2013-06-03T17:51:17.610Z,1370281877.610 [Supervisor](DEBUG): Initializing supervisor.
2013-06-03T17:51:17.633Z,1370281877.633 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-03T17:51:17.634Z,1370281877.634 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-03T17:51:17.635Z,1370281877.635 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-03T17:51:17.701Z,1370281877.701 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-03T17:51:17.725Z,1370281877.725 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-03T17:51:17.728Z,1370281877.728 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-03T17:51:17.729Z,1370281877.729 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-03T17:51:17.750Z,1370281877.750 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-03T17:51:17.752Z,1370281877.751 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-03T17:51:17.767Z,1370281877.767 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-03T17:51:18.530Z,1370281878.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-03T17:51:18.530Z,1370281878.530 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-03T17:51:18.902Z,1370281878.902 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-03T17:51:18.903Z,1370281878.903 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-03T17:51:19.062Z,1370281879.062 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-03T17:51:19.064Z,1370281879.064 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-03T17:51:19.311Z,1370281879.311 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-03T17:51:19.312Z,1370281879.312 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-03T17:51:19.582Z,1370281879.582 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-03T17:51:19.585Z,1370281879.585 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-03T17:51:20.112Z,1370281880.112 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-03T17:51:20.112Z,1370281880.112 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-03T17:51:20.444Z,1370281880.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-03T17:51:20.446Z,1370281880.446 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-03T17:51:20.965Z,1370281880.965 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-03T17:51:20.983Z,1370281880.983 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-03T17:51:21.149Z,1370281881.149 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-03T17:51:21.150Z,1370281881.150 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-03T17:51:22.013Z,1370281882.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-03T17:51:22.014Z,1370281882.014 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-03T17:51:22.268Z,1370281882.268 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-03T17:51:22.269Z,1370281882.269 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-03T17:51:22.410Z,1370281882.410 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-03T17:51:22.417Z,1370281882.417 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-03T17:51:22.596Z,1370281882.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-03T17:51:22.855Z,1370281882.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-03T17:51:23.029Z,1370281883.029 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-03T17:51:23.215Z,1370281883.215 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-03T17:51:23.389Z,1370281883.389 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-03T17:51:23.635Z,1370281883.635 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-03T17:51:23.809Z,1370281883.809 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-03T17:51:23.956Z,1370281883.956 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-03T17:51:23.956Z,1370281883.956 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-06-03T17:51:23.959Z,1370281883.959 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-03T17:51:24.315Z,1370281884.315 [InternalSim] Loaded
2013-06-03T17:51:24.315Z,1370281884.315 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-03T17:51:24.316Z,1370281884.316 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-03T17:51:24.329Z,1370281884.329 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-03T17:51:24.475Z,1370281884.475 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-03T17:51:24.554Z,1370281884.554 [SBIT] Loaded
2013-06-03T17:51:24.554Z,1370281884.554 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-03T17:51:24.555Z,1370281884.555 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-03T17:51:24.622Z,1370281884.622 [IBIT] Loaded
2013-06-03T17:51:24.622Z,1370281884.622 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-03T17:51:24.638Z,1370281884.638 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-03T17:51:24.893Z,1370281884.893 [CBIT] Loaded
2013-06-03T17:51:24.894Z,1370281884.894 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-03T17:51:24.894Z,1370281884.894 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-03T17:51:24.895Z,1370281884.895 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-03T17:51:25.131Z,1370281885.131 [BuoyancyServo] Loaded
2013-06-03T17:51:25.131Z,1370281885.131 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-03T17:51:25.156Z,1370281885.156 [ElevatorServo] Loaded
2013-06-03T17:51:25.156Z,1370281885.156 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-03T17:51:25.185Z,1370281885.185 [MassServo] Loaded
2013-06-03T17:51:25.186Z,1370281885.186 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-03T17:51:25.204Z,1370281885.204 [RudderServo] Loaded
2013-06-03T17:51:25.205Z,1370281885.204 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-03T17:51:25.229Z,1370281885.229 [ThrusterServo] Loaded
2013-06-03T17:51:25.229Z,1370281885.229 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-03T17:51:25.229Z,1370281885.230 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-03T17:51:25.230Z,1370281885.230 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-03T17:51:25.315Z,1370281885.315 [DepthRateCalculator] Loaded
2013-06-03T17:51:25.315Z,1370281885.315 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-03T17:51:31.331Z,1370281891.331 [HFRadarModelCalc] Loaded
2013-06-03T17:51:31.331Z,1370281891.331 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-03T17:51:31.363Z,1370281891.363 [NavChart] Loaded
2013-06-03T17:51:31.363Z,1370281891.363 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-03T17:51:31.374Z,1370281891.374 [PitchRateCalculator] Loaded
2013-06-03T17:51:31.375Z,1370281891.375 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-03T17:51:31.398Z,1370281891.398 [SpeedCalculator] Loaded
2013-06-03T17:51:31.398Z,1370281891.398 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-03T17:51:31.426Z,1370281891.426 [TempGradientCalculator] Loaded
2013-06-03T17:51:31.427Z,1370281891.427 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-03T17:51:31.445Z,1370281891.445 [YawRateCalculator] Loaded
2013-06-03T17:51:31.445Z,1370281891.445 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-03T17:51:31.541Z,1370281891.541 [Navigation] Loaded
2013-06-03T17:51:31.541Z,1370281891.541 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-03T17:51:31.542Z,1370281891.542 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-03T17:51:31.543Z,1370281891.543 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-03T17:51:32.046Z,1370281892.046 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-03T17:51:32.047Z,1370281892.047 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-03T17:51:32.125Z,1370281892.125 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-03T17:51:32.125Z,1370281892.125 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-03T17:51:32.217Z,1370281892.217 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-03T17:51:32.434Z,1370281892.434 [VerticalControl] Loaded
2013-06-03T17:51:32.434Z,1370281892.434 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-03T17:51:32.435Z,1370281892.435 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-03T17:51:32.562Z,1370281892.562 [HorizontalControl] Loaded
2013-06-03T17:51:32.563Z,1370281892.563 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-03T17:51:32.563Z,1370281892.563 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-03T17:51:32.565Z,1370281892.565 [SpeedControl] Loaded
2013-06-03T17:51:32.566Z,1370281892.566 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-03T17:51:32.567Z,1370281892.567 [LoopControl](DEBUG): Construct LoopControl.
2013-06-03T17:51:32.567Z,1370281892.567 [LoopControl] Loaded
2013-06-03T17:51:32.567Z,1370281892.568 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-03T17:51:32.568Z,1370281892.568 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-03T17:51:32.569Z,1370281892.569 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-03T17:51:32.577Z,1370281892.577 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-03T17:51:32.582Z,1370281892.582 [AsyncPiEstimator] Loaded
2013-06-03T17:51:32.583Z,1370281892.583 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-03T17:51:32.589Z,1370281892.589 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-03T17:51:32.590Z,1370281892.590 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-03T17:51:32.590Z,1370281892.590 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-03T17:51:32.963Z,1370281892.963 [AHRS_sp3003D] Loaded
2013-06-03T17:51:32.964Z,1370281892.964 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-03T17:51:33.638Z,1370281893.638 [Batt_Ocean_Server] Loaded
2013-06-03T17:51:33.638Z,1370281893.638 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-03T17:51:33.671Z,1370281893.671 [Depth_Keller] Loaded
2013-06-03T17:51:33.672Z,1370281893.671 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-03T17:51:33.689Z,1370281893.690 [DropWeight] Loaded
2013-06-03T17:51:33.690Z,1370281893.690 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-03T17:51:34.084Z,1370281894.084 [DVL_micro] Loaded
2013-06-03T17:51:34.084Z,1370281894.084 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-03T17:51:34.104Z,1370281894.104 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-03T17:51:34.299Z,1370281894.299 [NAL9602] Loaded
2013-06-03T17:51:34.299Z,1370281894.299 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-03T17:51:34.427Z,1370281894.427 [Onboard] Loaded
2013-06-03T17:51:34.427Z,1370281894.427 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-03T17:51:34.437Z,1370281894.437 [Radio_Freewave] Loaded
2013-06-03T17:51:34.438Z,1370281894.438 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-03T17:51:34.779Z,1370281894.779 [DAT] Loaded
2013-06-03T17:51:34.780Z,1370281894.780 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-03T17:51:34.800Z,1370281894.800 [SCPI] Loaded
2013-06-03T17:51:34.801Z,1370281894.801 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-03T17:51:34.801Z,1370281894.801 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-03T17:51:34.802Z,1370281894.802 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-03T17:51:35.013Z,1370281895.013 [CTD_NeilBrown] Loaded
2013-06-03T17:51:35.013Z,1370281895.013 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-06-03T17:51:35.036Z,1370281895.036 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-03T17:51:35.087Z,1370281895.087 [WetLabsBB2FL] Loaded
2013-06-03T17:51:35.087Z,1370281895.087 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-06-03T17:51:35.100Z,1370281895.100 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407454E0
2013-06-03T17:51:35.101Z,1370281895.101 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-03T17:51:35.117Z,1370281895.117 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-03T17:51:35.120Z,1370281895.120 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-03T17:51:35.152Z,1370281895.151 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-03T17:51:35.161Z,1370281895.161 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407754E0
2013-06-03T17:51:35.194Z,1370281895.194 [Supervisor](DEBUG): Running supervisor.
2013-06-03T17:51:35.195Z,1370281895.195 [CommandLine](INFO): Thread ID is 1610
2013-06-03T17:51:35.199Z,1370281895.199 [controlThread](INFO): Thread ID is 1609
2013-06-03T17:51:35.199Z,1370281895.199 [controlThread](DEBUG): Initializing ControlThread
2013-06-03T17:51:35.200Z,1370281895.200 [CycleStarter](INFO): Thread ID is 1608
2013-06-03T17:51:35.200Z,1370281895.200 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-03T17:51:35.241Z,1370281895.241 [logger](INFO): Thread ID is 1611
2013-06-03T17:51:35.453Z,1370281895.453 [AsyncPiEstimator](INFO): Thread ID is 1672
2013-06-03T17:51:35.454Z,1370281895.454 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-03T17:51:35.596Z,1370281895.596 [DVL_micro](INFO): Thread ID is 1673
2013-06-03T17:51:35.809Z,1370281895.809 [CTD_NeilBrown](INFO): Thread ID is 1674
2013-06-03T17:51:35.810Z,1370281895.810 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-06-03T17:51:35.812Z,1370281895.812 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-06-03T17:51:35.951Z,1370281895.951 [WetLabsBB2FL](INFO): Thread ID is 1675
2013-06-03T17:51:35.951Z,1370281895.951 [WetLabsBB2FL](INFO): Powering down
2013-06-03T17:51:36.127Z,1370281896.127 [NavChartDb](INFO): Thread ID is 1676
2013-06-03T17:51:36.189Z,1370281896.189 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-03T17:51:36.190Z,1370281896.190 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-03T17:51:36.190Z,1370281896.190 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-03T17:51:36.190Z,1370281896.190 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-03T17:51:36.191Z,1370281896.191 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-03T17:51:36.191Z,1370281896.191 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-03T17:51:36.191Z,1370281896.191 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-03T17:51:36.191Z,1370281896.191 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-03T17:51:36.191Z,1370281896.191 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-03T17:51:36.198Z,1370281896.198 [DVL_micro](INFO): Initializing
2013-06-03T17:51:36.199Z,1370281896.198 [DVL_micro](INFO): start:Powering up
2013-06-03T17:51:36.199Z,1370281896.199 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T17:51:36.232Z,1370281896.232 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T17:51:36.489Z,1370281896.490 [SBIT](INFO): Initialize SBIT Component.
2013-06-03T17:51:36.490Z,1370281896.490 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10401
2013-06-03T17:51:36.490Z,1370281896.490 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-03T17:51:36.491Z,1370281896.491 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-03T17:51:36.491Z,1370281896.491 [IBIT](INFO): Initialize IBIT Component.
2013-06-03T17:51:36.492Z,1370281896.492 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-03T17:51:36.492Z,1370281896.492 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-06-03T17:51:36.493Z,1370281896.493 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-03T17:51:36.524Z,1370281896.524 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-03T17:51:36.525Z,1370281896.525 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-03T17:51:36.525Z,1370281896.525 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-03T17:51:36.526Z,1370281896.526 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-03T17:51:36.526Z,1370281896.526 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-03T17:51:36.528Z,1370281896.528 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-03T17:51:36.528Z,1370281896.528 [Navigation](DEBUG): Initializing Navigation.
2013-06-03T17:51:36.528Z,1370281896.528 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-03T17:51:36.530Z,1370281896.530 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-03T17:51:36.531Z,1370281896.531 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-03T17:51:36.531Z,1370281896.531 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-03T17:51:37.289Z,1370281897.289 [CommandLine](IMPORTANT): got command report touch DAT.homing_target_range
2013-06-03T17:51:37.350Z,1370281897.349 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T17:51:37.350Z,1370281897.350 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T17:51:37.586Z,1370281897.586 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T17:51:37.601Z,1370281897.601 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T17:51:37.604Z,1370281897.604 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T17:51:37.611Z,1370281897.611 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T17:51:37.631Z,1370281897.631 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T17:51:37.654Z,1370281897.654 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T17:51:37.658Z,1370281897.658 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T17:51:37.678Z,1370281897.678 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T17:51:37.689Z,1370281897.690 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T17:51:37.693Z,1370281897.693 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 20.000000 m
2013-06-03T17:51:37.709Z,1370281897.708 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T17:51:37.711Z,1370281897.711 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T17:51:37.740Z,1370281897.740 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T17:51:37.743Z,1370281897.743 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T17:51:37.778Z,1370281897.778 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T17:51:37.791Z,1370281897.791 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T17:51:37.794Z,1370281897.794 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T17:51:37.814Z,1370281897.814 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T17:51:37.838Z,1370281897.838 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T17:51:37.860Z,1370281897.860 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T17:51:37.887Z,1370281897.887 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T17:51:37.912Z,1370281897.912 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T17:51:37.957Z,1370281897.957 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-06-03T17:51:38.035Z,1370281898.035 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfaceDepthRate = nan m/s
2013-06-03T17:51:38.054Z,1370281898.054 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfacePitch = nan arcdeg
2013-06-03T17:51:38.057Z,1370281898.057 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s
2013-06-03T17:51:38.076Z,1370281898.076 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.IridiumTimeout = 30.000000 min
2013-06-03T17:51:38.079Z,1370281898.079 [MissionManager](INFO): DefineArg homing_pursuit:SURFACECOMMS.UnpackSplitAtSurface = 0 bool
2013-06-03T17:51:38.080Z,1370281898.080 [homing_pursuit:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T17:51:38.141Z,1370281898.141 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T17:51:38.170Z,1370281898.170 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T17:51:38.188Z,1370281898.188 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T17:51:38.191Z,1370281898.191 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T17:51:38.225Z,1370281898.225 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-03T17:51:38.234Z,1370281898.234 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct.
2013-06-03T17:51:38.277Z,1370281898.277 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T17:51:38.301Z,1370281898.301 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T17:51:38.343Z,1370281898.343 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

