2013-03-07T09:46:52.311Z,1362649612.311 [Supervisor](DEBUG): Initializing supervisor.
2013-03-07T09:46:52.314Z,1362649612.314 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-07T09:46:52.315Z,1362649612.315 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-07T09:46:52.315Z,1362649612.316 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-07T09:46:52.320Z,1362649612.320 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-07T09:46:52.332Z,1362649612.332 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-07T09:46:52.333Z,1362649612.333 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-07T09:46:52.333Z,1362649612.333 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-07T09:46:52.334Z,1362649612.334 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-07T09:46:52.335Z,1362649612.335 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-07T09:46:52.336Z,1362649612.336 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-07T09:46:52.614Z,1362649612.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-07T09:46:52.615Z,1362649612.615 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-07T09:46:52.800Z,1362649612.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-07T09:46:52.801Z,1362649612.801 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-07T09:46:52.884Z,1362649612.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-07T09:46:52.885Z,1362649612.885 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-07T09:46:53.067Z,1362649613.067 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-07T09:46:53.068Z,1362649613.068 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-07T09:46:53.198Z,1362649613.198 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-07T09:46:53.199Z,1362649613.199 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-07T09:46:53.427Z,1362649613.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-07T09:46:53.428Z,1362649613.428 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-07T09:46:53.595Z,1362649613.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-07T09:46:53.595Z,1362649613.595 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-07T09:46:53.842Z,1362649613.842 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-07T09:46:53.842Z,1362649613.842 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-07T09:46:53.940Z,1362649613.940 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-07T09:46:53.940Z,1362649613.940 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-07T09:46:54.333Z,1362649614.333 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-07T09:46:54.334Z,1362649614.334 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-07T09:46:54.446Z,1362649614.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-07T09:46:54.447Z,1362649614.447 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-07T09:46:54.531Z,1362649614.531 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-07T09:46:54.532Z,1362649614.532 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-07T09:46:54.632Z,1362649614.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-07T09:46:54.760Z,1362649614.760 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-07T09:46:54.845Z,1362649614.845 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-07T09:46:54.945Z,1362649614.944 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-07T09:46:55.043Z,1362649615.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-07T09:46:55.159Z,1362649615.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-07T09:46:55.252Z,1362649615.252 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-07T09:46:55.337Z,1362649615.337 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-07T09:46:55.362Z,1362649615.362 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-07T09:46:55.521Z,1362649615.520 [InternalSim] Loaded
2013-03-07T09:46:55.521Z,1362649615.521 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-07T09:46:55.522Z,1362649615.522 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-07T09:46:55.522Z,1362649615.522 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-07T09:46:55.581Z,1362649615.581 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-07T09:46:55.609Z,1362649615.609 [SBIT] Loaded
2013-03-07T09:46:55.609Z,1362649615.609 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-07T09:46:55.610Z,1362649615.611 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-07T09:46:55.639Z,1362649615.639 [IBIT] Loaded
2013-03-07T09:46:55.639Z,1362649615.639 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-07T09:46:55.643Z,1362649615.643 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-07T09:46:55.761Z,1362649615.761 [CBIT] Loaded
2013-03-07T09:46:55.761Z,1362649615.761 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-07T09:46:55.761Z,1362649615.761 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-07T09:46:55.762Z,1362649615.762 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-07T09:46:55.916Z,1362649615.916 [BuoyancyServo] Loaded
2013-03-07T09:46:55.917Z,1362649615.917 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-07T09:46:55.929Z,1362649615.929 [ElevatorServo] Loaded
2013-03-07T09:46:55.929Z,1362649615.929 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-07T09:46:55.941Z,1362649615.941 [MassServo] Loaded
2013-03-07T09:46:55.941Z,1362649615.941 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-07T09:46:55.953Z,1362649615.953 [RudderServo] Loaded
2013-03-07T09:46:55.954Z,1362649615.954 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-07T09:46:55.965Z,1362649615.965 [ThrusterServo] Loaded
2013-03-07T09:46:55.966Z,1362649615.966 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-07T09:46:55.966Z,1362649615.966 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-07T09:46:55.967Z,1362649615.967 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-07T09:46:55.985Z,1362649615.985 [DepthRateCalculator] Loaded
2013-03-07T09:46:55.985Z,1362649615.985 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-07T09:46:59.718Z,1362649619.718 [HFRadarModelCalc] Loaded
2013-03-07T09:46:59.718Z,1362649619.718 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-07T09:46:59.734Z,1362649619.734 [NavChart] Loaded
2013-03-07T09:46:59.735Z,1362649619.735 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-07T09:46:59.741Z,1362649619.741 [PitchRateCalculator] Loaded
2013-03-07T09:46:59.741Z,1362649619.741 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-07T09:46:59.747Z,1362649619.747 [SpeedCalculator] Loaded
2013-03-07T09:46:59.748Z,1362649619.748 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-07T09:46:59.763Z,1362649619.763 [TempGradientCalculator] Loaded
2013-03-07T09:46:59.763Z,1362649619.763 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-07T09:46:59.769Z,1362649619.769 [YawRateCalculator] Loaded
2013-03-07T09:46:59.769Z,1362649619.769 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-07T09:46:59.810Z,1362649619.810 [Navigation] Loaded
2013-03-07T09:46:59.810Z,1362649619.810 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-07T09:46:59.811Z,1362649619.811 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-07T09:46:59.811Z,1362649619.811 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-07T09:47:00.040Z,1362649620.040 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-07T09:47:00.041Z,1362649620.041 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-07T09:47:00.063Z,1362649620.063 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-07T09:47:00.064Z,1362649620.064 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-07T09:47:00.106Z,1362649620.106 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-07T09:47:00.199Z,1362649620.200 [VerticalControl] Loaded
2013-03-07T09:47:00.200Z,1362649620.200 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-07T09:47:00.201Z,1362649620.201 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-07T09:47:00.258Z,1362649620.258 [HorizontalControl] Loaded
2013-03-07T09:47:00.258Z,1362649620.258 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-07T09:47:00.259Z,1362649620.259 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-07T09:47:00.261Z,1362649620.261 [SpeedControl] Loaded
2013-03-07T09:47:00.261Z,1362649620.261 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-07T09:47:00.262Z,1362649620.262 [LoopControl](DEBUG): Construct LoopControl.
2013-03-07T09:47:00.263Z,1362649620.263 [LoopControl] Loaded
2013-03-07T09:47:00.263Z,1362649620.263 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-07T09:47:00.264Z,1362649620.263 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-07T09:47:00.264Z,1362649620.264 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-07T09:47:00.270Z,1362649620.270 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-07T09:47:00.275Z,1362649620.275 [AsyncPiEstimator] Loaded
2013-03-07T09:47:00.275Z,1362649620.275 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-07T09:47:00.276Z,1362649620.276 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-07T09:47:00.277Z,1362649620.277 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-07T09:47:00.278Z,1362649620.277 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-07T09:47:00.409Z,1362649620.409 [AHRS_sp3003D] Loaded
2013-03-07T09:47:00.409Z,1362649620.409 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-07T09:47:00.667Z,1362649620.667 [Batt_Ocean_Server] Loaded
2013-03-07T09:47:00.667Z,1362649620.667 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-07T09:47:00.681Z,1362649620.681 [Depth_Keller] Loaded
2013-03-07T09:47:00.681Z,1362649620.681 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-07T09:47:00.686Z,1362649620.686 [DropWeight] Loaded
2013-03-07T09:47:00.687Z,1362649620.687 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-07T09:47:00.863Z,1362649620.863 [DVL_micro] Loaded
2013-03-07T09:47:00.863Z,1362649620.863 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-07T09:47:00.864Z,1362649620.864 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-07T09:47:00.947Z,1362649620.947 [NAL9602] Loaded
2013-03-07T09:47:00.948Z,1362649620.948 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-07T09:47:00.999Z,1362649620.999 [Onboard] Loaded
2013-03-07T09:47:00.999Z,1362649620.999 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-07T09:47:01.000Z,1362649621.000 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-07T09:47:01.001Z,1362649621.001 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-07T09:47:01.059Z,1362649621.059 [Aanderaa_O2] Loaded
2013-03-07T09:47:01.060Z,1362649621.060 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-07T09:47:01.093Z,1362649621.093 [CTD_NeilBrown] Loaded
2013-03-07T09:47:01.093Z,1362649621.093 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-07T09:47:01.094Z,1362649621.094 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-07T09:47:01.111Z,1362649621.111 [PAR_Licor] Loaded
2013-03-07T09:47:01.111Z,1362649621.111 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-07T09:47:01.141Z,1362649621.141 [WetLabsBB2FL] Loaded
2013-03-07T09:47:01.141Z,1362649621.141 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-07T09:47:01.142Z,1362649621.142 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-07T09:47:01.143Z,1362649621.143 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-07T09:47:01.146Z,1362649621.145 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-07T09:47:01.147Z,1362649621.147 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-07T09:47:01.153Z,1362649621.153 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-07T09:47:01.154Z,1362649621.154 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-07T09:47:01.159Z,1362649621.159 [Supervisor](DEBUG): Running supervisor.
2013-03-07T09:47:01.160Z,1362649621.160 [CommandLine](INFO): Thread ID is 6490
2013-03-07T09:47:01.163Z,1362649621.163 [controlThread](INFO): Thread ID is 6489
2013-03-07T09:47:01.163Z,1362649621.163 [controlThread](DEBUG): Initializing ControlThread
2013-03-07T09:47:01.164Z,1362649621.164 [CycleStarter](INFO): Thread ID is 6488
2013-03-07T09:47:01.164Z,1362649621.164 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-07T09:47:01.199Z,1362649621.199 [logger](INFO): Thread ID is 6491
2013-03-07T09:47:01.227Z,1362649621.227 [SBIT](INFO): Initialize SBIT Component.
2013-03-07T09:47:01.228Z,1362649621.228 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-07T09:47:01.228Z,1362649621.228 [IBIT](INFO): Initialize IBIT Component.
2013-03-07T09:47:01.229Z,1362649621.229 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-07T09:47:01.229Z,1362649621.229 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-07T09:47:01.230Z,1362649621.230 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-07T09:47:01.239Z,1362649621.239 [AsyncPiEstimator](INFO): Thread ID is 6552
2013-03-07T09:47:01.239Z,1362649621.239 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-07T09:47:01.253Z,1362649621.253 [DVL_micro](INFO): Thread ID is 6553
2013-03-07T09:47:01.260Z,1362649621.260 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-07T09:47:01.261Z,1362649621.261 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-07T09:47:01.261Z,1362649621.261 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-07T09:47:01.261Z,1362649621.261 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-07T09:47:01.262Z,1362649621.262 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-07T09:47:01.263Z,1362649621.263 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-07T09:47:01.264Z,1362649621.264 [Navigation](DEBUG): Initializing Navigation.
