2013-03-06T11:47:03.009Z,1362570423.009 [Supervisor](DEBUG): Initializing supervisor.
2013-03-06T11:47:03.012Z,1362570423.012 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-06T11:47:03.013Z,1362570423.013 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-06T11:47:03.014Z,1362570423.013 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-06T11:47:03.019Z,1362570423.019 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-06T11:47:03.030Z,1362570423.030 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-06T11:47:03.031Z,1362570423.031 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-06T11:47:03.032Z,1362570423.032 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-06T11:47:03.033Z,1362570423.033 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-06T11:47:03.034Z,1362570423.034 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-06T11:47:03.050Z,1362570423.050 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-06T11:47:03.363Z,1362570423.363 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-06T11:47:03.364Z,1362570423.364 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-06T11:47:03.570Z,1362570423.570 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-06T11:47:03.571Z,1362570423.571 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-06T11:47:03.677Z,1362570423.677 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-06T11:47:03.677Z,1362570423.677 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-06T11:47:03.866Z,1362570423.866 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-06T11:47:03.866Z,1362570423.866 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-06T11:47:04.000Z,1362570424.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-06T11:47:04.001Z,1362570424.001 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-06T11:47:04.237Z,1362570424.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-06T11:47:04.238Z,1362570424.238 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-06T11:47:04.432Z,1362570424.432 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-06T11:47:04.433Z,1362570424.433 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-06T11:47:04.692Z,1362570424.692 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-06T11:47:04.693Z,1362570424.693 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-06T11:47:04.791Z,1362570424.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-06T11:47:04.792Z,1362570424.792 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-06T11:47:05.200Z,1362570425.200 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-06T11:47:05.200Z,1362570425.200 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-06T11:47:05.314Z,1362570425.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-06T11:47:05.315Z,1362570425.315 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-06T11:47:05.400Z,1362570425.400 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-06T11:47:05.401Z,1362570425.401 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-06T11:47:05.502Z,1362570425.502 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-06T11:47:05.632Z,1362570425.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-06T11:47:05.717Z,1362570425.717 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-06T11:47:05.819Z,1362570425.819 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-06T11:47:05.920Z,1362570425.920 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-06T11:47:06.038Z,1362570426.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-06T11:47:06.132Z,1362570426.132 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-06T11:47:06.218Z,1362570426.218 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-06T11:47:06.246Z,1362570426.246 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-06T11:47:06.409Z,1362570426.409 [InternalSim] Loaded
2013-03-06T11:47:06.409Z,1362570426.409 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-06T11:47:06.410Z,1362570426.410 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-06T11:47:06.411Z,1362570426.411 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-06T11:47:06.472Z,1362570426.472 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-06T11:47:06.501Z,1362570426.500 [SBIT] Loaded
2013-03-06T11:47:06.501Z,1362570426.501 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-06T11:47:06.502Z,1362570426.502 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-06T11:47:06.531Z,1362570426.531 [IBIT] Loaded
2013-03-06T11:47:06.531Z,1362570426.531 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-06T11:47:06.535Z,1362570426.535 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-06T11:47:06.656Z,1362570426.656 [CBIT] Loaded
2013-03-06T11:47:06.656Z,1362570426.656 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-06T11:47:06.657Z,1362570426.657 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-06T11:47:06.657Z,1362570426.657 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-06T11:47:06.812Z,1362570426.812 [BuoyancyServo] Loaded
2013-03-06T11:47:06.813Z,1362570426.813 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-06T11:47:06.826Z,1362570426.826 [ElevatorServo] Loaded
2013-03-06T11:47:06.826Z,1362570426.826 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-06T11:47:06.838Z,1362570426.838 [MassServo] Loaded
2013-03-06T11:47:06.838Z,1362570426.838 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-06T11:47:06.850Z,1362570426.851 [RudderServo] Loaded
2013-03-06T11:47:06.851Z,1362570426.851 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-06T11:47:06.863Z,1362570426.863 [ThrusterServo] Loaded
2013-03-06T11:47:06.863Z,1362570426.863 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-06T11:47:06.864Z,1362570426.864 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-06T11:47:06.864Z,1362570426.864 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-06T11:47:06.883Z,1362570426.883 [DepthRateCalculator] Loaded
2013-03-06T11:47:06.883Z,1362570426.883 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-06T11:47:10.941Z,1362570430.941 [HFRadarModelCalc] Loaded
2013-03-06T11:47:10.941Z,1362570430.941 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-06T11:47:10.958Z,1362570430.958 [NavChart] Loaded
2013-03-06T11:47:10.958Z,1362570430.958 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-06T11:47:10.964Z,1362570430.964 [PitchRateCalculator] Loaded
2013-03-06T11:47:10.964Z,1362570430.964 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-06T11:47:10.971Z,1362570430.971 [SpeedCalculator] Loaded
2013-03-06T11:47:10.971Z,1362570430.971 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-06T11:47:10.987Z,1362570430.987 [TempGradientCalculator] Loaded
2013-03-06T11:47:10.987Z,1362570430.987 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-06T11:47:10.993Z,1362570430.993 [YawRateCalculator] Loaded
2013-03-06T11:47:10.993Z,1362570430.993 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-06T11:47:11.036Z,1362570431.036 [Navigation] Loaded
2013-03-06T11:47:11.036Z,1362570431.036 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-06T11:47:11.036Z,1362570431.036 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-06T11:47:11.037Z,1362570431.037 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-06T11:47:11.273Z,1362570431.273 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-06T11:47:11.274Z,1362570431.274 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-06T11:47:11.297Z,1362570431.297 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-06T11:47:11.298Z,1362570431.298 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-06T11:47:11.340Z,1362570431.340 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-06T11:47:11.437Z,1362570431.437 [VerticalControl] Loaded
2013-03-06T11:47:11.437Z,1362570431.437 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-06T11:47:11.438Z,1362570431.438 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-06T11:47:11.497Z,1362570431.497 [HorizontalControl] Loaded
2013-03-06T11:47:11.497Z,1362570431.497 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-06T11:47:11.498Z,1362570431.498 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-06T11:47:11.500Z,1362570431.500 [SpeedControl] Loaded
2013-03-06T11:47:11.500Z,1362570431.500 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-06T11:47:11.502Z,1362570431.501 [LoopControl](DEBUG): Construct LoopControl.
2013-03-06T11:47:11.502Z,1362570431.502 [LoopControl] Loaded
2013-03-06T11:47:11.502Z,1362570431.502 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-06T11:47:11.503Z,1362570431.503 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-06T11:47:11.503Z,1362570431.503 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-06T11:47:11.509Z,1362570431.509 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-06T11:47:11.514Z,1362570431.514 [AsyncPiEstimator] Loaded
2013-03-06T11:47:11.514Z,1362570431.514 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-06T11:47:11.516Z,1362570431.516 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-06T11:47:11.516Z,1362570431.516 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-06T11:47:11.517Z,1362570431.517 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-06T11:47:11.652Z,1362570431.652 [AHRS_sp3003D] Loaded
2013-03-06T11:47:11.653Z,1362570431.653 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-06T11:47:11.921Z,1362570431.921 [Batt_Ocean_Server] Loaded
2013-03-06T11:47:11.921Z,1362570431.921 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-06T11:47:11.935Z,1362570431.935 [Depth_Keller] Loaded
2013-03-06T11:47:11.935Z,1362570431.935 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-06T11:47:11.941Z,1362570431.941 [DropWeight] Loaded
2013-03-06T11:47:11.941Z,1362570431.941 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-06T11:47:12.122Z,1362570432.122 [DVL_micro] Loaded
2013-03-06T11:47:12.122Z,1362570432.122 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-06T11:47:12.123Z,1362570432.123 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-06T11:47:12.209Z,1362570432.209 [NAL9602] Loaded
2013-03-06T11:47:12.209Z,1362570432.209 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-06T11:47:12.262Z,1362570432.262 [Onboard] Loaded
2013-03-06T11:47:12.262Z,1362570432.262 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-06T11:47:12.264Z,1362570432.263 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-06T11:47:12.264Z,1362570432.264 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-06T11:47:12.324Z,1362570432.324 [Aanderaa_O2] Loaded
2013-03-06T11:47:12.325Z,1362570432.325 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-06T11:47:12.339Z,1362570432.339 [ISUS] Loaded
2013-03-06T11:47:12.340Z,1362570432.340 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-06T11:47:12.356Z,1362570432.356 [PAR_Licor] Loaded
2013-03-06T11:47:12.356Z,1362570432.356 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-06T11:47:12.388Z,1362570432.388 [WetLabsBB2FL] Loaded
2013-03-06T11:47:12.388Z,1362570432.388 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-06T11:47:12.389Z,1362570432.389 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-06T11:47:12.390Z,1362570432.390 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-06T11:47:12.393Z,1362570432.392 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-06T11:47:12.394Z,1362570432.394 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-06T11:47:12.400Z,1362570432.400 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-06T11:47:12.401Z,1362570432.401 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-06T11:47:12.406Z,1362570432.406 [Supervisor](DEBUG): Running supervisor.
2013-03-06T11:47:12.407Z,1362570432.407 [CommandLine](INFO): Thread ID is 582
2013-03-06T11:47:12.410Z,1362570432.410 [controlThread](INFO): Thread ID is 581
2013-03-06T11:47:12.410Z,1362570432.410 [controlThread](DEBUG): Initializing ControlThread
2013-03-06T11:47:12.411Z,1362570432.411 [CycleStarter](INFO): Thread ID is 580
2013-03-06T11:47:12.411Z,1362570432.411 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-06T11:47:12.447Z,1362570432.447 [logger](INFO): Thread ID is 583
2013-03-06T11:47:12.472Z,1362570432.472 [SBIT](INFO): Initialize SBIT Component.
2013-03-06T11:47:12.473Z,1362570432.473 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-06T11:47:12.473Z,1362570432.473 [IBIT](INFO): Initialize IBIT Component.
2013-03-06T11:47:12.474Z,1362570432.474 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-06T11:47:12.475Z,1362570432.474 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-06T11:47:12.487Z,1362570432.487 [AsyncPiEstimator](INFO): Thread ID is 644
2013-03-06T11:47:12.487Z,1362570432.487 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-06T11:47:12.500Z,1362570432.500 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-06T11:47:12.500Z,1362570432.500 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-06T11:47:12.501Z,1362570432.501 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-06T11:47:12.501Z,1362570432.501 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-06T11:47:12.501Z,1362570432.501 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-06T11:47:12.503Z,1362570432.503 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-06T11:47:12.503Z,1362570432.503 [Navigation](DEBUG): Initializing Navigation.
2013-03-06T11:47:12.504Z,1362570432.504 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-06T11:47:12.505Z,1362570432.505 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-06T11:47:12.506Z,1362570432.506 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-06T11:47:12.507Z,1362570432.507 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-06T11:47:12.513Z,1362570432.513 [DVL_micro](INFO): Thread ID is 645
2013-03-06T11:47:12.523Z,1362570432.523 [DVL_micro](INFO): Initializing
2013-03-06T11:47:12.523Z,1362570432.523 [DVL_micro](INFO): start:Powering up
2013-03-06T11:47:12.524Z,1362570432.524 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:47:12.524Z,1362570432.524 [DVL_micro](INFO): Cycling power to configure device.
2013-03-06T11:47:12.535Z,1362570432.536 [WetLabsBB2FL](INFO): Thread ID is 646
2013-03-06T11:47:12.536Z,1362570432.536 [WetLabsBB2FL](INFO): Powering down
2013-03-06T11:47:12.577Z,1362570432.577 [NavChartDb](INFO): Thread ID is 647
2013-03-06T11:47:12.580Z,1362570432.579 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-06T11:47:12.580Z,1362570432.580 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-06T11:47:12.581Z,1362570432.581 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-06T11:47:12.581Z,1362570432.581 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-06T11:47:12.581Z,1362570432.581 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-06T11:47:12.581Z,1362570432.581 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-06T11:47:12.582Z,1362570432.582 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-06T11:47:12.582Z,1362570432.582 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-06T11:47:12.582Z,1362570432.582 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-06T11:47:14.431Z,1362570434.431 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-06T11:47:14.462Z,1362570434.462 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-06T11:47:14.489Z,1362570434.489 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:14.516Z,1362570434.516 [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 RunIn="Progression"/>