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

    <Aggregate Id="Lap" Repeat="NumberOfLaps">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>

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

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

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

            <Guidance:PitchServo RunIn="Parallel">
                <Setting>
                <Guidance:PitchServo.uri/><Universal:height_above_sea_floor/></Setting>
                <Setting><Guidance:PitchServo.holdValue/><Arg Name="Altitude"/></Setting>
                <Setting><Guidance:PitchServo.proportionalGain/><Arg Name="kpAltitude"/></Setting>
                <Setting><Guidance:PitchServo.integralGain/><Arg Name="kiAltitude"/></Setting>
                <Setting><Guidance:PitchServo.derivativeGain/><Arg Name="kdAltitude"/></Setting>
                <Setting><Guidance:PitchServo.changePerMeter/><Units:meter/><Value>-1</Value></Setting>
            </Guidance:PitchServo>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T17:51:38.344Z,1370281898.344 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-03T17:51:38.355Z,1370281898.355 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T17:51:38.377Z,1370281898.377 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T17:51:38.383Z,1370281898.383 [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>


2013-06-03T17:51:38.384Z,1370281898.384 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-03T17:51:38.424Z,1370281898.424 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T17:51:38.425Z,1370281898.425 [DVL_micro](INFO): Querying output modes
2013-06-03T17:51:38.425Z,1370281898.425 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T17:51:38.436Z,1370281898.436 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T17:51:38.436Z,1370281898.436 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T17:51:38.437Z,1370281898.437 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T17:51:38.448Z,1370281898.448 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T17:51:38.454Z,1370281898.454 [DVL_micro](INFO): pause:Powering down
2013-06-03T17:51:38.499Z,1370281898.499 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-03T17:51:38.501Z,1370281898.501 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-03T17:51:38.541Z,1370281898.541 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T17:51:38.573Z,1370281898.573 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-03T17:51:38.581Z,1370281898.581 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T17:51:38.604Z,1370281898.604 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-03T17:51:38.642Z,1370281898.642 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-03T17:51:38.645Z,1370281898.645 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T17:51:38.680Z,1370281898.680 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-03T17:51:38.684Z,1370281898.684 [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>


2013-06-03T17:51:38.689Z,1370281898.689 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-06-03T17:51:38.752Z,1370281898.752 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-03T17:51:39.079Z,1370281899.079 [Radio_Freewave](INFO): Powering up
2013-06-03T17:51:39.097Z,1370281899.098 [DAT](INFO): Powering up
2013-06-03T17:51:39.098Z,1370281899.098 [DAT](DEBUG): Initializing DAT.
2013-06-03T17:51:39.438Z,1370281899.438 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-03T17:51:39.448Z,1370281899.448 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-03T17:51:39.485Z,1370281899.485 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-03T17:51:39.493Z,1370281899.493 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-03T17:51:39.499Z,1370281899.499 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-03T17:51:39.505Z,1370281899.505 [MassServo](DEBUG): Initializing MassServo.
2013-06-03T17:51:39.547Z,1370281899.547 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-03T17:51:39.560Z,1370281899.560 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-03T17:51:39.587Z,1370281899.587 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T17:51:39.596Z,1370281899.596 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T17:51:39.690Z,1370281899.690 [Reporter](INFO): DAT.homing_target_range no_value
2013-06-03T17:51:39.935Z,1370281899.935 [NAL9602](INFO): Powering up NAL9602
2013-06-03T17:51:40.544Z,1370281900.544 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-06-03T17:51:40.544Z,1370281900.545 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-06-03T17:51:40.545Z,1370281900.545 [BuoyancyServo] Communications Fault, FailCount= 1
2013-06-03T17:51:40.545Z,1370281900.545 [BuoyancyServo](ERROR): Communications Fault
2013-06-03T17:51:40.742Z,1370281900.742 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-06-03T17:51:41.013Z,1370281901.013 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-03T17:51:41.014Z,1370281901.014 [BuoyancyServo](INFO): Powering down
2013-06-03T17:51:43.247Z,1370281903.247 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-06-03T17:51:43.247Z,1370281903.247 [BuoyancyServo] No Fault, FailCount= 1
2013-06-03T17:51:43.755Z,1370281903.755 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-03T17:51:43.873Z,1370281903.873 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-03T17:51:50.633Z,1370281910.633 [NAL9602](INFO): NAL9602 initialized
2013-06-03T17:51:50.909Z,1370281910.908 [CommandLine](IMPORTANT): got command show stack
2013-06-03T17:51:50.909Z,1370281910.909 [CommandLine](INFO): Behavior Stack:

2013-06-03T17:51:50.909Z,1370281910.909 [MissionManager](INFO): Mission loaded, but not running.
2013-06-03T17:51:51.988Z,1370281911.987 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-03T17:51:51.990Z,1370281911.990 [CBIT](IMPORTANT): Beginning GF scan
2013-06-03T17:51:55.808Z,1370281915.808 [CommandLine](IMPORTANT): got command report
2013-06-03T17:51:55.809Z,1370281915.809 [Reporter](INFO): DAT.homing_target_range reporting when touched
2013-06-03T17:51:59.272Z,1370281919.272 [DAT](INFO): Powering down
2013-06-03T17:52:18.749Z,1370281938.749 [CBIT](IMPORTANT): No ground fault detected
2013-06-03T17:52:45.980Z,1370281965.980 [SBIT](IMPORTANT): SBIT PASSED
2013-06-03T17:52:46.496Z,1370281966.496 [MissionManager](IMPORTANT): Started mission Startup
2013-06-03T17:52:46.496Z,1370281966.496 [Startup] Running Loop=1
2013-06-03T17:52:46.497Z,1370281966.497 [Startup](INFO): Aggregate::initialize Startup
2013-06-03T17:52:46.497Z,1370281966.497 [Startup:A.GoToSurface] Running Loop=1
2013-06-03T17:52:46.497Z,1370281966.497 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T17:52:46.511Z,1370281966.511 [Startup:StartupSatComms] Running Loop=1
2013-06-03T17:52:46.511Z,1370281966.511 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-06-03T17:52:46.512Z,1370281966.512 [Startup:StartupSatComms:A] Running Loop=1
2013-06-03T17:52:46.900Z,1370281966.901 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-03T17:53:12.569Z,1370281992.569 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-03T17:53:12.574Z,1370281992.574 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-03T17:53:12.575Z,1370281992.575 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-03T17:53:16.135Z,1370281996.135 [Startup:StartupSatComms:A] Stopped
2013-06-03T17:53:16.136Z,1370281996.136 [Startup:StartupSatComms:B] Running Loop=1
2013-06-03T17:53:16.545Z,1370281996.545 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-03T17:53:33.292Z,1370282013.292 [CommandLine](IMPORTANT): got command show stack
2013-06-03T17:53:33.292Z,1370282013.292 [CommandLine](INFO): Behavior Stack:

2013-06-03T17:53:33.293Z,1370282013.293 [Startup](INFO): Priority 0: Startup:A.GoToSurface
2013-06-03T17:53:33.293Z,1370282013.293 [Startup:StartupSatComms](INFO): Priority 1: Startup:StartupSatComms:B
2013-06-03T17:53:44.673Z,1370282024.673 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-03T17:53:44.674Z,1370282024.674 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-03T17:53:44.675Z,1370282024.675 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-03T17:53:52.007Z,1370282032.007 [Startup:StartupSatComms:B] Stopped
2013-06-03T17:53:52.008Z,1370282032.008 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-06-03T17:53:52.008Z,1370282032.008 [Startup:StartupSatComms] Stopped
2013-06-03T17:53:52.008Z,1370282032.008 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-06-03T17:53:52.009Z,1370282032.009 [Startup](INFO): Completed Startup
2013-06-03T17:53:52.009Z,1370282032.009 [Startup] Stopped
2013-06-03T17:53:52.009Z,1370282032.009 [Startup](INFO): Aggregate::uninitialize Startup
2013-06-03T17:53:52.009Z,1370282032.009 [Startup:A.GoToSurface] Stopped
2013-06-03T17:53:52.009Z,1370282032.009 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T17:53:53.360Z,1370282033.360 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T17:53:53.360Z,1370282033.360 [homing_pursuit] Running Loop=1
2013-06-03T17:53:53.360Z,1370282033.360 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T17:53:53.360Z,1370282033.360 [homing_pursuit:A] Running Loop=1
2013-06-03T17:53:53.360Z,1370282033.360 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T17:53:53.360Z,1370282033.360 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T17:53:53.361Z,1370282033.361 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T17:53:53.361Z,1370282033.361 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T17:53:53.362Z,1370282033.362 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T17:53:53.362Z,1370282033.362 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T17:53:53.362Z,1370282033.362 [homing_pursuit:E] Running Loop=1
2013-06-03T17:53:53.362Z,1370282033.362 [homing_pursuit:SURFACECOMMS] Running Loop=1
2013-06-03T17:53:53.362Z,1370282033.362 [homing_pursuit:SURFACECOMMS](INFO): Aggregate::initialize homing_pursuit:SURFACECOMMS
2013-06-03T17:53:53.362Z,1370282033.362 [homing_pursuit:SURFACECOMMS:A.GoToSurface] Running Loop=1
2013-06-03T17:53:53.363Z,1370282033.362 [homing_pursuit:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T17:53:53.380Z,1370282033.380 [homing_pursuit:SURFACECOMMS:B] Running Loop=1
2013-06-03T17:53:53.381Z,1370282033.381 [homing_pursuit:SURFACECOMMS:B](INFO): Aggregate::initialize homing_pursuit:SURFACECOMMS:B
2013-06-03T17:53:53.381Z,1370282033.381 [homing_pursuit:SURFACECOMMS:B:A] Running Loop=1
2013-06-03T17:53:53.381Z,1370282033.381 [homing_pursuit:E] Running Loop=1
2013-06-03T17:53:53.382Z,1370282033.382 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T17:53:53.383Z,1370282033.383 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T17:53:53.409Z,1370282033.409 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T17:53:53.445Z,1370282033.445 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T17:53:53.450Z,1370282033.450 [homing_pursuit:A] Running Loop=1
2013-06-03T17:53:53.451Z,1370282033.451 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T17:53:53.545Z,1370282033.545 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T17:53:53.545Z,1370282033.545 [DVL_micro](INFO): resume:Powering up
2013-06-03T17:53:53.545Z,1370282033.545 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T17:53:53.862Z,1370282033.862 [homing_pursuit:SURFACECOMMS:B] Stopped
2013-06-03T17:53:53.862Z,1370282033.862 [homing_pursuit:SURFACECOMMS:B](INFO): Aggregate::uninitialize homing_pursuit:SURFACECOMMS:B
2013-06-03T17:53:53.862Z,1370282033.862 [homing_pursuit:SURFACECOMMS:B:A] Stopped
2013-06-03T17:53:53.862Z,1370282033.862 [homing_pursuit:SURFACECOMMS:C] Running Loop=1
2013-06-03T17:53:53.862Z,1370282033.862 [homing_pursuit:SURFACECOMMS:C](INFO): Aggregate::initialize homing_pursuit:SURFACECOMMS:C
2013-06-03T17:53:53.862Z,1370282033.862 [homing_pursuit:SURFACECOMMS:C:A] Running Loop=1
2013-06-03T17:53:54.166Z,1370282034.166 [homing_pursuit:SURFACECOMMS:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-03T17:53:55.553Z,1370282035.553 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T17:53:55.554Z,1370282035.554 [DVL_micro](INFO): Querying output modes
2013-06-03T17:53:55.554Z,1370282035.554 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T17:53:55.568Z,1370282035.568 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T17:53:55.568Z,1370282035.568 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T17:53:55.569Z,1370282035.569 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T17:53:55.581Z,1370282035.581 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T17:53:58.101Z,1370282038.101 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:00.688Z,1370282040.688 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:03.261Z,1370282043.261 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:05.820Z,1370282045.820 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:08.380Z,1370282048.381 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:10.952Z,1370282050.952 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:13.508Z,1370282053.508 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:16.084Z,1370282056.084 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:18.090Z,1370282058.089 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-03T17:54:18.090Z,1370282058.090 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-03T17:54:18.091Z,1370282058.091 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-03T17:54:18.636Z,1370282058.636 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:21.192Z,1370282061.192 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:23.752Z,1370282063.752 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:25.233Z,1370282065.233 [homing_pursuit:SURFACECOMMS:C:A] Stopped
2013-06-03T17:54:25.234Z,1370282065.234 [homing_pursuit:SURFACECOMMS:C:B] Running Loop=1
2013-06-03T17:54:25.896Z,1370282065.896 [homing_pursuit:SURFACECOMMS:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-03T17:54:26.312Z,1370282066.312 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:28.873Z,1370282068.873 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:31.459Z,1370282071.459 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:34.012Z,1370282074.012 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:36.572Z,1370282076.572 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:39.141Z,1370282079.141 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:41.680Z,1370282081.680 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:44.236Z,1370282084.236 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:46.780Z,1370282086.780 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:49.356Z,1370282089.356 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:51.900Z,1370282091.901 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:54.459Z,1370282094.459 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:57.044Z,1370282097.044 [DVL_micro](DEBUG): NQ1
2013-06-03T17:54:59.592Z,1370282099.592 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:02.144Z,1370282102.144 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:04.712Z,1370282104.712 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:07.264Z,1370282107.264 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:09.828Z,1370282109.828 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:12.397Z,1370282112.397 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:14.977Z,1370282114.977 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:17.544Z,1370282117.544 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:20.105Z,1370282120.105 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:22.688Z,1370282122.688 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:24.181Z,1370282124.181 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-03T17:55:24.182Z,1370282124.182 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-03T17:55:24.182Z,1370282124.182 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-03T17:55:25.241Z,1370282125.241 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:27.791Z,1370282127.791 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:30.344Z,1370282130.344 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:31.099Z,1370282131.099 [homing_pursuit:SURFACECOMMS:C:B] Stopped
2013-06-03T17:55:31.099Z,1370282131.099 [homing_pursuit:SURFACECOMMS:C:C] Running Loop=1
2013-06-03T17:55:32.346Z,1370282132.346 [homing_pursuit:SURFACECOMMS:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-03T17:55:32.884Z,1370282132.884 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:35.437Z,1370282135.437 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:37.997Z,1370282137.997 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:40.564Z,1370282140.564 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:43.109Z,1370282143.109 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:43.853Z,1370282143.852 [CommandLine](IMPORTANT): got command show stack
2013-06-03T17:55:43.853Z,1370282143.853 [CommandLine](INFO): Behavior Stack:

