 -714.4 -82.9 32.9 1 401.9 537.7 -260.0 1 -564 -92 -16 2 326 469 -16 2 -1.34 -24.12 225.9 92.8 16.1 0.005 35.06
2014-04-12T19:40:01.209Z,1397331601.209 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:81 Calculated:77
2014-04-12T19:40:01.209Z,1397331601.209 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 84.7 93.7 101.1 97.0 -294.9 -5.4 337.5 38.2 -236 -31 244 -13 12 20 29 20 -844.0 -58. 492.0 629.0 -280.0 1 -640 -24 -9 2 420 484 -9 2 -5.29 -21.13 226.9 84.7 16.0 0.005 35.0 1489 81
2014-04-12T19:41:28.781Z,1397331688.781 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 45 of 46
2014-04-12T19:41:28.781Z,1397331688.781 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 0 1 64.8 72.2 0 76.0 -370.6 77.4 0 67.2 -345 55 243 76 13 13 49 14 -1182.2 13.6 78.0 1 298.4 1103.6 -311.2 1 -784 -28 7 2 177 765 7 2 -6.23 -18.91 254.9 64.8 13.9 0.005 9 110
2014-04-12T19:41:48.376Z,1397331708.376 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 30 of 46
2014-04-12T19:41:48.377Z,1397331708.377 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 77.9 69.5 61.3 69.7 9 194.9 1 -995 -40 -65 2 294 951 -65 2 -8.04 17.18 250.5 61.3 13.3 0.005 35.0 1489 112
2014-04-12T19:41:51.597Z,1397331711.597 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 29 of 46
2014-04-12T19:41:51.597Z,1397331711.597 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 86.8 72.5 62.1 73.4 -470.5 -39.6 335.7 -92.6 -392 -19 320 1 10 21 18 15 -1076.0 70.7 -72.0 1 448.7 926.1 330.3489 87
2014-04-12T19:42:03.628Z,1397331723.628 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:114 Calculated:98
2014-04-12T19:42:03.628Z,1397331723.628 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 0 1 1 1 0 73.4 65.8 73.2 0 13.3 3.5 -334 31 407 -17 9 14 19 11 -1105.3 122.5 -35.2 1 538.8 936.8 264.7 1 -989 64 23 2 437 889 23 2 -8.17 16.59 247.5 65.8 12.8 0.005 35.0 1489 114
2014-04-12T19:42:34.182Z,1397331754.182 [CTD_NeilBrown](ERROR): Bad response:  24.770
2014-04-12T19:43:27.584Z,1397331807.584 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 44 of 46
2014-04-12T19:43:27.584Z,1397331807.584 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 129.0 106.7 91.9 103.1 -295.6 -18.2 370.1 85.6 -161 35 352 99 20 25 29 18 -888.5 -138.5 38.2 1 307.8 779.7 327.8 1 -684 -85 87 2 257 640 87 2 -9.06 17.70 241.0 910.005 35.0 1489 95
2014-04-12T19:44:35.993Z,1397331875.993 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:118 Calculated:110
2014-04-12T19:44:35.993Z,1397331875.993 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 86.4 96.4 110.5 96.7 -308.1 67.1 393.4 6.2 -304 9 16 23 40 16 -635.3 25.4 -35.4 2 271.6 574.9 -35.4 2 -635 25 -35 2 271 574 -35 2 -6.05 -17.43 247.0 86.4 13.8 0.005 35.0 1489 118
2014-04-12T19:45:09.308Z,1397331909.308 [science_to:Wpt1:A.Waypoint](INFO): Reached Waypoint: 33.564400,-117.998498
2014-04-12T19:45:09.308Z,1397331909.308 [science_to:Wpt1:A.Waypoint] Stopped
2014-04-12T19:45:09.308Z,1397331909.308 [science_to:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2014-04-12T19:45:09.309Z,1397331909.309 [science_to:Wpt1](INFO): Completed science_to:Wpt1
2014-04-12T19:45:09.309Z,1397331909.309 [science_to:Wpt1] Stopped
2014-04-12T19:45:09.309Z,1397331909.309 [science_to:Wpt1](INFO): Aggregate::uninitialize science_to:Wpt1
2014-04-12T19:45:09.309Z,1397331909.309 [science_to:Wpt2] Running Loop=1
2014-04-12T19:45:09.310Z,1397331909.310 [science_to:Wpt2](INFO): Aggregate::initialize science_to:Wpt2