    <Aggregate Id="StartupSatComms" >

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

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

    </Aggregate>

</Mission>


2013-03-06T11:47:14.517Z,1362570434.517 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-06T11:47:14.605Z,1362570434.605 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-06T11:47:14.607Z,1362570434.607 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-06T11:47:14.611Z,1362570434.611 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:47:14.611Z,1362570434.611 [DVL_micro](INFO): Querying output modes
2013-03-06T11:47:14.612Z,1362570434.612 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-06T11:47:14.610Z,1362570434.610 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:14.623Z,1362570434.622 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-06T11:47:14.623Z,1362570434.623 [DVL_micro](INFO): NQ1 output enabled
2013-03-06T11:47:14.623Z,1362570434.623 [DVL_micro](INFO): ADCP output enabled
2013-03-06T11:47:14.623Z,1362570434.623 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-06T11:47:14.630Z,1362570434.630 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-06T11:47:14.633Z,1362570434.633 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:14.635Z,1362570434.635 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-06T11:47:14.647Z,1362570434.647 [DVL_micro](INFO): pause:Powering down
2013-03-06T11:47:14.671Z,1362570434.671 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-06T11:47:14.696Z,1362570434.696 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-06T11:47:14.719Z,1362570434.719 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:14.724Z,1362570434.724 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-06T11:47:14.728Z,1362570434.728 [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 RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

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

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

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

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

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="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><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

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

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2013-03-06T11:47:14.732Z,1362570434.732 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-03-06T11:47:14.797Z,1362570434.797 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-06T11:47:14.873Z,1362570434.872 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-03-06T11:47:15.311Z,1362570435.311 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:47:15.315Z,1362570435.315 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-06T11:47:15.321Z,1362570435.321 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:47:15.327Z,1362570435.327 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-06T11:47:15.333Z,1362570435.333 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:47:15.339Z,1362570435.339 [MassServo](DEBUG): Initializing MassServo.
2013-03-06T11:47:15.345Z,1362570435.345 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:47:15.375Z,1362570435.375 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-06T11:47:15.388Z,1362570435.388 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:47:15.395Z,1362570435.395 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-06T11:47:16.382Z,1362570436.382 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-06T11:47:16.383Z,1362570436.383 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-06T11:47:16.383Z,1362570436.383 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-06T11:47:16.383Z,1362570436.383 [BuoyancyServo](ERROR): Communications Fault
2013-03-06T11:47:16.585Z,1362570436.585 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-03-06T11:47:16.835Z,1362570436.835 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-06T11:47:16.836Z,1362570436.836 [BuoyancyServo](INFO): Powering down
2013-03-06T11:47:17.673Z,1362570437.673 [NAL9602](INFO): Powering up NAL9602
2013-03-06T11:47:18.115Z,1362570438.115 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:47:19.061Z,1362570439.061 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-03-06T11:47:19.061Z,1362570439.061 [BuoyancyServo] No Fault, FailCount= 1
2013-03-06T11:47:19.323Z,1362570439.323 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:47:19.443Z,1362570439.443 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-06T11:47:27.671Z,1362570447.671 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-06T11:47:27.673Z,1362570447.673 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-06T11:47:27.674Z,1362570447.674 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-06T11:47:27.676Z,1362570447.676 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-06T11:47:27.698Z,1362570447.698 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-03-06T11:47:28.163Z,1362570448.163 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-06T11:47:28.166Z,1362570448.166 [CBIT](IMPORTANT): Beginning GF scan
2013-03-06T11:47:28.435Z,1362570448.435 [NAL9602](INFO): NAL9602 initialized
2013-03-06T11:47:34.349Z,1362570454.349 [NAL9602](INFO): Powering down
2013-03-06T11:47:49.984Z,1362570469.984 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-06T11:47:49.984Z,1362570469.984 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-06T11:47:50.442Z,1362570470.443 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-06T11:47:50.446Z,1362570470.446 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-06T11:47:50.477Z,1362570470.477 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-06T11:47:50.480Z,1362570470.480 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-06T11:47:50.495Z,1362570470.494 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-06T11:47:50.521Z,1362570470.521 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-06T11:47:50.525Z,1362570470.524 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-06T11:47:50.540Z,1362570470.540 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-06T11:47:50.573Z,1362570470.573 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-06T11:47:50.581Z,1362570470.581 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-06T11:47:50.592Z,1362570470.592 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-06T11:47:50.604Z,1362570470.605 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-06T11:47:50.660Z,1362570470.660 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-06T11:47:50.671Z,1362570470.671 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-06T11:47:50.683Z,1362570470.683 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-06T11:47:50.695Z,1362570470.695 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-06T11:47:50.711Z,1362570470.711 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-06T11:47:50.720Z,1362570470.720 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-06T11:47:50.727Z,1362570470.727 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-06T11:47:50.735Z,1362570470.735 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-06T11:47:50.742Z,1362570470.742 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-06T11:47:50.746Z,1362570470.746 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-06T11:47:50.770Z,1362570470.770 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-06T11:47:50.781Z,1362570470.781 [MissionManager](INFO): DefineArg EcoHAB_box.ComputeWaterCurrent = 0 bool
2013-03-06T11:47:50.793Z,1362570470.793 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-06T11:47:50.805Z,1362570470.805 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-06T11:47:50.835Z,1362570470.835 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-06T11:47:50.847Z,1362570470.847 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-06T11:47:50.870Z,1362570470.870 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-06T11:47:50.874Z,1362570470.874 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-06T11:47:50.890Z,1362570470.889 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-06T11:47:50.913Z,1362570470.913 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-06T11:47:50.922Z,1362570470.922 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-06T11:47:50.936Z,1362570470.936 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-06T11:47:50.973Z,1362570470.973 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-06T11:47:50.975Z,1362570470.975 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-06T11:47:50.999Z,1362570470.999 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-06T11:47:51.038Z,1362570471.038 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-06T11:47:51.072Z,1362570471.072 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-06T11:47:51.127Z,1362570471.127 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-06T11:47:51.142Z,1362570471.142 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-06T11:47:51.146Z,1362570471.146 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:47:51.149Z,1362570471.149 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-06T11:47:51.177Z,1362570471.177 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-06T11:47:51.178Z,1362570471.178 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:51.217Z,1362570471.217 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-06T11:47:51.276Z,1362570471.276 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:47:51.304Z,1362570471.304 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:47:51.305Z,1362570471.305 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-06T11:47:51.385Z,1362570471.385 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-06T11:47:51.397Z,1362570471.397 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-06T11:47:51.411Z,1362570471.411 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:47:51.435Z,1362570471.435 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-06T11:47:51.438Z,1362570471.438 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-06T11:47:51.443Z,1362570471.443 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:51.486Z,1362570471.486 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:47:51.497Z,1362570471.497 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:47:51.499Z,1362570471.499 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-06T11:47:51.499Z,1362570471.499 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-06T11:47:51.546Z,1362570471.546 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-06T11:47:51.550Z,1362570471.550 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-06T11:47:51.581Z,1362570471.581 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-06T11:47:51.612Z,1362570471.612 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-06T11:47:51.614Z,1362570471.614 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:51.636Z,1362570471.635 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-06T11:47:51.707Z,1362570471.707 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-06T11:47:51.725Z,1362570471.725 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:47:51.733Z,1362570471.733 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:47:51.746Z,1362570471.746 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-06T11:47:51.811Z,1362570471.811 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-06T11:47:51.839Z,1362570471.839 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-06T11:47:51.842Z,1362570471.842 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:47:51.849Z,1362570471.849 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-06T11:47:51.863Z,1362570471.863 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:51.890Z,1362570471.890 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-06T11:47:51.899Z,1362570471.899 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-06T11:47:51.900Z,1362570471.900 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-06T11:47:51.932Z,1362570471.932 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-06T11:47:51.940Z,1362570471.940 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:47:51.947Z,1362570471.947 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:47:51.949Z,1362570471.949 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-06T11:47:52.036Z,1362570472.036 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-06T11:47:52.060Z,1362570472.060 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-06T11:47:52.075Z,1362570472.076 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:47:52.091Z,1362570472.091 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-06T11:47:52.102Z,1362570472.102 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-06T11:47:52.104Z,1362570472.104 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:52.137Z,1362570472.137 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:47:52.171Z,1362570472.171 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:47:52.172Z,1362570472.172 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-06T11:47:52.183Z,1362570472.183 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-06T11:47:52.185Z,1362570472.185 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-06T11:47:52.374Z,1362570472.374 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-06T11:47:52.378Z,1362570472.378 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-06T11:47:52.389Z,1362570472.389 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-06T11:47:52.401Z,1362570472.401 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-06T11:47:52.432Z,1362570472.432 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-06T11:47:52.436Z,1362570472.436 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-06T11:47:52.482Z,1362570472.482 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-06T11:47:52.485Z,1362570472.485 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-06T11:47:52.516Z,1362570472.516 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-06T11:47:52.531Z,1362570472.531 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-06T11:47:52.534Z,1362570472.534 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-06T11:47:52.563Z,1362570472.563 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-06T11:47:52.588Z,1362570472.588 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-06T11:47:52.632Z,1362570472.632 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:47:52.726Z,1362570472.726 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.744Z,1362570472.744 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.775Z,1362570472.775 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.804Z,1362570472.804 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.819Z,1362570472.819 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.846Z,1362570472.846 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.884Z,1362570472.884 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:47:52.909Z,1362570472.908 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-06T11:47:53.248Z,1362570473.248 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-06T11:47:53.276Z,1362570473.276 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-06T11:47:53.292Z,1362570473.292 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-06T11:47:53.308Z,1362570473.308 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-06T11:47:53.324Z,1362570473.324 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-06T11:47:53.343Z,1362570473.343 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-06T11:47:53.348Z,1362570473.348 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-06T11:47:53.368Z,1362570473.368 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-06T11:47:53.387Z,1362570473.387 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-06T11:47:53.390Z,1362570473.390 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-06T11:47:53.410Z,1362570473.409 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-06T11:47:53.413Z,1362570473.413 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-06T11:47:53.437Z,1362570473.437 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-06T11:47:53.441Z,1362570473.441 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-06T11:47:53.496Z,1362570473.496 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-06T11:47:53.539Z,1362570473.539 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-06T11:47:53.559Z,1362570473.559 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-06T11:47:53.563Z,1362570473.563 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-06T11:47:53.595Z,1362570473.595 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-06T11:47:53.599Z,1362570473.599 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-06T11:47:53.626Z,1362570473.626 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-06T11:47:53.630Z,1362570473.630 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-06T11:47:53.642Z,1362570473.642 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-06T11:47:53.669Z,1362570473.669 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-06T11:47:53.673Z,1362570473.673 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-06T11:47:53.701Z,1362570473.701 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-06T11:47:53.732Z,1362570473.732 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-06T11:47:53.753Z,1362570473.753 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-06T11:47:53.772Z,1362570473.773 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-06T11:47:53.827Z,1362570473.827 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-06T11:47:53.939Z,1362570473.939 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-06T11:47:53.976Z,1362570473.976 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-06T11:47:54.019Z,1362570474.019 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-06T11:47:54.043Z,1362570474.043 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-06T11:47:54.044Z,1362570474.044 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-06T11:47:54.045Z,1362570474.046 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-06T11:47:54.071Z,1362570474.071 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-06T11:47:54.073Z,1362570474.073 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-06T11:47:54.074Z,1362570474.074 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0.000000 n/a
2013-03-06T11:47:54.096Z,1362570474.096 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-06T11:47:54.097Z,1362570474.097 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-06T11:47:54.143Z,1362570474.143 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-06T11:47:54.145Z,1362570474.145 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-06T11:47:54.146Z,1362570474.146 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-06T11:47:54.173Z,1362570474.173 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-06T11:47:54.236Z,1362570474.236 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-06T11:47:54.288Z,1362570474.288 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-06T11:47:54.548Z,1362570474.548 [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="EcoHAB_box">

    <Description>
        This mission runs yoyos counterclockwise around a box. Two sides of the
        box pass through the planned locations for both Environmental Sample
        Processor (ESP) buoys during the Spring 2013 EcoHAB deployment.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>4</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>85</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

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

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

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

<!-- Waypoint list -->

    <DefineArg Name="WpESPInshoreLat"><Description>
        Latitude of inshore ESP buoy.
    </Description><Units:degree/><Value>33.6055</Value></DefineArg>

    <DefineArg Name="WpESPInshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.0191</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLat"><Description>
        Latitude of offshore ESP buoy.
    </Description><Units:degree/><Value>33.5839</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.0349</Value></DefineArg>

    <DefineArg Name="WpCorner1Lat"><Description>
        Latitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>33.5864</Value></DefineArg>

    <DefineArg Name="WpCorner1Lon"><Description>
        Longitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>-117.9770</Value></DefineArg>

    <DefineArg Name="WpCorner2Lat"><Description>
        Latitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>33.5653</Value></DefineArg>

    <DefineArg Name="WpCorner2Lon"><Description>
        Longitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>-117.9928</Value></DefineArg>

    <DefineArg Name="WpCorner3Lat"><Description>
        Latitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>33.6035</Value></DefineArg>

