2013-05-21T23:05:02.092Z,1369177502.092 [Supervisor](DEBUG): Initializing supervisor. 2013-05-21T23:05:02.096Z,1369177502.096 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0 2013-05-21T23:05:02.097Z,1369177502.097 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2013-05-21T23:05:02.098Z,1369177502.098 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0 2013-05-21T23:05:02.116Z,1369177502.116 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2013-05-21T23:05:02.127Z,1369177502.127 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2013-05-21T23:05:02.128Z,1369177502.128 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0 2013-05-21T23:05:02.129Z,1369177502.129 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2013-05-21T23:05:02.130Z,1369177502.130 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0 2013-05-21T23:05:02.131Z,1369177502.131 [Supervisor](INFO): Looking for Config files in directory: Config/ 2013-05-21T23:05:02.135Z,1369177502.135 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2013-05-21T23:05:02.498Z,1369177502.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2013-05-21T23:05:02.499Z,1369177502.499 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2013-05-21T23:05:02.697Z,1369177502.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2013-05-21T23:05:02.698Z,1369177502.698 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2013-05-21T23:05:02.784Z,1369177502.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample 2013-05-21T23:05:02.786Z,1369177502.786 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2013-05-21T23:05:02.992Z,1369177502.992 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2013-05-21T23:05:02.993Z,1369177502.993 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2013-05-21T23:05:03.133Z,1369177503.133 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2013-05-21T23:05:03.135Z,1369177503.135 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2013-05-21T23:05:03.373Z,1369177503.374 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2013-05-21T23:05:03.374Z,1369177503.374 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2013-05-21T23:05:03.548Z,1369177503.548 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2013-05-21T23:05:03.550Z,1369177503.550 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2013-05-21T23:05:03.810Z,1369177503.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2013-05-21T23:05:03.812Z,1369177503.812 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2013-05-21T23:05:03.913Z,1369177503.913 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2013-05-21T23:05:03.913Z,1369177503.913 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2013-05-21T23:05:04.326Z,1369177504.326 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2013-05-21T23:05:04.326Z,1369177504.326 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2013-05-21T23:05:04.442Z,1369177504.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2013-05-21T23:05:04.442Z,1369177504.442 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2013-05-21T23:05:04.528Z,1369177504.528 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/ 2013-05-21T23:05:04.532Z,1369177504.532 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg 2013-05-21T23:05:04.640Z,1369177504.640 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg 2013-05-21T23:05:04.772Z,1369177504.772 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg 2013-05-21T23:05:04.858Z,1369177504.858 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg 2013-05-21T23:05:04.967Z,1369177504.967 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg 2013-05-21T23:05:05.071Z,1369177505.070 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg 2013-05-21T23:05:05.194Z,1369177505.194 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg 2013-05-21T23:05:05.292Z,1369177505.292 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg 2013-05-21T23:05:05.382Z,1369177505.382 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/ 2013-05-21T23:05:05.382Z,1369177505.382 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg 2013-05-21T23:05:05.409Z,1369177505.409 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2013-05-21T23:05:05.594Z,1369177505.594 [InternalSim] Loaded 2013-05-21T23:05:05.594Z,1369177505.594 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread. 2013-05-21T23:05:05.595Z,1369177505.595 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2013-05-21T23:05:05.595Z,1369177505.595 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2013-05-21T23:05:05.676Z,1369177505.676 [SBIT](DEBUG): Construct Startup Built In Test. 2013-05-21T23:05:05.705Z,1369177505.705 [SBIT] Loaded 2013-05-21T23:05:05.705Z,1369177505.705 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2013-05-21T23:05:05.706Z,1369177505.706 [IBIT](DEBUG): Construct Initiated Built In Test. 2013-05-21T23:05:05.736Z,1369177505.736 [IBIT] Loaded 2013-05-21T23:05:05.736Z,1369177505.736 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2013-05-21T23:05:05.739Z,1369177505.740 [CBIT](DEBUG): Construct CBIT Built In Test. 2013-05-21T23:05:05.859Z,1369177505.859 [CBIT] Loaded 2013-05-21T23:05:05.859Z,1369177505.859 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2013-05-21T23:05:05.859Z,1369177505.859 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2013-05-21T23:05:05.860Z,1369177505.860 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2013-05-21T23:05:06.031Z,1369177506.030 [BuoyancyServo] Loaded 2013-05-21T23:05:06.031Z,1369177506.031 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2013-05-21T23:05:06.043Z,1369177506.043 [ElevatorServo] Loaded 2013-05-21T23:05:06.043Z,1369177506.043 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2013-05-21T23:05:06.056Z,1369177506.056 [MassServo] Loaded 2013-05-21T23:05:06.056Z,1369177506.056 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2013-05-21T23:05:06.068Z,1369177506.068 [RudderServo] Loaded 2013-05-21T23:05:06.068Z,1369177506.068 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2013-05-21T23:05:06.080Z,1369177506.080 [ThrusterServo] Loaded 2013-05-21T23:05:06.080Z,1369177506.080 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread. 2013-05-21T23:05:06.080Z,1369177506.080 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2013-05-21T23:05:06.081Z,1369177506.081 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2013-05-21T23:05:06.115Z,1369177506.115 [DepthRateCalculator] Loaded 2013-05-21T23:05:06.115Z,1369177506.115 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2013-05-21T23:05:09.166Z,1369177509.166 [HFRadarModelCalc] Loaded 2013-05-21T23:05:09.167Z,1369177509.167 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread. 2013-05-21T23:05:09.183Z,1369177509.183 [NavChart] Loaded 2013-05-21T23:05:09.183Z,1369177509.183 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2013-05-21T23:05:09.189Z,1369177509.189 [PitchRateCalculator] Loaded 2013-05-21T23:05:09.189Z,1369177509.189 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2013-05-21T23:05:09.200Z,1369177509.200 [SpeedCalculator] Loaded 2013-05-21T23:05:09.200Z,1369177509.200 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2013-05-21T23:05:09.215Z,1369177509.216 [TempGradientCalculator] Loaded 2013-05-21T23:05:09.216Z,1369177509.216 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread. 2013-05-21T23:05:09.222Z,1369177509.222 [YawRateCalculator] Loaded 2013-05-21T23:05:09.222Z,1369177509.222 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2013-05-21T23:05:09.268Z,1369177509.268 [Navigation] Loaded 2013-05-21T23:05:09.268Z,1369177509.268 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread. 2013-05-21T23:05:09.269Z,1369177509.269 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2013-05-21T23:05:09.269Z,1369177509.269 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2013-05-21T23:05:09.526Z,1369177509.526 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2013-05-21T23:05:09.527Z,1369177509.527 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2013-05-21T23:05:09.565Z,1369177509.565 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2013-05-21T23:05:09.566Z,1369177509.566 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2013-05-21T23:05:09.626Z,1369177509.626 [VerticalControl](DEBUG): Construct VerticalControl. 2013-05-21T23:05:09.720Z,1369177509.720 [VerticalControl] Loaded 2013-05-21T23:05:09.720Z,1369177509.720 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2013-05-21T23:05:09.721Z,1369177509.721 [HorizontalControl](DEBUG): Construct HorizontalControl. 2013-05-21T23:05:09.778Z,1369177509.778 [HorizontalControl] Loaded 2013-05-21T23:05:09.778Z,1369177509.778 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2013-05-21T23:05:09.779Z,1369177509.779 [SpeedControl](DEBUG): Construct SpeedControl. 2013-05-21T23:05:09.781Z,1369177509.781 [SpeedControl] Loaded 2013-05-21T23:05:09.781Z,1369177509.781 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2013-05-21T23:05:09.782Z,1369177509.782 [LoopControl](DEBUG): Construct LoopControl. 2013-05-21T23:05:09.783Z,1369177509.783 [LoopControl] Loaded 2013-05-21T23:05:09.783Z,1369177509.783 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2013-05-21T23:05:09.783Z,1369177509.783 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2013-05-21T23:05:09.784Z,1369177509.784 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2013-05-21T23:05:09.792Z,1369177509.792 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator. 2013-05-21T23:05:09.797Z,1369177509.797 [AsyncPiEstimator] Loaded 2013-05-21T23:05:09.797Z,1369177509.797 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread. 2013-05-21T23:05:09.799Z,1369177509.799 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0 2013-05-21T23:05:09.799Z,1369177509.799 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2013-05-21T23:05:09.800Z,1369177509.800 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2013-05-21T23:05:09.970Z,1369177509.970 [AHRS_sp3003D] Loaded 2013-05-21T23:05:09.970Z,1369177509.970 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread. 2013-05-21T23:05:10.237Z,1369177510.237 [Batt_Ocean_Server] Loaded 2013-05-21T23:05:10.237Z,1369177510.237 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread. 2013-05-21T23:05:10.251Z,1369177510.251 [Depth_Keller] Loaded 2013-05-21T23:05:10.251Z,1369177510.251 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2013-05-21T23:05:10.428Z,1369177510.428 [DVL_micro] Loaded 2013-05-21T23:05:10.428Z,1369177510.428 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread. 2013-05-21T23:05:10.429Z,1369177510.429 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0 2013-05-21T23:05:10.513Z,1369177510.513 [NAL9602] Loaded 2013-05-21T23:05:10.514Z,1369177510.514 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2013-05-21T23:05:10.565Z,1369177510.565 [Onboard] Loaded 2013-05-21T23:05:10.566Z,1369177510.566 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread. 2013-05-21T23:05:10.572Z,1369177510.572 [Radio_Freewave] Loaded 2013-05-21T23:05:10.573Z,1369177510.573 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread. 2013-05-21T23:05:10.737Z,1369177510.737 [DAT] Loaded 2013-05-21T23:05:10.737Z,1369177510.737 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread. 2013-05-21T23:05:10.737Z,1369177510.737 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2013-05-21T23:05:10.738Z,1369177510.738 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2013-05-21T23:05:10.834Z,1369177510.833 [CTD_NeilBrown] Loaded 2013-05-21T23:05:10.834Z,1369177510.834 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread. 2013-05-21T23:05:10.835Z,1369177510.835 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0 2013-05-21T23:05:10.869Z,1369177510.869 [WetLabsBB2FL] Loaded 2013-05-21T23:05:10.869Z,1369177510.869 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2013-05-21T23:05:10.870Z,1369177510.870 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0 2013-05-21T23:05:10.871Z,1369177510.871 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2013-05-21T23:05:10.874Z,1369177510.874 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2013-05-21T23:05:10.874Z,1369177510.874 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2013-05-21T23:05:10.885Z,1369177510.885 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2013-05-21T23:05:10.886Z,1369177510.886 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0 2013-05-21T23:05:10.890Z,1369177510.890 [Supervisor](DEBUG): Running supervisor. 2013-05-21T23:05:10.891Z,1369177510.891 [CommandLine](INFO): Thread ID is 6881 2013-05-21T23:05:10.894Z,1369177510.894 [controlThread](INFO): Thread ID is 6880 2013-05-21T23:05:10.894Z,1369177510.894 [controlThread](DEBUG): Initializing ControlThread 2013-05-21T23:05:10.895Z,1369177510.895 [CycleStarter](INFO): Thread ID is 6879 2013-05-21T23:05:10.895Z,1369177510.895 [InternalSim](DEBUG): InternalSim initializing... 2013-05-21T23:05:10.996Z,1369177510.996 [logger](INFO): Thread ID is 6882 2013-05-21T23:05:11.085Z,1369177511.085 [AsyncPiEstimator](INFO): Thread ID is 6943 2013-05-21T23:05:11.085Z,1369177511.085 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator. 2013-05-21T23:05:11.095Z,1369177511.095 [DVL_micro](INFO): Thread ID is 6944 2013-05-21T23:05:11.255Z,1369177511.256 [CTD_NeilBrown](INFO): Thread ID is 6945 2013-05-21T23:05:11.256Z,1369177511.256 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown. 2013-05-21T23:05:11.259Z,1369177511.259 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4 2013-05-21T23:05:11.271Z,1369177511.271 [DVL_micro](INFO): Initializing 2013-05-21T23:05:11.271Z,1369177511.271 [DVL_micro](INFO): start:Powering up 2013-05-21T23:05:11.272Z,1369177511.272 [DVL_micro](INFO): Opening uart, block timeout 10ths=20 2013-05-21T23:05:11.273Z,1369177511.273 [DVL_micro](INFO): Cycling power to configure device. 2013-05-21T23:05:11.305Z,1369177511.305 [WetLabsBB2FL](INFO): Thread ID is 6946 2013-05-21T23:05:11.305Z,1369177511.305 [WetLabsBB2FL](INFO): Powering down 2013-05-21T23:05:11.344Z,1369177511.344 [SBIT](INFO): Initialize SBIT Component. 