2013-03-07T09:47:01.264Z,1362649621.264 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-07T09:47:01.266Z,1362649621.266 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-07T09:47:01.266Z,1362649621.266 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-07T09:47:01.267Z,1362649621.267 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-07T09:47:01.273Z,1362649621.273 [DVL_micro](INFO): Initializing
2013-03-07T09:47:01.273Z,1362649621.273 [DVL_micro](INFO): start:Powering up
2013-03-07T09:47:01.274Z,1362649621.274 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T09:47:01.275Z,1362649621.275 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T09:47:01.283Z,1362649621.283 [CTD_NeilBrown](INFO): Thread ID is 6554
2013-03-07T09:47:01.284Z,1362649621.284 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-07T09:47:01.287Z,1362649621.287 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-07T09:47:01.296Z,1362649621.296 [WetLabsBB2FL](INFO): Thread ID is 6555
2013-03-07T09:47:01.297Z,1362649621.297 [WetLabsBB2FL](INFO): Powering down
2013-03-07T09:47:01.328Z,1362649621.328 [NavChartDb](INFO): Thread ID is 6556
2013-03-07T09:47:01.333Z,1362649621.333 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-07T09:47:01.335Z,1362649621.335 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-07T09:47:01.335Z,1362649621.335 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-07T09:47:01.335Z,1362649621.335 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-07T09:47:01.336Z,1362649621.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-07T09:47:01.336Z,1362649621.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-07T09:47:01.336Z,1362649621.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-07T09:47:01.336Z,1362649621.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-07T09:47:01.336Z,1362649621.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-07T09:47:03.179Z,1362649623.179 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-07T09:47:03.246Z,1362649623.246 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-07T09:47:03.277Z,1362649623.277 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:03.299Z,1362649623.299 [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>


2013-03-07T09:47:03.300Z,1362649623.300 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-07T09:47:03.371Z,1362649623.371 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T09:47:03.371Z,1362649623.371 [DVL_micro](INFO): Querying output modes
2013-03-07T09:47:03.372Z,1362649623.372 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T09:47:03.383Z,1362649623.383 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T09:47:03.383Z,1362649623.383 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T09:47:03.383Z,1362649623.383 [DVL_micro](INFO): ADCP output enabled
2013-03-07T09:47:03.383Z,1362649623.383 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T09:47:03.387Z,1362649623.387 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-07T09:47:03.389Z,1362649623.389 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-07T09:47:03.393Z,1362649623.392 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:03.395Z,1362649623.395 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T09:47:03.427Z,1362649623.427 [DVL_micro](INFO): pause:Powering down
2013-03-07T09:47:03.447Z,1362649623.447 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-07T09:47:03.459Z,1362649623.459 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:03.465Z,1362649623.465 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-07T09:47:03.487Z,1362649623.487 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-07T09:47:03.490Z,1362649623.490 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:03.526Z,1362649623.526 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-07T09:47:03.530Z,1362649623.530 [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>


2013-03-07T09:47:03.550Z,1362649623.550 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,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,
2013-03-07T09:47:03.589Z,1362649623.589 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-07T09:47:03.980Z,1362649623.980 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-07T09:47:03.987Z,1362649623.987 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-07T09:47:03.993Z,1362649623.993 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-07T09:47:03.999Z,1362649623.999 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-07T09:47:04.024Z,1362649624.024 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-07T09:47:04.031Z,1362649624.031 [MassServo](DEBUG): Initializing MassServo.
2013-03-07T09:47:04.037Z,1362649624.037 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-07T09:47:04.043Z,1362649624.043 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-07T09:47:04.061Z,1362649624.061 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-07T09:47:04.063Z,1362649624.063 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-07T09:47:06.089Z,1362649626.089 [NAL9602](INFO): Powering up NAL9602
2013-03-07T09:47:06.251Z,1362649626.251 [Aanderaa_O2](INFO): Powering down
2013-03-07T09:47:16.531Z,1362649636.531 [NAL9602](INFO): NAL9602 initialized
2013-03-07T09:47:17.040Z,1362649637.040 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-07T09:47:17.043Z,1362649637.043 [CBIT](IMPORTANT): Beginning GF scan
2013-03-07T09:47:43.791Z,1362649663.791 [CBIT](IMPORTANT): No ground fault detected
2013-03-07T09:47:46.179Z,1362649666.179 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T09:47:46.179Z,1362649666.179 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T09:47:46.362Z,1362649666.362 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T09:47:46.365Z,1362649666.365 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T09:47:46.369Z,1362649666.369 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T09:47:46.372Z,1362649666.372 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T09:47:46.375Z,1362649666.375 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T09:47:46.379Z,1362649666.379 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = 0.009000 n/a
2013-03-07T09:47:46.383Z,1362649666.383 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000360 n/a
2013-03-07T09:47:46.386Z,1362649666.386 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T09:47:46.390Z,1362649666.390 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T09:47:46.393Z,1362649666.393 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T09:47:46.397Z,1362649666.397 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T09:47:46.400Z,1362649666.400 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T09:47:46.428Z,1362649666.428 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T09:47:46.431Z,1362649666.431 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T09:47:46.434Z,1362649666.434 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T09:47:46.438Z,1362649666.438 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T09:47:46.453Z,1362649666.453 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T09:47:46.457Z,1362649666.457 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T09:47:46.464Z,1362649666.464 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T09:47:46.467Z,1362649666.467 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T09:47:46.470Z,1362649666.470 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T09:47:46.474Z,1362649666.474 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T09:47:46.477Z,1362649666.477 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T09:47:46.481Z,1362649666.481 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T09:47:46.484Z,1362649666.484 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T09:47:46.488Z,1362649666.487 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T09:47:46.491Z,1362649666.491 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T09:47:46.494Z,1362649666.494 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T09:47:46.497Z,1362649666.497 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T09:47:46.529Z,1362649666.529 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T09:47:46.536Z,1362649666.536 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T09:47:46.548Z,1362649666.548 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T09:47:46.556Z,1362649666.556 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T09:47:46.563Z,1362649666.563 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T09:47:46.565Z,1362649666.565 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T09:47:46.578Z,1362649666.578 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T09:47:46.591Z,1362649666.591 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T09:47:46.599Z,1362649666.599 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T09:47:46.654Z,1362649666.654 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T09:47:46.660Z,1362649666.659 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T09:47:46.663Z,1362649666.663 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:46.667Z,1362649666.667 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T09:47:46.670Z,1362649666.670 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:46.671Z,1362649666.671 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:46.684Z,1362649666.684 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T09:47:46.699Z,1362649666.699 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:46.702Z,1362649666.702 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:46.719Z,1362649666.719 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T09:47:46.762Z,1362649666.762 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T09:47:46.766Z,1362649666.766 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T09:47:46.770Z,1362649666.770 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:46.774Z,1362649666.774 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T09:47:46.777Z,1362649666.777 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:46.779Z,1362649666.779 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:46.793Z,1362649666.793 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:46.795Z,1362649666.795 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:46.796Z,1362649666.796 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T09:47:46.797Z,1362649666.797 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T09:47:46.843Z,1362649666.843 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T09:47:46.846Z,1362649666.846 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T09:47:46.854Z,1362649666.854 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T09:47:46.860Z,1362649666.860 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T09:47:46.863Z,1362649666.863 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:46.873Z,1362649666.873 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T09:47:46.889Z,1362649666.889 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T09:47:46.892Z,1362649666.892 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:46.896Z,1362649666.896 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:46.898Z,1362649666.898 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T09:47:46.964Z,1362649666.964 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T09:47:46.972Z,1362649666.972 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T09:47:46.978Z,1362649666.978 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:46.981Z,1362649666.981 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:46.983Z,1362649666.983 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:46.997Z,1362649666.997 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T09:47:46.998Z,1362649666.998 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T09:47:46.999Z,1362649666.999 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T09:47:47.045Z,1362649667.045 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T09:47:47.052Z,1362649667.052 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:47.058Z,1362649667.058 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:47.060Z,1362649667.060 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T09:47:47.082Z,1362649667.082 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T09:47:47.085Z,1362649667.085 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T09:47:47.089Z,1362649667.089 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:47.093Z,1362649667.093 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T09:47:47.097Z,1362649667.097 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:47.098Z,1362649667.098 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:47.152Z,1362649667.152 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:47.154Z,1362649667.154 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:47.155Z,1362649667.155 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T09:47:47.161Z,1362649667.161 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T09:47:47.164Z,1362649667.164 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T09:47:47.238Z,1362649667.238 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T09:47:47.254Z,1362649667.254 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T09:47:47.257Z,1362649667.257 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T09:47:47.264Z,1362649667.264 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T09:47:47.267Z,1362649667.267 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T09:47:47.271Z,1362649667.271 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T09:47:47.274Z,1362649667.274 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T09:47:47.277Z,1362649667.277 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T09:47:47.281Z,1362649667.281 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T09:47:47.284Z,1362649667.284 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T09:47:47.288Z,1362649667.288 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T09:47:47.292Z,1362649667.292 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T09:47:47.322Z,1362649667.322 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T09:47:47.342Z,1362649667.342 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:47.447Z,1362649667.447 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.457Z,1362649667.457 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.464Z,1362649667.464 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.472Z,1362649667.472 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.478Z,1362649667.478 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.485Z,1362649667.485 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.492Z,1362649667.492 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:47.498Z,1362649667.498 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T09:47:47.688Z,1362649667.688 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T09:47:47.692Z,1362649667.692 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T09:47:47.695Z,1362649667.695 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T09:47:47.715Z,1362649667.715 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T09:47:47.718Z,1362649667.718 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T09:47:47.733Z,1362649667.733 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T09:47:47.745Z,1362649667.745 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T09:47:47.756Z,1362649667.756 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T09:47:47.765Z,1362649667.765 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T09:47:47.772Z,1362649667.772 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T09:47:47.776Z,1362649667.776 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T09:47:47.780Z,1362649667.780 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T09:47:47.787Z,1362649667.787 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T09:47:47.791Z,1362649667.792 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 1.000000 n/a
2013-03-07T09:47:47.796Z,1362649667.796 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T09:47:47.801Z,1362649667.801 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T09:47:47.825Z,1362649667.825 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T09:47:47.830Z,1362649667.830 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 0.000000 n/a