    <DefineArg Name="WpCorner3Lon"><Description>
        Longitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>-118.0757</Value></DefineArg>

    <DefineArg Name="WpCorner4Lat"><Description>
        Latitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>33.6248</Value></DefineArg>

    <DefineArg Name="WpCorner4Lon"><Description>
        Longitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>-118.0590</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial approach to WpCorner1.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="ApproachNeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications. Only active
        during the approach.
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- Science loop settings -->

    <DefineArg Name="Repeat"><Description>
        Number of times to repeat the science loop
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="ComputeWaterCurrent"><Description>
        Set "True" if you want depth-averaged water current calculated when the
        vehicle is between 2 and 5 meters deep. Enable
        platform_*_velocity_current in Config/logger.cfg if you want it sent to
        shore. Leaving this False but enabling shore output in Config/logger.cfg
        should allow us to control this without having to send configuration
        changes and 'restart app'.
    </Description><False/></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle around Inshore ESP during wait time
    </Description><Units:meter/><Value>500</Value></DefineArg>

    <DefineArg Name="CircleRepeat"><Description>
        Maximum number of times to circle the wayopint at the start of each lap.
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="CircleDivisor"><Description>
        UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for
        reports at 0000, 0800, 1600 UTC)
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="CircleModulus"><Description>
        Current time modulo CircleDivisor (internal variable).
    </Description><Units:hour/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CircleTimeout"><Description>
        Timeout for circling buoy at start of each lap (internal variable).
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="LapTimeout"><Description>
        Maximum duration of lap around box.
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth during yo-yo's.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth during yo-yo's.
    </Description><Units:meter/><Value>78.0</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Min altitude while in yo-yo mode.
    </Description><Units:meter/><Value>6.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Pitch when yo-yo's are ascending.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Pitch when yo-yo's are descending.
    </Description><Units:degree/><Value>-20.0</Value></DefineArg>

<!-- Variables used internally during the mission -->

<!-- The mission -->

    <Timeout Duration="MissionTimeout"/>

<!-- High-priority directives that should always be near the top -->

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

<!-- Surfacing behaviors -->

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms"/>

    <Insert Filename="Insert/SurfaceCommsSplit.xml" Id="SurfaceCommsSplit"/>

    <Insert Filename="Insert/SurfaceCommsShort.xml" Id="SurfaceCommsShort"/>

    <Insert Filename="Insert/SurfaceGPS.xml" Id="SurfaceGPS"/>

    <Insert Filename="Insert/SurfaceSafety.xml" Id="SurfaceSafety"/>

<!-- TODO put all of these together into a master Surface insert file -->

<!-- mass and buoyancy defaults are lower priority than surfacing, but higher than everything else -->

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

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

<!-- Begin callable aggregates used in this mission. 
     (Note priority still matters, so these are done _below_ important safety 
     directives like OffshoreEnvelope.) 
     -->

    <Insert Filename="Insert/CircleWaypointRepeatedly.xml"/>

    <Aggregate Id="UpdateCircleTimeout">

        <Description>
            Calculate (current time) mod (CircleDivisor) and determine when to
            stop circling the start-of-lap waypoint.
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Arg Name="CircleModulus"/><Universal:time/><Mod><Arg Name="CircleDivisor"/>
        </Mod></Assign>

<!-- TODO 
            Might need to add an offset in somewhere to handle specific 
            surfacing times (e.g., 2am, 10pm)
             
            It would be even more useful to have a general method for 
            TimeUntil(arg).
        -->

        <Syslog Severity="Important">
            CircleModulus calculated as: <Arg Name="CircleModulus"/><Units:hour/>
        </Syslog>

        <Assign><Arg Name="CircleTimeout"/><Arg Name="CircleDivisor"/><Sub><Arg Name="CircleModulus"/></Sub></Assign>

        <Syslog Severity="Important"> 
            CircleTimeout updated to: <Arg Name="CircleTimeout"/><Units:hour/>
        </Syslog>

    </Aggregate>

    <Aggregate Id="CircleInshoreESPBuoy">

        <Description>
            Circle a waypoint at the nominal location of the Inshore ESP buoy
            until timeout specified by CircleDivisor and current time.
        </Description>

        <When>
            <Called/>
        </When>

        <Call RefId="UpdateCircleTimeout"/>

        <Aggregate Id="TellMeHowLong">

            <Description>
                Convenience aggregate to notify operator of estimated circling
                time _before_ starting to circle the waypoint. May be commented
                out, since the Timeout in CircleWaypointRepeatedly will still
                achieve the desired behavior.
            </Description>

            <Syslog Severity="Important"> 
                    CircleInshoreESPBuoy should complete in 
                    <Arg Name="CircleTimeout"/><Units:minute/>, 
                    due to timeout in CircleWaypointRepeatedly aggregate.
            </Syslog>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Assign><Arg Name="CircleWaypointRepeatedly:Timeout"/><Arg Name="CircleTimeout"/></Assign>

        <Assign><Arg Name="CircleWaypointRepeatedly:Radius"/><Arg Name="CircleRadius"/></Assign>

        <Assign><Arg Name="CircleWaypointRepeatedly:CenterLat"/><Arg Name="WpESPInshoreLat"/></Assign>

        <Assign><Arg Name="CircleWaypointRepeatedly:CenterLon"/><Arg Name="WpESPInshoreLon"/></Assign>

<!-- Use default values for: Timeout, MaxError, TurnToPort, KwpHeading -->

        <Call RefId="CircleWaypointRepeatedly"/>

        <Syslog Severity="Important">************* Finished circling. *************</Syslog>

        <Call RefId="SurfaceCommsSplit"/>

    </Aggregate>

    <Aggregate Id="Lap">

        <Description>
            Run around the box.
        </Description>

        <Timeout Duration="LapTimeout"/>

        <When>
            <Called/>
        </When>

        <Guidance:Waypoint Id="WpESPInshore" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner1" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner1Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner1Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner2" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner2Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner2Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPOffshore" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPOffshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPOffshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner3" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner3Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner3Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner4" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner4Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner4Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPInshore" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

    </Aggregate>

<!-- End callable aggregates used in this mission. -->

    <Aggregate Id="ScienceOps" Repeat="Repeat">

        <Description>
            Circle then lap many times, collecting science data.
        </Description>

        <Insert Filename="Insert/Science.xml" Id="Science">
            <Description>
                Get science data, including PeakDetectChl
            </Description>
            <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
            <RedefineArg Name="SampleISUS"><True/></RedefineArg>
            <RedefineArg Name="SampleISUSmaxPitch"><Units:degree/><Value>30.0</Value></RedefineArg>
            <RedefineArg Name="SampleISUSminPitch"><Units:degree/><Value>10.0</Value></RedefineArg>
            <RedefineArg Name="SampleADCP"><True/></RedefineArg>
<!-- expose ComputeWaterCurrent boolean flag to top level of mission -->
            <RedefineArg Name="ComputeWaterCurrent"><Arg Name="ComputeWaterCurrent"/></RedefineArg>
            <RedefineArg Name="ComputeWaterCurrentMinDepth"><Units:meter/><Value>3.0</Value></RedefineArg>
            <RedefineArg Name="ComputeWaterCurrentMaxDepth"><Units:meter/><Value>5.0</Value></RedefineArg>
            <RedefineArg Name="UpwardDerivativeOfTemperatureActive"><False/></RedefineArg>
            <RedefineArg Name="SampleRSSI"><False/></RedefineArg>
        </Insert>

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

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

        <Guidance:AltitudeEnvelope RunIn="Parallel">
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

<!-- Call the behavior aggregates that we defined above. -->

        <Call RefId="CircleInshoreESPBuoy"/>

        <Call RefId="Lap"/>

    </Aggregate>

</Mission>


2013-03-06T11:47:54.549Z,1362570474.549 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-06T11:47:54.549Z,1362570474.549 [CommandLine](IMPORTANT): got command set 
2013-03-06T11:47:54.549Z,1362570474.549 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-03-06T11:47:55.135Z,1362570475.135 [CBIT](IMPORTANT): No ground fault detected
2013-03-06T11:48:05.486Z,1362570485.487 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-06T11:48:05.605Z,1362570485.605 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-06T11:48:06.065Z,1362570486.065 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-06T11:48:06.072Z,1362570486.072 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-06T11:48:06.078Z,1362570486.078 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-06T11:48:06.080Z,1362570486.080 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-06T11:48:06.087Z,1362570486.087 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-06T11:48:06.090Z,1362570486.090 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-06T11:48:06.096Z,1362570486.096 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-06T11:48:06.103Z,1362570486.103 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-06T11:48:06.105Z,1362570486.105 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-06T11:48:06.112Z,1362570486.112 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-06T11:48:06.119Z,1362570486.118 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-06T11:48:06.121Z,1362570486.121 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-06T11:48:06.127Z,1362570486.127 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-06T11:48:06.130Z,1362570486.130 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-06T11:48:06.136Z,1362570486.136 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-06T11:48:06.143Z,1362570486.143 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-06T11:48:06.145Z,1362570486.145 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-06T11:48:06.168Z,1362570486.168 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-06T11:48:06.178Z,1362570486.178 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-06T11:48:06.181Z,1362570486.181 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-06T11:48:06.191Z,1362570486.191 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-06T11:48:06.194Z,1362570486.194 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-06T11:48:06.204Z,1362570486.204 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-06T11:48:06.211Z,1362570486.211 [MissionManager](INFO): DefineArg EcoHAB_box.ComputeWaterCurrent = 0 bool
2013-03-06T11:48:06.213Z,1362570486.213 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-06T11:48:06.239Z,1362570486.239 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-06T11:48:06.242Z,1362570486.241 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-06T11:48:06.264Z,1362570486.264 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-06T11:48:06.279Z,1362570486.279 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-06T11:48:06.281Z,1362570486.281 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-06T11:48:06.292Z,1362570486.292 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-06T11:48:06.294Z,1362570486.294 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-06T11:48:06.309Z,1362570486.309 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-06T11:48:06.319Z,1362570486.319 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-06T11:48:06.322Z,1362570486.322 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-06T11:48:06.328Z,1362570486.328 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-06T11:48:06.342Z,1362570486.342 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-06T11:48:06.380Z,1362570486.381 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-06T11:48:06.385Z,1362570486.385 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-06T11:48:06.495Z,1362570486.494 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-06T11:48:06.497Z,1362570486.497 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-06T11:48:06.515Z,1362570486.515 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:48:06.517Z,1362570486.517 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-06T11:48:06.519Z,1362570486.519 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-06T11:48:06.520Z,1362570486.520 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:48:06.546Z,1362570486.546 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-06T11:48:06.608Z,1362570486.608 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:48:06.610Z,1362570486.610 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:48:06.611Z,1362570486.611 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-06T11:48:06.691Z,1362570486.691 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-06T11:48:06.693Z,1362570486.693 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-06T11:48:06.696Z,1362570486.696 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:48:06.698Z,1362570486.698 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-06T11:48:06.712Z,1362570486.712 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-06T11:48:06.713Z,1362570486.713 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:48:06.736Z,1362570486.736 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:48:06.738Z,1362570486.738 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:48:06.747Z,1362570486.747 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-06T11:48:06.748Z,1362570486.748 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-06T11:48:06.835Z,1362570486.835 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-06T11:48:06.837Z,1362570486.837 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-06T11:48:06.839Z,1362570486.839 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-06T11:48:06.841Z,1362570486.842 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-06T11:48:06.883Z,1362570486.884 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:48:06.908Z,1362570486.908 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-06T11:48:06.929Z,1362570486.929 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-06T11:48:06.932Z,1362570486.932 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:48:06.934Z,1362570486.934 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:48:06.935Z,1362570486.935 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-06T11:48:07.001Z,1362570487.001 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-06T11:48:07.015Z,1362570487.015 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-06T11:48:07.017Z,1362570487.017 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:48:07.019Z,1362570487.019 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-06T11:48:07.020Z,1362570487.020 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:48:07.040Z,1362570487.040 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-06T11:48:07.042Z,1362570487.042 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-06T11:48:07.043Z,1362570487.043 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-06T11:48:07.091Z,1362570487.092 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-06T11:48:07.094Z,1362570487.094 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:48:07.096Z,1362570487.096 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:48:07.098Z,1362570487.098 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-06T11:48:07.129Z,1362570487.129 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-06T11:48:07.131Z,1362570487.131 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-06T11:48:07.134Z,1362570487.134 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-06T11:48:07.148Z,1362570487.148 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-06T11:48:07.181Z,1362570487.181 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-06T11:48:07.182Z,1362570487.182 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:48:07.204Z,1362570487.204 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-06T11:48:07.206Z,1362570487.206 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-06T11:48:07.207Z,1362570487.207 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-06T11:48:07.211Z,1362570487.211 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-06T11:48:07.213Z,1362570487.213 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-06T11:48:07.301Z,1362570487.301 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-06T11:48:07.304Z,1362570487.304 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-06T11:48:07.307Z,1362570487.307 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-06T11:48:07.309Z,1362570487.309 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-06T11:48:07.312Z,1362570487.312 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-06T11:48:07.314Z,1362570487.314 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-06T11:48:07.316Z,1362570487.316 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-06T11:48:07.318Z,1362570487.318 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-06T11:48:07.321Z,1362570487.321 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-06T11:48:07.323Z,1362570487.323 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-06T11:48:07.326Z,1362570487.326 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-06T11:48:07.328Z,1362570487.328 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-06T11:48:07.336Z,1362570487.336 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-06T11:48:07.343Z,1362570487.343 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:48:07.407Z,1362570487.407 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.412Z,1362570487.412 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.417Z,1362570487.417 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.423Z,1362570487.422 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.428Z,1362570487.428 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.433Z,1362570487.433 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.438Z,1362570487.438 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-06T11:48:07.444Z,1362570487.444 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-06T11:48:07.634Z,1362570487.634 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-06T11:48:07.636Z,1362570487.636 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-06T11:48:07.638Z,1362570487.638 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-06T11:48:07.640Z,1362570487.640 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-06T11:48:07.642Z,1362570487.642 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-06T11:48:07.644Z,1362570487.644 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-06T11:48:07.646Z,1362570487.646 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-06T11:48:07.648Z,1362570487.648 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-06T11:48:07.650Z,1362570487.650 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-06T11:48:07.694Z,1362570487.694 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-06T11:48:07.696Z,1362570487.696 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-06T11:48:07.698Z,1362570487.698 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-06T11:48:07.700Z,1362570487.700 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-06T11:48:07.703Z,1362570487.703 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-06T11:48:07.705Z,1362570487.705 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-06T11:48:07.708Z,1362570487.708 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-06T11:48:07.710Z,1362570487.710 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-06T11:48:07.712Z,1362570487.712 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-06T11:48:07.715Z,1362570487.715 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-06T11:48:07.717Z,1362570487.717 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-06T11:48:07.719Z,1362570487.719 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-06T11:48:07.721Z,1362570487.721 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-06T11:48:07.724Z,1362570487.724 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-06T11:48:07.726Z,1362570487.726 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-06T11:48:07.729Z,1362570487.729 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-06T11:48:07.731Z,1362570487.731 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-06T11:48:07.733Z,1362570487.733 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-06T11:48:07.736Z,1362570487.736 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-06T11:48:07.738Z,1362570487.738 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-06T11:48:07.740Z,1362570487.740 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-06T11:48:07.789Z,1362570487.789 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-06T11:48:07.796Z,1362570487.796 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-06T11:48:07.808Z,1362570487.808 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-06T11:48:07.814Z,1362570487.815 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-06T11:48:07.816Z,1362570487.816 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-06T11:48:07.817Z,1362570487.817 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-06T11:48:07.819Z,1362570487.819 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-06T11:48:07.820Z,1362570487.820 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-06T11:48:07.822Z,1362570487.822 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0.000000 n/a
2013-03-06T11:48:07.826Z,1362570487.826 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-06T11:48:07.827Z,1362570487.828 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-06T11:48:07.829Z,1362570487.829 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-06T11:48:07.830Z,1362570487.830 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-06T11:48:07.831Z,1362570487.831 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-06T11:48:07.833Z,1362570487.833 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-06T11:48:07.840Z,1362570487.840 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-06T11:48:07.846Z,1362570487.846 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-06T11:48:07.972Z,1362570487.972 [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="EcoHAB_box">

