2013-05-16T13:17:44.310Z,1368710264.310 [Supervisor](DEBUG): Initializing supervisor.
2013-05-16T13:17:44.314Z,1368710264.314 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-16T13:17:44.315Z,1368710264.315 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-16T13:17:44.318Z,1368710264.318 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-16T13:17:44.322Z,1368710264.322 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-16T13:17:44.332Z,1368710264.332 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-16T13:17:44.334Z,1368710264.334 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-16T13:17:44.335Z,1368710264.335 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-16T13:17:44.338Z,1368710264.338 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-16T13:17:44.339Z,1368710264.339 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-16T13:17:44.343Z,1368710264.343 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-16T13:17:44.675Z,1368710264.675 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-16T13:17:44.676Z,1368710264.676 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-16T13:17:44.894Z,1368710264.894 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-16T13:17:44.895Z,1368710264.895 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-16T13:17:44.990Z,1368710264.990 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-16T13:17:44.992Z,1368710264.992 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-16T13:17:45.155Z,1368710265.155 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-16T13:17:45.156Z,1368710265.156 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-16T13:17:45.312Z,1368710265.312 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-16T13:17:45.315Z,1368710265.315 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-16T13:17:45.579Z,1368710265.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-16T13:17:45.580Z,1368710265.580 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-16T13:17:45.775Z,1368710265.775 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-16T13:17:45.777Z,1368710265.777 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-16T13:17:46.066Z,1368710266.066 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-16T13:17:46.068Z,1368710266.068 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-16T13:17:46.178Z,1368710266.178 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-16T13:17:46.178Z,1368710266.178 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-16T13:17:46.630Z,1368710266.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-16T13:17:46.631Z,1368710266.631 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-16T13:17:46.763Z,1368710266.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-16T13:17:46.764Z,1368710266.764 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-16T13:17:46.864Z,1368710266.864 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-16T13:17:48.102Z,1368710268.102 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-16T13:17:48.224Z,1368710268.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-16T13:17:48.372Z,1368710268.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-16T13:17:48.467Z,1368710268.467 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-16T13:17:48.584Z,1368710268.584 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-16T13:17:48.694Z,1368710268.694 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-16T13:17:48.831Z,1368710268.832 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-16T13:17:48.936Z,1368710268.935 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-16T13:17:49.034Z,1368710269.034 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-16T13:17:49.043Z,1368710269.043 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-16T13:17:49.242Z,1368710269.242 [InternalSim] Loaded
2013-05-16T13:17:49.242Z,1368710269.242 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-16T13:17:49.243Z,1368710269.243 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-16T13:17:49.244Z,1368710269.244 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-16T13:17:49.329Z,1368710269.329 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-16T13:17:49.363Z,1368710269.363 [SBIT] Loaded
2013-05-16T13:17:49.363Z,1368710269.363 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-16T13:17:49.364Z,1368710269.364 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-16T13:17:49.397Z,1368710269.397 [IBIT] Loaded
2013-05-16T13:17:49.397Z,1368710269.397 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-16T13:17:49.400Z,1368710269.400 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-16T13:17:49.530Z,1368710269.530 [CBIT] Loaded
2013-05-16T13:17:49.530Z,1368710269.530 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-16T13:17:49.531Z,1368710269.531 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-16T13:17:49.531Z,1368710269.532 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-16T13:17:49.712Z,1368710269.712 [BuoyancyServo] Loaded
2013-05-16T13:17:49.712Z,1368710269.712 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-16T13:17:49.725Z,1368710269.724 [ElevatorServo] Loaded
2013-05-16T13:17:49.725Z,1368710269.725 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-16T13:17:49.741Z,1368710269.741 [MassServo] Loaded
2013-05-16T13:17:49.741Z,1368710269.741 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-16T13:17:49.753Z,1368710269.753 [RudderServo] Loaded
2013-05-16T13:17:49.753Z,1368710269.753 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-16T13:17:49.765Z,1368710269.765 [ThrusterServo] Loaded
2013-05-16T13:17:49.766Z,1368710269.766 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-16T13:17:49.766Z,1368710269.766 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-16T13:17:49.767Z,1368710269.767 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-16T13:17:49.803Z,1368710269.803 [DepthRateCalculator] Loaded
2013-05-16T13:17:49.803Z,1368710269.803 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-16T13:17:53.265Z,1368710273.265 [HFRadarModelCalc] Loaded
2013-05-16T13:17:53.266Z,1368710273.266 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-16T13:17:53.286Z,1368710273.286 [NavChart] Loaded
2013-05-16T13:17:53.286Z,1368710273.286 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-16T13:17:53.296Z,1368710273.296 [PitchRateCalculator] Loaded
2013-05-16T13:17:53.296Z,1368710273.296 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-16T13:17:53.307Z,1368710273.307 [SpeedCalculator] Loaded
2013-05-16T13:17:53.307Z,1368710273.307 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-16T13:17:53.322Z,1368710273.322 [TempGradientCalculator] Loaded
2013-05-16T13:17:53.322Z,1368710273.322 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-16T13:17:53.329Z,1368710273.329 [YawRateCalculator] Loaded
2013-05-16T13:17:53.329Z,1368710273.329 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-16T13:17:53.383Z,1368710273.383 [Navigation] Loaded
2013-05-16T13:17:53.383Z,1368710273.383 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-16T13:17:53.384Z,1368710273.384 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-16T13:17:53.384Z,1368710273.384 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-16T13:17:53.667Z,1368710273.667 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-16T13:17:53.668Z,1368710273.668 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-16T13:17:53.711Z,1368710273.711 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-16T13:17:53.711Z,1368710273.711 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-16T13:17:53.776Z,1368710273.776 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-16T13:17:53.882Z,1368710273.882 [VerticalControl] Loaded
2013-05-16T13:17:53.882Z,1368710273.882 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-16T13:17:53.883Z,1368710273.883 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-16T13:17:53.943Z,1368710273.943 [HorizontalControl] Loaded
2013-05-16T13:17:53.944Z,1368710273.944 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-16T13:17:53.945Z,1368710273.945 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-16T13:17:53.947Z,1368710273.947 [SpeedControl] Loaded
2013-05-16T13:17:53.947Z,1368710273.947 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-16T13:17:53.948Z,1368710273.948 [LoopControl](DEBUG): Construct LoopControl.
2013-05-16T13:17:53.948Z,1368710273.948 [LoopControl] Loaded
2013-05-16T13:17:53.948Z,1368710273.948 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-16T13:17:53.949Z,1368710273.949 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-16T13:17:53.950Z,1368710273.950 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-16T13:17:53.960Z,1368710273.960 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-16T13:17:53.965Z,1368710273.964 [AsyncPiEstimator] Loaded
2013-05-16T13:17:53.965Z,1368710273.965 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-16T13:17:53.966Z,1368710273.966 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-16T13:17:53.967Z,1368710273.967 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-16T13:17:53.968Z,1368710273.968 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-16T13:17:54.150Z,1368710274.150 [AHRS_sp3003D] Loaded
2013-05-16T13:17:54.150Z,1368710274.150 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-16T13:17:54.437Z,1368710274.437 [Batt_Ocean_Server] Loaded
2013-05-16T13:17:54.437Z,1368710274.437 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-16T13:17:54.451Z,1368710274.451 [Depth_Keller] Loaded
2013-05-16T13:17:54.451Z,1368710274.451 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-16T13:17:54.461Z,1368710274.461 [DropWeight] Loaded
2013-05-16T13:17:54.461Z,1368710274.461 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-16T13:17:54.651Z,1368710274.651 [DVL_micro] Loaded
2013-05-16T13:17:54.651Z,1368710274.651 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-16T13:17:54.654Z,1368710274.654 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C04E0
2013-05-16T13:17:54.746Z,1368710274.746 [NAL9602] Loaded
2013-05-16T13:17:54.747Z,1368710274.747 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-16T13:17:54.802Z,1368710274.802 [Onboard] Loaded
2013-05-16T13:17:54.802Z,1368710274.802 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-16T13:17:54.813Z,1368710274.813 [Radio_Freewave] Loaded
2013-05-16T13:17:54.813Z,1368710274.813 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-16T13:17:54.814Z,1368710274.814 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-16T13:17:54.815Z,1368710274.815 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-16T13:17:54.921Z,1368710274.921 [CTD_NeilBrown] Loaded
2013-05-16T13:17:54.921Z,1368710274.921 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-16T13:17:54.926Z,1368710274.926 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2013-05-16T13:17:54.962Z,1368710274.962 [WetLabsBB2FL] Loaded
2013-05-16T13:17:54.962Z,1368710274.962 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-16T13:17:54.966Z,1368710274.966 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2013-05-16T13:17:54.967Z,1368710274.967 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-16T13:17:54.969Z,1368710274.969 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-16T13:17:54.970Z,1368710274.970 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-16T13:17:54.977Z,1368710274.977 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-16T13:17:54.978Z,1368710274.978 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2013-05-16T13:17:54.983Z,1368710274.983 [Supervisor](DEBUG): Running supervisor.
2013-05-16T13:17:54.984Z,1368710274.984 [CommandLine](INFO): Thread ID is 750
2013-05-16T13:17:54.987Z,1368710274.987 [controlThread](INFO): Thread ID is 749
2013-05-16T13:17:54.987Z,1368710274.987 [controlThread](DEBUG): Initializing ControlThread
2013-05-16T13:17:54.988Z,1368710274.988 [CycleStarter](INFO): Thread ID is 748
2013-05-16T13:17:54.988Z,1368710274.988 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-16T13:17:55.104Z,1368710275.104 [logger](INFO): Thread ID is 751
2013-05-16T13:17:55.230Z,1368710275.230 [AsyncPiEstimator](INFO): Thread ID is 812
2013-05-16T13:17:55.230Z,1368710275.230 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-16T13:17:55.247Z,1368710275.247 [DVL_micro](INFO): Thread ID is 813
2013-05-16T13:17:55.375Z,1368710275.375 [CTD_NeilBrown](INFO): Thread ID is 814
2013-05-16T13:17:55.375Z,1368710275.375 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-16T13:17:55.383Z,1368710275.383 [WetLabsBB2FL](INFO): Thread ID is 815
2013-05-16T13:17:55.384Z,1368710275.384 [WetLabsBB2FL](INFO): Powering down
2013-05-16T13:17:55.402Z,1368710275.402 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T13:17:55.421Z,1368710275.421 [SBIT](INFO): Initialize SBIT Component.
2013-05-16T13:17:55.421Z,1368710275.421 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10352
2013-05-16T13:17:55.422Z,1368710275.422 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-16T13:17:55.422Z,1368710275.422 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-16T13:17:55.433Z,1368710275.433 [DVL_micro](INFO): Initializing
2013-05-16T13:17:55.433Z,1368710275.433 [DVL_micro](INFO): start:Powering up
2013-05-16T13:17:55.434Z,1368710275.434 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T13:17:55.435Z,1368710275.435 [IBIT](INFO): Initialize IBIT Component.
2013-05-16T13:17:55.435Z,1368710275.435 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-16T13:17:55.436Z,1368710275.436 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-16T13:17:55.436Z,1368710275.436 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-16T13:17:55.437Z,1368710275.437 [NavChartDb](INFO): Thread ID is 816
2013-05-16T13:17:55.439Z,1368710275.439 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T13:17:55.451Z,1368710275.451 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-16T13:17:55.452Z,1368710275.452 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-16T13:17:55.452Z,1368710275.452 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-16T13:17:55.452Z,1368710275.452 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-16T13:17:55.452Z,1368710275.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-16T13:17:55.453Z,1368710275.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-16T13:17:55.453Z,1368710275.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-16T13:17:55.453Z,1368710275.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-16T13:17:55.453Z,1368710275.453 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-16T13:17:55.460Z,1368710275.460 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T13:17:55.460Z,1368710275.460 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-16T13:17:55.461Z,1368710275.461 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-16T13:17:55.461Z,1368710275.461 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-16T13:17:55.461Z,1368710275.461 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-16T13:17:55.465Z,1368710275.465 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-16T13:17:55.466Z,1368710275.466 [Navigation](DEBUG): Initializing Navigation.
2013-05-16T13:17:55.475Z,1368710275.474 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-16T13:17:55.476Z,1368710275.476 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-16T13:17:55.477Z,1368710275.477 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-16T13:17:55.477Z,1368710275.477 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-16T13:17:57.038Z,1368710277.038 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-16T13:17:57.068Z,1368710277.069 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-16T13:17:57.108Z,1368710277.108 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T13:17:57.130Z,1368710277.130 [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>