2013-06-03T17:55:43.853Z,1370282143.853 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-03T17:55:43.853Z,1370282143.853 [homing_pursuit](INFO): Priority 1: homing_pursuit:B.AltitudeEnvelope
2013-06-03T17:55:43.854Z,1370282143.854 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.DepthEnvelope
2013-06-03T17:55:43.854Z,1370282143.854 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.OffshoreEnvelope
2013-06-03T17:55:43.854Z,1370282143.854 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-03T17:55:43.855Z,1370282143.855 [homing_pursuit:SURFACECOMMS](INFO): Priority 5: homing_pursuit:SURFACECOMMS:A.GoToSurface
2013-06-03T17:55:43.855Z,1370282143.855 [homing_pursuit:SURFACECOMMS:C](INFO): Priority 6: homing_pursuit:SURFACECOMMS:C:C
2013-06-03T17:55:45.672Z,1370282145.672 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:48.260Z,1370282148.260 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:50.804Z,1370282150.804 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:53.376Z,1370282153.376 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:55.924Z,1370282155.924 [DVL_micro](DEBUG): NQ1
2013-06-03T17:55:58.484Z,1370282158.484 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:01.037Z,1370282161.037 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:03.596Z,1370282163.596 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:06.168Z,1370282166.168 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:08.736Z,1370282168.736 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:11.289Z,1370282171.289 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:13.860Z,1370282173.860 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:16.448Z,1370282176.448 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:19.012Z,1370282179.012 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:21.564Z,1370282181.564 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:24.145Z,1370282184.145 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:26.696Z,1370282186.696 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:29.232Z,1370282189.232 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:31.793Z,1370282191.793 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:34.364Z,1370282194.364 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:36.913Z,1370282196.912 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:39.496Z,1370282199.496 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:42.048Z,1370282202.048 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:44.596Z,1370282204.596 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:47.165Z,1370282207.165 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:49.736Z,1370282209.736 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:52.284Z,1370282212.284 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:54.860Z,1370282214.860 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:57.408Z,1370282217.408 [DVL_micro](DEBUG): NQ1
2013-06-03T17:56:59.948Z,1370282219.948 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:02.492Z,1370282222.492 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:05.072Z,1370282225.072 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:07.652Z,1370282227.652 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:10.200Z,1370282230.200 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:12.796Z,1370282232.796 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:15.348Z,1370282235.348 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:17.933Z,1370282237.933 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:20.464Z,1370282240.464 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:23.013Z,1370282243.013 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:24.945Z,1370282244.944 [CommandLine](IMPORTANT): got command show stack
2013-06-03T17:57:24.945Z,1370282244.945 [CommandLine](INFO): Behavior Stack:

2013-06-03T17:57:24.945Z,1370282244.945 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-03T17:57:24.945Z,1370282244.945 [homing_pursuit](INFO): Priority 1: homing_pursuit:B.AltitudeEnvelope
2013-06-03T17:57:24.946Z,1370282244.946 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.DepthEnvelope
2013-06-03T17:57:24.946Z,1370282244.946 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.OffshoreEnvelope
2013-06-03T17:57:24.946Z,1370282244.946 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-03T17:57:24.947Z,1370282244.947 [homing_pursuit:SURFACECOMMS](INFO): Priority 5: homing_pursuit:SURFACECOMMS:A.GoToSurface
2013-06-03T17:57:24.947Z,1370282244.947 [homing_pursuit:SURFACECOMMS:C](INFO): Priority 6: homing_pursuit:SURFACECOMMS:C:C
2013-06-03T17:57:25.604Z,1370282245.604 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:28.188Z,1370282248.188 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:30.792Z,1370282250.792 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:33.392Z,1370282253.392 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:35.177Z,1370282255.177 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-03T17:57:35.940Z,1370282255.940 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:38.504Z,1370282258.504 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:41.060Z,1370282261.060 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:43.656Z,1370282263.656 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:46.197Z,1370282266.197 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:48.149Z,1370282268.149 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-03T17:57:48.310Z,1370282268.310 [homing_pursuit:SURFACECOMMS:C:C] Stopped
2013-06-03T17:57:48.311Z,1370282268.311 [homing_pursuit:SURFACECOMMS:C](INFO): Completed homing_pursuit:SURFACECOMMS:C
2013-06-03T17:57:48.311Z,1370282268.311 [homing_pursuit:SURFACECOMMS:C] Stopped
2013-06-03T17:57:48.311Z,1370282268.311 [homing_pursuit:SURFACECOMMS:C](INFO): Aggregate::uninitialize homing_pursuit:SURFACECOMMS:C
2013-06-03T17:57:48.332Z,1370282268.332 [homing_pursuit:SURFACECOMMS](INFO): Completed homing_pursuit:SURFACECOMMS
2013-06-03T17:57:48.332Z,1370282268.332 [homing_pursuit:SURFACECOMMS] Stopped
2013-06-03T17:57:48.332Z,1370282268.332 [homing_pursuit:SURFACECOMMS](INFO): Aggregate::uninitialize homing_pursuit:SURFACECOMMS
2013-06-03T17:57:48.333Z,1370282268.332 [homing_pursuit:SURFACECOMMS:A.GoToSurface] Stopped
2013-06-03T17:57:48.333Z,1370282268.333 [homing_pursuit:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T17:57:48.333Z,1370282268.333 [homing_pursuit:Lap] Running Loop=1
2013-06-03T17:57:48.333Z,1370282268.333 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T17:57:48.333Z,1370282268.333 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T17:57:48.333Z,1370282268.333 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T17:57:48.333Z,1370282268.333 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T17:57:48.742Z,1370282268.742 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T17:57:48.743Z,1370282268.743 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T17:57:48.749Z,1370282268.749 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:49.081Z,1370282269.081 [DAT](INFO): Powering up
2013-06-03T17:57:51.301Z,1370282271.300 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:53.880Z,1370282273.880 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:55.858Z,1370282275.858 [NAL9602](INFO): Powering down
2013-06-03T17:57:56.428Z,1370282276.428 [DVL_micro](DEBUG): NQ1
2013-06-03T17:57:59.008Z,1370282279.008 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:01.556Z,1370282281.556 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:04.122Z,1370282284.122 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:06.673Z,1370282286.673 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:09.212Z,1370282289.212 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:11.796Z,1370282291.796 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:12.856Z,1370282292.856 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T17:58:14.340Z,1370282294.340 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:16.875Z,1370282296.875 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T17:58:16.896Z,1370282296.896 [DVL_micro](DEBUG): NQ1
2013-06-03T17:58:18.767Z,1370282298.767 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T17:58:18.767Z,1370282298.767 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T17:58:18.767Z,1370282298.767 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T17:58:18.776Z,1370282298.776 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T17:58:18.776Z,1370282298.776 [homing_pursuit:Lap] Stopped
2013-06-03T17:58:18.777Z,1370282298.777 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T17:58:18.777Z,1370282298.777 [homing_pursuit:Lap:A] Stopped
2013-06-03T17:58:18.778Z,1370282298.778 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit] Stopped
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:A] Stopped
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T17:58:18.779Z,1370282298.779 [homing_pursuit:E] Stopped
2013-06-03T17:58:19.002Z,1370282299.002 [DVL_micro](INFO): pause:Powering down
2013-06-03T17:58:19.173Z,1370282299.173 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T17:58:19.173Z,1370282299.173 [Default] Running Loop=1
2013-06-03T17:58:19.173Z,1370282299.173 [Default](INFO): Aggregate::initialize Default
2013-06-03T17:58:19.173Z,1370282299.173 [Default:D.SetSpeed] Running Loop=1
2013-06-03T17:58:19.173Z,1370282299.173 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T17:58:19.173Z,1370282299.173 [Default:E.GoToSurface] Running Loop=1
2013-06-03T17:58:19.174Z,1370282299.174 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T17:58:19.174Z,1370282299.174 [Default:Iridium] Running Loop=1
2013-06-03T17:58:19.174Z,1370282299.174 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T17:58:19.174Z,1370282299.174 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T17:58:19.174Z,1370282299.174 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T17:58:19.174Z,1370282299.174 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T17:58:19.174Z,1370282299.174 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T17:58:19.175Z,1370282299.175 [Default:E.GoToSurface] Running Loop=1
2013-06-03T17:58:19.189Z,1370282299.189 [Default:D.SetSpeed] Running Loop=1
2013-06-03T17:58:19.213Z,1370282299.213 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T17:58:19.213Z,1370282299.213 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T17:58:19.213Z,1370282299.213 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T17:58:19.213Z,1370282299.213 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T17:58:19.242Z,1370282299.242 [Default:GPS] Running Loop=1
2013-06-03T17:58:19.243Z,1370282299.243 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T17:58:19.243Z,1370282299.243 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T17:58:19.243Z,1370282299.243 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T17:58:19.243Z,1370282299.243 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T17:58:19.243Z,1370282299.243 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T17:58:19.265Z,1370282299.265 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T17:58:19.265Z,1370282299.265 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T17:58:19.265Z,1370282299.265 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T17:58:19.265Z,1370282299.265 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T17:58:19.603Z,1370282299.603 [DAT](INFO): Powering down
2013-06-03T17:58:19.742Z,1370282299.741 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-03T17:58:19.744Z,1370282299.744 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-03T17:58:19.991Z,1370282299.991 [NAL9602](INFO): Powering up
2013-06-03T17:58:30.436Z,1370282310.436 [NAL9602](INFO): NAL9602 initialized
2013-06-03T17:59:32.252Z,1370282372.253 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T17:59:32.253Z,1370282372.253 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T17:59:32.475Z,1370282372.475 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T17:59:32.482Z,1370282372.482 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T17:59:32.484Z,1370282372.484 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T17:59:32.486Z,1370282372.486 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T17:59:32.501Z,1370282372.501 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T17:59:32.503Z,1370282372.503 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T17:59:32.506Z,1370282372.506 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T17:59:32.508Z,1370282372.508 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T17:59:32.510Z,1370282372.510 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T17:59:32.549Z,1370282372.549 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T17:59:32.551Z,1370282372.551 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T17:59:32.554Z,1370282372.554 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T17:59:32.570Z,1370282372.570 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T17:59:32.577Z,1370282372.578 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T17:59:32.580Z,1370282372.580 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T17:59:32.582Z,1370282372.582 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T17:59:32.585Z,1370282372.585 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T17:59:32.587Z,1370282372.587 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T17:59:32.609Z,1370282372.609 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T17:59:32.632Z,1370282372.632 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T17:59:32.637Z,1370282372.638 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T17:59:32.673Z,1370282372.673 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T17:59:32.699Z,1370282372.699 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T17:59:32.703Z,1370282372.703 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T17:59:32.735Z,1370282372.735 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T17:59:32.738Z,1370282372.738 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T17:59:32.756Z,1370282372.756 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct.
2013-06-03T17:59:32.762Z,1370282372.762 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T17:59:32.780Z,1370282372.780 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T17:59:32.848Z,1370282372.848 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap" Repeat="NumberOfLaps">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>

