2013-03-07T04:21:38.943Z,1362630098.943 [Supervisor](DEBUG): Initializing supervisor.
2013-03-07T04:21:38.945Z,1362630098.945 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-07T04:21:38.946Z,1362630098.946 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-07T04:21:38.947Z,1362630098.947 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-07T04:21:38.951Z,1362630098.951 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-07T04:21:38.961Z,1362630098.961 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-07T04:21:38.962Z,1362630098.962 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-07T04:21:38.963Z,1362630098.963 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-07T04:21:38.964Z,1362630098.964 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-07T04:21:38.965Z,1362630098.965 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-07T04:21:38.966Z,1362630098.966 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-07T04:21:39.324Z,1362630099.324 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-07T04:21:39.325Z,1362630099.325 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-07T04:21:39.514Z,1362630099.514 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-07T04:21:39.515Z,1362630099.515 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-07T04:21:39.600Z,1362630099.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-07T04:21:39.600Z,1362630099.601 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-07T04:21:39.784Z,1362630099.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-07T04:21:39.785Z,1362630099.785 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-07T04:21:39.918Z,1362630099.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-07T04:21:39.918Z,1362630099.918 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-07T04:21:40.148Z,1362630100.148 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-07T04:21:40.149Z,1362630100.149 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-07T04:21:40.318Z,1362630100.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-07T04:21:40.318Z,1362630100.318 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-07T04:21:40.569Z,1362630100.569 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-07T04:21:40.569Z,1362630100.569 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-07T04:21:40.672Z,1362630100.672 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-07T04:21:40.672Z,1362630100.672 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-07T04:21:41.072Z,1362630101.072 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-07T04:21:41.073Z,1362630101.073 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-07T04:21:41.187Z,1362630101.187 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-07T04:21:41.188Z,1362630101.188 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-07T04:21:41.273Z,1362630101.273 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-07T04:21:41.275Z,1362630101.274 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-07T04:21:41.376Z,1362630101.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-07T04:21:41.504Z,1362630101.504 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-07T04:21:41.589Z,1362630101.589 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-07T04:21:41.689Z,1362630101.689 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-07T04:21:41.789Z,1362630101.789 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-07T04:21:41.907Z,1362630101.907 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-07T04:21:42.000Z,1362630102.000 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-07T04:21:42.087Z,1362630102.087 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-07T04:21:42.114Z,1362630102.114 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-07T04:21:42.268Z,1362630102.267 [InternalSim] Loaded
2013-03-07T04:21:42.268Z,1362630102.268 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-07T04:21:42.269Z,1362630102.269 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-07T04:21:42.269Z,1362630102.269 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-07T04:21:42.328Z,1362630102.328 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-07T04:21:42.356Z,1362630102.356 [SBIT] Loaded
2013-03-07T04:21:42.356Z,1362630102.356 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-07T04:21:42.357Z,1362630102.357 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-07T04:21:42.387Z,1362630102.387 [IBIT] Loaded
2013-03-07T04:21:42.387Z,1362630102.387 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-07T04:21:42.391Z,1362630102.391 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-07T04:21:42.510Z,1362630102.510 [CBIT] Loaded
2013-03-07T04:21:42.510Z,1362630102.510 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-07T04:21:42.511Z,1362630102.511 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-07T04:21:42.511Z,1362630102.511 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-07T04:21:42.660Z,1362630102.661 [BuoyancyServo] Loaded
2013-03-07T04:21:42.661Z,1362630102.661 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-07T04:21:42.673Z,1362630102.673 [ElevatorServo] Loaded
2013-03-07T04:21:42.673Z,1362630102.673 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-07T04:21:42.685Z,1362630102.685 [MassServo] Loaded
2013-03-07T04:21:42.686Z,1362630102.686 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-07T04:21:42.698Z,1362630102.698 [RudderServo] Loaded
2013-03-07T04:21:42.698Z,1362630102.698 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-07T04:21:42.710Z,1362630102.710 [ThrusterServo] Loaded
2013-03-07T04:21:42.710Z,1362630102.710 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-07T04:21:42.711Z,1362630102.711 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-07T04:21:42.711Z,1362630102.711 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-07T04:21:42.728Z,1362630102.728 [DepthRateCalculator] Loaded
2013-03-07T04:21:42.728Z,1362630102.728 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-07T04:21:46.673Z,1362630106.673 [HFRadarModelCalc] Loaded
2013-03-07T04:21:46.674Z,1362630106.674 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-07T04:21:46.689Z,1362630106.689 [NavChart] Loaded
2013-03-07T04:21:46.690Z,1362630106.690 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-07T04:21:46.696Z,1362630106.696 [PitchRateCalculator] Loaded
2013-03-07T04:21:46.696Z,1362630106.696 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-07T04:21:46.702Z,1362630106.702 [SpeedCalculator] Loaded
2013-03-07T04:21:46.703Z,1362630106.703 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-07T04:21:46.718Z,1362630106.718 [TempGradientCalculator] Loaded
2013-03-07T04:21:46.718Z,1362630106.718 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-07T04:21:46.724Z,1362630106.724 [YawRateCalculator] Loaded
2013-03-07T04:21:46.724Z,1362630106.724 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-07T04:21:46.765Z,1362630106.765 [Navigation] Loaded
2013-03-07T04:21:46.765Z,1362630106.765 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-07T04:21:46.766Z,1362630106.766 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-07T04:21:46.767Z,1362630106.767 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-07T04:21:47.013Z,1362630107.013 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-07T04:21:47.013Z,1362630107.013 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-07T04:21:47.035Z,1362630107.035 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-07T04:21:47.035Z,1362630107.035 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-07T04:21:47.075Z,1362630107.075 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-07T04:21:47.169Z,1362630107.169 [VerticalControl] Loaded
2013-03-07T04:21:47.169Z,1362630107.170 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-07T04:21:47.170Z,1362630107.171 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-07T04:21:47.228Z,1362630107.228 [HorizontalControl] Loaded
2013-03-07T04:21:47.228Z,1362630107.228 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-07T04:21:47.229Z,1362630107.229 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-07T04:21:47.231Z,1362630107.231 [SpeedControl] Loaded
2013-03-07T04:21:47.231Z,1362630107.231 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-07T04:21:47.232Z,1362630107.232 [LoopControl](DEBUG): Construct LoopControl.
2013-03-07T04:21:47.233Z,1362630107.233 [LoopControl] Loaded
2013-03-07T04:21:47.233Z,1362630107.233 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-07T04:21:47.233Z,1362630107.233 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-07T04:21:47.234Z,1362630107.234 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-07T04:21:47.239Z,1362630107.239 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-07T04:21:47.244Z,1362630107.244 [AsyncPiEstimator] Loaded
2013-03-07T04:21:47.244Z,1362630107.244 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-07T04:21:47.246Z,1362630107.246 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-07T04:21:47.246Z,1362630107.246 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-07T04:21:47.247Z,1362630107.247 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-07T04:21:47.377Z,1362630107.377 [AHRS_sp3003D] Loaded
2013-03-07T04:21:47.378Z,1362630107.378 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-07T04:21:47.641Z,1362630107.641 [Batt_Ocean_Server] Loaded
2013-03-07T04:21:47.641Z,1362630107.641 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-07T04:21:47.654Z,1362630107.654 [Depth_Keller] Loaded
2013-03-07T04:21:47.655Z,1362630107.655 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-07T04:21:47.660Z,1362630107.660 [DropWeight] Loaded
2013-03-07T04:21:47.660Z,1362630107.660 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-07T04:21:47.837Z,1362630107.837 [DVL_micro] Loaded
2013-03-07T04:21:47.837Z,1362630107.837 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-07T04:21:47.838Z,1362630107.838 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-07T04:21:47.922Z,1362630107.922 [NAL9602] Loaded
2013-03-07T04:21:47.922Z,1362630107.922 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-07T04:21:47.974Z,1362630107.974 [Onboard] Loaded
2013-03-07T04:21:47.974Z,1362630107.974 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-07T04:21:47.975Z,1362630107.975 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-07T04:21:47.976Z,1362630107.976 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-07T04:21:48.043Z,1362630108.043 [Aanderaa_O2] Loaded
2013-03-07T04:21:48.043Z,1362630108.043 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-07T04:21:48.058Z,1362630108.058 [ISUS] Loaded
2013-03-07T04:21:48.058Z,1362630108.058 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-07T04:21:48.074Z,1362630108.074 [PAR_Licor] Loaded
2013-03-07T04:21:48.074Z,1362630108.074 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-07T04:21:48.107Z,1362630108.107 [WetLabsBB2FL] Loaded
2013-03-07T04:21:48.107Z,1362630108.107 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-07T04:21:48.108Z,1362630108.109 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-07T04:21:48.109Z,1362630108.109 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-07T04:21:48.112Z,1362630108.112 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-07T04:21:48.112Z,1362630108.112 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-07T04:21:48.119Z,1362630108.119 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-07T04:21:48.120Z,1362630108.121 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-07T04:21:48.125Z,1362630108.125 [Supervisor](DEBUG): Running supervisor.
2013-03-07T04:21:48.126Z,1362630108.126 [CommandLine](INFO): Thread ID is 4609
2013-03-07T04:21:48.129Z,1362630108.129 [controlThread](INFO): Thread ID is 4608
2013-03-07T04:21:48.129Z,1362630108.129 [controlThread](DEBUG): Initializing ControlThread
2013-03-07T04:21:48.129Z,1362630108.129 [CycleStarter](INFO): Thread ID is 4607
2013-03-07T04:21:48.130Z,1362630108.130 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-07T04:21:48.163Z,1362630108.163 [logger](INFO): Thread ID is 4610
2013-03-07T04:21:48.190Z,1362630108.190 [SBIT](INFO): Initialize SBIT Component.
2013-03-07T04:21:48.191Z,1362630108.191 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-07T04:21:48.191Z,1362630108.191 [IBIT](INFO): Initialize IBIT Component.
2013-03-07T04:21:48.192Z,1362630108.192 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-07T04:21:48.192Z,1362630108.192 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-07T04:21:48.203Z,1362630108.203 [AsyncPiEstimator](INFO): Thread ID is 4671
2013-03-07T04:21:48.203Z,1362630108.203 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-07T04:21:48.219Z,1362630108.219 [DVL_micro](INFO): Thread ID is 4672
2013-03-07T04:21:48.224Z,1362630108.224 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-07T04:21:48.224Z,1362630108.224 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-07T04:21:48.225Z,1362630108.225 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-07T04:21:48.225Z,1362630108.225 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-07T04:21:48.225Z,1362630108.225 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-07T04:21:48.227Z,1362630108.227 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-07T04:21:48.228Z,1362630108.228 [Navigation](DEBUG): Initializing Navigation.
2013-03-07T04:21:48.228Z,1362630108.228 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-07T04:21:48.230Z,1362630108.230 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-07T04:21:48.236Z,1362630108.236 [DVL_micro](INFO): Initializing
2013-03-07T04:21:48.236Z,1362630108.236 [DVL_micro](INFO): start:Powering up
2013-03-07T04:21:48.237Z,1362630108.237 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:21:48.239Z,1362630108.239 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-07T04:21:48.239Z,1362630108.239 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-07T04:21:48.238Z,1362630108.238 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:21:48.247Z,1362630108.247 [WetLabsBB2FL](INFO): Thread ID is 4673
2013-03-07T04:21:48.248Z,1362630108.248 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:21:48.285Z,1362630108.285 [NavChartDb](INFO): Thread ID is 4674
2013-03-07T04:21:48.291Z,1362630108.291 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-07T04:21:48.292Z,1362630108.292 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-07T04:21:48.292Z,1362630108.292 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-07T04:21:48.292Z,1362630108.292 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-07T04:21:48.293Z,1362630108.293 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-07T04:21:48.293Z,1362630108.293 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-07T04:21:48.293Z,1362630108.293 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-07T04:21:48.293Z,1362630108.293 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-07T04:21:48.294Z,1362630108.294 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-07T04:21:49.840Z,1362630109.840 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-07T04:21:49.899Z,1362630109.899 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-07T04:21:49.925Z,1362630109.925 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:21:49.944Z,1362630109.944 [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>


2013-03-07T04:21:49.945Z,1362630109.945 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-07T04:21:50.035Z,1362630110.035 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-07T04:21:50.037Z,1362630110.037 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-07T04:21:50.040Z,1362630110.040 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:21:50.060Z,1362630110.060 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-07T04:21:50.063Z,1362630110.063 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:21:50.094Z,1362630110.094 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-07T04:21:50.127Z,1362630110.127 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-07T04:21:50.130Z,1362630110.130 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:21:50.139Z,1362630110.139 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-07T04:21:50.143Z,1362630110.143 [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>


2013-03-07T04:21:50.159Z,1362630110.158 [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,
2013-03-07T04:21:50.219Z,1362630110.218 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-07T04:21:50.315Z,1362630110.315 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:21:50.315Z,1362630110.315 [DVL_micro](INFO): Querying output modes
2013-03-07T04:21:50.315Z,1362630110.315 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:21:50.326Z,1362630110.326 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:21:50.327Z,1362630110.327 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:21:50.327Z,1362630110.327 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:21:50.327Z,1362630110.327 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:21:50.339Z,1362630110.339 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:21:50.344Z,1362630110.344 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:21:50.787Z,1362630110.787 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:21:50.795Z,1362630110.795 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-07T04:21:50.822Z,1362630110.822 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:21:50.831Z,1362630110.831 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-07T04:21:50.837Z,1362630110.837 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:21:50.843Z,1362630110.843 [MassServo](DEBUG): Initializing MassServo.
2013-03-07T04:21:50.848Z,1362630110.848 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:21:50.855Z,1362630110.855 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-07T04:21:50.860Z,1362630110.860 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:21:50.891Z,1362630110.891 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-07T04:21:53.038Z,1362630113.038 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:21:53.383Z,1362630113.383 [NAL9602](INFO): Powering up NAL9602
2013-03-07T04:21:58.199Z,1362630118.199 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:21:58.201Z,1362630118.201 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:21:58.202Z,1362630118.202 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:21:58.204Z,1362630118.204 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:21:58.283Z,1362630118.283 [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,
2013-03-07T04:22:03.892Z,1362630123.892 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-07T04:22:03.895Z,1362630123.895 [CBIT](IMPORTANT): Beginning GF scan
2013-03-07T04:22:04.199Z,1362630124.199 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:22:10.388Z,1362630130.388 [NAL9602](INFO): Powering down
2013-03-07T04:22:17.057Z,1362630137.057 [SBIT](FAULT): Mass: EXPECTED:0.006000 ACTUAL:0.005269
2013-03-07T04:22:21.381Z,1362630141.381 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:22:21.381Z,1362630141.381 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:22:22.183Z,1362630142.183 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:22:22.187Z,1362630142.187 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:22:22.190Z,1362630142.190 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:22:22.212Z,1362630142.212 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:22:22.236Z,1362630142.236 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:22:22.240Z,1362630142.240 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:22:22.308Z,1362630142.308 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:22:22.312Z,1362630142.312 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:22:22.331Z,1362630142.331 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:22:22.335Z,1362630142.335 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:22:22.355Z,1362630142.355 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:22:22.358Z,1362630142.358 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:22:22.361Z,1362630142.362 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:22:22.405Z,1362630142.405 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:22:22.417Z,1362630142.417 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:22:22.439Z,1362630142.439 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:22:22.451Z,1362630142.451 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:22:22.462Z,1362630142.462 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:22:22.466Z,1362630142.466 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:22:22.501Z,1362630142.501 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:22:22.521Z,1362630142.521 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:22:22.543Z,1362630142.543 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:22:22.579Z,1362630142.579 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:22:22.595Z,1362630142.595 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:22:22.611Z,1362630142.611 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:22:22.627Z,1362630142.627 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:22:22.630Z,1362630142.630 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:22:22.663Z,1362630142.663 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:22:22.707Z,1362630142.707 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:22:22.723Z,1362630142.723 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:22:22.726Z,1362630142.726 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:22:22.738Z,1362630142.738 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:22:22.749Z,1362630142.750 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:22:22.761Z,1362630142.761 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:22:22.780Z,1362630142.780 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:22:22.812Z,1362630142.812 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:22:22.837Z,1362630142.837 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:22:22.885Z,1362630142.885 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:22:22.997Z,1362630142.997 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:22:23.013Z,1362630143.013 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:22:23.029Z,1362630143.029 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:23.051Z,1362630143.050 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:22:23.054Z,1362630143.054 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:23.063Z,1362630143.063 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:23.147Z,1362630143.147 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:22:23.215Z,1362630143.215 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:23.227Z,1362630143.227 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:23.228Z,1362630143.228 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:22:23.321Z,1362630143.321 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:22:23.336Z,1362630143.336 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:22:23.352Z,1362630143.352 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:23.376Z,1362630143.376 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:22:23.395Z,1362630143.395 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:23.396Z,1362630143.396 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:23.479Z,1362630143.479 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:23.481Z,1362630143.480 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:23.482Z,1362630143.482 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:22:23.503Z,1362630143.503 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:22:23.586Z,1362630143.586 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:22:23.590Z,1362630143.589 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:22:23.612Z,1362630143.612 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:22:23.639Z,1362630143.639 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:22:23.641Z,1362630143.641 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:23.691Z,1362630143.691 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:22:23.758Z,1362630143.758 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:22:23.797Z,1362630143.797 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:23.813Z,1362630143.813 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:23.828Z,1362630143.828 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:22:23.925Z,1362630143.925 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:22:23.952Z,1362630143.952 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:22:23.964Z,1362630143.964 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:23.984Z,1362630143.984 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:23.985Z,1362630143.985 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:24.032Z,1362630144.032 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:22:24.034Z,1362630144.034 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:22:24.043Z,1362630144.043 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:22:24.114Z,1362630144.114 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:22:24.130Z,1362630144.130 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:24.145Z,1362630144.145 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:24.163Z,1362630144.163 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:22:24.345Z,1362630144.345 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:22:24.357Z,1362630144.357 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:22:24.369Z,1362630144.369 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:24.389Z,1362630144.389 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:22:24.416Z,1362630144.416 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:24.417Z,1362630144.417 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:24.463Z,1362630144.463 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:24.464Z,1362630144.464 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:24.465Z,1362630144.466 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:22:24.529Z,1362630144.529 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:22:24.544Z,1362630144.544 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:22:24.748Z,1362630144.748 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:22:24.782Z,1362630144.782 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:22:24.793Z,1362630144.793 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:22:24.809Z,1362630144.809 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:22:24.840Z,1362630144.840 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:22:24.852Z,1362630144.852 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:22:24.888Z,1362630144.888 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:22:24.905Z,1362630144.905 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:22:24.937Z,1362630144.937 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:22:24.953Z,1362630144.953 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:22:24.956Z,1362630144.956 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:22:25.011Z,1362630145.011 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:22:25.041Z,1362630145.042 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:22:25.053Z,1362630145.053 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:25.248Z,1362630145.248 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.287Z,1362630145.286 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.309Z,1362630145.309 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.351Z,1362630145.351 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.391Z,1362630145.391 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.454Z,1362630145.454 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.469Z,1362630145.469 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:25.496Z,1362630145.496 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:22:25.985Z,1362630145.986 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:22:25.998Z,1362630145.998 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:22:26.025Z,1362630146.025 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:22:26.047Z,1362630146.047 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:22:26.087Z,1362630146.087 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:22:26.090Z,1362630146.090 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:22:26.101Z,1362630146.101 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:22:26.118Z,1362630146.118 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:22:26.121Z,1362630146.121 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:22:26.142Z,1362630146.142 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:22:26.145Z,1362630146.145 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:22:26.165Z,1362630146.165 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:22:26.169Z,1362630146.169 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:22:26.201Z,1362630146.201 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:22:26.205Z,1362630146.205 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:22:26.245Z,1362630146.245 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:22:26.249Z,1362630146.249 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:22:26.281Z,1362630146.281 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:22:26.305Z,1362630146.305 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:22:26.325Z,1362630146.325 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:22:26.337Z,1362630146.337 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:22:26.349Z,1362630146.349 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:22:26.360Z,1362630146.360 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:22:26.386Z,1362630146.386 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:22:26.426Z,1362630146.425 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:22:26.452Z,1362630146.452 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:22:26.464Z,1362630146.464 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:22:26.484Z,1362630146.484 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:22:26.505Z,1362630146.505 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:22:26.551Z,1362630146.551 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:22:26.654Z,1362630146.654 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:22:26.712Z,1362630146.712 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:22:26.741Z,1362630146.741 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:22:26.765Z,1362630146.765 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:22:26.787Z,1362630146.787 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:22:26.788Z,1362630146.788 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:22:26.790Z,1362630146.790 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:22:26.799Z,1362630146.799 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:22:26.801Z,1362630146.801 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:22:26.826Z,1362630146.826 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:22:26.833Z,1362630146.833 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:22:26.839Z,1362630146.839 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:22:26.840Z,1362630146.840 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:22:26.841Z,1362630146.841 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:22:26.848Z,1362630146.848 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:22:26.891Z,1362630146.891 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:22:26.916Z,1362630146.916 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:22:27.086Z,1362630147.086 [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="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"><True/></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>


2013-03-07T04:22:27.087Z,1362630147.087 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:22:27.088Z,1362630147.088 [CommandLine](IMPORTANT): got command set 
2013-03-07T04:22:27.088Z,1362630147.088 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-03-07T04:22:30.495Z,1362630150.495 [CBIT](IMPORTANT): No ground fault detected
2013-03-07T04:22:35.044Z,1362630155.044 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:22:35.118Z,1362630155.118 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:22:35.566Z,1362630155.566 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:22:35.584Z,1362630155.584 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:22:35.595Z,1362630155.595 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:22:35.597Z,1362630155.597 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:22:35.607Z,1362630155.607 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:22:35.610Z,1362630155.610 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:22:35.621Z,1362630155.621 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:22:35.631Z,1362630155.631 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:22:35.633Z,1362630155.634 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:22:35.641Z,1362630155.641 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:22:35.648Z,1362630155.648 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:22:35.650Z,1362630155.650 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:22:35.661Z,1362630155.661 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:22:35.667Z,1362630155.667 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:22:35.669Z,1362630155.670 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:22:35.692Z,1362630155.692 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:22:35.699Z,1362630155.699 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:22:35.701Z,1362630155.701 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:22:35.703Z,1362630155.703 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:22:35.706Z,1362630155.705 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:22:35.725Z,1362630155.725 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:22:35.728Z,1362630155.727 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:22:35.730Z,1362630155.730 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:22:35.744Z,1362630155.744 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:22:35.747Z,1362630155.747 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:22:35.749Z,1362630155.749 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:22:35.791Z,1362630155.791 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:22:35.794Z,1362630155.793 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:22:35.796Z,1362630155.796 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:22:35.814Z,1362630155.815 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:22:35.817Z,1362630155.817 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:22:35.819Z,1362630155.819 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:22:35.822Z,1362630155.822 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:22:35.839Z,1362630155.839 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:22:35.841Z,1362630155.841 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:22:35.846Z,1362630155.846 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:22:35.864Z,1362630155.864 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:22:35.869Z,1362630155.869 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:22:35.985Z,1362630155.985 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:22:36.011Z,1362630156.011 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:22:36.013Z,1362630156.013 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:36.016Z,1362630156.016 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:22:36.018Z,1362630156.018 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:36.041Z,1362630156.041 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:36.059Z,1362630156.059 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:22:36.101Z,1362630156.101 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:36.124Z,1362630156.124 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:36.125Z,1362630156.125 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:22:36.193Z,1362630156.193 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:22:36.219Z,1362630156.219 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:22:36.221Z,1362630156.221 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:36.241Z,1362630156.241 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:22:36.243Z,1362630156.243 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:36.244Z,1362630156.244 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:36.291Z,1362630156.291 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:36.292Z,1362630156.292 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:36.294Z,1362630156.293 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:22:36.311Z,1362630156.311 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:22:36.345Z,1362630156.345 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:22:36.359Z,1362630156.359 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:22:36.361Z,1362630156.361 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:22:36.364Z,1362630156.364 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:22:36.366Z,1362630156.365 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:36.397Z,1362630156.397 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:22:36.446Z,1362630156.446 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:22:36.460Z,1362630156.460 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:36.463Z,1362630156.463 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:36.464Z,1362630156.464 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:22:36.517Z,1362630156.517 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:22:36.532Z,1362630156.532 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:22:36.534Z,1362630156.534 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:36.536Z,1362630156.536 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:36.537Z,1362630156.537 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:36.553Z,1362630156.553 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:22:36.554Z,1362630156.554 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:22:36.567Z,1362630156.567 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:22:36.617Z,1362630156.617 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:22:36.619Z,1362630156.619 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:36.622Z,1362630156.622 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:36.635Z,1362630156.635 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:22:36.698Z,1362630156.698 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:22:36.700Z,1362630156.700 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:22:36.703Z,1362630156.703 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:22:36.705Z,1362630156.705 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:22:36.724Z,1362630156.724 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:22:36.725Z,1362630156.725 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:36.752Z,1362630156.752 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:22:36.754Z,1362630156.754 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:22:36.759Z,1362630156.759 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:22:36.808Z,1362630156.807 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:22:36.810Z,1362630156.810 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:22:36.940Z,1362630156.940 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:22:36.946Z,1362630156.946 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:22:36.949Z,1362630156.949 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:22:36.955Z,1362630156.955 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:22:36.957Z,1362630156.957 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:22:36.964Z,1362630156.964 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:22:36.987Z,1362630156.987 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:22:36.989Z,1362630156.989 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:22:36.999Z,1362630156.999 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:22:37.002Z,1362630157.001 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:22:37.028Z,1362630157.028 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:22:37.039Z,1362630157.039 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:22:37.062Z,1362630157.062 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:22:37.096Z,1362630157.096 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:22:37.202Z,1362630157.202 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.210Z,1362630157.210 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.227Z,1362630157.227 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.231Z,1362630157.231 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.241Z,1362630157.241 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.246Z,1362630157.246 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.265Z,1362630157.265 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:22:37.294Z,1362630157.294 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:22:37.502Z,1362630157.502 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:22:37.516Z,1362630157.516 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:22:37.518Z,1362630157.519 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:22:37.520Z,1362630157.520 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:22:37.534Z,1362630157.534 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:22:37.536Z,1362630157.536 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:22:37.551Z,1362630157.551 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:22:37.553Z,1362630157.553 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:22:37.555Z,1362630157.555 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:22:37.557Z,1362630157.556 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:22:37.604Z,1362630157.604 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:22:37.606Z,1362630157.606 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:22:37.608Z,1362630157.608 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:22:37.626Z,1362630157.625 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:22:37.637Z,1362630157.637 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:22:37.664Z,1362630157.664 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:22:37.687Z,1362630157.687 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:22:37.689Z,1362630157.689 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:22:37.692Z,1362630157.692 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:22:37.707Z,1362630157.707 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:22:37.709Z,1362630157.709 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:22:37.711Z,1362630157.711 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:22:37.714Z,1362630157.714 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:22:37.724Z,1362630157.724 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:22:37.727Z,1362630157.727 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:22:37.729Z,1362630157.729 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:22:37.733Z,1362630157.733 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:22:37.740Z,1362630157.740 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:22:37.742Z,1362630157.742 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:22:37.745Z,1362630157.745 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:22:37.761Z,1362630157.761 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:22:37.774Z,1362630157.774 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:22:37.781Z,1362630157.781 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:22:37.788Z,1362630157.788 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:22:37.789Z,1362630157.789 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:22:37.791Z,1362630157.791 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:22:37.793Z,1362630157.793 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:22:37.794Z,1362630157.794 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:22:37.832Z,1362630157.832 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:22:37.833Z,1362630157.833 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:22:37.836Z,1362630157.836 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:22:37.837Z,1362630157.837 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:22:37.843Z,1362630157.843 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:22:37.844Z,1362630157.844 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:22:37.846Z,1362630157.846 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:22:37.861Z,1362630157.861 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:22:37.903Z,1362630157.903 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:22:38.093Z,1362630158.093 [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="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"><True/></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>


2013-03-07T04:22:38.094Z,1362630158.094 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:22:38.102Z,1362630158.102 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:22:38.104Z,1362630158.103 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:22:38.104Z,1362630158.104 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:22:38.105Z,1362630158.105 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:22:51.635Z,1362630171.635 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lat 36.842499 degree
2013-03-07T04:22:51.636Z,1362630171.636 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lon -121.866798 degree
2013-03-07T04:22:51.637Z,1362630171.637 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lat 36.819000 degree
2013-03-07T04:22:51.637Z,1362630171.637 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lon -121.885002 degree
2013-03-07T04:22:57.537Z,1362630177.537 [SBIT](CRITICAL): SBIT FAILED
2013-03-07T04:22:57.885Z,1362630177.885 [MissionManager](IMPORTANT): Started mission Startup
2013-03-07T04:22:57.885Z,1362630177.885 [Startup] Running Loop=1
2013-03-07T04:22:57.886Z,1362630177.885 [Startup](INFO): Aggregate::initialize Startup
2013-03-07T04:22:57.886Z,1362630177.885 [Startup:A.GoToSurface] Running Loop=1
2013-03-07T04:22:57.886Z,1362630177.886 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:22:57.892Z,1362630177.892 [Startup:StartupSatComms] Running Loop=1
2013-03-07T04:22:57.892Z,1362630177.892 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-07T04:22:57.892Z,1362630177.892 [Startup:StartupSatComms:A] Running Loop=1
2013-03-07T04:22:58.268Z,1362630178.268 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:22:58.285Z,1362630178.284 [Startup:StartupSatComms:A] Stopped
2013-03-07T04:22:58.285Z,1362630178.285 [Startup:StartupSatComms:B] Running Loop=1
2013-03-07T04:22:58.684Z,1362630178.684 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:22:59.055Z,1362630179.055 [NAL9602](INFO): Powering up
2013-03-07T04:23:09.519Z,1362630189.519 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:23:10.931Z,1362630190.931 [CommandLine](IMPORTANT): got command run
2013-03-07T04:23:10.931Z,1362630190.931 [CommandLine](IMPORTANT): Running 
2013-03-07T04:23:23.423Z,1362630203.423 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:23:23.591Z,1362630203.591 [Startup:StartupSatComms:B] Stopped
2013-03-07T04:23:23.591Z,1362630203.591 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-03-07T04:23:23.591Z,1362630203.591 [Startup:StartupSatComms] Stopped
2013-03-07T04:23:23.591Z,1362630203.591 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-07T04:23:23.592Z,1362630203.592 [Startup](INFO): Completed Startup
2013-03-07T04:23:23.592Z,1362630203.592 [Startup] Stopped
2013-03-07T04:23:23.592Z,1362630203.592 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-07T04:23:23.592Z,1362630203.592 [Startup:A.GoToSurface] Stopped
2013-03-07T04:23:23.593Z,1362630203.593 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:23:23.958Z,1362630203.958 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:23:23.958Z,1362630203.958 [EcoHAB_box] Running Loop=1
2013-03-07T04:23:23.959Z,1362630203.959 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:23:23.959Z,1362630203.959 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:23:23.959Z,1362630203.959 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:23:23.959Z,1362630203.959 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:23:23.959Z,1362630203.959 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:23:23.960Z,1362630203.960 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:23:23.960Z,1362630203.960 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:23:23.961Z,1362630203.961 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:23:23.962Z,1362630203.963 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:23:23.967Z,1362630203.967 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:23:24.011Z,1362630204.011 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:23:24.011Z,1362630204.011 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:23:24.011Z,1362630204.011 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:23:24.011Z,1362630204.011 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:23:24.025Z,1362630204.025 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:23:24.031Z,1362630204.031 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box] Stopped
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:23:24.036Z,1362630204.036 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:23:24.037Z,1362630204.037 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:23:24.381Z,1362630204.381 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:23:24.381Z,1362630204.381 [Default] Running Loop=1
2013-03-07T04:23:24.381Z,1362630204.381 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:23:24.381Z,1362630204.381 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:23:24.381Z,1362630204.381 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:23:24.382Z,1362630204.382 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:23:24.382Z,1362630204.382 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:23:24.382Z,1362630204.382 [Default:Iridium] Running Loop=1
2013-03-07T04:23:24.382Z,1362630204.382 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:23:24.382Z,1362630204.382 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:23:24.382Z,1362630204.382 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:23:24.382Z,1362630204.382 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:23:24.383Z,1362630204.383 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:23:24.383Z,1362630204.383 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:23:24.389Z,1362630204.389 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:23:24.399Z,1362630204.399 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:23:24.399Z,1362630204.399 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:23:24.400Z,1362630204.399 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:23:24.400Z,1362630204.400 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:23:24.405Z,1362630204.405 [Default:GPS] Running Loop=1
2013-03-07T04:23:24.405Z,1362630204.405 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-07T04:23:24.405Z,1362630204.405 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-07T04:23:24.405Z,1362630204.405 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:23:24.405Z,1362630204.405 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-07T04:23:24.405Z,1362630204.405 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:23:24.411Z,1362630204.411 [Default:GPS:B.GoToSurface] Stopped
2013-03-07T04:23:24.411Z,1362630204.411 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:23:24.411Z,1362630204.411 [Default:GPS:Read_GPS] Running Loop=1
2013-03-07T04:23:24.412Z,1362630204.411 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-07T04:23:24.757Z,1362630204.757 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:23:24.760Z,1362630204.760 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:23:24.762Z,1362630204.762 [Default:GPS:Read_GPS] Stopped
2013-03-07T04:23:24.762Z,1362630204.762 [Default:GPS:D] Running Loop=1
2013-03-07T04:23:25.158Z,1362630205.158 [Default:GPS:D] Stopped
2013-03-07T04:23:25.158Z,1362630205.158 [Default:GPS](INFO): Completed Default:GPS
2013-03-07T04:23:25.159Z,1362630205.158 [Default:GPS] Stopped
2013-03-07T04:23:25.159Z,1362630205.159 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-03-07T04:23:25.159Z,1362630205.159 [Default:GPS:A.SetSpeed] Stopped
2013-03-07T04:23:25.159Z,1362630205.159 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:23:25.544Z,1362630205.544 [NAL9602](INFO): SBD MO Status=2, MOMSN=6569, MT Status=2, MTMSN=0
2013-03-07T04:23:25.544Z,1362630205.544 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-03-07T04:23:30.893Z,1362630210.893 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:23:31.595Z,1362630211.595 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:23:31.645Z,1362630211.645 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:23:31.645Z,1362630211.645 [Default:Iridium](INFO): Completed Default:Iridium
2013-03-07T04:23:31.645Z,1362630211.645 [Default:Iridium] Stopped
2013-03-07T04:23:31.645Z,1362630211.645 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:23:31.645Z,1362630211.645 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:23:31.645Z,1362630211.645 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:23:31.646Z,1362630211.646 [Default:F.Wait] Running Loop=1
2013-03-07T04:23:31.646Z,1362630211.646 [Default:F.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:23:34.787Z,1362630214.787 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:23:34.787Z,1362630214.787 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:23:34.787Z,1362630214.787 [Default](INFO): Priority 0: Default:D.SetSpeed
2013-03-07T04:23:34.788Z,1362630214.788 [Default](INFO): Priority 1: Default:E.GoToSurface
2013-03-07T04:23:34.788Z,1362630214.788 [Default](INFO): Priority 2: Default:F.Wait
2013-03-07T04:23:42.148Z,1362630222.148 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:23:46.983Z,1362630226.983 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:23:46.983Z,1362630226.983 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:23:47.195Z,1362630227.195 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:23:47.197Z,1362630227.197 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:23:47.222Z,1362630227.223 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:23:47.225Z,1362630227.225 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:23:47.227Z,1362630227.227 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:23:47.229Z,1362630227.230 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:23:47.244Z,1362630227.244 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:23:47.247Z,1362630227.247 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:23:47.249Z,1362630227.249 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:23:47.251Z,1362630227.251 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:23:47.254Z,1362630227.254 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:23:47.260Z,1362630227.260 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:23:47.262Z,1362630227.262 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:23:47.265Z,1362630227.265 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:23:47.267Z,1362630227.267 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:23:47.269Z,1362630227.269 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:23:47.312Z,1362630227.312 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:23:47.314Z,1362630227.314 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:23:47.316Z,1362630227.316 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:23:47.327Z,1362630227.327 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:23:47.330Z,1362630227.330 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:23:47.332Z,1362630227.332 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:23:47.350Z,1362630227.350 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:23:47.354Z,1362630227.354 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:23:47.356Z,1362630227.356 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:23:47.358Z,1362630227.358 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:23:47.361Z,1362630227.361 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:23:47.411Z,1362630227.411 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:23:47.413Z,1362630227.413 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:23:47.424Z,1362630227.424 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:23:47.426Z,1362630227.426 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:23:47.428Z,1362630227.428 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:23:47.439Z,1362630227.439 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:23:47.441Z,1362630227.441 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:23:47.443Z,1362630227.443 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:23:47.448Z,1362630227.448 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:23:47.458Z,1362630227.458 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:23:47.463Z,1362630227.463 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:23:47.535Z,1362630227.535 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:23:47.537Z,1362630227.537 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:23:47.542Z,1362630227.542 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:23:47.545Z,1362630227.545 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:23:47.548Z,1362630227.548 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:23:47.549Z,1362630227.549 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:23:47.560Z,1362630227.560 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:23:47.635Z,1362630227.635 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:23:47.637Z,1362630227.637 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:23:47.638Z,1362630227.638 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:23:47.657Z,1362630227.657 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:23:47.660Z,1362630227.660 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:23:47.662Z,1362630227.662 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:23:47.664Z,1362630227.664 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:23:47.666Z,1362630227.666 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:23:47.667Z,1362630227.667 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:23:47.707Z,1362630227.707 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:23:47.709Z,1362630227.709 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:23:47.710Z,1362630227.710 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:23:47.720Z,1362630227.720 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:23:47.770Z,1362630227.770 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:23:47.783Z,1362630227.783 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:23:47.785Z,1362630227.786 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:23:47.788Z,1362630227.788 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:23:47.789Z,1362630227.789 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:23:47.802Z,1362630227.802 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:23:47.835Z,1362630227.835 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:23:47.838Z,1362630227.838 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:23:47.844Z,1362630227.844 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:23:47.846Z,1362630227.846 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:23:47.878Z,1362630227.878 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:23:47.881Z,1362630227.881 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:23:47.883Z,1362630227.884 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:23:47.886Z,1362630227.885 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:23:47.887Z,1362630227.887 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:23:47.895Z,1362630227.895 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:23:47.896Z,1362630227.896 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:23:47.897Z,1362630227.897 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:23:47.920Z,1362630227.920 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:23:47.928Z,1362630227.928 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:23:47.931Z,1362630227.931 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:23:47.932Z,1362630227.932 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:23:47.952Z,1362630227.952 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:23:47.955Z,1362630227.955 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:23:47.957Z,1362630227.957 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:23:47.960Z,1362630227.960 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:23:47.962Z,1362630227.962 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:23:47.963Z,1362630227.963 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:23:47.974Z,1362630227.974 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:23:47.976Z,1362630227.976 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:23:47.977Z,1362630227.977 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:23:47.981Z,1362630227.981 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:23:47.983Z,1362630227.983 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:23:48.047Z,1362630228.047 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:23:48.049Z,1362630228.049 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:23:48.065Z,1362630228.065 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:23:48.071Z,1362630228.071 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:23:48.073Z,1362630228.073 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:23:48.080Z,1362630228.080 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:23:48.087Z,1362630228.087 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:23:48.090Z,1362630228.090 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:23:48.096Z,1362630228.096 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:23:48.103Z,1362630228.103 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:23:48.105Z,1362630228.105 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:23:48.108Z,1362630228.108 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:23:48.117Z,1362630228.117 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:23:48.124Z,1362630228.124 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:23:48.180Z,1362630228.180 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.201Z,1362630228.201 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.212Z,1362630228.212 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.217Z,1362630228.217 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.230Z,1362630228.230 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.239Z,1362630228.239 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.249Z,1362630228.249 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:23:48.283Z,1362630228.283 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:23:48.448Z,1362630228.448 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:23:48.450Z,1362630228.450 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:23:48.452Z,1362630228.453 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:23:48.475Z,1362630228.475 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:23:48.477Z,1362630228.477 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:23:48.479Z,1362630228.479 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:23:48.481Z,1362630228.481 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:23:48.483Z,1362630228.483 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:23:48.485Z,1362630228.485 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:23:48.499Z,1362630228.499 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:23:48.501Z,1362630228.501 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:23:48.503Z,1362630228.503 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:23:48.506Z,1362630228.506 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:23:48.508Z,1362630228.508 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:23:48.513Z,1362630228.513 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:23:48.516Z,1362630228.516 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:23:48.518Z,1362630228.518 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:23:48.520Z,1362630228.520 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:23:48.523Z,1362630228.523 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:23:48.525Z,1362630228.525 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:23:48.528Z,1362630228.528 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:23:48.530Z,1362630228.530 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:23:48.532Z,1362630228.532 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:23:48.545Z,1362630228.545 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:23:48.547Z,1362630228.547 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:23:48.550Z,1362630228.550 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:23:48.552Z,1362630228.552 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:23:48.599Z,1362630228.599 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:23:48.601Z,1362630228.601 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:23:48.604Z,1362630228.604 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:23:48.641Z,1362630228.641 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:23:48.649Z,1362630228.649 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:23:48.682Z,1362630228.682 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:23:48.689Z,1362630228.689 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:23:48.690Z,1362630228.690 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:23:48.700Z,1362630228.700 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:23:48.701Z,1362630228.701 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:23:48.703Z,1362630228.703 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:23:48.704Z,1362630228.704 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:23:48.706Z,1362630228.705 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:23:48.707Z,1362630228.707 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:23:48.708Z,1362630228.708 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:23:48.710Z,1362630228.710 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:23:48.714Z,1362630228.714 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:23:48.716Z,1362630228.716 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:23:48.723Z,1362630228.723 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:23:48.729Z,1362630228.729 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:23:48.793Z,1362630228.793 [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="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"><True/></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>