2013-05-21T23:05:11.344Z,1369177511.344 [SBIT](IMPORTANT): Tethys CM Info: $Rev:10367 2013-05-21T23:05:11.350Z,1369177511.350 [NavChartDb](INFO): Thread ID is 6947 2013-05-21T23:05:11.352Z,1369177511.352 [SBIT](IMPORTANT): Kernel Release:2.6.27.8 2013-05-21T23:05:11.353Z,1369177511.353 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013 2013-05-21T23:05:11.361Z,1369177511.361 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources 2013-05-21T23:05:11.362Z,1369177511.362 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2013-05-21T23:05:11.362Z,1369177511.362 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2013-05-21T23:05:11.363Z,1369177511.362 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2013-05-21T23:05:11.363Z,1369177511.363 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2013-05-21T23:05:11.363Z,1369177511.363 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000 2013-05-21T23:05:11.363Z,1369177511.363 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000 2013-05-21T23:05:11.363Z,1369177511.364 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000 2013-05-21T23:05:11.364Z,1369177511.364 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000 2013-05-21T23:05:11.366Z,1369177511.366 [IBIT](INFO): Initialize IBIT Component. 2013-05-21T23:05:11.368Z,1369177511.368 [CBIT](DEBUG): Initialize CBIT Component. 2013-05-21T23:05:11.368Z,1369177511.368 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL. 2013-05-21T23:05:11.369Z,1369177511.369 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2013-05-21T23:05:11.430Z,1369177511.430 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2013-05-21T23:05:11.431Z,1369177511.431 [NavChart](DEBUG): Initialize NavChart Derivation. 2013-05-21T23:05:11.432Z,1369177511.432 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2013-05-21T23:05:11.432Z,1369177511.432 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2013-05-21T23:05:11.433Z,1369177511.433 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator. 2013-05-21T23:05:11.434Z,1369177511.434 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2013-05-21T23:05:11.435Z,1369177511.435 [Navigation](DEBUG): Initializing Navigation. 2013-05-21T23:05:11.435Z,1369177511.435 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2013-05-21T23:05:11.437Z,1369177511.437 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2013-05-21T23:05:11.438Z,1369177511.438 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2013-05-21T23:05:11.438Z,1369177511.438 [LoopControl](DEBUG): Initialize LoopControlComponent. 2013-05-21T23:05:11.464Z,1369177511.464 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/Homing_pursuit.xml 2013-05-21T23:05:11.465Z,1369177511.465 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml 2013-05-21T23:05:11.773Z,1369177511.773 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg 2013-05-21T23:05:11.779Z,1369177511.779 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg 2013-05-21T23:05:11.782Z,1369177511.782 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg 2013-05-21T23:05:11.794Z,1369177511.794 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg 2013-05-21T23:05:11.797Z,1369177511.797 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m 2013-05-21T23:05:11.850Z,1369177511.850 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s 2013-05-21T23:05:11.854Z,1369177511.854 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a 2013-05-21T23:05:11.870Z,1369177511.870 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a 2013-05-21T23:05:11.873Z,1369177511.873 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count 2013-05-21T23:05:11.876Z,1369177511.876 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 20.000000 m 2013-05-21T23:05:11.880Z,1369177511.880 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a 2013-05-21T23:05:11.895Z,1369177511.895 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m 2013-05-21T23:05:11.922Z,1369177511.922 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min 2013-05-21T23:05:11.925Z,1369177511.925 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 45.000000 min 2013-05-21T23:05:11.928Z,1369177511.928 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 10.000000 min 2013-05-21T23:05:11.963Z,1369177511.963 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a 2013-05-21T23:05:11.966Z,1369177511.966 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a 2013-05-21T23:05:11.971Z,1369177511.971 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a 2013-05-21T23:05:11.974Z,1369177511.974 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m 2013-05-21T23:05:11.977Z,1369177511.977 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2013-05-21T23:05:11.988Z,1369177511.987 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2013-05-21T23:05:12.026Z,1369177512.026 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2013-05-21T23:05:12.050Z,1369177512.050 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml 2013-05-21T23:05:12.087Z,1369177512.087 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfaceDepthRate = nan m/s 2013-05-21T23:05:12.130Z,1369177512.130 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfacePitch = nan arcdeg 2013-05-21T23:05:12.133Z,1369177512.133 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s 2013-05-21T23:05:12.136Z,1369177512.136 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.IridiumTimeout = 30.000000 min 2013-05-21T23:05:12.151Z,1369177512.151 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.UnpackSplitAtSurface = 0 bool 2013-05-21T23:05:12.152Z,1369177512.152 [homing_pursuit:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface. 2013-05-21T23:05:12.182Z,1369177512.182 [homing_pursuit:Lap:ApproachNear:A.Pitch](DEBUG): Construct. 2013-05-21T23:05:12.188Z,1369177512.188 [homing_pursuit:Lap:ApproachNear:B.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:12.223Z,1369177512.223 [homing_pursuit:Lap:ApproachNear:WpApproach.Waypoint](DEBUG): Construct Waypoint. 2013-05-21T23:05:12.243Z,1369177512.243 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct. 2013-05-21T23:05:12.248Z,1369177512.248 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy. 2013-05-21T23:05:12.264Z,1369177512.263 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:12.275Z,1369177512.275 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct. 2013-05-21T23:05:12.290Z,1369177512.290 [homing_pursuit:Lap:Pursuit:Heading:A.Point](DEBUG): Construct. 2013-05-21T23:05:12.322Z,1369177512.322 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait. 2013-05-21T23:05:12.350Z,1369177512.350 [homing_pursuit:Lap:ApproachFar:A.Pitch](DEBUG): Construct. 2013-05-21T23:05:12.356Z,1369177512.356 [homing_pursuit:Lap:ApproachFar:B.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:12.367Z,1369177512.367 [homing_pursuit:Lap:ApproachFar:WpApproach.Waypoint](DEBUG): Construct Waypoint. 