2013-03-07T09:47:47.845Z,1362649667.845 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T09:47:47.853Z,1362649667.853 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T09:47:47.858Z,1362649667.858 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T09:47:47.862Z,1362649667.862 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T09:47:47.866Z,1362649667.866 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T09:47:47.870Z,1362649667.870 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T09:47:47.874Z,1362649667.875 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T09:47:47.878Z,1362649667.878 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T09:47:47.882Z,1362649667.882 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T09:47:47.886Z,1362649667.886 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T09:47:47.889Z,1362649667.889 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T09:47:47.893Z,1362649667.893 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T09:47:47.952Z,1362649667.952 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T09:47:47.964Z,1362649667.964 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T09:47:47.975Z,1362649667.975 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T09:47:47.983Z,1362649667.983 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T09:47:47.984Z,1362649667.984 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T09:47:47.986Z,1362649667.986 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T09:47:47.988Z,1362649667.987 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T09:47:47.989Z,1362649667.989 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T09:47:47.990Z,1362649667.990 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T09:47:47.992Z,1362649667.992 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T09:47:47.993Z,1362649667.993 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T09:47:47.995Z,1362649667.995 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T09:47:47.996Z,1362649667.996 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T09:47:47.997Z,1362649667.997 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T09:47:48.001Z,1362649668.001 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T09:47:48.040Z,1362649668.040 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T09:47:48.056Z,1362649668.056 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T09:47:48.127Z,1362649668.127 [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>


2013-03-07T09:47:48.128Z,1362649668.128 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T09:47:48.128Z,1362649668.128 [CommandLine](IMPORTANT): got command set 
2013-03-07T09:47:48.129Z,1362649668.129 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-03-07T09:47:55.163Z,1362649675.163 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2013-03-07T09:47:55.210Z,1362649675.210 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2013-03-07T09:47:55.428Z,1362649675.428 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2013-03-07T09:47:55.431Z,1362649675.431 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2013-03-07T09:47:55.433Z,1362649675.433 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2013-03-07T09:47:55.435Z,1362649675.435 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2013-03-07T09:47:55.438Z,1362649675.438 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 36.000000 h
2013-03-07T09:47:55.440Z,1362649675.440 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = 0.009000 n/a
2013-03-07T09:47:55.442Z,1362649675.443 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000360 n/a
2013-03-07T09:47:55.445Z,1362649675.445 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.605500 arcdeg
2013-03-07T09:47:55.447Z,1362649675.447 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.019100 arcdeg
2013-03-07T09:47:55.449Z,1362649675.449 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.583900 arcdeg
2013-03-07T09:47:55.452Z,1362649675.452 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.034900 arcdeg
2013-03-07T09:47:55.454Z,1362649675.454 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586400 arcdeg
2013-03-07T09:47:55.456Z,1362649675.456 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.977000 arcdeg
2013-03-07T09:47:55.458Z,1362649675.458 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.565300 arcdeg
2013-03-07T09:47:55.461Z,1362649675.461 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.992800 arcdeg
2013-03-07T09:47:55.463Z,1362649675.463 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.603500 arcdeg
2013-03-07T09:47:55.465Z,1362649675.465 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.075700 arcdeg
2013-03-07T09:47:55.468Z,1362649675.468 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.624800 arcdeg
2013-03-07T09:47:55.470Z,1362649675.470 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.059000 arcdeg
2013-03-07T09:47:55.472Z,1362649675.472 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2013-03-07T09:47:55.474Z,1362649675.474 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2013-03-07T09:47:55.477Z,1362649675.477 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 60.000000 min
2013-03-07T09:47:55.479Z,1362649675.479 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2013-03-07T09:47:55.481Z,1362649675.481 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2013-03-07T09:47:55.524Z,1362649675.523 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2013-03-07T09:47:55.526Z,1362649675.526 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 8.000000 h
2013-03-07T09:47:55.528Z,1362649675.528 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2013-03-07T09:47:55.542Z,1362649675.542 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 8.000000 h
2013-03-07T09:47:55.544Z,1362649675.544 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2013-03-07T09:47:55.546Z,1362649675.546 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2013-03-07T09:47:55.549Z,1362649675.549 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2013-03-07T09:47:55.553Z,1362649675.553 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2013-03-07T09:47:55.555Z,1362649675.555 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2013-03-07T09:47:55.558Z,1362649675.558 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2013-03-07T09:47:55.560Z,1362649675.560 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T09:47:55.565Z,1362649675.565 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T09:47:55.571Z,1362649675.571 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-03-07T09:47:55.579Z,1362649675.579 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T09:47:55.640Z,1362649675.639 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T09:47:55.642Z,1362649675.642 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T09:47:55.644Z,1362649675.644 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:55.646Z,1362649675.646 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T09:47:55.648Z,1362649675.648 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:55.649Z,1362649675.649 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:55.660Z,1362649675.659 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2013-03-07T09:47:55.673Z,1362649675.673 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:55.676Z,1362649675.676 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:55.677Z,1362649675.677 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T09:47:55.763Z,1362649675.763 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T09:47:55.765Z,1362649675.765 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T09:47:55.767Z,1362649675.767 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:55.770Z,1362649675.770 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T09:47:55.777Z,1362649675.777 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:55.778Z,1362649675.778 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:55.814Z,1362649675.814 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:55.816Z,1362649675.816 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:55.817Z,1362649675.817 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 1 bool
2013-03-07T09:47:55.818Z,1362649675.818 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2013-03-07T09:47:55.836Z,1362649675.836 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2013-03-07T09:47:55.839Z,1362649675.839 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2013-03-07T09:47:55.841Z,1362649675.841 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2013-03-07T09:47:55.843Z,1362649675.843 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2013-03-07T09:47:55.845Z,1362649675.845 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:55.852Z,1362649675.852 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2013-03-07T09:47:55.866Z,1362649675.866 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.Timeout = 5.000000 min
2013-03-07T09:47:55.868Z,1362649675.868 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:55.870Z,1362649675.870 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:55.872Z,1362649675.872 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceNavUpdate.xml
2013-03-07T09:47:55.889Z,1362649675.889 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceDepthRate = nan m/s
2013-03-07T09:47:55.892Z,1362649675.892 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan arcdeg
2013-03-07T09:47:55.894Z,1362649675.894 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:55.896Z,1362649675.896 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:55.897Z,1362649675.897 [EcoHAB_box:SurfaceGPS:SurfaceNavUpdate:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:55.905Z,1362649675.905 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfacePitch = nan n/a
2013-03-07T09:47:55.906Z,1362649675.906 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceGPS:SurfaceNavUpdate.SurfaceSpeed = 0.500000 n/a
2013-03-07T09:47:55.910Z,1362649675.909 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2013-03-07T09:47:55.924Z,1362649675.924 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 3.000000 h
2013-03-07T09:47:55.926Z,1362649675.926 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:55.928Z,1362649675.928 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:55.930Z,1362649675.930 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-03-07T09:47:55.960Z,1362649675.960 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2013-03-07T09:47:55.963Z,1362649675.963 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = nan arcdeg
2013-03-07T09:47:55.965Z,1362649675.966 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-03-07T09:47:55.968Z,1362649675.968 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2013-03-07T09:47:55.970Z,1362649675.970 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-03-07T09:47:55.971Z,1362649675.971 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:55.981Z,1362649675.981 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2013-03-07T09:47:55.983Z,1362649675.983 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2013-03-07T09:47:55.984Z,1362649675.984 [EcoHAB_box:I.Pitch](DEBUG): Construct.
2013-03-07T09:47:55.988Z,1362649675.988 [EcoHAB_box:J.Buoyancy](DEBUG): Construct Buoyancy.
2013-03-07T09:47:55.990Z,1362649675.990 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2013-03-07T09:47:56.037Z,1362649676.037 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2013-03-07T09:47:56.040Z,1362649676.040 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2013-03-07T09:47:56.042Z,1362649676.042 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2013-03-07T09:47:56.044Z,1362649676.044 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2013-03-07T09:47:56.047Z,1362649676.047 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2013-03-07T09:47:56.049Z,1362649676.049 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2013-03-07T09:47:56.051Z,1362649676.051 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2013-03-07T09:47:56.053Z,1362649676.053 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2013-03-07T09:47:56.056Z,1362649676.056 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2013-03-07T09:47:56.058Z,1362649676.058 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2013-03-07T09:47:56.061Z,1362649676.061 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2013-03-07T09:47:56.064Z,1362649676.063 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2013-03-07T09:47:56.071Z,1362649676.071 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2013-03-07T09:47:56.078Z,1362649676.078 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T09:47:56.113Z,1362649676.113 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.118Z,1362649676.118 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.156Z,1362649676.156 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.165Z,1362649676.165 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.183Z,1362649676.183 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.193Z,1362649676.193 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.201Z,1362649676.201 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2013-03-07T09:47:56.207Z,1362649676.207 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-03-07T09:47:56.360Z,1362649676.360 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2013-03-07T09:47:56.362Z,1362649676.362 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-03-07T09:47:56.369Z,1362649676.369 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-03-07T09:47:56.376Z,1362649676.376 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 1 bool
2013-03-07T09:47:56.378Z,1362649676.378 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T09:47:56.384Z,1362649676.384 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2013-03-07T09:47:56.386Z,1362649676.386 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2013-03-07T09:47:56.393Z,1362649676.392 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectRSSIActive = 0 bool
2013-03-07T09:47:56.399Z,1362649676.399 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T09:47:56.401Z,1362649676.401 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2013-03-07T09:47:56.405Z,1362649676.405 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-03-07T09:47:56.408Z,1362649676.408 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T09:47:56.410Z,1362649676.411 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 1.000000 n/a
2013-03-07T09:47:56.413Z,1362649676.413 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 1.000000 n/a
2013-03-07T09:47:56.416Z,1362649676.416 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-03-07T09:47:56.419Z,1362649676.419 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-03-07T09:47:56.421Z,1362649676.421 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2013-03-07T09:47:56.424Z,1362649676.424 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 0.000000 n/a
2013-03-07T09:47:56.426Z,1362649676.426 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2013-03-07T09:47:56.429Z,1362649676.429 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2013-03-07T09:47:56.431Z,1362649676.431 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2013-03-07T09:47:56.434Z,1362649676.434 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2013-03-07T09:47:56.436Z,1362649676.436 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2013-03-07T09:47:56.439Z,1362649676.439 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2013-03-07T09:47:56.441Z,1362649676.441 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2013-03-07T09:47:56.461Z,1362649676.461 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2013-03-07T09:47:56.467Z,1362649676.467 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSI = 0.000000 dB
2013-03-07T09:47:56.470Z,1362649676.470 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSIDepth = 0.000000 m
2013-03-07T09:47:56.477Z,1362649676.477 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILatitude = nan arcdeg
2013-03-07T09:47:56.483Z,1362649676.483 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakRSSILongitude = nan arcdeg
2013-03-07T09:47:56.537Z,1362649676.537 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T09:47:56.567Z,1362649676.567 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T09:47:56.587Z,1362649676.587 [EcoHAB_box:ScienceOps:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-03-07T09:47:56.594Z,1362649676.594 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 1 bool
2013-03-07T09:47:56.607Z,1362649676.607 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 1 bool
2013-03-07T09:47:56.609Z,1362649676.609 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 30.000000 arcdeg
2013-03-07T09:47:56.610Z,1362649676.610 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = 10.000000 arcdeg
2013-03-07T09:47:56.612Z,1362649676.612 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleADCP = 1 bool
2013-03-07T09:47:56.613Z,1362649676.613 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 1 bool
2013-03-07T09:47:56.614Z,1362649676.614 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 3.000000 m
2013-03-07T09:47:56.616Z,1362649676.616 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-03-07T09:47:56.617Z,1362649676.617 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-03-07T09:47:56.618Z,1362649676.618 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleRSSI = 0 bool
2013-03-07T09:47:56.619Z,1362649676.619 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Construct.