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

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

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

            <Guidance:PitchServo RunIn="Parallel">
                <Setting>
                <Guidance:PitchServo.uri/><Universal:height_above_sea_floor/></Setting>
                <Setting><Guidance:PitchServo.holdValue/><Arg Name="Altitude"/></Setting>
                <Setting><Guidance:PitchServo.proportionalGain/><Arg Name="kpAltitude"/></Setting>
                <Setting><Guidance:PitchServo.integralGain/><Arg Name="kiAltitude"/></Setting>
                <Setting><Guidance:PitchServo.derivativeGain/><Arg Name="kdAltitude"/></Setting>
                <Setting><Guidance:PitchServo.changePerMeter/><Units:meter/><Value>-1</Value></Setting>
            </Guidance:PitchServo>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T17:59:32.849Z,1370282372.849 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T17:59:33.051Z,1370282373.051 [Default] Stopped
2013-06-03T17:59:33.051Z,1370282373.051 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T17:59:33.051Z,1370282373.051 [Default:GPS] Stopped
2013-06-03T17:59:33.052Z,1370282373.052 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T17:59:33.052Z,1370282373.052 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T17:59:33.052Z,1370282373.052 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T17:59:33.056Z,1370282373.056 [Default:GPS:Read_GPS] Stopped
2013-06-03T17:59:33.056Z,1370282373.056 [Default:Iridium] Stopped
2013-06-03T17:59:33.056Z,1370282373.056 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T17:59:33.056Z,1370282373.056 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T17:59:33.056Z,1370282373.056 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T17:59:33.057Z,1370282373.057 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T17:59:33.057Z,1370282373.057 [Default:D.SetSpeed] Stopped
2013-06-03T17:59:33.057Z,1370282373.057 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T17:59:33.057Z,1370282373.057 [Default:E.GoToSurface] Stopped
2013-06-03T17:59:33.057Z,1370282373.057 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T17:59:33.057Z,1370282373.057 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T17:59:33.057Z,1370282373.057 [homing_pursuit] Running Loop=1
2013-06-03T17:59:33.057Z,1370282373.057 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T17:59:33.058Z,1370282373.057 [homing_pursuit:A] Running Loop=1
2013-06-03T17:59:33.058Z,1370282373.058 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T17:59:33.058Z,1370282373.058 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T17:59:33.058Z,1370282373.058 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T17:59:33.058Z,1370282373.058 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:E] Running Loop=1
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:Lap] Running Loop=1
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T17:59:33.059Z,1370282373.059 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T17:59:33.065Z,1370282373.065 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T17:59:33.065Z,1370282373.066 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T17:59:33.066Z,1370282373.066 [homing_pursuit:E] Running Loop=1
2013-06-03T17:59:33.067Z,1370282373.067 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T17:59:33.068Z,1370282373.068 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T17:59:33.073Z,1370282373.073 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T17:59:33.074Z,1370282373.074 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T17:59:33.075Z,1370282373.075 [homing_pursuit:A] Running Loop=1
2013-06-03T17:59:33.076Z,1370282373.076 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T17:59:33.429Z,1370282373.429 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T17:59:33.429Z,1370282373.429 [DVL_micro](INFO): resume:Powering up
2013-06-03T17:59:33.429Z,1370282373.429 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T17:59:33.444Z,1370282373.444 [DAT](INFO): Powering up
2013-06-03T17:59:35.437Z,1370282375.437 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T17:59:35.437Z,1370282375.437 [DVL_micro](INFO): Querying output modes
2013-06-03T17:59:35.437Z,1370282375.437 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T17:59:35.449Z,1370282375.449 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T17:59:35.449Z,1370282375.449 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T17:59:35.449Z,1370282375.449 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T17:59:35.461Z,1370282375.461 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T17:59:37.980Z,1370282377.980 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:40.568Z,1370282380.568 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:40.694Z,1370282380.694 [NAL9602](INFO): Powering down
2013-06-03T17:59:43.112Z,1370282383.112 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:45.676Z,1370282385.676 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:48.229Z,1370282388.229 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:50.798Z,1370282390.798 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:53.181Z,1370282393.181 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T17:59:53.181Z,1370282393.181 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T17:59:53.181Z,1370282393.181 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T17:59:53.182Z,1370282393.181 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T17:59:53.182Z,1370282393.182 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T17:59:53.182Z,1370282393.182 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T17:59:53.182Z,1370282393.182 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T17:59:53.182Z,1370282393.182 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T17:59:53.182Z,1370282393.182 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T17:59:53.182Z,1370282393.182 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Initialize.
2013-06-03T17:59:53.183Z,1370282393.183 [homing_pursuit:Lap:Pursuit:D.PitchServo](INFO): Initialize with holdValue=height_above_sea_floor
2013-06-03T17:59:53.184Z,1370282393.184 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T17:59:53.184Z,1370282393.184 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T17:59:53.188Z,1370282393.188 [homing_pursuit:Lap:Pursuit:F.Wait] Running Loop=1
2013-06-03T17:59:53.188Z,1370282393.188 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T17:59:53.198Z,1370282393.198 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T17:59:53.207Z,1370282393.207 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T17:59:53.241Z,1370282393.241 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T17:59:53.252Z,1370282393.252 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T17:59:53.275Z,1370282393.275 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T17:59:53.356Z,1370282393.356 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:55.913Z,1370282395.912 [DVL_micro](DEBUG): NQ1
2013-06-03T17:59:57.556Z,1370282397.556 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T17:59:58.477Z,1370282398.477 [DVL_micro](DEBUG): NQ1
2013-06-03T18:00:01.028Z,1370282401.028 [DVL_micro](DEBUG): NQ1
2013-06-03T18:00:01.636Z,1370282401.636 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:00:03.341Z,1370282403.341 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T18:00:03.341Z,1370282403.341 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap] Stopped
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:00:03.342Z,1370282403.342 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:00:03.343Z,1370282403.342 [homing_pursuit:Lap:Pursuit:A.Pitch] Stopped
2013-06-03T18:00:03.343Z,1370282403.342 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:D.PitchServo] Stopped
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Uninitialize.
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:E.Point] Stopped
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:F.Wait] Stopped
2013-06-03T18:00:03.343Z,1370282403.343 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit] Stopped
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit:A] Stopped
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:00:03.350Z,1370282403.350 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:00:03.350Z,1370282403.351 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:00:03.351Z,1370282403.351 [homing_pursuit:E] Stopped
2013-06-03T18:00:03.597Z,1370282403.597 [DVL_micro](DEBUG): NQ1
2013-06-03T18:00:03.645Z,1370282403.645 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:00:03.888Z,1370282403.888 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:00:03.889Z,1370282403.889 [Default] Running Loop=1
2013-06-03T18:00:03.889Z,1370282403.889 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:00:03.889Z,1370282403.889 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:00:03.889Z,1370282403.889 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:00:03.889Z,1370282403.889 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:00:03.889Z,1370282403.889 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:00:03.889Z,1370282403.889 [Default:Iridium] Running Loop=1
2013-06-03T18:00:03.890Z,1370282403.889 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:00:03.890Z,1370282403.890 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:00:03.890Z,1370282403.890 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:00:03.890Z,1370282403.890 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:00:03.890Z,1370282403.890 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:00:03.901Z,1370282403.901 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:00:03.901Z,1370282403.901 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:00:03.901Z,1370282403.901 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:00:03.901Z,1370282403.901 [Default:GPS] Running Loop=1
2013-06-03T18:00:03.901Z,1370282403.901 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:00:03.902Z,1370282403.902 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:00:03.902Z,1370282403.902 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:00:03.902Z,1370282403.902 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:00:03.902Z,1370282403.902 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:00:03.903Z,1370282403.903 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:00:03.903Z,1370282403.903 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:00:03.903Z,1370282403.903 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:00:04.238Z,1370282404.238 [DAT](INFO): Powering down
2013-06-03T18:00:04.772Z,1370282404.772 [NAL9602](INFO): Powering up
2013-06-03T18:00:15.396Z,1370282415.396 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:00:44.909Z,1370282444.908 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:00:44.909Z,1370282444.909 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:00:45.044Z,1370282445.044 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:00:45.046Z,1370282445.046 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:00:45.061Z,1370282445.061 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:00:45.063Z,1370282445.063 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:00:45.066Z,1370282445.066 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:00:45.068Z,1370282445.068 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:00:45.070Z,1370282445.070 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:00:45.080Z,1370282445.080 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:00:45.083Z,1370282445.083 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:00:45.087Z,1370282445.087 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:00:45.089Z,1370282445.089 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:00:45.092Z,1370282445.092 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:00:45.095Z,1370282445.095 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:00:45.111Z,1370282445.111 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:00:45.113Z,1370282445.113 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 1.000000 min
2013-06-03T18:00:45.115Z,1370282445.115 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:00:45.158Z,1370282445.158 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:00:45.160Z,1370282445.160 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:00:45.162Z,1370282445.162 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:00:45.185Z,1370282445.185 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:00:45.190Z,1370282445.190 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:00:45.217Z,1370282445.217 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:00:45.252Z,1370282445.252 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T18:00:45.255Z,1370282445.256 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:00:45.292Z,1370282445.292 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:00:45.294Z,1370282445.294 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:00:45.313Z,1370282445.313 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct.
2013-06-03T18:00:45.319Z,1370282445.319 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:00:45.349Z,1370282445.349 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:00:45.394Z,1370282445.394 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap" Repeat="NumberOfLaps">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>

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

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

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

            <Guidance:PitchServo RunIn="Parallel">
                <Setting>
                <Guidance:PitchServo.uri/><Universal:height_above_sea_floor/></Setting>
                <Setting><Guidance:PitchServo.holdValue/><Arg Name="Altitude"/></Setting>
                <Setting><Guidance:PitchServo.proportionalGain/><Arg Name="kpAltitude"/></Setting>
                <Setting><Guidance:PitchServo.integralGain/><Arg Name="kiAltitude"/></Setting>
                <Setting><Guidance:PitchServo.derivativeGain/><Arg Name="kdAltitude"/></Setting>
                <Setting><Guidance:PitchServo.changePerMeter/><Units:meter/><Value>-1</Value></Setting>
            </Guidance:PitchServo>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T18:00:45.394Z,1370282445.395 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:00:45.613Z,1370282445.613 [Default] Stopped
2013-06-03T18:00:45.613Z,1370282445.613 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:00:45.613Z,1370282445.613 [Default:GPS] Stopped
2013-06-03T18:00:45.613Z,1370282445.614 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:00:45.614Z,1370282445.614 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:00:45.614Z,1370282445.614 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:00:45.614Z,1370282445.614 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:00:45.614Z,1370282445.614 [Default:Iridium] Stopped
2013-06-03T18:00:45.614Z,1370282445.614 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:00:45.614Z,1370282445.614 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:00:45.614Z,1370282445.614 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:00:45.614Z,1370282445.614 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:00:45.614Z,1370282445.614 [Default:D.SetSpeed] Stopped
2013-06-03T18:00:45.614Z,1370282445.614 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:00:45.614Z,1370282445.614 [Default:E.GoToSurface] Stopped
2013-06-03T18:00:45.614Z,1370282445.615 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:00:45.615Z,1370282445.615 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit] Running Loop=1
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit:A] Running Loop=1
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:00:45.615Z,1370282445.615 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:00:45.620Z,1370282445.620 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:E] Running Loop=1
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:Lap] Running Loop=1
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T18:00:45.621Z,1370282445.621 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:00:45.623Z,1370282445.622 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:00:45.623Z,1370282445.623 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:00:45.645Z,1370282445.645 [homing_pursuit:E] Running Loop=1
2013-06-03T18:00:45.645Z,1370282445.645 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:00:45.646Z,1370282445.646 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:00:45.647Z,1370282445.647 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:00:45.657Z,1370282445.657 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:00:45.658Z,1370282445.658 [homing_pursuit:A] Running Loop=1
2013-06-03T18:00:45.659Z,1370282445.659 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:00:45.777Z,1370282445.777 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:00:45.777Z,1370282445.777 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:00:45.778Z,1370282445.778 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:00:45.912Z,1370282445.912 [DAT](INFO): Powering up
2013-06-03T18:00:47.785Z,1370282447.785 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:00:47.785Z,1370282447.785 [DVL_micro](INFO): Querying output modes
2013-06-03T18:00:47.785Z,1370282447.785 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:00:47.796Z,1370282447.796 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:00:47.797Z,1370282447.796 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:00:47.797Z,1370282447.797 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:00:47.809Z,1370282447.809 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:00:50.324Z,1370282450.324 [DVL_micro](DEBUG): NQ1
2013-06-03T18:00:51.086Z,1370282451.086 [NAL9602](INFO): Powering down
2013-06-03T18:00:52.893Z,1370282452.893 [DVL_micro](DEBUG): NQ1
2013-06-03T18:00:55.484Z,1370282455.484 [DVL_micro](DEBUG): NQ1
2013-06-03T18:00:58.060Z,1370282458.060 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:00.596Z,1370282460.596 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:03.148Z,1370282463.148 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:05.605Z,1370282465.605 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:01:05.605Z,1370282465.605 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:01:05.605Z,1370282465.605 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:01:05.605Z,1370282465.605 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:01:05.605Z,1370282465.605 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:01:05.606Z,1370282465.606 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:01:05.606Z,1370282465.606 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:01:05.606Z,1370282465.606 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:01:05.606Z,1370282465.606 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:01:05.606Z,1370282465.606 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Initialize.
2013-06-03T18:01:05.606Z,1370282465.606 [homing_pursuit:Lap:Pursuit:D.PitchServo](INFO): Initialize with holdValue=height_above_sea_floor
2013-06-03T18:01:05.607Z,1370282465.607 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:01:05.607Z,1370282465.607 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:01:05.607Z,1370282465.607 [homing_pursuit:Lap:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:01:05.608Z,1370282465.608 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:01:05.609Z,1370282465.609 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:01:05.610Z,1370282465.610 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:01:05.611Z,1370282465.611 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:01:05.612Z,1370282465.612 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:01:05.613Z,1370282465.613 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:01:05.697Z,1370282465.697 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:08.260Z,1370282468.260 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:09.576Z,1370282469.576 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:01:10.820Z,1370282470.820 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:13.416Z,1370282473.416 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:13.680Z,1370282473.680 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:15.981Z,1370282475.981 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:17.939Z,1370282477.940 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:18.569Z,1370282478.569 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:21.136Z,1370282481.136 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:21.936Z,1370282481.936 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:23.684Z,1370282483.684 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:25.824Z,1370282485.824 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:26.250Z,1370282486.250 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:28.793Z,1370282488.793 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:29.977Z,1370282489.977 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:31.348Z,1370282491.348 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:33.888Z,1370282493.888 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:34.112Z,1370282494.112 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:36.480Z,1370282496.480 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:38.312Z,1370282498.312 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:01:39.025Z,1370282499.025 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:41.604Z,1370282501.604 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:42.080Z,1370282502.080 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:01:44.168Z,1370282504.168 [DVL_micro](DEBUG): NQ1
2013-06-03T18:01:45.723Z,1370282505.723 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T18:01:45.724Z,1370282505.724 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:01:45.724Z,1370282505.724 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:01:45.748Z,1370282505.748 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T18:01:45.748Z,1370282505.749 [homing_pursuit:Lap] Stopped
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit:A.Pitch] Stopped
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:01:45.749Z,1370282505.749 [homing_pursuit:Lap:Pursuit:D.PitchServo] Stopped
2013-06-03T18:01:45.749Z,1370282505.750 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Uninitialize.
2013-06-03T18:01:45.749Z,1370282505.750 [homing_pursuit:Lap:Pursuit:E.Point] Stopped
2013-06-03T18:01:45.750Z,1370282505.750 [homing_pursuit:Lap:Pursuit:F.Wait] Stopped
2013-06-03T18:01:45.750Z,1370282505.750 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:01:45.751Z,1370282505.751 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:01:45.752Z,1370282505.751 [homing_pursuit] Stopped
2013-06-03T18:01:45.752Z,1370282505.752 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:01:45.752Z,1370282505.752 [homing_pursuit:A] Stopped
2013-06-03T18:01:45.756Z,1370282505.756 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:01:45.756Z,1370282505.756 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:01:45.756Z,1370282505.756 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:01:45.756Z,1370282505.756 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:01:45.757Z,1370282505.757 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:01:45.757Z,1370282505.757 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:01:45.757Z,1370282505.757 [homing_pursuit:E] Stopped
2013-06-03T18:01:45.908Z,1370282505.908 [Reporter](INFO): DAT.homing_target_range 0.700000 m
2013-06-03T18:01:46.190Z,1370282506.190 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:01:46.190Z,1370282506.190 [Default] Running Loop=1
2013-06-03T18:01:46.190Z,1370282506.190 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:01:46.191Z,1370282506.191 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:01:46.191Z,1370282506.191 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:01:46.191Z,1370282506.191 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:01:46.191Z,1370282506.191 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:01:46.191Z,1370282506.191 [Default:Iridium] Running Loop=1
2013-06-03T18:01:46.191Z,1370282506.191 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:01:46.191Z,1370282506.191 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:01:46.191Z,1370282506.191 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:01:46.191Z,1370282506.191 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:01:46.192Z,1370282506.192 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:01:46.194Z,1370282506.194 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:01:46.194Z,1370282506.194 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:01:46.194Z,1370282506.194 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:01:46.194Z,1370282506.194 [Default:GPS] Running Loop=1
2013-06-03T18:01:46.194Z,1370282506.194 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:01:46.194Z,1370282506.194 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:01:46.194Z,1370282506.194 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:01:46.195Z,1370282506.195 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:01:46.195Z,1370282506.195 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:01:46.196Z,1370282506.195 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:01:46.196Z,1370282506.196 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:01:46.200Z,1370282506.200 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:01:46.266Z,1370282506.266 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:01:46.572Z,1370282506.572 [DAT](INFO): Powering down
2013-06-03T18:01:47.095Z,1370282507.095 [NAL9602](INFO): Powering up
2013-06-03T18:01:57.776Z,1370282517.776 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:01:58.590Z,1370282518.590 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T18:01:58.590Z,1370282518.591 [NAL9602] Data Fault, FailCount= 1
2013-06-03T18:01:58.591Z,1370282518.591 [NAL9602](ERROR): Data Fault
2013-06-03T18:01:58.618Z,1370282518.618 [Default:CallIridium] Running Loop=1
2013-06-03T18:01:58.619Z,1370282518.619 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:01:58.619Z,1370282518.619 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:01:58.621Z,1370282518.621 [Default:CallIridium:A] Stopped
2013-06-03T18:01:58.621Z,1370282518.621 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:01:58.621Z,1370282518.621 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:01:58.689Z,1370282518.689 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T18:01:59.055Z,1370282519.055 [NAL9602](INFO): Powering down
2013-06-03T18:02:00.005Z,1370282520.005 [CBIT](INFO): Clearing failed state for component NAL9602
2013-06-03T18:02:00.005Z,1370282520.005 [NAL9602] No Fault, FailCount= 1
2013-06-03T18:02:04.191Z,1370282524.191 [NAL9602](INFO): Powering up NAL9602
2013-06-03T18:02:14.676Z,1370282534.676 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:02:27.649Z,1370282547.648 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:02:27.649Z,1370282547.649 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:02:27.826Z,1370282547.826 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:02:27.844Z,1370282547.844 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:02:27.847Z,1370282547.847 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:02:27.849Z,1370282547.849 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:02:27.852Z,1370282547.852 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:02:27.871Z,1370282547.871 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:02:27.873Z,1370282547.873 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:02:27.880Z,1370282547.880 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:02:27.886Z,1370282547.886 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:02:27.888Z,1370282547.888 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:02:27.895Z,1370282547.895 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:02:27.906Z,1370282547.906 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:02:27.908Z,1370282547.908 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:02:27.910Z,1370282547.910 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:02:27.913Z,1370282547.913 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 1.000000 min
2013-06-03T18:02:27.915Z,1370282547.915 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:02:27.965Z,1370282547.965 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:02:27.967Z,1370282547.967 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:02:27.978Z,1370282547.978 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:02:27.985Z,1370282547.985 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:02:27.990Z,1370282547.990 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:02:28.038Z,1370282548.038 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:02:28.080Z,1370282548.080 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T18:02:28.089Z,1370282548.089 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:02:28.101Z,1370282548.101 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:02:28.112Z,1370282548.112 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:02:28.115Z,1370282548.115 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct.
2013-06-03T18:02:28.162Z,1370282548.162 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:02:28.189Z,1370282548.189 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:02:28.215Z,1370282548.215 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap" Repeat="NumberOfLaps">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>