2013-05-21T23:05:12.379Z,1369177512.379 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct. 2013-05-21T23:05:12.387Z,1369177512.386 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy. 2013-05-21T23:05:12.409Z,1369177512.409 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:12.412Z,1369177512.411 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct. 2013-05-21T23:05:12.436Z,1369177512.436 [homing_pursuit:Lap:Pursuit:Heading:A.Point](DEBUG): Construct. 2013-05-21T23:05:12.453Z,1369177512.453 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait. 2013-05-21T23:05:12.479Z,1369177512.478 [MissionManager](DEBUG): Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 20 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 45 Time allowed for actual pursuit homing. 10 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 Get to near waypoint. -1 Get to far waypoint. -1 2013-05-21T23:05:12.479Z,1369177512.479 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/Homing_pursuit.xml 2013-05-21T23:05:12.952Z,1369177512.953 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized 2013-05-21T23:05:12.991Z,1369177512.991 [MissionManager](INFO): Loading Mission: Missions/Startup.xml 2013-05-21T23:05:13.025Z,1369177513.025 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2013-05-21T23:05:13.053Z,1369177513.053 [MissionManager](DEBUG): 2013-05-21T23:05:13.062Z,1369177513.062 [MissionManager](INFO): Loading Mission: Missions/Default.xml 2013-05-21T23:05:13.159Z,1369177513.159 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool 2013-05-21T23:05:13.177Z,1369177513.177 [Default:GPS:A.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:13.180Z,1369177513.180 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface. 2013-05-21T23:05:13.216Z,1369177513.216 [Default:Iridium:A.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:13.219Z,1369177513.219 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface. 2013-05-21T23:05:13.250Z,1369177513.250 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2013-05-21T23:05:13.282Z,1369177513.282 [Default:D.SetSpeed](DEBUG): Construct. 2013-05-21T23:05:13.313Z,1369177513.313 [Default:E.GoToSurface](DEBUG): Construct GoToSurface. 2013-05-21T23:05:13.319Z,1369177513.319 [Default:F.Wait](DEBUG): Construct Wait. 2013-05-21T23:05:13.346Z,1369177513.346 [MissionManager](DEBUG): 400 400 Burn 300 Dropped drop weight due to communications timeout 5.0 1.0 5 2013-05-21T23:05:13.350Z,1369177513.350 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter, 2013-05-21T23:05:13.414Z,1369177513.414 [DVL_micro](INFO): Opening uart, block timeout 10ths=20 2013-05-21T23:05:13.414Z,1369177513.414 [DVL_micro](INFO): Querying output modes 2013-05-21T23:05:13.414Z,1369177513.414 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606 2013-05-21T23:05:13.425Z,1369177513.425 [DVL_micro](DEBUG): cmdResponse: 01 03 16 2013-05-21T23:05:13.426Z,1369177513.426 [DVL_micro](INFO): NQ1 output enabled 2013-05-21T23:05:13.426Z,1369177513.426 [DVL_micro](INFO): RSSI output enabled 2013-05-21T23:05:13.426Z,1369177513.426 [DVL_micro](INFO): ADCP output enabled 2013-05-21T23:05:13.426Z,1369177513.426 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525 2013-05-21T23:05:13.437Z,1369177513.437 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 2013-05-21T23:05:13.443Z,1369177513.443 [DVL_micro](INFO): pause:Powering down 2013-05-21T23:05:13.461Z,1369177513.461 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D. 2013-05-21T23:05:13.744Z,1369177513.744 [Radio_Freewave](INFO): Powering up 2013-05-21T23:05:13.759Z,1369177513.759 [DAT](INFO): Powering up 2013-05-21T23:05:13.760Z,1369177513.760 [DAT](DEBUG): Initializing DAT. 2013-05-21T23:05:14.187Z,1369177514.187 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2013-05-21T23:05:14.189Z,1369177514.189 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2013-05-21T23:05:14.228Z,1369177514.228 [ElevatorServo](DEBUG): Initializing EZServoServo. 2013-05-21T23:05:14.234Z,1369177514.234 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2013-05-21T23:05:14.259Z,1369177514.260 [MassServo](DEBUG): Initializing EZServoServo. 2013-05-21T23:05:14.262Z,1369177514.261 [MassServo](DEBUG): Initializing MassServo. 2013-05-21T23:05:14.267Z,1369177514.267 [CommandLine](IMPORTANT): got command set homing_pursuit.WaitDuration 90.000000 minute 2013-05-21T23:05:14.291Z,1369177514.291 [RudderServo](DEBUG): Initializing EZServoServo. 2013-05-21T23:05:14.313Z,1369177514.313 [RudderServo](DEBUG): Initializing RudderServo. 2013-05-21T23:05:14.329Z,1369177514.329 [ThrusterServo](DEBUG): Initializing EZServoServo. 2013-05-21T23:05:14.341Z,1369177514.341 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2013-05-21T23:05:15.325Z,1369177515.325 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout 2013-05-21T23:05:15.325Z,1369177515.325 [BuoyancyServo](FAULT): Buoyancy failed to initialize 2013-05-21T23:05:15.325Z,1369177515.325 [BuoyancyServo] Communications Fault, FailCount= 1 2013-05-21T23:05:15.326Z,1369177515.326 [BuoyancyServo](ERROR): Communications Fault 2013-05-21T23:05:15.527Z,1369177515.527 [CBIT](ERROR): Communications Fault in component: BuoyancyServo 2013-05-21T23:05:15.737Z,1369177515.737 [NAL9602](INFO): Powering up NAL9602 2013-05-21T23:05:15.790Z,1369177515.790 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2013-05-21T23:05:15.791Z,1369177515.791 [BuoyancyServo](INFO): Powering down 2013-05-21T23:05:16.222Z,1369177516.222 [CommandLine](IMPORTANT): got command set homing_pursuit.TimeoutDuration 900.000000 minute 2013-05-21T23:05:17.758Z,1369177517.758 [CommandLine](IMPORTANT): got command set homing_pursuit.MinRange -10.000000 meter 2013-05-21T23:05:18.864Z,1369177518.864 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2013-05-21T23:05:18.864Z,1369177518.864 [BuoyancyServo] No Fault, FailCount= 1 2013-05-21T23:05:19.130Z,1369177519.130 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2013-05-21T23:05:19.246Z,1369177519.246 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2013-05-21T23:05:26.354Z,1369177526.353 [NAL9602](INFO): NAL9602 initialized 2013-05-21T23:05:26.748Z,1369177526.748 [SBIT](IMPORTANT): Beginning Startup BIT 2013-05-21T23:05:26.762Z,1369177526.762 [CBIT](IMPORTANT): Beginning GF scan 2013-05-21T23:05:27.612Z,1369177527.612 [NAL9602](IMPORTANT): GPS fix at: 1369177445.00 2013-05-21T23:05:28.686Z,1369177528.685 [CommandLine](IMPORTANT): got command show stack 2013-05-21T23:05:28.686Z,1369177528.686 [CommandLine](INFO): Behavior Stack: 2013-05-21T23:05:28.686Z,1369177528.686 [MissionManager](INFO): Mission loaded, but not running. 2013-05-21T23:05:33.928Z,1369177533.928 [DAT](INFO): Powering down 2013-05-21T23:05:35.586Z,1369177535.586 [NAL9602](INFO): Powering down 2013-05-21T23:05:40.609Z,1369177540.609 [CommandLine](IMPORTANT): got command failComponent 2013-05-21T23:05:40.609Z,1369177540.609 [CommandLine](IMPORTANT): Failed components: 2013-05-21T23:05:40.610Z,1369177540.610 [CommandLine](IMPORTANT): No failed Components. 