2013-03-07T09:47:56.622Z,1362649676.622 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-03-07T09:47:56.628Z,1362649676.628 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-03-07T09:47:56.634Z,1362649676.634 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Construct YoYo.
2013-03-07T09:47:56.677Z,1362649676.677 [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>


2013-03-07T09:47:56.678Z,1362649676.678 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2013-03-07T09:47:56.678Z,1362649676.678 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLat 36.862499 degree
2013-03-07T09:47:56.680Z,1362649676.680 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPInshoreLon -121.906799 degree
2013-03-07T09:47:56.680Z,1362649676.680 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLat 36.839001 degree
2013-03-07T09:47:56.681Z,1362649676.681 [CommandLine](IMPORTANT): got command set EcoHAB_box.WpESPOffshoreLon -121.925003 degree
2013-03-07T09:48:06.999Z,1362649686.999 [CommandLine](IMPORTANT): got command run
2013-03-07T09:48:06.999Z,1362649686.999 [CommandLine](IMPORTANT): Running 
2013-03-07T09:48:10.779Z,1362649690.779 [SBIT](IMPORTANT): SBIT PASSED
2013-03-07T09:48:11.145Z,1362649691.145 [MissionManager](IMPORTANT): Started mission Startup
2013-03-07T09:48:11.145Z,1362649691.145 [Startup] Running Loop=1
2013-03-07T09:48:11.145Z,1362649691.145 [Startup](INFO): Aggregate::initialize Startup
2013-03-07T09:48:11.145Z,1362649691.145 [Startup:A.GoToSurface] Running Loop=1
2013-03-07T09:48:11.146Z,1362649691.145 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T09:48:11.152Z,1362649691.152 [Startup:StartupSatComms] Running Loop=1
2013-03-07T09:48:11.152Z,1362649691.152 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-07T09:48:11.152Z,1362649691.152 [Startup:StartupSatComms:A] Running Loop=1
2013-03-07T09:48:11.542Z,1362649691.542 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T09:48:14.711Z,1362649694.711 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.842499 degree
2013-03-07T09:48:14.713Z,1362649694.713 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2013-03-07T09:48:14.713Z,1362649694.713 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.866798 degree
2013-03-07T09:48:14.715Z,1362649694.715 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2013-03-07T09:48:14.843Z,1362649694.843 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,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,
2013-03-07T09:48:15.127Z,1362649695.127 [Startup:StartupSatComms:A] Stopped
2013-03-07T09:48:15.127Z,1362649695.127 [Startup:StartupSatComms:B] Running Loop=1
2013-03-07T09:48:15.516Z,1362649695.516 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T09:48:17.548Z,1362649697.548 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:21.179Z,1362649701.179 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T09:48:21.635Z,1362649701.635 [Startup:StartupSatComms:B] Stopped
2013-03-07T09:48:21.636Z,1362649701.635 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-03-07T09:48:21.636Z,1362649701.636 [Startup:StartupSatComms] Stopped
2013-03-07T09:48:21.636Z,1362649701.636 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-07T09:48:21.637Z,1362649701.636 [Startup](INFO): Completed Startup
2013-03-07T09:48:21.637Z,1362649701.637 [Startup] Stopped
2013-03-07T09:48:21.637Z,1362649701.637 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-07T09:48:21.637Z,1362649701.637 [Startup:A.GoToSurface] Stopped
2013-03-07T09:48:21.637Z,1362649701.637 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T09:48:21.912Z,1362649701.912 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:21.939Z,1362649701.939 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2013-03-07T09:48:21.939Z,1362649701.939 [EcoHAB_box] Running Loop=1
2013-03-07T09:48:21.939Z,1362649701.939 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2013-03-07T09:48:21.939Z,1362649701.939 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T09:48:21.939Z,1362649701.939 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T09:48:21.940Z,1362649701.940 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T09:48:21.940Z,1362649701.940 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T09:48:21.941Z,1362649701.941 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T09:48:21.941Z,1362649701.941 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-03-07T09:48:21.941Z,1362649701.941 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T09:48:21.941Z,1362649701.941 [EcoHAB_box:I.Pitch](DEBUG): Initialize.
2013-03-07T09:48:21.941Z,1362649701.941 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T09:48:21.942Z,1362649701.941 [EcoHAB_box:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-03-07T09:48:21.942Z,1362649701.942 [EcoHAB_box:SurfaceComms] Running Loop=1
2013-03-07T09:48:21.942Z,1362649701.942 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2013-03-07T09:48:21.942Z,1362649701.942 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2013-03-07T09:48:21.942Z,1362649701.942 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T09:48:21.947Z,1362649701.947 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T09:48:21.981Z,1362649701.981 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T09:48:22.019Z,1362649702.019 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2013-03-07T09:48:22.019Z,1362649702.019 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2013-03-07T09:48:22.019Z,1362649702.019 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2013-03-07T09:48:22.019Z,1362649702.019 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2013-03-07T09:48:22.029Z,1362649702.029 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2013-03-07T09:48:22.044Z,1362649702.044 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2013-03-07T09:48:22.259Z,1362649702.259 [DVL_micro](INFO): ADCP unrequested
2013-03-07T09:48:22.260Z,1362649702.260 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T09:48:22.260Z,1362649702.260 [DVL_micro](INFO): resume:Powering up
2013-03-07T09:48:22.260Z,1362649702.260 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T09:48:22.336Z,1362649702.336 [EcoHAB_box:SurfaceComms:B] Stopped
2013-03-07T09:48:22.336Z,1362649702.336 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2013-03-07T09:48:22.336Z,1362649702.336 [EcoHAB_box:SurfaceComms:B:A] Stopped
2013-03-07T09:48:22.336Z,1362649702.336 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2013-03-07T09:48:22.336Z,1362649702.336 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2013-03-07T09:48:22.337Z,1362649702.337 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2013-03-07T09:48:22.734Z,1362649702.734 [EcoHAB_box:J.Buoyancy] Preempted
2013-03-07T09:48:22.734Z,1362649702.734 [EcoHAB_box:I.Pitch] Preempted
2013-03-07T09:48:22.735Z,1362649702.735 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T09:48:22.737Z,1362649702.737 [EcoHAB_box:SurfaceComms:C:A] Stopped
2013-03-07T09:48:22.737Z,1362649702.737 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2013-03-07T09:48:23.148Z,1362649703.148 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T09:48:23.580Z,1362649703.580 [EcoHAB_box:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2013-03-07T09:48:24.267Z,1362649704.267 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T09:48:24.267Z,1362649704.267 [DVL_micro](INFO): Querying output modes
2013-03-07T09:48:24.268Z,1362649704.268 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T09:48:24.279Z,1362649704.279 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T09:48:24.279Z,1362649704.279 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T09:48:24.279Z,1362649704.279 [DVL_micro](INFO): ADCP output enabled
2013-03-07T09:48:24.279Z,1362649704.279 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T09:48:24.291Z,1362649704.291 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T09:48:24.293Z,1362649704.293 [DVL_micro](INFO): ADCP unrequested
2013-03-07T09:48:24.293Z,1362649704.293 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T09:48:25.187Z,1362649705.187 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-03-07T09:48:25.333Z,1362649705.333 [EcoHAB_box:SurfaceComms:C:B] Stopped
2013-03-07T09:48:25.333Z,1362649705.333 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2013-03-07T09:48:25.601Z,1362649705.601 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:25.682Z,1362649705.682 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T09:48:25.684Z,1362649705.684 [EcoHAB_box:SurfaceComms:C:C] Stopped
2013-03-07T09:48:25.685Z,1362649705.685 [EcoHAB_box:SurfaceComms:C](INFO): Completed EcoHAB_box:SurfaceComms:C
2013-03-07T09:48:25.685Z,1362649705.685 [EcoHAB_box:SurfaceComms:C] Stopped
2013-03-07T09:48:25.685Z,1362649705.685 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2013-03-07T09:48:25.686Z,1362649705.686 [EcoHAB_box:SurfaceComms](INFO): Completed EcoHAB_box:SurfaceComms
2013-03-07T09:48:25.686Z,1362649705.686 [EcoHAB_box:SurfaceComms] Stopped
2013-03-07T09:48:25.686Z,1362649705.686 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2013-03-07T09:48:25.686Z,1362649705.686 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2013-03-07T09:48:25.686Z,1362649705.686 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps](INFO): Aggregate::initialize EcoHAB_box:ScienceOps
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:B] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:E] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:F] Running Loop=1
2013-03-07T09:48:25.687Z,1362649705.687 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T09:48:25.688Z,1362649705.688 [EcoHAB_box:ScienceOps:Science:H] Running Loop=1
2013-03-07T09:48:25.688Z,1362649705.688 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T09:48:25.688Z,1362649705.688 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T09:48:25.688Z,1362649705.688 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Initialize.
2013-03-07T09:48:25.688Z,1362649705.688 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T09:48:25.688Z,1362649705.688 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-03-07T09:48:25.689Z,1362649705.689 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T09:48:25.689Z,1362649705.689 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-03-07T09:48:25.689Z,1362649705.689 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T09:48:25.689Z,1362649705.690 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Initialize YoYoComponent.