2013-05-16T13:17:57.131Z,1368710277.131 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-16T13:17:57.207Z,1368710277.207 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-16T13:17:57.209Z,1368710277.209 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-16T13:17:57.244Z,1368710277.244 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T13:17:57.268Z,1368710277.268 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-16T13:17:57.271Z,1368710277.271 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T13:17:57.286Z,1368710277.286 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-16T13:17:57.327Z,1368710277.327 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-16T13:17:57.331Z,1368710277.331 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T13:17:57.352Z,1368710277.352 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-16T13:17:57.356Z,1368710277.355 [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>


2013-05-16T13:17:57.366Z,1368710277.366 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-05-16T13:17:57.407Z,1368710277.407 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-16T13:17:57.506Z,1368710277.506 [Radio_Freewave](INFO): Powering up
2013-05-16T13:17:57.527Z,1368710277.527 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T13:17:57.527Z,1368710277.527 [DVL_micro](INFO): Querying output modes
2013-05-16T13:17:57.527Z,1368710277.527 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T13:17:57.538Z,1368710277.538 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-16T13:17:57.539Z,1368710277.539 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T13:17:57.539Z,1368710277.539 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T13:17:57.551Z,1368710277.551 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T13:17:57.555Z,1368710277.555 [DVL_micro](INFO): pause:Powering down
2013-05-16T13:17:57.732Z,1368710277.732 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-16T13:17:57.739Z,1368710277.739 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-16T13:17:57.761Z,1368710277.761 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-16T13:17:57.767Z,1368710277.767 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-16T13:17:57.773Z,1368710277.773 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-16T13:17:57.779Z,1368710277.779 [MassServo](DEBUG): Initializing MassServo.
2013-05-16T13:17:57.785Z,1368710277.784 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-16T13:17:57.791Z,1368710277.791 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-16T13:17:57.797Z,1368710277.797 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-16T13:17:57.803Z,1368710277.803 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-16T13:17:59.829Z,1368710279.829 [NAL9602](INFO): Powering up NAL9602
2013-05-16T13:18:10.239Z,1368710290.239 [NAL9602](INFO): NAL9602 initialized
2013-05-16T13:18:11.105Z,1368710291.105 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-16T13:18:11.130Z,1368710291.130 [CBIT](IMPORTANT): Beginning GF scan
2013-05-16T13:18:38.091Z,1368710318.091 [CBIT](IMPORTANT): No ground fault detected
2013-05-16T13:18:40.388Z,1368710320.388 [NAL9602](IMPORTANT): GPS fix at: 1368710252.00
2013-05-16T13:18:47.192Z,1368710327.192 [NAL9602](INFO): Powering down
2013-05-16T13:19:05.355Z,1368710345.355 [SBIT](IMPORTANT): SBIT PASSED
2013-05-16T13:19:05.747Z,1368710345.747 [MissionManager](IMPORTANT): Started mission Startup
2013-05-16T13:19:05.747Z,1368710345.747 [Startup] Running Loop=1
2013-05-16T13:19:05.748Z,1368710345.747 [Startup](INFO): Aggregate::initialize Startup
2013-05-16T13:19:05.748Z,1368710345.747 [Startup:A.GoToSurface] Running Loop=1
2013-05-16T13:19:05.748Z,1368710345.748 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:19:05.754Z,1368710345.754 [Startup:StartupSatComms] Running Loop=1
2013-05-16T13:19:05.754Z,1368710345.754 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-05-16T13:19:05.754Z,1368710345.754 [Startup:StartupSatComms:A] Running Loop=1
2013-05-16T13:19:06.149Z,1368710346.149 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-16T13:19:06.536Z,1368710346.536 [NAL9602](INFO): Powering up
2013-05-16T13:19:17.575Z,1368710357.575 [NAL9602](INFO): NAL9602 initialized
2013-05-16T13:19:40.228Z,1368710380.227 [NAL9602](IMPORTANT): GPS fix at: 1368710312.00
2013-05-16T13:19:40.243Z,1368710380.243 [Startup:StartupSatComms:A] Stopped
2013-05-16T13:19:40.243Z,1368710380.243 [Startup:StartupSatComms:B] Running Loop=1
2013-05-16T13:19:40.627Z,1368710380.626 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-16T13:20:07.325Z,1368710407.325 [NAL9602](INFO): SBD MO Status=2, MOMSN=12188, MT Status=2, MTMSN=0
2013-05-16T13:20:07.326Z,1368710407.326 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-05-16T13:20:40.360Z,1368710440.360 [Startup:StartupSatComms:B](INFO): Timed out from 2013-05-16T13:19:40.2Z
2013-05-16T13:20:40.360Z,1368710440.360 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-05-16T13:20:40.360Z,1368710440.360 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-05-16T13:20:40.360Z,1368710440.360 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-05-16T13:20:40.360Z,1368710440.360 [Startup:StartupSatComms:B] Stopped
2013-05-16T13:20:40.361Z,1368710440.361 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-05-16T13:20:40.361Z,1368710440.361 [Startup:StartupSatComms] Stopped
2013-05-16T13:20:40.361Z,1368710440.361 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-05-16T13:20:40.362Z,1368710440.362 [Startup](INFO): Completed Startup
2013-05-16T13:20:40.362Z,1368710440.362 [Startup] Stopped
2013-05-16T13:20:40.362Z,1368710440.362 [Startup](INFO): Aggregate::uninitialize Startup
2013-05-16T13:20:40.362Z,1368710440.362 [Startup:A.GoToSurface] Stopped
2013-05-16T13:20:40.362Z,1368710440.362 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:20:40.661Z,1368710440.661 [MissionManager](IMPORTANT): Started mission Default
2013-05-16T13:20:40.661Z,1368710440.661 [Default] Running Loop=1
2013-05-16T13:20:40.661Z,1368710440.661 [Default](INFO): Aggregate::initialize Default
2013-05-16T13:20:40.661Z,1368710440.661 [Default:D.SetSpeed] Running Loop=1
2013-05-16T13:20:40.662Z,1368710440.662 [Default:D.SetSpeed](DEBUG): Initialize.
2013-05-16T13:20:40.662Z,1368710440.662 [Default:E.GoToSurface] Running Loop=1
2013-05-16T13:20:40.662Z,1368710440.662 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:20:40.662Z,1368710440.662 [Default:Iridium] Running Loop=1
2013-05-16T13:20:40.662Z,1368710440.662 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-05-16T13:20:40.663Z,1368710440.662 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-16T13:20:40.663Z,1368710440.663 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-05-16T13:20:40.663Z,1368710440.663 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-05-16T13:20:40.663Z,1368710440.663 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:20:40.663Z,1368710440.663 [Default:E.GoToSurface] Running Loop=1
2013-05-16T13:20:40.669Z,1368710440.669 [Default:D.SetSpeed] Running Loop=1
2013-05-16T13:20:40.674Z,1368710440.674 [Default:CallIridium] Running Loop=1
2013-05-16T13:20:40.674Z,1368710440.674 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-05-16T13:20:40.674Z,1368710440.674 [Default:CallIridium:A] Running Loop=1
2013-05-16T13:20:40.676Z,1368710440.676 [Default:CallIridium:A] Stopped
2013-05-16T13:20:40.677Z,1368710440.677 [Default:CallIridium:B] Running Loop=1
2013-05-16T13:20:40.677Z,1368710440.677 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-05-16T13:20:40.683Z,1368710440.682 [Default:Iridium:B.GoToSurface] Stopped
2013-05-16T13:20:40.683Z,1368710440.683 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:20:40.683Z,1368710440.683 [Default:Iridium:Read_Iridium] Running Loop=1
2013-05-16T13:20:40.683Z,1368710440.683 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-16T13:20:40.688Z,1368710440.688 [Default:GPS] Running Loop=1
2013-05-16T13:20:40.688Z,1368710440.688 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-05-16T13:20:40.688Z,1368710440.688 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-16T13:20:40.688Z,1368710440.688 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-05-16T13:20:40.688Z,1368710440.688 [Default:GPS:B.GoToSurface] Running Loop=1
2013-05-16T13:20:40.688Z,1368710440.688 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:20:40.694Z,1368710440.694 [Default:GPS:B.GoToSurface] Stopped
2013-05-16T13:20:40.694Z,1368710440.694 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:20:40.694Z,1368710440.694 [Default:GPS:Read_GPS] Running Loop=1
2013-05-16T13:20:40.694Z,1368710440.694 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-16T13:20:40.976Z,1368710440.976 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-16T13:20:40.979Z,1368710440.979 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-16T13:20:42.962Z,1368710442.962 [NAL9602](IMPORTANT): GPS fix at: 1368710376.00