    <Description>
        This mission runs yoyos counterclockwise around a box. Two sides of the
        box pass through the planned locations for both Environmental Sample
        Processor (ESP) buoys during the Spring 2013 EcoHAB deployment.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>4</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>85</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

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

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

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

<!-- Waypoint list -->

    <DefineArg Name="WpESPInshoreLat"><Description>
        Latitude of inshore ESP buoy.
    </Description><Units:degree/><Value>33.6055</Value></DefineArg>

    <DefineArg Name="WpESPInshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.0191</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLat"><Description>
        Latitude of offshore ESP buoy.
    </Description><Units:degree/><Value>33.5839</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.0349</Value></DefineArg>

    <DefineArg Name="WpCorner1Lat"><Description>
        Latitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>33.5864</Value></DefineArg>

    <DefineArg Name="WpCorner1Lon"><Description>
        Longitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>-117.9770</Value></DefineArg>

    <DefineArg Name="WpCorner2Lat"><Description>
        Latitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>33.5653</Value></DefineArg>

    <DefineArg Name="WpCorner2Lon"><Description>
        Longitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>-117.9928</Value></DefineArg>

    <DefineArg Name="WpCorner3Lat"><Description>
        Latitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>33.6035</Value></DefineArg>

    <DefineArg Name="WpCorner3Lon"><Description>
        Longitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>-118.0757</Value></DefineArg>

    <DefineArg Name="WpCorner4Lat"><Description>
        Latitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>33.6248</Value></DefineArg>

    <DefineArg Name="WpCorner4Lon"><Description>
        Longitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>-118.0590</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial approach to WpCorner1.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="ApproachNeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications. Only active
        during the approach.
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- Science loop settings -->

    <DefineArg Name="Repeat"><Description>
        Number of times to repeat the science loop
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="ComputeWaterCurrent"><Description>
        Set "True" if you want depth-averaged water current calculated when the
        vehicle is between 2 and 5 meters deep. Enable
        platform_*_velocity_current in Config/logger.cfg if you want it sent to
        shore. Leaving this False but enabling shore output in Config/logger.cfg
        should allow us to control this without having to send configuration
        changes and 'restart app'.
    </Description><False/></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle around Inshore ESP during wait time
    </Description><Units:meter/><Value>500</Value></DefineArg>

    <DefineArg Name="CircleRepeat"><Description>
        Maximum number of times to circle the wayopint at the start of each lap.
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="CircleDivisor"><Description>
        UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for
        reports at 0000, 0800, 1600 UTC)
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="CircleModulus"><Description>
        Current time modulo CircleDivisor (internal variable).
    </Description><Units:hour/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CircleTimeout"><Description>
        Timeout for circling buoy at start of each lap (internal variable).
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="LapTimeout"><Description>
        Maximum duration of lap around box.
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth during yo-yo's.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth during yo-yo's.
    </Description><Units:meter/><Value>78.0</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Min altitude while in yo-yo mode.
    </Description><Units:meter/><Value>6.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Pitch when yo-yo's are ascending.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Pitch when yo-yo's are descending.
    </Description><Units:degree/><Value>-20.0</Value></DefineArg>

<!-- Variables used internally during the mission -->

<!-- The mission -->

    <Timeout Duration="MissionTimeout"/>

<!-- High-priority directives that should always be near the top -->

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

<!-- Surfacing behaviors -->

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms"/>

    <Insert Filename="Insert/SurfaceCommsSplit.xml" Id="SurfaceCommsSplit"/>

    <Insert Filename="Insert/SurfaceCommsShort.xml" Id="SurfaceCommsShort"/>

    <Insert Filename="Insert/SurfaceGPS.xml" Id="SurfaceGPS"/>

    <Insert Filename="Insert/SurfaceSafety.xml" Id="SurfaceSafety"/>

<!-- TODO put all of these together into a master Surface insert file -->

<!-- mass and buoyancy defaults are lower priority than surfacing, but higher than everything else -->

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

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

<!-- Begin callable aggregates used in this mission. 
     (Note priority still matters, so these are done _below_ important safety 
     directives like OffshoreEnvelope.) 
     -->

    <Insert Filename="Insert/CircleWaypointRepeatedly.xml"/>

    <Aggregate Id="UpdateCircleTimeout">

        <Description>
            Calculate (current time) mod (CircleDivisor) and determine when to
            stop circling the start-of-lap waypoint.
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Arg Name="CircleModulus"/><Universal:time/><Mod><Arg Name="CircleDivisor"/>
        </Mod></Assign>

<!-- TODO 
            Might need to add an offset in somewhere to handle specific 
            surfacing times (e.g., 2am, 10pm)
             
            It would be even more useful to have a general method for 
            TimeUntil(arg).
        -->

        <Syslog Severity="Important">
            CircleModulus calculated as: <Arg Name="CircleModulus"/><Units:hour/>
        </Syslog>

        <Assign><Arg Name="CircleTimeout"/><Arg Name="CircleDivisor"/><Sub><Arg Name="CircleModulus"/></Sub></Assign>

        <Syslog Severity="Important"> 
            CircleTimeout updated to: <Arg Name="CircleTimeout"/><Units:hour/>
        </Syslog>

    </Aggregate>

    <Aggregate Id="CircleInshoreESPBuoy">

        <Description>
            Circle a waypoint at the nominal location of the Inshore ESP buoy
            until timeout specified by CircleDivisor and current time.
        </Description>

        <When>
            <Called/>
        </When>

        <Call RefId="UpdateCircleTimeout"/>

        <Aggregate Id="TellMeHowLong">

            <Description>
                Convenience aggregate to notify operator of estimated circling
                time _before_ starting to circle the waypoint. May be commented
                out, since the Timeout in CircleWaypointRepeatedly will still
                achieve the desired behavior.
            </Description>

            <Syslog Severity="Important"> 
                    CircleInshoreESPBuoy should complete in 
                    <Arg Name="CircleTimeout"/><Units:minute/>, 
                    due to timeout in CircleWaypointRepeatedly aggregate.
            </Syslog>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Assign><Arg Name="CircleWaypointRepeatedly:Timeout"/><Arg Name="CircleTimeout"/></Assign>

        <Assign><Arg Name="CircleWaypointRepeatedly:Radius"/><Arg Name="CircleRadius"/></Assign>

        <Assign><Arg Name="CircleWaypointRepeatedly:CenterLat"/><Arg Name="WpESPInshoreLat"/></Assign>

        <Assign><Arg Name="CircleWaypointRepeatedly:CenterLon"/><Arg Name="WpESPInshoreLon"/></Assign>

<!-- Use default values for: Timeout, MaxError, TurnToPort, KwpHeading -->

        <Call RefId="CircleWaypointRepeatedly"/>

        <Syslog Severity="Important">************* Finished circling. *************</Syslog>

        <Call RefId="SurfaceCommsSplit"/>

    </Aggregate>

    <Aggregate Id="Lap">

        <Description>
            Run around the box.
        </Description>

        <Timeout Duration="LapTimeout"/>

        <When>
            <Called/>
        </When>

        <Guidance:Waypoint Id="WpESPInshore" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner1" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner1Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner1Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner2" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner2Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner2Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPOffshore" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPOffshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPOffshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner3" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner3Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner3Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner4" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner4Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner4Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPInshore" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

    </Aggregate>

<!-- End callable aggregates used in this mission. -->

    <Aggregate Id="ScienceOps" Repeat="Repeat">

        <Description>
            Circle then lap many times, collecting science data.
        </Description>

        <Insert Filename="Insert/Science.xml" Id="Science">
            <Description>
                Get science data, including PeakDetectChl
            </Description>
            <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
            <RedefineArg Name="SampleISUS"><True/></RedefineArg>
            <RedefineArg Name="SampleISUSmaxPitch"><Units:degree/><Value>30.0</Value></RedefineArg>
            <RedefineArg Name="SampleISUSminPitch"><Units:degree/><Value>10.0</Value></RedefineArg>
            <RedefineArg Name="SampleADCP"><True/></RedefineArg>
<!-- expose ComputeWaterCurrent boolean flag to top level of mission -->
            <RedefineArg Name="ComputeWaterCurrent"><Arg Name="ComputeWaterCurrent"/></RedefineArg>
            <RedefineArg Name="ComputeWaterCurrentMinDepth"><Units:meter/><Value>3.0</Value></RedefineArg>
            <RedefineArg Name="ComputeWaterCurrentMaxDepth"><Units:meter/><Value>5.0</Value></RedefineArg>
            <RedefineArg Name="UpwardDerivativeOfTemperatureActive"><False/></RedefineArg>
            <RedefineArg Name="SampleRSSI"><False/></RedefineArg>
        </Insert>

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

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

        <Guidance:AltitudeEnvelope RunIn="Parallel">
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