2013-03-07T09:48:25.690Z,1362649705.690 [EcoHAB_box:ScienceOps:F] Running Loop=1
2013-03-07T09:48:25.690Z,1362649705.690 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:F
2013-03-07T09:48:26.003Z,1362649706.003 [EcoHAB_box:ScienceOps:E.YoYo] Running Loop=1
2013-03-07T09:48:26.009Z,1362649706.009 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Running Loop=1
2013-03-07T09:48:26.014Z,1362649706.014 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Running Loop=1
2013-03-07T09:48:26.020Z,1362649706.020 [EcoHAB_box:ScienceOps:B.SetSpeed] Running Loop=1
2013-03-07T09:48:26.025Z,1362649706.025 [EcoHAB_box:ScienceOps:Science] Running Loop=1
2013-03-07T09:48:26.026Z,1362649706.026 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Running Loop=1
2013-03-07T09:48:26.027Z,1362649706.027 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::initialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T09:48:26.027Z,1362649706.027 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-03-07T09:48:26.027Z,1362649706.027 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-03-07T09:48:26.034Z,1362649706.034 [EcoHAB_box:ScienceOps:Science:I] Running Loop=1
2013-03-07T09:48:26.035Z,1362649706.035 [EcoHAB_box:ScienceOps:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-03-07T09:48:26.036Z,1362649706.036 [EcoHAB_box:ScienceOps:Science:G] Running Loop=1
2013-03-07T09:48:26.037Z,1362649706.037 [EcoHAB_box:ScienceOps:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-03-07T09:48:26.039Z,1362649706.039 [EcoHAB_box:ScienceOps:Science:D] Running Loop=1
2013-03-07T09:48:26.040Z,1362649706.040 [EcoHAB_box:ScienceOps:Science:D](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2013-03-07T09:48:26.041Z,1362649706.040 [EcoHAB_box:ScienceOps:Science:D](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2013-03-07T09:48:26.042Z,1362649706.042 [EcoHAB_box:ScienceOps:Science:A] Running Loop=1
2013-03-07T09:48:26.043Z,1362649706.043 [EcoHAB_box:ScienceOps:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2013-03-07T09:48:26.045Z,1362649706.045 [EcoHAB_box:CircleInshoreESPBuoy] Running Loop=1
2013-03-07T09:48:26.045Z,1362649706.045 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T09:48:26.045Z,1362649706.045 [EcoHAB_box:CircleInshoreESPBuoy:A] Running Loop=1
2013-03-07T09:48:26.045Z,1362649706.045 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T09:48:26.045Z,1362649706.046 [EcoHAB_box:J.Buoyancy] Running Loop=1
2013-03-07T09:48:26.046Z,1362649706.046 [EcoHAB_box:I.Pitch] Running Loop=1
2013-03-07T09:48:26.075Z,1362649706.075 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-07T09:48:26.268Z,1362649706.268 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-03-07T09:48:26.268Z,1362649706.268 [WetLabsBB2FL](INFO): Powering up
2013-03-07T09:48:26.299Z,1362649706.299 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T09:48:26.299Z,1362649706.299 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T09:48:26.416Z,1362649706.416 [EcoHAB_box:UpdateCircleTimeout] Running Loop=1
2013-03-07T09:48:26.416Z,1362649706.416 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::initialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T09:48:26.416Z,1362649706.416 [EcoHAB_box:UpdateCircleTimeout:A] Running Loop=1
2013-03-07T09:48:26.419Z,1362649706.419 [EcoHAB_box:UpdateCircleTimeout:A] Stopped
2013-03-07T09:48:26.419Z,1362649706.419 [EcoHAB_box:UpdateCircleTimeout:B] Running Loop=1
2013-03-07T09:48:26.849Z,1362649706.849 [EcoHAB_box:UpdateCircleTimeout:B](IMPORTANT): CircleModulus calculated as: 1.807279 h 
2013-03-07T09:48:26.851Z,1362649706.851 [EcoHAB_box:UpdateCircleTimeout:B] Stopped
2013-03-07T09:48:26.851Z,1362649706.851 [EcoHAB_box:UpdateCircleTimeout:C] Running Loop=1
2013-03-07T09:48:26.983Z,1362649706.983 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T09:48:26.983Z,1362649706.983 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T09:48:26.983Z,1362649706.983 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T09:48:27.215Z,1362649707.215 [EcoHAB_box:UpdateCircleTimeout:C] Stopped
2013-03-07T09:48:27.215Z,1362649707.216 [EcoHAB_box:UpdateCircleTimeout:D] Running Loop=1
2013-03-07T09:48:27.247Z,1362649707.247 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T09:48:27.247Z,1362649707.247 [DVL_micro](INFO): Querying output modes
2013-03-07T09:48:27.247Z,1362649707.247 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T09:48:27.416Z,1362649707.416 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-07T09:48:27.417Z,1362649707.417 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T09:48:27.417Z,1362649707.417 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T09:48:27.505Z,1362649707.505 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T09:48:27.571Z,1362649707.571 [DVL_micro](INFO): ADCP requested
2013-03-07T09:48:27.571Z,1362649707.571 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T09:48:27.632Z,1362649707.632 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2013-03-07T09:48:27.637Z,1362649707.637 [EcoHAB_box:UpdateCircleTimeout:D](IMPORTANT): CircleTimeout updated to: 6.192721 h 
2013-03-07T09:48:27.639Z,1362649707.639 [EcoHAB_box:UpdateCircleTimeout:D] Stopped
2013-03-07T09:48:27.639Z,1362649707.639 [EcoHAB_box:UpdateCircleTimeout](INFO): Completed EcoHAB_box:UpdateCircleTimeout
2013-03-07T09:48:27.639Z,1362649707.639 [EcoHAB_box:UpdateCircleTimeout] Stopped
2013-03-07T09:48:27.639Z,1362649707.639 [EcoHAB_box:UpdateCircleTimeout](INFO): Aggregate::uninitialize EcoHAB_box:UpdateCircleTimeout
2013-03-07T09:48:27.701Z,1362649707.701 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.257020 psu
2013-03-07T09:48:27.894Z,1362649707.894 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.273340 psu
2013-03-07T09:48:28.026Z,1362649708.026 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Completed EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T09:48:28.026Z,1362649708.026 [EcoHAB_box:CircleInshoreESPBuoy:A] Stopped
2013-03-07T09:48:28.026Z,1362649708.026 [EcoHAB_box:CircleInshoreESPBuoy:A](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:A
2013-03-07T09:48:28.026Z,1362649708.026 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Running Loop=1
2013-03-07T09:48:28.026Z,1362649708.026 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T09:48:28.027Z,1362649708.027 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Running Loop=1
2013-03-07T09:48:28.093Z,1362649708.093 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.217040 psu
2013-03-07T09:48:28.293Z,1362649708.293 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.297530 psu
2013-03-07T09:48:28.430Z,1362649708.430 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A](IMPORTANT): CircleInshoreESPBuoy should complete in 371.563267 min , due to timeout in CircleWaypointRepeatedly aggregate.
2013-03-07T09:48:28.432Z,1362649708.432 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:A] Stopped
2013-03-07T09:48:28.432Z,1362649708.432 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Running Loop=1
2013-03-07T09:48:28.432Z,1362649708.432 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::initialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T09:48:28.488Z,1362649708.488 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.257660 psu
2013-03-07T09:48:28.692Z,1362649708.692 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263800 psu
2013-03-07T09:48:28.811Z,1362649708.811 [EcoHAB_box:SurfaceCommsShort] Running Loop=1
2013-03-07T09:48:28.812Z,1362649708.812 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort
2013-03-07T09:48:28.812Z,1362649708.812 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Running Loop=1
2013-03-07T09:48:28.812Z,1362649708.812 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T09:48:28.818Z,1362649708.818 [EcoHAB_box:SurfaceCommsShort:CheckIn] Running Loop=1
2013-03-07T09:48:28.818Z,1362649708.818 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::initialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T09:48:28.819Z,1362649708.819 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Running Loop=1
2013-03-07T09:48:28.878Z,1362649708.878 [CTD_NeilBrown](ERROR): Salinity reading out of range: -4299782.000000 psu
2013-03-07T09:48:29.094Z,1362649709.094 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270010 psu
2013-03-07T09:48:29.220Z,1362649709.220 [EcoHAB_box:SurfaceCommsShort:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T09:48:29.221Z,1362649709.221 [EcoHAB_box:SurfaceCommsShort:CheckIn:A] Stopped
2013-03-07T09:48:29.222Z,1362649709.222 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Running Loop=1
2013-03-07T09:48:29.293Z,1362649709.293 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.255890 psu
2013-03-07T09:48:29.488Z,1362649709.488 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.273180 psu
2013-03-07T09:48:29.579Z,1362649709.579 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T09:48:29.579Z,1362649709.579 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T09:48:29.688Z,1362649709.688 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.268730 psu
2013-03-07T09:48:29.775Z,1362649709.775 [DVL_micro](DEBUG): cmdResponse: 00
2013-03-07T09:48:29.775Z,1362649709.775 [DVL_micro](INFO): Enabling ADCP output
2013-03-07T09:48:29.775Z,1362649709.775 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-03-07T09:48:29.814Z,1362649709.814 [EcoHAB_box:SurfaceCommsShort:CheckIn:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T09:48:29.887Z,1362649709.887 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.286110 psu
2013-03-07T09:48:29.963Z,1362649709.963 [DVL_micro](DEBUG): cmdResponse: 03
2013-03-07T09:48:29.963Z,1362649709.963 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T09:48:29.963Z,1362649709.963 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T09:48:30.091Z,1362649710.091 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.244580 psu
2013-03-07T09:48:30.139Z,1362649710.139 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T09:48:30.139Z,1362649710.139 [DVL_micro](INFO): Querying output modes
2013-03-07T09:48:30.140Z,1362649710.140 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T09:48:30.151Z,1362649710.151 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T09:48:30.151Z,1362649710.151 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T09:48:30.151Z,1362649710.151 [DVL_micro](INFO): ADCP output enabled
2013-03-07T09:48:30.151Z,1362649710.151 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T09:48:30.175Z,1362649710.175 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T09:48:30.284Z,1362649710.284 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.243970 psu
2013-03-07T09:48:30.487Z,1362649710.487 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270030 psu
2013-03-07T09:48:30.687Z,1362649710.687 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.268300 psu
2013-03-07T09:48:30.891Z,1362649710.891 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263930 psu
2013-03-07T09:48:31.087Z,1362649711.087 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274670 psu
2013-03-07T09:48:31.284Z,1362649711.284 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270230 psu
2013-03-07T09:48:31.487Z,1362649711.487 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.250570 psu
2013-03-07T09:48:31.511Z,1362649711.511 [CommandLine](IMPORTANT): got command show stack
2013-03-07T09:48:31.511Z,1362649711.511 [CommandLine](INFO): Behavior Stack:

2013-03-07T09:48:31.512Z,1362649711.513 [EcoHAB_box](INFO): Priority 0: EcoHAB_box:A.AltitudeEnvelope
2013-03-07T09:48:31.513Z,1362649711.513 [EcoHAB_box](INFO): Priority 1: EcoHAB_box:B.DepthEnvelope
2013-03-07T09:48:31.513Z,1362649711.513 [EcoHAB_box](INFO): Priority 2: EcoHAB_box:C.OffshoreEnvelope
2013-03-07T09:48:31.514Z,1362649711.514 [EcoHAB_box:SurfaceCommsShort](INFO): Priority 3: EcoHAB_box:SurfaceCommsShort:A.GoToSurface
2013-03-07T09:48:31.519Z,1362649711.519 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Priority 4: EcoHAB_box:SurfaceCommsShort:CheckIn:B
2013-03-07T09:48:31.519Z,1362649711.519 [EcoHAB_box](INFO): Priority 5: EcoHAB_box:I.Pitch
2013-03-07T09:48:31.519Z,1362649711.519 [EcoHAB_box](INFO): Priority 6: EcoHAB_box:J.Buoyancy
2013-03-07T09:48:31.521Z,1362649711.521 [EcoHAB_box:ScienceOps:Science](INFO): Priority 7: EcoHAB_box:ScienceOps:Science:A
2013-03-07T09:48:31.522Z,1362649711.522 [EcoHAB_box:ScienceOps:Science](INFO): Priority 8: EcoHAB_box:ScienceOps:Science:D
2013-03-07T09:48:31.522Z,1362649711.522 [EcoHAB_box:ScienceOps:Science](INFO): Priority 9: EcoHAB_box:ScienceOps:Science:G
2013-03-07T09:48:31.527Z,1362649711.527 [EcoHAB_box:ScienceOps:Science](INFO): Priority 10: EcoHAB_box:ScienceOps:Science:I
2013-03-07T09:48:31.528Z,1362649711.528 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Priority 11: EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth
2013-03-07T09:48:31.528Z,1362649711.528 [EcoHAB_box:ScienceOps](INFO): Priority 12: EcoHAB_box:ScienceOps:B.SetSpeed