2013-05-16T13:20:42.978Z,1368710442.977 [Default:GPS:Read_GPS] Stopped
2013-05-16T13:20:42.978Z,1368710442.978 [Default:GPS:D] Running Loop=1
2013-05-16T13:20:43.392Z,1368710443.392 [Default:GPS:D] Stopped
2013-05-16T13:20:43.393Z,1368710443.393 [Default:GPS](INFO): Completed Default:GPS
2013-05-16T13:20:43.393Z,1368710443.393 [Default:GPS] Stopped
2013-05-16T13:20:43.393Z,1368710443.393 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-05-16T13:20:43.393Z,1368710443.393 [Default:GPS:A.SetSpeed] Stopped
2013-05-16T13:20:43.393Z,1368710443.393 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:21:03.993Z,1368710463.993 [NAL9602](INFO): SBD MO Status=1, MOMSN=12188, MT Status=0, MTMSN=0
2013-05-16T13:21:04.047Z,1368710464.047 [NAL9602](INFO): Sent 332 bytes from file Logs/20130515T183650/Courier0020.lzma
2013-05-16T13:21:04.047Z,1368710464.047 [NAL9602](INFO): Packets left to send: 1
2013-05-16T13:21:04.049Z,1368710464.049 [NAL9602](INFO): Stored copy of sent data in Logs/20130515T183650/Courier0020.lzma.parts/0001.sbd
2013-05-16T13:21:13.825Z,1368710473.825 [NAL9602](INFO): SBD MO Status=1, MOMSN=12189, MT Status=0, MTMSN=0
2013-05-16T13:21:13.875Z,1368710473.875 [NAL9602](INFO): Sent 305 bytes from file Logs/20130515T183650/Courier0020.lzma
2013-05-16T13:21:13.875Z,1368710473.875 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:21:13.876Z,1368710473.876 [NAL9602](INFO): Stored copy of sent data in Logs/20130515T183650/Courier0020.lzma.parts/0000.sbd
2013-05-16T13:21:22.694Z,1368710482.694 [NAL9602](INFO): SBD MO Status=1, MOMSN=12190, MT Status=0, MTMSN=0
2013-05-16T13:21:22.743Z,1368710482.743 [NAL9602](INFO): Sent 260 bytes from file Logs/20130516T131744/Courier0000.lzma
2013-05-16T13:21:22.743Z,1368710482.743 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:21:22.745Z,1368710482.745 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Courier0000.lzma.parts/0000.sbd
2013-05-16T13:21:34.946Z,1368710494.946 [NAL9602](INFO): SBD MO Status=1, MOMSN=12191, MT Status=0, MTMSN=0
2013-05-16T13:21:34.995Z,1368710494.995 [NAL9602](INFO): Sent 208 bytes from file Logs/20130515T183650/Express0021.lzma
2013-05-16T13:21:34.995Z,1368710494.995 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:21:34.997Z,1368710494.997 [NAL9602](INFO): Stored copy of sent data in Logs/20130515T183650/Express0021.lzma.parts/0000.sbd
2013-05-16T13:21:55.973Z,1368710515.973 [NAL9602](INFO): SBD MO Status=1, MOMSN=12192, MT Status=0, MTMSN=0
2013-05-16T13:21:56.023Z,1368710516.023 [NAL9602](INFO): Sent 332 bytes from file Logs/20130516T131744/Express0001.lzma
2013-05-16T13:21:56.023Z,1368710516.023 [NAL9602](INFO): Packets left to send: 2
2013-05-16T13:21:56.025Z,1368710516.025 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0001.lzma.parts/0002.sbd
2013-05-16T13:22:07.756Z,1368710527.756 [NAL9602](INFO): SBD MO Status=1, MOMSN=12193, MT Status=0, MTMSN=0
2013-05-16T13:22:07.807Z,1368710527.807 [NAL9602](INFO): Sent 332 bytes from file Logs/20130516T131744/Express0001.lzma
2013-05-16T13:22:07.807Z,1368710527.807 [NAL9602](INFO): Packets left to send: 1
2013-05-16T13:22:07.808Z,1368710527.808 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0001.lzma.parts/0001.sbd
2013-05-16T13:22:15.654Z,1368710535.654 [NAL9602](INFO): SBD MO Status=1, MOMSN=12194, MT Status=0, MTMSN=0
2013-05-16T13:22:15.703Z,1368710535.703 [NAL9602](INFO): Sent 2 bytes from file Logs/20130516T131744/Express0001.lzma
2013-05-16T13:22:15.703Z,1368710535.703 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:22:15.704Z,1368710535.704 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0001.lzma.parts/0000.sbd
2013-05-16T13:22:20.849Z,1368710540.849 [NAL9602](INFO): SBD MO Status=0, MOMSN=12195, MT Status=0, MTMSN=0
2013-05-16T13:22:24.657Z,1368710544.657 [Default:Iridium:Read_Iridium] Stopped
2013-05-16T13:22:24.658Z,1368710544.658 [Default:Iridium](INFO): Completed Default:Iridium
2013-05-16T13:22:24.658Z,1368710544.658 [Default:Iridium] Stopped
2013-05-16T13:22:24.658Z,1368710544.658 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-05-16T13:22:24.658Z,1368710544.658 [Default:Iridium:A.SetSpeed] Stopped
2013-05-16T13:22:24.658Z,1368710544.658 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:22:24.658Z,1368710544.658 [Default:F.Wait] Running Loop=1
2013-05-16T13:22:24.658Z,1368710544.658 [Default:F.Wait](DEBUG): Initialize Wait Component.
2013-05-16T13:22:25.084Z,1368710545.084 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2013-05-16T13:22:25.084Z,1368710545.084 [Default:CallIridium:B] Stopped
2013-05-16T13:22:25.084Z,1368710545.084 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-05-16T13:22:25.084Z,1368710545.084 [Default:CallIridium](INFO): Completed Default:CallIridium
2013-05-16T13:22:25.084Z,1368710545.084 [Default:CallIridium] Stopped
2013-05-16T13:22:25.084Z,1368710545.084 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-05-16T13:22:35.030Z,1368710555.030 [NAL9602](INFO): Powering down
2013-05-16T13:27:25.042Z,1368710845.042 [Default:CallIridium] Running Loop=1
2013-05-16T13:27:25.043Z,1368710845.043 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-05-16T13:27:25.043Z,1368710845.043 [Default:CallIridium:A] Running Loop=1
2013-05-16T13:27:25.043Z,1368710845.043 [Default:CallIridium:A] Stopped
2013-05-16T13:27:25.043Z,1368710845.043 [Default:CallIridium:B] Running Loop=1
2013-05-16T13:27:25.043Z,1368710845.043 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-05-16T13:27:30.075Z,1368710850.075 [Default:Iridium] Running Loop=1
2013-05-16T13:27:30.075Z,1368710850.075 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-05-16T13:27:30.075Z,1368710850.075 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-16T13:27:30.075Z,1368710850.075 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-05-16T13:27:30.075Z,1368710850.075 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-05-16T13:27:30.075Z,1368710850.075 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:27:30.076Z,1368710850.076 [Default:Iridium:B.GoToSurface] Stopped
2013-05-16T13:27:30.076Z,1368710850.076 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:27:30.076Z,1368710850.076 [Default:Iridium:Read_Iridium] Running Loop=1
2013-05-16T13:27:30.077Z,1368710850.077 [Default:GPS] Running Loop=1
2013-05-16T13:27:30.077Z,1368710850.077 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-05-16T13:27:30.077Z,1368710850.077 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-16T13:27:30.077Z,1368710850.077 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-05-16T13:27:30.077Z,1368710850.077 [Default:GPS:B.GoToSurface] Running Loop=1
2013-05-16T13:27:30.077Z,1368710850.077 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:27:30.078Z,1368710850.078 [Default:GPS:B.GoToSurface] Stopped
2013-05-16T13:27:30.078Z,1368710850.078 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:27:30.079Z,1368710850.079 [Default:GPS:Read_GPS] Running Loop=1
2013-05-16T13:27:30.674Z,1368710850.674 [NAL9602](INFO): Powering up
2013-05-16T13:27:41.663Z,1368710861.663 [NAL9602](INFO): NAL9602 initialized
2013-05-16T13:28:04.961Z,1368710884.961 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=12196, MT Status=1, MTMSN=870
2013-05-16T13:28:05.015Z,1368710885.015 [NAL9602](INFO): Sent 68 bytes from file Logs/20130516T131744/Courier0004.lzma
2013-05-16T13:28:05.015Z,1368710885.015 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:28:05.017Z,1368710885.017 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Courier0004.lzma.parts/0000.sbd
2013-05-16T13:28:05.748Z,1368710885.748 [NAL9602](INFO): Received command:load Science/science_to.xml;set science_to.MinOffshore 0 meter;set science_to.Wpt1Lat 36.8 degree;set science_to.Wpt1Lon -121.85 degree;run 
2013-05-16T13:28:05.768Z,1368710885.768 [CommandLine](IMPORTANT): got command load ./Missions/Science/science_to.xml
2013-05-16T13:28:05.769Z,1368710885.769 [MissionManager](INFO): Loading Mission: ./Missions/Science/science_to.xml
2013-05-16T13:28:05.882Z,1368710885.882 [MissionManager](INFO): DefineArg science_to.MinAltitude = 10.000000 m
2013-05-16T13:28:05.885Z,1368710885.885 [MissionManager](INFO): DefineArg science_to.MaxDepth = 105.000000 m
2013-05-16T13:28:05.888Z,1368710885.888 [MissionManager](INFO): DefineArg science_to.MinOffshore = 2000.000000 m
2013-05-16T13:28:05.891Z,1368710885.891 [MissionManager](INFO): DefineArg science_to.YoYoMinDepth = 3.000000 m
2013-05-16T13:28:05.894Z,1368710885.894 [MissionManager](INFO): DefineArg science_to.YoYoMaxDepth = 100.000000 m
2013-05-16T13:28:05.897Z,1368710885.897 [MissionManager](INFO): DefineArg science_to.YoYoUpPitch = 20.000000 arcdeg