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

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

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

            <Guidance:PitchServo RunIn="Parallel">
                <Setting>
                <Guidance:PitchServo.uri/><Universal:height_above_sea_floor/></Setting>
                <Setting><Guidance:PitchServo.holdValue/><Arg Name="Altitude"/></Setting>
                <Setting><Guidance:PitchServo.proportionalGain/><Arg Name="kpAltitude"/></Setting>
                <Setting><Guidance:PitchServo.integralGain/><Arg Name="kiAltitude"/></Setting>
                <Setting><Guidance:PitchServo.derivativeGain/><Arg Name="kdAltitude"/></Setting>
                <Setting><Guidance:PitchServo.changePerMeter/><Units:meter/><Value>-1</Value></Setting>
            </Guidance:PitchServo>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T18:02:28.215Z,1370282548.216 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:02:28.493Z,1370282548.493 [Default] Stopped
2013-06-03T18:02:28.493Z,1370282548.493 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:02:28.493Z,1370282548.493 [Default:GPS] Stopped
2013-06-03T18:02:28.493Z,1370282548.493 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:02:28.493Z,1370282548.493 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:02:28.493Z,1370282548.493 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:02:28.493Z,1370282548.493 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:02:28.493Z,1370282548.493 [Default:Iridium] Stopped
2013-06-03T18:02:28.494Z,1370282548.494 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:02:28.494Z,1370282548.494 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:02:28.495Z,1370282548.494 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:02:28.495Z,1370282548.495 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:02:28.495Z,1370282548.495 [Default:CallIridium] Stopped
2013-06-03T18:02:28.495Z,1370282548.495 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:02:28.495Z,1370282548.495 [Default:CallIridium:B] Stopped
2013-06-03T18:02:28.495Z,1370282548.495 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:02:28.495Z,1370282548.495 [Default:D.SetSpeed] Stopped
2013-06-03T18:02:28.495Z,1370282548.495 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:02:28.495Z,1370282548.496 [Default:E.GoToSurface] Stopped
2013-06-03T18:02:28.496Z,1370282548.496 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:02:28.496Z,1370282548.496 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:02:28.500Z,1370282548.500 [homing_pursuit] Running Loop=1
2013-06-03T18:02:28.500Z,1370282548.500 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:02:28.501Z,1370282548.500 [homing_pursuit:A] Running Loop=1
2013-06-03T18:02:28.501Z,1370282548.501 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:02:28.501Z,1370282548.501 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:02:28.501Z,1370282548.501 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:02:28.501Z,1370282548.501 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:E] Running Loop=1
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:Lap] Running Loop=1
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T18:02:28.502Z,1370282548.502 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:02:28.504Z,1370282548.504 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:02:28.509Z,1370282548.509 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:02:28.510Z,1370282548.510 [homing_pursuit:E] Running Loop=1
2013-06-03T18:02:28.510Z,1370282548.510 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:02:28.511Z,1370282548.511 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:02:28.516Z,1370282548.516 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:02:28.517Z,1370282548.517 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:02:28.518Z,1370282548.518 [homing_pursuit:A] Running Loop=1
2013-06-03T18:02:28.519Z,1370282548.519 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:02:28.762Z,1370282548.762 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:02:28.762Z,1370282548.762 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:02:28.762Z,1370282548.762 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:02:28.807Z,1370282548.807 [DAT](INFO): Powering up
2013-06-03T18:02:30.777Z,1370282550.777 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:02:30.777Z,1370282550.777 [DVL_micro](INFO): Querying output modes
2013-06-03T18:02:30.778Z,1370282550.778 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:02:30.792Z,1370282550.792 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:02:30.792Z,1370282550.792 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:02:30.793Z,1370282550.793 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:02:30.804Z,1370282550.805 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:02:33.316Z,1370282553.316 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:35.669Z,1370282555.669 [NAL9602](INFO): Powering down
2013-06-03T18:02:35.873Z,1370282555.873 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:38.428Z,1370282558.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:40.988Z,1370282560.988 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:43.536Z,1370282563.536 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:46.092Z,1370282566.092 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:48.638Z,1370282568.638 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:02:48.639Z,1370282568.639 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:02:48.640Z,1370282568.639 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:02:48.640Z,1370282568.640 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Initialize.
2013-06-03T18:02:48.645Z,1370282568.645 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:48.645Z,1370282568.645 [homing_pursuit:Lap:Pursuit:D.PitchServo](INFO): Initialize with holdValue=height_above_sea_floor
2013-06-03T18:02:48.646Z,1370282568.646 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:02:48.646Z,1370282568.646 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:02:48.646Z,1370282568.647 [homing_pursuit:Lap:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:02:48.647Z,1370282568.647 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:02:48.647Z,1370282568.648 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:02:48.653Z,1370282568.653 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:02:48.654Z,1370282568.654 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:02:48.655Z,1370282568.655 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:02:48.661Z,1370282568.661 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:02:51.208Z,1370282571.208 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:52.507Z,1370282572.507 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:02:53.784Z,1370282573.784 [DVL_micro](DEBUG): NQ1
2013-06-03T18:02:55.056Z,1370282575.056 [CommandLine](IMPORTANT): got command stop
2013-06-03T18:02:55.397Z,1370282575.397 [homing_pursuit] Stopped
2013-06-03T18:02:55.397Z,1370282575.397 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:A] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:E] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:Lap] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:02:55.398Z,1370282575.398 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:A.Pitch] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:D.PitchServo] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Uninitialize.
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:E.Point] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:F.Wait] Stopped
2013-06-03T18:02:55.399Z,1370282575.399 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:02:55.898Z,1370282575.898 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:02:55.911Z,1370282575.911 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:02:55.911Z,1370282575.911 [Default] Running Loop=1
2013-06-03T18:02:55.911Z,1370282575.911 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:02:55.911Z,1370282575.911 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:02:55.911Z,1370282575.911 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:02:55.911Z,1370282575.911 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:02:55.911Z,1370282575.911 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:02:55.916Z,1370282575.916 [Default:Iridium] Running Loop=1
2013-06-03T18:02:55.916Z,1370282575.917 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:02:55.917Z,1370282575.917 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:02:55.917Z,1370282575.917 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:02:55.917Z,1370282575.917 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:02:55.917Z,1370282575.917 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:02:55.919Z,1370282575.919 [Default:CallIridium] Running Loop=1
2013-06-03T18:02:55.919Z,1370282575.919 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:02:55.919Z,1370282575.919 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:02:55.920Z,1370282575.920 [Default:CallIridium:A] Stopped
2013-06-03T18:02:55.924Z,1370282575.924 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:02:55.925Z,1370282575.925 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:02:55.926Z,1370282575.926 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:02:55.926Z,1370282575.926 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:02:55.926Z,1370282575.926 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:02:55.926Z,1370282575.926 [Default:GPS] Running Loop=1
2013-06-03T18:02:55.927Z,1370282575.927 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:02:55.927Z,1370282575.927 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:02:55.927Z,1370282575.927 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:02:55.927Z,1370282575.927 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:02:55.927Z,1370282575.927 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:02:55.969Z,1370282575.968 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:02:55.969Z,1370282575.969 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:02:55.969Z,1370282575.969 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:02:56.351Z,1370282576.351 [DAT](INFO): Powering down
2013-06-03T18:02:56.859Z,1370282576.859 [NAL9602](INFO): Powering up
2013-06-03T18:03:07.412Z,1370282587.412 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:03:08.581Z,1370282588.580 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:03:08.581Z,1370282588.581 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:03:08.818Z,1370282588.818 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:03:08.821Z,1370282588.820 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:03:08.823Z,1370282588.823 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:03:08.850Z,1370282588.850 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:03:08.857Z,1370282588.857 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:03:08.859Z,1370282588.859 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:03:08.866Z,1370282588.866 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:03:08.873Z,1370282588.873 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:03:08.875Z,1370282588.875 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:03:08.882Z,1370282588.882 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:03:08.889Z,1370282588.889 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:03:08.891Z,1370282588.891 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:03:08.899Z,1370282588.899 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:03:08.906Z,1370282588.906 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:03:08.912Z,1370282588.912 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 1.000000 min
2013-06-03T18:03:08.914Z,1370282588.914 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:03:08.921Z,1370282588.921 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:03:08.924Z,1370282588.924 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:03:08.930Z,1370282588.930 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:03:08.953Z,1370282588.953 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:03:08.966Z,1370282588.966 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:03:08.999Z,1370282588.999 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:03:09.022Z,1370282589.022 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T18:03:09.046Z,1370282589.046 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:03:09.054Z,1370282589.054 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:03:09.069Z,1370282589.069 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:03:09.071Z,1370282589.071 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct.
2013-06-03T18:03:09.094Z,1370282589.094 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:03:09.107Z,1370282589.107 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:03:09.169Z,1370282589.169 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap" Repeat="NumberOfLaps">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>