2013-03-07T04:23:48.794Z,1362630228.794 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:23:48.795Z,1362630228.795 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:23:48.795Z,1362630228.796 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:23:48.796Z,1362630228.796 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:23:48.797Z,1362630228.797 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:23:54.260Z,1362630234.260 [NAL9602](INFO): Powering down
2013-03-07T04:23:57.055Z,1362630237.055 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lat 36.842499 degree
2013-03-07T04:23:57.056Z,1362630237.056 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lon -121.866798 degree
2013-03-07T04:23:57.057Z,1362630237.057 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lat 36.819000 degree
2013-03-07T04:23:57.057Z,1362630237.057 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lon -121.885002 degree
2013-03-07T04:24:06.215Z,1362630246.215 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lat 36.859001 degree
2013-03-07T04:24:06.216Z,1362630246.216 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lon -121.964996 degree
2013-03-07T04:24:06.216Z,1362630246.217 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lat 36.882500 degree
2013-03-07T04:24:06.217Z,1362630246.217 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lon -121.946800 degree
2013-03-07T04:24:08.279Z,1362630248.279 [CommandLine](IMPORTANT): got command run
2013-03-07T04:24:08.279Z,1362630248.279 [CommandLine](IMPORTANT): Running 
2013-03-07T04:24:09.188Z,1362630249.188 [Default] Stopped
2013-03-07T04:24:09.188Z,1362630249.188 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:24:09.188Z,1362630249.188 [Default:D.SetSpeed] Stopped
2013-03-07T04:24:09.188Z,1362630249.188 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:24:09.188Z,1362630249.188 [Default:E.GoToSurface] Stopped
2013-03-07T04:24:09.188Z,1362630249.188 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:24:09.188Z,1362630249.188 [Default:F.Wait] Stopped
2013-03-07T04:24:09.188Z,1362630249.188 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:24:09.188Z,1362630249.188 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:24:09.188Z,1362630249.188 [EcoHAB_box] Running Loop=1
2013-03-07T04:24:09.189Z,1362630249.189 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:24:09.189Z,1362630249.189 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:24:09.189Z,1362630249.189 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:24:09.189Z,1362630249.189 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:24:09.189Z,1362630249.189 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:24:09.190Z,1362630249.190 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:24:09.191Z,1362630249.191 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:24:09.191Z,1362630249.191 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:24:09.191Z,1362630249.191 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:24:09.192Z,1362630249.192 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:24:09.193Z,1362630249.193 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:24:09.195Z,1362630249.195 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:24:09.195Z,1362630249.195 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:24:09.195Z,1362630249.195 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:24:09.195Z,1362630249.195 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:24:09.197Z,1362630249.197 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:24:09.198Z,1362630249.198 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:24:09.379Z,1362630249.379 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:24:09.380Z,1362630249.380 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:24:09.380Z,1362630249.380 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:24:09.380Z,1362630249.380 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:24:09.453Z,1362630249.453 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:24:09.453Z,1362630249.453 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:24:09.453Z,1362630249.453 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:24:09.453Z,1362630249.453 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:24:09.453Z,1362630249.453 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:24:09.454Z,1362630249.454 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:24:09.843Z,1362630249.843 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:24:09.843Z,1362630249.843 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:24:09.844Z,1362630249.844 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:24:09.845Z,1362630249.845 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:24:09.846Z,1362630249.846 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:24:10.235Z,1362630250.234 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:24:10.628Z,1362630250.628 [NAL9602](INFO): Powering up
2013-03-07T04:24:11.387Z,1362630251.387 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:24:11.387Z,1362630251.387 [DVL_micro](INFO): Querying output modes
2013-03-07T04:24:11.387Z,1362630251.387 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:24:11.398Z,1362630251.398 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:24:11.399Z,1362630251.399 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:24:11.399Z,1362630251.399 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:24:11.399Z,1362630251.399 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:24:11.419Z,1362630251.419 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:24:11.424Z,1362630251.424 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:24:11.424Z,1362630251.424 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:24:13.431Z,1362630253.431 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:24:13.431Z,1362630253.431 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:24:14.122Z,1362630254.122 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:24:14.123Z,1362630254.122 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:24:14.123Z,1362630254.123 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:24:14.382Z,1362630254.382 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:24:14.382Z,1362630254.382 [DVL_micro](INFO): Querying output modes
2013-03-07T04:24:14.383Z,1362630254.383 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:24:14.558Z,1362630254.558 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:24:14.558Z,1362630254.559 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:24:14.559Z,1362630254.559 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:24:14.639Z,1362630254.639 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:24:17.159Z,1362630257.158 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:17.195Z,1362630257.195 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:18.491Z,1362630258.491 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:24:18.491Z,1362630258.491 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:24:18.491Z,1362630258.491 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:24:18.491Z,1362630258.491 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:24:18.492Z,1362630258.492 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:24:18.492Z,1362630258.492 [EcoHAB_box:SurfaceComms](INFO): Priority 3: EcoHAB_box:SurfaceComms:A.GoToSurface
2013-03-07T04:24:18.492Z,1362630258.492 [EcoHAB_box:SurfaceComms:C](INFO): Priority 4: EcoHAB_box:SurfaceComms:C:B
2013-03-07T04:24:19.691Z,1362630259.691 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:19.722Z,1362630259.722 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:21.514Z,1362630261.514 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:24:22.231Z,1362630262.231 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:22.255Z,1362630262.255 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:22.987Z,1362630262.987 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lat 36.859001 degree
2013-03-07T04:24:23.825Z,1362630263.825 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lon -121.964996 degree
2013-03-07T04:24:24.759Z,1362630264.759 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:24.795Z,1362630264.795 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:25.055Z,1362630265.055 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lat 36.882500 degree
2013-03-07T04:24:27.295Z,1362630267.295 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:27.334Z,1362630267.334 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:29.842Z,1362630269.842 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:29.867Z,1362630269.867 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:32.379Z,1362630272.379 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:32.391Z,1362630272.391 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:24:32.525Z,1362630272.525 [NAL9602](INFO): SBD MO Status=0, MOMSN=6569, MT Status=0, MTMSN=0
2013-03-07T04:24:32.625Z,1362630272.625 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:24:32.625Z,1362630272.625 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:24:32.937Z,1362630272.937 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:24:32.938Z,1362630272.938 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:24:32.939Z,1362630272.939 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:24:32.939Z,1362630272.939 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:24:32.939Z,1362630272.939 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:24:32.940Z,1362630272.940 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:24:32.940Z,1362630272.940 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:24:32.940Z,1362630272.940 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:24:32.940Z,1362630272.940 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:24:32.940Z,1362630272.940 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:24:32.940Z,1362630272.940 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:24:32.941Z,1362630272.941 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:24:32.942Z,1362630272.941 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:24:32.942Z,1362630272.942 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:24:32.943Z,1362630272.943 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:24:32.943Z,1362630272.943 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:24:32.943Z,1362630272.943 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:24:32.943Z,1362630272.943 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:24:32.943Z,1362630272.943 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:24:32.944Z,1362630272.944 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:24:33.385Z,1362630273.385 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:24:33.390Z,1362630273.390 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:24:33.395Z,1362630273.395 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:24:33.401Z,1362630273.401 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:24:33.406Z,1362630273.406 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:24:33.440Z,1362630273.440 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:24:33.440Z,1362630273.440 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:24:33.440Z,1362630273.440 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:24:33.440Z,1362630273.440 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:24:33.447Z,1362630273.447 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:24:33.448Z,1362630273.448 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:24:33.449Z,1362630273.450 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:24:33.450Z,1362630273.450 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:24:33.452Z,1362630273.452 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:24:33.453Z,1362630273.453 [EcoHAB_box:ScienceOps:Science:C](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:24:33.454Z,1362630273.454 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:24:33.455Z,1362630273.455 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:24:33.457Z,1362630273.457 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:24:33.457Z,1362630273.457 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:24:33.457Z,1362630273.457 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:24:33.457Z,1362630273.457 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:24:33.457Z,1362630273.457 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:24:33.458Z,1362630273.458 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:24:33.640Z,1362630273.640 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:24:33.640Z,1362630273.640 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:24:33.754Z,1362630273.754 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:24:33.754Z,1362630273.754 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:24:33.754Z,1362630273.754 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:24:33.757Z,1362630273.757 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:24:33.757Z,1362630273.757 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:24:34.187Z,1362630274.187 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.409313 h 
2013-03-07T04:24:34.189Z,1362630274.189 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:24:34.189Z,1362630274.189 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:24:34.460Z,1362630274.460 [DVL_micro](INFO): ADCP requested
2013-03-07T04:24:34.460Z,1362630274.460 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:24:34.643Z,1362630274.643 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:24:34.643Z,1362630274.643 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:24:35.064Z,1362630275.064 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.590687 h 
2013-03-07T04:24:35.066Z,1362630275.066 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:24:35.066Z,1362630275.066 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:24:35.066Z,1362630275.066 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:24:35.067Z,1362630275.066 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:24:35.460Z,1362630275.460 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:24:35.460Z,1362630275.460 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:24:35.460Z,1362630275.460 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:24:35.461Z,1362630275.461 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:24:35.461Z,1362630275.461 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:24:35.461Z,1362630275.461 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:24:35.838Z,1362630275.838 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 215.441227 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:24:35.840Z,1362630275.840 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:24:35.840Z,1362630275.840 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:24:35.840Z,1362630275.840 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:24:36.241Z,1362630276.241 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:24:36.241Z,1362630276.241 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:24:36.241Z,1362630276.241 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:24:36.241Z,1362630276.241 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:24:36.248Z,1362630276.248 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:24:36.248Z,1362630276.248 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:24:36.248Z,1362630276.248 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:24:36.467Z,1362630276.467 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:24:36.467Z,1362630276.467 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:24:36.643Z,1362630276.643 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:24:36.645Z,1362630276.645 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:24:36.645Z,1362630276.645 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:24:36.754Z,1362630276.754 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:24:36.754Z,1362630276.754 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:24:36.755Z,1362630276.755 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:24:37.140Z,1362630277.140 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:24:37.813Z,1362630277.813 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:24:37.813Z,1362630277.813 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:24:37.813Z,1362630277.813 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:24:38.063Z,1362630278.063 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:24:38.063Z,1362630278.063 [DVL_micro](INFO): Querying output modes
2013-03-07T04:24:38.063Z,1362630278.063 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:24:38.250Z,1362630278.250 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:24:38.251Z,1362630278.251 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:24:38.251Z,1362630278.251 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:24:38.251Z,1362630278.251 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:24:38.327Z,1362630278.327 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:24:40.846Z,1362630280.846 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:40.884Z,1362630280.884 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:40.887Z,1362630280.887 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:43.378Z,1362630283.378 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:43.439Z,1362630283.439 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:43.441Z,1362630283.441 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:45.927Z,1362630285.927 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:45.952Z,1362630285.953 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:45.955Z,1362630285.955 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:47.503Z,1362630287.503 [CommandLine](IMPORTANT): got command get depth
2013-03-07T04:24:47.504Z,1362630287.504 [CommandLine](IMPORTANT): depth -0.046750 meter
2013-03-07T04:24:48.475Z,1362630288.475 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:48.529Z,1362630288.529 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:48.553Z,1362630288.553 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:49.639Z,1362630289.639 [NAL9602](INFO): SBD MO Status=0, MOMSN=6570, MT Status=0, MTMSN=0
2013-03-07T04:24:49.746Z,1362630289.746 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:24:49.746Z,1362630289.746 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:24:50.058Z,1362630290.058 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:24:50.060Z,1362630290.060 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:24:50.060Z,1362630290.060 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:24:50.060Z,1362630290.060 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:24:50.060Z,1362630290.060 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:24:50.061Z,1362630290.061 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:24:50.062Z,1362630290.062 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:24:50.062Z,1362630290.062 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:24:50.062Z,1362630290.062 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:24:50.062Z,1362630290.062 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:24:50.481Z,1362630290.481 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:24:50.481Z,1362630290.481 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:24:50.481Z,1362630290.481 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:24:50.481Z,1362630290.481 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:24:50.482Z,1362630290.482 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:24:50.482Z,1362630290.482 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:24:50.482Z,1362630290.482 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:24:50.862Z,1362630290.862 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:24:50.862Z,1362630290.862 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:24:51.023Z,1362630291.023 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:51.062Z,1362630291.062 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:51.064Z,1362630291.064 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:51.254Z,1362630291.254 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:24:51.255Z,1362630291.255 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:24:51.659Z,1362630291.659 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:24:51.659Z,1362630291.659 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:24:52.061Z,1362630292.061 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:24:52.061Z,1362630292.061 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:24:52.061Z,1362630292.061 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:24:52.444Z,1362630292.444 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:24:52.445Z,1362630292.445 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:24:52.445Z,1362630292.445 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:24:52.445Z,1362630292.445 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:24:52.445Z,1362630292.445 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:24:52.449Z,1362630292.449 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 215.441227 min 
2013-03-07T04:24:52.451Z,1362630292.451 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:24:52.451Z,1362630292.451 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:24:52.451Z,1362630292.451 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:24:52.452Z,1362630292.452 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:24:52.452Z,1362630292.452 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:24:52.452Z,1362630292.452 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:24:52.852Z,1362630292.852 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:24:52.855Z,1362630292.855 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:24:52.855Z,1362630292.855 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:24:52.855Z,1362630292.855 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:24:53.554Z,1362630293.554 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:53.595Z,1362630293.595 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:53.597Z,1362630293.597 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:55.372Z,1362630295.372 [NAL9602](INFO): Powering down
2013-03-07T04:24:56.098Z,1362630296.098 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:56.142Z,1362630296.142 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:56.147Z,1362630296.147 [DVL_micro](DEBUG): ADCP
2013-03-07T04:24:58.650Z,1362630298.650 [DVL_micro](DEBUG): NQ1
2013-03-07T04:24:58.679Z,1362630298.679 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:24:58.683Z,1362630298.683 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:01.177Z,1362630301.177 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:01.227Z,1362630301.227 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:01.229Z,1362630301.229 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:01.799Z,1362630301.799 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:25:01.799Z,1362630301.799 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:25:01.800Z,1362630301.800 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:25:01.800Z,1362630301.800 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:25:01.800Z,1362630301.800 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:25:01.801Z,1362630301.801 [EcoHAB_box](INFO): Priority 3: EcoHAB_box:I.Pitch
2013-03-07T04:25:01.801Z,1362630301.801 [EcoHAB_box](INFO): Priority 4: EcoHAB_box:J.Buoyancy
2013-03-07T04:25:01.801Z,1362630301.801 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Priority 5: EcoHAB_box:CircleWaypointRepeatedly:B
2013-03-07T04:25:01.802Z,1362630301.802 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Priority 6: EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle
2013-03-07T04:25:01.803Z,1362630301.803 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:25:01.803Z,1362630301.803 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:25:01.804Z,1362630301.804 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:25:01.804Z,1362630301.804 [EcoHAB_box:ScienceOps:Science](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:25:01.804Z,1362630301.804 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 11: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:25:01.805Z,1362630301.805 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:25:01.805Z,1362630301.805 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:25:01.805Z,1362630301.805 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:25:01.806Z,1362630301.806 [EcoHAB_box:ScienceOps](INFO): Priority 15: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:25:03.726Z,1362630303.727 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:03.756Z,1362630303.756 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:03.760Z,1362630303.760 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:06.263Z,1362630306.263 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:06.289Z,1362630306.289 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:06.293Z,1362630306.293 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:08.819Z,1362630308.819 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:08.849Z,1362630308.849 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:08.855Z,1362630308.855 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:11.351Z,1362630311.351 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:11.378Z,1362630311.378 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:11.381Z,1362630311.381 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:13.903Z,1362630313.903 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:13.922Z,1362630313.922 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:13.926Z,1362630313.926 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:16.441Z,1362630316.441 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:16.472Z,1362630316.473 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:16.477Z,1362630316.477 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:18.437Z,1362630318.437 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:25:18.439Z,1362630318.439 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:25:18.591Z,1362630318.591 [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,
2013-03-07T04:25:18.987Z,1362630318.987 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:19.004Z,1362630319.003 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:19.010Z,1362630319.010 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:21.519Z,1362630321.519 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:21.549Z,1362630321.549 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:21.552Z,1362630321.552 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:21.747Z,1362630321.747 [CommandLine](IMPORTANT): got command get depth
2013-03-07T04:25:21.747Z,1362630321.747 [CommandLine](IMPORTANT): depth 4.000000 meter
2013-03-07T04:25:24.067Z,1362630324.067 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:24.097Z,1362630324.097 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:24.101Z,1362630324.101 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:26.603Z,1362630326.602 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:26.629Z,1362630326.629 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:26.632Z,1362630326.632 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:29.156Z,1362630329.156 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:29.197Z,1362630329.197 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:29.200Z,1362630329.200 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:31.679Z,1362630331.679 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:31.717Z,1362630331.717 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:31.720Z,1362630331.720 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:34.226Z,1362630334.226 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:34.286Z,1362630334.286 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:34.291Z,1362630334.291 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:36.775Z,1362630336.775 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:36.801Z,1362630336.801 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:36.817Z,1362630336.817 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:38.999Z,1362630338.999 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:25:39.315Z,1362630339.315 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:39.358Z,1362630339.358 [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,
2013-03-07T04:25:39.373Z,1362630339.372 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:39.380Z,1362630339.380 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:41.851Z,1362630341.851 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:41.893Z,1362630341.893 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:41.903Z,1362630341.903 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:44.403Z,1362630344.403 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:44.432Z,1362630344.432 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:44.450Z,1362630344.450 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:46.951Z,1362630346.951 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:46.963Z,1362630346.963 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:46.966Z,1362630346.966 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:49.477Z,1362630349.477 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:49.517Z,1362630349.517 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:49.526Z,1362630349.526 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:52.019Z,1362630352.019 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:52.069Z,1362630352.069 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:52.073Z,1362630352.073 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:54.567Z,1362630354.567 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:54.597Z,1362630354.597 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:54.601Z,1362630354.601 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:57.110Z,1362630357.110 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:57.150Z,1362630357.150 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:57.154Z,1362630357.154 [DVL_micro](DEBUG): ADCP
2013-03-07T04:25:59.659Z,1362630359.659 [DVL_micro](DEBUG): NQ1
2013-03-07T04:25:59.686Z,1362630359.686 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:25:59.690Z,1362630359.690 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:02.205Z,1362630362.205 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:02.246Z,1362630362.246 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:02.248Z,1362630362.248 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:04.751Z,1362630364.751 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:04.770Z,1362630364.770 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:04.775Z,1362630364.775 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:07.283Z,1362630367.283 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:07.312Z,1362630367.312 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:07.316Z,1362630367.316 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:09.831Z,1362630369.830 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:09.855Z,1362630369.855 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:09.858Z,1362630369.858 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:12.362Z,1362630372.362 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:12.409Z,1362630372.409 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:12.412Z,1362630372.412 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:14.911Z,1362630374.911 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:14.944Z,1362630374.944 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:14.948Z,1362630374.948 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:17.454Z,1362630377.454 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:17.480Z,1362630377.480 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:17.484Z,1362630377.484 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:19.999Z,1362630379.999 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:20.017Z,1362630380.017 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:20.028Z,1362630380.028 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:22.551Z,1362630382.551 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:22.572Z,1362630382.572 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:22.575Z,1362630382.575 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:25.075Z,1362630385.075 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:25.102Z,1362630385.102 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:25.106Z,1362630385.106 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:27.618Z,1362630387.618 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:27.652Z,1362630387.652 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:27.661Z,1362630387.661 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:30.155Z,1362630390.155 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:30.181Z,1362630390.181 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:30.188Z,1362630390.188 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:32.699Z,1362630392.699 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:32.728Z,1362630392.728 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:32.730Z,1362630392.730 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:35.237Z,1362630395.237 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:35.280Z,1362630395.280 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:35.287Z,1362630395.287 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:37.786Z,1362630397.786 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:37.811Z,1362630397.810 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:37.813Z,1362630397.813 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:40.318Z,1362630400.318 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:40.354Z,1362630400.354 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:40.357Z,1362630400.357 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:42.863Z,1362630402.864 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:42.892Z,1362630402.892 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:42.900Z,1362630402.900 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:45.415Z,1362630405.415 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:45.447Z,1362630405.447 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:45.452Z,1362630405.452 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:47.955Z,1362630407.955 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:47.978Z,1362630407.978 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:47.981Z,1362630407.981 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:50.487Z,1362630410.487 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:50.515Z,1362630410.515 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:50.519Z,1362630410.519 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:53.031Z,1362630413.031 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:53.078Z,1362630413.078 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:53.083Z,1362630413.083 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:55.587Z,1362630415.587 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:55.605Z,1362630415.605 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:55.610Z,1362630415.610 [DVL_micro](DEBUG): ADCP
2013-03-07T04:26:58.115Z,1362630418.115 [DVL_micro](DEBUG): NQ1
2013-03-07T04:26:58.179Z,1362630418.179 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:26:58.184Z,1362630418.184 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:00.664Z,1362630420.664 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:00.680Z,1362630420.680 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:00.692Z,1362630420.692 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:03.199Z,1362630423.199 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:03.255Z,1362630423.255 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:03.263Z,1362630423.263 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:05.750Z,1362630425.750 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:05.800Z,1362630425.800 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:05.803Z,1362630425.803 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:08.282Z,1362630428.282 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:08.308Z,1362630428.308 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:08.311Z,1362630428.311 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:10.818Z,1362630430.819 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:10.873Z,1362630430.873 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:10.876Z,1362630430.876 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:13.355Z,1362630433.355 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:13.384Z,1362630433.384 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:13.388Z,1362630433.388 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:15.902Z,1362630435.902 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:15.962Z,1362630435.962 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:15.966Z,1362630435.966 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:18.454Z,1362630438.454 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:18.485Z,1362630438.485 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:18.492Z,1362630438.492 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:20.982Z,1362630440.982 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:21.019Z,1362630441.019 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:21.021Z,1362630441.021 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:23.543Z,1362630443.543 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:23.583Z,1362630443.583 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:23.585Z,1362630443.585 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:26.074Z,1362630446.074 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:26.098Z,1362630446.098 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:26.102Z,1362630446.102 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:28.618Z,1362630448.618 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:28.665Z,1362630448.665 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:28.669Z,1362630448.669 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:31.169Z,1362630451.169 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:31.186Z,1362630451.186 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:31.189Z,1362630451.189 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:33.703Z,1362630453.703 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:33.732Z,1362630453.732 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:33.756Z,1362630453.756 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:36.254Z,1362630456.254 [DVL_micro](DEBUG): NQ1
2013-03-07T04:27:36.284Z,1362630456.284 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:27:36.288Z,1362630456.288 [DVL_micro](DEBUG): ADCP
2013-03-07T04:27:36.951Z,1362630456.951 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:27:37.388Z,1362630457.388 [EcoHAB_box] Stopped
2013-03-07T04:27:37.389Z,1362630457.388 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:27:37.389Z,1362630457.389 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:27:37.390Z,1362630457.390 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:27:37.390Z,1362630457.390 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:27:37.390Z,1362630457.390 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:27:37.390Z,1362630457.390 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:27:37.390Z,1362630457.390 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:27:37.390Z,1362630457.390 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:27:37.392Z,1362630457.392 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:27:37.392Z,1362630457.392 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:27:37.393Z,1362630457.392 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:27:37.393Z,1362630457.393 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:27:37.394Z,1362630457.394 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:27:37.394Z,1362630457.395 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:27:37.394Z,1362630457.395 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:27:37.395Z,1362630457.395 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:27:37.395Z,1362630457.395 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:27:37.586Z,1362630457.586 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:27:37.703Z,1362630457.703 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:27:37.703Z,1362630457.703 [Default] Running Loop=1
2013-03-07T04:27:37.703Z,1362630457.703 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:27:37.703Z,1362630457.703 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:27:37.703Z,1362630457.703 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:27:37.703Z,1362630457.704 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:27:37.704Z,1362630457.704 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:27:37.704Z,1362630457.704 [Default:Iridium] Running Loop=1
2013-03-07T04:27:37.704Z,1362630457.704 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:27:37.704Z,1362630457.704 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:27:37.704Z,1362630457.704 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:27:37.704Z,1362630457.704 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:27:37.704Z,1362630457.704 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:27:37.706Z,1362630457.706 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:27:37.706Z,1362630457.706 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:27:37.707Z,1362630457.707 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:27:38.239Z,1362630458.239 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:27:38.389Z,1362630458.389 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:27:38.571Z,1362630458.571 [NAL9602](INFO): Powering up
2013-03-07T04:27:49.255Z,1362630469.255 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:28:04.469Z,1362630484.469 [NAL9602](INFO): SBD MO Status=0, MOMSN=6571, MT Status=0, MTMSN=0
2013-03-07T04:28:04.567Z,1362630484.567 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:28:04.568Z,1362630484.568 [Default:Iridium](INFO): Completed Default:Iridium
2013-03-07T04:28:04.568Z,1362630484.568 [Default:Iridium] Stopped
2013-03-07T04:28:04.568Z,1362630484.568 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:28:04.568Z,1362630484.568 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:28:04.568Z,1362630484.568 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:28:04.568Z,1362630484.568 [Default:F.Wait] Running Loop=1
2013-03-07T04:28:04.568Z,1362630484.568 [Default:F.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:28:15.028Z,1362630495.028 [NAL9602](INFO): Powering down
2013-03-07T04:28:28.347Z,1362630508.347 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:28:28.347Z,1362630508.347 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:28:28.526Z,1362630508.526 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:28:28.528Z,1362630508.528 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:28:28.530Z,1362630508.530 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:28:28.533Z,1362630508.533 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:28:28.550Z,1362630508.550 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:28:28.553Z,1362630508.553 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:28:28.555Z,1362630508.555 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:28:28.558Z,1362630508.557 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:28:28.560Z,1362630508.560 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:28:28.562Z,1362630508.562 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:28:28.564Z,1362630508.565 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:28:28.567Z,1362630508.567 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:28:28.569Z,1362630508.569 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:28:28.571Z,1362630508.571 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:28:28.574Z,1362630508.574 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:28:28.576Z,1362630508.576 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:28:28.578Z,1362630508.578 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:28:28.580Z,1362630508.580 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:28:28.583Z,1362630508.583 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:28:28.585Z,1362630508.585 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:28:28.587Z,1362630508.587 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:28:28.589Z,1362630508.589 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:28:28.592Z,1362630508.592 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:28:28.594Z,1362630508.594 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:28:28.596Z,1362630508.596 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:28:28.598Z,1362630508.598 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:28:28.600Z,1362630508.600 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:28:28.603Z,1362630508.603 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:28:28.605Z,1362630508.605 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:28:28.607Z,1362630508.607 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:28:28.609Z,1362630508.609 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:28:28.612Z,1362630508.612 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:28:28.614Z,1362630508.614 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:28:28.616Z,1362630508.616 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:28:28.618Z,1362630508.618 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:28:28.623Z,1362630508.623 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:28:28.628Z,1362630508.628 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:28:28.633Z,1362630508.633 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:28:28.692Z,1362630508.692 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:28:28.694Z,1362630508.694 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:28:28.697Z,1362630508.697 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:28:28.699Z,1362630508.699 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:28:28.701Z,1362630508.701 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:28:28.702Z,1362630508.702 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:28:28.711Z,1362630508.711 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:28:28.724Z,1362630508.724 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:28:28.727Z,1362630508.727 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:28:28.728Z,1362630508.727 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:28:28.776Z,1362630508.776 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:28:28.778Z,1362630508.778 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:28:28.780Z,1362630508.780 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:28:28.783Z,1362630508.783 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:28:28.785Z,1362630508.784 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:28:28.785Z,1362630508.785 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:28:28.795Z,1362630508.795 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:28:28.797Z,1362630508.797 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:28:28.798Z,1362630508.798 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:28:28.799Z,1362630508.799 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:28:28.817Z,1362630508.817 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:28:28.819Z,1362630508.819 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:28:28.821Z,1362630508.821 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:28:28.824Z,1362630508.824 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:28:28.825Z,1362630508.825 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:28:28.835Z,1362630508.835 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:28:28.848Z,1362630508.848 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:28:28.850Z,1362630508.851 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:28:28.853Z,1362630508.853 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:28:28.854Z,1362630508.854 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:28:28.874Z,1362630508.874 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:28:28.876Z,1362630508.876 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:28:28.879Z,1362630508.879 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:28:28.881Z,1362630508.881 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:28:28.882Z,1362630508.882 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:28:28.889Z,1362630508.889 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:28:28.890Z,1362630508.890 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:28:28.891Z,1362630508.891 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:28:28.905Z,1362630508.905 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:28:28.908Z,1362630508.908 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:28:28.910Z,1362630508.910 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:28:28.911Z,1362630508.911 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:28:28.932Z,1362630508.932 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:28:28.934Z,1362630508.934 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:28:28.936Z,1362630508.936 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:28:28.938Z,1362630508.938 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:28:28.940Z,1362630508.940 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:28:28.941Z,1362630508.941 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:28:28.951Z,1362630508.951 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:28:28.952Z,1362630508.953 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:28:28.953Z,1362630508.954 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:28:28.957Z,1362630508.957 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:28:28.960Z,1362630508.960 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:28:29.003Z,1362630509.003 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:28:29.005Z,1362630509.005 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:28:29.007Z,1362630509.007 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:28:29.009Z,1362630509.010 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:28:29.012Z,1362630509.012 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:28:29.014Z,1362630509.014 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:28:29.016Z,1362630509.016 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:28:29.018Z,1362630509.018 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:28:29.020Z,1362630509.020 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:28:29.023Z,1362630509.023 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:28:29.025Z,1362630509.025 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:28:29.027Z,1362630509.027 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:28:29.034Z,1362630509.034 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:28:29.041Z,1362630509.040 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:28:29.067Z,1362630509.067 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.072Z,1362630509.072 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.077Z,1362630509.077 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.081Z,1362630509.081 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.086Z,1362630509.086 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.091Z,1362630509.091 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.096Z,1362630509.096 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:28:29.101Z,1362630509.101 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:28:29.279Z,1362630509.279 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:28:29.282Z,1362630509.282 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:28:29.284Z,1362630509.284 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:28:29.286Z,1362630509.286 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:28:29.288Z,1362630509.288 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:28:29.290Z,1362630509.290 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:28:29.292Z,1362630509.292 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:28:29.294Z,1362630509.294 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:28:29.296Z,1362630509.296 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:28:29.298Z,1362630509.298 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:28:29.300Z,1362630509.300 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:28:29.303Z,1362630509.303 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:28:29.305Z,1362630509.305 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:28:29.336Z,1362630509.336 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:28:29.338Z,1362630509.338 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:28:29.340Z,1362630509.341 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:28:29.350Z,1362630509.350 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:28:29.353Z,1362630509.353 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:28:29.355Z,1362630509.355 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:28:29.357Z,1362630509.358 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:28:29.360Z,1362630509.360 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:28:29.362Z,1362630509.362 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:28:29.365Z,1362630509.365 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:28:29.367Z,1362630509.367 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:28:29.370Z,1362630509.370 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:28:29.372Z,1362630509.372 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:28:29.375Z,1362630509.375 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:28:29.377Z,1362630509.377 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:28:29.379Z,1362630509.379 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:28:29.382Z,1362630509.382 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:28:29.398Z,1362630509.398 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:28:29.406Z,1362630509.406 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:28:29.414Z,1362630509.414 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:28:29.421Z,1362630509.421 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:28:29.422Z,1362630509.422 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:28:29.424Z,1362630509.424 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:28:29.425Z,1362630509.425 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:28:29.426Z,1362630509.426 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:28:29.428Z,1362630509.428 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:28:29.429Z,1362630509.429 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:28:29.431Z,1362630509.431 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:28:29.432Z,1362630509.432 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:28:29.433Z,1362630509.433 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:28:29.434Z,1362630509.434 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:28:29.437Z,1362630509.437 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:28:29.444Z,1362630509.444 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:28:29.449Z,1362630509.449 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:28:29.493Z,1362630509.493 [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="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"><True/></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>


2013-03-07T04:28:29.493Z,1362630509.493 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:28:29.494Z,1362630509.494 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:28:29.495Z,1362630509.495 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:28:29.496Z,1362630509.496 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:28:29.496Z,1362630509.497 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:28:37.271Z,1362630517.271 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lat 36.842499 degree
2013-03-07T04:28:37.272Z,1362630517.272 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lon -121.866798 degree
2013-03-07T04:28:37.273Z,1362630517.273 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lat 36.819000 degree
2013-03-07T04:28:37.273Z,1362630517.273 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lon -121.885002 degree
2013-03-07T04:28:44.827Z,1362630524.827 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lat 36.859001 degree
2013-03-07T04:28:44.828Z,1362630524.828 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lon -121.964996 degree
2013-03-07T04:28:44.828Z,1362630524.829 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lat 36.882500 degree
2013-03-07T04:28:44.829Z,1362630524.829 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lon -121.946800 degree
2013-03-07T04:28:46.235Z,1362630526.235 [CommandLine](IMPORTANT): got command run 
2013-03-07T04:28:46.235Z,1362630526.235 [CommandLine](IMPORTANT): Running 
2013-03-07T04:28:50.111Z,1362630530.111 [Default] Stopped
2013-03-07T04:28:50.111Z,1362630530.111 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:28:50.111Z,1362630530.111 [Default:D.SetSpeed] Stopped
2013-03-07T04:28:50.111Z,1362630530.111 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:28:50.111Z,1362630530.111 [Default:E.GoToSurface] Stopped
2013-03-07T04:28:50.111Z,1362630530.111 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:28:50.111Z,1362630530.111 [Default:F.Wait] Stopped
2013-03-07T04:28:50.111Z,1362630530.111 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:28:50.111Z,1362630530.111 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:28:50.112Z,1362630530.112 [EcoHAB_box] Running Loop=1
2013-03-07T04:28:50.112Z,1362630530.112 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:28:50.112Z,1362630530.112 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:28:50.112Z,1362630530.112 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:28:50.112Z,1362630530.112 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:28:50.112Z,1362630530.112 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:28:50.113Z,1362630530.113 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:28:50.113Z,1362630530.114 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:28:50.114Z,1362630530.114 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:28:50.114Z,1362630530.114 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:28:50.115Z,1362630530.115 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:28:50.116Z,1362630530.116 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:28:50.118Z,1362630530.118 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:28:50.118Z,1362630530.118 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:28:50.118Z,1362630530.118 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:28:50.118Z,1362630530.118 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:28:50.119Z,1362630530.119 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:28:50.121Z,1362630530.121 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:28:50.380Z,1362630530.381 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:28:50.381Z,1362630530.381 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:28:50.381Z,1362630530.381 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:28:50.381Z,1362630530.381 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:28:50.381Z,1362630530.381 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:28:50.381Z,1362630530.381 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:28:50.392Z,1362630530.392 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:28:50.393Z,1362630530.393 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:28:50.393Z,1362630530.393 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:28:50.393Z,1362630530.393 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:28:50.786Z,1362630530.786 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:28:50.786Z,1362630530.786 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:28:50.787Z,1362630530.787 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:28:51.150Z,1362630531.150 [NAL9602](INFO): Powering up
2013-03-07T04:28:52.399Z,1362630532.399 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:28:52.399Z,1362630532.399 [DVL_micro](INFO): Querying output modes
2013-03-07T04:28:52.399Z,1362630532.399 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:28:52.410Z,1362630532.411 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:28:52.411Z,1362630532.411 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:28:52.411Z,1362630532.411 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:28:52.411Z,1362630532.411 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:28:52.423Z,1362630532.423 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:28:52.424Z,1362630532.424 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:28:52.424Z,1362630532.424 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:28:53.647Z,1362630533.647 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:28:54.449Z,1362630534.449 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:28:54.449Z,1362630534.449 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:28:55.131Z,1362630535.131 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:28:55.131Z,1362630535.131 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:28:55.132Z,1362630535.132 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:28:55.379Z,1362630535.379 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:28:55.379Z,1362630535.379 [DVL_micro](INFO): Querying output modes
2013-03-07T04:28:55.379Z,1362630535.379 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:28:55.558Z,1362630535.558 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:28:55.558Z,1362630535.559 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:28:55.559Z,1362630535.559 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:28:55.643Z,1362630535.643 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:28:58.167Z,1362630538.167 [DVL_micro](DEBUG): NQ1
2013-03-07T04:28:58.192Z,1362630538.192 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:00.275Z,1362630540.275 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:29:00.698Z,1362630540.698 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:00.724Z,1362630540.724 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:01.679Z,1362630541.679 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:29:03.232Z,1362630543.232 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:03.261Z,1362630543.261 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:04.995Z,1362630544.995 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:29:05.770Z,1362630545.770 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:05.796Z,1362630545.796 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:08.294Z,1362630548.294 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:08.317Z,1362630548.317 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:10.831Z,1362630550.831 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:10.859Z,1362630550.859 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:11.319Z,1362630551.319 [CommandLine](IMPORTANT): got command get depth
2013-03-07T04:29:11.319Z,1362630551.319 [CommandLine](IMPORTANT): depth -0.041984 meter