2013-05-16T13:28:05.903Z,1368710885.903 [MissionManager](INFO): DefineArg science_to.YoYoDownPitch = -15.000000 arcdeg
2013-05-16T13:28:05.906Z,1368710885.906 [MissionManager](INFO): DefineArg science_to.Wpt1Lat = 0.000000 arcdeg
2013-05-16T13:28:05.909Z,1368710885.909 [MissionManager](INFO): DefineArg science_to.Wpt1Lon = 0.000000 arcdeg
2013-05-16T13:28:05.944Z,1368710885.944 [MissionManager](INFO): DefineArg science_to.Wpt2Lat = 0.000000 arcdeg
2013-05-16T13:28:05.947Z,1368710885.947 [MissionManager](INFO): DefineArg science_to.Wpt2Lon = 0.000000 arcdeg
2013-05-16T13:28:05.950Z,1368710885.950 [MissionManager](INFO): DefineArg science_to.Wpt3Lat = 0.000000 arcdeg
2013-05-16T13:28:05.953Z,1368710885.953 [MissionManager](INFO): DefineArg science_to.Wpt3Lon = 0.000000 arcdeg
2013-05-16T13:28:05.965Z,1368710885.965 [MissionManager](INFO): DefineArg science_to.Wpt4Lat = 0.000000 arcdeg
2013-05-16T13:28:05.968Z,1368710885.968 [MissionManager](INFO): DefineArg science_to.Wpt4Lon = 0.000000 arcdeg
2013-05-16T13:28:05.971Z,1368710885.971 [MissionManager](INFO): DefineArg science_to.NeedCommsTime = 120.000000 min
2013-05-16T13:28:05.974Z,1368710885.974 [MissionManager](INFO): DefineArg science_to.Speed = 1.000000 m/s
2013-05-16T13:28:05.977Z,1368710885.977 [MissionManager](INFO): DefineArg science_to.Timeout = 36.000000 h
2013-05-16T13:28:05.980Z,1368710885.980 [MissionManager](INFO): DefineArg science_to.BuoyancyNeutral = 0.000450 n/a
2013-05-16T13:28:05.984Z,1368710885.984 [MissionManager](INFO): DefineArg science_to.MassDefault = 0.000000 n/a
2013-05-16T13:28:05.987Z,1368710885.987 [MissionManager](INFO): DefineArg science_to.ZeroDeg = 0.000000 arcdeg
2013-05-16T13:28:05.991Z,1368710885.991 [science_to:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-05-16T13:28:05.999Z,1368710885.999 [science_to:AltEnvWrapper:B.Wait](DEBUG): Construct Wait.
2013-05-16T13:28:06.001Z,1368710886.001 [science_to:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-05-16T13:28:06.052Z,1368710886.052 [science_to:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-05-16T13:28:06.059Z,1368710886.059 [science_to:OffshoreWrapper:B.Wait](DEBUG): Construct Wait.
2013-05-16T13:28:06.061Z,1368710886.061 [science_to:D.Pitch](DEBUG): Construct.
2013-05-16T13:28:06.068Z,1368710886.068 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-05-16T13:28:06.094Z,1368710886.093 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.SurfaceDepthRate = nan m/s
2013-05-16T13:28:06.097Z,1368710886.096 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.SurfacePitch = nan arcdeg
2013-05-16T13:28:06.100Z,1368710886.100 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s
2013-05-16T13:28:06.103Z,1368710886.103 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.IridiumTimeout = 30.000000 min
2013-05-16T13:28:06.105Z,1368710886.105 [MissionManager](INFO): DefineArg science_to:SURFACECOMMS.UnpackSplitAtSurface = 0 bool
2013-05-16T13:28:06.107Z,1368710886.107 [science_to:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T13:28:06.144Z,1368710886.144 [MissionManager](INFO): RedefineArg science_to:SURFACECOMMS.SurfacePitch = 20.000000 arcdeg
2013-05-16T13:28:06.162Z,1368710886.162 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-05-16T13:28:06.306Z,1368710886.306 [MissionManager](INFO): DefineArg science_to:Science.SampleISUS = 0 bool
2013-05-16T13:28:06.309Z,1368710886.309 [MissionManager](INFO): DefineArg science_to:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-05-16T13:28:06.352Z,1368710886.352 [MissionManager](INFO): DefineArg science_to:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-05-16T13:28:06.355Z,1368710886.355 [MissionManager](INFO): DefineArg science_to:Science.SampleRSSI = 1 bool
2013-05-16T13:28:06.357Z,1368710886.357 [MissionManager](INFO): DefineArg science_to:Science.SampleADCP = 1 bool
2013-05-16T13:28:06.360Z,1368710886.360 [MissionManager](INFO): DefineArg science_to:Science.PeakDetectChlActive = 0 bool
2013-05-16T13:28:06.365Z,1368710886.365 [MissionManager](INFO): DefineArg science_to:Science.PeakDetectNO3Active = 0 bool
2013-05-16T13:28:06.367Z,1368710886.367 [MissionManager](INFO): DefineArg science_to:Science.PeakDetectRSSIActive = 0 bool
2013-05-16T13:28:06.370Z,1368710886.370 [MissionManager](INFO): DefineArg science_to:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-05-16T13:28:06.373Z,1368710886.373 [MissionManager](INFO): DefineArg science_to:Science.ComputeWaterCurrent = 0 bool
2013-05-16T13:28:06.376Z,1368710886.376 [MissionManager](INFO): DefineArg science_to:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-05-16T13:28:06.379Z,1368710886.379 [MissionManager](INFO): DefineArg science_to:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-05-16T13:28:06.383Z,1368710886.383 [MissionManager](INFO): DefineArg science_to:Science.EnabledAanderaaO2 = 0.000000 n/a
2013-05-16T13:28:06.386Z,1368710886.386 [MissionManager](INFO): DefineArg science_to:Science.EnabledNeilBrown = 1.000000 n/a
2013-05-16T13:28:06.390Z,1368710886.390 [MissionManager](INFO): DefineArg science_to:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-05-16T13:28:06.393Z,1368710886.393 [MissionManager](INFO): DefineArg science_to:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-05-16T13:28:06.396Z,1368710886.396 [MissionManager](INFO): DefineArg science_to:Science.EnabledDVL = 1.000000 n/a
2013-05-16T13:28:06.400Z,1368710886.400 [MissionManager](INFO): DefineArg science_to:Science.EnabledISUS = 0.000000 n/a
2013-05-16T13:28:06.403Z,1368710886.402 [MissionManager](INFO): DefineArg science_to:Science.HFRadarModelActive = 0 bool
2013-05-16T13:28:06.406Z,1368710886.406 [MissionManager](INFO): DefineOutput science_to:Science.PeakChl = 0.000000 ug/l
2013-05-16T13:28:06.409Z,1368710886.409 [MissionManager](INFO): DefineOutput science_to:Science.PeakChlDepth = 0.000000 m
2013-05-16T13:28:06.448Z,1368710886.448 [MissionManager](INFO): DefineOutput science_to:Science.PeakChlLatitude = nan arcdeg
2013-05-16T13:28:06.451Z,1368710886.451 [MissionManager](INFO): DefineOutput science_to:Science.PeakChlLongitude = nan arcdeg
2013-05-16T13:28:06.454Z,1368710886.454 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3 = 0.000000 umol/l
2013-05-16T13:28:06.458Z,1368710886.458 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3Depth = 0.000000 m
2013-05-16T13:28:06.465Z,1368710886.465 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3Latitude = nan arcdeg
2013-05-16T13:28:06.469Z,1368710886.469 [MissionManager](INFO): DefineOutput science_to:Science.PeakNO3Longitude = nan arcdeg
2013-05-16T13:28:06.472Z,1368710886.472 [MissionManager](INFO): DefineOutput science_to:Science.PeakRSSI = 0.000000 dB
2013-05-16T13:28:06.476Z,1368710886.476 [MissionManager](INFO): DefineOutput science_to:Science.PeakRSSIDepth = 0.000000 m
2013-05-16T13:28:06.479Z,1368710886.479 [MissionManager](INFO): DefineOutput science_to:Science.PeakRSSILatitude = nan arcdeg
2013-05-16T13:28:06.482Z,1368710886.482 [MissionManager](INFO): DefineOutput science_to:Science.PeakRSSILongitude = nan arcdeg
2013-05-16T13:28:06.486Z,1368710886.486 [MissionManager](INFO): DefineOutput science_to:Science.eastwardSurfaceCurrent = nan m/s
2013-05-16T13:28:06.489Z,1368710886.489 [MissionManager](INFO): DefineOutput science_to:Science.northwardSurfaceCurrent = nan m/s
2013-05-16T13:28:06.509Z,1368710886.509 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-05-16T13:28:06.551Z,1368710886.551 [science_to:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-05-16T13:28:06.574Z,1368710886.574 [science_to:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-05-16T13:28:06.587Z,1368710886.587 [MissionManager](INFO): RedefineArg science_to:Science.SampleISUS = 1 bool
2013-05-16T13:28:06.588Z,1368710886.588 [MissionManager](INFO): RedefineArg science_to:Science.PeakDetectChlActive = 1 bool
2013-05-16T13:28:06.589Z,1368710886.589 [science_to:H.Buoyancy](DEBUG): Construct Buoyancy.
2013-05-16T13:28:06.592Z,1368710886.592 [science_to:I.SetSpeed](DEBUG): Construct.
2013-05-16T13:28:06.595Z,1368710886.595 [science_to:J.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-05-16T13:28:06.605Z,1368710886.605 [science_to:K.YoYo](DEBUG): Construct YoYo.
2013-05-16T13:28:06.654Z,1368710886.654 [science_to:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2013-05-16T13:28:06.666Z,1368710886.666 [science_to:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2013-05-16T13:28:06.673Z,1368710886.673 [science_to:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2013-05-16T13:28:06.681Z,1368710886.681 [science_to:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2013-05-16T13:28:06.710Z,1368710886.710 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="science_to">