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

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

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

            <Guidance:PitchServo RunIn="Parallel">
                <Setting>
                <Guidance:PitchServo.uri/><Universal:height_above_sea_floor/></Setting>
                <Setting><Guidance:PitchServo.holdValue/><Arg Name="Altitude"/></Setting>
                <Setting><Guidance:PitchServo.proportionalGain/><Arg Name="kpAltitude"/></Setting>
                <Setting><Guidance:PitchServo.integralGain/><Arg Name="kiAltitude"/></Setting>
                <Setting><Guidance:PitchServo.derivativeGain/><Arg Name="kdAltitude"/></Setting>
                <Setting><Guidance:PitchServo.changePerMeter/><Units:meter/><Value>-1</Value></Setting>
            </Guidance:PitchServo>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T18:03:09.170Z,1370282589.170 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:03:09.472Z,1370282589.473 [Default] Stopped
2013-06-03T18:03:09.473Z,1370282589.473 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:03:09.473Z,1370282589.473 [Default:GPS] Stopped
2013-06-03T18:03:09.473Z,1370282589.473 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:03:09.473Z,1370282589.473 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:03:09.473Z,1370282589.473 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:03:09.473Z,1370282589.473 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:03:09.473Z,1370282589.473 [Default:Iridium] Stopped
2013-06-03T18:03:09.473Z,1370282589.473 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:03:09.473Z,1370282589.473 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:03:09.474Z,1370282589.474 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:03:09.474Z,1370282589.474 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:03:09.474Z,1370282589.474 [Default:CallIridium] Stopped
2013-06-03T18:03:09.474Z,1370282589.474 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:03:09.474Z,1370282589.474 [Default:CallIridium:B] Stopped
2013-06-03T18:03:09.474Z,1370282589.474 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:03:09.474Z,1370282589.474 [Default:D.SetSpeed] Stopped
2013-06-03T18:03:09.474Z,1370282589.474 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:03:09.474Z,1370282589.474 [Default:E.GoToSurface] Stopped
2013-06-03T18:03:09.474Z,1370282589.474 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:03:09.475Z,1370282589.474 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit] Running Loop=1
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit:A] Running Loop=1
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:03:09.475Z,1370282589.475 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:03:09.478Z,1370282589.478 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:03:09.478Z,1370282589.478 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:03:09.478Z,1370282589.478 [homing_pursuit:E] Running Loop=1
2013-06-03T18:03:09.478Z,1370282589.478 [homing_pursuit:Lap] Running Loop=1
2013-06-03T18:03:09.479Z,1370282589.479 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T18:03:09.480Z,1370282589.480 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:03:09.480Z,1370282589.480 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T18:03:09.480Z,1370282589.480 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:03:09.482Z,1370282589.482 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:03:09.482Z,1370282589.482 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:03:09.483Z,1370282589.483 [homing_pursuit:E] Running Loop=1
2013-06-03T18:03:09.484Z,1370282589.484 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:03:09.494Z,1370282589.494 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:03:09.497Z,1370282589.497 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:03:09.498Z,1370282589.498 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:03:09.499Z,1370282589.499 [homing_pursuit:A] Running Loop=1
2013-06-03T18:03:09.499Z,1370282589.499 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:03:09.641Z,1370282589.641 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:03:09.641Z,1370282589.641 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:03:09.641Z,1370282589.641 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:03:09.995Z,1370282589.995 [DAT](INFO): Powering up
2013-06-03T18:03:11.649Z,1370282591.648 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:03:11.649Z,1370282591.649 [DVL_micro](INFO): Querying output modes
2013-06-03T18:03:11.649Z,1370282591.649 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:03:11.660Z,1370282591.660 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:03:11.660Z,1370282591.661 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:03:11.661Z,1370282591.661 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:03:11.684Z,1370282591.684 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:03:14.192Z,1370282594.192 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:15.442Z,1370282595.441 [NAL9602](INFO): Powering down
2013-06-03T18:03:16.748Z,1370282596.748 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:19.300Z,1370282599.300 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:21.876Z,1370282601.876 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:24.420Z,1370282604.420 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:26.972Z,1370282606.972 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:29.520Z,1370282609.520 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:03:29.575Z,1370282609.575 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:03:29.576Z,1370282609.576 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:03:29.576Z,1370282609.576 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:03:29.576Z,1370282609.576 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Initialize.
2013-06-03T18:03:29.576Z,1370282609.576 [homing_pursuit:Lap:Pursuit:D.PitchServo](INFO): Initialize with holdValue=height_above_sea_floor
2013-06-03T18:03:29.577Z,1370282609.577 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:03:29.577Z,1370282609.577 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:03:29.577Z,1370282609.578 [homing_pursuit:Lap:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:03:29.578Z,1370282609.578 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:03:29.578Z,1370282609.579 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:03:29.580Z,1370282609.580 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:03:29.581Z,1370282609.581 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:03:29.582Z,1370282609.582 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:03:29.583Z,1370282609.583 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:03:30.780Z,1370282610.780 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-06-03T18:03:30.780Z,1370282610.780 [ThrusterServo] Communications Fault, FailCount= 1
2013-06-03T18:03:30.780Z,1370282610.780 [ThrusterServo](ERROR): Communications Fault
2013-06-03T18:03:30.783Z,1370282610.783 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-03T18:03:31.135Z,1370282611.135 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-03T18:03:31.135Z,1370282611.135 [ThrusterServo](INFO): Powering down
2013-06-03T18:03:31.873Z,1370282611.873 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T18:03:31.993Z,1370282611.993 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T18:03:31.996Z,1370282611.996 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-03T18:03:31.996Z,1370282611.996 [ThrusterServo] No Fault, FailCount= 1
2013-06-03T18:03:32.100Z,1370282612.100 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:33.584Z,1370282613.584 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:03:34.652Z,1370282614.652 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:37.204Z,1370282617.204 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:37.795Z,1370282617.795 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:03:39.756Z,1370282619.756 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:41.576Z,1370282621.576 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:03:42.292Z,1370282622.292 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:44.888Z,1370282624.888 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:45.868Z,1370282625.868 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:03:47.444Z,1370282627.444 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:49.884Z,1370282629.884 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:03:49.996Z,1370282629.996 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:52.544Z,1370282632.544 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:53.656Z,1370282633.656 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:03:55.116Z,1370282635.116 [DVL_micro](DEBUG): NQ1
2013-06-03T18:03:57.459Z,1370282637.459 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:03:57.692Z,1370282637.693 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:00.285Z,1370282640.284 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:01.560Z,1370282641.560 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:04:02.848Z,1370282642.848 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:05.388Z,1370282645.388 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:05.644Z,1370282645.644 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:04:07.928Z,1370282647.928 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:09.591Z,1370282649.591 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T18:04:09.591Z,1370282649.591 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:04:09.591Z,1370282649.591 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:04:09.591Z,1370282649.592 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T18:04:09.592Z,1370282649.592 [homing_pursuit:Lap] Stopped
2013-06-03T18:04:09.597Z,1370282649.597 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:04:09.597Z,1370282649.597 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:04:09.597Z,1370282649.597 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:04:09.597Z,1370282649.597 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:04:09.597Z,1370282649.597 [homing_pursuit:Lap:Pursuit:A.Pitch] Stopped
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:D.PitchServo] Stopped
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Uninitialize.
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:E.Point] Stopped
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:F.Wait] Stopped
2013-06-03T18:04:09.598Z,1370282649.598 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:04:09.604Z,1370282649.605 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit] Stopped
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:A] Stopped
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:04:09.605Z,1370282649.605 [homing_pursuit:E] Stopped
2013-06-03T18:04:09.756Z,1370282649.756 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:04:10.042Z,1370282650.042 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:04:10.062Z,1370282650.062 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:04:10.062Z,1370282650.062 [Default] Running Loop=1
2013-06-03T18:04:10.062Z,1370282650.062 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:04:10.062Z,1370282650.062 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:04:10.062Z,1370282650.062 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:04:10.063Z,1370282650.063 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:04:10.063Z,1370282650.063 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:04:10.063Z,1370282650.063 [Default:Iridium] Running Loop=1
2013-06-03T18:04:10.063Z,1370282650.063 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:04:10.063Z,1370282650.063 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:04:10.063Z,1370282650.063 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:04:10.063Z,1370282650.063 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:04:10.063Z,1370282650.063 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:04:10.070Z,1370282650.070 [Default:CallIridium] Running Loop=1
2013-06-03T18:04:10.070Z,1370282650.070 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:04:10.070Z,1370282650.070 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:04:10.070Z,1370282650.070 [Default:CallIridium:A] Stopped
2013-06-03T18:04:10.071Z,1370282650.070 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:04:10.071Z,1370282650.071 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:04:10.071Z,1370282650.071 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:04:10.071Z,1370282650.071 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:04:10.072Z,1370282650.072 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:04:10.072Z,1370282650.072 [Default:GPS] Running Loop=1
2013-06-03T18:04:10.072Z,1370282650.072 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:04:10.072Z,1370282650.072 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:04:10.072Z,1370282650.072 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:04:10.072Z,1370282650.072 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:04:10.073Z,1370282650.073 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:04:10.073Z,1370282650.073 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:04:10.073Z,1370282650.073 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:04:10.074Z,1370282650.074 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:04:10.484Z,1370282650.484 [DAT](INFO): Powering down
2013-06-03T18:04:11.121Z,1370282651.121 [NAL9602](INFO): Powering up
2013-06-03T18:04:21.824Z,1370282661.824 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:04:44.633Z,1370282684.633 [CommandLine](IMPORTANT): got command report touch homing_target_range
2013-06-03T18:04:46.856Z,1370282686.856 [CommandLine](IMPORTANT): got command report
2013-06-03T18:04:46.857Z,1370282686.857 [Reporter](INFO): DAT.homing_target_range reporting when touched
2013-06-03T18:04:46.858Z,1370282686.858 [Reporter](INFO): homing_target_range reporting when touched
2013-06-03T18:04:51.137Z,1370282691.136 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:04:51.137Z,1370282691.137 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:04:51.323Z,1370282691.323 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:04:51.354Z,1370282691.354 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:04:51.356Z,1370282691.356 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:04:51.358Z,1370282691.358 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:04:51.373Z,1370282691.373 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:04:51.375Z,1370282691.375 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:04:51.378Z,1370282691.378 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:04:51.381Z,1370282691.381 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:04:51.383Z,1370282691.383 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:04:51.401Z,1370282691.401 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:04:51.404Z,1370282691.404 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:04:51.406Z,1370282691.406 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:04:51.408Z,1370282691.408 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:04:51.411Z,1370282691.411 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:04:51.421Z,1370282691.421 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:04:51.423Z,1370282691.423 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:04:51.430Z,1370282691.430 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:04:51.449Z,1370282691.449 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:04:51.452Z,1370282691.452 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:04:51.497Z,1370282691.497 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:04:51.502Z,1370282691.503 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:04:51.528Z,1370282691.528 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:04:51.564Z,1370282691.564 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T18:04:51.580Z,1370282691.580 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:04:51.600Z,1370282691.601 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:04:51.603Z,1370282691.603 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:04:51.613Z,1370282691.613 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Construct.
2013-06-03T18:04:51.628Z,1370282691.628 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:04:51.647Z,1370282691.647 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:04:51.692Z,1370282691.691 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap" Repeat="NumberOfLaps">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>