<!-- Call the behavior aggregates that we defined above. -->

        <Call RefId="CircleInshoreESPBuoy"/>

        <Call RefId="Lap"/>

    </Aggregate>

</Mission>


2013-03-06T11:48:07.973Z,1362570487.973 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-06T11:48:07.974Z,1362570487.974 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-06T11:48:07.975Z,1362570487.975 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-06T11:48:07.975Z,1362570487.975 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-06T11:48:07.976Z,1362570487.976 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-06T11:48:19.191Z,1362570499.191 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lat 36.842499 degree
2013-03-06T11:48:19.192Z,1362570499.192 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lon -121.866798 degree
2013-03-06T11:48:19.192Z,1362570499.193 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lat 36.819000 degree
2013-03-06T11:48:19.193Z,1362570499.193 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lon -121.885002 degree
2013-03-06T11:48:21.857Z,1362570501.857 [SBIT](IMPORTANT): SBIT PASSED
2013-03-06T11:48:22.247Z,1362570502.247 [MissionManager](IMPORTANT): Started mission Startup
2013-03-06T11:48:22.247Z,1362570502.247 [Startup] Running Loop=1
2013-03-06T11:48:22.247Z,1362570502.247 [Startup](INFO): Aggregate::initialize Startup
2013-03-06T11:48:22.247Z,1362570502.247 [Startup:A.GoToSurface] Running Loop=1
2013-03-06T11:48:22.247Z,1362570502.247 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-06T11:48:22.253Z,1362570502.253 [Startup:StartupSatComms] Running Loop=1
2013-03-06T11:48:22.253Z,1362570502.253 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-06T11:48:22.253Z,1362570502.253 [Startup:StartupSatComms:A] Running Loop=1
2013-03-06T11:48:22.626Z,1362570502.625 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-06T11:48:22.627Z,1362570502.628 [Startup:StartupSatComms:A] Stopped
2013-03-06T11:48:22.628Z,1362570502.628 [Startup:StartupSatComms:B] Running Loop=1
2013-03-06T11:48:23.031Z,1362570503.031 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-06T11:48:23.399Z,1362570503.399 [NAL9602](INFO): Powering up
2013-03-06T11:48:33.863Z,1362570513.863 [NAL9602](INFO): NAL9602 initialized
2013-03-06T11:48:35.897Z,1362570515.897 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:48:39.439Z,1362570519.439 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lat 36.859001 degree
2013-03-06T11:48:39.440Z,1362570519.440 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lon -121.964996 degree
2013-03-06T11:48:39.440Z,1362570519.441 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lat 36.882500 degree
2013-03-06T11:48:39.441Z,1362570519.441 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lon -121.946800 degree
2013-03-06T11:48:40.177Z,1362570520.177 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:48:50.120Z,1362570530.120 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:48:58.507Z,1362570538.507 [CommandLine](IMPORTANT): got command show variable platform_x
2013-03-06T11:48:58.513Z,1362570538.513 [CommandLine](INFO): platform_x_sea_water_velocity (unknown)
2013-03-06T11:48:58.514Z,1362570538.514 [CommandLine](INFO): platform_x_velocity_wrt_ground (unknown)
2013-03-06T11:48:58.536Z,1362570538.536 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:48:58.539Z,1362570538.539 [CommandLine](INFO): platform_x_velocity_wrt_sea_water (unknown)
2013-03-06T11:48:58.539Z,1362570538.539 [CommandLine](INFO): platform_x_velocity_current (unknown)
2013-03-06T11:48:58.620Z,1362570538.620 [CommandLine](INFO): DVL_micro.platform_x_velocity_wrt_ground (meter_per_second)
2013-03-06T11:48:58.621Z,1362570538.621 [CommandLine](INFO): DVL_micro.platform_x_velocity_wrt_sea_water (meter_per_second)
2013-03-06T11:48:58.621Z,1362570538.621 [CommandLine](INFO): DVL_micro.platform_x_velocity_current (meter_per_second)
2013-03-06T11:49:05.643Z,1362570545.643 [CommandLine](IMPORTANT): got command report touch DVL_micro.platform_x_velocity_current
2013-03-06T11:49:07.472Z,1362570547.473 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:49:08.111Z,1362570548.111 [CommandLine](IMPORTANT): got command run
2013-03-06T11:49:08.111Z,1362570548.111 [CommandLine](IMPORTANT): Running 
2013-03-06T11:49:15.736Z,1362570555.736 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:49:22.935Z,1362570562.935 [Startup:StartupSatComms:B](INFO): Timed out from 2013-03-06T11:48:22.6Z
2013-03-06T11:49:22.935Z,1362570562.935 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-03-06T11:49:22.935Z,1362570562.935 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-03-06T11:49:22.935Z,1362570562.935 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-03-06T11:49:22.936Z,1362570562.935 [Startup:StartupSatComms:B] Stopped
2013-03-06T11:49:22.936Z,1362570562.936 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-03-06T11:49:22.936Z,1362570562.936 [Startup:StartupSatComms] Stopped
2013-03-06T11:49:22.936Z,1362570562.936 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-06T11:49:22.937Z,1362570562.937 [Startup](INFO): Completed Startup
2013-03-06T11:49:22.937Z,1362570562.937 [Startup] Stopped
2013-03-06T11:49:22.937Z,1362570562.937 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-06T11:49:22.937Z,1362570562.937 [Startup:A.GoToSurface] Stopped
2013-03-06T11:49:22.937Z,1362570562.937 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-06T11:49:23.371Z,1362570563.371 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-06T11:49:23.371Z,1362570563.371 [EcoHAB_box] Running Loop=1
2013-03-06T11:49:23.371Z,1362570563.371 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-06T11:49:23.371Z,1362570563.371 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-06T11:49:23.371Z,1362570563.371 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-06T11:49:23.371Z,1362570563.371 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-06T11:49:23.371Z,1362570563.372 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-06T11:49:23.373Z,1362570563.373 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-06T11:49:23.373Z,1362570563.373 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-06T11:49:23.373Z,1362570563.373 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-06T11:49:23.373Z,1362570563.373 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-06T11:49:23.373Z,1362570563.373 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-06T11:49:23.373Z,1362570563.373 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-06T11:49:23.373Z,1362570563.374 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-06T11:49:23.374Z,1362570563.374 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-06T11:49:23.374Z,1362570563.374 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-06T11:49:23.374Z,1362570563.374 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-06T11:49:23.375Z,1362570563.375 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-06T11:49:23.380Z,1362570563.380 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-06T11:49:23.392Z,1362570563.392 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-06T11:49:23.392Z,1362570563.392 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-06T11:49:23.392Z,1362570563.392 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-06T11:49:23.392Z,1362570563.392 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-06T11:49:23.398Z,1362570563.398 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-06T11:49:23.404Z,1362570563.404 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-06T11:49:23.639Z,1362570563.639 [DVL_micro](INFO): ADCP unrequested
2013-03-06T11:49:23.639Z,1362570563.639 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:49:23.640Z,1362570563.640 [DVL_micro](INFO): resume:Powering up
2013-03-06T11:49:23.640Z,1362570563.640 [DVL_micro](INFO): Cycling power to configure device.
2013-03-06T11:49:24.276Z,1362570564.276 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-06T11:49:24.276Z,1362570564.276 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-06T11:49:24.276Z,1362570564.276 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-06T11:49:24.276Z,1362570564.276 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-06T11:49:24.276Z,1362570564.276 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-06T11:49:24.276Z,1362570564.276 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-06T11:49:24.536Z,1362570564.536 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:49:24.609Z,1362570564.609 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-06T11:49:24.609Z,1362570564.609 [EcoHAB_box:I.Pitch] Preempted
2013-03-06T11:49:24.628Z,1362570564.628 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-06T11:49:24.631Z,1362570564.631 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-06T11:49:24.631Z,1362570564.631 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-06T11:49:24.944Z,1362570564.944 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-06T11:49:25.348Z,1362570565.348 [EcoHAB_box:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2013-03-06T11:49:25.463Z,1362570565.463 [CommandLine](IMPORTANT): got command show stack
2013-03-06T11:49:25.463Z,1362570565.463 [CommandLine](INFO): Behavior Stack:

2013-03-06T11:49:25.463Z,1362570565.463 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-06T11:49:25.463Z,1362570565.464 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-06T11:49:25.464Z,1362570565.464 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-06T11:49:25.464Z,1362570565.464 [EcoHAB_box:SurfaceComms](INFO): Priority 3: EcoHAB_box:SurfaceComms:A.GoToSurface
2013-03-06T11:49:25.464Z,1362570565.464 [EcoHAB_box:SurfaceComms:C](INFO): Priority 4: EcoHAB_box:SurfaceComms:C:B
2013-03-06T11:49:25.647Z,1362570565.647 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:49:25.647Z,1362570565.647 [DVL_micro](INFO): Querying output modes
2013-03-06T11:49:25.647Z,1362570565.647 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-06T11:49:25.658Z,1362570565.658 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-06T11:49:25.659Z,1362570565.658 [DVL_micro](INFO): NQ1 output enabled
2013-03-06T11:49:25.659Z,1362570565.659 [DVL_micro](INFO): ADCP output enabled
2013-03-06T11:49:25.659Z,1362570565.659 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-06T11:49:25.670Z,1362570565.671 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-06T11:49:25.672Z,1362570565.672 [DVL_micro](INFO): ADCP unrequested
2013-03-06T11:49:25.673Z,1362570565.672 [DVL_micro](INFO): Cycling power to configure device.
2013-03-06T11:49:27.679Z,1362570567.679 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:49:27.679Z,1362570567.679 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-06T11:49:28.360Z,1362570568.360 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-06T11:49:28.360Z,1362570568.360 [DVL_micro](INFO): Enabling NQ1 output
2013-03-06T11:49:28.360Z,1362570568.360 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-06T11:49:28.638Z,1362570568.638 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-06T11:49:28.638Z,1362570568.638 [DVL_micro](INFO): Querying output modes
2013-03-06T11:49:28.639Z,1362570568.639 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-06T11:49:28.803Z,1362570568.803 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-06T11:49:28.803Z,1362570568.803 [DVL_micro](INFO): NQ1 output enabled
2013-03-06T11:49:28.803Z,1362570568.803 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-06T11:49:28.891Z,1362570568.891 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-06T11:49:31.411Z,1362570571.411 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:31.440Z,1362570571.441 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:33.760Z,1362570573.760 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-06T11:49:33.938Z,1362570573.938 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:33.963Z,1362570573.963 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:35.259Z,1362570575.259 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-06T11:49:35.367Z,1362570575.367 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-06T11:49:35.367Z,1362570575.367 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-06T11:49:35.723Z,1362570575.723 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-06T11:49:35.725Z,1362570575.725 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-06T11:49:35.725Z,1362570575.725 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-06T11:49:35.725Z,1362570575.725 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-06T11:49:35.725Z,1362570575.725 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-06T11:49:35.726Z,1362570575.726 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-06T11:49:35.726Z,1362570575.726 [EcoHAB_box:SurfaceComms] Stopped
2013-03-06T11:49:35.726Z,1362570575.726 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-06T11:49:35.726Z,1362570575.726 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-06T11:49:35.726Z,1362570575.726 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-06T11:49:35.726Z,1362570575.727 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-06T11:49:35.727Z,1362570575.727 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-06T11:49:35.728Z,1362570575.727 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-06T11:49:35.728Z,1362570575.728 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-06T11:49:35.728Z,1362570575.728 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-06T11:49:35.728Z,1362570575.728 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-06T11:49:35.729Z,1362570575.729 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-06T11:49:35.729Z,1362570575.729 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-06T11:49:35.729Z,1362570575.729 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-06T11:49:35.729Z,1362570575.729 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-06T11:49:35.730Z,1362570575.730 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-06T11:49:35.730Z,1362570575.730 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-06T11:49:36.105Z,1362570576.105 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-06T11:49:36.126Z,1362570576.126 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-06T11:49:36.131Z,1362570576.131 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-06T11:49:36.137Z,1362570576.137 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-06T11:49:36.143Z,1362570576.143 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-06T11:49:36.144Z,1362570576.144 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-06T11:49:36.144Z,1362570576.144 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-06T11:49:36.144Z,1362570576.144 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-06T11:49:36.144Z,1362570576.144 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-06T11:49:36.151Z,1362570576.151 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-06T11:49:36.152Z,1362570576.152 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-06T11:49:36.154Z,1362570576.154 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-06T11:49:36.157Z,1362570576.157 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-06T11:49:36.160Z,1362570576.159 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-06T11:49:36.160Z,1362570576.160 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-06T11:49:36.162Z,1362570576.162 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-06T11:49:36.163Z,1362570576.163 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-06T11:49:36.163Z,1362570576.163 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-06T11:49:36.163Z,1362570576.163 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-06T11:49:36.163Z,1362570576.163 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-06T11:49:36.164Z,1362570576.164 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-06T11:49:36.464Z,1362570576.464 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-06T11:49:36.464Z,1362570576.464 [WetLabsBB2FL](INFO): Powering up
2013-03-06T11:49:36.467Z,1362570576.467 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:36.479Z,1362570576.479 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:36.481Z,1362570576.481 [DVL_micro](INFO): ADCP requested
2013-03-06T11:49:36.481Z,1362570576.481 [DVL_micro](INFO): Cycling power to configure device.
2013-03-06T11:49:36.569Z,1362570576.569 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-06T11:49:36.569Z,1362570576.569 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-06T11:49:36.569Z,1362570576.569 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-06T11:49:36.572Z,1362570576.572 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-06T11:49:36.572Z,1362570576.572 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-06T11:49:36.927Z,1362570576.927 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 3.826750 h 
2013-03-06T11:49:36.928Z,1362570576.928 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-06T11:49:36.929Z,1362570576.929 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-06T11:49:37.390Z,1362570577.390 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-06T11:49:37.391Z,1362570577.391 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-06T11:49:37.760Z,1362570577.760 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2013-03-06T11:49:37.764Z,1362570577.764 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 4.173250 h 
2013-03-06T11:49:37.767Z,1362570577.767 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-06T11:49:37.767Z,1362570577.767 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-06T11:49:37.767Z,1362570577.767 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-06T11:49:37.767Z,1362570577.767 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-06T11:49:38.183Z,1362570578.183 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-06T11:49:38.183Z,1362570578.183 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-06T11:49:38.183Z,1362570578.183 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-06T11:49:38.184Z,1362570578.184 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-06T11:49:38.184Z,1362570578.184 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-06T11:49:38.184Z,1362570578.184 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-06T11:49:38.487Z,1362570578.487 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:49:38.487Z,1362570578.487 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-06T11:49:38.571Z,1362570578.571 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 250.395023 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-06T11:49:38.573Z,1362570578.573 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-06T11:49:38.573Z,1362570578.573 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-06T11:49:38.574Z,1362570578.574 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-06T11:49:38.678Z,1362570578.678 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-06T11:49:38.678Z,1362570578.678 [DVL_micro](INFO): Enabling ADCP output
2013-03-06T11:49:38.679Z,1362570578.679 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-06T11:49:38.871Z,1362570578.871 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-06T11:49:38.871Z,1362570578.871 [DVL_micro](INFO): Enabling NQ1 output
2013-03-06T11:49:38.871Z,1362570578.871 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-06T11:49:38.973Z,1362570578.973 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-06T11:49:38.973Z,1362570578.973 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-06T11:49:38.973Z,1362570578.973 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-06T11:49:38.973Z,1362570578.973 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-06T11:49:38.980Z,1362570578.980 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-06T11:49:38.980Z,1362570578.980 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-06T11:49:38.980Z,1362570578.980 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-06T11:49:39.055Z,1362570579.055 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-06T11:49:39.055Z,1362570579.055 [DVL_micro](INFO): Querying output modes
2013-03-06T11:49:39.055Z,1362570579.055 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-06T11:49:39.067Z,1362570579.067 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-06T11:49:39.067Z,1362570579.067 [DVL_micro](INFO): NQ1 output enabled
2013-03-06T11:49:39.067Z,1362570579.067 [DVL_micro](INFO): ADCP output enabled
2013-03-06T11:49:39.067Z,1362570579.067 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-06T11:49:39.079Z,1362570579.079 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-06T11:49:39.374Z,1362570579.374 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-06T11:49:39.376Z,1362570579.376 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-06T11:49:39.376Z,1362570579.376 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-06T11:49:39.878Z,1362570579.878 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-06T11:49:41.407Z,1362570581.407 [CommandLine](IMPORTANT): got command report
2013-03-06T11:49:41.408Z,1362570581.408 [Reporter](INFO): DVL_micro.platform_x_velocity_current reporting when touched
2013-03-06T11:49:41.591Z,1362570581.591 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:41.623Z,1362570581.623 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:41.626Z,1362570581.626 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:44.123Z,1362570584.123 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:44.143Z,1362570584.143 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:44.148Z,1362570584.148 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:46.654Z,1362570586.654 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:46.680Z,1362570586.680 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:46.682Z,1362570586.682 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:48.709Z,1362570588.709 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-06T11:49:49.175Z,1362570589.175 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:49.225Z,1362570589.225 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:49.232Z,1362570589.232 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:49.259Z,1362570589.259 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:49:51.710Z,1362570591.710 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:51.736Z,1362570591.736 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:51.739Z,1362570591.739 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:52.851Z,1362570592.851 [NAL9602](INFO): SBD MO Status=0, MOMSN=6558, MT Status=0, MTMSN=0
2013-03-06T11:49:52.961Z,1362570592.961 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-06T11:49:52.961Z,1362570592.961 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-06T11:49:53.257Z,1362570593.257 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-06T11:49:53.261Z,1362570593.261 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-06T11:49:53.261Z,1362570593.261 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-06T11:49:53.261Z,1362570593.261 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-06T11:49:53.261Z,1362570593.261 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-06T11:49:53.262Z,1362570593.262 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-06T11:49:53.262Z,1362570593.263 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-06T11:49:53.263Z,1362570593.263 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-06T11:49:53.263Z,1362570593.263 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-06T11:49:53.263Z,1362570593.263 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-06T11:49:53.683Z,1362570593.683 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-06T11:49:53.683Z,1362570593.683 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-06T11:49:53.683Z,1362570593.683 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-06T11:49:53.683Z,1362570593.683 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-06T11:49:53.683Z,1362570593.683 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-06T11:49:53.684Z,1362570593.684 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-06T11:49:53.684Z,1362570593.684 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-06T11:49:54.053Z,1362570594.053 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-06T11:49:54.053Z,1362570594.053 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-06T11:49:54.244Z,1362570594.244 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:54.269Z,1362570594.270 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:54.274Z,1362570594.274 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:54.484Z,1362570594.484 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-06T11:49:54.484Z,1362570594.484 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-06T11:49:54.927Z,1362570594.927 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-06T11:49:54.927Z,1362570594.927 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-06T11:49:55.287Z,1362570595.287 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-06T11:49:55.287Z,1362570595.287 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-06T11:49:55.287Z,1362570595.287 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-06T11:49:55.746Z,1362570595.746 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-06T11:49:55.746Z,1362570595.746 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-06T11:49:55.746Z,1362570595.746 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-06T11:49:55.746Z,1362570595.746 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-06T11:49:55.747Z,1362570595.747 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-06T11:49:55.750Z,1362570595.750 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 250.395023 min 
2013-03-06T11:49:55.752Z,1362570595.752 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-06T11:49:55.752Z,1362570595.753 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-06T11:49:55.753Z,1362570595.753 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-06T11:49:55.753Z,1362570595.753 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-06T11:49:55.753Z,1362570595.753 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-06T11:49:55.753Z,1362570595.753 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-06T11:49:56.129Z,1362570596.129 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-06T11:49:56.136Z,1362570596.136 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-06T11:49:56.136Z,1362570596.136 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-06T11:49:56.136Z,1362570596.136 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-06T11:49:56.783Z,1362570596.783 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:56.822Z,1362570596.822 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:56.827Z,1362570596.827 [DVL_micro](DEBUG): ADCP
2013-03-06T11:49:58.516Z,1362570598.516 [NAL9602](INFO): Powering down
2013-03-06T11:49:59.316Z,1362570599.316 [DVL_micro](DEBUG): NQ1
2013-03-06T11:49:59.343Z,1362570599.343 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:49:59.352Z,1362570599.352 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:01.839Z,1362570601.839 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:01.865Z,1362570601.865 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:01.868Z,1362570601.868 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:02.207Z,1362570602.207 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-06T11:50:02.743Z,1362570602.743 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:50:04.366Z,1362570604.366 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:04.393Z,1362570604.393 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:04.400Z,1362570604.400 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:05.023Z,1362570605.023 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-06T11:50:05.025Z,1362570605.025 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-06T11:50:05.032Z,1362570605.033 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_Depth_Keller.depth,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-03-06T11:50:06.899Z,1362570606.898 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:06.937Z,1362570606.937 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:06.948Z,1362570606.948 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:09.427Z,1362570609.427 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:09.460Z,1362570609.460 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:09.463Z,1362570609.463 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:11.962Z,1362570611.962 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:11.988Z,1362570611.989 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:11.992Z,1362570611.992 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:12.423Z,1362570612.423 [CommandLine](IMPORTANT): got command get depth
2013-03-06T11:50:12.424Z,1362570612.424 [CommandLine](IMPORTANT): depth 4.000000 meter