2013-03-07T04:29:13.358Z,1362630553.358 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:13.380Z,1362630553.380 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:15.899Z,1362630555.898 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:15.923Z,1362630555.923 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:18.419Z,1362630558.418 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:18.458Z,1362630558.458 [NAL9602](IMPORTANT): GPS fix at: 1362673983.00
2013-03-07T04:29:18.458Z,1362630558.458 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:18.510Z,1362630558.510 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:29:18.514Z,1362630558.514 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:29:18.892Z,1362630558.892 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:29:19.329Z,1362630559.329 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:29:19.330Z,1362630559.330 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:29:19.347Z,1362630559.347 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:29:19.348Z,1362630559.348 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:29:19.408Z,1362630559.408 [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,
2013-03-07T04:29:20.955Z,1362630560.955 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:20.977Z,1362630560.977 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:21.919Z,1362630561.918 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:29:23.502Z,1362630563.502 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:23.525Z,1362630563.525 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:25.569Z,1362630565.569 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:29:26.047Z,1362630566.047 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:26.071Z,1362630566.071 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:28.574Z,1362630568.574 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:28.599Z,1362630568.599 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:29.708Z,1362630569.708 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:29:31.102Z,1362630571.102 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:31.125Z,1362630571.125 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:33.651Z,1362630573.651 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:33.663Z,1362630573.663 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:36.170Z,1362630576.170 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:36.193Z,1362630576.193 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:38.491Z,1362630578.491 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:29:38.702Z,1362630578.703 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:38.728Z,1362630578.728 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:40.371Z,1362630580.371 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:29:40.481Z,1362630580.481 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:29:40.481Z,1362630580.481 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:29:40.909Z,1362630580.909 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:29:40.910Z,1362630580.910 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:29:40.910Z,1362630580.910 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:29:40.910Z,1362630580.910 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:29:40.910Z,1362630580.911 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:29:40.911Z,1362630580.911 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:29:40.911Z,1362630580.911 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:29:40.912Z,1362630580.912 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.912 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:29:40.913Z,1362630580.913 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:29:40.914Z,1362630580.914 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:29:40.914Z,1362630580.914 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:29:40.915Z,1362630580.915 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:29:40.915Z,1362630580.915 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:29:40.915Z,1362630580.915 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:29:40.915Z,1362630580.915 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:29:41.243Z,1362630581.243 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:41.276Z,1362630581.276 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:41.296Z,1362630581.296 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:29:41.298Z,1362630581.298 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:29:41.299Z,1362630581.299 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:29:41.301Z,1362630581.300 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:29:41.301Z,1362630581.301 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:29:41.303Z,1362630581.303 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:29:41.303Z,1362630581.303 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:29:41.303Z,1362630581.303 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:29:41.303Z,1362630581.303 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:29:41.305Z,1362630581.305 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:29:41.306Z,1362630581.306 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:29:41.307Z,1362630581.307 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:29:41.308Z,1362630581.308 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:29:41.308Z,1362630581.309 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:29:41.309Z,1362630581.309 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:29:41.310Z,1362630581.310 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:29:41.310Z,1362630581.310 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:29:41.310Z,1362630581.310 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:29:41.310Z,1362630581.310 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:29:41.311Z,1362630581.311 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:29:41.311Z,1362630581.311 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:29:41.347Z,1362630581.347 [DVL_micro](INFO): ADCP requested
2013-03-07T04:29:41.347Z,1362630581.348 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:29:41.385Z,1362630581.385 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:29:41.386Z,1362630581.385 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:29:41.685Z,1362630581.685 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:29:41.685Z,1362630581.685 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:29:41.686Z,1362630581.685 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:29:41.687Z,1362630581.687 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:29:41.687Z,1362630581.687 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:29:42.086Z,1362630582.086 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.494856 h 
2013-03-07T04:29:42.087Z,1362630582.087 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:29:42.088Z,1362630582.088 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:29:42.499Z,1362630582.499 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:29:42.500Z,1362630582.500 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:29:42.906Z,1362630582.906 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.505144 h 
2013-03-07T04:29:42.907Z,1362630582.907 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:29:42.907Z,1362630582.907 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:29:42.907Z,1362630582.907 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:29:42.907Z,1362630582.907 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:29:43.296Z,1362630583.296 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:29:43.297Z,1362630583.297 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:29:43.297Z,1362630583.297 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:29:43.297Z,1362630583.297 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:29:43.297Z,1362630583.297 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:29:43.297Z,1362630583.297 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:29:43.355Z,1362630583.355 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:29:43.356Z,1362630583.355 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:29:43.558Z,1362630583.558 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:29:43.559Z,1362630583.559 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:29:43.559Z,1362630583.559 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:29:43.693Z,1362630583.693 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 210.308623 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:29:43.694Z,1362630583.694 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:29:43.694Z,1362630583.694 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:29:43.694Z,1362630583.694 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:29:43.747Z,1362630583.747 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:29:43.747Z,1362630583.747 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:29:43.747Z,1362630583.747 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:29:43.940Z,1362630583.940 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:29:43.940Z,1362630583.940 [DVL_micro](INFO): Querying output modes
2013-03-07T04:29:43.940Z,1362630583.940 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:29:43.955Z,1362630583.955 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:29:43.955Z,1362630583.955 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:29:43.955Z,1362630583.955 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:29:43.955Z,1362630583.955 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:29:43.967Z,1362630583.967 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:29:44.167Z,1362630584.167 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:29:44.168Z,1362630584.168 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:29:44.168Z,1362630584.168 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:29:44.168Z,1362630584.168 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:29:44.169Z,1362630584.170 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:29:44.170Z,1362630584.170 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:29:44.170Z,1362630584.170 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:29:44.519Z,1362630584.519 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:29:44.520Z,1362630584.520 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:29:44.520Z,1362630584.520 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:29:45.061Z,1362630585.061 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:29:46.495Z,1362630586.495 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:46.524Z,1362630586.524 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:46.549Z,1362630586.549 [DVL_micro](DEBUG): ADCP
2013-03-07T04:29:47.156Z,1362630587.157 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:29:47.809Z,1362630587.809 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:29:47.956Z,1362630587.956 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:29:47.956Z,1362630587.956 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:29:48.356Z,1362630588.356 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:29:48.356Z,1362630588.356 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:29:48.357Z,1362630588.357 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:29:48.357Z,1362630588.357 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:29:48.357Z,1362630588.357 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:29:48.358Z,1362630588.358 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:29:48.358Z,1362630588.358 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:29:48.358Z,1362630588.358 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:29:48.358Z,1362630588.358 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:29:48.359Z,1362630588.359 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:29:48.772Z,1362630588.772 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:29:48.772Z,1362630588.772 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:29:48.772Z,1362630588.772 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:29:48.772Z,1362630588.772 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:29:48.772Z,1362630588.772 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:29:48.772Z,1362630588.773 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:29:48.773Z,1362630588.773 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:29:49.046Z,1362630589.046 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:49.075Z,1362630589.075 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:49.080Z,1362630589.080 [DVL_micro](DEBUG): ADCP
2013-03-07T04:29:49.156Z,1362630589.156 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:29:49.156Z,1362630589.157 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:29:49.549Z,1362630589.549 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:29:49.549Z,1362630589.549 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:29:50.576Z,1362630590.576 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:29:50.576Z,1362630590.576 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:29:50.980Z,1362630590.980 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:29:51.004Z,1362630591.004 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:29:51.004Z,1362630591.004 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:29:51.004Z,1362630591.004 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:29:51.388Z,1362630591.388 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:29:51.388Z,1362630591.388 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:29:51.388Z,1362630591.388 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:29:51.388Z,1362630591.388 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:29:51.388Z,1362630591.388 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:29:51.393Z,1362630591.393 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 210.308623 min 
2013-03-07T04:29:51.394Z,1362630591.394 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:29:51.395Z,1362630591.395 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:29:51.395Z,1362630591.395 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:29:51.395Z,1362630591.395 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:29:51.395Z,1362630591.395 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:29:51.395Z,1362630591.395 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:29:51.579Z,1362630591.579 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:51.621Z,1362630591.621 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:51.628Z,1362630591.628 [DVL_micro](DEBUG): ADCP
2013-03-07T04:29:51.766Z,1362630591.766 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:29:51.767Z,1362630591.767 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:29:51.767Z,1362630591.767 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:29:51.767Z,1362630591.767 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:29:52.091Z,1362630592.091 [CommandLine](IMPORTANT): got command get depth
2013-03-07T04:29:52.091Z,1362630592.091 [CommandLine](IMPORTANT): depth -0.026386 meter
2013-03-07T04:29:54.122Z,1362630594.122 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:54.165Z,1362630594.165 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:54.173Z,1362630594.173 [DVL_micro](DEBUG): ADCP
2013-03-07T04:29:56.344Z,1362630596.344 [NAL9602](INFO): Powering down
2013-03-07T04:29:56.662Z,1362630596.662 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:56.696Z,1362630596.696 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:56.699Z,1362630596.699 [DVL_micro](DEBUG): ADCP
2013-03-07T04:29:58.475Z,1362630598.475 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:29:58.475Z,1362630598.475 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:29:58.476Z,1362630598.476 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:29:58.476Z,1362630598.476 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:29:58.476Z,1362630598.476 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:29:58.477Z,1362630598.477 [EcoHAB_box](INFO): Priority 3: EcoHAB_box:I.Pitch
2013-03-07T04:29:58.477Z,1362630598.477 [EcoHAB_box](INFO): Priority 4: EcoHAB_box:J.Buoyancy
2013-03-07T04:29:58.477Z,1362630598.477 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Priority 5: EcoHAB_box:CircleWaypointRepeatedly:B
2013-03-07T04:29:58.478Z,1362630598.478 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Priority 6: EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle
2013-03-07T04:29:58.489Z,1362630598.489 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:29:58.489Z,1362630598.489 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:29:58.489Z,1362630598.489 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:29:58.490Z,1362630598.490 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:29:58.490Z,1362630598.490 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:29:58.490Z,1362630598.490 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:29:58.491Z,1362630598.491 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:29:58.491Z,1362630598.491 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:29:59.198Z,1362630599.198 [DVL_micro](DEBUG): NQ1
2013-03-07T04:29:59.244Z,1362630599.244 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:29:59.248Z,1362630599.248 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:01.740Z,1362630601.740 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:01.766Z,1362630601.766 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:30:01.769Z,1362630601.769 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:04.287Z,1362630604.287 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:04.327Z,1362630604.327 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:30:04.339Z,1362630604.339 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:06.826Z,1362630606.826 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:06.860Z,1362630606.860 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:30:06.876Z,1362630606.876 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:09.371Z,1362630609.371 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:09.396Z,1362630609.397 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:30:09.399Z,1362630609.399 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:10.416Z,1362630610.416 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:30:10.417Z,1362630610.417 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:30:10.783Z,1362630610.783 [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,
2013-03-07T04:30:11.021Z,1362630611.021 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:30:11.021Z,1362630611.021 [EcoHAB_box:ScienceOps:Science:C](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:30:11.915Z,1362630611.915 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:11.962Z,1362630611.962 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:11.965Z,1362630611.965 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:14.463Z,1362630614.463 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:14.492Z,1362630614.492 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:14.496Z,1362630614.496 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:16.994Z,1362630616.994 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:17.023Z,1362630617.023 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:17.027Z,1362630617.027 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:18.207Z,1362630618.207 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:30:18.425Z,1362630618.425 [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,
2013-03-07T04:30:19.541Z,1362630619.541 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:19.577Z,1362630619.577 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:19.585Z,1362630619.585 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:22.086Z,1362630622.086 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:22.112Z,1362630622.112 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:22.115Z,1362630622.115 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:24.635Z,1362630624.635 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:24.663Z,1362630624.663 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:24.665Z,1362630624.665 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:27.171Z,1362630627.171 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:27.204Z,1362630627.204 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:27.209Z,1362630627.209 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:29.711Z,1362630629.711 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:29.776Z,1362630629.776 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:29.784Z,1362630629.784 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:31.732Z,1362630631.732 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2013-03-07T04:30:31.733Z,1362630631.733 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:30:31.854Z,1362630631.854 [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_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,
2013-03-07T04:30:32.255Z,1362630632.255 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:32.279Z,1362630632.279 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:32.282Z,1362630632.282 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:34.799Z,1362630634.799 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:34.818Z,1362630634.818 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:34.821Z,1362630634.821 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:37.347Z,1362630637.347 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:37.370Z,1362630637.370 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:37.374Z,1362630637.374 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:39.874Z,1362630639.874 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:39.897Z,1362630639.897 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:39.900Z,1362630639.900 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:42.410Z,1362630642.411 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:42.449Z,1362630642.449 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:42.465Z,1362630642.465 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:44.959Z,1362630644.959 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:44.986Z,1362630644.986 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:44.989Z,1362630644.989 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:47.495Z,1362630647.495 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:47.526Z,1362630647.526 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:47.553Z,1362630647.553 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:50.055Z,1362630650.055 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:50.093Z,1362630650.093 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:50.097Z,1362630650.097 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:52.590Z,1362630652.591 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:52.619Z,1362630652.619 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:52.621Z,1362630652.621 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:55.127Z,1362630655.127 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:55.157Z,1362630655.157 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:55.160Z,1362630655.160 [DVL_micro](DEBUG): ADCP
2013-03-07T04:30:57.659Z,1362630657.659 [DVL_micro](DEBUG): NQ1
2013-03-07T04:30:57.697Z,1362630657.697 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:30:57.706Z,1362630657.706 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:00.202Z,1362630660.202 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:00.224Z,1362630660.224 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:00.227Z,1362630660.227 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:02.737Z,1362630662.737 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:02.771Z,1362630662.771 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:02.774Z,1362630662.774 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:05.283Z,1362630665.283 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:05.319Z,1362630665.319 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:05.321Z,1362630665.321 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:07.835Z,1362630667.835 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:07.847Z,1362630667.847 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:07.852Z,1362630667.852 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:10.362Z,1362630670.362 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:10.399Z,1362630670.399 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:10.401Z,1362630670.401 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:12.911Z,1362630672.911 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:12.950Z,1362630672.950 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:12.953Z,1362630672.953 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:15.446Z,1362630675.446 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:15.473Z,1362630675.473 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:15.478Z,1362630675.478 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:17.998Z,1362630677.998 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:18.026Z,1362630678.026 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:18.046Z,1362630678.046 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:20.542Z,1362630680.542 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:20.570Z,1362630680.569 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:20.573Z,1362630680.573 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:23.070Z,1362630683.070 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:23.114Z,1362630683.114 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:23.117Z,1362630683.117 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:25.623Z,1362630685.623 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:25.657Z,1362630685.657 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:25.660Z,1362630685.660 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:28.151Z,1362630688.151 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:28.173Z,1362630688.173 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:28.176Z,1362630688.176 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:30.702Z,1362630690.702 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:30.728Z,1362630690.728 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:30.753Z,1362630690.753 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:33.239Z,1362630693.239 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:33.266Z,1362630693.266 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:33.269Z,1362630693.269 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:35.775Z,1362630695.775 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:35.816Z,1362630695.816 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:35.820Z,1362630695.820 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:38.326Z,1362630698.326 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:38.372Z,1362630698.372 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:38.384Z,1362630698.384 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:40.874Z,1362630700.874 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:40.900Z,1362630700.901 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:40.904Z,1362630700.904 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:43.415Z,1362630703.415 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:43.457Z,1362630703.457 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:43.460Z,1362630703.460 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:45.943Z,1362630705.943 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:45.983Z,1362630705.983 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:45.986Z,1362630705.986 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:48.498Z,1362630708.499 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:48.547Z,1362630708.547 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:48.551Z,1362630708.551 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:51.047Z,1362630711.047 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:51.061Z,1362630711.061 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:51.064Z,1362630711.064 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:53.567Z,1362630713.567 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:53.595Z,1362630713.595 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:53.598Z,1362630713.598 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:56.110Z,1362630716.110 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:56.150Z,1362630716.150 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:56.163Z,1362630716.163 [DVL_micro](DEBUG): ADCP
2013-03-07T04:31:58.651Z,1362630718.651 [DVL_micro](DEBUG): NQ1
2013-03-07T04:31:58.676Z,1362630718.676 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:31:58.679Z,1362630718.679 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:01.200Z,1362630721.200 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:01.217Z,1362630721.217 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:01.220Z,1362630721.220 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:03.735Z,1362630723.735 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:03.772Z,1362630723.772 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:03.775Z,1362630723.775 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:06.274Z,1362630726.274 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:06.302Z,1362630726.302 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:06.306Z,1362630726.306 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:08.814Z,1362630728.815 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:08.845Z,1362630728.845 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:08.848Z,1362630728.848 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:11.339Z,1362630731.339 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:11.379Z,1362630731.379 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:11.382Z,1362630731.382 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:13.891Z,1362630733.891 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:13.919Z,1362630733.919 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:13.922Z,1362630733.922 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:16.422Z,1362630736.422 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:16.449Z,1362630736.449 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:16.451Z,1362630736.451 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:18.971Z,1362630738.971 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:18.993Z,1362630738.993 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:19.003Z,1362630739.003 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:21.514Z,1362630741.514 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:21.548Z,1362630741.548 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:21.569Z,1362630741.569 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:24.059Z,1362630744.059 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:24.088Z,1362630744.088 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:24.092Z,1362630744.092 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:26.592Z,1362630746.592 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:26.623Z,1362630746.623 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:26.625Z,1362630746.625 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:29.132Z,1362630749.132 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:29.173Z,1362630749.173 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:29.176Z,1362630749.176 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:31.671Z,1362630751.671 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:31.706Z,1362630751.706 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:31.711Z,1362630751.711 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:34.211Z,1362630754.211 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:34.264Z,1362630754.264 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:34.285Z,1362630754.285 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:36.759Z,1362630756.759 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:36.782Z,1362630756.782 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:36.785Z,1362630756.785 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:39.298Z,1362630759.298 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:39.326Z,1362630759.326 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:39.329Z,1362630759.329 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:41.855Z,1362630761.855 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:41.891Z,1362630761.891 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:41.895Z,1362630761.895 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:44.386Z,1362630764.386 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:44.427Z,1362630764.427 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:44.444Z,1362630764.444 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:46.923Z,1362630766.922 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:46.945Z,1362630766.945 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:46.948Z,1362630766.948 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:49.463Z,1362630769.463 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:49.490Z,1362630769.490 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:49.493Z,1362630769.493 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:52.007Z,1362630772.007 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:52.052Z,1362630772.052 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:52.055Z,1362630772.055 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:54.554Z,1362630774.554 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:54.580Z,1362630774.580 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:54.592Z,1362630774.592 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:57.098Z,1362630777.098 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:57.121Z,1362630777.121 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:57.123Z,1362630777.123 [DVL_micro](DEBUG): ADCP
2013-03-07T04:32:59.642Z,1362630779.642 [DVL_micro](DEBUG): NQ1
2013-03-07T04:32:59.668Z,1362630779.668 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:32:59.670Z,1362630779.670 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:02.183Z,1362630782.183 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:02.218Z,1362630782.218 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:02.221Z,1362630782.221 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:04.722Z,1362630784.722 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:04.768Z,1362630784.768 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:04.774Z,1362630784.774 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:07.274Z,1362630787.274 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:07.300Z,1362630787.300 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:07.303Z,1362630787.303 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:09.803Z,1362630789.803 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:09.830Z,1362630789.830 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:09.849Z,1362630789.849 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:12.359Z,1362630792.359 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:12.384Z,1362630792.384 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:12.389Z,1362630792.389 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:14.903Z,1362630794.903 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:14.954Z,1362630794.954 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:14.960Z,1362630794.960 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:17.451Z,1362630797.451 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:17.475Z,1362630797.475 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:17.479Z,1362630797.479 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:19.988Z,1362630799.988 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:20.029Z,1362630800.029 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:20.047Z,1362630800.047 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:22.533Z,1362630802.533 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:22.554Z,1362630802.554 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:22.556Z,1362630802.556 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:25.063Z,1362630805.063 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:25.103Z,1362630805.103 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:25.107Z,1362630805.107 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:27.610Z,1362630807.611 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:27.643Z,1362630807.643 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:27.647Z,1362630807.647 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:30.159Z,1362630810.158 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:30.198Z,1362630810.198 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:30.209Z,1362630810.210 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:32.702Z,1362630812.702 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:32.727Z,1362630812.727 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:32.729Z,1362630812.729 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:35.246Z,1362630815.246 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:35.273Z,1362630815.273 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:35.277Z,1362630815.277 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:37.783Z,1362630817.783 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:37.816Z,1362630817.816 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:37.820Z,1362630817.820 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:40.315Z,1362630820.315 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:40.355Z,1362630820.355 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:40.357Z,1362630820.357 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:42.859Z,1362630822.859 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:42.893Z,1362630822.893 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:42.896Z,1362630822.896 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:45.395Z,1362630825.395 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:45.420Z,1362630825.420 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:45.457Z,1362630825.457 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:47.944Z,1362630827.944 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:47.968Z,1362630827.968 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:47.971Z,1362630827.971 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:49.472Z,1362630829.472 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:33:49.967Z,1362630829.967 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:33:50.486Z,1362630830.487 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:50.509Z,1362630830.509 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:50.512Z,1362630830.512 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:53.037Z,1362630833.037 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:53.073Z,1362630833.073 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:53.080Z,1362630833.080 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:55.578Z,1362630835.579 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:55.606Z,1362630835.606 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:55.609Z,1362630835.609 [DVL_micro](DEBUG): ADCP
2013-03-07T04:33:58.119Z,1362630838.119 [DVL_micro](DEBUG): NQ1
2013-03-07T04:33:58.149Z,1362630838.149 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:33:58.152Z,1362630838.152 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:00.659Z,1362630840.659 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:00.682Z,1362630840.682 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:00.685Z,1362630840.685 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:02.685Z,1362630842.685 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:34:03.171Z,1362630843.171 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:34:03.203Z,1362630843.203 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:03.255Z,1362630843.255 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:03.257Z,1362630843.257 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:05.747Z,1362630845.747 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:05.776Z,1362630845.776 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:05.779Z,1362630845.779 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:08.283Z,1362630848.283 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:08.305Z,1362630848.305 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:08.308Z,1362630848.308 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:10.835Z,1362630850.835 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:10.860Z,1362630850.860 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:10.863Z,1362630850.863 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:13.383Z,1362630853.383 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:13.408Z,1362630853.408 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:13.411Z,1362630853.411 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:15.918Z,1362630855.918 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:15.968Z,1362630855.968 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:15.971Z,1362630855.971 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:16.261Z,1362630856.261 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:34:16.779Z,1362630856.779 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:34:18.483Z,1362630858.483 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:18.511Z,1362630858.511 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:18.515Z,1362630858.515 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:21.007Z,1362630861.007 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:21.051Z,1362630861.051 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:21.055Z,1362630861.055 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:23.552Z,1362630863.552 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:23.576Z,1362630863.576 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:23.579Z,1362630863.579 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:26.087Z,1362630866.087 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:26.126Z,1362630866.126 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:26.145Z,1362630866.145 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:28.619Z,1362630868.619 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:28.660Z,1362630868.660 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:28.673Z,1362630868.673 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:29.491Z,1362630869.491 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:34:29.983Z,1362630869.983 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:34:31.164Z,1362630871.164 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:31.188Z,1362630871.188 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:31.191Z,1362630871.191 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:33.703Z,1362630873.703 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:33.729Z,1362630873.729 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:33.752Z,1362630873.752 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:36.258Z,1362630876.258 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:36.288Z,1362630876.288 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:36.292Z,1362630876.292 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:38.806Z,1362630878.806 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:38.841Z,1362630878.841 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:38.845Z,1362630878.845 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:41.335Z,1362630881.335 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:41.367Z,1362630881.367 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:41.370Z,1362630881.370 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:43.073Z,1362630883.073 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:34:43.590Z,1362630883.591 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:34:43.887Z,1362630883.887 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:43.901Z,1362630883.901 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:43.908Z,1362630883.908 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:46.433Z,1362630886.433 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:46.451Z,1362630886.451 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:46.454Z,1362630886.454 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:48.962Z,1362630888.962 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:48.999Z,1362630889.000 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:49.004Z,1362630889.003 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:51.511Z,1362630891.511 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:51.564Z,1362630891.564 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:51.572Z,1362630891.572 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:54.046Z,1362630894.046 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:54.105Z,1362630894.105 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:54.108Z,1362630894.108 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:56.324Z,1362630896.324 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:34:56.599Z,1362630896.599 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:56.625Z,1362630896.625 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:56.630Z,1362630896.630 [DVL_micro](DEBUG): ADCP
2013-03-07T04:34:56.795Z,1362630896.795 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:34:59.139Z,1362630899.139 [DVL_micro](DEBUG): NQ1
2013-03-07T04:34:59.165Z,1362630899.165 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:34:59.169Z,1362630899.169 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:01.676Z,1362630901.676 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:01.718Z,1362630901.718 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:01.721Z,1362630901.721 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:04.219Z,1362630904.218 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:04.248Z,1362630904.248 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:04.251Z,1362630904.251 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:06.751Z,1362630906.751 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:06.793Z,1362630906.793 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:06.797Z,1362630906.797 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:09.299Z,1362630909.299 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:09.324Z,1362630909.323 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:09.326Z,1362630909.326 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:09.901Z,1362630909.901 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:35:10.403Z,1362630910.403 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:35:11.846Z,1362630911.846 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:11.875Z,1362630911.875 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:11.878Z,1362630911.878 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:14.383Z,1362630914.383 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:14.412Z,1362630914.412 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:14.414Z,1362630914.414 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:16.927Z,1362630916.927 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:16.953Z,1362630916.953 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:16.957Z,1362630916.957 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:19.470Z,1362630919.470 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:19.501Z,1362630919.501 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:19.504Z,1362630919.504 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:22.014Z,1362630922.014 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:22.028Z,1362630922.028 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:22.052Z,1362630922.052 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:23.529Z,1362630923.529 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:35:24.023Z,1362630924.023 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:35:24.551Z,1362630924.551 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:24.580Z,1362630924.580 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:24.583Z,1362630924.583 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:27.095Z,1362630927.095 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:27.107Z,1362630927.107 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:27.115Z,1362630927.115 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:29.638Z,1362630929.638 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:29.663Z,1362630929.663 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:29.666Z,1362630929.666 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:32.170Z,1362630932.170 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:32.197Z,1362630932.197 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:32.199Z,1362630932.199 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:34.720Z,1362630934.720 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:34.759Z,1362630934.759 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:34.762Z,1362630934.762 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:37.169Z,1362630937.169 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:35:37.263Z,1362630937.263 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:37.297Z,1362630937.297 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:37.320Z,1362630937.320 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:37.647Z,1362630937.647 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:35:39.803Z,1362630939.803 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:39.846Z,1362630939.846 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:39.851Z,1362630939.851 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:42.351Z,1362630942.351 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:42.376Z,1362630942.376 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:42.379Z,1362630942.379 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:44.887Z,1362630944.887 [DVL_micro](DEBUG): NQ1
2013-03-07T04:35:44.916Z,1362630944.916 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:35:44.925Z,1362630944.925 [DVL_micro](DEBUG): ADCP
2013-03-07T04:35:45.915Z,1362630945.915 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box] Stopped
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:35:46.111Z,1362630946.111 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:35:46.112Z,1362630946.112 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:35:46.113Z,1362630946.113 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:35:46.113Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:35:46.113Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:35:46.114Z,1362630946.114 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:35:46.115Z,1362630946.115 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:35:46.295Z,1362630946.295 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:35:46.482Z,1362630946.482 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:35:46.482Z,1362630946.482 [Default] Running Loop=1
2013-03-07T04:35:46.482Z,1362630946.482 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:35:46.482Z,1362630946.482 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:35:46.482Z,1362630946.482 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:35:46.483Z,1362630946.483 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:35:46.483Z,1362630946.483 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:35:46.483Z,1362630946.483 [Default:Iridium] Running Loop=1
2013-03-07T04:35:46.483Z,1362630946.483 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:35:46.483Z,1362630946.483 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:35:46.483Z,1362630946.483 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:35:46.483Z,1362630946.483 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:35:46.483Z,1362630946.483 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:35:46.485Z,1362630946.485 [Default:CallIridium] Running Loop=1
2013-03-07T04:35:46.485Z,1362630946.485 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-03-07T04:35:46.485Z,1362630946.485 [Default:CallIridium:A] Running Loop=1
2013-03-07T04:35:46.496Z,1362630946.496 [Default:CallIridium:A] Stopped
2013-03-07T04:35:46.496Z,1362630946.496 [Default:CallIridium:B] Running Loop=1
2013-03-07T04:35:46.496Z,1362630946.496 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-03-07T04:35:46.497Z,1362630946.497 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:35:46.497Z,1362630946.497 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:35:46.497Z,1362630946.497 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:35:47.004Z,1362630947.004 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:35:47.015Z,1362630947.015 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:35:47.047Z,1362630947.046 [Default:GPS] Running Loop=1
2013-03-07T04:35:47.047Z,1362630947.047 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-07T04:35:47.047Z,1362630947.047 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-07T04:35:47.047Z,1362630947.047 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:35:47.047Z,1362630947.047 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-07T04:35:47.047Z,1362630947.047 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:35:47.048Z,1362630947.048 [Default:GPS:B.GoToSurface] Stopped
2013-03-07T04:35:47.048Z,1362630947.048 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:35:47.048Z,1362630947.048 [Default:GPS:Read_GPS] Running Loop=1
2013-03-07T04:35:47.371Z,1362630947.371 [NAL9602](INFO): Powering up
2013-03-07T04:35:57.923Z,1362630957.923 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:35:57.998Z,1362630957.998 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:35:57.999Z,1362630957.999 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:35:58.213Z,1362630958.213 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:35:58.215Z,1362630958.215 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:35:58.218Z,1362630958.218 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:35:58.220Z,1362630958.220 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:35:58.223Z,1362630958.223 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:35:58.225Z,1362630958.225 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:35:58.228Z,1362630958.228 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:35:58.250Z,1362630958.250 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:35:58.253Z,1362630958.253 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:35:58.255Z,1362630958.255 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:35:58.257Z,1362630958.257 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:35:58.260Z,1362630958.260 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:35:58.263Z,1362630958.263 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:35:58.265Z,1362630958.265 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:35:58.268Z,1362630958.268 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:35:58.270Z,1362630958.270 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:35:58.273Z,1362630958.273 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:35:58.275Z,1362630958.275 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:35:58.277Z,1362630958.277 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:35:58.280Z,1362630958.280 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:35:58.282Z,1362630958.282 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:35:58.285Z,1362630958.285 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:35:58.287Z,1362630958.287 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:35:58.289Z,1362630958.289 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:35:58.292Z,1362630958.292 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:35:58.294Z,1362630958.294 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:35:58.312Z,1362630958.312 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:35:58.319Z,1362630958.319 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:35:58.321Z,1362630958.321 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:35:58.328Z,1362630958.328 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:35:58.354Z,1362630958.354 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:35:58.357Z,1362630958.357 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:35:58.364Z,1362630958.364 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:35:58.371Z,1362630958.371 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:35:58.373Z,1362630958.373 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:35:58.386Z,1362630958.386 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:35:58.392Z,1362630958.392 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:35:58.400Z,1362630958.400 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:35:58.428Z,1362630958.428 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:35:58.447Z,1362630958.447 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:35:58.449Z,1362630958.449 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:35:58.451Z,1362630958.451 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:35:58.454Z,1362630958.454 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:35:58.459Z,1362630958.459 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:35:58.477Z,1362630958.477 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:35:58.506Z,1362630958.506 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:35:58.526Z,1362630958.526 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:35:58.527Z,1362630958.527 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:35:58.580Z,1362630958.580 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:35:58.583Z,1362630958.583 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:35:58.585Z,1362630958.585 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:35:58.589Z,1362630958.589 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:35:58.592Z,1362630958.592 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:35:58.593Z,1362630958.593 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:35:58.604Z,1362630958.604 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:35:58.606Z,1362630958.606 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:35:58.607Z,1362630958.607 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:35:58.608Z,1362630958.608 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:35:58.627Z,1362630958.627 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:35:58.629Z,1362630958.629 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:35:58.652Z,1362630958.652 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:35:58.663Z,1362630958.663 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:35:58.664Z,1362630958.664 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:35:58.672Z,1362630958.672 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:35:58.699Z,1362630958.699 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:35:58.701Z,1362630958.701 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:35:58.704Z,1362630958.704 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:35:58.705Z,1362630958.705 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:35:58.757Z,1362630958.757 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:35:58.760Z,1362630958.760 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:35:58.762Z,1362630958.762 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:35:58.776Z,1362630958.776 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:35:58.777Z,1362630958.777 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:35:58.786Z,1362630958.786 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:35:58.788Z,1362630958.788 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:35:58.789Z,1362630958.789 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:35:58.805Z,1362630958.805 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:35:58.814Z,1362630958.815 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:35:58.817Z,1362630958.817 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:35:58.819Z,1362630958.819 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:35:58.845Z,1362630958.845 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:35:58.848Z,1362630958.848 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:35:58.850Z,1362630958.850 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:35:58.852Z,1362630958.852 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:35:58.854Z,1362630958.854 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:35:58.855Z,1362630958.855 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:35:58.866Z,1362630958.866 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:35:58.867Z,1362630958.867 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:35:58.868Z,1362630958.868 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:35:58.875Z,1362630958.875 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:35:58.877Z,1362630958.877 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:35:58.986Z,1362630958.986 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:35:58.988Z,1362630958.989 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:35:58.991Z,1362630958.991 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:35:58.993Z,1362630958.993 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:35:58.996Z,1362630958.996 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:35:58.998Z,1362630958.998 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:35:59.000Z,1362630959.000 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:35:59.002Z,1362630959.002 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:35:59.004Z,1362630959.004 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:35:59.007Z,1362630959.007 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:35:59.009Z,1362630959.009 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:35:59.012Z,1362630959.011 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:35:59.019Z,1362630959.019 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:35:59.025Z,1362630959.025 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:35:59.052Z,1362630959.052 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.057Z,1362630959.057 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.062Z,1362630959.062 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.067Z,1362630959.067 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.072Z,1362630959.072 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.077Z,1362630959.077 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.136Z,1362630959.136 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:35:59.141Z,1362630959.141 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:35:59.378Z,1362630959.378 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:35:59.380Z,1362630959.381 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:35:59.385Z,1362630959.385 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:35:59.399Z,1362630959.399 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:35:59.401Z,1362630959.401 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:35:59.408Z,1362630959.408 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:35:59.410Z,1362630959.410 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:35:59.416Z,1362630959.416 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:35:59.418Z,1362630959.418 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:35:59.424Z,1362630959.424 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:35:59.431Z,1362630959.431 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:35:59.433Z,1362630959.433 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:35:59.440Z,1362630959.440 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:35:59.445Z,1362630959.445 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:35:59.448Z,1362630959.448 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:35:59.451Z,1362630959.451 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:35:59.453Z,1362630959.453 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:35:59.456Z,1362630959.456 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:35:59.458Z,1362630959.458 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:35:59.461Z,1362630959.461 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:35:59.463Z,1362630959.463 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:35:59.465Z,1362630959.466 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:35:59.468Z,1362630959.468 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:35:59.471Z,1362630959.471 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:35:59.473Z,1362630959.473 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:35:59.476Z,1362630959.476 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:35:59.478Z,1362630959.478 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:35:59.481Z,1362630959.481 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:35:59.483Z,1362630959.483 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:35:59.485Z,1362630959.485 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:35:59.517Z,1362630959.517 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Construct Wait.