2013-05-21T23:05:53.538Z,1369177553.538 [CBIT](IMPORTANT): No ground fault detected 2013-05-21T23:06:20.850Z,1369177580.850 [SBIT](IMPORTANT): SBIT PASSED 2013-05-21T23:06:21.243Z,1369177581.243 [MissionManager](IMPORTANT): Started mission Startup 2013-05-21T23:06:21.244Z,1369177581.244 [Startup] Running Loop=1 2013-05-21T23:06:21.244Z,1369177581.244 [Startup](INFO): Aggregate::initialize Startup 2013-05-21T23:06:21.244Z,1369177581.244 [Startup:A.GoToSurface] Running Loop=1 2013-05-21T23:06:21.244Z,1369177581.244 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2013-05-21T23:06:21.250Z,1369177581.250 [Startup:StartupSatComms] Running Loop=1 2013-05-21T23:06:21.250Z,1369177581.250 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms 2013-05-21T23:06:21.250Z,1369177581.250 [Startup:StartupSatComms:A] Running Loop=1 2013-05-21T23:06:21.643Z,1369177581.643 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2013-05-21T23:06:22.025Z,1369177582.025 [NAL9602](INFO): Powering up 2013-05-21T23:06:32.469Z,1369177592.469 [NAL9602](INFO): NAL9602 initialized 2013-05-21T23:07:21.260Z,1369177641.260 [Startup:StartupSatComms:A](INFO): Timed out from 2013-05-21T23:06:21.3Z 2013-05-21T23:07:21.260Z,1369177641.260 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1 2013-05-21T23:07:21.260Z,1369177641.260 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout 2013-05-21T23:07:21.261Z,1369177641.261 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout 2013-05-21T23:07:21.261Z,1369177641.261 [Startup:StartupSatComms:A] Stopped 2013-05-21T23:07:21.261Z,1369177641.261 [Startup:StartupSatComms:B] Running Loop=1 2013-05-21T23:07:21.659Z,1369177641.659 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2013-05-21T23:07:24.366Z,1369177644.366 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:28.714Z,1369177648.714 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:31.059Z,1369177651.059 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:35.378Z,1369177655.378 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:37.649Z,1369177657.649 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:42.074Z,1369177662.074 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:44.314Z,1369177664.314 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:48.678Z,1369177668.678 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:50.950Z,1369177670.950 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:55.314Z,1369177675.314 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:07:57.692Z,1369177677.692 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:02.095Z,1369177682.095 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:04.390Z,1369177684.390 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:08.686Z,1369177688.686 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:11.039Z,1369177691.039 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:15.342Z,1369177695.342 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:17.739Z,1369177697.739 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:21.829Z,1369177701.829 [Startup:StartupSatComms:B](INFO): Timed out from 2013-05-21T23:07:21.3Z 2013-05-21T23:08:21.829Z,1369177701.829 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1 2013-05-21T23:08:21.829Z,1369177701.829 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout 2013-05-21T23:08:21.829Z,1369177701.829 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout 2013-05-21T23:08:21.829Z,1369177701.829 [Startup:StartupSatComms:B] Stopped 2013-05-21T23:08:21.830Z,1369177701.830 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2013-05-21T23:08:21.830Z,1369177701.830 [Startup:StartupSatComms] Stopped 2013-05-21T23:08:21.830Z,1369177701.830 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms 2013-05-21T23:08:21.831Z,1369177701.831 [Startup](INFO): Completed Startup 2013-05-21T23:08:21.831Z,1369177701.831 [Startup] Stopped 2013-05-21T23:08:21.831Z,1369177701.831 [Startup](INFO): Aggregate::uninitialize Startup 2013-05-21T23:08:21.831Z,1369177701.831 [Startup:A.GoToSurface] Stopped 2013-05-21T23:08:21.831Z,1369177701.831 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2013-05-21T23:08:22.095Z,1369177702.095 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:22.126Z,1369177702.126 [MissionManager](IMPORTANT): Started mission Default 2013-05-21T23:08:22.126Z,1369177702.126 [Default] Running Loop=1 2013-05-21T23:08:22.126Z,1369177702.126 [Default](INFO): Aggregate::initialize Default 2013-05-21T23:08:22.126Z,1369177702.126 [Default:D.SetSpeed] Running Loop=1 2013-05-21T23:08:22.126Z,1369177702.126 [Default:D.SetSpeed](DEBUG): Initialize. 2013-05-21T23:08:22.126Z,1369177702.126 [Default:E.GoToSurface] Running Loop=1 2013-05-21T23:08:22.126Z,1369177702.126 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2013-05-21T23:08:22.127Z,1369177702.127 [Default:Iridium] Running Loop=1 2013-05-21T23:08:22.127Z,1369177702.127 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium 2013-05-21T23:08:22.127Z,1369177702.127 [Default:Iridium:A.SetSpeed] Running Loop=1 2013-05-21T23:08:22.127Z,1369177702.127 [Default:Iridium:A.SetSpeed](DEBUG): Initialize. 2013-05-21T23:08:22.127Z,1369177702.127 [Default:Iridium:B.GoToSurface] Running Loop=1 2013-05-21T23:08:22.127Z,1369177702.127 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2013-05-21T23:08:22.128Z,1369177702.128 [Default:E.GoToSurface] Running Loop=1 2013-05-21T23:08:22.134Z,1369177702.134 [Default:D.SetSpeed] Running Loop=1 2013-05-21T23:08:22.139Z,1369177702.139 [Default:CallIridium] Running Loop=1 2013-05-21T23:08:22.139Z,1369177702.139 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium 2013-05-21T23:08:22.139Z,1369177702.139 [Default:CallIridium:A] Running Loop=1 2013-05-21T23:08:22.141Z,1369177702.141 [Default:CallIridium:A] Stopped 2013-05-21T23:08:22.141Z,1369177702.141 [Default:CallIridium:B] Running Loop=1 2013-05-21T23:08:22.141Z,1369177702.141 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B 2013-05-21T23:08:22.147Z,1369177702.147 [Default:Iridium:B.GoToSurface] Stopped 2013-05-21T23:08:22.147Z,1369177702.147 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2013-05-21T23:08:22.147Z,1369177702.147 [Default:Iridium:Read_Iridium] Running Loop=1 2013-05-21T23:08:22.147Z,1369177702.147 [Default:Iridium:A.SetSpeed] Running Loop=1 2013-05-21T23:08:22.152Z,1369177702.152 [Default:GPS] Running Loop=1 2013-05-21T23:08:22.152Z,1369177702.152 [Default:GPS](INFO): Aggregate::initialize Default:GPS 2013-05-21T23:08:22.152Z,1369177702.152 [Default:GPS:A.SetSpeed] Running Loop=1 2013-05-21T23:08:22.152Z,1369177702.152 [Default:GPS:A.SetSpeed](DEBUG): Initialize. 