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

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

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

            <Guidance:PitchServo RunIn="Parallel">
                <Setting>
                <Guidance:PitchServo.uri/><Universal:height_above_sea_floor/></Setting>
                <Setting><Guidance:PitchServo.holdValue/><Arg Name="Altitude"/></Setting>
                <Setting><Guidance:PitchServo.proportionalGain/><Arg Name="kpAltitude"/></Setting>
                <Setting><Guidance:PitchServo.integralGain/><Arg Name="kiAltitude"/></Setting>
                <Setting><Guidance:PitchServo.derivativeGain/><Arg Name="kdAltitude"/></Setting>
                <Setting><Guidance:PitchServo.changePerMeter/><Units:meter/><Value>-1</Value></Setting>
            </Guidance:PitchServo>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T18:04:51.700Z,1370282691.700 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:04:51.958Z,1370282691.958 [Default] Stopped
2013-06-03T18:04:51.958Z,1370282691.958 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:04:51.958Z,1370282691.958 [Default:GPS] Stopped
2013-06-03T18:04:51.958Z,1370282691.958 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:04:51.958Z,1370282691.958 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:04:51.958Z,1370282691.958 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:04:51.958Z,1370282691.958 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:04:51.958Z,1370282691.958 [Default:Iridium] Stopped
2013-06-03T18:04:51.958Z,1370282691.958 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:04:51.959Z,1370282691.958 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:04:51.959Z,1370282691.959 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:04:51.959Z,1370282691.959 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:04:51.959Z,1370282691.959 [Default:CallIridium] Stopped
2013-06-03T18:04:51.959Z,1370282691.959 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:04:51.959Z,1370282691.959 [Default:CallIridium:B] Stopped
2013-06-03T18:04:51.959Z,1370282691.959 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:04:51.959Z,1370282691.959 [Default:D.SetSpeed] Stopped
2013-06-03T18:04:51.959Z,1370282691.959 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:04:51.959Z,1370282691.959 [Default:E.GoToSurface] Stopped
2013-06-03T18:04:51.959Z,1370282691.959 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:04:51.960Z,1370282691.960 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:04:51.960Z,1370282691.960 [homing_pursuit] Running Loop=1
2013-06-03T18:04:51.964Z,1370282691.964 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:04:51.964Z,1370282691.964 [homing_pursuit:A] Running Loop=1
2013-06-03T18:04:51.964Z,1370282691.964 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:04:51.965Z,1370282691.964 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:04:51.965Z,1370282691.965 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:04:51.965Z,1370282691.965 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:04:51.965Z,1370282691.965 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:04:51.965Z,1370282691.966 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:04:51.966Z,1370282691.966 [homing_pursuit:E] Running Loop=1
2013-06-03T18:04:51.966Z,1370282691.966 [homing_pursuit:Lap] Running Loop=1
2013-06-03T18:04:51.966Z,1370282691.966 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T18:04:51.966Z,1370282691.966 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:04:51.966Z,1370282691.966 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T18:04:51.966Z,1370282691.966 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:04:51.967Z,1370282691.967 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:04:51.972Z,1370282691.972 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:04:51.973Z,1370282691.973 [homing_pursuit:E] Running Loop=1
2013-06-03T18:04:51.974Z,1370282691.974 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:04:51.975Z,1370282691.975 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:04:51.976Z,1370282691.976 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:04:51.981Z,1370282691.981 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:04:51.982Z,1370282691.982 [homing_pursuit:A] Running Loop=1
2013-06-03T18:04:51.983Z,1370282691.983 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:04:52.057Z,1370282692.057 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:04:52.057Z,1370282692.057 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:04:52.057Z,1370282692.057 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:04:52.276Z,1370282692.276 [DAT](INFO): Powering up
2013-06-03T18:04:54.064Z,1370282694.065 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:04:54.065Z,1370282694.065 [DVL_micro](INFO): Querying output modes
2013-06-03T18:04:54.065Z,1370282694.065 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:04:54.076Z,1370282694.076 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:04:54.076Z,1370282694.076 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:04:54.076Z,1370282694.076 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:04:54.088Z,1370282694.088 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:04:56.600Z,1370282696.601 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:59.148Z,1370282699.148 [DVL_micro](DEBUG): NQ1
2013-06-03T18:04:59.557Z,1370282699.557 [NAL9602](INFO): Powering down
2013-06-03T18:05:01.692Z,1370282701.692 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:04.248Z,1370282704.248 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:06.828Z,1370282706.828 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:09.384Z,1370282709.384 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:11.940Z,1370282711.940 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:11.985Z,1370282711.985 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:05:11.985Z,1370282711.985 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:05:11.985Z,1370282711.985 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:05:11.985Z,1370282711.985 [homing_pursuit:Lap:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Initialize.
2013-06-03T18:05:11.986Z,1370282711.986 [homing_pursuit:Lap:Pursuit:D.PitchServo](INFO): Initialize with holdValue=height_above_sea_floor
2013-06-03T18:05:11.987Z,1370282711.987 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:05:11.987Z,1370282711.987 [homing_pursuit:Lap:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:05:11.988Z,1370282711.987 [homing_pursuit:Lap:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:05:11.988Z,1370282711.988 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:05:11.989Z,1370282711.989 [homing_pursuit:Lap:Pursuit:E.Point] Running Loop=1
2013-06-03T18:05:11.990Z,1370282711.990 [homing_pursuit:Lap:Pursuit:D.PitchServo] Running Loop=1
2013-06-03T18:05:11.991Z,1370282711.991 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:05:11.996Z,1370282711.996 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:05:11.997Z,1370282711.997 [homing_pursuit:Lap:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:05:14.488Z,1370282714.488 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:16.216Z,1370282716.216 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:05:16.216Z,1370282716.216 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:05:17.045Z,1370282717.045 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:19.605Z,1370282719.605 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:20.220Z,1370282720.220 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:05:20.221Z,1370282720.221 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:05:22.168Z,1370282722.168 [DVL_micro](DEBUG): NQ1
2013-06-03T18:05:22.217Z,1370282722.217 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T18:05:22.217Z,1370282722.217 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:05:22.217Z,1370282722.217 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:05:22.218Z,1370282722.217 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap] Stopped
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit:A.Pitch] Stopped
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:05:22.218Z,1370282722.218 [homing_pursuit:Lap:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:05:22.219Z,1370282722.218 [homing_pursuit:Lap:Pursuit:D.PitchServo] Stopped
2013-06-03T18:05:22.219Z,1370282722.219 [homing_pursuit:Lap:Pursuit:D.PitchServo](DEBUG): Uninitialize.
2013-06-03T18:05:22.219Z,1370282722.219 [homing_pursuit:Lap:Pursuit:E.Point] Stopped
2013-06-03T18:05:22.219Z,1370282722.219 [homing_pursuit:Lap:Pursuit:F.Wait] Stopped
2013-06-03T18:05:22.219Z,1370282722.219 [homing_pursuit:Lap:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:05:22.225Z,1370282722.225 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:05:22.225Z,1370282722.225 [homing_pursuit] Stopped
2013-06-03T18:05:22.225Z,1370282722.225 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:05:22.225Z,1370282722.225 [homing_pursuit:A] Stopped
2013-06-03T18:05:22.225Z,1370282722.225 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:05:22.225Z,1370282722.225 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:05:22.226Z,1370282722.226 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:05:22.226Z,1370282722.226 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:05:22.226Z,1370282722.226 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:05:22.226Z,1370282722.226 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:05:22.226Z,1370282722.226 [homing_pursuit:E] Stopped
2013-06-03T18:05:22.278Z,1370282722.278 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:05:22.729Z,1370282722.728 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:05:22.729Z,1370282722.729 [Default] Running Loop=1
2013-06-03T18:05:22.729Z,1370282722.729 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:05:22.729Z,1370282722.729 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:05:22.729Z,1370282722.729 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:05:22.729Z,1370282722.729 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:05:22.729Z,1370282722.729 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:05:22.729Z,1370282722.729 [Default:Iridium] Running Loop=1
2013-06-03T18:05:22.729Z,1370282722.730 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:05:22.730Z,1370282722.730 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:05:22.730Z,1370282722.730 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:05:22.730Z,1370282722.730 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:05:22.730Z,1370282722.730 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:05:22.731Z,1370282722.731 [Default:CallIridium] Running Loop=1
2013-06-03T18:05:22.731Z,1370282722.731 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:05:22.732Z,1370282722.732 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:05:22.752Z,1370282722.752 [Default:CallIridium:A] Stopped
2013-06-03T18:05:22.752Z,1370282722.752 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:05:22.752Z,1370282722.752 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:05:22.753Z,1370282722.753 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:05:22.753Z,1370282722.753 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:05:22.753Z,1370282722.753 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:05:22.754Z,1370282722.754 [Default:GPS] Running Loop=1
2013-06-03T18:05:22.754Z,1370282722.754 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:05:22.754Z,1370282722.754 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:05:22.754Z,1370282722.754 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:05:22.754Z,1370282722.754 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:05:22.754Z,1370282722.754 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:05:22.755Z,1370282722.755 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:05:22.755Z,1370282722.755 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:05:22.755Z,1370282722.755 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:05:23.228Z,1370282723.228 [DAT](INFO): Powering down
2013-06-03T18:05:23.825Z,1370282723.825 [NAL9602](INFO): Powering up
2013-06-03T18:05:34.525Z,1370282734.524 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:12:16.866Z,1370283136.866 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T18:12:16.866Z,1370283136.866 [NAL9602] Data Fault, FailCount= 2
2013-06-03T18:12:16.866Z,1370283136.866 [NAL9602](ERROR): Data Fault
2013-06-03T18:12:16.971Z,1370283136.971 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T18:12:16.981Z,1370283136.981 [CBIT](CRITICAL): Data Fault in component: NAL9602
2013-06-03T18:12:17.329Z,1370283137.329 [NAL9602](INFO): Powering down
2013-06-03T18:14:16.896Z,1370283256.896 [CBIT](INFO): Clearing failed count for component NAL9602
2013-06-03T18:14:16.896Z,1370283256.896 [NAL9602] No Fault, FailCount= 2
2013-06-03T18:14:17.242Z,1370283257.242 [NAL9602](INFO): Powering up NAL9602
2013-06-03T18:14:27.876Z,1370283267.876 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:16:13.153Z,1370283373.152 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:16:13.153Z,1370283373.153 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:16:13.271Z,1370283373.271 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:16:13.282Z,1370283373.282 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:16:13.292Z,1370283373.292 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:16:13.296Z,1370283373.296 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:16:13.306Z,1370283373.306 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:16:13.317Z,1370283373.317 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:16:13.319Z,1370283373.319 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:16:13.331Z,1370283373.330 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:16:13.357Z,1370283373.357 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:16:13.359Z,1370283373.359 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:16:13.370Z,1370283373.370 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:16:13.381Z,1370283373.381 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:16:13.390Z,1370283373.390 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:16:13.396Z,1370283373.396 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:16:13.399Z,1370283373.399 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:16:13.405Z,1370283373.405 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:16:13.412Z,1370283373.412 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:16:13.415Z,1370283373.415 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:16:13.421Z,1370283373.421 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:16:13.424Z,1370283373.424 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:16:13.462Z,1370283373.462 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:16:13.468Z,1370283373.467 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:16:13.501Z,1370283373.500 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:16:13.513Z,1370283373.513 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T18:16:13.525Z,1370283373.525 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Construct.
2013-06-03T18:16:13.555Z,1370283373.555 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:16:13.562Z,1370283373.562 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Construct.
2013-06-03T18:16:13.566Z,1370283373.566 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Construct.
2013-06-03T18:16:13.593Z,1370283373.593 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Construct.
2013-06-03T18:16:13.609Z,1370283373.609 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Construct Wait.
2013-06-03T18:16:13.627Z,1370283373.627 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>
  
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>
        
        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>
        
            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence"/>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T18:16:13.627Z,1370283373.628 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:16:13.715Z,1370283373.715 [Default] Stopped
2013-06-03T18:16:13.716Z,1370283373.716 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:16:13.716Z,1370283373.716 [Default:GPS] Stopped
2013-06-03T18:16:13.720Z,1370283373.720 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:16:13.720Z,1370283373.720 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:16:13.720Z,1370283373.720 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:16:13.720Z,1370283373.720 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:16:13.720Z,1370283373.720 [Default:Iridium] Stopped
2013-06-03T18:16:13.721Z,1370283373.721 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:16:13.721Z,1370283373.721 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:16:13.721Z,1370283373.721 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:16:13.721Z,1370283373.721 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:16:13.721Z,1370283373.721 [Default:CallIridium] Stopped
2013-06-03T18:16:13.721Z,1370283373.721 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:16:13.721Z,1370283373.721 [Default:CallIridium:B] Stopped
2013-06-03T18:16:13.721Z,1370283373.721 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:16:13.721Z,1370283373.721 [Default:D.SetSpeed] Stopped
2013-06-03T18:16:13.721Z,1370283373.721 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:16:13.722Z,1370283373.722 [Default:E.GoToSurface] Stopped
2013-06-03T18:16:13.722Z,1370283373.722 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:16:13.722Z,1370283373.722 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:16:13.722Z,1370283373.722 [homing_pursuit] Running Loop=1
2013-06-03T18:16:13.722Z,1370283373.722 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:16:13.722Z,1370283373.722 [homing_pursuit:A] Running Loop=1
2013-06-03T18:16:13.722Z,1370283373.722 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:16:13.722Z,1370283373.722 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:16:13.723Z,1370283373.723 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:16:13.723Z,1370283373.723 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:16:13.723Z,1370283373.723 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:16:13.723Z,1370283373.723 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:16:13.724Z,1370283373.724 [homing_pursuit:E] Running Loop=1
2013-06-03T18:16:13.728Z,1370283373.728 [homing_pursuit:Lap] Running Loop=1
2013-06-03T18:16:13.728Z,1370283373.728 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T18:16:13.728Z,1370283373.728 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:16:13.729Z,1370283373.729 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T18:16:13.729Z,1370283373.729 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:16:13.730Z,1370283373.730 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:16:13.731Z,1370283373.731 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:16:13.731Z,1370283373.731 [homing_pursuit:E] Running Loop=1
2013-06-03T18:16:13.752Z,1370283373.752 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:16:13.753Z,1370283373.753 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:16:13.754Z,1370283373.754 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:16:13.756Z,1370283373.756 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:16:13.766Z,1370283373.766 [homing_pursuit:A] Running Loop=1
2013-06-03T18:16:13.766Z,1370283373.766 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:16:13.885Z,1370283373.885 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:16:13.885Z,1370283373.885 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:16:13.885Z,1370283373.885 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:16:14.117Z,1370283374.117 [DAT](INFO): Powering up
2013-06-03T18:16:15.892Z,1370283375.892 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:16:15.893Z,1370283375.893 [DVL_micro](INFO): Querying output modes
2013-06-03T18:16:15.893Z,1370283375.893 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:16:15.904Z,1370283375.904 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:16:15.905Z,1370283375.905 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:16:15.905Z,1370283375.905 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:16:15.916Z,1370283375.916 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:16:18.428Z,1370283378.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:19.668Z,1370283379.668 [NAL9602](INFO): Powering down
2013-06-03T18:16:20.992Z,1370283380.992 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:23.532Z,1370283383.532 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:26.092Z,1370283386.092 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:28.644Z,1370283388.644 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:31.188Z,1370283391.188 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:33.772Z,1370283393.773 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:33.942Z,1370283393.942 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:16:33.942Z,1370283393.942 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:16:33.942Z,1370283393.942 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:16:33.942Z,1370283393.942 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:16:33.942Z,1370283393.943 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:16:33.943Z,1370283393.943 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:16:33.943Z,1370283393.944 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:16:33.944Z,1370283393.944 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:16:33.948Z,1370283393.948 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:16:33.957Z,1370283393.957 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:16:33.966Z,1370283393.967 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:16:33.976Z,1370283393.976 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:16:33.989Z,1370283393.989 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:16:33.998Z,1370283393.999 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:16:34.008Z,1370283394.008 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:16:34.013Z,1370283394.013 [homing_pursuit:Lap:Pursuit:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:16:36.372Z,1370283396.372 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:37.944Z,1370283397.944 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:16:37.944Z,1370283397.944 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:16:38.928Z,1370283398.928 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:41.496Z,1370283401.497 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:42.072Z,1370283402.072 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:16:42.073Z,1370283402.073 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:16:44.052Z,1370283404.053 [DVL_micro](DEBUG): NQ1
2013-06-03T18:16:44.126Z,1370283404.126 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T18:16:44.126Z,1370283404.126 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:16:44.126Z,1370283404.126 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:16:44.126Z,1370283404.126 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T18:16:44.126Z,1370283404.126 [homing_pursuit:Lap] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:16:44.127Z,1370283404.127 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:16:44.127Z,1370283404.128 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:16:44.127Z,1370283404.128 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:16:44.128Z,1370283404.128 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:16:44.149Z,1370283404.149 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit] Stopped
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:A] Stopped
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:16:44.150Z,1370283404.150 [homing_pursuit:E] Stopped
2013-06-03T18:16:44.154Z,1370283404.154 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:16:44.517Z,1370283404.517 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:16:44.517Z,1370283404.517 [Default] Running Loop=1
2013-06-03T18:16:44.518Z,1370283404.518 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:16:44.518Z,1370283404.518 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:16:44.518Z,1370283404.518 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:16:44.518Z,1370283404.518 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:16:44.518Z,1370283404.518 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:16:44.518Z,1370283404.518 [Default:Iridium] Running Loop=1
2013-06-03T18:16:44.518Z,1370283404.518 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:16:44.518Z,1370283404.519 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:16:44.518Z,1370283404.519 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:16:44.519Z,1370283404.519 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:16:44.519Z,1370283404.519 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:16:44.525Z,1370283404.525 [Default:CallIridium] Running Loop=1
2013-06-03T18:16:44.525Z,1370283404.525 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:16:44.525Z,1370283404.525 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:16:44.525Z,1370283404.525 [Default:CallIridium:A] Stopped
2013-06-03T18:16:44.525Z,1370283404.525 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:16:44.526Z,1370283404.526 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:16:44.526Z,1370283404.526 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:16:44.526Z,1370283404.526 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:16:44.527Z,1370283404.527 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:16:44.527Z,1370283404.527 [Default:GPS] Running Loop=1
2013-06-03T18:16:44.527Z,1370283404.527 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:16:44.527Z,1370283404.527 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:16:44.527Z,1370283404.527 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:16:44.527Z,1370283404.527 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:16:44.527Z,1370283404.527 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:16:44.544Z,1370283404.545 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:16:44.545Z,1370283404.545 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:16:44.545Z,1370283404.545 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:16:44.911Z,1370283404.911 [DAT](INFO): Powering down
2013-06-03T18:16:45.387Z,1370283405.388 [NAL9602](INFO): Powering up
2013-06-03T18:16:56.176Z,1370283416.177 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:23:21.724Z,1370283801.724 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:23:21.725Z,1370283801.725 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:23:21.826Z,1370283801.826 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:23:21.828Z,1370283801.828 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:23:21.830Z,1370283801.830 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:23:21.845Z,1370283801.845 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:23:21.848Z,1370283801.848 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:23:21.850Z,1370283801.850 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:23:21.852Z,1370283801.852 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:23:21.855Z,1370283801.855 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:23:21.857Z,1370283801.857 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:23:21.859Z,1370283801.859 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:23:21.879Z,1370283801.879 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:23:21.882Z,1370283801.882 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:23:21.884Z,1370283801.884 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:23:21.886Z,1370283801.886 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:23:21.889Z,1370283801.889 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:23:21.891Z,1370283801.891 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:23:21.893Z,1370283801.893 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:23:21.895Z,1370283801.895 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:23:21.898Z,1370283801.898 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:23:21.900Z,1370283801.900 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:23:21.902Z,1370283801.902 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:23:21.908Z,1370283801.908 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:23:21.915Z,1370283801.915 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:23:21.922Z,1370283801.921 [homing_pursuit:Lap:B.Wait](DEBUG): Construct Wait.
2013-06-03T18:23:21.926Z,1370283801.926 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Construct.
2013-06-03T18:23:21.930Z,1370283801.930 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:23:21.977Z,1370283801.977 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Construct.
2013-06-03T18:23:21.979Z,1370283801.979 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Construct.
2013-06-03T18:23:21.983Z,1370283801.983 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Construct.
2013-06-03T18:23:21.989Z,1370283801.990 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Construct Wait.
2013-06-03T18:23:21.999Z,1370283801.999 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <Aggregate Id="Lap">