2013-03-07T04:35:59.541Z,1362630959.541 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:35:59.557Z,1362630959.557 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:35:59.572Z,1362630959.572 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:35:59.600Z,1362630959.600 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:35:59.601Z,1362630959.601 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:35:59.615Z,1362630959.615 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:35:59.617Z,1362630959.616 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:35:59.618Z,1362630959.618 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:35:59.627Z,1362630959.627 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:35:59.629Z,1362630959.629 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:35:59.639Z,1362630959.639 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:35:59.640Z,1362630959.640 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:35:59.642Z,1362630959.642 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:35:59.643Z,1362630959.644 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:35:59.646Z,1362630959.646 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:35:59.654Z,1362630959.654 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:35:59.660Z,1362630959.660 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:35:59.753Z,1362630959.753 [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="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"><True/></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>


2013-03-07T04:35:59.754Z,1362630959.754 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:35:59.755Z,1362630959.755 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:35:59.756Z,1362630959.756 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:35:59.756Z,1362630959.756 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:35:59.757Z,1362630959.757 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:36:06.935Z,1362630966.935 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lat 36.842499 degree
2013-03-07T04:36:06.936Z,1362630966.936 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lon -121.866798 degree
2013-03-07T04:36:06.937Z,1362630966.937 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lat 36.819000 degree
2013-03-07T04:36:06.937Z,1362630966.937 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lon -121.885002 degree
2013-03-07T04:36:11.921Z,1362630971.921 [NAL9602](INFO): SBD MO Status=0, MOMSN=6572, MT Status=0, MTMSN=0
2013-03-07T04:36:12.005Z,1362630972.005 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:36:12.005Z,1362630972.005 [Default:Iridium](INFO): Completed Default:Iridium
2013-03-07T04:36:12.005Z,1362630972.006 [Default:Iridium] Stopped
2013-03-07T04:36:12.006Z,1362630972.006 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:36:12.006Z,1362630972.006 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:36:12.006Z,1362630972.006 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:36:12.006Z,1362630972.006 [Default:F.Wait] Running Loop=1
2013-03-07T04:36:12.006Z,1362630972.006 [Default:F.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:36:12.340Z,1362630972.340 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2013-03-07T04:36:12.340Z,1362630972.340 [Default:CallIridium:B] Stopped
2013-03-07T04:36:12.340Z,1362630972.340 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-03-07T04:36:12.340Z,1362630972.341 [Default:CallIridium](INFO): Completed Default:CallIridium
2013-03-07T04:36:12.341Z,1362630972.341 [Default:CallIridium] Stopped
2013-03-07T04:36:12.341Z,1362630972.341 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-03-07T04:36:18.535Z,1362630978.535 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lat 36.859001 degree
2013-03-07T04:36:18.536Z,1362630978.536 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner3Lon -121.964996 degree
2013-03-07T04:36:18.536Z,1362630978.536 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lat 36.882500 degree
2013-03-07T04:36:18.537Z,1362630978.537 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner4Lon -121.946800 degree
2013-03-07T04:36:18.670Z,1362630978.670 [NAL9602](IMPORTANT): GPS fix at: 1362674404.00
2013-03-07T04:36:18.686Z,1362630978.686 [Default:GPS:Read_GPS] Stopped
2013-03-07T04:36:18.687Z,1362630978.687 [Default:GPS:D] Running Loop=1
2013-03-07T04:36:19.101Z,1362630979.101 [Default:GPS:D] Stopped
2013-03-07T04:36:19.101Z,1362630979.101 [Default:GPS](INFO): Completed Default:GPS
2013-03-07T04:36:19.101Z,1362630979.101 [Default:GPS] Stopped
2013-03-07T04:36:19.101Z,1362630979.101 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-03-07T04:36:19.101Z,1362630979.101 [Default:GPS:A.SetSpeed] Stopped
2013-03-07T04:36:19.101Z,1362630979.101 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:36:20.699Z,1362630980.699 [CommandLine](IMPORTANT): got command maintain 
2013-03-07T04:36:20.699Z,1362630980.699 [Maintain_Depth_Keller.depth](INFO): Depth_Keller.depth maintaining 0.000000 m
2013-03-07T04:36:27.203Z,1362630987.203 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:36:28.195Z,1362630988.195 [CommandLine](IMPORTANT): got command run
2013-03-07T04:36:28.195Z,1362630988.195 [CommandLine](IMPORTANT): Running 
2013-03-07T04:36:29.628Z,1362630989.628 [Default] Stopped
2013-03-07T04:36:29.628Z,1362630989.628 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:36:29.628Z,1362630989.628 [Default:D.SetSpeed] Stopped
2013-03-07T04:36:29.628Z,1362630989.628 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:36:29.628Z,1362630989.628 [Default:E.GoToSurface] Stopped
2013-03-07T04:36:29.628Z,1362630989.628 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:36:29.628Z,1362630989.628 [Default:F.Wait] Stopped
2013-03-07T04:36:29.628Z,1362630989.628 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:36:29.628Z,1362630989.628 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:36:29.629Z,1362630989.629 [EcoHAB_box] Running Loop=1
2013-03-07T04:36:29.629Z,1362630989.629 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:36:29.629Z,1362630989.629 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:36:29.629Z,1362630989.629 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:36:29.629Z,1362630989.629 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:36:29.629Z,1362630989.629 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:36:29.630Z,1362630989.630 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:36:29.630Z,1362630989.630 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:36:29.630Z,1362630989.630 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:36:29.630Z,1362630989.630 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:36:29.631Z,1362630989.631 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:36:29.631Z,1362630989.631 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:36:29.631Z,1362630989.631 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:36:29.631Z,1362630989.631 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:36:29.631Z,1362630989.631 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:36:29.631Z,1362630989.631 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:36:29.632Z,1362630989.632 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:36:29.633Z,1362630989.633 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:36:29.636Z,1362630989.636 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:36:29.636Z,1362630989.636 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:36:29.636Z,1362630989.636 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:36:29.636Z,1362630989.636 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:36:29.645Z,1362630989.645 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:36:29.647Z,1362630989.647 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:36:29.729Z,1362630989.729 [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,
2013-03-07T04:36:29.855Z,1362630989.855 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:36:29.855Z,1362630989.855 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:36:29.856Z,1362630989.856 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:36:29.856Z,1362630989.856 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:36:29.936Z,1362630989.936 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:36:29.936Z,1362630989.936 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:36:29.936Z,1362630989.936 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:36:29.937Z,1362630989.937 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:36:29.937Z,1362630989.937 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:36:29.937Z,1362630989.937 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:36:30.330Z,1362630990.330 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:36:30.330Z,1362630990.330 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:36:30.331Z,1362630990.331 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:36:30.882Z,1362630990.882 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-03-07T04:36:30.882Z,1362630990.882 [ThrusterServo] Communications Fault, FailCount= 1
2013-03-07T04:36:30.882Z,1362630990.882 [ThrusterServo](ERROR): Communications Fault
2013-03-07T04:36:30.885Z,1362630990.885 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-03-07T04:36:31.235Z,1362630991.235 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-07T04:36:31.235Z,1362630991.235 [ThrusterServo](INFO): Powering down
2013-03-07T04:36:31.863Z,1362630991.863 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:36:31.863Z,1362630991.863 [DVL_micro](INFO): Querying output modes
2013-03-07T04:36:31.863Z,1362630991.863 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:36:31.878Z,1362630991.878 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:36:31.879Z,1362630991.879 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:36:31.879Z,1362630991.879 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:36:31.879Z,1362630991.879 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:36:31.895Z,1362630991.895 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:36:31.896Z,1362630991.896 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:36:31.896Z,1362630991.897 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:36:31.984Z,1362630991.984 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:36:32.103Z,1362630992.103 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-07T04:36:32.106Z,1362630992.106 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-03-07T04:36:32.106Z,1362630992.106 [ThrusterServo] No Fault, FailCount= 1
2013-03-07T04:36:32.303Z,1362630992.303 [NAL9602](IMPORTANT): GPS fix at: 1362674417.00
2013-03-07T04:36:32.319Z,1362630992.319 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:36:32.319Z,1362630992.319 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:36:32.781Z,1362630992.781 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:36:33.903Z,1362630993.903 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:36:33.903Z,1362630993.903 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:36:34.594Z,1362630994.594 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:36:34.595Z,1362630994.595 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:36:34.595Z,1362630994.595 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:36:34.859Z,1362630994.859 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:36:34.859Z,1362630994.859 [DVL_micro](INFO): Querying output modes
2013-03-07T04:36:34.860Z,1362630994.860 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:36:35.034Z,1362630995.034 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:36:35.035Z,1362630995.035 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:36:35.035Z,1362630995.035 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:36:35.111Z,1362630995.111 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:36:37.081Z,1362630997.081 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:36:37.082Z,1362630997.082 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:36:37.083Z,1362630997.083 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:36:37.084Z,1362630997.084 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:36:37.387Z,1362630997.387 [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,
2013-03-07T04:36:37.634Z,1362630997.634 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:37.662Z,1362630997.662 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:38.683Z,1362630998.683 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:36:38.683Z,1362630998.683 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:36:38.683Z,1362630998.683 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:36:38.684Z,1362630998.684 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:36:38.684Z,1362630998.684 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:36:38.684Z,1362630998.684 [EcoHAB_box:SurfaceComms](INFO): Priority 3: EcoHAB_box:SurfaceComms:A.GoToSurface
2013-03-07T04:36:38.684Z,1362630998.684 [EcoHAB_box:SurfaceComms:C](INFO): Priority 4: EcoHAB_box:SurfaceComms:C:B
2013-03-07T04:36:40.175Z,1362631000.175 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:40.201Z,1362631000.201 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:42.711Z,1362631002.711 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:42.736Z,1362631002.736 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:45.246Z,1362631005.246 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:45.283Z,1362631005.283 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:47.507Z,1362631007.507 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:36:47.774Z,1362631007.774 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:47.796Z,1362631007.796 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:47.807Z,1362631007.807 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:36:47.807Z,1362631007.807 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:36:48.244Z,1362631008.244 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:36:48.245Z,1362631008.245 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:36:48.245Z,1362631008.246 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:36:48.246Z,1362631008.246 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:36:48.246Z,1362631008.246 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:36:48.247Z,1362631008.247 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:36:48.247Z,1362631008.247 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:36:48.247Z,1362631008.247 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:36:48.247Z,1362631008.247 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:36:48.247Z,1362631008.247 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:36:48.247Z,1362631008.247 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:36:48.248Z,1362631008.248 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:36:48.249Z,1362631008.249 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:36:48.249Z,1362631008.249 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:36:48.249Z,1362631008.249 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:36:48.250Z,1362631008.250 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:36:48.250Z,1362631008.250 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:36:48.250Z,1362631008.250 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:36:48.250Z,1362631008.250 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:36:48.250Z,1362631008.250 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:36:48.596Z,1362631008.596 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:36:48.598Z,1362631008.598 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:36:48.599Z,1362631008.599 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:36:48.601Z,1362631008.601 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:36:48.602Z,1362631008.602 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:36:48.603Z,1362631008.603 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:36:48.604Z,1362631008.603 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:36:48.604Z,1362631008.604 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:36:48.604Z,1362631008.604 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:36:48.606Z,1362631008.606 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:36:48.607Z,1362631008.606 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:36:48.607Z,1362631008.607 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:36:48.608Z,1362631008.608 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:36:48.609Z,1362631008.609 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:36:48.609Z,1362631008.609 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:36:48.610Z,1362631008.610 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:36:48.610Z,1362631008.611 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:36:48.611Z,1362631008.611 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:36:48.611Z,1362631008.611 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:36:48.611Z,1362631008.611 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:36:48.611Z,1362631008.611 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:36:48.951Z,1362631008.951 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:36:48.952Z,1362631008.952 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:36:49.002Z,1362631009.003 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:36:49.003Z,1362631009.003 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:36:49.003Z,1362631009.003 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:36:49.004Z,1362631009.004 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:36:49.004Z,1362631009.004 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:36:49.397Z,1362631009.397 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.613551 h 
2013-03-07T04:36:49.399Z,1362631009.399 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:36:49.399Z,1362631009.399 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:36:49.799Z,1362631009.799 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:36:49.799Z,1362631009.799 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:36:49.880Z,1362631009.880 [DVL_micro](INFO): ADCP requested
2013-03-07T04:36:49.881Z,1362631009.881 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:36:50.198Z,1362631010.198 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.386449 h 
2013-03-07T04:36:50.199Z,1362631010.199 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:36:50.199Z,1362631010.199 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:36:50.199Z,1362631010.199 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:36:50.199Z,1362631010.200 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:36:50.657Z,1362631010.657 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:36:50.657Z,1362631010.657 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:36:50.657Z,1362631010.657 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:36:50.658Z,1362631010.658 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:36:50.658Z,1362631010.658 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:36:50.658Z,1362631010.658 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:36:50.998Z,1362631010.998 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 203.186958 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:36:50.999Z,1362631010.999 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:36:50.999Z,1362631010.999 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:36:50.999Z,1362631011.000 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:36:51.415Z,1362631011.415 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:36:51.415Z,1362631011.415 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:36:51.415Z,1362631011.415 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:36:51.416Z,1362631011.416 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:36:51.419Z,1362631011.418 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:36:51.419Z,1362631011.419 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:36:51.419Z,1362631011.419 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:36:51.819Z,1362631011.819 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:36:51.820Z,1362631011.820 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:36:51.821Z,1362631011.820 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:36:51.891Z,1362631011.891 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:36:51.892Z,1362631011.892 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:36:52.091Z,1362631012.091 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:36:52.091Z,1362631012.091 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:36:52.091Z,1362631012.091 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:36:52.248Z,1362631012.248 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:36:52.275Z,1362631012.275 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:36:52.275Z,1362631012.275 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:36:52.275Z,1362631012.275 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:36:52.470Z,1362631012.470 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:36:52.471Z,1362631012.471 [DVL_micro](INFO): Querying output modes
2013-03-07T04:36:52.471Z,1362631012.471 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:36:52.483Z,1362631012.483 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:36:52.483Z,1362631012.483 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:36:52.483Z,1362631012.483 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:36:52.484Z,1362631012.484 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:36:52.499Z,1362631012.499 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:36:52.627Z,1362631012.627 [NAL9602](INFO): SBD MO Status=0, MOMSN=6573, MT Status=0, MTMSN=0
2013-03-07T04:36:52.729Z,1362631012.730 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:36:52.730Z,1362631012.730 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:36:53.123Z,1362631013.123 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:36:53.124Z,1362631013.124 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:36:53.124Z,1362631013.124 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:36:53.124Z,1362631013.124 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:36:53.124Z,1362631013.124 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:36:53.125Z,1362631013.125 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:36:53.125Z,1362631013.125 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:36:53.125Z,1362631013.125 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:36:53.125Z,1362631013.125 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:36:53.125Z,1362631013.125 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:36:53.516Z,1362631013.516 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:36:53.516Z,1362631013.516 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:36:53.516Z,1362631013.516 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:36:53.517Z,1362631013.517 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:36:53.517Z,1362631013.517 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:36:53.517Z,1362631013.517 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:36:53.517Z,1362631013.517 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:36:53.912Z,1362631013.912 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:36:53.912Z,1362631013.912 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:36:54.315Z,1362631014.315 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:36:54.315Z,1362631014.315 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:36:54.803Z,1362631014.803 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:36:54.804Z,1362631014.804 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:36:55.019Z,1362631015.019 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:55.041Z,1362631015.041 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:55.044Z,1362631015.044 [DVL_micro](DEBUG): ADCP
2013-03-07T04:36:55.200Z,1362631015.200 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:36:55.200Z,1362631015.200 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:36:55.200Z,1362631015.201 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:36:55.597Z,1362631015.597 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:36:55.597Z,1362631015.597 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:36:55.598Z,1362631015.598 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:36:55.598Z,1362631015.598 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:36:55.598Z,1362631015.598 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:36:55.600Z,1362631015.601 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 203.186958 min 
2013-03-07T04:36:55.601Z,1362631015.601 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:36:55.601Z,1362631015.602 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:36:55.602Z,1362631015.602 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:36:55.602Z,1362631015.602 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:36:55.602Z,1362631015.602 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:36:55.602Z,1362631015.602 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:36:55.999Z,1362631016.000 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:36:56.001Z,1362631016.000 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:36:56.001Z,1362631016.001 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:36:56.001Z,1362631016.001 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:36:57.562Z,1362631017.562 [DVL_micro](DEBUG): NQ1
2013-03-07T04:36:57.587Z,1362631017.587 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:36:57.590Z,1362631017.590 [DVL_micro](DEBUG): ADCP
2013-03-07T04:36:58.456Z,1362631018.456 [NAL9602](INFO): Powering down
2013-03-07T04:37:00.095Z,1362631020.095 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:00.131Z,1362631020.131 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:00.135Z,1362631020.135 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:01.281Z,1362631021.281 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:37:01.819Z,1362631021.819 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:37:02.640Z,1362631022.640 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:02.693Z,1362631022.693 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:02.700Z,1362631022.700 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:05.183Z,1362631025.183 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:05.212Z,1362631025.212 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:05.221Z,1362631025.221 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:07.730Z,1362631027.730 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:07.758Z,1362631027.758 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:07.779Z,1362631027.779 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:09.479Z,1362631029.479 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:37:09.479Z,1362631029.479 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:37:09.480Z,1362631029.480 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:37:09.481Z,1362631029.481 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:37:09.481Z,1362631029.481 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:37:09.482Z,1362631029.482 [EcoHAB_box](INFO): Priority 3: EcoHAB_box:I.Pitch
2013-03-07T04:37:09.482Z,1362631029.482 [EcoHAB_box](INFO): Priority 4: EcoHAB_box:J.Buoyancy
2013-03-07T04:37:09.482Z,1362631029.483 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Priority 5: EcoHAB_box:CircleWaypointRepeatedly:B
2013-03-07T04:37:09.483Z,1362631029.483 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Priority 6: EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle
2013-03-07T04:37:09.486Z,1362631029.486 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:37:09.486Z,1362631029.486 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:37:09.487Z,1362631029.487 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:37:09.488Z,1362631029.488 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:37:09.488Z,1362631029.488 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:37:09.489Z,1362631029.489 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:37:09.489Z,1362631029.489 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:37:09.490Z,1362631029.490 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:37:10.275Z,1362631030.275 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:10.301Z,1362631030.301 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:10.312Z,1362631030.312 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:12.819Z,1362631032.819 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:12.858Z,1362631032.858 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:12.882Z,1362631032.882 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:14.769Z,1362631034.769 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:37:15.299Z,1362631035.299 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:37:15.343Z,1362631035.343 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:15.402Z,1362631035.402 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:15.406Z,1362631035.406 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:17.890Z,1362631037.890 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:17.929Z,1362631037.929 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:17.933Z,1362631037.933 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:19.415Z,1362631039.415 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:37:19.416Z,1362631039.416 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:37:19.943Z,1362631039.943 [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,
2013-03-07T04:37:20.189Z,1362631040.189 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:20.190Z,1362631040.190 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.190Z,1362631040.190 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:20.190Z,1362631040.190 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:20.190Z,1362631040.190 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:20.190Z,1362631040.190 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:20.190Z,1362631040.190 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.191Z,1362631040.191 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:20.195Z,1362631040.195 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:20.196Z,1362631040.196 [EcoHAB_box:ScienceOps:Science:C:A](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:37:20.198Z,1362631040.198 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.198Z,1362631040.198 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:20.199Z,1362631040.198 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.199Z,1362631040.199 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:20.199Z,1362631040.199 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:20.199Z,1362631040.199 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:20.438Z,1362631040.438 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:20.474Z,1362631040.474 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:20.477Z,1362631040.477 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:20.677Z,1362631040.677 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:20.677Z,1362631040.677 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.677Z,1362631040.677 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:20.677Z,1362631040.677 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:20.677Z,1362631040.677 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:20.678Z,1362631040.678 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:20.678Z,1362631040.678 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.683Z,1362631040.682 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.683Z,1362631040.683 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:20.683Z,1362631040.683 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:20.683Z,1362631040.683 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:20.683Z,1362631040.683 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:20.683Z,1362631040.683 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:21.020Z,1362631041.020 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:21.020Z,1362631041.020 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.020Z,1362631041.020 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:21.020Z,1362631041.020 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:21.020Z,1362631041.020 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:21.021Z,1362631041.021 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:21.021Z,1362631041.021 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.022Z,1362631041.022 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.022Z,1362631041.022 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:21.022Z,1362631041.022 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.023Z,1362631041.023 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:21.023Z,1362631041.023 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:21.023Z,1362631041.023 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:21.405Z,1362631041.405 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:21.406Z,1362631041.406 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.406Z,1362631041.406 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:21.406Z,1362631041.406 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:21.406Z,1362631041.406 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:21.406Z,1362631041.406 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:21.406Z,1362631041.406 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.407Z,1362631041.407 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.407Z,1362631041.407 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:21.407Z,1362631041.407 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.407Z,1362631041.407 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:21.407Z,1362631041.407 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:21.407Z,1362631041.407 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:21.808Z,1362631041.807 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:21.808Z,1362631041.808 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.808Z,1362631041.808 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:21.808Z,1362631041.808 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:21.808Z,1362631041.808 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:21.808Z,1362631041.808 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:21.809Z,1362631041.809 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.809Z,1362631041.809 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.810Z,1362631041.810 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:21.810Z,1362631041.810 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:21.810Z,1362631041.810 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:21.810Z,1362631041.810 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:21.810Z,1362631041.810 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:22.234Z,1362631042.234 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:22.234Z,1362631042.234 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.234Z,1362631042.234 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:22.234Z,1362631042.234 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:22.236Z,1362631042.236 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:22.236Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:22.237Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.237Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.237Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:22.237Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.237Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:22.237Z,1362631042.237 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:22.238Z,1362631042.238 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:22.644Z,1362631042.644 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:22.644Z,1362631042.644 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.645Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:22.645Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:22.645Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:22.645Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:22.645Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.645Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.646Z,1362631042.645 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:22.646Z,1362631042.646 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:22.646Z,1362631042.646 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:22.646Z,1362631042.646 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:22.646Z,1362631042.646 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:22.975Z,1362631042.975 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:23.017Z,1362631043.017 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:23.026Z,1362631043.026 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:23.049Z,1362631043.049 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:23.050Z,1362631043.050 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.050Z,1362631043.050 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:23.050Z,1362631043.050 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:23.050Z,1362631043.050 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:23.050Z,1362631043.050 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:23.050Z,1362631043.050 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.051Z,1362631043.051 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.051Z,1362631043.051 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:23.051Z,1362631043.051 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.051Z,1362631043.051 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:23.051Z,1362631043.051 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:23.051Z,1362631043.051 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:23.428Z,1362631043.428 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:23.428Z,1362631043.428 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.428Z,1362631043.428 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:23.428Z,1362631043.428 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:23.428Z,1362631043.428 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:23.429Z,1362631043.429 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:23.429Z,1362631043.429 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.429Z,1362631043.429 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.430Z,1362631043.430 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:23.430Z,1362631043.430 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.430Z,1362631043.430 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:23.430Z,1362631043.430 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:23.430Z,1362631043.430 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:23.908Z,1362631043.908 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:23.908Z,1362631043.908 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.908Z,1362631043.908 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:23.908Z,1362631043.908 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:23.908Z,1362631043.908 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:23.908Z,1362631043.908 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:23.909Z,1362631043.909 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.910Z,1362631043.909 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.910Z,1362631043.910 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:23.910Z,1362631043.910 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:23.910Z,1362631043.910 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:23.910Z,1362631043.910 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:23.912Z,1362631043.912 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:24.256Z,1362631044.256 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:24.256Z,1362631044.256 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.256Z,1362631044.256 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:24.257Z,1362631044.257 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.258Z,1362631044.258 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:24.258Z,1362631044.258 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:24.258Z,1362631044.258 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:24.646Z,1362631044.646 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:24.646Z,1362631044.646 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.646Z,1362631044.646 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:24.646Z,1362631044.646 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:24.646Z,1362631044.646 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:24.646Z,1362631044.647 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:24.647Z,1362631044.647 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.647Z,1362631044.647 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.647Z,1362631044.647 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:24.647Z,1362631044.647 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:24.647Z,1362631044.648 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:24.647Z,1362631044.648 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:24.648Z,1362631044.648 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:25.046Z,1362631045.046 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:25.046Z,1362631045.046 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.046Z,1362631045.046 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:25.046Z,1362631045.046 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:25.046Z,1362631045.046 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:25.047Z,1362631045.046 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:25.047Z,1362631045.047 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.047Z,1362631045.047 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.047Z,1362631045.047 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:25.047Z,1362631045.047 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.047Z,1362631045.047 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:25.048Z,1362631045.048 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:25.048Z,1362631045.048 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:25.450Z,1362631045.450 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:25.450Z,1362631045.450 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.450Z,1362631045.450 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:25.450Z,1362631045.450 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:25.450Z,1362631045.450 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:25.451Z,1362631045.451 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:25.451Z,1362631045.451 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.451Z,1362631045.451 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.451Z,1362631045.451 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:25.451Z,1362631045.451 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.452Z,1362631045.452 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:25.452Z,1362631045.452 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:25.452Z,1362631045.452 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:25.515Z,1362631045.515 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:25.549Z,1362631045.549 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:25.552Z,1362631045.552 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:25.902Z,1362631045.902 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:25.902Z,1362631045.902 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.902Z,1362631045.902 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:25.903Z,1362631045.903 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:25.903Z,1362631045.903 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:25.903Z,1362631045.903 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:25.903Z,1362631045.903 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.904Z,1362631045.904 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.904Z,1362631045.904 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:25.904Z,1362631045.904 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:25.904Z,1362631045.904 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:25.904Z,1362631045.904 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:25.904Z,1362631045.904 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:26.246Z,1362631046.246 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:26.246Z,1362631046.246 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.246Z,1362631046.246 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:26.247Z,1362631046.247 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:26.247Z,1362631046.247 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:26.247Z,1362631046.247 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:26.247Z,1362631046.247 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.248Z,1362631046.248 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.249Z,1362631046.249 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:26.249Z,1362631046.249 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.249Z,1362631046.249 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:26.249Z,1362631046.249 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:26.249Z,1362631046.249 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:26.650Z,1362631046.649 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:26.650Z,1362631046.650 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.650Z,1362631046.650 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:26.651Z,1362631046.651 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:26.651Z,1362631046.651 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:26.651Z,1362631046.651 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:26.651Z,1362631046.651 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.652Z,1362631046.652 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.652Z,1362631046.652 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:26.652Z,1362631046.652 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:26.652Z,1362631046.652 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:26.652Z,1362631046.652 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:26.652Z,1362631046.652 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:27.047Z,1362631047.047 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:27.047Z,1362631047.047 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.047Z,1362631047.047 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:27.048Z,1362631047.048 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:27.048Z,1362631047.048 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:27.048Z,1362631047.048 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:27.048Z,1362631047.048 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.049Z,1362631047.049 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.049Z,1362631047.049 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:27.049Z,1362631047.049 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.049Z,1362631047.049 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:27.049Z,1362631047.049 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:27.049Z,1362631047.049 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:27.493Z,1362631047.493 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:27.493Z,1362631047.493 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.493Z,1362631047.493 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:27.493Z,1362631047.493 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:27.493Z,1362631047.493 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:27.493Z,1362631047.493 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:27.494Z,1362631047.494 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.495Z,1362631047.495 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.495Z,1362631047.495 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:27.495Z,1362631047.495 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.495Z,1362631047.495 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:27.495Z,1362631047.496 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:27.495Z,1362631047.496 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:27.894Z,1362631047.894 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:27.894Z,1362631047.894 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.894Z,1362631047.894 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:27.894Z,1362631047.894 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:27.894Z,1362631047.894 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:27.895Z,1362631047.895 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:27.895Z,1362631047.895 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.895Z,1362631047.895 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.895Z,1362631047.895 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:27.896Z,1362631047.895 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:27.896Z,1362631047.896 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:27.896Z,1362631047.896 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:27.896Z,1362631047.896 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:28.055Z,1362631048.055 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:28.100Z,1362631048.100 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:28.103Z,1362631048.103 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:28.282Z,1362631048.282 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:37:28.299Z,1362631048.299 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:28.299Z,1362631048.299 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.299Z,1362631048.299 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:28.299Z,1362631048.299 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:28.299Z,1362631048.299 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:28.300Z,1362631048.300 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:28.300Z,1362631048.300 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.300Z,1362631048.300 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.300Z,1362631048.300 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:28.301Z,1362631048.300 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.301Z,1362631048.301 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:28.301Z,1362631048.301 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:28.301Z,1362631048.301 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:28.835Z,1362631048.835 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:28.875Z,1362631048.875 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.876Z,1362631048.876 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.876Z,1362631048.876 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:28.876Z,1362631048.876 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:28.876Z,1362631048.876 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:28.876Z,1362631048.876 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:28.876Z,1362631048.876 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:29.239Z,1362631049.239 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:29.240Z,1362631049.240 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.240Z,1362631049.240 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:29.240Z,1362631049.240 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:29.240Z,1362631049.240 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:29.240Z,1362631049.240 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:29.240Z,1362631049.240 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.241Z,1362631049.241 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.241Z,1362631049.241 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:29.241Z,1362631049.241 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.242Z,1362631049.241 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:29.242Z,1362631049.241 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:29.242Z,1362631049.242 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:29.593Z,1362631049.593 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:29.593Z,1362631049.593 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.593Z,1362631049.593 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:29.593Z,1362631049.593 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:29.594Z,1362631049.593 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:29.594Z,1362631049.594 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:29.594Z,1362631049.594 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.595Z,1362631049.595 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.595Z,1362631049.595 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:29.595Z,1362631049.595 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.595Z,1362631049.595 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:29.595Z,1362631049.595 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:29.595Z,1362631049.595 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:29.997Z,1362631049.997 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:29.997Z,1362631049.997 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.997Z,1362631049.997 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:29.997Z,1362631049.997 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:29.997Z,1362631049.997 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:29.998Z,1362631049.998 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:29.998Z,1362631049.998 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.000Z,1362631050.000 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:29.000Z,1362631050.000 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:30.000Z,1362631050.000 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.000Z,1362631050.000 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:30.000Z,1362631050.000 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:30.001Z,1362631050.000 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:30.394Z,1362631050.394 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:30.395Z,1362631050.395 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.395Z,1362631050.395 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:30.395Z,1362631050.395 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:30.395Z,1362631050.395 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:30.395Z,1362631050.395 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:30.396Z,1362631050.395 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.397Z,1362631050.397 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.397Z,1362631050.397 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:30.397Z,1362631050.397 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.397Z,1362631050.397 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:30.397Z,1362631050.397 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:30.397Z,1362631050.397 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:30.603Z,1362631050.603 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:30.635Z,1362631050.635 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:30.639Z,1362631050.639 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:30.842Z,1362631050.842 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:30.842Z,1362631050.842 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.842Z,1362631050.842 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:30.842Z,1362631050.842 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:30.842Z,1362631050.842 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:30.842Z,1362631050.842 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:30.843Z,1362631050.843 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.843Z,1362631050.843 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.843Z,1362631050.843 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:30.843Z,1362631050.843 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:30.844Z,1362631050.843 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:30.844Z,1362631050.843 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:30.844Z,1362631050.844 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:31.232Z,1362631051.232 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:31.233Z,1362631051.233 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.233Z,1362631051.233 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:31.233Z,1362631051.233 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:31.233Z,1362631051.233 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:31.233Z,1362631051.233 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:31.233Z,1362631051.233 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.234Z,1362631051.234 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.234Z,1362631051.234 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:31.235Z,1362631051.235 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.235Z,1362631051.235 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:31.235Z,1362631051.235 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:31.235Z,1362631051.235 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:31.628Z,1362631051.628 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.629Z,1362631051.629 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.629Z,1362631051.629 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:31.629Z,1362631051.629 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:31.629Z,1362631051.629 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:31.629Z,1362631051.629 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:31.629Z,1362631051.629 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:32.026Z,1362631052.026 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:32.026Z,1362631052.026 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.026Z,1362631052.026 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:32.026Z,1362631052.026 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:32.027Z,1362631052.027 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:32.027Z,1362631052.027 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:32.027Z,1362631052.027 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.027Z,1362631052.027 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.028Z,1362631052.028 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:32.028Z,1362631052.028 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.028Z,1362631052.028 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:32.028Z,1362631052.028 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:32.028Z,1362631052.028 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:32.445Z,1362631052.445 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.446Z,1362631052.446 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.446Z,1362631052.446 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:32.446Z,1362631052.446 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.446Z,1362631052.446 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:32.446Z,1362631052.446 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:32.447Z,1362631052.447 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:32.815Z,1362631052.815 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.816Z,1362631052.816 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.816Z,1362631052.816 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:32.816Z,1362631052.816 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:32.816Z,1362631052.816 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:32.816Z,1362631052.816 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:32.816Z,1362631052.816 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:33.146Z,1362631053.146 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:33.179Z,1362631053.179 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:33.184Z,1362631053.184 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:33.234Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:33.234Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.234Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:33.234Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:33.234Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:33.234Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:33.235Z,1362631053.234 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.235Z,1362631053.235 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.235Z,1362631053.235 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:33.235Z,1362631053.235 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.235Z,1362631053.235 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:33.235Z,1362631053.235 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:33.235Z,1362631053.236 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:33.702Z,1362631053.702 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:33.702Z,1362631053.702 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.702Z,1362631053.702 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:33.702Z,1362631053.702 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:33.702Z,1362631053.702 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:33.702Z,1362631053.702 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:33.702Z,1362631053.703 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.703Z,1362631053.703 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.703Z,1362631053.703 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:33.703Z,1362631053.703 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:33.703Z,1362631053.703 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:33.703Z,1362631053.703 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:33.703Z,1362631053.704 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:34.111Z,1362631054.111 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:34.111Z,1362631054.111 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.112Z,1362631054.112 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:34.112Z,1362631054.112 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:34.112Z,1362631054.112 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:34.112Z,1362631054.112 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:34.112Z,1362631054.112 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.112Z,1362631054.112 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.113Z,1362631054.113 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:34.113Z,1362631054.113 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.113Z,1362631054.113 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:34.113Z,1362631054.113 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:34.113Z,1362631054.113 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:34.511Z,1362631054.511 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:34.511Z,1362631054.511 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.511Z,1362631054.511 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:34.511Z,1362631054.511 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:34.511Z,1362631054.511 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:34.512Z,1362631054.512 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:34.512Z,1362631054.512 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.512Z,1362631054.512 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.512Z,1362631054.512 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:34.512Z,1362631054.512 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.512Z,1362631054.513 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:34.513Z,1362631054.513 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:34.513Z,1362631054.513 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:34.918Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:34.918Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.918Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:34.918Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:34.918Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:34.918Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:34.919Z,1362631054.918 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.919Z,1362631054.919 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.919Z,1362631054.919 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:34.919Z,1362631054.919 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:34.919Z,1362631054.919 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:34.919Z,1362631054.919 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:34.919Z,1362631054.920 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:35.318Z,1362631055.318 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:35.318Z,1362631055.318 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.319Z,1362631055.319 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:35.320Z,1362631055.320 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.320Z,1362631055.320 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:35.320Z,1362631055.320 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:35.320Z,1362631055.320 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:35.686Z,1362631055.686 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:35.710Z,1362631055.710 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:35.713Z,1362631055.713 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:35.812Z,1362631055.812 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:35.812Z,1362631055.812 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.812Z,1362631055.812 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:35.812Z,1362631055.812 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:35.812Z,1362631055.812 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:35.812Z,1362631055.812 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:35.813Z,1362631055.813 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:36.117Z,1362631056.118 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:36.118Z,1362631056.118 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.118Z,1362631056.118 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:36.118Z,1362631056.118 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:36.118Z,1362631056.118 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:36.118Z,1362631056.118 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:36.119Z,1362631056.119 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.120Z,1362631056.120 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.120Z,1362631056.120 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:36.120Z,1362631056.120 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.120Z,1362631056.120 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:36.120Z,1362631056.120 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:36.120Z,1362631056.120 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:36.521Z,1362631056.521 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:36.521Z,1362631056.521 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.521Z,1362631056.521 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:36.521Z,1362631056.521 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:36.521Z,1362631056.522 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:36.522Z,1362631056.522 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:36.522Z,1362631056.522 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.523Z,1362631056.523 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.523Z,1362631056.523 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:36.523Z,1362631056.523 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.524Z,1362631056.523 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:36.524Z,1362631056.524 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:36.524Z,1362631056.524 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:36.924Z,1362631056.924 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:36.924Z,1362631056.924 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.924Z,1362631056.924 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:36.924Z,1362631056.924 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:36.924Z,1362631056.924 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:36.925Z,1362631056.925 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:36.925Z,1362631056.925 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.925Z,1362631056.925 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.926Z,1362631056.926 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:36.926Z,1362631056.926 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:36.926Z,1362631056.926 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:36.926Z,1362631056.926 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:36.926Z,1362631056.926 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:37.327Z,1362631057.327 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:37.327Z,1362631057.327 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.327Z,1362631057.327 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:37.327Z,1362631057.327 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:37.327Z,1362631057.327 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:37.327Z,1362631057.327 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:37.327Z,1362631057.328 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.328Z,1362631057.328 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.329Z,1362631057.329 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:37.329Z,1362631057.329 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.329Z,1362631057.329 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:37.329Z,1362631057.329 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:37.329Z,1362631057.329 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:37.729Z,1362631057.729 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:37.729Z,1362631057.729 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.729Z,1362631057.729 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:37.729Z,1362631057.730 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:37.730Z,1362631057.730 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:37.730Z,1362631057.730 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:37.731Z,1362631057.731 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.732Z,1362631057.732 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.732Z,1362631057.732 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:37.732Z,1362631057.732 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:37.733Z,1362631057.733 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:37.733Z,1362631057.733 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:37.733Z,1362631057.733 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:38.128Z,1362631058.128 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:38.128Z,1362631058.128 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.128Z,1362631058.128 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:38.128Z,1362631058.128 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:38.129Z,1362631058.129 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:38.129Z,1362631058.129 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:38.129Z,1362631058.129 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.129Z,1362631058.129 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.130Z,1362631058.129 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:38.130Z,1362631058.130 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.130Z,1362631058.130 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:38.130Z,1362631058.130 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:38.130Z,1362631058.130 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:38.223Z,1362631058.223 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:38.248Z,1362631058.248 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:38.251Z,1362631058.251 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:38.526Z,1362631058.526 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:38.526Z,1362631058.526 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.526Z,1362631058.526 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:37:38.526Z,1362631058.526 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:37:38.526Z,1362631058.526 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:37:38.526Z,1362631058.526 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:37:38.527Z,1362631058.527 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.527Z,1362631058.527 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.527Z,1362631058.527 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:37:38.527Z,1362631058.527 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:37:38.527Z,1362631058.527 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:37:38.527Z,1362631058.527 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:37:38.528Z,1362631058.528 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:37:38.575Z,1362631058.575 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:37:38.583Z,1362631058.583 [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,
2013-03-07T04:37:40.763Z,1362631060.763 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:40.791Z,1362631060.791 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:40.796Z,1362631060.796 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:41.752Z,1362631061.751 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:37:42.310Z,1362631062.310 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:37:43.302Z,1362631063.302 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:43.325Z,1362631063.325 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:43.328Z,1362631063.328 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:45.840Z,1362631065.840 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:45.895Z,1362631065.895 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:45.900Z,1362631065.900 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:48.395Z,1362631068.395 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:48.419Z,1362631068.419 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:48.422Z,1362631068.422 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:50.926Z,1362631070.926 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:50.952Z,1362631070.952 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:50.956Z,1362631070.956 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:53.483Z,1362631073.483 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:53.500Z,1362631073.500 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:53.512Z,1362631073.512 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:55.045Z,1362631075.045 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:37:55.519Z,1362631075.519 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:37:56.014Z,1362631076.014 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:56.041Z,1362631076.041 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:56.043Z,1362631076.043 [DVL_micro](DEBUG): ADCP
2013-03-07T04:37:58.551Z,1362631078.551 [DVL_micro](DEBUG): NQ1
2013-03-07T04:37:58.588Z,1362631078.588 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:37:58.599Z,1362631078.599 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:01.092Z,1362631081.092 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:01.111Z,1362631081.111 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:01.120Z,1362631081.120 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:03.635Z,1362631083.635 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:03.666Z,1362631083.666 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:03.671Z,1362631083.671 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:06.176Z,1362631086.176 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:06.200Z,1362631086.200 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:06.203Z,1362631086.203 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:08.232Z,1362631088.232 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:38:08.719Z,1362631088.718 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:08.743Z,1362631088.743 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:08.747Z,1362631088.747 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:38:08.755Z,1362631088.755 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:11.255Z,1362631091.255 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:11.293Z,1362631091.293 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:11.297Z,1362631091.297 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:13.802Z,1362631093.802 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:13.826Z,1362631093.826 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:13.828Z,1362631093.829 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:16.350Z,1362631096.350 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:16.377Z,1362631096.376 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:16.379Z,1362631096.379 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:18.891Z,1362631098.891 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:18.919Z,1362631098.920 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:18.923Z,1362631098.922 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:21.431Z,1362631101.431 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:21.442Z,1362631101.442 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:38:21.475Z,1362631101.476 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:21.481Z,1362631101.481 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:21.955Z,1362631101.955 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:38:23.964Z,1362631103.964 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:24.003Z,1362631104.003 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:24.007Z,1362631104.007 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:26.516Z,1362631106.516 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:26.544Z,1362631106.544 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:26.548Z,1362631106.548 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:29.059Z,1362631109.059 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:29.090Z,1362631109.089 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:29.105Z,1362631109.105 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:31.599Z,1362631111.599 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:31.627Z,1362631111.627 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:31.631Z,1362631111.631 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:34.146Z,1362631114.146 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:34.194Z,1362631114.194 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:34.199Z,1362631114.198 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:34.629Z,1362631114.629 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:38:35.215Z,1362631115.215 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:38:36.675Z,1362631116.675 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:36.701Z,1362631116.701 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:36.703Z,1362631116.703 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:39.219Z,1362631119.219 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:39.248Z,1362631119.248 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:39.251Z,1362631119.251 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:41.763Z,1362631121.763 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:41.790Z,1362631121.790 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:41.795Z,1362631121.795 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:44.307Z,1362631124.307 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:44.333Z,1362631124.333 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:44.336Z,1362631124.336 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:46.850Z,1362631126.851 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:46.884Z,1362631126.884 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:46.886Z,1362631126.886 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:47.953Z,1362631127.953 [Aanderaa_O2](ERROR): No communication! Re-starting
2013-03-07T04:38:48.435Z,1362631128.435 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:38:49.387Z,1362631129.387 [DVL_micro](DEBUG): NQ1
2013-03-07T04:38:49.415Z,1362631129.415 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:38:49.417Z,1362631129.417 [DVL_micro](DEBUG): ADCP
2013-03-07T04:38:50.435Z,1362631130.435 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:38:50.748Z,1362631130.747 [EcoHAB_box] Stopped
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:38:50.748Z,1362631130.748 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:38:50.748Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:38:50.749Z,1362631130.749 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:38:50.749Z,1362631130.750 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:38:50.750Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:38:50.751Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:38:50.751Z,1362631130.750 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:38:50.751Z,1362631130.751 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:38:50.752Z,1362631130.751 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:38:50.752Z,1362631130.752 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:38:50.891Z,1362631130.891 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:38:51.128Z,1362631131.128 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:38:51.128Z,1362631131.128 [Default] Running Loop=1
2013-03-07T04:38:51.128Z,1362631131.128 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:38:51.128Z,1362631131.128 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:38:51.128Z,1362631131.128 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:38:51.129Z,1362631131.129 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:38:51.129Z,1362631131.129 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:38:51.129Z,1362631131.129 [Default:Iridium] Running Loop=1
2013-03-07T04:38:51.129Z,1362631131.129 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:38:51.129Z,1362631131.129 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:38:51.129Z,1362631131.129 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:38:51.129Z,1362631131.129 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:38:51.129Z,1362631131.129 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:38:51.132Z,1362631131.132 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:38:51.132Z,1362631131.132 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:38:51.132Z,1362631131.132 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:38:51.496Z,1362631131.496 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:38:51.903Z,1362631131.903 [NAL9602](INFO): Powering up
2013-03-07T04:38:52.023Z,1362631132.023 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:39:00.647Z,1362631140.647 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:39:02.443Z,1362631142.443 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:39:04.453Z,1362631144.453 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:04.892Z,1362631144.892 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:39:04.892Z,1362631144.892 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:39:05.101Z,1362631145.101 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:39:05.104Z,1362631145.104 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:39:05.106Z,1362631145.106 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:39:05.108Z,1362631145.108 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:39:05.111Z,1362631145.111 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:39:05.113Z,1362631145.113 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:39:05.116Z,1362631145.116 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:39:05.119Z,1362631145.119 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:39:05.121Z,1362631145.121 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:39:05.124Z,1362631145.124 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:39:05.126Z,1362631145.126 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:39:05.130Z,1362631145.130 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:39:05.132Z,1362631145.132 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:39:05.135Z,1362631145.135 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:39:05.137Z,1362631145.137 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:39:05.140Z,1362631145.140 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:39:05.142Z,1362631145.142 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:39:05.145Z,1362631145.145 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:39:05.147Z,1362631145.147 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:39:05.150Z,1362631145.150 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:39:05.152Z,1362631145.152 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:39:05.155Z,1362631145.155 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:39:05.157Z,1362631145.157 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:39:05.180Z,1362631145.180 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:39:05.182Z,1362631145.182 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:39:05.184Z,1362631145.184 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:39:05.195Z,1362631145.195 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:39:05.197Z,1362631145.197 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:39:05.204Z,1362631145.204 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:39:05.206Z,1362631145.206 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:39:05.211Z,1362631145.211 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:39:05.214Z,1362631145.214 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:39:05.218Z,1362631145.218 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:39:05.220Z,1362631145.220 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:39:05.222Z,1362631145.222 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:39:05.240Z,1362631145.240 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:39:05.250Z,1362631145.250 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:39:05.287Z,1362631145.287 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:39:05.324Z,1362631145.323 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:39:05.326Z,1362631145.326 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:39:05.328Z,1362631145.328 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:39:05.330Z,1362631145.330 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:39:05.332Z,1362631145.332 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:39:05.333Z,1362631145.333 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:39:05.346Z,1362631145.346 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:39:05.397Z,1362631145.397 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:39:05.399Z,1362631145.399 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:39:05.400Z,1362631145.400 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:39:05.425Z,1362631145.425 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:39:05.428Z,1362631145.428 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:39:05.430Z,1362631145.430 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:39:05.432Z,1362631145.432 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:39:05.435Z,1362631145.434 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:39:05.435Z,1362631145.435 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:39:05.479Z,1362631145.478 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:39:05.480Z,1362631145.480 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:39:05.481Z,1362631145.481 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:39:05.483Z,1362631145.483 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:39:05.512Z,1362631145.512 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:39:05.515Z,1362631145.515 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:39:05.517Z,1362631145.517 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:39:05.520Z,1362631145.520 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:39:05.521Z,1362631145.522 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:39:05.529Z,1362631145.529 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:39:05.547Z,1362631145.546 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:39:05.549Z,1362631145.549 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:39:05.551Z,1362631145.551 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:39:05.553Z,1362631145.553 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:39:05.606Z,1362631145.606 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:39:05.609Z,1362631145.609 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:39:05.615Z,1362631145.615 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:39:05.617Z,1362631145.617 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:39:05.618Z,1362631145.618 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:39:05.626Z,1362631145.626 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:39:05.640Z,1362631145.640 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:39:05.641Z,1362631145.641 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:39:05.691Z,1362631145.691 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:39:05.694Z,1362631145.694 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:39:05.696Z,1362631145.696 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:39:05.697Z,1362631145.697 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:39:05.731Z,1362631145.731 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:39:05.733Z,1362631145.733 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:39:05.735Z,1362631145.736 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:39:05.738Z,1362631145.738 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:39:05.740Z,1362631145.740 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:39:05.741Z,1362631145.741 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:39:05.753Z,1362631145.753 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:39:05.762Z,1362631145.762 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:39:05.763Z,1362631145.763 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:39:05.780Z,1362631145.780 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:39:05.782Z,1362631145.782 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:39:05.849Z,1362631145.849 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:39:05.852Z,1362631145.852 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:39:05.854Z,1362631145.854 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:39:05.863Z,1362631145.863 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:39:05.865Z,1362631145.865 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:39:05.868Z,1362631145.868 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:39:05.874Z,1362631145.874 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:39:05.876Z,1362631145.876 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:39:05.895Z,1362631145.895 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:39:05.897Z,1362631145.897 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:39:05.904Z,1362631145.904 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:39:05.906Z,1362631145.906 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:39:05.917Z,1362631145.917 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:39:05.924Z,1362631145.924 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:39:05.952Z,1362631145.952 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.957Z,1362631145.957 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.963Z,1362631145.963 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.968Z,1362631145.968 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.974Z,1362631145.974 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.979Z,1362631145.979 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.984Z,1362631145.984 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:39:05.990Z,1362631145.990 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:39:06.234Z,1362631146.234 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:39:06.237Z,1362631146.237 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:39:06.243Z,1362631146.243 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:39:06.245Z,1362631146.245 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:39:06.251Z,1362631146.251 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:39:06.254Z,1362631146.253 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:39:06.257Z,1362631146.257 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:39:06.263Z,1362631146.263 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:39:06.265Z,1362631146.265 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:39:06.267Z,1362631146.267 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:39:06.270Z,1362631146.270 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:39:06.272Z,1362631146.272 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:39:06.275Z,1362631146.275 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:39:06.277Z,1362631146.277 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:39:06.280Z,1362631146.280 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:39:06.282Z,1362631146.283 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:39:06.285Z,1362631146.285 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:39:06.305Z,1362631146.305 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:39:06.308Z,1362631146.308 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:39:06.326Z,1362631146.326 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:39:06.329Z,1362631146.329 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:39:06.336Z,1362631146.336 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:39:06.343Z,1362631146.343 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:39:06.345Z,1362631146.345 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:39:06.352Z,1362631146.352 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:39:06.358Z,1362631146.358 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:39:06.361Z,1362631146.361 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:39:06.365Z,1362631146.365 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:39:06.369Z,1362631146.369 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:39:06.372Z,1362631146.372 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:39:06.383Z,1362631146.383 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Construct Wait.