2013-03-07T09:48:31.529Z,1362649711.529 [EcoHAB_box:ScienceOps](INFO): Priority 13: EcoHAB_box:ScienceOps:C.DepthEnvelope
2013-03-07T09:48:31.529Z,1362649711.529 [EcoHAB_box:ScienceOps](INFO): Priority 14: EcoHAB_box:ScienceOps:D.AltitudeEnvelope
2013-03-07T09:48:31.529Z,1362649711.529 [EcoHAB_box:ScienceOps](INFO): Priority 15: EcoHAB_box:ScienceOps:E.YoYo
2013-03-07T09:48:31.691Z,1362649711.691 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.266180 psu
2013-03-07T09:48:31.884Z,1362649711.884 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260290 psu
2013-03-07T09:48:32.084Z,1362649712.084 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.258590 psu
2013-03-07T09:48:32.148Z,1362649712.148 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:32.287Z,1362649712.287 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276630 psu
2013-03-07T09:48:32.483Z,1362649712.483 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260050 psu
2013-03-07T09:48:32.675Z,1362649712.675 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:32.687Z,1362649712.687 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.284040 psu
2013-03-07T09:48:32.727Z,1362649712.727 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:32.730Z,1362649712.730 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:32.887Z,1362649712.888 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263790 psu
2013-03-07T09:48:33.090Z,1362649713.090 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260730 psu
2013-03-07T09:48:33.284Z,1362649713.284 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.303750 psu
2013-03-07T09:48:33.491Z,1362649713.491 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.148750 psu
2013-03-07T09:48:33.687Z,1362649713.687 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.299950 psu
2013-03-07T09:48:33.888Z,1362649713.888 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263350 psu
2013-03-07T09:48:34.083Z,1362649714.083 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259000 psu
2013-03-07T09:48:34.289Z,1362649714.289 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.312190 psu
2013-03-07T09:48:34.486Z,1362649714.486 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.285590 psu
2013-03-07T09:48:34.689Z,1362649714.689 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.265660 psu
2013-03-07T09:48:34.885Z,1362649714.885 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.280580 psu
2013-03-07T09:48:35.087Z,1362649715.087 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.269000 psu
2013-03-07T09:48:35.199Z,1362649715.199 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:35.221Z,1362649715.220 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:35.224Z,1362649715.224 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:35.287Z,1362649715.287 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262460 psu
2013-03-07T09:48:35.488Z,1362649715.489 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.271450 psu
2013-03-07T09:48:35.684Z,1362649715.684 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.267920 psu
2013-03-07T09:48:35.887Z,1362649715.888 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276290 psu
2013-03-07T09:48:36.091Z,1362649716.091 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.286470 psu
2013-03-07T09:48:36.295Z,1362649716.295 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.271430 psu
2013-03-07T09:48:36.483Z,1362649716.483 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.278460 psu
2013-03-07T09:48:36.537Z,1362649716.537 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:36.695Z,1362649716.695 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.257830 psu
2013-03-07T09:48:36.880Z,1362649716.880 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263230 psu
2013-03-07T09:48:37.080Z,1362649717.080 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263200 psu
2013-03-07T09:48:37.283Z,1362649717.283 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.251260 psu
2013-03-07T09:48:37.487Z,1362649717.487 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.249410 psu
2013-03-07T09:48:37.687Z,1362649717.687 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259980 psu
2013-03-07T09:48:37.735Z,1362649717.735 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:37.776Z,1362649717.776 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:37.783Z,1362649717.783 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:37.888Z,1362649717.888 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.278300 psu
2013-03-07T09:48:38.087Z,1362649718.087 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.275050 psu
2013-03-07T09:48:38.287Z,1362649718.287 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.266870 psu
2013-03-07T09:48:38.484Z,1362649718.484 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.246600 psu
2013-03-07T09:48:38.688Z,1362649718.688 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.267110 psu
2013-03-07T09:48:38.816Z,1362649718.816 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:38.880Z,1362649718.880 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276910 psu
2013-03-07T09:48:39.092Z,1362649719.092 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.269690 psu
2013-03-07T09:48:39.288Z,1362649719.288 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.267880 psu
2013-03-07T09:48:39.488Z,1362649719.488 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.255950 psu
2013-03-07T09:48:39.688Z,1362649719.688 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.287100 psu
2013-03-07T09:48:39.889Z,1362649719.889 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259490 psu
2013-03-07T09:48:40.084Z,1362649720.084 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.251490 psu
2013-03-07T09:48:40.263Z,1362649720.263 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:40.291Z,1362649720.291 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263440 psu
2013-03-07T09:48:40.302Z,1362649720.302 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:40.306Z,1362649720.306 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:40.480Z,1362649720.480 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276030 psu
2013-03-07T09:48:40.688Z,1362649720.688 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.247390 psu
2013-03-07T09:48:40.881Z,1362649720.881 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.257900 psu
2013-03-07T09:48:41.078Z,1362649721.078 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.247010 psu
2013-03-07T09:48:41.287Z,1362649721.287 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263990 psu
2013-03-07T09:48:41.487Z,1362649721.487 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.278130 psu
2013-03-07T09:48:41.679Z,1362649721.679 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.278120 psu
2013-03-07T09:48:41.887Z,1362649721.887 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.249940 psu
2013-03-07T09:48:42.083Z,1362649722.083 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.281520 psu
2013-03-07T09:48:42.288Z,1362649722.288 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.297290 psu
2013-03-07T09:48:42.487Z,1362649722.487 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.272970 psu
2013-03-07T09:48:42.679Z,1362649722.680 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274320 psu
2013-03-07T09:48:42.787Z,1362649722.787 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:42.815Z,1362649722.815 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:42.819Z,1362649722.819 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:42.879Z,1362649722.879 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.251460 psu
2013-03-07T09:48:43.079Z,1362649723.079 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.286800 psu
2013-03-07T09:48:43.279Z,1362649723.279 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.348130 psu
2013-03-07T09:48:43.288Z,1362649723.288 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:43.488Z,1362649723.488 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.230660 psu
2013-03-07T09:48:43.679Z,1362649723.679 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276680 psu
2013-03-07T09:48:43.876Z,1362649723.875 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259140 psu
2013-03-07T09:48:44.075Z,1362649724.075 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.268020 psu
2013-03-07T09:48:44.276Z,1362649724.276 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.253800 psu
2013-03-07T09:48:44.484Z,1362649724.484 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264840 psu
2013-03-07T09:48:44.619Z,1362649724.619 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T09:48:44.621Z,1362649724.621 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T09:48:44.676Z,1362649724.676 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.256010 psu
2013-03-07T09:48:44.876Z,1362649724.876 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.238190 psu
2013-03-07T09:48:45.088Z,1362649725.088 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.183440 psu
2013-03-07T09:48:45.284Z,1362649725.284 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.245010 psu
2013-03-07T09:48:45.319Z,1362649725.319 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:45.344Z,1362649725.344 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:45.347Z,1362649725.347 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:45.414Z,1362649725.414 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,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,
2013-03-07T09:48:45.491Z,1362649725.491 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.235450 psu
2013-03-07T09:48:45.676Z,1362649725.676 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.205660 psu
2013-03-07T09:48:45.724Z,1362649725.724 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:45.803Z,1362649725.803 [EcoHAB_box:ScienceOps:Science:C] Running Loop=1
2013-03-07T09:48:45.804Z,1362649725.804 [EcoHAB_box:ScienceOps:Science:C](DEBUG): Initialize ReadDataComponent to sense platform_x_velocity_current
2013-03-07T09:48:45.876Z,1362649725.876 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260610 psu
2013-03-07T09:48:46.075Z,1362649726.076 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260350 psu
2013-03-07T09:48:46.277Z,1362649726.277 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.250820 psu
2013-03-07T09:48:46.475Z,1362649726.475 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.253470 psu
2013-03-07T09:48:46.677Z,1362649726.677 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276690 psu
2013-03-07T09:48:46.879Z,1362649726.879 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.252800 psu
2013-03-07T09:48:47.087Z,1362649727.087 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.255110 psu
2013-03-07T09:48:47.275Z,1362649727.276 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.244850 psu
2013-03-07T09:48:47.495Z,1362649727.495 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262500 psu
2013-03-07T09:48:47.679Z,1362649727.680 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264350 psu
2013-03-07T09:48:47.851Z,1362649727.851 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:47.874Z,1362649727.874 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.253560 psu
2013-03-07T09:48:47.898Z,1362649727.898 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T09:48:47.905Z,1362649727.905 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:48.083Z,1362649728.083 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.268500 psu
2013-03-07T09:48:48.287Z,1362649728.287 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.273000 psu
2013-03-07T09:48:48.475Z,1362649728.475 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274190 psu
2013-03-07T09:48:48.688Z,1362649728.688 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.284580 psu
2013-03-07T09:48:48.876Z,1362649728.876 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.265470 psu
2013-03-07T09:48:49.087Z,1362649729.087 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.281200 psu
2013-03-07T09:48:49.283Z,1362649729.283 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264930 psu
2013-03-07T09:48:49.475Z,1362649729.476 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.250250 psu
2013-03-07T09:48:49.675Z,1362649729.675 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.254580 psu
2013-03-07T09:48:49.872Z,1362649729.872 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.285600 psu
2013-03-07T09:48:50.072Z,1362649730.072 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.271540 psu
2013-03-07T09:48:50.276Z,1362649730.276 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260310 psu
2013-03-07T09:48:50.387Z,1362649730.387 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:50.413Z,1362649730.413 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T09:48:50.416Z,1362649730.416 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:50.479Z,1362649730.479 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.272480 psu