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

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

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

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

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

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

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

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-15.0</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Timeout Duration="Timeout"/>

    <Aggregate Id="AltEnvWrapper">

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

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

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

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

    <Aggregate Id="OffshoreWrapper">

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

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

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

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

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

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

    <Aggregate Id="NeedComms">

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

        <Call RefId="SURFACECOMMS"/>

    </Aggregate>

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

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

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

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

    <Aggregate Id="Wpt1" RunIn="Sequence">

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

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

    </Aggregate>

    <Aggregate Id="Wpt2" RunIn="Sequence">

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

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

    </Aggregate>

    <Aggregate Id="Wpt3" RunIn="Sequence">

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

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

    </Aggregate>

    <Aggregate Id="Wpt4" RunIn="Sequence">

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

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

    </Aggregate>

</Mission>


2013-05-16T13:28:06.746Z,1368710886.746 [CommandLine](IMPORTANT): Loaded ./Missions/Science/science_to.xml
2013-05-16T13:28:07.599Z,1368710887.599 [CommandLine](IMPORTANT): got command set science_to.MinOffshore 
2013-05-16T13:28:07.599Z,1368710887.599 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-05-16T13:28:08.236Z,1368710888.236 [CommandLine](IMPORTANT): got command set science_to.Wpt1Lat 
2013-05-16T13:28:08.236Z,1368710888.236 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-05-16T13:28:08.870Z,1368710888.870 [CommandLine](IMPORTANT): got command set science_to.Wpt1Lon 
2013-05-16T13:28:08.870Z,1368710888.870 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-05-16T13:28:08.871Z,1368710888.871 [CommandLine](IMPORTANT): got command run 
2013-05-16T13:28:08.871Z,1368710888.871 [CommandLine](IMPORTANT): Running 
2013-05-16T13:28:08.885Z,1368710888.885 [Default] Stopped
2013-05-16T13:28:08.885Z,1368710888.885 [Default](INFO): Aggregate::uninitialize Default
2013-05-16T13:28:08.885Z,1368710888.885 [Default:GPS] Stopped
2013-05-16T13:28:08.886Z,1368710888.885 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-05-16T13:28:08.886Z,1368710888.886 [Default:GPS:A.SetSpeed] Stopped
2013-05-16T13:28:08.886Z,1368710888.886 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:28:08.886Z,1368710888.886 [Default:GPS:Read_GPS] Stopped
2013-05-16T13:28:08.886Z,1368710888.886 [Default:Iridium] Stopped
2013-05-16T13:28:08.886Z,1368710888.886 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-05-16T13:28:08.886Z,1368710888.886 [Default:Iridium:A.SetSpeed] Stopped
2013-05-16T13:28:08.886Z,1368710888.886 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:28:08.886Z,1368710888.886 [Default:Iridium:Read_Iridium] Stopped
2013-05-16T13:28:08.886Z,1368710888.886 [Default:CallIridium] Stopped
2013-05-16T13:28:08.886Z,1368710888.886 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-05-16T13:28:08.887Z,1368710888.886 [Default:CallIridium:B] Stopped
2013-05-16T13:28:08.887Z,1368710888.887 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-05-16T13:28:08.887Z,1368710888.887 [Default:D.SetSpeed] Stopped
2013-05-16T13:28:08.887Z,1368710888.887 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:28:08.887Z,1368710888.887 [Default:E.GoToSurface] Stopped
2013-05-16T13:28:08.887Z,1368710888.887 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:28:08.887Z,1368710888.887 [Default:F.Wait] Stopped
2013-05-16T13:28:08.887Z,1368710888.887 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2013-05-16T13:28:08.887Z,1368710888.887 [MissionManager](IMPORTANT): Started mission science_to
2013-05-16T13:28:08.887Z,1368710888.887 [science_to] Running Loop=1
2013-05-16T13:28:08.887Z,1368710888.888 [science_to](INFO): Aggregate::initialize science_to
2013-05-16T13:28:08.888Z,1368710888.888 [science_to:B.DepthEnvelope] Running Loop=1
2013-05-16T13:28:08.888Z,1368710888.888 [science_to:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-05-16T13:28:08.889Z,1368710888.889 [science_to:D.Pitch] Running Loop=1
2013-05-16T13:28:08.889Z,1368710888.889 [science_to:D.Pitch](DEBUG): Initialize.
2013-05-16T13:28:08.889Z,1368710888.889 [science_to:Science] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science](INFO): Aggregate::initialize science_to:Science
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:A] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:B] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:C] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:D] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:E] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:F] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:G] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:H] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:Science:I] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:H.Buoyancy] Running Loop=1
2013-05-16T13:28:08.890Z,1368710888.890 [science_to:H.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-05-16T13:28:08.891Z,1368710888.891 [science_to:I.SetSpeed] Running Loop=1
2013-05-16T13:28:08.891Z,1368710888.891 [science_to:I.SetSpeed](DEBUG): Initialize.
2013-05-16T13:28:08.891Z,1368710888.891 [science_to:J.DepthEnvelope] Running Loop=1
2013-05-16T13:28:08.891Z,1368710888.891 [science_to:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-05-16T13:28:08.892Z,1368710888.892 [science_to:K.YoYo] Running Loop=1
2013-05-16T13:28:08.892Z,1368710888.892 [science_to:K.YoYo](DEBUG): Initialize YoYoComponent.
2013-05-16T13:28:08.892Z,1368710888.892 [science_to:SURFACECOMMS] Running Loop=1
2013-05-16T13:28:08.892Z,1368710888.892 [science_to:SURFACECOMMS](INFO): Aggregate::initialize science_to:SURFACECOMMS
2013-05-16T13:28:08.893Z,1368710888.893 [science_to:SURFACECOMMS:A.GoToSurface] Running Loop=1
2013-05-16T13:28:08.893Z,1368710888.893 [science_to:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:28:08.894Z,1368710888.894 [science_to:K.YoYo] Running Loop=1
2013-05-16T13:28:08.902Z,1368710888.902 [science_to:J.DepthEnvelope] Running Loop=1
2013-05-16T13:28:08.908Z,1368710888.908 [science_to:I.SetSpeed] Running Loop=1
2013-05-16T13:28:08.941Z,1368710888.941 [science_to:H.Buoyancy] Running Loop=1
2013-05-16T13:28:08.946Z,1368710888.946 [science_to:Science] Running Loop=1
2013-05-16T13:28:08.947Z,1368710888.947 [science_to:Science:PeakDetectChl] Running Loop=1
2013-05-16T13:28:08.947Z,1368710888.947 [science_to:Science:PeakDetectChl](INFO): Aggregate::initialize science_to:Science:PeakDetectChl
2013-05-16T13:28:08.947Z,1368710888.947 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2013-05-16T13:28:08.947Z,1368710888.947 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2013-05-16T13:28:08.965Z,1368710888.965 [science_to:Science:I] Running Loop=1
2013-05-16T13:28:08.966Z,1368710888.966 [science_to:Science:I](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2013-05-16T13:28:08.967Z,1368710888.967 [science_to:Science:H] Running Loop=1
2013-05-16T13:28:08.968Z,1368710888.968 [science_to:Science:H](DEBUG): Initialize ReadDataComponent to sense DVL_micro.Beam1RSSI
2013-05-16T13:28:08.969Z,1368710888.969 [science_to:Science:G] Running Loop=1
2013-05-16T13:28:08.970Z,1368710888.970 [science_to:Science:G](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2013-05-16T13:28:08.972Z,1368710888.972 [science_to:Science:D] Running Loop=1
2013-05-16T13:28:08.972Z,1368710888.972 [science_to:Science:D](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2013-05-16T13:28:08.973Z,1368710888.973 [science_to:Science:D](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2013-05-16T13:28:08.980Z,1368710888.980 [science_to:SURFACECOMMS:B] Running Loop=1
2013-05-16T13:28:08.980Z,1368710888.980 [science_to:SURFACECOMMS:B](INFO): Aggregate::initialize science_to:SURFACECOMMS:B
2013-05-16T13:28:08.980Z,1368710888.980 [science_to:SURFACECOMMS:B:A] Running Loop=1
2013-05-16T13:28:08.980Z,1368710888.980 [science_to:D.Pitch] Running Loop=1
2013-05-16T13:28:08.985Z,1368710888.985 [science_to:OffshoreWrapper] Running Loop=1
2013-05-16T13:28:08.985Z,1368710888.985 [science_to:OffshoreWrapper](INFO): Aggregate::initialize science_to:OffshoreWrapper
2013-05-16T13:28:08.985Z,1368710888.985 [science_to:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2013-05-16T13:28:08.985Z,1368710888.986 [science_to:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-05-16T13:28:08.986Z,1368710888.986 [science_to:OffshoreWrapper:B.Wait] Running Loop=1
2013-05-16T13:28:08.986Z,1368710888.986 [science_to:OffshoreWrapper:B.Wait](DEBUG): Initialize Wait Component.
2013-05-16T13:28:08.990Z,1368710888.990 [science_to:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2013-05-16T13:28:09.004Z,1368710889.004 [science_to:B.DepthEnvelope] Running Loop=1
2013-05-16T13:28:09.010Z,1368710889.010 [science_to:AltEnvWrapper] Running Loop=1
2013-05-16T13:28:09.033Z,1368710889.033 [science_to:AltEnvWrapper](INFO): Aggregate::initialize science_to:AltEnvWrapper