2013-03-07T04:39:06.393Z,1362631146.393 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:39:06.401Z,1362631146.401 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:39:06.408Z,1362631146.408 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:39:06.448Z,1362631146.448 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:39:06.449Z,1362631146.449 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:39:06.451Z,1362631146.451 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:39:06.452Z,1362631146.452 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:39:06.453Z,1362631146.453 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:39:06.462Z,1362631146.462 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:39:06.464Z,1362631146.464 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:39:06.466Z,1362631146.466 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:39:06.479Z,1362631146.479 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:39:06.480Z,1362631146.480 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:39:06.481Z,1362631146.481 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:39:06.484Z,1362631146.484 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:39:06.498Z,1362631146.498 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:39:06.504Z,1362631146.504 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:39:06.610Z,1362631146.610 [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="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"><True/></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>


2013-03-07T04:39:06.635Z,1362631146.635 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:39:06.635Z,1362631146.635 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:39:06.636Z,1362631146.636 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:39:06.637Z,1362631146.637 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:39:06.637Z,1362631146.637 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:39:08.423Z,1362631148.423 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:11.771Z,1362631151.771 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:12.475Z,1362631152.475 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lat 36.842499 degree
2013-03-07T04:39:12.476Z,1362631152.476 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner1Lon -121.866798 degree
2013-03-07T04:39:12.476Z,1362631152.476 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lat 36.819000 degree
2013-03-07T04:39:12.477Z,1362631152.477 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpCorner2Lon -121.885002 degree
2013-03-07T04:39:19.875Z,1362631159.875 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:39:19.876Z,1362631159.876 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:39:19.877Z,1362631159.876 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:39:19.877Z,1362631159.877 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:39:20.307Z,1362631160.307 [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,
2013-03-07T04:39:20.492Z,1362631160.492 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:20.855Z,1362631160.855 [CommandLine](IMPORTANT): got command run
2013-03-07T04:39:20.855Z,1362631160.855 [CommandLine](IMPORTANT): Running 
2013-03-07T04:39:20.964Z,1362631160.964 [Default] Stopped
2013-03-07T04:39:20.964Z,1362631160.964 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:39:20.964Z,1362631160.964 [Default:Iridium] Stopped
2013-03-07T04:39:20.964Z,1362631160.964 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:39:20.964Z,1362631160.964 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:39:20.964Z,1362631160.964 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:39:20.964Z,1362631160.964 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:39:20.964Z,1362631160.964 [Default:D.SetSpeed] Stopped
2013-03-07T04:39:20.964Z,1362631160.964 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:39:20.964Z,1362631160.964 [Default:E.GoToSurface] Stopped
2013-03-07T04:39:20.965Z,1362631160.964 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:39:20.965Z,1362631160.965 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:39:20.965Z,1362631160.965 [EcoHAB_box] Running Loop=1
2013-03-07T04:39:20.965Z,1362631160.965 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:39:20.965Z,1362631160.965 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:39:20.965Z,1362631160.965 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:39:20.965Z,1362631160.965 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:39:20.965Z,1362631160.965 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:39:20.966Z,1362631160.966 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:39:20.973Z,1362631160.973 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:39:20.974Z,1362631160.974 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:39:20.975Z,1362631160.975 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:39:20.976Z,1362631160.976 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:39:20.979Z,1362631160.979 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:39:20.979Z,1362631160.979 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:39:20.979Z,1362631160.979 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:39:20.979Z,1362631160.979 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:39:20.980Z,1362631160.980 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:39:20.981Z,1362631160.981 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:39:21.027Z,1362631161.027 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:39:21.027Z,1362631161.027 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:39:21.028Z,1362631161.028 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:39:21.028Z,1362631161.028 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:39:21.308Z,1362631161.308 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:39:21.308Z,1362631161.308 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:39:21.308Z,1362631161.308 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:39:21.308Z,1362631161.308 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:39:21.308Z,1362631161.308 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:39:21.308Z,1362631161.308 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:39:21.708Z,1362631161.708 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:39:21.708Z,1362631161.708 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:39:21.708Z,1362631161.708 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:39:21.709Z,1362631161.709 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:39:21.709Z,1362631161.709 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:39:22.112Z,1362631162.112 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:39:23.035Z,1362631163.035 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:39:23.035Z,1362631163.035 [DVL_micro](INFO): Querying output modes
2013-03-07T04:39:23.035Z,1362631163.035 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:39:23.046Z,1362631163.046 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:39:23.047Z,1362631163.046 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:39:23.047Z,1362631163.047 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:39:23.047Z,1362631163.047 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:39:23.058Z,1362631163.059 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:39:23.060Z,1362631163.060 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:39:23.060Z,1362631163.060 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:39:24.847Z,1362631164.847 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:25.067Z,1362631165.067 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:39:25.067Z,1362631165.067 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:39:25.750Z,1362631165.750 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:39:25.751Z,1362631165.751 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:39:25.751Z,1362631165.751 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:39:26.006Z,1362631166.006 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:39:26.007Z,1362631166.007 [DVL_micro](INFO): Querying output modes
2013-03-07T04:39:26.007Z,1362631166.007 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:39:26.195Z,1362631166.195 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:39:26.195Z,1362631166.195 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:39:26.195Z,1362631166.195 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:39:26.271Z,1362631166.271 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:39:28.790Z,1362631168.790 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:28.815Z,1362631168.815 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:29.312Z,1362631169.312 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:29.539Z,1362631169.539 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:39:29.656Z,1362631169.656 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:39:29.656Z,1362631169.656 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:39:30.056Z,1362631170.056 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:39:30.057Z,1362631170.057 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:39:30.057Z,1362631170.057 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:39:30.057Z,1362631170.057 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:39:30.057Z,1362631170.057 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:39:30.058Z,1362631170.058 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:39:30.058Z,1362631170.058 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:39:30.058Z,1362631170.059 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:39:30.058Z,1362631170.059 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:39:30.059Z,1362631170.059 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.059 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:39:30.060Z,1362631170.060 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:39:30.061Z,1362631170.061 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:39:30.061Z,1362631170.061 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:39:30.061Z,1362631170.061 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:39:30.061Z,1362631170.061 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:39:30.062Z,1362631170.062 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:39:30.062Z,1362631170.062 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:39:30.457Z,1362631170.457 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:39:30.458Z,1362631170.458 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:39:30.460Z,1362631170.460 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:39:30.461Z,1362631170.461 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:39:30.462Z,1362631170.462 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:39:30.463Z,1362631170.463 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:39:30.464Z,1362631170.464 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:39:30.464Z,1362631170.464 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:39:30.464Z,1362631170.464 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:39:30.466Z,1362631170.466 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:39:30.467Z,1362631170.467 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:39:30.467Z,1362631170.467 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:39:30.468Z,1362631170.468 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:39:30.469Z,1362631170.469 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:39:30.469Z,1362631170.469 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:39:30.470Z,1362631170.470 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:39:30.470Z,1362631170.470 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:39:30.470Z,1362631170.470 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:39:30.471Z,1362631170.471 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:39:30.471Z,1362631170.471 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:39:30.471Z,1362631170.471 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:39:30.499Z,1362631170.499 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:39:30.500Z,1362631170.500 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:39:30.857Z,1362631170.857 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:39:30.857Z,1362631170.857 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:39:30.858Z,1362631170.858 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:39:30.859Z,1362631170.859 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:39:30.859Z,1362631170.859 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:39:30.891Z,1362631170.891 [DVL_micro](INFO): ADCP requested
2013-03-07T04:39:30.891Z,1362631170.891 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:39:31.318Z,1362631171.318 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.658515 h 
2013-03-07T04:39:31.319Z,1362631171.319 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:39:31.319Z,1362631171.319 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:39:31.659Z,1362631171.659 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:39:31.659Z,1362631171.659 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:39:32.137Z,1362631172.137 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.341485 h 
2013-03-07T04:39:32.138Z,1362631172.138 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:39:32.139Z,1362631172.139 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:39:32.139Z,1362631172.139 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:39:32.139Z,1362631172.139 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:39:32.506Z,1362631172.506 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:39:32.507Z,1362631172.507 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:39:32.507Z,1362631172.507 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:39:32.507Z,1362631172.507 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:39:32.507Z,1362631172.507 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:39:32.507Z,1362631172.507 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:39:32.900Z,1362631172.900 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 200.489093 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:39:32.901Z,1362631172.901 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:39:32.901Z,1362631172.901 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:39:32.901Z,1362631172.901 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:39:32.907Z,1362631172.907 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:39:32.907Z,1362631172.907 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:39:33.159Z,1362631173.159 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:39:33.159Z,1362631173.159 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:39:33.160Z,1362631173.159 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:39:33.299Z,1362631173.299 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:39:33.300Z,1362631173.300 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:39:33.300Z,1362631173.300 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:39:33.300Z,1362631173.300 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:39:33.302Z,1362631173.302 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:39:33.302Z,1362631173.302 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:39:33.302Z,1362631173.302 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:39:33.745Z,1362631173.745 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:39:33.746Z,1362631173.746 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:39:33.747Z,1362631173.747 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:39:34.201Z,1362631174.201 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:39:34.216Z,1362631174.216 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:39:34.216Z,1362631174.216 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:39:34.216Z,1362631174.216 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:39:34.470Z,1362631174.470 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:39:34.471Z,1362631174.471 [DVL_micro](INFO): Querying output modes
2013-03-07T04:39:34.471Z,1362631174.471 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:39:34.647Z,1362631174.647 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:39:34.647Z,1362631174.647 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:39:34.647Z,1362631174.647 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:39:34.647Z,1362631174.647 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:39:34.731Z,1362631174.731 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:39:37.251Z,1362631177.251 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:37.297Z,1362631177.297 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:37.304Z,1362631177.304 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:37.520Z,1362631177.520 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:38.719Z,1362631178.719 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:39:39.030Z,1362631179.030 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:39:39.031Z,1362631179.031 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:39:39.791Z,1362631179.791 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:39.818Z,1362631179.818 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:39.821Z,1362631179.821 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:39.928Z,1362631179.928 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:39:39.929Z,1362631179.929 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:39:39.929Z,1362631179.929 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:39:39.929Z,1362631179.929 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:39:39.929Z,1362631179.929 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:39:39.930Z,1362631179.931 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:39:39.931Z,1362631179.931 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:39:39.931Z,1362631179.931 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:39:39.931Z,1362631179.931 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:39:39.931Z,1362631179.931 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:39:40.201Z,1362631180.201 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:39:40.259Z,1362631180.259 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:39:40.259Z,1362631180.259 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:39:40.259Z,1362631180.259 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:39:40.260Z,1362631180.260 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:39:40.260Z,1362631180.260 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:39:40.260Z,1362631180.260 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:39:40.260Z,1362631180.260 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:39:40.628Z,1362631180.628 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:39:40.628Z,1362631180.628 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:39:41.011Z,1362631181.011 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:39:41.011Z,1362631181.011 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:39:41.555Z,1362631181.555 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-03-07T04:39:41.555Z,1362631181.555 [ThrusterServo] Communications Fault, FailCount= 1
2013-03-07T04:39:41.555Z,1362631181.555 [ThrusterServo](ERROR): Communications Fault
2013-03-07T04:39:41.558Z,1362631181.559 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-03-07T04:39:41.914Z,1362631181.914 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:39:41.914Z,1362631181.914 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:39:42.029Z,1362631182.029 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-07T04:39:42.029Z,1362631182.029 [ThrusterServo](INFO): Powering down
2013-03-07T04:39:42.311Z,1362631182.311 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:39:42.311Z,1362631182.311 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:39:42.311Z,1362631182.311 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:39:42.331Z,1362631182.331 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:42.369Z,1362631182.369 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:42.377Z,1362631182.377 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:42.666Z,1362631182.667 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:39:42.667Z,1362631182.667 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:39:42.667Z,1362631182.667 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:39:42.667Z,1362631182.667 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:39:42.667Z,1362631182.667 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:39:42.669Z,1362631182.670 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 200.489093 min 
2013-03-07T04:39:42.671Z,1362631182.671 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:39:42.671Z,1362631182.671 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:39:42.671Z,1362631182.671 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:39:42.671Z,1362631182.671 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:39:42.671Z,1362631182.671 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:39:42.672Z,1362631182.672 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:39:42.738Z,1362631182.739 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:39:42.861Z,1362631182.861 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-07T04:39:42.864Z,1362631182.864 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-03-07T04:39:42.864Z,1362631182.864 [ThrusterServo] No Fault, FailCount= 1
2013-03-07T04:39:43.101Z,1362631183.101 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:39:43.102Z,1362631183.102 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:39:43.102Z,1362631183.102 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:39:43.102Z,1362631183.102 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:39:44.875Z,1362631184.875 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:44.927Z,1362631184.927 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:44.929Z,1362631184.930 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:45.928Z,1362631185.928 [NAL9602](INFO): Powering down
2013-03-07T04:39:46.987Z,1362631186.987 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:39:46.988Z,1362631186.988 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:39:46.989Z,1362631186.989 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:39:46.989Z,1362631186.989 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:39:46.990Z,1362631186.990 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:39:46.991Z,1362631186.991 [EcoHAB_box](INFO): Priority 3: EcoHAB_box:I.Pitch
2013-03-07T04:39:46.991Z,1362631186.991 [EcoHAB_box](INFO): Priority 4: EcoHAB_box:J.Buoyancy
2013-03-07T04:39:46.992Z,1362631186.992 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Priority 5: EcoHAB_box:CircleWaypointRepeatedly:B
2013-03-07T04:39:46.992Z,1362631186.992 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Priority 6: EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle
2013-03-07T04:39:46.995Z,1362631186.995 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:39:46.995Z,1362631186.995 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:39:46.996Z,1362631186.996 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:39:46.996Z,1362631186.996 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:39:46.996Z,1362631186.996 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:39:46.997Z,1362631186.997 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:39:46.997Z,1362631186.997 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:39:46.997Z,1362631186.997 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:39:47.415Z,1362631187.415 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:47.440Z,1362631187.440 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:47.443Z,1362631187.443 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:49.960Z,1362631189.960 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:49.973Z,1362631189.973 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:49.976Z,1362631189.976 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:52.503Z,1362631192.503 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:52.542Z,1362631192.542 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:52.560Z,1362631192.560 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:55.051Z,1362631195.050 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:55.081Z,1362631195.081 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:55.084Z,1362631195.085 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:55.756Z,1362631195.756 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:39:55.757Z,1362631195.757 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:39:56.022Z,1362631196.022 [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,
2013-03-07T04:39:56.284Z,1362631196.284 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:56.284Z,1362631196.284 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.284Z,1362631196.284 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:56.284Z,1362631196.284 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:56.284Z,1362631196.284 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:56.285Z,1362631196.284 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:56.285Z,1362631196.285 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.285Z,1362631196.285 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:56.286Z,1362631196.286 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:56.287Z,1362631196.287 [EcoHAB_box:ScienceOps:Science:C:A](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:39:56.287Z,1362631196.287 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.288Z,1362631196.288 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:56.288Z,1362631196.288 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.288Z,1362631196.288 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:56.288Z,1362631196.288 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:56.288Z,1362631196.288 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:56.761Z,1362631196.761 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:56.761Z,1362631196.761 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.761Z,1362631196.761 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:56.761Z,1362631196.761 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:56.762Z,1362631196.761 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:56.762Z,1362631196.762 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:56.762Z,1362631196.762 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.763Z,1362631196.763 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.763Z,1362631196.763 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:56.763Z,1362631196.763 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:56.763Z,1362631196.763 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:56.763Z,1362631196.763 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:56.764Z,1362631196.764 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:57.184Z,1362631197.184 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:57.184Z,1362631197.184 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.184Z,1362631197.184 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:57.184Z,1362631197.184 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:57.184Z,1362631197.184 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:57.185Z,1362631197.185 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:57.185Z,1362631197.185 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.185Z,1362631197.185 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.185Z,1362631197.185 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:57.185Z,1362631197.185 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.186Z,1362631197.186 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:57.186Z,1362631197.186 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:57.186Z,1362631197.186 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:57.586Z,1362631197.586 [DVL_micro](DEBUG): NQ1
2013-03-07T04:39:57.636Z,1362631197.636 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:39:57.648Z,1362631197.648 [DVL_micro](DEBUG): ADCP
2013-03-07T04:39:57.679Z,1362631197.679 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:57.679Z,1362631197.679 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.679Z,1362631197.679 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:57.679Z,1362631197.680 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:57.680Z,1362631197.680 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:57.680Z,1362631197.680 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:57.680Z,1362631197.680 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.681Z,1362631197.681 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.681Z,1362631197.681 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:57.681Z,1362631197.681 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.681Z,1362631197.681 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:57.681Z,1362631197.681 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:57.681Z,1362631197.681 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:57.988Z,1362631197.988 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:57.988Z,1362631197.988 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.988Z,1362631197.988 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:57.988Z,1362631197.988 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:57.988Z,1362631197.988 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:57.988Z,1362631197.989 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:57.989Z,1362631197.989 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.989Z,1362631197.989 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.989Z,1362631197.989 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:57.989Z,1362631197.989 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:57.989Z,1362631197.990 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:57.989Z,1362631197.990 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:57.990Z,1362631197.990 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:58.375Z,1362631198.375 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:58.375Z,1362631198.375 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.375Z,1362631198.375 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:58.376Z,1362631198.376 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:58.376Z,1362631198.376 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:58.376Z,1362631198.376 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:58.376Z,1362631198.376 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.377Z,1362631198.376 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.377Z,1362631198.377 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:58.377Z,1362631198.377 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.377Z,1362631198.377 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:58.377Z,1362631198.377 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:58.377Z,1362631198.377 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:58.785Z,1362631198.785 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:58.785Z,1362631198.785 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.785Z,1362631198.785 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:58.785Z,1362631198.785 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:58.785Z,1362631198.786 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:58.786Z,1362631198.786 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:58.786Z,1362631198.786 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.787Z,1362631198.787 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.787Z,1362631198.787 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:58.787Z,1362631198.787 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:58.787Z,1362631198.787 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:58.787Z,1362631198.787 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:58.788Z,1362631198.788 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:59.179Z,1362631199.179 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:59.179Z,1362631199.179 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.179Z,1362631199.179 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:59.179Z,1362631199.179 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:59.179Z,1362631199.179 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:59.179Z,1362631199.179 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:59.179Z,1362631199.180 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.180Z,1362631199.180 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.180Z,1362631199.180 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:59.180Z,1362631199.180 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.180Z,1362631199.180 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:59.180Z,1362631199.180 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:59.181Z,1362631199.181 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:59.581Z,1362631199.581 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:59.582Z,1362631199.582 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.582Z,1362631199.582 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:59.582Z,1362631199.582 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:59.582Z,1362631199.582 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:59.582Z,1362631199.582 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:59.582Z,1362631199.582 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.583Z,1362631199.583 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.583Z,1362631199.583 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:59.583Z,1362631199.583 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.583Z,1362631199.583 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:59.583Z,1362631199.583 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:59.583Z,1362631199.583 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:39:59.975Z,1362631199.975 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:59.975Z,1362631199.975 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.975Z,1362631199.975 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:39:59.975Z,1362631199.975 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:39:59.975Z,1362631199.975 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:39:59.975Z,1362631199.976 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:39:59.976Z,1362631199.976 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.976Z,1362631199.976 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.976Z,1362631199.976 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:39:59.976Z,1362631199.977 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:39:59.976Z,1362631199.977 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:39:59.977Z,1362631199.977 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:39:59.977Z,1362631199.977 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:00.138Z,1362631200.138 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:00.179Z,1362631200.180 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:00.183Z,1362631200.183 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:00.443Z,1362631200.443 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:00.443Z,1362631200.443 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.443Z,1362631200.443 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:00.443Z,1362631200.443 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:00.444Z,1362631200.444 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:00.444Z,1362631200.444 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:00.444Z,1362631200.444 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.444Z,1362631200.444 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.444Z,1362631200.444 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:00.445Z,1362631200.445 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.445Z,1362631200.445 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:00.445Z,1362631200.445 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:00.445Z,1362631200.445 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:00.848Z,1362631200.848 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:00.848Z,1362631200.848 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.848Z,1362631200.848 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:00.848Z,1362631200.848 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:00.848Z,1362631200.848 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:00.848Z,1362631200.848 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:00.849Z,1362631200.849 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:01.238Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:01.239Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.239Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:01.239Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:01.239Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:01.239Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:01.239Z,1362631201.239 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.240Z,1362631201.240 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.240Z,1362631201.240 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:01.240Z,1362631201.240 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.240Z,1362631201.240 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:01.240Z,1362631201.240 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:01.240Z,1362631201.240 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:01.681Z,1362631201.681 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:01.682Z,1362631201.682 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.682Z,1362631201.682 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:01.682Z,1362631201.682 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:01.682Z,1362631201.682 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:01.682Z,1362631201.682 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:01.683Z,1362631201.682 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.683Z,1362631201.683 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.683Z,1362631201.683 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:01.683Z,1362631201.683 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:01.683Z,1362631201.684 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:01.684Z,1362631201.684 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:01.684Z,1362631201.684 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:02.036Z,1362631202.036 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:02.037Z,1362631202.037 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.037Z,1362631202.037 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:02.037Z,1362631202.037 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:02.037Z,1362631202.037 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:02.037Z,1362631202.037 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:02.037Z,1362631202.037 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.038Z,1362631202.039 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.039Z,1362631202.039 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:02.039Z,1362631202.039 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.039Z,1362631202.039 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:02.039Z,1362631202.039 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:02.039Z,1362631202.039 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:02.429Z,1362631202.429 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:02.429Z,1362631202.429 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.429Z,1362631202.429 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:02.429Z,1362631202.429 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:02.429Z,1362631202.429 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:02.430Z,1362631202.430 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:02.430Z,1362631202.430 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.431Z,1362631202.431 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.431Z,1362631202.431 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:02.431Z,1362631202.431 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.431Z,1362631202.431 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:02.431Z,1362631202.431 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:02.431Z,1362631202.431 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:02.679Z,1362631202.679 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:02.707Z,1362631202.707 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:02.710Z,1362631202.710 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:02.835Z,1362631202.835 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:02.835Z,1362631202.835 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.835Z,1362631202.835 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:02.835Z,1362631202.835 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:02.835Z,1362631202.835 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:02.836Z,1362631202.836 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:02.837Z,1362631202.837 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:03.231Z,1362631203.231 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.232Z,1362631203.232 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.232Z,1362631203.232 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:03.232Z,1362631203.232 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.232Z,1362631203.232 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:03.232Z,1362631203.232 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:03.232Z,1362631203.232 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:03.635Z,1362631203.635 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.636Z,1362631203.636 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.636Z,1362631203.636 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:03.636Z,1362631203.636 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:03.636Z,1362631203.636 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:03.636Z,1362631203.636 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:03.636Z,1362631203.636 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:04.079Z,1362631204.079 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:04.079Z,1362631204.079 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.080Z,1362631204.080 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:04.080Z,1362631204.080 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:04.080Z,1362631204.080 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:04.080Z,1362631204.080 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:04.080Z,1362631204.080 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.081Z,1362631204.081 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.081Z,1362631204.081 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:04.081Z,1362631204.081 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.081Z,1362631204.081 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:04.081Z,1362631204.081 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:04.081Z,1362631204.081 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:04.454Z,1362631204.454 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:04.454Z,1362631204.454 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.454Z,1362631204.454 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:04.454Z,1362631204.454 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:04.454Z,1362631204.454 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:04.454Z,1362631204.454 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:04.455Z,1362631204.455 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.456Z,1362631204.456 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.456Z,1362631204.456 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:04.456Z,1362631204.456 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.456Z,1362631204.456 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:04.456Z,1362631204.456 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:04.456Z,1362631204.456 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:04.842Z,1362631204.842 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:04.842Z,1362631204.842 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.842Z,1362631204.842 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:04.843Z,1362631204.843 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:04.843Z,1362631204.843 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:04.843Z,1362631204.843 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:04.843Z,1362631204.843 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.844Z,1362631204.844 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.844Z,1362631204.844 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:04.844Z,1362631204.844 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:04.845Z,1362631204.845 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:04.845Z,1362631204.845 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:04.845Z,1362631204.845 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:05.227Z,1362631205.227 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:05.257Z,1362631205.257 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:05.265Z,1362631205.265 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:05.280Z,1362631205.280 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.281Z,1362631205.281 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.281Z,1362631205.281 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:05.281Z,1362631205.281 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.281Z,1362631205.281 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:05.281Z,1362631205.281 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:05.281Z,1362631205.281 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:05.707Z,1362631205.707 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.708Z,1362631205.708 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.708Z,1362631205.708 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:05.708Z,1362631205.708 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:05.708Z,1362631205.708 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:05.708Z,1362631205.708 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:05.708Z,1362631205.708 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:06.090Z,1362631206.090 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:06.090Z,1362631206.090 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.090Z,1362631206.090 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:06.090Z,1362631206.090 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:06.090Z,1362631206.090 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:06.090Z,1362631206.091 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:06.091Z,1362631206.091 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.091Z,1362631206.091 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.091Z,1362631206.091 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:06.091Z,1362631206.092 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.091Z,1362631206.092 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:06.092Z,1362631206.092 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:06.092Z,1362631206.092 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:06.363Z,1362631206.363 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:40:06.497Z,1362631206.497 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:06.497Z,1362631206.497 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.498Z,1362631206.497 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:06.498Z,1362631206.497 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:06.498Z,1362631206.498 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:06.498Z,1362631206.498 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:06.498Z,1362631206.498 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.499Z,1362631206.499 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.500Z,1362631206.500 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:06.500Z,1362631206.500 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:06.500Z,1362631206.500 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:06.500Z,1362631206.500 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:06.500Z,1362631206.500 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:06.654Z,1362631206.654 [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,
2013-03-07T04:40:07.770Z,1362631207.770 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:07.804Z,1362631207.804 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:07.824Z,1362631207.824 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:10.311Z,1362631210.311 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:10.352Z,1362631210.352 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:10.366Z,1362631210.366 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:12.851Z,1362631212.851 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:12.891Z,1362631212.891 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:12.894Z,1362631212.894 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:15.390Z,1362631215.390 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:15.432Z,1362631215.432 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:15.439Z,1362631215.439 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:17.927Z,1362631217.927 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:17.949Z,1362631217.949 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:17.955Z,1362631217.955 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:20.479Z,1362631220.479 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:20.504Z,1362631220.504 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:20.507Z,1362631220.507 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:23.011Z,1362631223.011 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:23.041Z,1362631223.041 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:23.044Z,1362631223.044 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:25.554Z,1362631225.554 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:25.582Z,1362631225.582 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:25.587Z,1362631225.587 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:28.088Z,1362631228.088 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:28.148Z,1362631228.148 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:28.156Z,1362631228.156 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:30.631Z,1362631230.631 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:30.673Z,1362631230.673 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:30.676Z,1362631230.676 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:33.178Z,1362631233.178 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:33.205Z,1362631233.205 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:33.221Z,1362631233.221 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:35.735Z,1362631235.735 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:35.754Z,1362631235.754 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:35.757Z,1362631235.757 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:38.266Z,1362631238.266 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:38.290Z,1362631238.290 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:38.293Z,1362631238.293 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:40.804Z,1362631240.804 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:40.831Z,1362631240.831 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:40.835Z,1362631240.835 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:43.350Z,1362631243.350 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:43.391Z,1362631243.391 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:43.393Z,1362631243.393 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:45.891Z,1362631245.891 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:45.932Z,1362631245.932 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:45.937Z,1362631245.937 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:48.284Z,1362631248.284 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:40:48.286Z,1362631248.286 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:40:48.296Z,1362631248.296 [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_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,
2013-03-07T04:40:48.439Z,1362631248.439 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:48.451Z,1362631248.451 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:48.454Z,1362631248.454 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:48.639Z,1362631248.639 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:48.639Z,1362631248.639 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:48.639Z,1362631248.639 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:48.639Z,1362631248.639 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:48.640Z,1362631248.639 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:48.640Z,1362631248.640 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:48.640Z,1362631248.640 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:48.640Z,1362631248.640 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:48.640Z,1362631248.640 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:48.641Z,1362631248.641 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:48.641Z,1362631248.641 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:48.641Z,1362631248.641 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:48.641Z,1362631248.641 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:49.037Z,1362631249.037 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.039Z,1362631249.039 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.039Z,1362631249.039 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:49.039Z,1362631249.039 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.039Z,1362631249.039 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:49.039Z,1362631249.039 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:49.039Z,1362631249.039 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:49.454Z,1362631249.454 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:49.454Z,1362631249.454 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.454Z,1362631249.454 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:49.454Z,1362631249.454 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:49.455Z,1362631249.455 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:49.455Z,1362631249.455 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:49.455Z,1362631249.455 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.456Z,1362631249.455 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.456Z,1362631249.456 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:49.456Z,1362631249.456 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.456Z,1362631249.456 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:49.456Z,1362631249.456 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:49.456Z,1362631249.456 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:49.836Z,1362631249.836 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:49.836Z,1362631249.836 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.836Z,1362631249.836 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:49.836Z,1362631249.836 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:49.836Z,1362631249.836 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:49.836Z,1362631249.836 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:49.837Z,1362631249.837 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.837Z,1362631249.837 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.837Z,1362631249.837 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:49.837Z,1362631249.837 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:49.837Z,1362631249.838 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:49.837Z,1362631249.838 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:49.838Z,1362631249.838 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:50.234Z,1362631250.234 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:50.234Z,1362631250.234 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.234Z,1362631250.234 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:50.234Z,1362631250.234 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:50.234Z,1362631250.234 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:50.235Z,1362631250.235 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:50.235Z,1362631250.235 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.235Z,1362631250.235 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.235Z,1362631250.235 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:50.235Z,1362631250.236 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.236Z,1362631250.236 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:50.236Z,1362631250.236 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:50.236Z,1362631250.236 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:50.632Z,1362631250.632 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.633Z,1362631250.633 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.633Z,1362631250.633 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:50.633Z,1362631250.633 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:50.633Z,1362631250.633 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:50.633Z,1362631250.633 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:50.633Z,1362631250.633 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:50.976Z,1362631250.976 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:51.000Z,1362631251.000 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:51.027Z,1362631251.027 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:51.053Z,1362631251.053 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:51.053Z,1362631251.053 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.053Z,1362631251.053 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:51.054Z,1362631251.053 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:51.054Z,1362631251.054 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:51.054Z,1362631251.054 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:51.054Z,1362631251.054 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.055Z,1362631251.055 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.055Z,1362631251.055 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:51.055Z,1362631251.055 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.055Z,1362631251.055 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:51.056Z,1362631251.056 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:51.056Z,1362631251.056 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:51.443Z,1362631251.443 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:51.444Z,1362631251.444 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.444Z,1362631251.444 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:51.444Z,1362631251.444 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:51.444Z,1362631251.444 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:51.444Z,1362631251.444 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:51.444Z,1362631251.444 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.445Z,1362631251.445 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.445Z,1362631251.445 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:51.445Z,1362631251.445 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.445Z,1362631251.445 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:51.445Z,1362631251.445 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:51.446Z,1362631251.446 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:51.840Z,1362631251.839 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:51.840Z,1362631251.840 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.840Z,1362631251.840 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:51.840Z,1362631251.840 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:51.840Z,1362631251.840 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:51.840Z,1362631251.840 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:51.840Z,1362631251.840 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.841Z,1362631251.841 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.841Z,1362631251.841 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:51.841Z,1362631251.841 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:51.841Z,1362631251.841 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:51.841Z,1362631251.842 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:51.841Z,1362631251.842 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:52.244Z,1362631252.244 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:52.244Z,1362631252.244 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.245Z,1362631252.245 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:52.245Z,1362631252.245 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:52.245Z,1362631252.245 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:52.245Z,1362631252.245 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:52.245Z,1362631252.245 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.246Z,1362631252.246 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.246Z,1362631252.246 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:52.246Z,1362631252.246 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.247Z,1362631252.247 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:52.247Z,1362631252.247 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:52.247Z,1362631252.247 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:52.753Z,1362631252.753 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.754Z,1362631252.754 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.754Z,1362631252.754 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:52.756Z,1362631252.756 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:52.756Z,1362631252.756 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:52.757Z,1362631252.757 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:52.757Z,1362631252.757 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:53.065Z,1362631253.065 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:53.065Z,1362631253.066 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.065Z,1362631253.066 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:53.066Z,1362631253.066 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:53.066Z,1362631253.066 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:53.066Z,1362631253.066 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:53.066Z,1362631253.066 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.067Z,1362631253.067 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.067Z,1362631253.067 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:53.067Z,1362631253.067 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.067Z,1362631253.067 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:53.067Z,1362631253.067 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:53.067Z,1362631253.067 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:53.449Z,1362631253.449 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:53.449Z,1362631253.449 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.449Z,1362631253.449 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:53.449Z,1362631253.449 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:53.449Z,1362631253.450 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:53.450Z,1362631253.450 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:53.450Z,1362631253.450 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.451Z,1362631253.451 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.451Z,1362631253.451 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:53.451Z,1362631253.451 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.451Z,1362631253.451 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:53.451Z,1362631253.451 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:53.451Z,1362631253.451 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:53.535Z,1362631253.535 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:53.561Z,1362631253.561 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:53.582Z,1362631253.582 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:53.599Z,1362631253.599 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:40:53.851Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:53.852Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.852Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:40:53.852Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:40:53.852Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:40:53.852Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:40:53.852Z,1362631253.852 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.853Z,1362631253.853 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.853Z,1362631253.853 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:40:53.853Z,1362631253.853 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:40:53.853Z,1362631253.853 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:40:53.853Z,1362631253.853 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:40:53.853Z,1362631253.853 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:40:53.897Z,1362631253.898 [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,
2013-03-07T04:40:56.071Z,1362631256.070 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:56.099Z,1362631256.099 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:56.103Z,1362631256.103 [DVL_micro](DEBUG): ADCP
2013-03-07T04:40:58.614Z,1362631258.615 [DVL_micro](DEBUG): NQ1
2013-03-07T04:40:58.639Z,1362631258.639 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:40:58.643Z,1362631258.643 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:01.158Z,1362631261.158 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:01.183Z,1362631261.183 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:01.186Z,1362631261.186 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:03.703Z,1362631263.703 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:03.730Z,1362631263.730 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:03.733Z,1362631263.733 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:06.247Z,1362631266.247 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:06.275Z,1362631266.275 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:06.278Z,1362631266.278 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:08.790Z,1362631268.790 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:08.843Z,1362631268.843 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:08.845Z,1362631268.845 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:11.330Z,1362631271.330 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:11.356Z,1362631271.356 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:11.359Z,1362631271.359 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:13.874Z,1362631273.874 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:13.894Z,1362631273.894 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:13.897Z,1362631273.897 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:16.407Z,1362631276.407 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:16.456Z,1362631276.456 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:16.459Z,1362631276.459 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:18.946Z,1362631278.946 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:18.979Z,1362631278.979 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:18.984Z,1362631278.984 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:21.488Z,1362631281.488 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:21.541Z,1362631281.542 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:21.550Z,1362631281.550 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:24.040Z,1362631284.039 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:24.063Z,1362631284.063 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:24.065Z,1362631284.065 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:26.579Z,1362631286.579 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:26.630Z,1362631286.630 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:26.637Z,1362631286.637 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:29.115Z,1362631289.115 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:29.138Z,1362631289.138 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:29.143Z,1362631289.143 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:31.655Z,1362631291.655 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:31.677Z,1362631291.677 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:31.679Z,1362631291.679 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:34.190Z,1362631294.190 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:34.228Z,1362631294.228 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:34.235Z,1362631294.235 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:36.727Z,1362631296.727 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:36.756Z,1362631296.756 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:36.760Z,1362631296.760 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:39.274Z,1362631299.274 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:39.299Z,1362631299.299 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:39.302Z,1362631299.302 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:41.803Z,1362631301.803 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:41.856Z,1362631301.856 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:41.859Z,1362631301.859 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:44.339Z,1362631304.339 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:44.366Z,1362631304.366 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:44.380Z,1362631304.380 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:46.891Z,1362631306.891 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:46.933Z,1362631306.933 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:46.937Z,1362631306.937 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:49.443Z,1362631309.443 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:49.459Z,1362631309.459 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:49.463Z,1362631309.463 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:51.974Z,1362631311.974 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:52.003Z,1362631312.003 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:52.005Z,1362631312.005 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:54.523Z,1362631314.523 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:54.544Z,1362631314.544 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:54.547Z,1362631314.547 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:57.063Z,1362631317.063 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:57.089Z,1362631317.089 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:57.093Z,1362631317.093 [DVL_micro](DEBUG): ADCP
2013-03-07T04:41:59.606Z,1362631319.606 [DVL_micro](DEBUG): NQ1
2013-03-07T04:41:59.641Z,1362631319.641 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:41:59.649Z,1362631319.649 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:02.151Z,1362631322.151 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:02.186Z,1362631322.186 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:02.189Z,1362631322.189 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:04.691Z,1362631324.691 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:04.735Z,1362631324.735 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:04.738Z,1362631324.737 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:07.227Z,1362631327.227 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:07.252Z,1362631327.252 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:07.257Z,1362631327.257 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:09.772Z,1362631329.772 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:09.789Z,1362631329.789 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:09.792Z,1362631329.792 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:12.327Z,1362631332.327 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:12.345Z,1362631332.345 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:12.352Z,1362631332.352 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:14.850Z,1362631334.851 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:14.890Z,1362631334.890 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:14.893Z,1362631334.893 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:17.403Z,1362631337.402 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:17.431Z,1362631337.431 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:17.436Z,1362631337.436 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:19.939Z,1362631339.939 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:19.965Z,1362631339.965 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:19.980Z,1362631339.980 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:22.487Z,1362631342.487 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:22.531Z,1362631342.531 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:22.533Z,1362631342.533 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:25.019Z,1362631345.019 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:25.056Z,1362631345.056 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:25.062Z,1362631345.062 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:27.567Z,1362631347.567 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:27.604Z,1362631347.603 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:27.607Z,1362631347.607 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:30.115Z,1362631350.115 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:30.139Z,1362631350.139 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:30.141Z,1362631350.141 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:32.655Z,1362631352.655 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:32.697Z,1362631352.697 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:32.708Z,1362631352.708 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:35.199Z,1362631355.199 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:35.245Z,1362631355.246 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:35.252Z,1362631355.252 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:37.743Z,1362631357.743 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:37.789Z,1362631357.789 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:37.794Z,1362631357.794 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:40.287Z,1362631360.287 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:40.309Z,1362631360.309 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:40.326Z,1362631360.326 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:42.830Z,1362631362.830 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:42.867Z,1362631362.867 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:42.869Z,1362631362.869 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:45.379Z,1362631365.378 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:45.406Z,1362631365.406 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:45.409Z,1362631365.409 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:47.912Z,1362631367.912 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:47.964Z,1362631367.964 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:47.970Z,1362631367.970 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:50.462Z,1362631370.462 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:50.488Z,1362631370.488 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:50.507Z,1362631370.507 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:53.007Z,1362631373.007 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:53.036Z,1362631373.036 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:53.040Z,1362631373.040 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:55.543Z,1362631375.543 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:55.570Z,1362631375.570 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:55.573Z,1362631375.573 [DVL_micro](DEBUG): ADCP
2013-03-07T04:42:58.090Z,1362631378.091 [DVL_micro](DEBUG): NQ1
2013-03-07T04:42:58.139Z,1362631378.139 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:42:58.142Z,1362631378.142 [DVL_micro](DEBUG): ADCP
2013-03-07T04:43:00.626Z,1362631380.626 [DVL_micro](DEBUG): NQ1
2013-03-07T04:43:00.653Z,1362631380.653 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:43:00.656Z,1362631380.656 [DVL_micro](DEBUG): ADCP
2013-03-07T04:43:03.169Z,1362631383.169 [DVL_micro](DEBUG): NQ1
2013-03-07T04:43:03.191Z,1362631383.191 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:43:03.194Z,1362631383.194 [DVL_micro](DEBUG): ADCP
2013-03-07T04:43:05.703Z,1362631385.703 [DVL_micro](DEBUG): NQ1
2013-03-07T04:43:05.747Z,1362631385.747 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:43:05.749Z,1362631385.749 [DVL_micro](DEBUG): ADCP
2013-03-07T04:43:07.191Z,1362631387.191 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:43:07.209Z,1362631387.209 [EcoHAB_box] Stopped
2013-03-07T04:43:07.209Z,1362631387.210 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:43:07.210Z,1362631387.210 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:43:07.210Z,1362631387.210 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:43:07.210Z,1362631387.210 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:43:07.210Z,1362631387.210 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:43:07.210Z,1362631387.210 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:43:07.235Z,1362631387.235 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:43:07.236Z,1362631387.236 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:43:07.236Z,1362631387.237 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:43:07.237Z,1362631387.237 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:43:07.238Z,1362631387.238 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:43:07.238Z,1362631387.239 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:43:07.238Z,1362631387.239 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:43:07.239Z,1362631387.239 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:43:07.239Z,1362631387.239 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:43:07.239Z,1362631387.239 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:43:07.239Z,1362631387.239 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:43:07.427Z,1362631387.427 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:43:07.591Z,1362631387.591 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:43:07.591Z,1362631387.591 [Default] Running Loop=1
2013-03-07T04:43:07.591Z,1362631387.591 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:43:07.591Z,1362631387.592 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:43:07.592Z,1362631387.592 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:43:07.592Z,1362631387.592 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:43:07.592Z,1362631387.592 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:43:07.592Z,1362631387.592 [Default:Iridium] Running Loop=1
2013-03-07T04:43:07.592Z,1362631387.592 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:43:07.592Z,1362631387.592 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:43:07.592Z,1362631387.592 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:43:07.592Z,1362631387.592 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:43:07.592Z,1362631387.592 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:43:07.595Z,1362631387.595 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:43:07.595Z,1362631387.595 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:43:07.595Z,1362631387.595 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:43:07.828Z,1362631387.828 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:43:08.123Z,1362631388.123 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:43:08.448Z,1362631388.448 [NAL9602](INFO): Powering up
2013-03-07T04:43:18.461Z,1362631398.461 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:43:18.461Z,1362631398.461 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:43:18.680Z,1362631398.680 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:43:18.682Z,1362631398.682 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:43:18.685Z,1362631398.685 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:43:18.687Z,1362631398.687 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:43:18.689Z,1362631398.689 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:43:18.692Z,1362631398.692 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:43:18.694Z,1362631398.694 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:43:18.696Z,1362631398.696 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:43:18.699Z,1362631398.699 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:43:18.701Z,1362631398.701 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:43:18.703Z,1362631398.703 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:43:18.706Z,1362631398.706 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:43:18.708Z,1362631398.708 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:43:18.760Z,1362631398.760 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:43:18.765Z,1362631398.765 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:43:18.767Z,1362631398.767 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:43:18.770Z,1362631398.770 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:43:18.772Z,1362631398.772 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:43:18.775Z,1362631398.775 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:43:18.777Z,1362631398.777 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:43:18.780Z,1362631398.780 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:43:18.782Z,1362631398.782 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:43:18.785Z,1362631398.785 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:43:18.787Z,1362631398.787 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:43:18.789Z,1362631398.789 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:43:18.792Z,1362631398.792 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:43:18.794Z,1362631398.795 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:43:18.797Z,1362631398.797 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:43:18.799Z,1362631398.799 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:43:18.802Z,1362631398.802 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:43:18.804Z,1362631398.804 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:43:18.807Z,1362631398.807 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:43:18.809Z,1362631398.809 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:43:18.828Z,1362631398.828 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:43:18.829Z,1362631398.829 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:43:18.843Z,1362631398.843 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:43:18.853Z,1362631398.853 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:43:18.864Z,1362631398.864 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:43:18.887Z,1362631398.888 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:43:18.890Z,1362631398.890 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:43:18.892Z,1362631398.892 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:18.895Z,1362631398.895 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:43:18.897Z,1362631398.897 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:18.898Z,1362631398.898 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:18.908Z,1362631398.908 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:43:18.946Z,1362631398.946 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:18.953Z,1362631398.953 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:18.954Z,1362631398.954 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:43:18.959Z,1362631398.959 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:43:19.007Z,1362631399.007 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:43:19.009Z,1362631399.010 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:43:19.040Z,1362631399.040 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:19.046Z,1362631399.046 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:43:19.049Z,1362631399.049 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:19.050Z,1362631399.050 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:19.069Z,1362631399.069 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:19.071Z,1362631399.070 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:19.072Z,1362631399.072 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:43:19.073Z,1362631399.073 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:43:19.098Z,1362631399.098 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:43:19.100Z,1362631399.100 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:43:19.108Z,1362631399.108 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:43:19.110Z,1362631399.110 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:43:19.160Z,1362631399.160 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:19.172Z,1362631399.172 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:43:19.185Z,1362631399.185 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:43:19.188Z,1362631399.188 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:19.190Z,1362631399.190 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:19.191Z,1362631399.191 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:43:19.228Z,1362631399.228 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:43:19.230Z,1362631399.230 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:43:19.234Z,1362631399.234 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:19.236Z,1362631399.236 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:19.236Z,1362631399.237 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:19.244Z,1362631399.244 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:43:19.246Z,1362631399.246 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:43:19.247Z,1362631399.247 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:43:19.262Z,1362631399.262 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:43:19.264Z,1362631399.264 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:19.266Z,1362631399.266 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:19.268Z,1362631399.268 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:43:19.302Z,1362631399.302 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:43:19.307Z,1362631399.307 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:43:19.309Z,1362631399.309 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:19.311Z,1362631399.311 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:43:19.313Z,1362631399.313 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:19.314Z,1362631399.314 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:19.324Z,1362631399.324 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:19.326Z,1362631399.326 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:19.339Z,1362631399.339 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:43:19.343Z,1362631399.343 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:43:19.345Z,1362631399.345 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:43:19.422Z,1362631399.422 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:43:19.425Z,1362631399.425 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:43:19.427Z,1362631399.427 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:43:19.429Z,1362631399.429 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:43:19.432Z,1362631399.432 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:43:19.434Z,1362631399.434 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:43:19.436Z,1362631399.436 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:43:19.439Z,1362631399.439 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:43:19.441Z,1362631399.441 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:43:19.443Z,1362631399.443 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:43:19.445Z,1362631399.445 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:43:19.448Z,1362631399.448 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:43:19.456Z,1362631399.455 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:43:19.462Z,1362631399.462 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:19.490Z,1362631399.490 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.495Z,1362631399.495 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.500Z,1362631399.500 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.505Z,1362631399.505 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.510Z,1362631399.510 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.515Z,1362631399.515 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.520Z,1362631399.520 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:19.526Z,1362631399.526 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:43:19.720Z,1362631399.720 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:43:19.722Z,1362631399.722 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:43:19.725Z,1362631399.725 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:43:19.727Z,1362631399.727 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:43:19.729Z,1362631399.729 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:43:19.731Z,1362631399.731 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:43:19.733Z,1362631399.733 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:43:19.735Z,1362631399.735 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:43:19.737Z,1362631399.737 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:43:19.746Z,1362631399.746 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:43:19.748Z,1362631399.748 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:43:19.750Z,1362631399.750 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:43:19.753Z,1362631399.753 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:43:19.755Z,1362631399.755 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:43:19.757Z,1362631399.757 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:43:19.788Z,1362631399.788 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:43:19.791Z,1362631399.791 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:43:19.793Z,1362631399.793 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:43:19.812Z,1362631399.812 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:43:19.814Z,1362631399.814 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:43:19.817Z,1362631399.817 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:43:19.828Z,1362631399.828 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:43:19.830Z,1362631399.830 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:43:19.833Z,1362631399.833 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:43:19.835Z,1362631399.835 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:43:19.837Z,1362631399.837 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:43:19.842Z,1362631399.842 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:43:19.845Z,1362631399.845 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:43:19.847Z,1362631399.847 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:43:19.849Z,1362631399.849 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:43:19.893Z,1362631399.893 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Construct Wait.