2013-05-21T23:08:22.152Z,1369177702.152 [Default:GPS:B.GoToSurface] Running Loop=1 2013-05-21T23:08:22.153Z,1369177702.152 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2013-05-21T23:08:22.158Z,1369177702.158 [Default:GPS:B.GoToSurface] Stopped 2013-05-21T23:08:22.158Z,1369177702.158 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2013-05-21T23:08:22.158Z,1369177702.158 [Default:GPS:Read_GPS] Running Loop=1 2013-05-21T23:08:22.158Z,1369177702.158 [Default:GPS:A.SetSpeed] Running Loop=1 2013-05-21T23:08:22.445Z,1369177702.445 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications 2013-05-21T23:08:22.448Z,1369177702.448 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2013-05-21T23:08:27.639Z,1369177707.639 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:31.878Z,1369177711.878 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:35.394Z,1369177715.394 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:39.718Z,1369177719.718 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:43.675Z,1369177723.675 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:48.019Z,1369177728.019 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:52.743Z,1369177732.743 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:08:57.023Z,1369177737.023 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:01.737Z,1369177741.737 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:06.104Z,1369177746.104 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:10.386Z,1369177750.386 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:14.714Z,1369177754.714 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:18.738Z,1369177758.738 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:22.966Z,1369177762.966 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:27.286Z,1369177767.286 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:31.639Z,1369177771.639 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:35.561Z,1369177775.561 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:39.938Z,1369177779.938 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:44.323Z,1369177784.323 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:48.614Z,1369177788.614 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:52.522Z,1369177792.522 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:09:56.838Z,1369177796.838 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:01.605Z,1369177801.605 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:05.926Z,1369177805.926 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:10.342Z,1369177810.342 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:14.682Z,1369177814.682 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:18.535Z,1369177818.535 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:22.862Z,1369177822.862 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:27.589Z,1369177827.589 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:31.910Z,1369177831.910 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:36.267Z,1369177836.267 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:40.630Z,1369177840.630 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:44.466Z,1369177844.466 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:48.794Z,1369177848.794 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:53.513Z,1369177853.513 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:10:57.842Z,1369177857.842 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:02.195Z,1369177862.195 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:06.538Z,1369177866.538 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:10.466Z,1369177870.466 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:14.819Z,1369177874.819 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:19.509Z,1369177879.509 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:23.842Z,1369177883.842 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:28.195Z,1369177888.195 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:32.486Z,1369177892.486 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:36.470Z,1369177896.470 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:40.778Z,1369177900.778 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:45.454Z,1369177905.454 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:49.766Z,1369177909.766 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:54.119Z,1369177914.119 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:11:58.395Z,1369177918.395 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:02.407Z,1369177922.407 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:06.704Z,1369177926.704 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:11.394Z,1369177931.394 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:15.718Z,1369177935.718 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:20.061Z,1369177940.061 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:24.382Z,1369177944.382 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:28.306Z,1369177948.306 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:32.695Z,1369177952.695 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:37.408Z,1369177957.408 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:41.682Z,1369177961.682 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:46.037Z,1369177966.037 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:50.350Z,1369177970.350 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:54.269Z,1369177974.269 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:12:58.677Z,1369177978.677 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:03.054Z,1369177983.054 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:07.342Z,1369177987.342 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:11.279Z,1369177991.279 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:15.566Z,1369177995.566 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:19.141Z,1369177999.141 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:23.526Z,1369178003.526 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:28.179Z,1369178008.179 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:32.492Z,1369178012.492 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:37.243Z,1369178017.243 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:41.538Z,1369178021.538 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:46.266Z,1369178026.266 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:50.610Z,1369178030.610 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:55.330Z,1369178035.330 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:13:59.750Z,1369178039.750 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:04.091Z,1369178044.091 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:08.354Z,1369178048.354 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:11.882Z,1369178051.882 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:16.226Z,1369178056.226 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:20.210Z,1369178060.210 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:24.591Z,1369178064.591 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:29.254Z,1369178069.254 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:33.562Z,1369178073.562 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:34.099Z,1369178074.099 [CommandLine](IMPORTANT): got command show stack 2013-05-21T23:14:34.099Z,1369178074.099 [CommandLine](INFO): Behavior Stack: 2013-05-21T23:14:34.099Z,1369178074.099 [Default:GPS](INFO): Priority 0: Default:GPS:A.SetSpeed 2013-05-21T23:14:34.100Z,1369178074.100 [Default:GPS](INFO): Priority 1: Default:GPS:Read_GPS 2013-05-21T23:14:34.100Z,1369178074.100 [Default:Iridium](INFO): Priority 