2013-05-16T13:28:09.033Z,1368710889.033 [science_to:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2013-05-16T13:28:09.033Z,1368710889.033 [science_to:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-05-16T13:28:09.033Z,1368710889.033 [science_to:AltEnvWrapper:B.Wait] Running Loop=1
2013-05-16T13:28:09.033Z,1368710889.033 [science_to:AltEnvWrapper:B.Wait](DEBUG): Initialize Wait Component.
2013-05-16T13:28:09.038Z,1368710889.038 [science_to:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2013-05-16T13:28:09.135Z,1368710889.135 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T13:28:09.303Z,1368710889.303 [DVL_micro](INFO): RSSI requested
2013-05-16T13:28:09.303Z,1368710889.303 [DVL_micro](INFO): ADCP requested
2013-05-16T13:28:09.303Z,1368710889.303 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T13:28:09.304Z,1368710889.304 [DVL_micro](INFO): resume:Powering up
2013-05-16T13:28:09.304Z,1368710889.304 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T13:28:09.331Z,1368710889.331 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-05-16T13:28:09.331Z,1368710889.331 [WetLabsBB2FL](INFO): Powering up
2013-05-16T13:28:09.507Z,1368710889.507 [science_to:SURFACECOMMS:B] Stopped
2013-05-16T13:28:09.508Z,1368710889.508 [science_to:SURFACECOMMS:B](INFO): Aggregate::uninitialize science_to:SURFACECOMMS:B
2013-05-16T13:28:09.508Z,1368710889.508 [science_to:SURFACECOMMS:B:A] Stopped
2013-05-16T13:28:09.508Z,1368710889.508 [science_to:SURFACECOMMS:C] Running Loop=1
2013-05-16T13:28:09.508Z,1368710889.508 [science_to:SURFACECOMMS:C](INFO): Aggregate::initialize science_to:SURFACECOMMS:C
2013-05-16T13:28:09.508Z,1368710889.508 [science_to:SURFACECOMMS:C:A] Running Loop=1
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:K.YoYo] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:J.DepthEnvelope] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:I.SetSpeed] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:H.Buoyancy] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:Science] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:Science:D] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:Science:G] Preempted
2013-05-16T13:28:09.783Z,1368710889.783 [science_to:Science:H] Preempted
2013-05-16T13:28:09.784Z,1368710889.783 [science_to:Science:I] Preempted
2013-05-16T13:28:09.784Z,1368710889.784 [science_to:SURFACECOMMS:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-16T13:28:10.587Z,1368710890.587 [WetLabsBB2FL](INFO): Powering down
2013-05-16T13:28:11.311Z,1368710891.311 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T13:28:11.311Z,1368710891.311 [DVL_micro](INFO): Querying output modes
2013-05-16T13:28:11.311Z,1368710891.311 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T13:28:11.322Z,1368710891.322 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-16T13:28:11.323Z,1368710891.323 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T13:28:11.323Z,1368710891.323 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T13:28:11.335Z,1368710891.335 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T13:28:12.143Z,1368710892.143 [NAL9602](IMPORTANT): GPS fix at: 1368710825.00
2013-05-16T13:28:12.157Z,1368710892.157 [science_to:SURFACECOMMS:C:A] Stopped
2013-05-16T13:28:12.157Z,1368710892.158 [science_to:SURFACECOMMS:C:B] Running Loop=1
2013-05-16T13:28:12.661Z,1368710892.661 [science_to:SURFACECOMMS:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-16T13:28:13.851Z,1368710893.851 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:16.427Z,1368710896.427 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:18.986Z,1368710898.986 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:21.559Z,1368710901.559 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:24.111Z,1368710904.111 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:26.662Z,1368710906.662 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:29.219Z,1368710909.218 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:30.033Z,1368710910.033 [NAL9602](INFO): SBD MO Status=1, MOMSN=12197, MT Status=0, MTMSN=0
2013-05-16T13:28:30.083Z,1368710910.083 [NAL9602](INFO): Sent 136 bytes from file Logs/20130516T131744/Express0005.lzma
2013-05-16T13:28:30.083Z,1368710910.083 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:28:30.085Z,1368710910.085 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0005.lzma.parts/0000.sbd
2013-05-16T13:28:31.771Z,1368710911.770 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:34.331Z,1368710914.330 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:36.894Z,1368710916.894 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:39.455Z,1368710919.455 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:40.973Z,1368710920.973 [NAL9602](INFO): SBD MO Status=0, MOMSN=12198, MT Status=0, MTMSN=0
2013-05-16T13:28:42.027Z,1368710922.027 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:44.579Z,1368710924.579 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:47.150Z,1368710927.150 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:49.702Z,1368710929.703 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:52.262Z,1368710932.263 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:54.826Z,1368710934.826 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:57.379Z,1368710937.378 [DVL_micro](DEBUG): NQ1
2013-05-16T13:28:59.938Z,1368710939.938 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:02.482Z,1368710942.482 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:04.741Z,1368710944.741 [NAL9602](INFO): SBD MO Status=2, MOMSN=12199, MT Status=2, MTMSN=0
2013-05-16T13:29:04.741Z,1368710944.741 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-05-16T13:29:05.063Z,1368710945.063 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:07.606Z,1368710947.606 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:10.170Z,1368710950.171 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:12.730Z,1368710952.730 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:15.287Z,1368710955.287 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:17.830Z,1368710957.830 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:20.435Z,1368710960.435 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:22.975Z,1368710962.974 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:25.531Z,1368710965.531 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:28.079Z,1368710968.079 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:30.623Z,1368710970.622 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:33.163Z,1368710973.163 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:35.719Z,1368710975.718 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:38.271Z,1368710978.271 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:40.835Z,1368710980.835 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:41.101Z,1368710981.101 [NAL9602](INFO): SBD MO Status=1, MOMSN=12199, MT Status=0, MTMSN=0
2013-05-16T13:29:41.159Z,1368710981.159 [NAL9602](INFO): Sent 67 bytes from file Logs/20130516T131744/Courier0008.lzma
2013-05-16T13:29:41.159Z,1368710981.159 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:29:41.161Z,1368710981.161 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Courier0008.lzma.parts/0000.sbd
2013-05-16T13:29:43.386Z,1368710983.386 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:45.942Z,1368710985.942 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:48.522Z,1368710988.522 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:51.087Z,1368710991.087 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:52.157Z,1368710992.157 [NAL9602](INFO): SBD MO Status=1, MOMSN=12200, MT Status=0, MTMSN=0
2013-05-16T13:29:52.207Z,1368710992.207 [NAL9602](INFO): Sent 332 bytes from file Logs/20130516T131744/Express0009.lzma
2013-05-16T13:29:52.207Z,1368710992.207 [NAL9602](INFO): Packets left to send: 1
2013-05-16T13:29:52.208Z,1368710992.208 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0009.lzma.parts/0001.sbd
2013-05-16T13:29:53.650Z,1368710993.650 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:56.219Z,1368710996.219 [DVL_micro](DEBUG): NQ1
2013-05-16T13:29:58.774Z,1368710998.774 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:01.327Z,1368711001.327 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:03.875Z,1368711003.875 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:04.448Z,1368711004.448 [NAL9602](INFO): SBD MO Status=1, MOMSN=12201, MT Status=0, MTMSN=0
2013-05-16T13:30:04.499Z,1368711004.499 [NAL9602](INFO): Sent 207 bytes from file Logs/20130516T131744/Express0009.lzma
2013-05-16T13:30:04.499Z,1368711004.499 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:30:04.500Z,1368711004.500 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0009.lzma.parts/0000.sbd
2013-05-16T13:30:06.434Z,1368711006.434 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:08.998Z,1368711008.998 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:11.539Z,1368711011.539 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:14.099Z,1368711014.099 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:15.261Z,1368711015.261 [NAL9602](INFO): SBD MO Status=0, MOMSN=12202, MT Status=0, MTMSN=0
2013-05-16T13:30:15.787Z,1368711015.787 [CommandLine](IMPORTANT): got command set science_to.Wpt1Lon 
2013-05-16T13:30:15.787Z,1368711015.787 [CommandLine](FAULT): Incomplete syntax. Try: help set
2013-05-16T13:30:16.663Z,1368711016.662 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:19.086Z,1368711019.086 [science_to:SURFACECOMMS:C:B] Stopped
2013-05-16T13:30:19.086Z,1368711019.086 [science_to:SURFACECOMMS:C:C] Running Loop=1
2013-05-16T13:30:19.207Z,1368711019.207 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:19.547Z,1368711019.547 [science_to:SURFACECOMMS:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-16T13:30:21.443Z,1368711021.443 [NAL9602](IMPORTANT): GPS fix at: 1368710954.00
2013-05-16T13:30:21.459Z,1368711021.459 [science_to:SURFACECOMMS:C:C] Stopped
2013-05-16T13:30:21.460Z,1368711021.460 [science_to:SURFACECOMMS:C](INFO): Completed science_to:SURFACECOMMS:C