2013-03-07T04:43:19.914Z,1362631399.914 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:43:19.922Z,1362631399.922 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:43:19.929Z,1362631399.929 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:43:19.936Z,1362631399.936 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:43:19.937Z,1362631399.937 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:43:19.939Z,1362631399.939 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:43:19.940Z,1362631399.940 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:43:19.941Z,1362631399.941 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:43:19.971Z,1362631399.971 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:43:19.972Z,1362631399.972 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:43:19.974Z,1362631399.974 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:43:19.977Z,1362631399.977 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:43:19.978Z,1362631399.978 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:43:19.987Z,1362631399.987 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:43:19.990Z,1362631399.990 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:43:20.005Z,1362631400.005 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:43:20.015Z,1362631400.015 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:43:20.083Z,1362631400.083 [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="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"><True/></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>


2013-03-07T04:43:20.083Z,1362631400.083 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:43:20.084Z,1362631400.084 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:43:20.085Z,1362631400.085 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:43:20.085Z,1362631400.085 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:43:20.091Z,1362631400.091 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:43:31.225Z,1362631411.225 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:43:31.263Z,1362631411.263 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:43:31.536Z,1362631411.536 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:43:31.541Z,1362631411.541 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:43:31.544Z,1362631411.544 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:43:31.546Z,1362631411.546 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:43:31.549Z,1362631411.549 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:43:31.551Z,1362631411.551 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:43:31.553Z,1362631411.553 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:43:31.556Z,1362631411.556 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:43:31.558Z,1362631411.559 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:43:31.561Z,1362631411.561 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:43:31.563Z,1362631411.563 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:43:31.565Z,1362631411.565 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:43:31.568Z,1362631411.568 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:43:31.570Z,1362631411.570 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:43:31.574Z,1362631411.574 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:43:31.576Z,1362631411.576 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:43:31.578Z,1362631411.579 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:43:31.581Z,1362631411.581 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:43:31.583Z,1362631411.583 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:43:31.586Z,1362631411.586 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:43:31.588Z,1362631411.588 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:43:31.590Z,1362631411.590 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:43:31.592Z,1362631411.592 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:43:31.595Z,1362631411.595 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:43:31.597Z,1362631411.597 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:43:31.599Z,1362631411.599 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:43:31.601Z,1362631411.601 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:43:31.604Z,1362631411.604 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:43:31.606Z,1362631411.606 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:43:31.608Z,1362631411.608 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:43:31.610Z,1362631411.611 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:43:31.613Z,1362631411.613 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:43:31.615Z,1362631411.615 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:43:31.617Z,1362631411.617 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:43:31.619Z,1362631411.619 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:43:31.624Z,1362631411.624 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:43:31.630Z,1362631411.630 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:43:31.683Z,1362631411.683 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:43:31.749Z,1362631411.749 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:43:31.760Z,1362631411.760 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:43:31.769Z,1362631411.769 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:31.776Z,1362631411.776 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:43:31.779Z,1362631411.779 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:31.780Z,1362631411.780 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:31.791Z,1362631411.791 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:43:31.812Z,1362631411.812 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:31.814Z,1362631411.814 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:31.815Z,1362631411.815 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:43:31.849Z,1362631411.849 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:43:31.852Z,1362631411.852 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:43:31.854Z,1362631411.854 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:31.857Z,1362631411.856 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:43:31.859Z,1362631411.859 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:31.860Z,1362631411.860 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:31.870Z,1362631411.870 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:31.875Z,1362631411.875 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:31.876Z,1362631411.876 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:43:31.877Z,1362631411.877 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:43:31.913Z,1362631411.913 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:43:31.915Z,1362631411.915 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:43:31.918Z,1362631411.918 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:43:31.920Z,1362631411.920 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:43:31.922Z,1362631411.922 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:31.929Z,1362631411.929 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:43:31.943Z,1362631411.944 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:43:31.946Z,1362631411.946 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:31.948Z,1362631411.948 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:31.950Z,1362631411.950 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:43:31.968Z,1362631411.968 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:43:31.970Z,1362631411.970 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:43:31.973Z,1362631411.973 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:31.975Z,1362631411.976 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:31.977Z,1362631411.977 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:31.985Z,1362631411.985 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:43:31.987Z,1362631411.987 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:43:31.988Z,1362631411.988 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:43:32.003Z,1362631412.003 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:43:32.006Z,1362631412.006 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:32.008Z,1362631412.008 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:32.010Z,1362631412.010 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:43:32.030Z,1362631412.030 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:43:32.032Z,1362631412.032 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:43:32.034Z,1362631412.034 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:43:32.037Z,1362631412.037 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:43:32.039Z,1362631412.039 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:43:32.040Z,1362631412.040 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:32.051Z,1362631412.050 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:43:32.052Z,1362631412.052 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:43:32.053Z,1362631412.053 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:43:32.057Z,1362631412.057 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:43:32.060Z,1362631412.060 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:43:32.145Z,1362631412.145 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:43:32.148Z,1362631412.148 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:43:32.150Z,1362631412.150 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:43:32.153Z,1362631412.153 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:43:32.155Z,1362631412.155 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:43:32.157Z,1362631412.157 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:43:32.160Z,1362631412.160 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:43:32.162Z,1362631412.162 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:43:32.164Z,1362631412.164 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:43:32.195Z,1362631412.195 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:43:32.201Z,1362631412.201 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:43:32.206Z,1362631412.206 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:43:32.221Z,1362631412.221 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:43:32.231Z,1362631412.231 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:43:32.257Z,1362631412.257 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.262Z,1362631412.262 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.267Z,1362631412.267 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.324Z,1362631412.324 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.329Z,1362631412.329 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.334Z,1362631412.334 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.340Z,1362631412.339 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:43:32.345Z,1362631412.345 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:43:32.532Z,1362631412.532 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:43:32.534Z,1362631412.534 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:43:32.537Z,1362631412.537 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:43:32.547Z,1362631412.547 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:43:32.549Z,1362631412.549 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:43:32.551Z,1362631412.551 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:43:32.553Z,1362631412.553 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:43:32.555Z,1362631412.555 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:43:32.558Z,1362631412.558 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:43:32.560Z,1362631412.560 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:43:32.563Z,1362631412.563 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:43:32.565Z,1362631412.565 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:43:32.591Z,1362631412.591 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:43:32.594Z,1362631412.593 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:43:32.596Z,1362631412.596 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:43:32.598Z,1362631412.598 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:43:32.601Z,1362631412.601 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:43:32.603Z,1362631412.603 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:43:32.605Z,1362631412.605 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:43:32.608Z,1362631412.608 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:43:32.610Z,1362631412.610 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:43:32.613Z,1362631412.613 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:43:32.615Z,1362631412.615 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:43:32.617Z,1362631412.617 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:43:32.620Z,1362631412.620 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:43:32.622Z,1362631412.622 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:43:32.624Z,1362631412.625 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:43:32.627Z,1362631412.627 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:43:32.629Z,1362631412.629 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:43:32.632Z,1362631412.632 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:43:32.642Z,1362631412.642 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Construct Wait.
2013-03-07T04:43:32.651Z,1362631412.651 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:43:32.658Z,1362631412.658 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:43:32.666Z,1362631412.666 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:43:32.672Z,1362631412.672 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:43:32.673Z,1362631412.673 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:43:32.675Z,1362631412.675 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:43:32.677Z,1362631412.677 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:43:32.678Z,1362631412.678 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:43:32.679Z,1362631412.679 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:43:32.680Z,1362631412.681 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:43:32.682Z,1362631412.682 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:43:32.683Z,1362631412.683 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:43:32.684Z,1362631412.684 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:43:32.685Z,1362631412.685 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:43:32.688Z,1362631412.688 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:43:32.712Z,1362631412.712 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:43:32.717Z,1362631412.717 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:43:32.762Z,1362631412.762 [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="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"><True/></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>


2013-03-07T04:43:32.763Z,1362631412.763 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:43:32.763Z,1362631412.763 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:43:32.764Z,1362631412.764 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:43:32.765Z,1362631412.765 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:43:32.766Z,1362631412.766 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:43:38.476Z,1362631418.476 [NAL9602](INFO): SBD MO Status=0, MOMSN=6574, MT Status=0, MTMSN=0
2013-03-07T04:43:38.558Z,1362631418.558 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:43:38.558Z,1362631418.558 [Default:Iridium](INFO): Completed Default:Iridium
2013-03-07T04:43:38.558Z,1362631418.558 [Default:Iridium] Stopped
2013-03-07T04:43:38.558Z,1362631418.558 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:43:38.558Z,1362631418.559 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:43:38.559Z,1362631418.559 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:43:38.559Z,1362631418.559 [Default:F.Wait] Running Loop=1
2013-03-07T04:43:38.559Z,1362631418.559 [Default:F.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:43:38.683Z,1362631418.683 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:43:38.684Z,1362631418.684 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:43:38.685Z,1362631418.685 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:43:38.686Z,1362631418.686 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:43:38.936Z,1362631418.936 [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,
2013-03-07T04:43:39.691Z,1362631419.691 [CommandLine](IMPORTANT): got command run
2013-03-07T04:43:39.691Z,1362631419.691 [CommandLine](IMPORTANT): Running 
2013-03-07T04:43:44.081Z,1362631424.081 [Default] Stopped
2013-03-07T04:43:44.082Z,1362631424.082 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:43:44.082Z,1362631424.082 [Default:D.SetSpeed] Stopped
2013-03-07T04:43:44.082Z,1362631424.082 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:43:44.082Z,1362631424.082 [Default:E.GoToSurface] Stopped
2013-03-07T04:43:44.082Z,1362631424.082 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:43:44.082Z,1362631424.082 [Default:F.Wait] Stopped
2013-03-07T04:43:44.082Z,1362631424.082 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:43:44.082Z,1362631424.082 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:43:44.082Z,1362631424.082 [EcoHAB_box] Running Loop=1
2013-03-07T04:43:44.083Z,1362631424.082 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:43:44.083Z,1362631424.083 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:43:44.083Z,1362631424.083 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:43:44.083Z,1362631424.083 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:43:44.083Z,1362631424.083 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:43:44.084Z,1362631424.084 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:43:44.084Z,1362631424.085 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:43:44.085Z,1362631424.085 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:43:44.086Z,1362631424.086 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:43:44.087Z,1362631424.087 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:43:44.089Z,1362631424.089 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:43:44.089Z,1362631424.089 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:43:44.089Z,1362631424.089 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:43:44.089Z,1362631424.089 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:43:44.091Z,1362631424.091 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:43:44.092Z,1362631424.092 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:43:44.231Z,1362631424.231 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:43:44.231Z,1362631424.231 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:43:44.232Z,1362631424.232 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:43:44.232Z,1362631424.232 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:43:44.320Z,1362631424.320 [NAL9602](INFO): Powering down
2013-03-07T04:43:44.339Z,1362631424.339 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:43:44.339Z,1362631424.339 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:43:44.339Z,1362631424.339 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:43:44.340Z,1362631424.340 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:43:44.340Z,1362631424.340 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:43:44.340Z,1362631424.340 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:43:44.731Z,1362631424.731 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:43:44.731Z,1362631424.731 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:43:44.731Z,1362631424.731 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:43:44.732Z,1362631424.732 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:43:44.732Z,1362631424.732 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:43:45.132Z,1362631425.132 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:43:45.511Z,1362631425.511 [NAL9602](INFO): Powering up
2013-03-07T04:43:46.239Z,1362631426.239 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:43:46.239Z,1362631426.239 [DVL_micro](INFO): Querying output modes
2013-03-07T04:43:46.239Z,1362631426.239 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:43:46.250Z,1362631426.250 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:43:46.251Z,1362631426.251 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:43:46.251Z,1362631426.251 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:43:46.251Z,1362631426.251 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:43:46.262Z,1362631426.263 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:43:46.264Z,1362631426.264 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:43:46.264Z,1362631426.264 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:43:48.271Z,1362631428.271 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:43:48.271Z,1362631428.271 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:43:48.895Z,1362631428.895 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:43:48.967Z,1362631428.967 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:43:48.967Z,1362631428.967 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:43:48.967Z,1362631428.967 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:43:49.127Z,1362631429.127 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:43:49.127Z,1362631429.127 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:43:49.242Z,1362631429.242 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:43:49.243Z,1362631429.243 [DVL_micro](INFO): Querying output modes
2013-03-07T04:43:49.243Z,1362631429.243 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:43:49.410Z,1362631429.410 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:43:49.410Z,1362631429.411 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:43:49.411Z,1362631429.411 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:43:49.495Z,1362631429.494 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:43:49.536Z,1362631429.536 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:43:49.537Z,1362631429.537 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:43:49.537Z,1362631429.537 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:43:49.537Z,1362631429.537 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:43:49.537Z,1362631429.537 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:43:49.538Z,1362631429.538 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:43:49.538Z,1362631429.538 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:43:49.541Z,1362631429.541 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:43:49.541Z,1362631429.541 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:43:49.541Z,1362631429.541 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:43:49.541Z,1362631429.541 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:43:49.541Z,1362631429.541 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:43:49.541Z,1362631429.541 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:43:49.541Z,1362631429.542 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:43:49.542Z,1362631429.542 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:43:49.543Z,1362631429.543 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:43:49.543Z,1362631429.543 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:43:49.543Z,1362631429.543 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:43:49.543Z,1362631429.543 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:43:49.544Z,1362631429.544 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:43:49.544Z,1362631429.544 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:43:49.544Z,1362631429.544 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:43:49.544Z,1362631429.544 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:43:49.544Z,1362631429.545 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:43:49.545Z,1362631429.545 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:43:49.972Z,1362631429.972 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:43:49.973Z,1362631429.973 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:43:49.974Z,1362631429.974 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:43:49.975Z,1362631429.976 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:43:49.976Z,1362631429.976 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:43:49.978Z,1362631429.978 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:43:49.978Z,1362631429.978 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:43:49.978Z,1362631429.978 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:43:49.978Z,1362631429.978 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:43:49.980Z,1362631429.980 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:43:49.980Z,1362631429.980 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:43:49.981Z,1362631429.981 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:43:49.982Z,1362631429.982 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:43:49.983Z,1362631429.983 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:43:49.983Z,1362631429.983 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:43:49.984Z,1362631429.984 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:43:49.984Z,1362631429.984 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:43:49.984Z,1362631429.984 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:43:49.985Z,1362631429.985 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:43:49.985Z,1362631429.985 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:43:49.985Z,1362631429.985 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:43:50.331Z,1362631430.331 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:43:50.331Z,1362631430.331 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:43:50.331Z,1362631430.331 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:43:50.332Z,1362631430.332 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:43:50.333Z,1362631430.332 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:43:50.352Z,1362631430.352 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:43:50.352Z,1362631430.352 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:43:50.738Z,1362631430.738 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.730592 h 
2013-03-07T04:43:50.739Z,1362631430.739 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:43:50.739Z,1362631430.739 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:43:51.138Z,1362631431.138 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:43:51.138Z,1362631431.138 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:43:51.567Z,1362631431.567 [DVL_micro](INFO): ADCP requested
2013-03-07T04:43:51.567Z,1362631431.567 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:43:51.646Z,1362631431.646 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.269408 h 
2013-03-07T04:43:51.647Z,1362631431.647 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:43:51.647Z,1362631431.647 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:43:51.647Z,1362631431.648 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:43:51.648Z,1362631431.648 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:43:51.988Z,1362631431.988 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:43:51.989Z,1362631431.989 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:43:51.989Z,1362631431.989 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:43:51.989Z,1362631431.989 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:43:51.989Z,1362631431.989 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:43:51.989Z,1362631431.989 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:43:52.382Z,1362631432.382 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 196.164492 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:43:52.383Z,1362631432.383 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:43:52.383Z,1362631432.383 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:43:52.383Z,1362631432.383 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:43:52.770Z,1362631432.770 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:43:52.770Z,1362631432.770 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:43:52.770Z,1362631432.770 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:43:52.770Z,1362631432.770 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:43:52.772Z,1362631432.772 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:43:52.772Z,1362631432.772 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:43:52.772Z,1362631432.772 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:43:53.240Z,1362631433.240 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:43:53.241Z,1362631433.241 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:43:53.241Z,1362631433.241 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:43:53.575Z,1362631433.575 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:43:53.575Z,1362631433.575 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:43:53.637Z,1362631433.637 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:43:53.846Z,1362631433.846 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:43:53.847Z,1362631433.847 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:43:53.847Z,1362631433.847 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:43:54.898Z,1362631434.898 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:43:54.899Z,1362631434.899 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:43:54.899Z,1362631434.899 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:43:55.159Z,1362631435.159 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:43:55.159Z,1362631435.159 [DVL_micro](INFO): Querying output modes
2013-03-07T04:43:55.159Z,1362631435.159 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:43:55.331Z,1362631435.330 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:43:55.331Z,1362631435.331 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:43:55.331Z,1362631435.331 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:43:55.331Z,1362631435.331 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:43:55.407Z,1362631435.407 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:43:56.983Z,1362631436.983 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:43:57.939Z,1362631437.939 [DVL_micro](DEBUG): NQ1
2013-03-07T04:43:57.969Z,1362631437.969 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:43:57.971Z,1362631437.971 [DVL_micro](DEBUG): ADCP
2013-03-07T04:43:58.014Z,1362631438.013 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2013-03-07T04:43:58.014Z,1362631438.014 [NAL9602] Communications Fault, FailCount= 1
2013-03-07T04:43:58.014Z,1362631438.014 [NAL9602](ERROR): Communications Fault
2013-03-07T04:43:58.202Z,1362631438.202 [CBIT](ERROR): Communications Fault in component: NAL9602
2013-03-07T04:43:58.561Z,1362631438.561 [NAL9602](INFO): Powering down
2013-03-07T04:43:59.299Z,1362631439.299 [CBIT](INFO): Clearing failed state for component NAL9602
2013-03-07T04:43:59.299Z,1362631439.299 [NAL9602] No Fault, FailCount= 1
2013-03-07T04:44:00.478Z,1362631440.478 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:00.526Z,1362631440.526 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:00.534Z,1362631440.534 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:03.022Z,1362631443.022 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:03.061Z,1362631443.061 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:03.064Z,1362631443.063 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:03.629Z,1362631443.629 [NAL9602](INFO): Powering up NAL9602
2013-03-07T04:44:03.947Z,1362631443.947 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:44:03.947Z,1362631443.947 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:44:03.948Z,1362631443.948 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:44:03.948Z,1362631443.948 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:44:03.949Z,1362631443.949 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:44:03.949Z,1362631443.949 [EcoHAB_box:SurfaceCommsShort](INFO): Priority 3: EcoHAB_box:SurfaceCommsShort:A.GoToSurface
2013-03-07T04:44:03.950Z,1362631443.950 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Priority 4: EcoHAB_box:SurfaceCommsShort:CheckIn:B
2013-03-07T04:44:03.950Z,1362631443.950 [EcoHAB_box](INFO): Priority 5: EcoHAB_box:I.Pitch
2013-03-07T04:44:03.950Z,1362631443.950 [EcoHAB_box](INFO): Priority 6: EcoHAB_box:J.Buoyancy
2013-03-07T04:44:03.952Z,1362631443.952 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:44:03.953Z,1362631443.953 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:44:03.953Z,1362631443.953 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:44:03.953Z,1362631443.953 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:44:03.954Z,1362631443.954 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:44:03.955Z,1362631443.954 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:44:03.955Z,1362631443.955 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:44:03.955Z,1362631443.955 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:44:05.571Z,1362631445.571 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:05.598Z,1362631445.598 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:05.601Z,1362631445.601 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:08.127Z,1362631448.127 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:08.150Z,1362631448.150 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:08.152Z,1362631448.152 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:10.659Z,1362631450.659 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:10.684Z,1362631450.684 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:10.687Z,1362631450.687 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:13.208Z,1362631453.208 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:13.220Z,1362631453.220 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:13.223Z,1362631453.223 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:14.075Z,1362631454.075 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:44:14.295Z,1362631454.295 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:44:14.296Z,1362631454.296 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:44:14.527Z,1362631454.527 [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,
2013-03-07T04:44:14.951Z,1362631454.951 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:14.952Z,1362631454.952 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:14.952Z,1362631454.952 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:14.952Z,1362631454.952 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:14.952Z,1362631454.952 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:14.952Z,1362631454.952 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:14.952Z,1362631454.953 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:14.953Z,1362631454.953 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:14.954Z,1362631454.954 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:14.955Z,1362631454.955 [EcoHAB_box:ScienceOps:Science:C:A](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:44:14.956Z,1362631454.957 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:14.957Z,1362631454.957 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:14.957Z,1362631454.957 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:14.957Z,1362631454.957 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:14.957Z,1362631454.957 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:14.957Z,1362631454.957 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:15.282Z,1362631455.282 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:15.282Z,1362631455.282 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.282Z,1362631455.282 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:15.282Z,1362631455.282 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:15.282Z,1362631455.282 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:15.283Z,1362631455.283 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:15.283Z,1362631455.283 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.283Z,1362631455.283 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.283Z,1362631455.283 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:15.283Z,1362631455.283 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.284Z,1362631455.284 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:15.284Z,1362631455.284 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:15.284Z,1362631455.284 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:15.733Z,1362631455.733 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:15.734Z,1362631455.734 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.734Z,1362631455.734 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:15.734Z,1362631455.734 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:15.734Z,1362631455.734 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:15.735Z,1362631455.735 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:15.735Z,1362631455.735 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.736Z,1362631455.736 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.736Z,1362631455.736 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:15.736Z,1362631455.736 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:15.736Z,1362631455.736 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:15.736Z,1362631455.736 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:15.737Z,1362631455.737 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:15.747Z,1362631455.747 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:15.793Z,1362631455.793 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:15.799Z,1362631455.799 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:16.176Z,1362631456.176 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:16.176Z,1362631456.176 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.176Z,1362631456.176 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:16.176Z,1362631456.176 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:16.176Z,1362631456.176 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:16.176Z,1362631456.176 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:16.177Z,1362631456.177 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.177Z,1362631456.177 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.177Z,1362631456.177 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:16.177Z,1362631456.177 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.177Z,1362631456.177 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:16.177Z,1362631456.178 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:16.177Z,1362631456.178 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:16.754Z,1362631456.754 [AHRS_sp3003D](ERROR): readPitchRollBin UART error: serial timeout
2013-03-07T04:44:16.754Z,1362631456.754 [AHRS_sp3003D](FAULT): Read Pitch/Roll Failure.
2013-03-07T04:44:16.797Z,1362631456.797 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:16.797Z,1362631456.797 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.797Z,1362631456.797 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:16.797Z,1362631456.797 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:16.798Z,1362631456.797 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:16.798Z,1362631456.798 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:16.798Z,1362631456.798 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.799Z,1362631456.799 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.799Z,1362631456.799 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:16.799Z,1362631456.799 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:16.799Z,1362631456.799 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:16.799Z,1362631456.799 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:16.799Z,1362631456.799 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:17.268Z,1362631457.268 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:17.268Z,1362631457.268 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.268Z,1362631457.268 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:17.268Z,1362631457.268 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:17.268Z,1362631457.268 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:17.268Z,1362631457.268 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:17.269Z,1362631457.269 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:17.589Z,1362631457.589 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:17.589Z,1362631457.589 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.590Z,1362631457.589 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:17.590Z,1362631457.590 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:17.590Z,1362631457.590 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:17.590Z,1362631457.590 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:17.590Z,1362631457.590 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.591Z,1362631457.591 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.591Z,1362631457.591 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:17.591Z,1362631457.591 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.591Z,1362631457.591 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:17.591Z,1362631457.591 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:17.591Z,1362631457.591 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:17.985Z,1362631457.985 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:17.985Z,1362631457.985 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.985Z,1362631457.986 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:17.985Z,1362631457.986 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:17.986Z,1362631457.986 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:17.986Z,1362631457.986 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:17.986Z,1362631457.986 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.987Z,1362631457.987 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.987Z,1362631457.987 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:17.987Z,1362631457.987 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:17.987Z,1362631457.987 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:17.987Z,1362631457.987 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:17.987Z,1362631457.987 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:18.290Z,1362631458.290 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:18.324Z,1362631458.324 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:18.330Z,1362631458.330 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:18.396Z,1362631458.396 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:18.396Z,1362631458.396 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:18.396Z,1362631458.396 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:18.396Z,1362631458.396 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:18.396Z,1362631458.397 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:18.397Z,1362631458.397 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:18.397Z,1362631458.397 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:18.399Z,1362631458.399 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:18.399Z,1362631458.399 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:18.399Z,1362631458.399 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:18.400Z,1362631458.399 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:18.400Z,1362631458.400 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:18.400Z,1362631458.400 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:19.463Z,1362631459.463 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:19.463Z,1362631459.463 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.463Z,1362631459.463 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:19.463Z,1362631459.463 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:19.463Z,1362631459.463 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:19.463Z,1362631459.463 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:19.464Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.464Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.464Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:19.464Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.464Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:19.465Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:19.465Z,1362631459.464 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:19.940Z,1362631459.940 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.941Z,1362631459.941 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.941Z,1362631459.941 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:19.941Z,1362631459.941 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:19.941Z,1362631459.941 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:19.941Z,1362631459.941 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:19.941Z,1362631459.941 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:20.831Z,1362631460.831 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:20.856Z,1362631460.856 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:20.859Z,1362631460.859 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:20.876Z,1362631460.876 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:20.877Z,1362631460.877 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:20.877Z,1362631460.877 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:20.877Z,1362631460.877 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:20.877Z,1362631460.877 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:20.877Z,1362631460.877 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:20.878Z,1362631460.878 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:20.879Z,1362631460.879 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:20.879Z,1362631460.879 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:20.879Z,1362631460.879 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:20.879Z,1362631460.879 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:20.879Z,1362631460.879 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:20.879Z,1362631460.879 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:21.252Z,1362631461.252 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:21.252Z,1362631461.252 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.252Z,1362631461.252 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:21.252Z,1362631461.252 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:21.252Z,1362631461.252 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:21.252Z,1362631461.252 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:21.252Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.253Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.253Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:21.253Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.253Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:21.253Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:21.253Z,1362631461.253 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:21.628Z,1362631461.628 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:21.628Z,1362631461.628 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.628Z,1362631461.628 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:21.628Z,1362631461.628 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:21.628Z,1362631461.628 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:21.629Z,1362631461.629 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:21.629Z,1362631461.629 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.629Z,1362631461.629 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.629Z,1362631461.629 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:21.629Z,1362631461.629 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:21.629Z,1362631461.629 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:21.630Z,1362631461.630 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:21.630Z,1362631461.630 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:22.136Z,1362631462.136 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.137Z,1362631462.137 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.137Z,1362631462.137 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:22.137Z,1362631462.137 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.137Z,1362631462.137 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:22.137Z,1362631462.137 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:22.137Z,1362631462.137 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:22.486Z,1362631462.486 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:22.488Z,1362631462.488 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.488Z,1362631462.489 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:22.489Z,1362631462.489 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:22.489Z,1362631462.489 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:22.489Z,1362631462.489 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:22.489Z,1362631462.489 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.490Z,1362631462.490 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.490Z,1362631462.490 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:22.490Z,1362631462.490 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.490Z,1362631462.490 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:22.490Z,1362631462.490 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:22.490Z,1362631462.490 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:22.888Z,1362631462.888 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.889Z,1362631462.889 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.889Z,1362631462.889 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:22.889Z,1362631462.889 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:22.889Z,1362631462.889 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:22.889Z,1362631462.889 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:22.889Z,1362631462.889 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:23.106Z,1362631463.106 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:44:23.286Z,1362631463.286 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:23.286Z,1362631463.286 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:23.286Z,1362631463.286 [EcoHAB_box:ScienceOps:Science:C:A] Running Loop=1
2013-03-07T04:44:23.287Z,1362631463.286 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Running Loop=1
2013-03-07T04:44:23.287Z,1362631463.286 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Initialize Wait Component.
2013-03-07T04:44:23.287Z,1362631463.287 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:44:23.287Z,1362631463.287 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:23.287Z,1362631463.287 [EcoHAB_box:ScienceOps:Science:C](INFO): Completed EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:23.287Z,1362631463.287 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:44:23.288Z,1362631463.288 [EcoHAB_box:ScienceOps:Science:C](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:C
2013-03-07T04:44:23.288Z,1362631463.288 [EcoHAB_box:ScienceOps:Science:C:A] Stopped
2013-03-07T04:44:23.288Z,1362631463.288 [EcoHAB_box:ScienceOps:Science:C:B.Wait] Stopped
2013-03-07T04:44:23.288Z,1362631463.288 [EcoHAB_box:ScienceOps:Science:C:B.Wait](DEBUG): Uninitialize Wait Component.