2013-03-07T09:48:50.584Z,1362649730.584 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:50.699Z,1362649730.699 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274960 psu
2013-03-07T09:48:50.880Z,1362649730.880 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.280650 psu
2013-03-07T09:48:51.072Z,1362649731.072 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.261880 psu
2013-03-07T09:48:51.272Z,1362649731.272 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.285490 psu
2013-03-07T09:48:51.477Z,1362649731.477 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.289020 psu
2013-03-07T09:48:51.673Z,1362649731.673 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262850 psu
2013-03-07T09:48:51.876Z,1362649731.876 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.268860 psu
2013-03-07T09:48:52.075Z,1362649732.076 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264070 psu
2013-03-07T09:48:52.272Z,1362649732.272 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.271300 psu
2013-03-07T09:48:52.472Z,1362649732.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.254330 psu
2013-03-07T09:48:52.671Z,1362649732.671 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.275470 psu
2013-03-07T09:48:52.879Z,1362649732.879 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259460 psu
2013-03-07T09:48:52.903Z,1362649732.903 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:52.944Z,1362649732.944 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T09:48:52.949Z,1362649732.949 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:53.075Z,1362649733.075 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.267120 psu
2013-03-07T09:48:53.271Z,1362649733.271 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.236350 psu
2013-03-07T09:48:53.313Z,1362649733.313 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:53.475Z,1362649733.475 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263690 psu
2013-03-07T09:48:53.679Z,1362649733.679 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.261970 psu
2013-03-07T09:48:53.842Z,1362649733.842 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T09:48:53.876Z,1362649733.876 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.261360 psu
2013-03-07T09:48:53.894Z,1362649733.894 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,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,
2013-03-07T09:48:54.071Z,1362649734.071 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262880 psu
2013-03-07T09:48:54.276Z,1362649734.276 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.269470 psu
2013-03-07T09:48:54.471Z,1362649734.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.256340 psu
2013-03-07T09:48:54.676Z,1362649734.676 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.283060 psu
2013-03-07T09:48:54.875Z,1362649734.875 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264080 psu
2013-03-07T09:48:55.071Z,1362649735.071 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.272020 psu
2013-03-07T09:48:55.275Z,1362649735.275 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.271570 psu
2013-03-07T09:48:55.447Z,1362649735.447 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:55.470Z,1362649735.470 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:55.472Z,1362649735.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.405880 psu
2013-03-07T09:48:55.478Z,1362649735.478 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:55.676Z,1362649735.676 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.246560 psu
2013-03-07T09:48:55.872Z,1362649735.872 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.254170 psu
2013-03-07T09:48:56.076Z,1362649736.076 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.282890 psu
2013-03-07T09:48:56.268Z,1362649736.268 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.234620 psu
2013-03-07T09:48:56.476Z,1362649736.476 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.282920 psu
2013-03-07T09:48:56.672Z,1362649736.672 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.256250 psu
2013-03-07T09:48:56.872Z,1362649736.872 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.227970 psu
2013-03-07T09:48:57.072Z,1362649737.072 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.245130 psu
2013-03-07T09:48:57.275Z,1362649737.275 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.223650 psu
2013-03-07T09:48:57.320Z,1362649737.320 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:48:57.471Z,1362649737.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264360 psu
2013-03-07T09:48:57.671Z,1362649737.671 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.278540 psu
2013-03-07T09:48:57.879Z,1362649737.879 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274630 psu
2013-03-07T09:48:57.963Z,1362649737.963 [DVL_micro](DEBUG): NQ1
2013-03-07T09:48:58.003Z,1362649738.003 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:48:58.006Z,1362649738.006 [DVL_micro](DEBUG): ADCP
2013-03-07T09:48:58.068Z,1362649738.068 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.284190 psu
2013-03-07T09:48:58.268Z,1362649738.267 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274200 psu
2013-03-07T09:48:58.475Z,1362649738.475 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.387620 psu
2013-03-07T09:48:58.672Z,1362649738.672 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.258800 psu
2013-03-07T09:48:58.875Z,1362649738.875 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.280620 psu
2013-03-07T09:48:59.075Z,1362649739.075 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.269030 psu
2013-03-07T09:48:59.275Z,1362649739.275 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.281510 psu
2013-03-07T09:48:59.471Z,1362649739.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259980 psu
2013-03-07T09:48:59.675Z,1362649739.675 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.261640 psu
2013-03-07T09:48:59.871Z,1362649739.871 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.266320 psu
2013-03-07T09:48:59.906Z,1362649739.906 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:49:00.075Z,1362649740.076 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270040 psu
2013-03-07T09:49:00.271Z,1362649740.271 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.277780 psu
2013-03-07T09:49:00.471Z,1362649740.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.249870 psu
2013-03-07T09:49:00.511Z,1362649740.511 [DVL_micro](DEBUG): NQ1
2013-03-07T09:49:00.532Z,1362649740.532 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:49:00.535Z,1362649740.535 [DVL_micro](DEBUG): ADCP
2013-03-07T09:49:00.671Z,1362649740.671 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.275590 psu
2013-03-07T09:49:00.871Z,1362649740.871 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.267040 psu
2013-03-07T09:49:01.071Z,1362649741.071 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.283680 psu
2013-03-07T09:49:01.272Z,1362649741.272 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.267880 psu
2013-03-07T09:49:01.468Z,1362649741.468 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.273410 psu
2013-03-07T09:49:01.668Z,1362649741.668 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.266490 psu
2013-03-07T09:49:01.871Z,1362649741.871 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262490 psu
2013-03-07T09:49:02.071Z,1362649742.071 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.273760 psu
2013-03-07T09:49:02.276Z,1362649742.276 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.254890 psu
2013-03-07T09:49:02.472Z,1362649742.472 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.275490 psu
2013-03-07T09:49:02.527Z,1362649742.527 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 4.000000 meter
2013-03-07T09:49:02.528Z,1362649742.528 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2013-03-07T09:49:02.664Z,1362649742.664 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,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,
2013-03-07T09:49:02.676Z,1362649742.676 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276390 psu
2013-03-07T09:49:02.872Z,1362649742.872 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.273930 psu
2013-03-07T09:49:03.035Z,1362649743.035 [DVL_micro](DEBUG): NQ1
2013-03-07T09:49:03.078Z,1362649743.078 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.265930 psu
2013-03-07T09:49:03.094Z,1362649743.094 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T09:49:03.109Z,1362649743.109 [DVL_micro](DEBUG): ADCP
2013-03-07T09:49:03.271Z,1362649743.271 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.264930 psu
2013-03-07T09:49:03.471Z,1362649743.471 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.276230 psu
2013-03-07T09:49:03.669Z,1362649743.669 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.256230 psu
2013-03-07T09:49:03.866Z,1362649743.866 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.254820 psu
2013-03-07T09:49:04.075Z,1362649744.075 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.278030 psu
2013-03-07T09:49:04.134Z,1362649744.134 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:49:04.264Z,1362649744.264 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259460 psu
2013-03-07T09:49:04.467Z,1362649744.467 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.269840 psu
2013-03-07T09:49:04.671Z,1362649744.671 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.282920 psu
2013-03-07T09:49:04.871Z,1362649744.871 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.200720 psu
2013-03-07T09:49:05.067Z,1362649745.067 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.283240 psu
2013-03-07T09:49:05.264Z,1362649745.264 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.259880 psu
2013-03-07T09:49:05.472Z,1362649745.472 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263230 psu
2013-03-07T09:49:05.567Z,1362649745.567 [DVL_micro](DEBUG): NQ1
2013-03-07T09:49:05.591Z,1362649745.592 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T09:49:05.598Z,1362649745.598 [DVL_micro](DEBUG): ADCP
2013-03-07T09:49:05.664Z,1362649745.664 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.255230 psu
2013-03-07T09:49:05.864Z,1362649745.864 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.244640 psu
2013-03-07T09:49:06.067Z,1362649746.067 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262100 psu
2013-03-07T09:49:06.267Z,1362649746.267 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270580 psu
2013-03-07T09:49:06.463Z,1362649746.463 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.268680 psu
2013-03-07T09:49:06.672Z,1362649746.672 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.260750 psu
2013-03-07T09:49:06.820Z,1362649746.820 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:49:06.872Z,1362649746.872 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.265690 psu
2013-03-07T09:49:07.072Z,1362649747.072 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.257710 psu
2013-03-07T09:49:07.269Z,1362649747.269 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.242870 psu
2013-03-07T09:49:07.468Z,1362649747.468 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.256350 psu
2013-03-07T09:49:07.674Z,1362649747.674 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274910 psu
2013-03-07T09:49:07.872Z,1362649747.872 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270730 psu
2013-03-07T09:49:08.061Z,1362649748.061 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.304170 psu
2013-03-07T09:49:08.101Z,1362649748.101 [DVL_micro](DEBUG): NQ1
2013-03-07T09:49:08.134Z,1362649748.134 [DVL_micro](INFO): CURRENT DATA REQUESTED
2013-03-07T09:49:08.154Z,1362649748.154 [DVL_micro](DEBUG): ADCP
2013-03-07T09:49:08.265Z,1362649748.265 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.296990 psu
2013-03-07T09:49:08.465Z,1362649748.465 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.275270 psu
2013-03-07T09:49:08.668Z,1362649748.668 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.253860 psu
2013-03-07T09:49:08.871Z,1362649748.871 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.255690 psu
2013-03-07T09:49:09.065Z,1362649749.065 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.255470 psu
2013-03-07T09:49:09.263Z,1362649749.263 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.266530 psu
2013-03-07T09:49:09.307Z,1362649749.307 [CommandLine](IMPORTANT): got command maintain clear
2013-03-07T09:49:09.410Z,1362649749.410 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Aanderaa_O2,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,
2013-03-07T09:49:09.463Z,1362649749.464 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.251540 psu
2013-03-07T09:49:09.672Z,1362649749.671 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.269110 psu
2013-03-07T09:49:09.867Z,1362649749.867 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262900 psu