2013-05-16T13:30:21.460Z,1368711021.460 [science_to:SURFACECOMMS:C] Stopped
2013-05-16T13:30:21.460Z,1368711021.460 [science_to:SURFACECOMMS:C](INFO): Aggregate::uninitialize science_to:SURFACECOMMS:C
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:SURFACECOMMS](INFO): Completed science_to:SURFACECOMMS
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:SURFACECOMMS] Stopped
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:SURFACECOMMS](INFO): Aggregate::uninitialize science_to:SURFACECOMMS
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:SURFACECOMMS:A.GoToSurface] Stopped
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:Wpt1] Running Loop=1
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:Wpt1](INFO): Aggregate::initialize science_to:Wpt1
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:Wpt1:A.Waypoint] Running Loop=1
2013-05-16T13:30:21.461Z,1368711021.461 [science_to:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2013-05-16T13:30:21.762Z,1368711021.762 [DVL_micro](DEBUG): NQ1
2013-05-16T13:30:21.835Z,1368711021.835 [science_to:Wpt1] Stopped
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt1](INFO): Aggregate::uninitialize science_to:Wpt1
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt1:A.Waypoint] Stopped
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt2] Running Loop=1
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt2](INFO): Aggregate::initialize science_to:Wpt2
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt2:A.Waypoint] Running Loop=1
2013-05-16T13:30:21.836Z,1368711021.836 [science_to:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2013-05-16T13:30:21.837Z,1368711021.837 [science_to:K.YoYo] Running Loop=1
2013-05-16T13:30:21.837Z,1368711021.838 [science_to:J.DepthEnvelope] Running Loop=1
2013-05-16T13:30:21.839Z,1368711021.839 [science_to:I.SetSpeed] Running Loop=1
2013-05-16T13:30:21.839Z,1368711021.839 [science_to:H.Buoyancy] Running Loop=1
2013-05-16T13:30:21.839Z,1368711021.839 [science_to:Science] Running Loop=1
2013-05-16T13:30:21.840Z,1368711021.840 [science_to:Science:I] Running Loop=1
2013-05-16T13:30:21.840Z,1368711021.840 [science_to:Science:H] Running Loop=1
2013-05-16T13:30:21.841Z,1368711021.841 [science_to:Science:G] Running Loop=1
2013-05-16T13:30:21.841Z,1368711021.841 [science_to:Science:D] Running Loop=1
2013-05-16T13:30:21.867Z,1368711021.867 [DVL_micro](INFO): RSSI requested
2013-05-16T13:30:21.867Z,1368711021.867 [DVL_micro](INFO): ADCP requested
2013-05-16T13:30:21.867Z,1368711021.867 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T13:30:21.959Z,1368711021.959 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-05-16T13:30:21.960Z,1368711021.960 [WetLabsBB2FL](INFO): Powering up
2013-05-16T13:30:22.207Z,1368711022.207 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T13:30:22.229Z,1368711022.229 [science_to:Wpt2] Stopped
2013-05-16T13:30:22.229Z,1368711022.229 [science_to:Wpt2](INFO): Aggregate::uninitialize science_to:Wpt2
2013-05-16T13:30:22.229Z,1368711022.230 [science_to:Wpt2:A.Waypoint] Stopped
2013-05-16T13:30:22.229Z,1368711022.230 [science_to:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2013-05-16T13:30:22.230Z,1368711022.230 [science_to:Wpt3] Running Loop=1
2013-05-16T13:30:22.230Z,1368711022.230 [science_to:Wpt3](INFO): Aggregate::initialize science_to:Wpt3
2013-05-16T13:30:22.233Z,1368711022.233 [science_to:Wpt3:A.Waypoint] Running Loop=1
2013-05-16T13:30:22.233Z,1368711022.233 [science_to:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2013-05-16T13:30:22.606Z,1368711022.606 [science_to:Wpt3] Stopped
2013-05-16T13:30:22.606Z,1368711022.606 [science_to:Wpt3](INFO): Aggregate::uninitialize science_to:Wpt3
2013-05-16T13:30:22.606Z,1368711022.606 [science_to:Wpt3:A.Waypoint] Stopped
2013-05-16T13:30:22.606Z,1368711022.606 [science_to:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2013-05-16T13:30:22.606Z,1368711022.606 [science_to:Wpt4] Running Loop=1
2013-05-16T13:30:22.606Z,1368711022.606 [science_to:Wpt4](INFO): Aggregate::initialize science_to:Wpt4
2013-05-16T13:30:22.607Z,1368711022.607 [science_to:Wpt4:A.Waypoint] Running Loop=1
2013-05-16T13:30:22.607Z,1368711022.607 [science_to:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2013-05-16T13:30:23.062Z,1368711023.062 [science_to:Wpt4] Stopped
2013-05-16T13:30:23.063Z,1368711023.063 [science_to:Wpt4](INFO): Aggregate::uninitialize science_to:Wpt4
2013-05-16T13:30:23.063Z,1368711023.063 [science_to:Wpt4:A.Waypoint] Stopped
2013-05-16T13:30:23.063Z,1368711023.063 [science_to:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2013-05-16T13:30:23.084Z,1368711023.085 [science_to](INFO): Completed science_to
2013-05-16T13:30:23.085Z,1368711023.085 [science_to] Stopped
2013-05-16T13:30:23.085Z,1368711023.085 [science_to](INFO): Aggregate::uninitialize science_to
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:AltEnvWrapper] Stopped
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:AltEnvWrapper](INFO): Aggregate::uninitialize science_to:AltEnvWrapper
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:AltEnvWrapper:A.AltitudeEnvelope] Stopped
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:AltEnvWrapper:B.Wait] Stopped
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:AltEnvWrapper:B.Wait](DEBUG): Uninitialize Wait Component.
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:B.DepthEnvelope] Stopped
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:B.DepthEnvelope](DEBUG): Uninitialize.
2013-05-16T13:30:23.085Z,1368711023.085 [science_to:OffshoreWrapper] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:OffshoreWrapper](INFO): Aggregate::uninitialize science_to:OffshoreWrapper
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:OffshoreWrapper:A.OffshoreEnvelope] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:OffshoreWrapper:B.Wait] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:OffshoreWrapper:B.Wait](DEBUG): Uninitialize Wait Component.
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:D.Pitch] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:Science] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:Science](INFO): Aggregate::uninitialize science_to:Science
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:Science:A] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:Science:B] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:Science:C] Stopped
2013-05-16T13:30:23.086Z,1368711023.086 [science_to:Science:D] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:E] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:F] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:G] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:H] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:I] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:PeakDetectChl] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:PeakDetectChl](INFO): Aggregate::uninitialize science_to:Science:PeakDetectChl
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:H.Buoyancy] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:H.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:I.SetSpeed] Stopped
2013-05-16T13:30:23.087Z,1368711023.087 [science_to:I.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:30:23.087Z,1368711023.088 [science_to:J.DepthEnvelope] Stopped
2013-05-16T13:30:23.088Z,1368711023.088 [science_to:J.DepthEnvelope](DEBUG): Uninitialize.
2013-05-16T13:30:23.088Z,1368711023.088 [science_to:K.YoYo] Stopped
2013-05-16T13:30:23.088Z,1368711023.088 [science_to:K.YoYo](DEBUG): Uninitialize YoYoComponent.
2013-05-16T13:30:23.255Z,1368711023.255 [WetLabsBB2FL](INFO): Powering down
2013-05-16T13:30:23.459Z,1368711023.459 [MissionManager](IMPORTANT): Started mission Default
2013-05-16T13:30:23.459Z,1368711023.459 [Default] Running Loop=1
2013-05-16T13:30:23.459Z,1368711023.459 [Default](INFO): Aggregate::initialize Default
2013-05-16T13:30:23.459Z,1368711023.459 [Default:D.SetSpeed] Running Loop=1
2013-05-16T13:30:23.459Z,1368711023.459 [Default:D.SetSpeed](DEBUG): Initialize.
2013-05-16T13:30:23.460Z,1368711023.460 [Default:E.GoToSurface] Running Loop=1
2013-05-16T13:30:23.460Z,1368711023.460 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:30:23.460Z,1368711023.460 [Default:Iridium] Running Loop=1
2013-05-16T13:30:23.460Z,1368711023.460 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-05-16T13:30:23.460Z,1368711023.460 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-16T13:30:23.460Z,1368711023.460 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-05-16T13:30:23.460Z,1368711023.460 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-05-16T13:30:23.461Z,1368711023.461 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:30:23.463Z,1368711023.463 [Default:Iridium:B.GoToSurface] Stopped
2013-05-16T13:30:23.463Z,1368711023.463 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:30:23.463Z,1368711023.463 [Default:Iridium:Read_Iridium] Running Loop=1
2013-05-16T13:30:23.463Z,1368711023.463 [Default:GPS] Running Loop=1
2013-05-16T13:30:23.463Z,1368711023.464 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-05-16T13:30:23.464Z,1368711023.464 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-16T13:30:23.464Z,1368711023.464 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-05-16T13:30:23.464Z,1368711023.464 [Default:GPS:B.GoToSurface] Running Loop=1
2013-05-16T13:30:23.464Z,1368711023.464 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T13:30:23.465Z,1368711023.465 [Default:GPS:B.GoToSurface] Stopped
2013-05-16T13:30:23.465Z,1368711023.465 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:30:23.465Z,1368711023.465 [Default:GPS:Read_GPS] Running Loop=1
2013-05-16T13:30:23.875Z,1368711023.875 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T13:30:23.875Z,1368711023.875 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-05-16T13:30:24.086Z,1368711024.086 [DVL_micro](DEBUG): cmdResponse: 00
2013-05-16T13:30:24.086Z,1368711024.086 [DVL_micro](INFO): Enabling RSSI output
2013-05-16T13:30:24.087Z,1368711024.087 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 16 7