2014-04-12T19:45:09.310Z,1397331909.310 [science_to:Wpt2:A.Waypoint] Running Loop=1
2014-04-12T19:45:09.310Z,1397331909.310 [science_to:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2014-04-12T19:45:42.246Z,1397331942.246 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 22 of 46
2014-04-12T19:45:42.246Z,1397331942.246 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 0 1 68.5 81.7 0 82.6 -317.2 147.4 0 -8.6 -290 64 418 45 9 20 20 16489 93
2014-04-12T19:46:56.647Z,1397332016.647 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 45 of 46
2014-04-12T19:46:56.647Z,1397332016.647 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 90.0 80.1 72.0 78.5 -454.3 37.4 406.1 -102.9 -426 -28 392 0 13 17 21 14 -1148.3 187.2 -30.7 1 -163.8 1112.8 299.1 1 -1091 -37 -16 2 -388 1020 -16 2 .89 288.9 72.0 11.8 0.005 35.0 1489 66
2014-04-12T19:47:32.807Z,1397332052.807 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 24 of 46
2014-04-12T19:47:32.809Z,1397332052.809 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 106.8 92.7 80.8 89.4 -582.2 -149.2 279.8 -135.2 -454 -145 270 -53 15 21 25 19 -1150.5 -18.7 -158..005 35.0 1489 85
2014-04-12T19:48:48.073Z,1397332128.073 [CTD_NeilBrown](ERROR): Bad response:  11.19
2014-04-12T19:52:27.051Z,1397332347.051 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:73 Calculated:90
2014-04-12T19:52:27.068Z,1397332347.068 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 103.7 95.4 80.3 89.5 -363.9 -17.5 353.2 33.3 -327 -89 306 62 16 25 20 16 -957.1 -67.8 1.3 1 -102.0 903.5 306.7 1 -8443-201 -13 2 -258 829 -13 2 -9.94 17.88 273.9 80.3 12.1 0.005 35.0 1489 73
2014-04-12T19:52:30.831Z,1397332350.831 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 45 of 46
2014-04-12T19:52:30.831Z,1397332350.831 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 106.8 94.2 82.8 90.8 -341.1 -53.6 324.4 63.7 -229 -24 359 175 17 20 19 23 -888.2 -156.6 -1.8 1 -113.4 851.3 275.4 1 -784 -265 75 2 -246 791 75 2 -9.16 16.50 268.6 82.8 12.35.0 1489 98
2014-04-12T19:54:46.865Z,1397332486.865 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:114 Calculated:116
2014-04-12T19:54:46.866Z,1397332486.866 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 44.8 52.8 62.0 50.5 -327.3 82.5 416 -333 26 88 -19 12 16 20 14 -989.2 124.3 42.7 1 -352.7 890.8 -279.5 1 -561 60 -64 2 -211 524 -64 2 -7.51 -17.87 298.1 44.8 12.9 0.005 35.0 1489 114
2014-04-12T19:56:55.500Z,1397332615.500 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 45 of 46
2014-04-12T19:56:55.504Z,1397332615.504 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 94.7 85.0 74.1 81.7 -300.3 46.9 407.0 91.7 -292 -4 382 124  20 -944.0 -59.8 66.1 1 -96.2 860.1 387.6 1 -899 -170 56 2 -247 881 56 2 -9.13 19.61 274.9 74.1 12.0 0.005 35.0 1489 85
2014-04-12T19:58:48.507Z,1397332728.507 [AHRS_sp3003D](ERROR): readAccelVecBin UART error: serial timeout
2014-04-12T19:58:48.508Z,1397332728.508 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2014-04-12T19:58:48.508Z,1397332728.508 [AHRS_sp3003D] Communications Fault, FailCount= 1
2014-04-12T19:58:48.508Z,1397332728.508 [AHRS_sp3003D](ERROR): Communications Fault
2014-04-12T19:58:48.646Z,1397332728.646 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2014-04-12T19:58:48.692Z,1397332728.692 [AHRS_sp3003D](INFO): Powering down
2014-04-12T19:58:50.021Z,1397332730.021 [CBIT](INFO):