2013-03-07T04:44:23.364Z,1362631463.365 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:23.421Z,1362631463.421 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:23.431Z,1362631463.431 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:23.464Z,1362631463.464 [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,
2013-03-07T04:44:25.903Z,1362631465.903 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:25.950Z,1362631465.950 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:25.953Z,1362631465.953 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:28.450Z,1362631468.450 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:28.475Z,1362631468.475 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:28.479Z,1362631468.479 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:30.982Z,1362631470.982 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:31.009Z,1362631471.009 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:31.012Z,1362631471.012 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:33.527Z,1362631473.527 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:33.557Z,1362631473.557 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:33.561Z,1362631473.561 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:34.663Z,1362631474.662 [NAL9602](INFO): SBD MO Status=2, MOMSN=6575, MT Status=2, MTMSN=0
2013-03-07T04:44:34.663Z,1362631474.663 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-03-07T04:44:36.066Z,1362631476.066 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:36.110Z,1362631476.110 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:36.118Z,1362631476.118 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:38.611Z,1362631478.611 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:38.633Z,1362631478.633 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:38.636Z,1362631478.636 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:39.849Z,1362631479.849 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:44:41.159Z,1362631481.159 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:41.183Z,1362631481.183 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:41.185Z,1362631481.185 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:42.718Z,1362631482.718 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:44:43.699Z,1362631483.699 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:43.723Z,1362631483.723 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:43.727Z,1362631483.727 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:46.230Z,1362631486.230 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:46.261Z,1362631486.261 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:46.269Z,1362631486.269 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:48.776Z,1362631488.776 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:48.801Z,1362631488.801 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:48.812Z,1362631488.812 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:51.323Z,1362631491.323 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:51.350Z,1362631491.350 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:51.353Z,1362631491.353 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:53.855Z,1362631493.855 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:53.881Z,1362631493.881 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:53.889Z,1362631493.889 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:56.395Z,1362631496.395 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:56.419Z,1362631496.419 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:56.426Z,1362631496.426 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:56.646Z,1362631496.646 [NAL9602](INFO): SBD MO Status=0, MOMSN=6575, MT Status=0, MTMSN=0
2013-03-07T04:44:56.744Z,1362631496.744 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:44:56.744Z,1362631496.744 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:44:57.076Z,1362631497.076 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:44:58.934Z,1362631498.934 [DVL_micro](DEBUG): NQ1
2013-03-07T04:44:58.959Z,1362631498.959 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:44:58.962Z,1362631498.962 [DVL_micro](DEBUG): ADCP
2013-03-07T04:44:59.052Z,1362631499.052 [NAL9602](IMPORTANT): GPS fix at: 1362674925.00
2013-03-07T04:44:59.077Z,1362631499.077 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:44:59.077Z,1362631499.077 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:44:59.077Z,1362631499.077 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:44:59.077Z,1362631499.077 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:44:59.078Z,1362631499.078 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:44:59.078Z,1362631499.078 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:44:59.079Z,1362631499.079 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:44:59.079Z,1362631499.079 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:44:59.079Z,1362631499.079 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:44:59.485Z,1362631499.485 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:44:59.485Z,1362631499.485 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:44:59.485Z,1362631499.485 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:44:59.485Z,1362631499.485 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:44:59.485Z,1362631499.485 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:44:59.485Z,1362631499.485 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:44:59.486Z,1362631499.486 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:44:59.865Z,1362631499.865 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:44:59.865Z,1362631499.865 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:45:00.302Z,1362631500.302 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:45:00.327Z,1362631500.327 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:45:00.691Z,1362631500.691 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:45:00.691Z,1362631500.691 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:45:01.084Z,1362631501.084 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:45:01.084Z,1362631501.084 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:45:01.084Z,1362631501.084 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:45:01.466Z,1362631501.466 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:45:01.467Z,1362631501.467 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:45:01.467Z,1362631501.467 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:45:01.467Z,1362631501.467 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:45:01.467Z,1362631501.467 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:45:01.470Z,1362631501.470 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 196.164492 min 
2013-03-07T04:45:01.471Z,1362631501.471 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:45:01.471Z,1362631501.471 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:45:01.471Z,1362631501.471 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:45:01.471Z,1362631501.471 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:45:01.471Z,1362631501.471 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:45:01.471Z,1362631501.471 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:45:01.479Z,1362631501.479 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:01.521Z,1362631501.521 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:01.543Z,1362631501.543 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:01.876Z,1362631501.876 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:45:01.877Z,1362631501.877 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:45:01.877Z,1362631501.877 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:45:01.877Z,1362631501.877 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:45:04.015Z,1362631504.015 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:04.052Z,1362631504.052 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:04.054Z,1362631504.054 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:06.142Z,1362631506.142 [NAL9602](INFO): Powering down
2013-03-07T04:45:06.559Z,1362631506.559 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:06.585Z,1362631506.585 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:06.588Z,1362631506.588 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:09.115Z,1362631509.115 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:09.144Z,1362631509.144 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:09.151Z,1362631509.151 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:11.638Z,1362631511.638 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:11.668Z,1362631511.668 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:11.672Z,1362631511.672 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:14.179Z,1362631514.179 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:14.236Z,1362631514.236 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:14.249Z,1362631514.249 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:16.719Z,1362631516.719 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:16.747Z,1362631516.747 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:16.749Z,1362631516.749 [DVL_micro](DEBUG): ADCP
2013-03-07T04:45:18.627Z,1362631518.627 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:45:18.852Z,1362631518.852 [EcoHAB_box] Stopped
2013-03-07T04:45:18.852Z,1362631518.852 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:45:18.853Z,1362631518.852 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:45:18.853Z,1362631518.853 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:45:18.854Z,1362631518.853 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:45:18.854Z,1362631518.854 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:45:18.854Z,1362631518.855 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:45:18.855Z,1362631518.855 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:45:18.856Z,1362631518.856 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:45:19.019Z,1362631519.019 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:45:19.271Z,1362631519.271 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:19.285Z,1362631519.284 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:19.288Z,1362631519.288 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:45:19.341Z,1362631519.341 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:45:19.342Z,1362631519.342 [Default] Running Loop=1
2013-03-07T04:45:19.342Z,1362631519.342 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:45:19.342Z,1362631519.342 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:45:19.342Z,1362631519.342 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:45:19.342Z,1362631519.342 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:45:19.342Z,1362631519.342 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:45:19.342Z,1362631519.342 [Default:Iridium] Running Loop=1
2013-03-07T04:45:19.343Z,1362631519.343 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:45:19.343Z,1362631519.343 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:45:19.343Z,1362631519.343 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:45:19.343Z,1362631519.343 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:45:19.343Z,1362631519.343 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:45:19.345Z,1362631519.345 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:45:19.345Z,1362631519.345 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:45:19.345Z,1362631519.345 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:45:19.871Z,1362631519.871 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:45:20.256Z,1362631520.256 [NAL9602](INFO): Powering up
2013-03-07T04:45:29.411Z,1362631529.411 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:45:29.411Z,1362631529.411 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:45:29.631Z,1362631529.631 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:45:29.633Z,1362631529.633 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:45:29.635Z,1362631529.635 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:45:29.637Z,1362631529.637 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:45:29.640Z,1362631529.640 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:45:29.642Z,1362631529.642 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:45:29.645Z,1362631529.645 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:45:29.647Z,1362631529.647 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:45:29.649Z,1362631529.649 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:45:29.652Z,1362631529.652 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:45:29.654Z,1362631529.654 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:45:29.656Z,1362631529.656 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:45:29.659Z,1362631529.659 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:45:29.661Z,1362631529.661 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:45:29.677Z,1362631529.677 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:45:29.679Z,1362631529.679 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:45:29.681Z,1362631529.681 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:45:29.683Z,1362631529.683 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:45:29.686Z,1362631529.686 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:45:29.688Z,1362631529.688 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:45:29.690Z,1362631529.690 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:45:29.693Z,1362631529.693 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:45:29.695Z,1362631529.695 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:45:29.697Z,1362631529.697 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:45:29.700Z,1362631529.700 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:45:29.702Z,1362631529.702 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:45:29.738Z,1362631529.738 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:45:29.740Z,1362631529.740 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:45:29.742Z,1362631529.742 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:45:29.745Z,1362631529.745 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:45:29.756Z,1362631529.756 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:45:29.759Z,1362631529.759 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:45:29.762Z,1362631529.762 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:45:29.764Z,1362631529.764 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:45:29.766Z,1362631529.766 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:45:29.773Z,1362631529.773 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:45:29.779Z,1362631529.779 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:45:29.784Z,1362631529.784 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:45:29.857Z,1362631529.856 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:45:29.859Z,1362631529.859 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:45:29.861Z,1362631529.861 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:45:29.867Z,1362631529.867 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:45:29.869Z,1362631529.869 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:45:29.874Z,1362631529.875 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:45:29.888Z,1362631529.888 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:45:29.925Z,1362631529.925 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:45:29.940Z,1362631529.940 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:45:29.941Z,1362631529.941 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:45:29.978Z,1362631529.978 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:45:29.980Z,1362631529.980 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:45:29.983Z,1362631529.983 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:45:29.985Z,1362631529.985 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:45:29.993Z,1362631529.993 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:45:29.994Z,1362631529.994 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:45:30.039Z,1362631530.039 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:45:30.041Z,1362631530.041 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:45:30.042Z,1362631530.042 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:45:30.060Z,1362631530.060 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:45:30.091Z,1362631530.092 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:45:30.094Z,1362631530.094 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:45:30.096Z,1362631530.096 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:45:30.099Z,1362631530.099 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:45:30.100Z,1362631530.100 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:45:30.108Z,1362631530.108 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:45:30.121Z,1362631530.121 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:45:30.123Z,1362631530.124 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:45:30.126Z,1362631530.126 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:45:30.127Z,1362631530.127 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:45:30.146Z,1362631530.146 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:45:30.148Z,1362631530.148 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:45:30.151Z,1362631530.151 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:45:30.153Z,1362631530.153 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:45:30.154Z,1362631530.154 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:45:30.161Z,1362631530.161 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:45:30.163Z,1362631530.163 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:45:30.163Z,1362631530.164 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:45:30.181Z,1362631530.181 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:45:30.183Z,1362631530.183 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:45:30.185Z,1362631530.185 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:45:30.187Z,1362631530.187 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:45:30.210Z,1362631530.210 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:45:30.212Z,1362631530.212 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:45:30.214Z,1362631530.214 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:45:30.216Z,1362631530.217 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:45:30.219Z,1362631530.219 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:45:30.220Z,1362631530.220 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:45:30.229Z,1362631530.230 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:45:30.243Z,1362631530.243 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:45:30.244Z,1362631530.244 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:45:30.248Z,1362631530.248 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:45:30.250Z,1362631530.250 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:45:30.327Z,1362631530.327 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:45:30.329Z,1362631530.329 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:45:30.332Z,1362631530.332 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:45:30.335Z,1362631530.335 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:45:30.338Z,1362631530.338 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:45:30.341Z,1362631530.341 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:45:30.344Z,1362631530.344 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:45:30.352Z,1362631530.352 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:45:30.354Z,1362631530.355 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:45:30.357Z,1362631530.357 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:45:30.359Z,1362631530.359 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:45:30.361Z,1362631530.361 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:45:30.369Z,1362631530.369 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:45:30.375Z,1362631530.375 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:45:30.439Z,1362631530.439 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.444Z,1362631530.444 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.449Z,1362631530.449 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.454Z,1362631530.454 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.459Z,1362631530.459 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.479Z,1362631530.479 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.484Z,1362631530.484 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:45:30.506Z,1362631530.506 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:45:30.716Z,1362631530.716 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:45:30.723Z,1362631530.723 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:45:30.725Z,1362631530.725 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:45:30.732Z,1362631530.732 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:45:30.744Z,1362631530.744 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:45:30.747Z,1362631530.747 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:45:30.748Z,1362631530.748 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:45:30.750Z,1362631530.750 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:45:30.752Z,1362631530.752 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:45:30.755Z,1362631530.755 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:45:30.758Z,1362631530.758 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:45:30.760Z,1362631530.760 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:45:30.762Z,1362631530.762 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:45:30.765Z,1362631530.765 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:45:30.767Z,1362631530.767 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:45:30.769Z,1362631530.769 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:45:30.772Z,1362631530.772 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:45:30.774Z,1362631530.774 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:45:30.776Z,1362631530.776 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:45:30.779Z,1362631530.779 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:45:30.781Z,1362631530.781 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:45:30.784Z,1362631530.784 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:45:30.786Z,1362631530.786 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:45:30.824Z,1362631530.824 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:45:30.827Z,1362631530.827 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:45:30.829Z,1362631530.829 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:45:30.832Z,1362631530.832 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:45:30.834Z,1362631530.834 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:45:30.840Z,1362631530.840 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:45:30.842Z,1362631530.842 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:45:30.860Z,1362631530.860 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:45:30.883Z,1362631530.884 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:45:30.919Z,1362631530.919 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:45:30.926Z,1362631530.926 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:45:30.927Z,1362631530.927 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:45:30.928Z,1362631530.928 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:45:30.930Z,1362631530.930 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:45:30.932Z,1362631530.932 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:45:30.933Z,1362631530.933 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:45:30.934Z,1362631530.934 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:45:30.936Z,1362631530.936 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:45:30.937Z,1362631530.937 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:45:30.938Z,1362631530.938 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:45:30.939Z,1362631530.939 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:45:30.942Z,1362631530.942 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:45:30.950Z,1362631530.950 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:45:30.956Z,1362631530.955 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:45:31.003Z,1362631531.003 [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="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"><True/></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>


2013-03-07T04:45:31.004Z,1362631531.004 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:45:31.004Z,1362631531.004 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:45:31.005Z,1362631531.005 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:45:31.006Z,1362631531.006 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:45:31.007Z,1362631531.007 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:45:31.079Z,1362631531.079 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:45:34.075Z,1362631534.075 [CommandLine](IMPORTANT): got command maintain
2013-03-07T04:45:36.339Z,1362631536.339 [CommandLine](IMPORTANT): got command run
2013-03-07T04:45:36.339Z,1362631536.339 [CommandLine](IMPORTANT): Running 
2013-03-07T04:45:37.178Z,1362631537.178 [Default] Stopped
2013-03-07T04:45:37.178Z,1362631537.178 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:45:37.178Z,1362631537.178 [Default:Iridium] Stopped
2013-03-07T04:45:37.178Z,1362631537.178 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:45:37.178Z,1362631537.178 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:45:37.179Z,1362631537.179 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:45:37.179Z,1362631537.179 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:45:37.179Z,1362631537.179 [Default:D.SetSpeed] Stopped
2013-03-07T04:45:37.179Z,1362631537.179 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:45:37.179Z,1362631537.179 [Default:E.GoToSurface] Stopped
2013-03-07T04:45:37.179Z,1362631537.179 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:45:37.179Z,1362631537.179 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:45:37.179Z,1362631537.179 [EcoHAB_box] Running Loop=1
2013-03-07T04:45:37.179Z,1362631537.179 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:45:37.179Z,1362631537.180 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:45:37.179Z,1362631537.180 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:45:37.180Z,1362631537.180 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:45:37.180Z,1362631537.180 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:45:37.181Z,1362631537.181 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:45:37.182Z,1362631537.181 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:45:37.183Z,1362631537.182 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:45:37.184Z,1362631537.184 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:45:37.186Z,1362631537.186 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:45:37.186Z,1362631537.186 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:45:37.186Z,1362631537.186 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:45:37.186Z,1362631537.186 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:45:37.195Z,1362631537.195 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:45:37.196Z,1362631537.196 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:45:37.467Z,1362631537.467 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:45:37.467Z,1362631537.467 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:45:37.468Z,1362631537.467 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:45:37.468Z,1362631537.468 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:45:37.553Z,1362631537.553 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:45:37.553Z,1362631537.553 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:45:37.553Z,1362631537.553 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:45:37.553Z,1362631537.553 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:45:37.554Z,1362631537.554 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:45:37.554Z,1362631537.554 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:45:37.892Z,1362631537.892 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:45:37.892Z,1362631537.892 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:45:37.893Z,1362631537.893 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:45:38.446Z,1362631538.446 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-03-07T04:45:38.446Z,1362631538.446 [ThrusterServo] Communications Fault, FailCount= 1
2013-03-07T04:45:38.447Z,1362631538.447 [ThrusterServo](ERROR): Communications Fault
2013-03-07T04:45:38.449Z,1362631538.449 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-03-07T04:45:38.803Z,1362631538.803 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-07T04:45:38.803Z,1362631538.803 [ThrusterServo](INFO): Powering down
2013-03-07T04:45:39.475Z,1362631539.475 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:45:39.475Z,1362631539.475 [DVL_micro](INFO): Querying output modes
2013-03-07T04:45:39.475Z,1362631539.475 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:45:39.571Z,1362631539.571 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-07T04:45:39.602Z,1362631539.602 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:45:39.603Z,1362631539.603 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:45:39.603Z,1362631539.603 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:45:39.603Z,1362631539.603 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:45:39.675Z,1362631539.675 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:45:39.676Z,1362631539.676 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:45:39.676Z,1362631539.676 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:45:39.691Z,1362631539.691 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-07T04:45:39.694Z,1362631539.694 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-03-07T04:45:39.694Z,1362631539.694 [ThrusterServo] No Fault, FailCount= 1
2013-03-07T04:45:41.683Z,1362631541.683 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:45:41.683Z,1362631541.683 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:45:41.878Z,1362631541.878 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:45:41.878Z,1362631541.878 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:45:41.879Z,1362631541.879 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:45:41.921Z,1362631541.921 [NAL9602](INFO): SBD MO Status=0, MOMSN=6576, MT Status=0, MTMSN=0
2013-03-07T04:45:42.063Z,1362631542.063 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:45:42.063Z,1362631542.063 [DVL_micro](INFO): Querying output modes
2013-03-07T04:45:42.063Z,1362631542.063 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:45:42.074Z,1362631542.074 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:45:42.075Z,1362631542.075 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:45:42.075Z,1362631542.075 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:45:42.086Z,1362631542.086 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:45:44.617Z,1362631544.617 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:44.633Z,1362631544.633 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:45.715Z,1362631545.715 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:45:45.716Z,1362631545.716 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:45:45.717Z,1362631545.717 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:45:45.718Z,1362631545.718 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:45:46.011Z,1362631546.011 [NAL9602](IMPORTANT): GPS fix at: 1362674972.00
2013-03-07T04:45:46.044Z,1362631546.044 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:45:46.044Z,1362631546.044 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:45:46.130Z,1362631546.130 [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,
2013-03-07T04:45:46.418Z,1362631546.418 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:45:47.134Z,1362631547.134 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:47.167Z,1362631547.167 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:49.674Z,1362631549.674 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:49.696Z,1362631549.696 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:52.210Z,1362631552.210 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:52.241Z,1362631552.241 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:54.743Z,1362631554.743 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:54.768Z,1362631554.768 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:56.043Z,1362631556.043 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:45:56.050Z,1362631556.050 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:45:56.050Z,1362631556.050 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:45:56.449Z,1362631556.449 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:45:56.450Z,1362631556.450 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:45:56.450Z,1362631556.450 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:45:56.450Z,1362631556.450 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:45:56.450Z,1362631556.450 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:45:56.451Z,1362631556.451 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:45:56.451Z,1362631556.451 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:45:56.451Z,1362631556.451 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:45:56.451Z,1362631556.451 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:45:56.451Z,1362631556.451 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.452 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.453 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:45:56.452Z,1362631556.453 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:45:56.453Z,1362631556.453 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:45:56.453Z,1362631556.453 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:45:56.453Z,1362631556.453 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:45:56.453Z,1362631556.453 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:45:56.453Z,1362631556.453 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:45:56.454Z,1362631556.454 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:45:56.454Z,1362631556.454 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:45:56.454Z,1362631556.454 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:45:56.454Z,1362631556.454 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:45:56.454Z,1362631556.454 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:45:56.455Z,1362631556.455 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:45:56.845Z,1362631556.845 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:45:56.847Z,1362631556.847 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:45:56.848Z,1362631556.848 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:45:56.849Z,1362631556.849 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:45:56.850Z,1362631556.850 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:45:56.851Z,1362631556.852 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:45:56.852Z,1362631556.852 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:45:56.852Z,1362631556.852 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:45:56.852Z,1362631556.852 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:45:56.854Z,1362631556.854 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:45:56.854Z,1362631556.854 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:45:56.855Z,1362631556.855 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:45:56.856Z,1362631556.856 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:45:56.856Z,1362631556.856 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:45:56.857Z,1362631556.857 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:45:56.858Z,1362631556.858 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:45:56.858Z,1362631556.858 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:45:56.858Z,1362631556.858 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:45:56.859Z,1362631556.859 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:45:56.859Z,1362631556.859 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:45:56.859Z,1362631556.859 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:45:57.016Z,1362631557.016 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:45:57.016Z,1362631557.016 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:45:57.257Z,1362631557.257 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:45:57.257Z,1362631557.257 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:45:57.258Z,1362631557.258 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:45:57.259Z,1362631557.259 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:45:57.259Z,1362631557.259 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:45:57.283Z,1362631557.283 [DVL_micro](DEBUG): NQ1
2013-03-07T04:45:57.315Z,1362631557.315 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:45:57.317Z,1362631557.317 [DVL_micro](INFO): ADCP requested
2013-03-07T04:45:57.317Z,1362631557.317 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:45:57.659Z,1362631557.659 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.765847 h 
2013-03-07T04:45:57.660Z,1362631557.659 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:45:57.660Z,1362631557.660 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:45:57.739Z,1362631557.739 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:45:57.739Z,1362631557.739 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:45:57.740Z,1362631557.740 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:45:57.740Z,1362631557.740 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:45:57.741Z,1362631557.741 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:45:57.741Z,1362631557.741 [EcoHAB_box](INFO): Priority 3: EcoHAB_box:I.Pitch
2013-03-07T04:45:57.741Z,1362631557.741 [EcoHAB_box](INFO): Priority 4: EcoHAB_box:J.Buoyancy
2013-03-07T04:45:57.742Z,1362631557.742 [EcoHAB_box:UpdateCircleTimeout](INFO): Priority 5: EcoHAB_box:UpdateCircleTimeout:C
2013-03-07T04:45:57.743Z,1362631557.743 [EcoHAB_box:ScienceOps:Science](INFO): Priority 6: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:45:57.744Z,1362631557.744 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:45:57.744Z,1362631557.744 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:45:57.744Z,1362631557.744 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:45:57.745Z,1362631557.745 [EcoHAB_box:ScienceOps](INFO): Priority 10: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:45:57.745Z,1362631557.745 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:45:57.745Z,1362631557.745 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:45:57.746Z,1362631557.746 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:45:58.055Z,1362631558.055 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:45:58.055Z,1362631558.055 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:45:58.458Z,1362631558.458 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.234153 h 
2013-03-07T04:45:58.459Z,1362631558.459 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:45:58.459Z,1362631558.459 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:45:58.459Z,1362631558.459 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:45:58.460Z,1362631558.460 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:45:58.999Z,1362631558.999 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:45:58.999Z,1362631558.999 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:45:58.999Z,1362631558.999 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:45:58.999Z,1362631558.999 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:45:58.000Z,1362631559.000 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:45:58.000Z,1362631559.000 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:45:59.312Z,1362631559.312 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 194.049157 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:45:59.313Z,1362631559.313 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:45:59.313Z,1362631559.313 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:45:59.313Z,1362631559.313 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:45:59.327Z,1362631559.327 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:45:59.327Z,1362631559.327 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:45:59.714Z,1362631559.714 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:45:59.714Z,1362631559.714 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:45:59.714Z,1362631559.714 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:45:59.714Z,1362631559.714 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:45:59.716Z,1362631559.716 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:45:59.716Z,1362631559.716 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:45:59.716Z,1362631559.716 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:45:59.995Z,1362631559.995 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:45:59.995Z,1362631559.995 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:45:59.995Z,1362631559.995 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:46:00.206Z,1362631560.207 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:46:00.207Z,1362631560.207 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:46:00.208Z,1362631560.208 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:46:00.252Z,1362631560.252 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:46:00.253Z,1362631560.253 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:46:00.256Z,1362631560.256 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:46:00.587Z,1362631560.587 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:46:00.587Z,1362631560.587 [DVL_micro](INFO): Querying output modes
2013-03-07T04:46:00.587Z,1362631560.587 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:46:00.662Z,1362631560.662 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:46:00.679Z,1362631560.680 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:46:00.680Z,1362631560.680 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:46:00.680Z,1362631560.680 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:46:00.680Z,1362631560.680 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:46:00.851Z,1362631560.851 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:46:01.635Z,1362631561.635 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:46:01.635Z,1362631561.635 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:46:01.637Z,1362631561.636 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:46:01.637Z,1362631561.637 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:46:01.637Z,1362631561.637 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:46:01.638Z,1362631561.638 [EcoHAB_box:SurfaceCommsShort](INFO): Priority 3: EcoHAB_box:SurfaceCommsShort:A.GoToSurface
2013-03-07T04:46:01.638Z,1362631561.638 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Priority 4: EcoHAB_box:SurfaceCommsShort:CheckIn:B
2013-03-07T04:46:01.639Z,1362631561.639 [EcoHAB_box](INFO): Priority 5: EcoHAB_box:I.Pitch
2013-03-07T04:46:01.640Z,1362631561.639 [EcoHAB_box](INFO): Priority 6: EcoHAB_box:J.Buoyancy
2013-03-07T04:46:01.642Z,1362631561.642 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:46:01.642Z,1362631561.642 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:46:01.643Z,1362631561.643 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:46:01.643Z,1362631561.644 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:46:01.644Z,1362631561.644 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:46:01.644Z,1362631561.644 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:46:01.645Z,1362631561.645 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:46:01.645Z,1362631561.645 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:46:03.375Z,1362631563.375 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:03.399Z,1362631563.399 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:46:03.402Z,1362631563.402 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:05.461Z,1362631565.461 [NAL9602](INFO): SBD MO Status=0, MOMSN=6577, MT Status=0, MTMSN=0
2013-03-07T04:46:05.564Z,1362631565.564 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:46:05.564Z,1362631565.564 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:46:05.856Z,1362631565.856 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:46:05.856Z,1362631565.856 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:46:05.857Z,1362631565.857 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:46:05.857Z,1362631565.857 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:46:05.857Z,1362631565.857 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:46:05.858Z,1362631565.858 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:46:05.858Z,1362631565.858 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:46:05.858Z,1362631565.858 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:46:05.858Z,1362631565.858 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:46:05.858Z,1362631565.858 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:46:05.910Z,1362631565.911 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:05.962Z,1362631565.963 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:46:05.965Z,1362631565.965 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:06.248Z,1362631566.248 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:46:06.248Z,1362631566.248 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:46:06.248Z,1362631566.248 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:46:06.248Z,1362631566.248 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:46:06.248Z,1362631566.248 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:46:06.249Z,1362631566.249 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:46:06.249Z,1362631566.249 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:46:06.650Z,1362631566.650 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:46:06.650Z,1362631566.651 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:46:07.051Z,1362631567.051 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:46:07.051Z,1362631567.051 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:46:07.463Z,1362631567.463 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:46:07.463Z,1362631567.463 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:46:07.878Z,1362631567.878 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:46:07.878Z,1362631567.878 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:46:07.878Z,1362631567.878 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:46:08.245Z,1362631568.246 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:46:08.246Z,1362631568.246 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:46:08.246Z,1362631568.246 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:46:08.246Z,1362631568.246 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:46:08.246Z,1362631568.246 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:46:08.249Z,1362631568.249 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 194.049157 min 
2013-03-07T04:46:08.250Z,1362631568.250 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:46:08.250Z,1362631568.250 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:46:08.250Z,1362631568.250 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:46:08.250Z,1362631568.250 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:46:08.250Z,1362631568.250 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:46:08.251Z,1362631568.251 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:46:08.459Z,1362631568.459 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:08.490Z,1362631568.490 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:46:08.495Z,1362631568.495 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:08.701Z,1362631568.701 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:46:08.703Z,1362631568.703 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:46:08.703Z,1362631568.703 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:46:08.703Z,1362631568.703 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:46:10.999Z,1362631570.999 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:11.032Z,1362631571.032 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:46:11.036Z,1362631571.036 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:11.100Z,1362631571.100 [NAL9602](INFO): Powering down
2013-03-07T04:46:13.550Z,1362631573.550 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:13.575Z,1362631573.575 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:46:13.577Z,1362631573.577 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:14.963Z,1362631574.963 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:46:14.964Z,1362631574.964 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:46:15.142Z,1362631575.142 [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,
2013-03-07T04:46:15.352Z,1362631575.352 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:46:15.353Z,1362631575.353 [EcoHAB_box:ScienceOps:Science:C](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:46:16.090Z,1362631576.090 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:16.107Z,1362631576.107 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:16.109Z,1362631576.109 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:18.635Z,1362631578.635 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:18.702Z,1362631578.702 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:18.707Z,1362631578.707 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:21.171Z,1362631581.171 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:21.195Z,1362631581.195 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:21.198Z,1362631581.198 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:21.843Z,1362631581.843 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:46:22.013Z,1362631582.013 [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,
2013-03-07T04:46:23.709Z,1362631583.709 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:23.737Z,1362631583.737 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:23.757Z,1362631583.757 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:26.243Z,1362631586.243 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:26.288Z,1362631586.288 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:26.300Z,1362631586.300 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:28.791Z,1362631588.791 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:28.820Z,1362631588.820 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:28.867Z,1362631588.867 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:31.338Z,1362631591.338 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:31.361Z,1362631591.361 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:31.363Z,1362631591.363 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:33.890Z,1362631593.890 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:33.908Z,1362631593.908 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:33.916Z,1362631593.916 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:36.427Z,1362631596.427 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:36.443Z,1362631596.443 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:36.448Z,1362631596.448 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:38.966Z,1362631598.966 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:38.991Z,1362631598.991 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:38.995Z,1362631598.995 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:41.499Z,1362631601.499 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:41.544Z,1362631601.544 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:41.555Z,1362631601.555 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:44.039Z,1362631604.039 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:44.076Z,1362631604.076 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:44.079Z,1362631604.079 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:46.590Z,1362631606.591 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:46.619Z,1362631606.619 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:46.640Z,1362631606.640 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:49.125Z,1362631609.125 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:49.150Z,1362631609.150 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:49.152Z,1362631609.152 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:51.663Z,1362631611.663 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:51.697Z,1362631611.697 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:51.700Z,1362631611.700 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:54.215Z,1362631614.215 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:54.244Z,1362631614.244 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:54.247Z,1362631614.247 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:56.743Z,1362631616.743 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:56.773Z,1362631616.773 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:56.792Z,1362631616.792 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:59.291Z,1362631619.291 [DVL_micro](DEBUG): NQ1
2013-03-07T04:46:59.315Z,1362631619.315 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:46:59.318Z,1362631619.318 [DVL_micro](DEBUG): ADCP
2013-03-07T04:46:59.779Z,1362631619.779 [CommandLine](IMPORTANT): got command show variable compute
2013-03-07T04:46:59.896Z,1362631619.896 [CommandLine](INFO): EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent (bool)
2013-03-07T04:46:59.896Z,1362631619.896 [CommandLine](INFO): EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth (meter)
2013-03-07T04:46:59.897Z,1362631619.897 [CommandLine](INFO): EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth (meter)
2013-03-07T04:47:01.847Z,1362631621.847 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:01.880Z,1362631621.880 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:01.883Z,1362631621.883 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:04.379Z,1362631624.378 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:04.410Z,1362631624.410 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:04.415Z,1362631624.415 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:06.915Z,1362631626.915 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:06.940Z,1362631626.940 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:06.943Z,1362631626.943 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:09.451Z,1362631629.451 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:09.491Z,1362631629.491 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:09.494Z,1362631629.494 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:09.811Z,1362631629.811 [CommandLine](IMPORTANT): got command set EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent 0.000000 bool
2013-03-07T04:47:11.990Z,1362631631.990 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:12.052Z,1362631632.052 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:12.060Z,1362631632.060 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:14.531Z,1362631634.531 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:14.571Z,1362631634.571 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:14.576Z,1362631634.576 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:17.076Z,1362631637.076 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:17.089Z,1362631637.089 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:17.092Z,1362631637.092 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:19.607Z,1362631639.607 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:19.675Z,1362631639.675 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:19.683Z,1362631639.683 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:22.113Z,1362631642.113 [CommandLine](IMPORTANT): got command get EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent
2013-03-07T04:47:22.113Z,1362631642.114 [CommandLine](IMPORTANT): EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent 0.000000 bool
2013-03-07T04:47:22.143Z,1362631642.143 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:22.176Z,1362631642.176 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:22.180Z,1362631642.180 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:24.686Z,1362631644.686 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:24.709Z,1362631644.709 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:24.712Z,1362631644.712 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:27.219Z,1362631647.219 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:27.256Z,1362631647.256 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:27.259Z,1362631647.259 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:29.775Z,1362631649.774 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:29.811Z,1362631649.811 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:29.822Z,1362631649.822 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:32.043Z,1362631652.043 [CommandLine](IMPORTANT): got command get depth
2013-03-07T04:47:32.044Z,1362631652.044 [CommandLine](IMPORTANT): depth -0.036785 meter
2013-03-07T04:47:32.314Z,1362631652.314 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:32.339Z,1362631652.339 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:32.342Z,1362631652.342 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:34.843Z,1362631654.843 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:34.889Z,1362631654.889 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:34.892Z,1362631654.892 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:37.386Z,1362631657.386 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:37.431Z,1362631657.431 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:37.435Z,1362631657.435 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:39.925Z,1362631659.925 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:39.950Z,1362631659.950 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:39.952Z,1362631659.952 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:42.467Z,1362631662.467 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:42.492Z,1362631662.492 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:42.495Z,1362631662.495 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:45.011Z,1362631665.011 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:45.035Z,1362631665.035 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:45.039Z,1362631665.039 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:47.541Z,1362631667.541 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:47.566Z,1362631667.566 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:47.569Z,1362631667.569 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:50.092Z,1362631670.092 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:50.118Z,1362631670.118 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:50.121Z,1362631670.121 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:52.643Z,1362631672.643 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:52.666Z,1362631672.666 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:52.671Z,1362631672.671 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:55.171Z,1362631675.171 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:55.208Z,1362631675.208 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:55.222Z,1362631675.222 [DVL_micro](DEBUG): ADCP
2013-03-07T04:47:57.714Z,1362631677.714 [DVL_micro](DEBUG): NQ1
2013-03-07T04:47:57.738Z,1362631677.738 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:47:57.741Z,1362631677.741 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:00.255Z,1362631680.255 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:00.282Z,1362631680.282 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:48:00.285Z,1362631680.285 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:01.727Z,1362631681.727 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:48:02.011Z,1362631682.011 [EcoHAB_box] Stopped
2013-03-07T04:48:02.012Z,1362631682.011 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:48:02.012Z,1362631682.012 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:48:02.013Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:48:02.014Z,1362631682.013 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:48:02.014Z,1362631682.014 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:48:02.014Z,1362631682.014 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:48:02.014Z,1362631682.014 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:48:02.014Z,1362631682.014 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:48:02.014Z,1362631682.014 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:48:02.015Z,1362631682.015 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:48:02.015Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:48:02.015Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:48:02.015Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:48:02.016Z,1362631682.016 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:48:02.017Z,1362631682.017 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:48:02.139Z,1362631682.139 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:48:02.372Z,1362631682.372 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:48:02.396Z,1362631682.396 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:48:02.396Z,1362631682.396 [Default] Running Loop=1
2013-03-07T04:48:02.396Z,1362631682.396 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:48:02.396Z,1362631682.396 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:48:02.396Z,1362631682.396 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:48:02.396Z,1362631682.396 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:48:02.396Z,1362631682.397 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:48:02.397Z,1362631682.397 [Default:Iridium] Running Loop=1
2013-03-07T04:48:02.397Z,1362631682.397 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:48:02.397Z,1362631682.397 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:48:02.397Z,1362631682.397 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:48:02.397Z,1362631682.397 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:48:02.397Z,1362631682.397 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:48:02.399Z,1362631682.399 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:48:02.399Z,1362631682.399 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:48:02.400Z,1362631682.399 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:48:02.891Z,1362631682.891 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:48:03.216Z,1362631683.216 [NAL9602](INFO): Powering up
2013-03-07T04:48:12.039Z,1362631692.039 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:48:12.039Z,1362631692.039 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:48:12.265Z,1362631692.265 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:48:12.268Z,1362631692.268 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:48:12.271Z,1362631692.271 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:48:12.273Z,1362631692.273 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:48:12.276Z,1362631692.276 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:48:12.284Z,1362631692.284 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:48:12.287Z,1362631692.287 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:48:12.289Z,1362631692.289 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:48:12.291Z,1362631692.291 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:48:12.294Z,1362631692.294 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:48:12.296Z,1362631692.296 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:48:12.299Z,1362631692.299 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:48:12.301Z,1362631692.301 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:48:12.304Z,1362631692.304 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:48:12.306Z,1362631692.306 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:48:12.308Z,1362631692.309 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:48:12.311Z,1362631692.311 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:48:12.313Z,1362631692.313 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:48:12.316Z,1362631692.316 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:48:12.318Z,1362631692.318 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:48:12.320Z,1362631692.320 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:48:12.357Z,1362631692.357 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:48:12.363Z,1362631692.363 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:48:12.371Z,1362631692.371 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:48:12.373Z,1362631692.373 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:48:12.380Z,1362631692.380 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:48:12.382Z,1362631692.382 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:48:12.386Z,1362631692.386 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:48:12.388Z,1362631692.388 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:48:12.391Z,1362631692.391 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:48:12.393Z,1362631692.393 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:48:12.395Z,1362631692.395 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:48:12.398Z,1362631692.398 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:48:12.400Z,1362631692.400 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:48:12.402Z,1362631692.402 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:48:12.407Z,1362631692.407 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:48:12.413Z,1362631692.413 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:48:12.418Z,1362631692.418 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:48:12.468Z,1362631692.468 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:48:12.470Z,1362631692.470 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:48:12.477Z,1362631692.477 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:48:12.481Z,1362631692.481 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:48:12.483Z,1362631692.483 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:48:12.484Z,1362631692.484 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:48:12.494Z,1362631692.494 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:48:12.508Z,1362631692.508 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:48:12.510Z,1362631692.510 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:48:12.511Z,1362631692.511 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:48:12.589Z,1362631692.589 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:48:12.592Z,1362631692.592 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:48:12.595Z,1362631692.595 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:48:12.598Z,1362631692.598 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:48:12.600Z,1362631692.600 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:48:12.601Z,1362631692.601 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:48:12.612Z,1362631692.612 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:48:12.614Z,1362631692.614 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:48:12.615Z,1362631692.615 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:48:12.616Z,1362631692.616 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:48:12.676Z,1362631692.676 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:48:12.678Z,1362631692.678 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:48:12.681Z,1362631692.681 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:48:12.683Z,1362631692.683 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:48:12.685Z,1362631692.685 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:48:12.692Z,1362631692.692 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:48:12.705Z,1362631692.705 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:48:12.707Z,1362631692.707 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:48:12.710Z,1362631692.710 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:48:12.711Z,1362631692.711 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:48:12.742Z,1362631692.742 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:48:12.744Z,1362631692.744 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:48:12.747Z,1362631692.747 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:48:12.749Z,1362631692.749 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:48:12.750Z,1362631692.750 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:48:12.757Z,1362631692.757 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:48:12.759Z,1362631692.759 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:48:12.760Z,1362631692.760 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:48:12.774Z,1362631692.774 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:48:12.778Z,1362631692.778 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:48:12.780Z,1362631692.780 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:48:12.782Z,1362631692.782 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:48:12.803Z,1362631692.803 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:48:12.805Z,1362631692.805 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:48:12.807Z,1362631692.807 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:48:12.809Z,1362631692.809 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:48:12.811Z,1362631692.811 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:48:12.812Z,1362631692.812 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:48:12.822Z,1362631692.822 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:48:12.824Z,1362631692.824 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:48:12.825Z,1362631692.825 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:48:12.829Z,1362631692.829 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:48:12.831Z,1362631692.831 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:48:12.879Z,1362631692.879 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:48:12.882Z,1362631692.882 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:48:12.884Z,1362631692.884 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:48:12.886Z,1362631692.886 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:48:12.888Z,1362631692.888 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:48:12.903Z,1362631692.903 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:48:12.905Z,1362631692.905 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:48:12.907Z,1362631692.907 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:48:12.910Z,1362631692.910 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:48:12.912Z,1362631692.912 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:48:12.918Z,1362631692.918 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:48:12.921Z,1362631692.921 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:48:12.928Z,1362631692.928 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:48:12.938Z,1362631692.938 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:48:12.977Z,1362631692.977 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:12.982Z,1362631692.982 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:13.025Z,1362631693.025 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:13.030Z,1362631693.030 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:13.047Z,1362631693.047 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:13.055Z,1362631693.055 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:13.060Z,1362631693.060 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:48:13.065Z,1362631693.065 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:48:13.242Z,1362631693.242 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:48:13.244Z,1362631693.244 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:48:13.256Z,1362631693.256 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:48:13.259Z,1362631693.259 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:48:13.261Z,1362631693.261 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:48:13.263Z,1362631693.263 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:48:13.265Z,1362631693.265 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:48:13.267Z,1362631693.267 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:48:13.269Z,1362631693.269 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:48:13.271Z,1362631693.271 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:48:13.273Z,1362631693.273 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:48:13.275Z,1362631693.275 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:48:13.278Z,1362631693.278 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:48:13.281Z,1362631693.281 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:48:13.284Z,1362631693.284 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:48:13.286Z,1362631693.286 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:48:13.289Z,1362631693.289 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:48:13.291Z,1362631693.291 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:48:13.293Z,1362631693.293 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:48:13.324Z,1362631693.324 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:48:13.327Z,1362631693.327 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:48:13.329Z,1362631693.329 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:48:13.343Z,1362631693.343 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:48:13.346Z,1362631693.346 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:48:13.348Z,1362631693.348 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:48:13.359Z,1362631693.359 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:48:13.361Z,1362631693.361 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:48:13.364Z,1362631693.364 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:48:13.366Z,1362631693.366 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:48:13.368Z,1362631693.368 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:48:13.423Z,1362631693.423 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:48:13.433Z,1362631693.433 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:48:13.442Z,1362631693.442 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:48:13.450Z,1362631693.450 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:48:13.458Z,1362631693.458 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:48:13.460Z,1362631693.460 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:48:13.461Z,1362631693.461 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:48:13.463Z,1362631693.463 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:48:13.464Z,1362631693.464 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:48:13.465Z,1362631693.465 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:48:13.467Z,1362631693.467 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:48:13.468Z,1362631693.468 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:48:13.469Z,1362631693.469 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:48:13.470Z,1362631693.470 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:48:13.473Z,1362631693.473 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:48:13.480Z,1362631693.480 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:48:13.485Z,1362631693.485 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:48:13.547Z,1362631693.547 [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="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"><True/></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>