2: Default:Iridium:A.SetSpeed 2013-05-21T23:14:34.100Z,1369178074.100 [Default:Iridium](INFO): Priority 3: Default:Iridium:Read_Iridium 2013-05-21T23:14:34.101Z,1369178074.101 [Default](INFO): Priority 4: Default:D.SetSpeed 2013-05-21T23:14:34.101Z,1369178074.101 [Default](INFO): Priority 5: Default:E.GoToSurface 2013-05-21T23:14:37.942Z,1369178077.942 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:42.251Z,1369178082.251 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:46.159Z,1369178086.159 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:46.613Z,1369178086.614 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/Homing_pursuit.xml 2013-05-21T23:14:46.630Z,1369178086.630 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml 2013-05-21T23:14:46.728Z,1369178086.728 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg 2013-05-21T23:14:46.730Z,1369178086.730 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg 2013-05-21T23:14:46.733Z,1369178086.733 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg 2013-05-21T23:14:46.735Z,1369178086.735 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg 2013-05-21T23:14:46.737Z,1369178086.737 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m 2013-05-21T23:14:46.740Z,1369178086.740 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s 2013-05-21T23:14:46.742Z,1369178086.742 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a 2013-05-21T23:14:46.745Z,1369178086.745 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a 2013-05-21T23:14:46.747Z,1369178086.747 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count 2013-05-21T23:14:46.749Z,1369178086.749 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 20.000000 m 2013-05-21T23:14:46.751Z,1369178086.751 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a 2013-05-21T23:14:46.756Z,1369178086.756 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m 2013-05-21T23:14:46.759Z,1369178086.759 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min 2013-05-21T23:14:46.761Z,1369178086.761 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 45.000000 min 2013-05-21T23:14:46.763Z,1369178086.763 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 10.000000 min 2013-05-21T23:14:46.766Z,1369178086.766 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a 2013-05-21T23:14:46.768Z,1369178086.768 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a 2013-05-21T23:14:46.771Z,1369178086.770 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a 2013-05-21T23:14:46.773Z,1369178086.773 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m 2013-05-21T23:14:46.775Z,1369178086.775 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2013-05-21T23:14:46.830Z,1369178086.830 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2013-05-21T23:14:46.837Z,1369178086.837 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2013-05-21T23:14:46.850Z,1369178086.850 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml 2013-05-21T23:14:46.871Z,1369178086.871 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfaceDepthRate = nan m/s 2013-05-21T23:14:46.873Z,1369178086.873 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfacePitch = nan arcdeg 2013-05-21T23:14:46.875Z,1369178086.875 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s 2013-05-21T23:14:46.877Z,1369178086.877 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.IridiumTimeout = 30.000000 min 2013-05-21T23:14:46.879Z,1369178086.879 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.UnpackSplitAtSurface = 0 bool 2013-05-21T23:14:46.880Z,1369178086.880 [homing_pursuit:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface. 2013-05-21T23:14:46.894Z,1369178086.894 [homing_pursuit:Lap:ApproachNear:A.Pitch](DEBUG): Construct. 2013-05-21T23:14:46.926Z,1369178086.926 [homing_pursuit:Lap:ApproachNear:B.SetSpeed](DEBUG): Construct. 2013-05-21T23:14:46.928Z,1369178086.928 [homing_pursuit:Lap:ApproachNear:WpApproach.Waypoint](DEBUG): Construct Waypoint. 2013-05-21T23:14:46.934Z,1369178086.934 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct. 2013-05-21T23:14:46.939Z,1369178086.939 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy. 2013-05-21T23:14:46.941Z,1369178086.941 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct. 2013-05-21T23:14:46.943Z,1369178086.943 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct. 2013-05-21T23:14:46.957Z,1369178086.957 [homing_pursuit:Lap:Pursuit:Heading:A.Point](DEBUG): Construct. 2013-05-21T23:14:46.962Z,1369178086.962 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait. 2013-05-21T23:14:46.966Z,1369178086.966 [homing_pursuit:Lap:ApproachFar:A.Pitch](DEBUG): Construct. 2013-05-21T23:14:46.978Z,1369178086.978 [homing_pursuit:Lap:ApproachFar:B.SetSpeed](DEBUG): Construct. 2013-05-21T23:14:46.980Z,1369178086.980 [homing_pursuit:Lap:ApproachFar:WpApproach.Waypoint](DEBUG): Construct Waypoint. 2013-05-21T23:14:46.986Z,1369178086.986 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct. 2013-05-21T23:14:46.994Z,1369178086.994 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy. 2013-05-21T23:14:46.996Z,1369178086.996 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct. 2013-05-21T23:14:46.998Z,1369178086.998 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct. 2013-05-21T23:14:47.010Z,1369178087.010 [homing_pursuit:Lap:Pursuit:Heading:A.Point](DEBUG): Construct. 2013-05-21T23:14:47.015Z,1369178087.015 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait. 2013-05-21T23:14:47.046Z,1369178087.046 [MissionManager](DEBUG): Latitude of waypoint closest to MBARI. 36.8141 Longitude of waypoint closest to MBARI. -121.82773 Latitude of waypoint farthest from MBARI. 36.818605551593215 Longitude of waypoint farthest from MBARI. -121.82773 10 1 2 pursuit homings per lap. One from each approach waypoint. 0 Minimum range to continue to update heading being driven. 20 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. Depth for initial approach. 10.0 Maximum duration of initial approach 30 Maximum length of mission 45 Time allowed for actual pursuit homing. 10 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Maximum depth for the entire mission. 