2013-03-06T11:50:14.500Z,1362570614.500 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:14.516Z,1362570614.516 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:14.535Z,1362570614.535 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:15.919Z,1362570615.919 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-06T11:50:16.467Z,1362570616.467 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:50:17.031Z,1362570617.031 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:17.059Z,1362570617.059 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:17.062Z,1362570617.062 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:19.558Z,1362570619.558 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:19.587Z,1362570619.587 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:19.592Z,1362570619.592 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:22.091Z,1362570622.091 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:22.128Z,1362570622.128 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:22.130Z,1362570622.130 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:24.631Z,1362570624.631 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:24.657Z,1362570624.657 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:24.664Z,1362570624.664 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:27.157Z,1362570627.157 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:27.184Z,1362570627.184 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:27.188Z,1362570627.188 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:29.441Z,1362570629.441 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-06T11:50:29.683Z,1362570629.683 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:29.724Z,1362570629.724 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:29.728Z,1362570629.728 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:29.980Z,1362570629.980 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:50:32.219Z,1362570632.219 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:32.238Z,1362570632.238 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:32.242Z,1362570632.241 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:34.750Z,1362570634.750 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:34.780Z,1362570634.780 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:34.788Z,1362570634.788 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:37.283Z,1362570637.283 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:37.321Z,1362570637.321 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:37.323Z,1362570637.323 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:39.827Z,1362570639.827 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:39.845Z,1362570639.845 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:39.849Z,1362570639.849 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:42.350Z,1362570642.350 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:42.384Z,1362570642.384 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:42.388Z,1362570642.388 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:42.777Z,1362570642.777 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-06T11:50:43.301Z,1362570643.301 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:50:44.878Z,1362570644.878 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:44.938Z,1362570644.938 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:44.944Z,1362570644.944 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:47.413Z,1362570647.413 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:47.450Z,1362570647.450 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:47.456Z,1362570647.457 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:49.932Z,1362570649.932 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:49.958Z,1362570649.958 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:49.961Z,1362570649.961 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:52.463Z,1362570652.463 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:52.509Z,1362570652.509 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:52.532Z,1362570652.532 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:54.994Z,1362570654.994 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:55.023Z,1362570655.023 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:55.027Z,1362570655.027 [DVL_micro](DEBUG): ADCP
2013-03-06T11:50:56.048Z,1362570656.048 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-06T11:50:56.575Z,1362570656.575 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:50:57.518Z,1362570657.519 [DVL_micro](DEBUG): NQ1
2013-03-06T11:50:57.551Z,1362570657.551 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:50:57.554Z,1362570657.554 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:00.051Z,1362570660.050 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:00.104Z,1362570660.104 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:00.143Z,1362570660.143 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:02.586Z,1362570662.586 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:02.616Z,1362570662.616 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:02.619Z,1362570662.619 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:05.117Z,1362570665.117 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:05.134Z,1362570665.134 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:05.136Z,1362570665.136 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:07.643Z,1362570667.643 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:07.678Z,1362570667.678 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:07.707Z,1362570667.707 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:10.170Z,1362570670.170 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:10.193Z,1362570670.194 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:10.196Z,1362570670.196 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:12.691Z,1362570672.691 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:12.727Z,1362570672.727 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:12.729Z,1362570672.730 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:15.231Z,1362570675.231 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:15.253Z,1362570675.253 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:15.256Z,1362570675.256 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:17.759Z,1362570677.759 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:17.787Z,1362570677.787 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:17.790Z,1362570677.790 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:20.291Z,1362570680.291 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:20.333Z,1362570680.333 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:20.344Z,1362570680.344 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:22.826Z,1362570682.826 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:22.852Z,1362570682.852 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:22.855Z,1362570682.855 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:25.355Z,1362570685.355 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:25.383Z,1362570685.383 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:25.398Z,1362570685.398 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:27.891Z,1362570687.891 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:27.907Z,1362570687.907 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:27.927Z,1362570687.927 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:30.410Z,1362570690.411 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:30.433Z,1362570690.433 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:30.435Z,1362570690.435 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:32.947Z,1362570692.947 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:32.974Z,1362570692.974 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:32.977Z,1362570692.977 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:35.470Z,1362570695.470 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:35.501Z,1362570695.501 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:35.505Z,1362570695.505 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:38.008Z,1362570698.008 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:38.025Z,1362570698.026 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:38.028Z,1362570698.028 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:40.531Z,1362570700.531 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:40.560Z,1362570700.560 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:40.568Z,1362570700.568 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:43.050Z,1362570703.050 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:43.087Z,1362570703.087 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:43.089Z,1362570703.089 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:45.584Z,1362570705.583 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:45.617Z,1362570705.617 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:45.620Z,1362570705.620 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:48.111Z,1362570708.111 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:48.143Z,1362570708.143 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:48.151Z,1362570708.151 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:50.650Z,1362570710.651 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:50.675Z,1362570710.675 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:50.677Z,1362570710.677 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:53.183Z,1362570713.182 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:53.220Z,1362570713.220 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:53.223Z,1362570713.223 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:55.711Z,1362570715.711 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:55.759Z,1362570715.759 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:55.768Z,1362570715.768 [DVL_micro](DEBUG): ADCP
2013-03-06T11:51:58.236Z,1362570718.236 [DVL_micro](DEBUG): NQ1
2013-03-06T11:51:58.262Z,1362570718.262 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:51:58.265Z,1362570718.265 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:00.771Z,1362570720.771 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:00.798Z,1362570720.798 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:00.802Z,1362570720.802 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:03.310Z,1362570723.310 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:03.327Z,1362570723.327 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:03.329Z,1362570723.329 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:05.831Z,1362570725.831 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:05.858Z,1362570725.858 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:05.865Z,1362570725.865 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:08.363Z,1362570728.362 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:08.392Z,1362570728.392 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:08.396Z,1362570728.396 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:10.886Z,1362570730.886 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:10.910Z,1362570730.910 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:10.921Z,1362570730.921 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:13.427Z,1362570733.427 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:13.471Z,1362570733.471 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:13.477Z,1362570733.477 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:15.947Z,1362570735.947 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:15.969Z,1362570735.969 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:15.972Z,1362570735.972 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:18.486Z,1362570738.487 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:18.517Z,1362570738.517 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:18.524Z,1362570738.524 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:21.011Z,1362570741.011 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:21.058Z,1362570741.059 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:21.062Z,1362570741.062 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:23.559Z,1362570743.559 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:23.572Z,1362570743.572 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:23.576Z,1362570743.576 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:26.078Z,1362570746.078 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:26.108Z,1362570746.108 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:26.127Z,1362570746.127 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:28.631Z,1362570748.631 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:28.663Z,1362570748.663 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:28.666Z,1362570748.666 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:31.147Z,1362570751.147 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:31.172Z,1362570751.172 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:31.176Z,1362570751.176 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:33.667Z,1362570753.667 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:33.689Z,1362570753.689 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:33.699Z,1362570753.699 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:36.199Z,1362570756.199 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:36.243Z,1362570756.243 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:36.245Z,1362570756.246 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:38.722Z,1362570758.722 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:38.765Z,1362570758.764 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:38.769Z,1362570758.769 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:41.255Z,1362570761.255 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:41.284Z,1362570761.284 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:41.287Z,1362570761.287 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:43.786Z,1362570763.786 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:43.837Z,1362570763.837 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:43.844Z,1362570763.844 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:46.306Z,1362570766.306 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:46.359Z,1362570766.359 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:46.361Z,1362570766.361 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:48.842Z,1362570768.842 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:48.872Z,1362570768.872 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:48.875Z,1362570768.875 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:51.375Z,1362570771.375 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:51.402Z,1362570771.402 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:51.405Z,1362570771.405 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:53.223Z,1362570773.223 [CommandLine](IMPORTANT): got command get depth
2013-03-06T11:52:53.223Z,1362570773.223 [CommandLine](IMPORTANT): depth 4.000000 meter
2013-03-06T11:52:53.910Z,1362570773.911 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:53.946Z,1362570773.946 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:53.953Z,1362570773.954 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:56.439Z,1362570776.439 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:56.468Z,1362570776.467 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:56.472Z,1362570776.472 [DVL_micro](DEBUG): ADCP
2013-03-06T11:52:58.835Z,1362570778.835 [CommandLine](IMPORTANT): got command show variable dvl
2013-03-06T11:52:58.842Z,1362570778.842 [CommandLine](INFO): Config/vehicle.DVL_micro_card (none)
2013-03-06T11:52:58.843Z,1362570778.843 [CommandLine](INFO): Config/vehicle.DVL_micro_uart (none)
2013-03-06T11:52:58.844Z,1362570778.844 [CommandLine](INFO): Config/vehicle.DVL_micro_baud (bit_per_second)
2013-03-06T11:52:58.849Z,1362570778.849 [CommandLine](INFO): Config/Sensor.DVL_micro_enable (bool)
2013-03-06T11:52:58.850Z,1362570778.850 [CommandLine](INFO): Config/Sensor.DVL_micro_useHardware (bool)
2013-03-06T11:52:58.850Z,1362570778.850 [CommandLine](INFO): Config/Sensor.DVL_micro_magDeviation (degree)
2013-03-06T11:52:58.851Z,1362570778.851 [CommandLine](INFO): Config/Sensor.DVL_micro_pitchOffset (degree)
2013-03-06T11:52:58.851Z,1362570778.851 [CommandLine](INFO): Config/Sensor.DVL_micro_rollOffset (degree)
2013-03-06T11:52:58.851Z,1362570778.852 [CommandLine](INFO): DVL_micro.simulateRssi (bool)
2013-03-06T11:52:58.852Z,1362570778.852 [CommandLine](INFO): Config/Sensor.DVL_micro_power (watt)
2013-03-06T11:52:58.878Z,1362570778.878 [CommandLine](INFO): DVL_micro.height_above_sea_floor (meter)
2013-03-06T11:52:58.879Z,1362570778.879 [CommandLine](INFO): DVL_micro.platform_orientation (degree)
2013-03-06T11:52:58.879Z,1362570778.879 [CommandLine](INFO): DVL_micro.platform_magnetic_orientation (degree)
2013-03-06T11:52:58.879Z,1362570778.879 [CommandLine](INFO): DVL_micro.platform_pitch_angle (degree)
2013-03-06T11:52:58.880Z,1362570778.880 [CommandLine](INFO): DVL_micro.platform_roll_angle (degree)
2013-03-06T11:52:58.880Z,1362570778.880 [CommandLine](INFO): DVL_micro.platform_speed_wrt_ground (meter_per_second)
2013-03-06T11:52:58.881Z,1362570778.881 [CommandLine](INFO): DVL_micro.platform_speed_wrt_sea_water (meter_per_second)
2013-03-06T11:52:58.881Z,1362570778.881 [CommandLine](INFO): DVL_micro.platform_x_velocity_wrt_ground (meter_per_second)
2013-03-06T11:52:58.881Z,1362570778.881 [CommandLine](INFO): DVL_micro.platform_y_velocity_wrt_ground (meter_per_second)
2013-03-06T11:52:58.882Z,1362570778.882 [CommandLine](INFO): DVL_micro.platform_z_velocity_wrt_ground (meter_per_second)
2013-03-06T11:52:58.882Z,1362570778.882 [CommandLine](INFO): DVL_micro.platform_x_velocity_wrt_sea_water (meter_per_second)
2013-03-06T11:52:58.883Z,1362570778.883 [CommandLine](INFO): DVL_micro.platform_y_velocity_wrt_sea_water (meter_per_second)
2013-03-06T11:52:58.883Z,1362570778.883 [CommandLine](INFO): DVL_micro.platform_z_velocity_wrt_sea_water (meter_per_second)
2013-03-06T11:52:58.883Z,1362570778.883 [CommandLine](INFO): DVL_micro.platform_x_velocity_current (meter_per_second)
2013-03-06T11:52:58.884Z,1362570778.884 [CommandLine](INFO): DVL_micro.platform_y_velocity_current (meter_per_second)
2013-03-06T11:52:58.884Z,1362570778.884 [CommandLine](INFO): DVL_micro.platform_z_velocity_current (meter_per_second)
2013-03-06T11:52:58.885Z,1362570778.885 [CommandLine](INFO): DVL_micro.Status (count)
2013-03-06T11:52:58.885Z,1362570778.885 [CommandLine](INFO): DVL_micro.Beam1Good (count)
2013-03-06T11:52:58.885Z,1362570778.885 [CommandLine](INFO): DVL_micro.Beam2Good (count)
2013-03-06T11:52:58.886Z,1362570778.886 [CommandLine](INFO): DVL_micro.Beam3Good (count)
2013-03-06T11:52:58.886Z,1362570778.886 [CommandLine](INFO): DVL_micro.Beam4Good (count)
2013-03-06T11:52:58.887Z,1362570778.887 [CommandLine](INFO): DVL_micro.Altitude1 (meter)
2013-03-06T11:52:58.888Z,1362570778.888 [CommandLine](INFO): DVL_micro.Altitude2 (meter)
2013-03-06T11:52:58.889Z,1362570778.889 [CommandLine](INFO): DVL_micro.Altitude3 (meter)
2013-03-06T11:52:58.890Z,1362570778.889 [CommandLine](INFO): DVL_micro.Altitude4 (meter)
2013-03-06T11:52:58.890Z,1362570778.890 [CommandLine](INFO): DVL_micro.BottomVelocityFlag (count)
2013-03-06T11:52:58.898Z,1362570778.898 [CommandLine](INFO): DVL_micro.WaterVelocityFlag (count)
2013-03-06T11:52:58.899Z,1362570778.899 [CommandLine](INFO): DVL_micro.Beam1RSSI (decibel)
2013-03-06T11:52:58.899Z,1362570778.899 [CommandLine](INFO): DVL_micro.Beam2RSSI (decibel)
2013-03-06T11:52:58.900Z,1362570778.899 [CommandLine](INFO): DVL_micro.Beam3RSSI (decibel)
2013-03-06T11:52:58.900Z,1362570778.900 [CommandLine](INFO): DVL_micro.Beam4RSSI (decibel)
2013-03-06T11:52:58.900Z,1362570778.900 [CommandLine](INFO): DVL_micro.RSSIFilterLength (count)
2013-03-06T11:52:58.901Z,1362570778.901 [CommandLine](INFO): DVL_micro.RSSIPoints (count)
2013-03-06T11:52:58.901Z,1362570778.901 [CommandLine](INFO): DVL_micro.RSSIMax (decibel)
2013-03-06T11:52:58.901Z,1362570778.901 [CommandLine](INFO): DVL_micro.RSSIMaxChannel (enum)
2013-03-06T11:52:58.902Z,1362570778.902 [CommandLine](INFO): DVL_micro.RSSIMaxDepth (meter)
2013-03-06T11:52:58.902Z,1362570778.902 [CommandLine](INFO): DVL_micro.AdcpNumBins (count)
2013-03-06T11:52:58.903Z,1362570778.903 [CommandLine](INFO): DVL_micro.AdcpStartDepth (meter)
2013-03-06T11:52:58.903Z,1362570778.903 [CommandLine](INFO): DVL_micro.AdcpXWaterVelocity (meter_per_second)
2013-03-06T11:52:58.904Z,1362570778.904 [CommandLine](INFO): DVL_micro.AdcpYWaterVelocity (meter_per_second)