2013-03-07T04:48:13.548Z,1362631693.548 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:48:13.549Z,1362631693.549 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:48:13.549Z,1362631693.549 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:48:13.550Z,1362631693.550 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:48:13.551Z,1362631693.551 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:48:13.735Z,1362631693.735 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:48:15.659Z,1362631695.659 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:48:23.023Z,1362631703.023 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:48:23.024Z,1362631703.024 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:48:23.025Z,1362631703.025 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T04:48:23.026Z,1362631703.026 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T04:48:23.272Z,1362631703.272 [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,
2013-03-07T04:48:24.195Z,1362631704.195 [CommandLine](IMPORTANT): got command run
2013-03-07T04:48:24.195Z,1362631704.195 [CommandLine](IMPORTANT): Running 
2013-03-07T04:48:24.423Z,1362631704.423 [Default] Stopped
2013-03-07T04:48:24.424Z,1362631704.424 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:48:24.424Z,1362631704.424 [Default:Iridium] Stopped
2013-03-07T04:48:24.424Z,1362631704.424 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:48:24.424Z,1362631704.424 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:48:24.424Z,1362631704.424 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:48:24.424Z,1362631704.424 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:48:24.424Z,1362631704.424 [Default:D.SetSpeed] Stopped
2013-03-07T04:48:24.424Z,1362631704.424 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:48:24.424Z,1362631704.424 [Default:E.GoToSurface] Stopped
2013-03-07T04:48:24.424Z,1362631704.424 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:48:24.424Z,1362631704.424 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:48:24.424Z,1362631704.424 [EcoHAB_box] Running Loop=1
2013-03-07T04:48:24.425Z,1362631704.425 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:48:24.425Z,1362631704.425 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:48:24.425Z,1362631704.425 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:48:24.425Z,1362631704.425 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:48:24.425Z,1362631704.425 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:48:24.426Z,1362631704.426 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:48:24.427Z,1362631704.427 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:48:24.427Z,1362631704.427 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:48:24.427Z,1362631704.427 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:48:24.428Z,1362631704.428 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:48:24.429Z,1362631704.429 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:48:24.431Z,1362631704.431 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:48:24.431Z,1362631704.431 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:48:24.431Z,1362631704.431 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:48:24.431Z,1362631704.431 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:48:24.433Z,1362631704.432 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:48:24.434Z,1362631704.434 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:48:24.607Z,1362631704.607 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:48:24.607Z,1362631704.607 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:48:24.608Z,1362631704.608 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:48:24.608Z,1362631704.608 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:48:24.826Z,1362631704.826 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:48:24.826Z,1362631704.826 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:48:24.826Z,1362631704.826 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:48:24.826Z,1362631704.826 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:48:24.826Z,1362631704.826 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:48:24.826Z,1362631704.826 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:48:25.225Z,1362631705.225 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:48:25.225Z,1362631705.225 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:48:25.226Z,1362631705.226 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:48:25.227Z,1362631705.227 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:48:25.227Z,1362631705.227 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:48:25.622Z,1362631705.622 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:48:26.619Z,1362631706.619 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:48:26.619Z,1362631706.619 [DVL_micro](INFO): Querying output modes
2013-03-07T04:48:26.619Z,1362631706.619 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:48:26.633Z,1362631706.633 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:48:26.633Z,1362631706.634 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:48:26.634Z,1362631706.634 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:48:26.634Z,1362631706.634 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:48:26.655Z,1362631706.655 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:48:26.656Z,1362631706.656 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:48:26.656Z,1362631706.657 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:48:28.663Z,1362631708.663 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:48:28.663Z,1362631708.663 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:48:28.814Z,1362631708.814 [NAL9602](INFO): SBD MO Status=2, MOMSN=6578, MT Status=2, MTMSN=0
2013-03-07T04:48:28.814Z,1362631708.814 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-03-07T04:48:29.342Z,1362631709.342 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:48:29.343Z,1362631709.342 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:48:29.343Z,1362631709.343 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:48:29.610Z,1362631709.610 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:48:29.611Z,1362631709.611 [DVL_micro](INFO): Querying output modes
2013-03-07T04:48:29.611Z,1362631709.611 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:48:29.774Z,1362631709.774 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:48:29.775Z,1362631709.774 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:48:29.775Z,1362631709.775 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:48:29.851Z,1362631709.851 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:48:32.382Z,1362631712.382 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:32.394Z,1362631712.395 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:32.819Z,1362631712.819 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:48:33.327Z,1362631713.327 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:48:33.327Z,1362631713.327 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T04:48:33.604Z,1362631713.604 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:48:33.645Z,1362631713.645 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:48:33.646Z,1362631713.646 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T04:48:33.650Z,1362631713.651 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T04:48:33.651Z,1362631713.651 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:48:33.651Z,1362631713.651 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:48:33.652Z,1362631713.652 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T04:48:33.653Z,1362631713.653 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:48:33.654Z,1362631713.654 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:48:33.659Z,1362631713.659 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:48:33.659Z,1362631713.659 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:48:33.659Z,1362631713.659 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:48:33.659Z,1362631713.659 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T04:48:33.660Z,1362631713.660 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T04:48:33.660Z,1362631713.660 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T04:48:33.972Z,1362631713.972 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T04:48:33.974Z,1362631713.974 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T04:48:34.001Z,1362631714.001 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T04:48:34.003Z,1362631714.003 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T04:48:34.004Z,1362631714.004 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T04:48:34.005Z,1362631714.005 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T04:48:34.005Z,1362631714.005 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:48:34.005Z,1362631714.005 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T04:48:34.005Z,1362631714.005 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T04:48:34.028Z,1362631714.028 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T04:48:34.028Z,1362631714.028 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T04:48:34.029Z,1362631714.029 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T04:48:34.029Z,1362631714.029 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T04:48:34.035Z,1362631714.035 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T04:48:34.035Z,1362631714.035 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T04:48:34.036Z,1362631714.036 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T04:48:34.036Z,1362631714.036 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:48:34.036Z,1362631714.036 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T04:48:34.037Z,1362631714.037 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:48:34.037Z,1362631714.037 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:48:34.037Z,1362631714.037 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:48:34.066Z,1362631714.066 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T04:48:34.067Z,1362631714.067 [WetLabsBB2FL](INFO): Powering up
2013-03-07T04:48:34.364Z,1362631714.365 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T04:48:34.365Z,1362631714.365 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:48:34.365Z,1362631714.365 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T04:48:34.366Z,1362631714.366 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T04:48:34.366Z,1362631714.366 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T04:48:34.475Z,1362631714.475 [DVL_micro](INFO): ADCP requested
2013-03-07T04:48:34.475Z,1362631714.475 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:48:34.783Z,1362631714.783 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 4.809491 h 
2013-03-07T04:48:34.784Z,1362631714.784 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T04:48:34.784Z,1362631714.784 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T04:48:35.183Z,1362631715.183 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T04:48:35.184Z,1362631715.184 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T04:48:35.582Z,1362631715.582 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 3.190509 h 
2013-03-07T04:48:35.583Z,1362631715.583 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T04:48:35.584Z,1362631715.584 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:48:35.584Z,1362631715.584 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T04:48:35.584Z,1362631715.584 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T04:48:35.998Z,1362631715.998 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:48:35.998Z,1362631715.998 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T04:48:35.998Z,1362631715.998 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T04:48:35.998Z,1362631715.998 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T04:48:35.998Z,1362631715.999 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:48:35.999Z,1362631715.999 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T04:48:36.430Z,1362631716.430 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 191.430557 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T04:48:36.435Z,1362631716.435 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T04:48:36.435Z,1362631716.435 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T04:48:36.436Z,1362631716.436 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:48:36.483Z,1362631716.483 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:48:36.484Z,1362631716.484 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:48:36.735Z,1362631716.735 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:48:36.735Z,1362631716.735 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T04:48:36.735Z,1362631716.735 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T04:48:36.860Z,1362631716.860 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T04:48:36.860Z,1362631716.860 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:48:36.860Z,1362631716.861 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T04:48:36.861Z,1362631716.861 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:48:36.863Z,1362631716.863 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T04:48:36.863Z,1362631716.863 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:48:36.863Z,1362631716.863 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T04:48:37.350Z,1362631717.350 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:48:37.351Z,1362631717.351 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T04:48:37.351Z,1362631717.351 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T04:48:37.740Z,1362631717.740 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:48:37.775Z,1362631717.775 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T04:48:37.775Z,1362631717.775 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:48:37.776Z,1362631717.776 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:48:38.023Z,1362631718.023 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:48:38.024Z,1362631718.024 [DVL_micro](INFO): Querying output modes
2013-03-07T04:48:38.024Z,1362631718.024 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:48:38.215Z,1362631718.215 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:48:38.215Z,1362631718.215 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:48:38.215Z,1362631718.215 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:48:38.215Z,1362631718.215 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:48:38.278Z,1362631718.279 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:48:40.562Z,1362631720.562 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T04:48:40.809Z,1362631720.809 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:40.833Z,1362631720.833 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:40.836Z,1362631720.836 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:41.128Z,1362631721.128 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T04:48:41.128Z,1362631721.128 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Running Loop=1
2013-03-07T04:48:41.388Z,1362631721.388 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:48:41.436Z,1362631721.436 [EcoHAB_box:SurfaceCommsShort:CheckIn:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:48:41.438Z,1362631721.438 [EcoHAB_box:SurfaceCommsShort:CheckIn:C] Stopped
2013-03-07T04:48:41.438Z,1362631721.438 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Completed EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:48:41.438Z,1362631721.438 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T04:48:41.438Z,1362631721.438 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T04:48:41.440Z,1362631721.440 [EcoHAB_box:SurfaceCommsShort](INFO): Completed EcoHAB_box:SurfaceCommsShort
2013-03-07T04:48:41.440Z,1362631721.440 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T04:48:41.440Z,1362631721.440 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T04:48:41.440Z,1362631721.440 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T04:48:41.440Z,1362631721.440 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:48:41.823Z,1362631721.823 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:48:41.823Z,1362631721.823 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T04:48:41.823Z,1362631721.823 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T04:48:41.823Z,1362631721.823 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:48:41.823Z,1362631721.823 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T04:48:41.823Z,1362631721.823 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T04:48:41.824Z,1362631721.824 [EcoHAB_box:CircleInshoreESPBuoy:C] Running Loop=1
2013-03-07T04:48:42.273Z,1362631722.273 [EcoHAB_box:CircleInshoreESPBuoy:C] Stopped
2013-03-07T04:48:42.273Z,1362631722.273 [EcoHAB_box:CircleInshoreESPBuoy:D] Running Loop=1
2013-03-07T04:48:42.595Z,1362631722.595 [EcoHAB_box:CircleInshoreESPBuoy:D] Stopped
2013-03-07T04:48:42.595Z,1362631722.595 [EcoHAB_box:CircleInshoreESPBuoy:E] Running Loop=1
2013-03-07T04:48:42.985Z,1362631722.985 [EcoHAB_box:CircleInshoreESPBuoy:E] Stopped
2013-03-07T04:48:42.985Z,1362631722.986 [EcoHAB_box:CircleInshoreESPBuoy:F] Running Loop=1
2013-03-07T04:48:43.351Z,1362631723.351 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:43.376Z,1362631723.376 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:43.382Z,1362631723.382 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:43.470Z,1362631723.470 [EcoHAB_box:CircleInshoreESPBuoy:F] Stopped
2013-03-07T04:48:43.470Z,1362631723.470 [EcoHAB_box:CircleInshoreESPBuoy:G] Running Loop=1
2013-03-07T04:48:43.470Z,1362631723.470 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:48:43.795Z,1362631723.795 [EcoHAB_box:CircleWaypointRepeatedly] Running Loop=1
2013-03-07T04:48:43.795Z,1362631723.795 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:48:43.795Z,1362631723.795 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:48:43.795Z,1362631723.795 [EcoHAB_box:CircleWaypointRepeatedly:A] Running Loop=1
2013-03-07T04:48:43.795Z,1362631723.795 [EcoHAB_box:CircleWaypointRepeatedly:B] Running Loop=1
2013-03-07T04:48:43.798Z,1362631723.798 [EcoHAB_box:CircleWaypointRepeatedly:A](IMPORTANT): Will circle ( Latitude: 36.862500 arcdeg , Longitude: -121.906801 arcdeg ) at radius: 500.000000 m for up to: 191.430557 min 
2013-03-07T04:48:43.799Z,1362631723.799 [EcoHAB_box:CircleWaypointRepeatedly:A] Stopped
2013-03-07T04:48:43.799Z,1362631723.799 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Running Loop=1
2013-03-07T04:48:43.799Z,1362631723.799 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:48:43.799Z,1362631723.799 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Running Loop=1
2013-03-07T04:48:43.800Z,1362631723.800 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::initialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:48:43.800Z,1362631723.800 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Running Loop=1
2013-03-07T04:48:44.185Z,1362631724.185 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A](IMPORTANT): Circling...
2013-03-07T04:48:44.187Z,1362631724.187 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:A] Stopped
2013-03-07T04:48:44.187Z,1362631724.187 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Running Loop=1
2013-03-07T04:48:44.187Z,1362631724.187 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Initialize CircleComponent.
2013-03-07T04:48:45.531Z,1362631725.531 [CommandLine](IMPORTANT): got command show stack
2013-03-07T04:48:45.531Z,1362631725.531 [CommandLine](INFO): Behavior Stack:

2013-03-07T04:48:45.532Z,1362631725.532 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T04:48:45.532Z,1362631725.532 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T04:48:45.532Z,1362631725.532 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T04:48:45.533Z,1362631725.533 [EcoHAB_box](INFO): Priority 3: EcoHAB_box:I.Pitch
2013-03-07T04:48:45.533Z,1362631725.533 [EcoHAB_box](INFO): Priority 4: EcoHAB_box:J.Buoyancy
2013-03-07T04:48:45.533Z,1362631725.533 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Priority 5: EcoHAB_box:CircleWaypointRepeatedly:B
2013-03-07T04:48:45.534Z,1362631725.534 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Priority 6: EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle
2013-03-07T04:48:45.535Z,1362631725.535 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T04:48:45.535Z,1362631725.536 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:G
2013-03-07T04:48:45.536Z,1362631725.536 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:I
2013-03-07T04:48:45.536Z,1362631725.536 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T04:48:45.536Z,1362631725.536 [EcoHAB_box:ScienceOps](INFO): Priority 11: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T04:48:45.537Z,1362631725.537 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T04:48:45.537Z,1362631725.537 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T04:48:45.537Z,1362631725.537 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T04:48:45.875Z,1362631725.875 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:45.905Z,1362631725.905 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:45.918Z,1362631725.918 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:46.989Z,1362631726.989 [NAL9602](INFO): Powering down
2013-03-07T04:48:48.428Z,1362631728.428 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:48.451Z,1362631728.451 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:48.454Z,1362631728.454 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:50.965Z,1362631730.966 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:50.996Z,1362631730.996 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:50.999Z,1362631730.999 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:53.502Z,1362631733.503 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:53.534Z,1362631733.534 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:53.537Z,1362631733.537 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:56.038Z,1362631736.039 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:56.069Z,1362631736.069 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:48:56.075Z,1362631736.075 [DVL_micro](DEBUG): ADCP
2013-03-07T04:48:56.615Z,1362631736.615 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T04:48:56.616Z,1362631736.616 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T04:48:56.694Z,1362631736.694 [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,
2013-03-07T04:48:57.025Z,1362631737.026 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T04:48:57.026Z,1362631737.026 [EcoHAB_box:ScienceOps:Science:C](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T04:48:58.578Z,1362631738.578 [DVL_micro](DEBUG): NQ1
2013-03-07T04:48:58.604Z,1362631738.603 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:48:58.606Z,1362631738.606 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:01.124Z,1362631741.124 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:01.151Z,1362631741.151 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:01.160Z,1362631741.160 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:01.971Z,1362631741.971 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T04:49:02.328Z,1362631742.328 [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,
2013-03-07T04:49:03.659Z,1362631743.658 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:03.689Z,1362631743.689 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:03.693Z,1362631743.693 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:06.209Z,1362631746.209 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:06.222Z,1362631746.222 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:06.225Z,1362631746.225 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:08.743Z,1362631748.743 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:08.760Z,1362631748.760 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:08.763Z,1362631748.763 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:11.279Z,1362631751.279 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:11.312Z,1362631751.312 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:11.315Z,1362631751.315 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:13.822Z,1362631753.822 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:13.850Z,1362631753.850 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:13.853Z,1362631753.853 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:16.359Z,1362631756.359 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:16.387Z,1362631756.387 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:16.389Z,1362631756.389 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:18.899Z,1362631758.898 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:18.938Z,1362631758.938 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:18.941Z,1362631758.941 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:21.447Z,1362631761.447 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:21.473Z,1362631761.473 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:21.477Z,1362631761.477 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:23.999Z,1362631763.999 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:24.034Z,1362631764.034 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:24.037Z,1362631764.037 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:26.543Z,1362631766.543 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:26.568Z,1362631766.568 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:26.572Z,1362631766.572 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:29.075Z,1362631769.075 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:29.099Z,1362631769.099 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:29.102Z,1362631769.102 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:31.616Z,1362631771.616 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:31.633Z,1362631771.633 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:31.636Z,1362631771.636 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:34.151Z,1362631774.151 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:34.184Z,1362631774.184 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:34.187Z,1362631774.187 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:36.695Z,1362631776.695 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:36.725Z,1362631776.725 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:36.728Z,1362631776.728 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:39.235Z,1362631779.234 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:39.259Z,1362631779.259 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:39.262Z,1362631779.262 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:41.771Z,1362631781.771 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:41.797Z,1362631781.797 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:41.846Z,1362631781.846 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:44.310Z,1362631784.310 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:44.335Z,1362631784.335 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:44.339Z,1362631784.339 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:46.850Z,1362631786.850 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:46.879Z,1362631786.879 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:46.881Z,1362631786.881 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:49.387Z,1362631789.387 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:49.437Z,1362631789.437 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:49.452Z,1362631789.452 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:51.934Z,1362631791.934 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:51.983Z,1362631791.983 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:51.986Z,1362631791.986 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:54.470Z,1362631794.470 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:54.493Z,1362631794.493 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:54.495Z,1362631794.496 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:57.031Z,1362631797.031 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:57.049Z,1362631797.049 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:57.053Z,1362631797.053 [DVL_micro](DEBUG): ADCP
2013-03-07T04:49:59.563Z,1362631799.563 [DVL_micro](DEBUG): NQ1
2013-03-07T04:49:59.590Z,1362631799.590 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:49:59.593Z,1362631799.593 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:02.098Z,1362631802.098 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:02.151Z,1362631802.151 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:02.153Z,1362631802.153 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:04.642Z,1362631804.642 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:04.668Z,1362631804.668 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:04.671Z,1362631804.671 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:07.190Z,1362631807.190 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:07.232Z,1362631807.232 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:07.238Z,1362631807.238 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:09.711Z,1362631809.711 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:09.749Z,1362631809.749 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:09.752Z,1362631809.752 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:12.246Z,1362631812.246 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:12.280Z,1362631812.280 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:12.285Z,1362631812.285 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:14.786Z,1362631814.786 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:14.815Z,1362631814.815 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:14.817Z,1362631814.817 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:17.335Z,1362631817.335 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:17.359Z,1362631817.359 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:17.361Z,1362631817.361 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:19.878Z,1362631819.878 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:19.904Z,1362631819.904 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:19.920Z,1362631819.920 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:22.418Z,1362631822.418 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:22.445Z,1362631822.445 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:22.449Z,1362631822.449 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:24.948Z,1362631824.948 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:24.972Z,1362631824.972 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:24.975Z,1362631824.975 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:27.483Z,1362631827.483 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:27.513Z,1362631827.513 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:27.516Z,1362631827.516 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:30.023Z,1362631830.023 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:30.047Z,1362631830.047 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:30.052Z,1362631830.052 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:32.571Z,1362631832.571 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:32.597Z,1362631832.597 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T04:50:32.600Z,1362631832.600 [DVL_micro](DEBUG): ADCP
2013-03-07T04:50:34.575Z,1362631834.575 [CommandLine](IMPORTANT): got command stop
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box] Stopped
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:50:34.652Z,1362631834.652 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly:B] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly:Repeater] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly:Repeater](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap] Stopped
2013-03-07T04:50:34.653Z,1362631834.653 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap](INFO): Aggregate::uninitialize EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle] Stopped
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Uninitialize.
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:CircleInshoreESPBuoy:G] Stopped
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:CircleInshoreESPBuoy:G](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:G
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T04:50:34.654Z,1362631834.654 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T04:50:34.655Z,1362631834.655 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:50:34.656Z,1362631834.656 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T04:50:34.656Z,1362631834.656 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:50:34.656Z,1362631834.656 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T04:50:34.656Z,1362631834.656 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T04:50:34.656Z,1362631834.656 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T04:50:34.656Z,1362631834.656 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T04:50:34.676Z,1362631834.676 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:50:34.827Z,1362631834.827 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:50:34.967Z,1362631834.967 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:50:34.967Z,1362631834.967 [Default] Running Loop=1
2013-03-07T04:50:34.967Z,1362631834.967 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:50:34.967Z,1362631834.967 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:50:34.967Z,1362631834.967 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:50:34.967Z,1362631834.967 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:50:34.967Z,1362631834.967 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:50:34.967Z,1362631834.967 [Default:Iridium] Running Loop=1
2013-03-07T04:50:34.968Z,1362631834.968 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:50:34.968Z,1362631834.968 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:50:34.968Z,1362631834.968 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:50:34.968Z,1362631834.968 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:50:34.968Z,1362631834.968 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:50:34.970Z,1362631834.970 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:50:34.970Z,1362631834.970 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:50:34.970Z,1362631834.970 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:50:35.475Z,1362631835.475 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:50:35.804Z,1362631835.804 [NAL9602](INFO): Powering up
2013-03-07T04:50:44.062Z,1362631844.062 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:50:44.063Z,1362631844.063 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:50:44.244Z,1362631844.244 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T04:50:44.247Z,1362631844.247 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T04:50:44.249Z,1362631844.249 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T04:50:44.251Z,1362631844.251 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T04:50:44.253Z,1362631844.253 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T04:50:44.256Z,1362631844.256 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = -0.004180 n/a
2013-03-07T04:50:44.259Z,1362631844.259 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000423 n/a
2013-03-07T04:50:44.261Z,1362631844.261 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T04:50:44.264Z,1362631844.264 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T04:50:44.266Z,1362631844.266 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T04:50:44.268Z,1362631844.268 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T04:50:44.272Z,1362631844.272 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T04:50:44.280Z,1362631844.280 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T04:50:44.283Z,1362631844.283 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T04:50:44.288Z,1362631844.288 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T04:50:44.290Z,1362631844.290 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T04:50:44.293Z,1362631844.293 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T04:50:44.295Z,1362631844.295 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T04:50:44.298Z,1362631844.298 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T04:50:44.300Z,1362631844.300 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T04:50:44.303Z,1362631844.303 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T04:50:44.305Z,1362631844.305 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T04:50:44.351Z,1362631844.351 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T04:50:44.354Z,1362631844.354 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T04:50:44.356Z,1362631844.356 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T04:50:44.364Z,1362631844.364 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T04:50:44.387Z,1362631844.387 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T04:50:44.390Z,1362631844.390 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T04:50:44.392Z,1362631844.392 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T04:50:44.403Z,1362631844.403 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T04:50:44.405Z,1362631844.405 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T04:50:44.424Z,1362631844.424 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T04:50:44.426Z,1362631844.427 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T04:50:44.429Z,1362631844.429 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T04:50:44.439Z,1362631844.439 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:50:44.444Z,1362631844.444 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:50:44.467Z,1362631844.467 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T04:50:44.471Z,1362631844.471 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:50:44.491Z,1362631844.491 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:50:44.493Z,1362631844.493 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:50:44.495Z,1362631844.495 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:50:44.498Z,1362631844.498 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:50:44.500Z,1362631844.500 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:50:44.501Z,1362631844.501 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:50:44.535Z,1362631844.535 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T04:50:44.569Z,1362631844.569 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:50:44.571Z,1362631844.571 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:50:44.572Z,1362631844.572 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:50:44.593Z,1362631844.593 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:50:44.595Z,1362631844.595 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:50:44.597Z,1362631844.597 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:50:44.600Z,1362631844.600 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:50:44.603Z,1362631844.602 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:50:44.604Z,1362631844.603 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:50:44.638Z,1362631844.638 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:50:44.640Z,1362631844.640 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:50:44.641Z,1362631844.641 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T04:50:44.646Z,1362631844.647 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T04:50:44.671Z,1362631844.671 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T04:50:44.673Z,1362631844.673 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T04:50:44.676Z,1362631844.676 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T04:50:44.678Z,1362631844.678 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T04:50:44.680Z,1362631844.680 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:50:44.688Z,1362631844.688 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T04:50:44.702Z,1362631844.702 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T04:50:44.704Z,1362631844.704 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:50:44.739Z,1362631844.739 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:50:44.740Z,1362631844.740 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T04:50:44.786Z,1362631844.786 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T04:50:44.789Z,1362631844.789 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T04:50:44.792Z,1362631844.792 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:50:44.794Z,1362631844.794 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T04:50:44.795Z,1362631844.795 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:50:44.802Z,1362631844.802 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T04:50:44.840Z,1362631844.840 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T04:50:44.840Z,1362631844.841 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T04:50:44.875Z,1362631844.875 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T04:50:44.877Z,1362631844.877 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:50:44.879Z,1362631844.879 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:50:44.881Z,1362631844.881 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T04:50:44.933Z,1362631844.933 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T04:50:44.939Z,1362631844.939 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T04:50:44.941Z,1362631844.941 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T04:50:44.944Z,1362631844.944 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T04:50:44.946Z,1362631844.945 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T04:50:44.947Z,1362631844.947 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:50:44.965Z,1362631844.965 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T04:50:44.966Z,1362631844.967 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T04:50:44.968Z,1362631844.968 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T04:50:44.973Z,1362631844.973 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T04:50:44.975Z,1362631844.975 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T04:50:45.049Z,1362631845.049 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T04:50:45.051Z,1362631845.051 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T04:50:45.054Z,1362631845.053 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T04:50:45.056Z,1362631845.056 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T04:50:45.058Z,1362631845.058 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T04:50:45.060Z,1362631845.060 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T04:50:45.063Z,1362631845.063 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T04:50:45.065Z,1362631845.065 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T04:50:45.068Z,1362631845.068 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T04:50:45.070Z,1362631845.070 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T04:50:45.072Z,1362631845.072 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T04:50:45.075Z,1362631845.075 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T04:50:45.082Z,1362631845.082 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T04:50:45.089Z,1362631845.089 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T04:50:45.119Z,1362631845.119 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.124Z,1362631845.124 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.129Z,1362631845.129 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.134Z,1362631845.134 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.139Z,1362631845.139 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.145Z,1362631845.145 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.150Z,1362631845.150 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T04:50:45.155Z,1362631845.155 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T04:50:45.345Z,1362631845.345 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T04:50:45.348Z,1362631845.348 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T04:50:45.350Z,1362631845.350 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T04:50:45.352Z,1362631845.352 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T04:50:45.354Z,1362631845.354 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:50:45.356Z,1362631845.356 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T04:50:45.358Z,1362631845.358 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T04:50:45.360Z,1362631845.360 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T04:50:45.379Z,1362631845.378 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:50:45.381Z,1362631845.381 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T04:50:45.383Z,1362631845.383 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T04:50:45.385Z,1362631845.385 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:50:45.388Z,1362631845.388 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T04:50:45.398Z,1362631845.398 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 0.000000 n/a
2013-03-07T04:50:45.401Z,1362631845.401 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T04:50:45.415Z,1362631845.415 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T04:50:45.417Z,1362631845.417 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T04:50:45.420Z,1362631845.420 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2013-03-07T04:50:45.437Z,1362631845.437 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T04:50:45.439Z,1362631845.439 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T04:50:45.442Z,1362631845.441 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T04:50:45.444Z,1362631845.444 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T04:50:45.447Z,1362631845.447 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T04:50:45.449Z,1362631845.449 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T04:50:45.452Z,1362631845.452 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T04:50:45.454Z,1362631845.454 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T04:50:45.456Z,1362631845.457 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T04:50:45.459Z,1362631845.459 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T04:50:45.461Z,1362631845.461 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T04:50:45.484Z,1362631845.484 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T04:50:45.516Z,1362631845.516 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:50:45.524Z,1362631845.524 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:50:45.531Z,1362631845.532 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T04:50:45.538Z,1362631845.538 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T04:50:45.542Z,1362631845.542 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T04:50:45.544Z,1362631845.544 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T04:50:45.545Z,1362631845.545 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T04:50:45.547Z,1362631845.547 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T04:50:45.548Z,1362631845.548 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T04:50:45.549Z,1362631845.549 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T04:50:45.551Z,1362631845.551 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T04:50:45.552Z,1362631845.552 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T04:50:45.553Z,1362631845.553 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T04:50:45.554Z,1362631845.555 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T04:50:45.557Z,1362631845.557 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T04:50:45.584Z,1362631845.584 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T04:50:45.590Z,1362631845.589 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T04:50:45.711Z,1362631845.711 [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="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"><True/></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>


2013-03-07T04:50:45.712Z,1362631845.712 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T04:50:45.712Z,1362631845.712 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T04:50:45.713Z,1362631845.713 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T04:50:45.714Z,1362631845.714 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T04:50:45.721Z,1362631845.721 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T04:50:46.435Z,1362631846.435 [NAL9602](INFO): NAL9602 initialized
2013-03-07T04:50:48.335Z,1362631848.335 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:50:48.459Z,1362631848.459 [CommandLine](IMPORTANT): got command run
2013-03-07T04:50:48.459Z,1362631848.459 [CommandLine](IMPORTANT): Running 
2013-03-07T04:50:48.761Z,1362631848.761 [Default] Stopped
2013-03-07T04:50:48.762Z,1362631848.761 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:50:48.762Z,1362631848.762 [Default:Iridium] Stopped
2013-03-07T04:50:48.762Z,1362631848.762 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:50:48.762Z,1362631848.762 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:50:48.762Z,1362631848.762 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:50:48.762Z,1362631848.762 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:50:48.762Z,1362631848.762 [Default:D.SetSpeed] Stopped
2013-03-07T04:50:48.762Z,1362631848.762 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:50:48.762Z,1362631848.762 [Default:E.GoToSurface] Stopped
2013-03-07T04:50:48.762Z,1362631848.762 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:50:48.763Z,1362631848.763 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T04:50:48.763Z,1362631848.763 [EcoHAB_box] Running Loop=1
2013-03-07T04:50:48.763Z,1362631848.763 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T04:50:48.763Z,1362631848.763 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:50:48.763Z,1362631848.763 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T04:50:48.763Z,1362631848.763 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:50:48.763Z,1362631848.763 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T04:50:48.764Z,1362631848.764 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:50:48.764Z,1362631848.764 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T04:50:48.764Z,1362631848.764 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:50:48.764Z,1362631848.764 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T04:50:48.764Z,1362631848.764 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:50:48.765Z,1362631848.764 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T04:50:48.765Z,1362631848.765 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T04:50:48.765Z,1362631848.765 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T04:50:48.765Z,1362631848.765 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T04:50:48.765Z,1362631848.765 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:50:48.766Z,1362631848.766 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T04:50:48.767Z,1362631848.767 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T04:50:48.770Z,1362631848.770 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T04:50:48.770Z,1362631848.770 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:50:48.770Z,1362631848.770 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T04:50:48.770Z,1362631848.770 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T04:50:48.771Z,1362631848.771 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T04:50:48.772Z,1362631848.772 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T04:50:48.835Z,1362631848.835 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:50:48.835Z,1362631848.835 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:50:48.836Z,1362631848.836 [DVL_micro](INFO): resume:Powering up
2013-03-07T04:50:48.836Z,1362631848.836 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:50:49.196Z,1362631849.196 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T04:50:49.196Z,1362631849.196 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T04:50:49.196Z,1362631849.196 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T04:50:49.196Z,1362631849.196 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T04:50:49.196Z,1362631849.196 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:50:49.197Z,1362631849.197 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T04:50:49.560Z,1362631849.560 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T04:50:49.560Z,1362631849.560 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T04:50:49.561Z,1362631849.561 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T04:50:50.853Z,1362631850.853 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:50:50.853Z,1362631850.853 [DVL_micro](INFO): Querying output modes
2013-03-07T04:50:50.853Z,1362631850.853 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:50:50.866Z,1362631850.866 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T04:50:50.867Z,1362631850.867 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:50:50.867Z,1362631850.867 [DVL_micro](INFO): ADCP output enabled
2013-03-07T04:50:50.867Z,1362631850.867 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:50:50.878Z,1362631850.878 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:50:50.880Z,1362631850.880 [DVL_micro](INFO): ADCP unrequested
2013-03-07T04:50:50.880Z,1362631850.880 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T04:50:52.887Z,1362631852.887 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T04:50:52.887Z,1362631852.887 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T04:50:53.559Z,1362631853.559 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T04:50:53.559Z,1362631853.559 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T04:50:53.559Z,1362631853.559 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T04:50:53.807Z,1362631853.806 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:50:53.807Z,1362631853.807 [DVL_micro](INFO): Querying output modes
2013-03-07T04:50:53.807Z,1362631853.807 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T04:50:53.983Z,1362631853.983 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T04:50:53.983Z,1362631853.983 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T04:50:53.983Z,1362631853.983 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T04:50:54.071Z,1362631854.071 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T04:50:56.586Z,1362631856.586 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:56.610Z,1362631856.610 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:50:59.118Z,1362631859.118 [DVL_micro](DEBUG): NQ1
2013-03-07T04:50:59.159Z,1362631859.159 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:01.650Z,1362631861.651 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:01.672Z,1362631861.672 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:04.187Z,1362631864.187 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:04.213Z,1362631864.213 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:06.722Z,1362631866.722 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:06.751Z,1362631866.751 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:09.271Z,1362631869.271 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:09.284Z,1362631869.284 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:11.143Z,1362631871.143 [NAL9602](IMPORTANT): GPS fix at: 1362675298.00
2013-03-07T04:51:11.170Z,1362631871.170 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T04:51:11.170Z,1362631871.170 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T04:51:11.608Z,1362631871.608 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T04:51:11.779Z,1362631871.779 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:11.800Z,1362631871.800 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:14.326Z,1362631874.326 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:14.359Z,1362631874.359 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:16.846Z,1362631876.846 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:16.869Z,1362631876.869 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:17.276Z,1362631877.276 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:51:18.343Z,1362631878.343 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T04:51:18.344Z,1362631878.344 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T04:51:18.345Z,1362631878.345 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798
2013-03-07T04:51:18.345Z,1362631878.345 [CommandLine](FAULT): Incomplete syntax. Try: help maintain
2013-03-07T04:51:18.626Z,1362631878.626 [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,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-03-07T04:51:19.386Z,1362631879.386 [DVL_micro](DEBUG): NQ1
2013-03-07T04:51:19.411Z,1362631879.411 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T04:51:20.053Z,1362631880.053 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T04:51:20.269Z,1362631880.269 [CommandLine](IMPORTANT): got command restart application
2013-03-07T04:51:21.301Z,1362631881.301 [EcoHAB_box] Stopped
2013-03-07T04:51:21.301Z,1362631881.301 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T04:51:21.301Z,1362631881.301 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T04:51:21.301Z,1362631881.301 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T04:51:21.301Z,1362631881.301 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T04:51:21.301Z,1362631881.301 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T04:51:21.301Z,1362631881.302 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T04:51:21.301Z,1362631881.302 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T04:51:21.302Z,1362631881.302 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T04:51:21.303Z,1362631881.303 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T04:51:21.303Z,1362631881.303 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T04:51:21.303Z,1362631881.303 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T04:51:21.322Z,1362631881.322 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-07T04:51:21.322Z,1362631881.322 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-07T04:51:21.488Z,1362631881.488 [DVL_micro](INFO): pause:Powering down
2013-03-07T04:51:21.578Z,1362631881.578 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-07T04:51:21.719Z,1362631881.719 [WetLabsBB2FL](INFO): Powering down
2013-03-07T04:51:21.720Z,1362631881.720 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-07T04:51:21.776Z,1362631881.776 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T04:51:21.776Z,1362631881.776 [Default] Running Loop=1
2013-03-07T04:51:21.776Z,1362631881.776 [Default](INFO): Aggregate::initialize Default
2013-03-07T04:51:21.776Z,1362631881.776 [Default:D.SetSpeed] Running Loop=1
2013-03-07T04:51:21.776Z,1362631881.776 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T04:51:21.776Z,1362631881.776 [Default:E.GoToSurface] Running Loop=1
2013-03-07T04:51:21.776Z,1362631881.776 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:51:21.777Z,1362631881.777 [Default:Iridium] Running Loop=1
2013-03-07T04:51:21.777Z,1362631881.777 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T04:51:21.777Z,1362631881.777 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T04:51:21.777Z,1362631881.777 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T04:51:21.777Z,1362631881.777 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T04:51:21.777Z,1362631881.777 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T04:51:21.779Z,1362631881.779 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T04:51:21.779Z,1362631881.779 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:51:21.780Z,1362631881.780 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T04:51:21.891Z,1362631881.891 [DVL_micro](INFO): uninitialize:Powering down
2013-03-07T04:51:21.910Z,1362631881.910 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-07T04:51:22.203Z,1362631882.203 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-07T04:51:22.210Z,1362631882.210 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-07T04:51:22.251Z,1362631882.251 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-07T04:51:22.253Z,1362631882.253 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-07T04:51:22.290Z,1362631882.290 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-07T04:51:22.291Z,1362631882.291 [AHRS_sp3003D](INFO): Powering down
2013-03-07T04:51:22.379Z,1362631882.379 [NAL9602](INFO): Powering down
2013-03-07T04:51:22.381Z,1362631882.381 [Aanderaa_O2](INFO): Powering down
2013-03-07T04:51:22.383Z,1362631882.383 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-07T04:51:22.384Z,1362631882.384 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-07T04:51:22.385Z,1362631882.385 [Default] Stopped
2013-03-07T04:51:22.385Z,1362631882.385 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T04:51:22.385Z,1362631882.385 [Default:Iridium] Stopped
2013-03-07T04:51:22.385Z,1362631882.385 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T04:51:22.385Z,1362631882.385 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T04:51:22.385Z,1362631882.385 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:51:22.385Z,1362631882.385 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T04:51:22.385Z,1362631882.385 [Default:D.SetSpeed] Stopped
2013-03-07T04:51:22.385Z,1362631882.385 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T04:51:22.385Z,1362631882.385 [Default:E.GoToSurface] Stopped
2013-03-07T04:51:22.385Z,1362631882.385 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T04:51:22.390Z,1362631882.390 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-07T04:51:22.390Z,1362631882.390 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-07T04:51:22.391Z,1362631882.391 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-07T04:51:22.391Z,1362631882.391 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-07T04:51:22.391Z,1362631882.391 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-07T04:51:22.392Z,1362631882.392 [BuoyancyServo](INFO): Powering down
2013-03-07T04:51:22.407Z,1362631882.407 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-07T04:51:22.407Z,1362631882.407 [ElevatorServo](INFO): Powering down
2013-03-07T04:51:22.408Z,1362631882.408 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-07T04:51:22.408Z,1362631882.408 [MassServo](INFO): Powering down
2013-03-07T04:51:22.409Z,1362631882.409 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-07T04:51:22.409Z,1362631882.409 [RudderServo](INFO): Powering down
2013-03-07T04:51:22.410Z,1362631882.410 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-07T04:51:22.410Z,1362631882.410 [ThrusterServo](INFO): Powering down
2013-03-07T04:51:22.411Z,1362631882.411 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-07T04:51:22.411Z,1362631882.411 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-07T04:51:22.412Z,1362631882.412 [CBIT](DEBUG): Uninitialize CBIT Component.