2013-05-16T13:30:24.278Z,1368711024.278 [DVL_micro](DEBUG): cmdResponse: 16
2013-05-16T13:30:24.278Z,1368711024.279 [DVL_micro](INFO): Enabling ADCP output
2013-05-16T13:30:24.279Z,1368711024.279 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 03 3

2013-05-16T13:30:24.478Z,1368711024.478 [DVL_micro](DEBUG): cmdResponse: 03 16
2013-05-16T13:30:24.479Z,1368711024.478 [DVL_micro](INFO): Enabling NQ1 output
2013-05-16T13:30:24.479Z,1368711024.479 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-05-16T13:30:24.674Z,1368711024.674 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-05-16T13:30:24.675Z,1368711024.675 [DVL_micro](INFO): Querying output modes
2013-05-16T13:30:24.675Z,1368711024.675 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T13:30:24.688Z,1368711024.688 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-05-16T13:30:24.689Z,1368711024.689 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T13:30:24.691Z,1368711024.691 [DVL_micro](INFO): RSSI output enabled
2013-05-16T13:30:24.692Z,1368711024.692 [DVL_micro](INFO): ADCP output enabled
2013-05-16T13:30:24.693Z,1368711024.693 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T13:30:24.707Z,1368711024.707 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T13:30:24.800Z,1368711024.800 [DVL_micro](INFO): pause:Powering down
2013-05-16T13:30:25.905Z,1368711025.905 [NAL9602](IMPORTANT): GPS fix at: 1368710958.00
2013-05-16T13:30:25.936Z,1368711025.936 [Default:GPS:Read_GPS] Stopped
2013-05-16T13:30:25.936Z,1368711025.936 [Default:GPS:D] Running Loop=1
2013-05-16T13:30:26.443Z,1368711026.443 [Default:GPS:D] Stopped
2013-05-16T13:30:26.444Z,1368711026.444 [Default:GPS](INFO): Completed Default:GPS
2013-05-16T13:30:26.444Z,1368711026.444 [Default:GPS] Stopped
2013-05-16T13:30:26.444Z,1368711026.444 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-05-16T13:30:26.444Z,1368711026.444 [Default:GPS:A.SetSpeed] Stopped
2013-05-16T13:30:26.444Z,1368711026.444 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:30:49.684Z,1368711049.684 [NAL9602](INFO): SBD MO Status=1, MOMSN=12203, MT Status=0, MTMSN=0
2013-05-16T13:30:49.735Z,1368711049.735 [NAL9602](INFO): Sent 67 bytes from file Logs/20130516T131744/Courier0012.lzma
2013-05-16T13:30:49.735Z,1368711049.735 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:30:49.737Z,1368711049.737 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Courier0012.lzma.parts/0000.sbd
2013-05-16T13:31:11.762Z,1368711071.762 [NAL9602](INFO): SBD MO Status=2, MOMSN=12204, MT Status=0, MTMSN=0
2013-05-16T13:31:11.762Z,1368711071.762 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-05-16T13:31:32.910Z,1368711092.910 [NAL9602](INFO): SBD MO Status=1, MOMSN=12204, MT Status=0, MTMSN=0
2013-05-16T13:31:32.963Z,1368711092.963 [NAL9602](INFO): Sent 232 bytes from file Logs/20130516T131744/Express0013.lzma
2013-05-16T13:31:32.963Z,1368711092.963 [NAL9602](INFO): Packets left to send: 0
2013-05-16T13:31:32.965Z,1368711092.965 [NAL9602](INFO): Stored copy of sent data in Logs/20130516T131744/Express0013.lzma.parts/0000.sbd
2013-05-16T13:31:53.358Z,1368711113.358 [NAL9602](INFO): SBD MO Status=2, MOMSN=12205, MT Status=2, MTMSN=0
2013-05-16T13:31:53.358Z,1368711113.358 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-05-16T13:31:58.527Z,1368711118.527 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:08.451Z,1368711128.451 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:12.756Z,1368711132.756 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:17.041Z,1368711137.040 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:19.458Z,1368711139.458 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:23.378Z,1368711143.378 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:25.731Z,1368711145.731 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:29.699Z,1368711149.699 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T13:32:34.791Z,1368711154.791 [CommandLine](IMPORTANT): got command quit
2013-05-16T13:32:35.870Z,1368711155.870 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-05-16T13:32:35.871Z,1368711155.871 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-05-16T13:32:36.258Z,1368711156.258 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-05-16T13:32:36.615Z,1368711156.615 [WetLabsBB2FL](INFO): Powering down
2013-05-16T13:32:36.630Z,1368711156.630 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-05-16T13:32:37.023Z,1368711157.023 [CTD_NeilBrown](INFO): Powering down
2013-05-16T13:32:37.042Z,1368711157.042 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-05-16T13:32:37.379Z,1368711157.379 [DVL_micro](INFO): uninitialize:Powering down
2013-05-16T13:32:37.386Z,1368711157.386 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-05-16T13:32:37.567Z,1368711157.567 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-05-16T13:32:37.580Z,1368711157.579 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-05-16T13:32:37.623Z,1368711157.623 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-05-16T13:32:37.631Z,1368711157.631 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-05-16T13:32:37.656Z,1368711157.656 [controlThread](DEBUG): Uninitializing ControlThread
2013-05-16T13:32:37.656Z,1368711157.656 [AHRS_sp3003D](INFO): Powering down
2013-05-16T13:32:37.743Z,1368711157.743 [NAL9602](INFO): Powering down
2013-05-16T13:32:37.745Z,1368711157.745 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T13:32:37.746Z,1368711157.746 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-05-16T13:32:37.747Z,1368711157.747 [Default] Stopped
2013-05-16T13:32:37.747Z,1368711157.747 [Default](INFO): Aggregate::uninitialize Default
2013-05-16T13:32:37.747Z,1368711157.747 [Default:Iridium] Stopped
2013-05-16T13:32:37.747Z,1368711157.747 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-05-16T13:32:37.747Z,1368711157.747 [Default:Iridium:A.SetSpeed] Stopped
2013-05-16T13:32:37.747Z,1368711157.747 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:32:37.747Z,1368711157.747 [Default:Iridium:Read_Iridium] Stopped
2013-05-16T13:32:37.747Z,1368711157.747 [Default:D.SetSpeed] Stopped
2013-05-16T13:32:37.748Z,1368711157.747 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-05-16T13:32:37.748Z,1368711157.748 [Default:E.GoToSurface] Stopped
2013-05-16T13:32:37.748Z,1368711157.748 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T13:32:37.752Z,1368711157.752 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-05-16T13:32:37.752Z,1368711157.752 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-05-16T13:32:37.753Z,1368711157.753 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-05-16T13:32:37.753Z,1368711157.753 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-05-16T13:32:37.753Z,1368711157.753 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-05-16T13:32:37.753Z,1368711157.753 [BuoyancyServo](INFO): Powering down
2013-05-16T13:32:37.767Z,1368711157.767 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-05-16T13:32:37.767Z,1368711157.767 [ElevatorServo](INFO): Powering down
2013-05-16T13:32:37.768Z,1368711157.768 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-05-16T13:32:37.768Z,1368711157.768 [MassServo](INFO): Powering down
2013-05-16T13:32:37.769Z,1368711157.769 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-05-16T13:32:37.769Z,1368711157.769 [RudderServo](INFO): Powering down
2013-05-16T13:32:37.770Z,1368711157.770 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-05-16T13:32:37.770Z,1368711157.770 [ThrusterServo](INFO): Powering down
2013-05-16T13:32:37.771Z,1368711157.771 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-05-16T13:32:37.771Z,1368711157.771 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-05-16T13:32:37.771Z,1368711157.771 [CBIT](DEBUG): Uninitialize CBIT Component.