2013-03-06T11:52:58.904Z,1362570778.904 [CommandLine](INFO): DVL_micro.AdcpZWaterVelocity (meter_per_second)
2013-03-06T11:52:58.906Z,1362570778.906 [CommandLine](INFO): DVL_micro.component_voltage (volt)
2013-03-06T11:52:58.907Z,1362570778.907 [CommandLine](INFO): DVL_micro.component_avgVoltage (volt)
2013-03-06T11:52:58.907Z,1362570778.907 [CommandLine](INFO): DVL_micro.component_current (milliampere)
2013-03-06T11:52:58.908Z,1362570778.908 [CommandLine](INFO): DVL_micro.component_avgCurrent (milliampere)
2013-03-06T11:52:58.908Z,1362570778.908 [CommandLine](INFO): DVL_micro.durationOfLastRun (second)
2013-03-06T11:52:58.947Z,1362570778.947 [CommandLine](INFO): EcoHAB_box:ScienceOps:Science.EnabledDVL (none)
2013-03-06T11:52:58.963Z,1362570778.963 [DVL_micro](DEBUG): NQ1
2013-03-06T11:52:58.989Z,1362570778.989 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:52:58.992Z,1362570778.992 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:01.507Z,1362570781.507 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:01.530Z,1362570781.530 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:01.533Z,1362570781.533 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:04.022Z,1362570784.022 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:04.062Z,1362570784.062 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:04.065Z,1362570784.065 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:06.550Z,1362570786.550 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:06.589Z,1362570786.589 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:06.597Z,1362570786.597 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:09.091Z,1362570789.092 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:09.124Z,1362570789.124 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:09.131Z,1362570789.131 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:11.607Z,1362570791.607 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:11.640Z,1362570791.640 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:11.642Z,1362570791.642 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:14.147Z,1362570794.147 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:14.188Z,1362570794.188 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:14.191Z,1362570794.191 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:16.667Z,1362570796.667 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:16.717Z,1362570796.717 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:16.724Z,1362570796.724 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:19.211Z,1362570799.211 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:19.223Z,1362570799.223 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:19.226Z,1362570799.226 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:21.734Z,1362570801.734 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:21.761Z,1362570801.761 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:21.764Z,1362570801.764 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:24.255Z,1362570804.254 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:24.278Z,1362570804.278 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:24.297Z,1362570804.297 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:26.787Z,1362570806.787 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:26.832Z,1362570806.832 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:26.836Z,1362570806.836 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:29.323Z,1362570809.323 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:29.352Z,1362570809.352 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:29.357Z,1362570809.357 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:31.851Z,1362570811.851 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:31.876Z,1362570811.876 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:31.903Z,1362570811.903 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:34.386Z,1362570814.386 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:34.416Z,1362570814.416 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:34.425Z,1362570814.425 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:36.923Z,1362570816.923 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:36.939Z,1362570816.939 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:36.943Z,1362570816.943 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:38.671Z,1362570818.671 [CommandLine](IMPORTANT): got command get 
2013-03-06T11:53:38.671Z,1362570818.671 [CommandLine](FAULT): Incomplete syntax. Try: help get
2013-03-06T11:53:39.447Z,1362570819.447 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:39.472Z,1362570819.472 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:39.475Z,1362570819.475 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:41.979Z,1362570821.980 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:41.994Z,1362570821.994 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:42.016Z,1362570822.016 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:44.515Z,1362570824.515 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:44.536Z,1362570824.536 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:44.540Z,1362570824.540 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:47.039Z,1362570827.039 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:47.051Z,1362570827.051 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:47.054Z,1362570827.054 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:49.559Z,1362570829.559 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:49.591Z,1362570829.591 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:49.594Z,1362570829.594 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:52.086Z,1362570832.086 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:52.123Z,1362570832.123 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:52.131Z,1362570832.131 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:54.607Z,1362570834.607 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:54.632Z,1362570834.632 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:54.647Z,1362570834.647 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:57.139Z,1362570837.139 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:57.168Z,1362570837.168 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:57.172Z,1362570837.172 [DVL_micro](DEBUG): ADCP
2013-03-06T11:53:59.687Z,1362570839.687 [DVL_micro](DEBUG): NQ1
2013-03-06T11:53:59.745Z,1362570839.745 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:53:59.789Z,1362570839.789 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:02.195Z,1362570842.195 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:02.222Z,1362570842.222 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:02.227Z,1362570842.227 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:02.743Z,1362570842.743 [CommandLine](IMPORTANT): got command get DVL_micro.height_above_sea_floor
2013-03-06T11:54:02.743Z,1362570842.743 [CommandLine](IMPORTANT): DVL_micro.height_above_sea_floor nan meter
2013-03-06T11:54:04.715Z,1362570844.715 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:04.751Z,1362570844.751 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:04.754Z,1362570844.754 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:07.258Z,1362570847.258 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:07.291Z,1362570847.291 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:07.293Z,1362570847.293 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:09.790Z,1362570849.790 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:09.829Z,1362570849.829 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:09.832Z,1362570849.832 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:12.311Z,1362570852.311 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:12.344Z,1362570852.344 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:12.347Z,1362570852.347 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:14.842Z,1362570854.842 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:14.870Z,1362570854.870 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:14.873Z,1362570854.873 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:17.366Z,1362570857.366 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:17.412Z,1362570857.412 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:17.422Z,1362570857.422 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:19.890Z,1362570859.890 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:19.930Z,1362570859.930 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:19.940Z,1362570859.940 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:22.422Z,1362570862.422 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:22.461Z,1362570862.461 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:22.464Z,1362570862.464 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:24.959Z,1362570864.959 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:25.007Z,1362570865.007 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:25.010Z,1362570865.010 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:27.487Z,1362570867.487 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:27.523Z,1362570867.523 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:27.525Z,1362570867.525 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:30.007Z,1362570870.007 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:30.029Z,1362570870.029 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:30.033Z,1362570870.033 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:32.535Z,1362570872.535 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:32.561Z,1362570872.561 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:32.564Z,1362570872.564 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:35.063Z,1362570875.063 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:35.095Z,1362570875.095 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:35.098Z,1362570875.098 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:37.590Z,1362570877.591 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:37.616Z,1362570877.616 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:37.619Z,1362570877.619 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:40.115Z,1362570880.115 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:40.142Z,1362570880.142 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:40.145Z,1362570880.145 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:42.646Z,1362570882.646 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:42.675Z,1362570882.675 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:42.687Z,1362570882.687 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:45.159Z,1362570885.158 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:45.196Z,1362570885.196 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:45.198Z,1362570885.198 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:47.695Z,1362570887.695 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:47.722Z,1362570887.722 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:47.726Z,1362570887.726 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:50.223Z,1362570890.223 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:50.235Z,1362570890.235 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:50.238Z,1362570890.238 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:52.743Z,1362570892.743 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:52.771Z,1362570892.771 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:52.774Z,1362570892.774 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:55.270Z,1362570895.270 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:55.293Z,1362570895.293 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:55.309Z,1362570895.309 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:57.795Z,1362570897.795 [DVL_micro](DEBUG): NQ1
2013-03-06T11:54:57.831Z,1362570897.831 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-06T11:54:57.834Z,1362570897.834 [DVL_micro](DEBUG): ADCP
2013-03-06T11:54:59.615Z,1362570899.615 [CommandLine](IMPORTANT): got command stop
2013-03-06T11:54:59.722Z,1362570899.722 [EcoHAB_box] Stopped
2013-03-06T11:54:59.722Z,1362570899.722 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-06T11:54:59.722Z,1362570899.722 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:I.Pitch] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-06T11:54:59.723Z,1362570899.723 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:ScienceOps] Stopped
2013-03-06T11:54:59.724Z,1362570899.724 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-06T11:54:59.725Z,1362570899.724 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-06T11:54:59.725Z,1362570899.725 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-06T11:54:59.725Z,1362570899.726 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-06T11:54:59.726Z,1362570899.726 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-06T11:54:59.886Z,1362570899.886 [WetLabsBB2FL](INFO): Powering down
2013-03-06T11:54:59.912Z,1362570899.912 [DVL_micro](INFO): pause:Powering down
2013-03-06T11:55:00.170Z,1362570900.170 [MissionManager](IMPORTANT): Started mission Default
2013-03-06T11:55:00.170Z,1362570900.170 [Default] Running Loop=1
2013-03-06T11:55:00.170Z,1362570900.170 [Default](INFO): Aggregate::initialize Default
2013-03-06T11:55:00.170Z,1362570900.170 [Default:D.SetSpeed] Running Loop=1
2013-03-06T11:55:00.170Z,1362570900.170 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-06T11:55:00.170Z,1362570900.170 [Default:E.GoToSurface] Running Loop=1
2013-03-06T11:55:00.170Z,1362570900.170 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-06T11:55:00.171Z,1362570900.171 [Default:Iridium] Running Loop=1
2013-03-06T11:55:00.171Z,1362570900.171 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-06T11:55:00.171Z,1362570900.171 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-06T11:55:00.171Z,1362570900.171 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-06T11:55:00.171Z,1362570900.171 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-06T11:55:00.171Z,1362570900.171 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-06T11:55:00.172Z,1362570900.172 [Default:E.GoToSurface] Running Loop=1
2013-03-06T11:55:00.178Z,1362570900.178 [Default:D.SetSpeed] Running Loop=1
2013-03-06T11:55:00.203Z,1362570900.203 [Default:CallIridium] Running Loop=1
2013-03-06T11:55:00.204Z,1362570900.204 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-03-06T11:55:00.204Z,1362570900.204 [Default:CallIridium:A] Running Loop=1
2013-03-06T11:55:00.210Z,1362570900.210 [Default:CallIridium:A] Stopped
2013-03-06T11:55:00.210Z,1362570900.210 [Default:CallIridium:B] Running Loop=1
2013-03-06T11:55:00.211Z,1362570900.211 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-03-06T11:55:00.221Z,1362570900.221 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-06T11:55:00.232Z,1362570900.232 [Default:GPS] Running Loop=1
2013-03-06T11:55:00.233Z,1362570900.233 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-06T11:55:00.233Z,1362570900.233 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-06T11:55:00.233Z,1362570900.233 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-06T11:55:00.233Z,1362570900.233 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-06T11:55:00.233Z,1362570900.233 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-06T11:55:00.239Z,1362570900.239 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-06T11:55:00.627Z,1362570900.626 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:55:03.643Z,1362570903.643 [CommandLine](IMPORTANT): got command quit
2013-03-06T11:55:04.650Z,1362570904.650 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-06T11:55:04.650Z,1362570904.651 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-06T11:55:04.750Z,1362570904.750 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-06T11:55:05.151Z,1362570905.151 [WetLabsBB2FL](INFO): Powering down
2013-03-06T11:55:05.157Z,1362570905.157 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-06T11:55:05.167Z,1362570905.167 [DVL_micro](INFO): uninitialize:Powering down
2013-03-06T11:55:05.174Z,1362570905.174 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-06T11:55:05.491Z,1362570905.491 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-06T11:55:05.494Z,1362570905.494 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-06T11:55:05.599Z,1362570905.599 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-06T11:55:05.601Z,1362570905.601 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-06T11:55:05.758Z,1362570905.758 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-06T11:55:05.759Z,1362570905.759 [AHRS_sp3003D](INFO): Powering down
2013-03-06T11:55:05.848Z,1362570905.848 [NAL9602](INFO): Powering down
2013-03-06T11:55:05.849Z,1362570905.849 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:55:05.851Z,1362570905.851 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-06T11:55:05.852Z,1362570905.852 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-06T11:55:05.853Z,1362570905.853 [Default] Stopped
2013-03-06T11:55:05.853Z,1362570905.853 [Default](INFO): Aggregate::uninitialize Default
2013-03-06T11:55:05.853Z,1362570905.853 [Default:GPS] Stopped
2013-03-06T11:55:05.853Z,1362570905.853 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-03-06T11:55:05.853Z,1362570905.853 [Default:GPS:A.SetSpeed] Stopped
2013-03-06T11:55:05.853Z,1362570905.853 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-03-06T11:55:05.854Z,1362570905.853 [Default:GPS:B.GoToSurface] Stopped
2013-03-06T11:55:05.854Z,1362570905.853 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-06T11:55:05.854Z,1362570905.854 [Default:Iridium] Stopped
2013-03-06T11:55:05.854Z,1362570905.854 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-06T11:55:05.854Z,1362570905.854 [Default:Iridium:A.SetSpeed] Stopped
2013-03-06T11:55:05.854Z,1362570905.854 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-06T11:55:05.854Z,1362570905.854 [Default:Iridium:B.GoToSurface] Stopped
2013-03-06T11:55:05.854Z,1362570905.854 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-06T11:55:05.854Z,1362570905.854 [Default:CallIridium] Stopped
2013-03-06T11:55:05.854Z,1362570905.854 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-03-06T11:55:05.854Z,1362570905.854 [Default:CallIridium:B] Stopped
2013-03-06T11:55:05.854Z,1362570905.855 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-03-06T11:55:05.855Z,1362570905.855 [Default:D.SetSpeed] Stopped
2013-03-06T11:55:05.855Z,1362570905.855 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-06T11:55:05.855Z,1362570905.855 [Default:E.GoToSurface] Stopped
2013-03-06T11:55:05.855Z,1362570905.855 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-06T11:55:05.859Z,1362570905.859 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-06T11:55:05.859Z,1362570905.859 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-06T11:55:05.859Z,1362570905.859 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-06T11:55:05.859Z,1362570905.859 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-06T11:55:05.860Z,1362570905.860 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-06T11:55:05.861Z,1362570905.861 [BuoyancyServo](INFO): Powering down
2013-03-06T11:55:05.879Z,1362570905.879 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-06T11:55:05.879Z,1362570905.879 [ElevatorServo](INFO): Powering down
2013-03-06T11:55:05.880Z,1362570905.880 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-06T11:55:05.880Z,1362570905.880 [MassServo](INFO): Powering down
2013-03-06T11:55:05.881Z,1362570905.881 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-06T11:55:05.881Z,1362570905.881 [RudderServo](INFO): Powering down
2013-03-06T11:55:05.881Z,1362570905.881 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-06T11:55:05.882Z,1362570905.882 [ThrusterServo](INFO): Powering down
2013-03-06T11:55:05.882Z,1362570905.882 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-06T11:55:05.883Z,1362570905.883 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-06T11:55:05.883Z,1362570905.883 [CBIT](DEBUG): Uninitialize CBIT Component.