2013-03-07T09:49:10.060Z,1362649750.060 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274590 psu
2013-03-07T09:49:10.263Z,1362649750.263 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.258310 psu
2013-03-07T09:49:10.460Z,1362649750.460 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.272260 psu
2013-03-07T09:49:10.627Z,1362649750.627 [DVL_micro](DEBUG): NQ1
2013-03-07T09:49:10.661Z,1362649750.661 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:49:10.667Z,1362649750.667 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.256370 psu
2013-03-07T09:49:10.680Z,1362649750.680 [DVL_micro](DEBUG): ADCP
2013-03-07T09:49:10.867Z,1362649750.867 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.261730 psu
2013-03-07T09:49:11.060Z,1362649751.059 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262860 psu
2013-03-07T09:49:11.259Z,1362649751.260 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:49:11.267Z,1362649751.267 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.266280 psu
2013-03-07T09:49:11.460Z,1362649751.460 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.290330 psu
2013-03-07T09:49:11.669Z,1362649751.669 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.272410 psu
2013-03-07T09:49:11.864Z,1362649751.864 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262570 psu
2013-03-07T09:49:12.060Z,1362649752.060 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.270880 psu
2013-03-07T09:49:12.260Z,1362649752.260 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.280140 psu
2013-03-07T09:49:12.468Z,1362649752.468 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.274140 psu
2013-03-07T09:49:12.668Z,1362649752.668 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.265180 psu
2013-03-07T09:49:12.799Z,1362649752.799 [CommandLine](IMPORTANT): got command stop
2013-03-07T09:49:12.867Z,1362649752.867 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.263540 psu
2013-03-07T09:49:13.068Z,1362649753.068 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.251020 psu
2013-03-07T09:49:13.151Z,1362649753.151 [DVL_micro](DEBUG): NQ1
2013-03-07T09:49:13.182Z,1362649753.182 [DVL_micro](INFO): CURRENT DATA  *NOT*  REQUESTED
2013-03-07T09:49:13.186Z,1362649753.186 [DVL_micro](DEBUG): ADCP
2013-03-07T09:49:13.265Z,1362649753.265 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.272550 psu
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box] Stopped
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:B.DepthEnvelope] Stopped
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:SurfaceCommsShort] Stopped
2013-03-07T09:49:13.401Z,1362649753.401 [EcoHAB_box:SurfaceCommsShort](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface] Stopped
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:SurfaceCommsShort:CheckIn] Stopped
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:SurfaceCommsShort:CheckIn](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceCommsShort:CheckIn
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:SurfaceCommsShort:CheckIn:B] Stopped
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:I.Pitch] Stopped
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:J.Buoyancy] Stopped
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-03-07T09:49:13.402Z,1362649753.402 [EcoHAB_box:CircleInshoreESPBuoy] Stopped
2013-03-07T09:49:13.403Z,1362649753.403 [EcoHAB_box:CircleInshoreESPBuoy](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy
2013-03-07T09:49:13.403Z,1362649753.403 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong] Stopped
2013-03-07T09:49:13.403Z,1362649753.403 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong
2013-03-07T09:49:13.403Z,1362649753.403 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B] Stopped
2013-03-07T09:49:13.403Z,1362649753.403 [EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B](INFO): Aggregate::uninitialize EcoHAB_box:CircleInshoreESPBuoy:TellMeHowLong:B
2013-03-07T09:49:13.403Z,1362649753.403 [EcoHAB_box:ScienceOps] Stopped
2013-03-07T09:49:13.403Z,1362649753.404 [EcoHAB_box:ScienceOps](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps
2013-03-07T09:49:13.403Z,1362649753.404 [EcoHAB_box:ScienceOps:Science] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:A] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:B] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:C] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:D] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:E] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:F] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:G] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:H] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:I] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:PeakDetectChl] Stopped
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:PeakDetectChl](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:Science:PeakDetectChl
2013-03-07T09:49:13.404Z,1362649753.404 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:B.SetSpeed] Stopped
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:B.SetSpeed](DEBUG): Uninitialize.
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:C.DepthEnvelope] Stopped
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:C.DepthEnvelope](DEBUG): Uninitialize.
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope] Stopped
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:E.YoYo] Stopped
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:E.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:F] Stopped
2013-03-07T09:49:13.405Z,1362649753.405 [EcoHAB_box:ScienceOps:F](INFO): Aggregate::uninitialize EcoHAB_box:ScienceOps:F
2013-03-07T09:49:13.461Z,1362649753.461 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.262390 psu
2013-03-07T09:49:13.575Z,1362649753.575 [WetLabsBB2FL](INFO): Powering down
2013-03-07T09:49:13.852Z,1362649753.852 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-03-07T09:49:13.868Z,1362649753.868 [MissionManager](IMPORTANT): Started mission Default
2013-03-07T09:49:13.868Z,1362649753.868 [Default] Running Loop=1
2013-03-07T09:49:13.868Z,1362649753.868 [Default](INFO): Aggregate::initialize Default
2013-03-07T09:49:13.868Z,1362649753.868 [Default:D.SetSpeed] Running Loop=1
2013-03-07T09:49:13.868Z,1362649753.868 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-07T09:49:13.868Z,1362649753.868 [Default:E.GoToSurface] Running Loop=1
2013-03-07T09:49:13.868Z,1362649753.868 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T09:49:13.868Z,1362649753.868 [Default:Iridium] Running Loop=1
2013-03-07T09:49:13.868Z,1362649753.868 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-07T09:49:13.869Z,1362649753.869 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T09:49:13.869Z,1362649753.869 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-07T09:49:13.869Z,1362649753.869 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-07T09:49:13.869Z,1362649753.869 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T09:49:13.869Z,1362649753.869 [Default:E.GoToSurface] Running Loop=1
2013-03-07T09:49:13.875Z,1362649753.875 [Default:D.SetSpeed] Running Loop=1
2013-03-07T09:49:13.885Z,1362649753.885 [Default:Iridium:B.GoToSurface] Stopped
2013-03-07T09:49:13.886Z,1362649753.885 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T09:49:13.886Z,1362649753.886 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-07T09:49:13.886Z,1362649753.886 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-07T09:49:13.891Z,1362649753.891 [Default:GPS] Running Loop=1
2013-03-07T09:49:13.892Z,1362649753.892 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-07T09:49:13.892Z,1362649753.892 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-07T09:49:13.892Z,1362649753.892 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-07T09:49:13.892Z,1362649753.892 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-07T09:49:13.892Z,1362649753.892 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-07T09:49:13.898Z,1362649753.898 [Default:GPS:B.GoToSurface] Stopped
2013-03-07T09:49:13.898Z,1362649753.898 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T09:49:13.898Z,1362649753.898 [Default:GPS:Read_GPS] Running Loop=1
2013-03-07T09:49:13.898Z,1362649753.898 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-07T09:49:14.483Z,1362649754.483 [Aanderaa_O2](INFO): Powering down
2013-03-07T09:49:14.509Z,1362649754.509 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-07T09:49:14.512Z,1362649754.512 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-07T09:49:15.272Z,1362649755.272 [DVL_micro](INFO): pause:Powering down
2013-03-07T09:49:16.547Z,1362649756.547 [CommandLine](IMPORTANT): got command quit
2013-03-07T09:49:17.623Z,1362649757.623 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-07T09:49:17.623Z,1362649757.623 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-07T09:49:17.695Z,1362649757.695 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-07T09:49:18.020Z,1362649758.020 [WetLabsBB2FL](INFO): Powering down
2013-03-07T09:49:18.039Z,1362649758.039 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-07T09:49:18.431Z,1362649758.431 [CTD_NeilBrown](INFO): Powering down
2013-03-07T09:49:18.447Z,1362649758.447 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-07T09:49:18.503Z,1362649758.503 [DVL_micro](INFO): uninitialize:Powering down
2013-03-07T09:49:18.515Z,1362649758.514 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-07T09:49:18.575Z,1362649758.575 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-07T09:49:18.596Z,1362649758.596 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-07T09:49:18.640Z,1362649758.640 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-07T09:49:18.641Z,1362649758.641 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-07T09:49:19.331Z,1362649759.332 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-07T09:49:19.332Z,1362649759.332 [AHRS_sp3003D](INFO): Powering down
2013-03-07T09:49:19.420Z,1362649759.420 [NAL9602](INFO): Powering down
2013-03-07T09:49:19.421Z,1362649759.421 [Aanderaa_O2](INFO): Powering down
2013-03-07T09:49:19.422Z,1362649759.422 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-07T09:49:19.423Z,1362649759.423 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-07T09:49:19.424Z,1362649759.424 [Default] Stopped
2013-03-07T09:49:19.424Z,1362649759.424 [Default](INFO): Aggregate::uninitialize Default
2013-03-07T09:49:19.424Z,1362649759.424 [Default:GPS] Stopped
2013-03-07T09:49:19.424Z,1362649759.424 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-03-07T09:49:19.424Z,1362649759.424 [Default:GPS:A.SetSpeed] Stopped
2013-03-07T09:49:19.424Z,1362649759.424 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T09:49:19.424Z,1362649759.424 [Default:GPS:Read_GPS] Stopped
2013-03-07T09:49:19.425Z,1362649759.425 [Default:Iridium] Stopped
2013-03-07T09:49:19.425Z,1362649759.425 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-03-07T09:49:19.425Z,1362649759.425 [Default:Iridium:A.SetSpeed] Stopped
2013-03-07T09:49:19.425Z,1362649759.425 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-03-07T09:49:19.425Z,1362649759.425 [Default:Iridium:Read_Iridium] Stopped
2013-03-07T09:49:19.425Z,1362649759.425 [Default:D.SetSpeed] Stopped
2013-03-07T09:49:19.425Z,1362649759.425 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-03-07T09:49:19.425Z,1362649759.425 [Default:E.GoToSurface] Stopped
2013-03-07T09:49:19.425Z,1362649759.425 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-07T09:49:19.429Z,1362649759.429 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-07T09:49:19.430Z,1362649759.430 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-07T09:49:19.430Z,1362649759.430 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-07T09:49:19.430Z,1362649759.430 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-07T09:49:19.430Z,1362649759.430 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-07T09:49:19.432Z,1362649759.432 [BuoyancyServo](INFO): Powering down
2013-03-07T09:49:19.447Z,1362649759.447 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-07T09:49:19.447Z,1362649759.447 [ElevatorServo](INFO): Powering down
2013-03-07T09:49:19.448Z,1362649759.448 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-07T09:49:19.448Z,1362649759.448 [MassServo](INFO): Powering down
2013-03-07T09:49:19.449Z,1362649759.449 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-07T09:49:19.449Z,1362649759.449 [RudderServo](INFO): Powering down
2013-03-07T09:49:19.450Z,1362649759.450 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-07T09:49:19.450Z,1362649759.450 [ThrusterServo](INFO): Powering down
2013-03-07T09:49:19.451Z,1362649759.451 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-07T09:49:19.451Z,1362649759.451 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-07T09:49:19.452Z,1362649759.452 [CBIT](DEBUG): Uninitialize CBIT Component.