45 7 0 2.0 Get to near waypoint. -1 Get to far waypoint. -1 2013-05-21T23:14:47.046Z,1369178087.046 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/Homing_pursuit.xml 2013-05-21T23:14:47.047Z,1369178087.047 [CommandLine](IMPORTANT): got command set homing_pursuit.WaitDuration 90.000000 minute 2013-05-21T23:14:47.048Z,1369178087.048 [CommandLine](IMPORTANT): got command set homing_pursuit.TimeoutDuration 900.000000 minute 2013-05-21T23:14:47.049Z,1369178087.049 [CommandLine](IMPORTANT): got command set homing_pursuit.MinRange -10.000000 meter 2013-05-21T23:14:49.565Z,1369178089.565 [CommandLine](IMPORTANT): got command run 2013-05-21T23:14:49.566Z,1369178089.566 [CommandLine](IMPORTANT): Running 2013-05-21T23:14:50.287Z,1369178090.287 [Default] Stopped 2013-05-21T23:14:50.287Z,1369178090.287 [Default](INFO): Aggregate::uninitialize Default 2013-05-21T23:14:50.287Z,1369178090.287 [Default:GPS] Stopped 2013-05-21T23:14:50.288Z,1369178090.288 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS 2013-05-21T23:14:50.288Z,1369178090.288 [Default:GPS:A.SetSpeed] Stopped 2013-05-21T23:14:50.288Z,1369178090.288 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize. 2013-05-21T23:14:50.288Z,1369178090.288 [Default:GPS:Read_GPS] Stopped 2013-05-21T23:14:50.288Z,1369178090.288 [Default:Iridium] Stopped 2013-05-21T23:14:50.288Z,1369178090.288 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium 2013-05-21T23:14:50.288Z,1369178090.288 [Default:Iridium:A.SetSpeed] Stopped 2013-05-21T23:14:50.288Z,1369178090.288 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize. 2013-05-21T23:14:50.288Z,1369178090.288 [Default:Iridium:Read_Iridium] Stopped 2013-05-21T23:14:50.288Z,1369178090.288 [Default:CallIridium] Stopped 2013-05-21T23:14:50.289Z,1369178090.289 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium 2013-05-21T23:14:50.289Z,1369178090.289 [Default:CallIridium:B] Stopped 2013-05-21T23:14:50.289Z,1369178090.289 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B 2013-05-21T23:14:50.289Z,1369178090.289 [Default:D.SetSpeed] Stopped 2013-05-21T23:14:50.289Z,1369178090.289 [Default:D.SetSpeed](DEBUG): Uninitialize. 2013-05-21T23:14:50.289Z,1369178090.289 [Default:E.GoToSurface] Stopped 2013-05-21T23:14:50.289Z,1369178090.289 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2013-05-21T23:14:50.289Z,1369178090.289 [MissionManager](IMPORTANT): Started mission homing_pursuit 2013-05-21T23:14:50.289Z,1369178090.289 [homing_pursuit] Running Loop=1 2013-05-21T23:14:50.290Z,1369178090.290 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit 2013-05-21T23:14:50.290Z,1369178090.290 [homing_pursuit:A] Running Loop=1 2013-05-21T23:14:50.290Z,1369178090.290 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1 2013-05-21T23:14:50.290Z,1369178090.290 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2013-05-21T23:14:50.290Z,1369178090.290 [homing_pursuit:C.DepthEnvelope] Running Loop=1 2013-05-21T23:14:50.290Z,1369178090.290 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2013-05-21T23:14:50.291Z,1369178090.291 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1 2013-05-21T23:14:50.291Z,1369178090.291 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2013-05-21T23:14:50.292Z,1369178090.292 [homing_pursuit:E] Running Loop=1 2013-05-21T23:14:50.292Z,1369178090.292 [homing_pursuit:SURFACECOMMS] Running Loop=1 2013-05-21T23:14:50.292Z,1369178090.292 [homing_pursuit:SURFACECOMMS](INFO): Aggregate::initialize homing_pursuit:SURFACECOMMS 2013-05-21T23:14:50.292Z,1369178090.292 [homing_pursuit:SURFACECOMMS:A.GoToSurface] Running Loop=1 2013-05-21T23:14:50.292Z,1369178090.292 [homing_pursuit:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2013-05-21T23:14:50.333Z,1369178090.333 [homing_pursuit:SURFACECOMMS:B] Running Loop=1 2013-05-21T23:14:50.334Z,1369178090.334 [homing_pursuit:SURFACECOMMS:B](INFO): Aggregate::initialize homing_pursuit:SURFACECOMMS:B 2013-05-21T23:14:50.334Z,1369178090.334 [homing_pursuit:SURFACECOMMS:B:A] Running Loop=1 2013-05-21T23:14:50.334Z,1369178090.334 [homing_pursuit:E] Running Loop=1 2013-05-21T23:14:50.335Z,1369178090.335 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation 2013-05-21T23:14:50.336Z,1369178090.336 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1 2013-05-21T23:14:50.350Z,1369178090.350 [homing_pursuit:C.DepthEnvelope] Running Loop=1 2013-05-21T23:14:50.356Z,1369178090.356 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1 2013-05-21T23:14:50.361Z,1369178090.361 [homing_pursuit:A] Running Loop=1 2013-05-21T23:14:50.361Z,1369178090.361 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor 2013-05-21T23:14:50.605Z,1369178090.605 [DVL_micro](INFO): RSSI unrequested 2013-05-21T23:14:50.606Z,1369178090.606 [DVL_micro](INFO): ADCP unrequested 2013-05-21T23:14:50.606Z,1369178090.606 [DVL_micro](INFO): Opening uart, block timeout 10ths=20 2013-05-21T23:14:50.607Z,1369178090.606 [DVL_micro](INFO): resume:Powering up 2013-05-21T23:14:50.607Z,1369178090.607 [DVL_micro](INFO): Cycling power to configure device. 2013-05-21T23:14:50.638Z,1369178090.638 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0 2013-05-21T23:14:50.652Z,1369178090.652 [homing_pursuit:SURFACECOMMS:B] Stopped 2013-05-21T23:14:50.652Z,1369178090.652 [homing_pursuit:SURFACECOMMS:B](INFO): Aggregate::uninitialize homing_pursuit:SURFACECOMMS:B 2013-05-21T23:14:50.652Z,1369178090.652 [homing_pursuit:SURFACECOMMS:B:A] Stopped 2013-05-21T23:14:50.652Z,1369178090.652 [homing_pursuit:SURFACECOMMS:C] Running Loop=1 2013-05-21T23:14:50.652Z,1369178090.652 [homing_pursuit:SURFACECOMMS:C](INFO): Aggregate::initialize homing_pursuit:SURFACECOMMS:C 2013-05-21T23:14:50.653Z,1369178090.653 [homing_pursuit:SURFACECOMMS:C:A] Running Loop=1 2013-05-21T23:14:51.012Z,1369178091.012 [homing_pursuit:SURFACECOMMS:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2013-05-21T23:14:51.767Z,1369178091.767 [homing_pursuit:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active. 2013-05-21T23:14:52.614Z,1369178092.614 [DVL_micro](INFO): Opening uart, block timeout 10ths=20 2013-05-21T23:14:52.614Z,1369178092.614 [DVL_micro](INFO): Querying output modes 2013-05-21T23:14:52.614Z,1369178092.614 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606 2013-05-21T23:14:52.625Z,1369178092.625 [DVL_micro](DEBUG): cmdResponse: 01 03 16 2013-05-21T23:14:52.626Z,1369178092.625 [DVL_micro](INFO): NQ1 output enabled 2013-05-21T23:14:52.626Z,1369178092.626 [DVL_micro](INFO): RSSI output enabled 2013-05-21T23:14:52.626Z,1369178092.626 [DVL_micro](INFO): ADCP output enabled 2013-05-21T23:14:52.626Z,1369178092.626 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525 2013-05-21T23:14:52.637Z,1369178092.637 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 2013-05-21T23:14:52.639Z,1369178092.639 [DVL_micro](INFO): RSSI unrequested 2013-05-21T23:14:52.639Z,1369178092.639 [DVL_micro](INFO): ADCP unrequested 2013-05-21T23:14:52.640Z,1369178092.639 [DVL_micro](INFO): Cycling power to configure device. 2013-05-21T23:14:54.646Z,1369178094.645 [DVL_micro](INFO): Opening uart, block timeout 10ths=20 2013-05-21T23:14:54.646Z,1369178094.646 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0 2013-05-21T23:14:54.670Z,1369178094.670 [DVL_micro](DEBUG): cmdResponse: gv]lteCExqulvq~~ 2013-05-21T23:14:54.670Z,1369178094.670 [DVL_micro](INFO): Enabling NQ1 output 2013-05-21T23:14:54.670Z,1369178094.670 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1 2013-05-21T23:14:54.683Z,1369178094.683 [DVL_micro](DEBUG): cmdResponse: t/~gEu 2013-05-21T23:14:54.683Z,1369178094.683 [DVL_micro](INFO): Querying output modes 2013-05-21T23:14:54.683Z,1369178094.684 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606 2013-05-21T23:14:54.700Z,1369178094.700 [DVL_micro](DEBUG): cmdResponse: 2013-05-21T23:14:54.700Z,1369178094.700 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525 2013-05-21T23:14:54.716Z,1369178094.716 [DVL_micro](DEBUG): cmdResponse: d_vvqI