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration /><Arg Name="WaitDuration" /></Setting>
        </Guidance:Wait>
  
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>
        
        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>
        
            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2013-06-03T18:23:22.000Z,1370283802.000 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:23:22.095Z,1370283802.095 [Default] Stopped
2013-06-03T18:23:22.095Z,1370283802.095 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:23:22.096Z,1370283802.096 [Default:GPS] Stopped
2013-06-03T18:23:22.096Z,1370283802.096 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:23:22.096Z,1370283802.096 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:23:22.096Z,1370283802.096 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:22.096Z,1370283802.096 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:23:22.096Z,1370283802.096 [Default:Iridium] Stopped
2013-06-03T18:23:22.096Z,1370283802.096 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:23:22.097Z,1370283802.096 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:23:22.097Z,1370283802.096 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:22.097Z,1370283802.097 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:23:22.097Z,1370283802.097 [Default:CallIridium] Stopped
2013-06-03T18:23:22.097Z,1370283802.097 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:23:22.097Z,1370283802.097 [Default:CallIridium:B] Stopped
2013-06-03T18:23:22.097Z,1370283802.097 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:23:22.097Z,1370283802.097 [Default:D.SetSpeed] Stopped
2013-06-03T18:23:22.097Z,1370283802.097 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:22.097Z,1370283802.097 [Default:E.GoToSurface] Stopped
2013-06-03T18:23:22.097Z,1370283802.097 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:23:22.097Z,1370283802.098 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit] Running Loop=1
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit:A] Running Loop=1
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:23:22.098Z,1370283802.098 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:23:22.099Z,1370283802.099 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:23:22.099Z,1370283802.099 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:23:22.099Z,1370283802.099 [homing_pursuit:E] Running Loop=1
2013-06-03T18:23:22.099Z,1370283802.099 [homing_pursuit:Lap] Running Loop=1
2013-06-03T18:23:22.100Z,1370283802.099 [homing_pursuit:Lap](INFO): Aggregate::initialize homing_pursuit:Lap
2013-06-03T18:23:22.100Z,1370283802.100 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:23:22.100Z,1370283802.100 [homing_pursuit:Lap:B.Wait] Running Loop=1
2013-06-03T18:23:22.100Z,1370283802.100 [homing_pursuit:Lap:B.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:22.101Z,1370283802.101 [homing_pursuit:Lap:A] Running Loop=1
2013-06-03T18:23:22.102Z,1370283802.102 [homing_pursuit:Lap:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:23:22.103Z,1370283802.103 [homing_pursuit:E] Running Loop=1
2013-06-03T18:23:22.103Z,1370283802.103 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:23:22.105Z,1370283802.105 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:23:22.105Z,1370283802.105 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:23:22.107Z,1370283802.107 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:23:22.108Z,1370283802.108 [homing_pursuit:A] Running Loop=1
2013-06-03T18:23:22.108Z,1370283802.108 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:23:22.317Z,1370283802.317 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:23:22.317Z,1370283802.317 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:23:22.317Z,1370283802.317 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:23:22.468Z,1370283802.468 [DAT](INFO): Powering up
2013-06-03T18:23:24.324Z,1370283804.324 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:23:24.325Z,1370283804.325 [DVL_micro](INFO): Querying output modes
2013-06-03T18:23:24.325Z,1370283804.325 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:23:24.340Z,1370283804.340 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:23:24.340Z,1370283804.340 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:23:24.341Z,1370283804.341 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:23:24.352Z,1370283804.352 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:23:26.864Z,1370283806.864 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:28.840Z,1370283808.840 [NAL9602](INFO): Powering down
2013-06-03T18:23:29.420Z,1370283809.420 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:31.976Z,1370283811.976 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:34.520Z,1370283814.520 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:37.105Z,1370283817.105 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:39.692Z,1370283819.693 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:42.154Z,1370283822.154 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:42.154Z,1370283822.155 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:42.155Z,1370283822.155 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:42.156Z,1370283822.156 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:42.156Z,1370283822.156 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:42.156Z,1370283822.156 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:42.156Z,1370283822.156 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:42.157Z,1370283822.157 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:42.158Z,1370283822.158 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:42.160Z,1370283822.159 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:42.160Z,1370283822.160 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:42.161Z,1370283822.161 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:42.162Z,1370283822.162 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:42.163Z,1370283822.163 [homing_pursuit:Lap:Pursuit:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:23:42.248Z,1370283822.248 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:43.280Z,1370283823.280 [homing_pursuit:Lap:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:23:42.2Z
2013-06-03T18:23:43.280Z,1370283823.280 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:23:43.284Z,1370283823.284 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:43.285Z,1370283823.285 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:43.285Z,1370283823.285 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:43.285Z,1370283823.285 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:43.287Z,1370283823.287 [homing_pursuit:Lap:Pursuit](INFO): Completed homing_pursuit:Lap:Pursuit
2013-06-03T18:23:43.287Z,1370283823.287 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:43.287Z,1370283823.287 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:43.287Z,1370283823.287 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:43.287Z,1370283823.287 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:43.287Z,1370283823.287 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:43.288Z,1370283823.288 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:43.288Z,1370283823.288 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:43.292Z,1370283823.292 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:43.292Z,1370283823.292 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:43.292Z,1370283823.292 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:43.730Z,1370283823.730 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:43.731Z,1370283823.731 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:43.732Z,1370283823.731 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:43.732Z,1370283823.732 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:43.760Z,1370283823.760 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:43.760Z,1370283823.760 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:43.760Z,1370283823.760 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:43.761Z,1370283823.760 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:44.805Z,1370283824.805 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:44.998Z,1370283824.998 [homing_pursuit:Lap:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:23:43.8Z
2013-06-03T18:23:44.998Z,1370283824.998 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:23:44.998Z,1370283824.998 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:44.998Z,1370283824.998 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:44.998Z,1370283824.998 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:44.998Z,1370283824.999 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:45.002Z,1370283825.002 [homing_pursuit:Lap:Pursuit](INFO): Completed homing_pursuit:Lap:Pursuit
2013-06-03T18:23:45.002Z,1370283825.003 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:45.003Z,1370283825.003 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:45.498Z,1370283825.499 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:45.499Z,1370283825.499 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:45.500Z,1370283825.500 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:45.500Z,1370283825.500 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:45.504Z,1370283825.504 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:45.504Z,1370283825.504 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:45.505Z,1370283825.505 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:45.505Z,1370283825.505 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:46.552Z,1370283826.552 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:23:46.553Z,1370283826.553 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T18:23:46.802Z,1370283826.802 [homing_pursuit:Lap:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:23:45.5Z
2013-06-03T18:23:46.802Z,1370283826.802 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:23:46.802Z,1370283826.802 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:46.802Z,1370283826.802 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:46.802Z,1370283826.802 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:46.803Z,1370283826.803 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:46.809Z,1370283826.809 [homing_pursuit:Lap:Pursuit](INFO): Completed homing_pursuit:Lap:Pursuit
2013-06-03T18:23:46.809Z,1370283826.809 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:46.809Z,1370283826.809 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:46.810Z,1370283826.810 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:47.366Z,1370283827.366 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:47.367Z,1370283827.367 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:47.388Z,1370283827.388 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:48.651Z,1370283828.651 [homing_pursuit:Lap:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:23:47.4Z
2013-06-03T18:23:48.651Z,1370283828.651 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:23:48.651Z,1370283828.651 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:48.652Z,1370283828.652 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:48.652Z,1370283828.652 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:48.652Z,1370283828.652 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:48.654Z,1370283828.654 [homing_pursuit:Lap:Pursuit](INFO): Completed homing_pursuit:Lap:Pursuit
2013-06-03T18:23:48.654Z,1370283828.654 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:48.655Z,1370283828.655 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:49.021Z,1370283829.021 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:49.022Z,1370283829.022 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:49.945Z,1370283829.944 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:50.278Z,1370283830.279 [homing_pursuit:Lap:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:23:49.0Z
2013-06-03T18:23:50.279Z,1370283830.279 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:23:50.279Z,1370283830.279 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:50.279Z,1370283830.279 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:50.279Z,1370283830.279 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:50.279Z,1370283830.279 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:50.286Z,1370283830.286 [homing_pursuit:Lap:Pursuit](INFO): Completed homing_pursuit:Lap:Pursuit
2013-06-03T18:23:50.286Z,1370283830.286 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:50.286Z,1370283830.286 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:50.286Z,1370283830.286 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:50.286Z,1370283830.286 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:50.287Z,1370283830.286 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:50.287Z,1370283830.286 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:50.287Z,1370283830.287 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:50.287Z,1370283830.287 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:50.287Z,1370283830.287 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:50.287Z,1370283830.287 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:50.376Z,1370283830.376 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:23:50.377Z,1370283830.377 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:23:50.854Z,1370283830.854 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:50.854Z,1370283830.854 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:50.854Z,1370283830.855 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:50.855Z,1370283830.855 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:50.856Z,1370283830.856 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:50.860Z,1370283830.860 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:50.860Z,1370283830.860 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:51.962Z,1370283831.962 [homing_pursuit:Lap:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:23:50.9Z
2013-06-03T18:23:51.962Z,1370283831.962 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:23:51.962Z,1370283831.962 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:51.962Z,1370283831.963 [homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Lap:Pursuit:G.Wait:A_Timeout
2013-06-03T18:23:51.963Z,1370283831.963 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:51.963Z,1370283831.963 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:51.969Z,1370283831.969 [homing_pursuit:Lap:Pursuit](INFO): Completed homing_pursuit:Lap:Pursuit
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:51.970Z,1370283831.970 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:52.390Z,1370283832.390 [homing_pursuit:Lap:Pursuit] Running Loop=1
2013-06-03T18:23:52.390Z,1370283832.390 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::initialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:A] Running Loop=1
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:23:52.391Z,1370283832.391 [homing_pursuit:Lap:Pursuit:F.Point] Running Loop=1
2013-06-03T18:23:52.392Z,1370283832.392 [homing_pursuit:Lap:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:23:52.396Z,1370283832.396 [homing_pursuit:Lap:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:23:52.396Z,1370283832.396 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:23:52.399Z,1370283832.399 [homing_pursuit:Lap:B.Wait](INFO): Done Waiting.
2013-06-03T18:23:52.399Z,1370283832.399 [homing_pursuit:Lap:B.Wait] Stopped
2013-06-03T18:23:52.399Z,1370283832.399 [homing_pursuit:Lap:B.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:52.400Z,1370283832.400 [homing_pursuit:Lap](INFO): Completed homing_pursuit:Lap
2013-06-03T18:23:52.400Z,1370283832.400 [homing_pursuit:Lap] Stopped
2013-06-03T18:23:52.404Z,1370283832.404 [homing_pursuit:Lap](INFO): Aggregate::uninitialize homing_pursuit:Lap
2013-06-03T18:23:52.404Z,1370283832.404 [homing_pursuit:Lap:A] Stopped
2013-06-03T18:23:52.404Z,1370283832.404 [homing_pursuit:Lap:Pursuit] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Lap:Pursuit
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:A] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:B.Pitch] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:E.Pitch] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:F.Point] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:G.Wait] Stopped
2013-06-03T18:23:52.405Z,1370283832.405 [homing_pursuit:Lap:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:23:52.407Z,1370283832.407 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:23:52.407Z,1370283832.407 [homing_pursuit] Stopped
2013-06-03T18:23:52.407Z,1370283832.407 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:23:52.407Z,1370283832.407 [homing_pursuit:A] Stopped
2013-06-03T18:23:52.407Z,1370283832.407 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:23:52.407Z,1370283832.407 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:23:52.407Z,1370283832.408 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:23:52.408Z,1370283832.408 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:23:52.408Z,1370283832.408 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:23:52.408Z,1370283832.408 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:23:52.412Z,1370283832.412 [homing_pursuit:E] Stopped
2013-06-03T18:23:52.536Z,1370283832.536 [DVL_micro](DEBUG): NQ1
2013-06-03T18:23:52.573Z,1370283832.573 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:23:52.799Z,1370283832.799 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:23:52.799Z,1370283832.799 [Default] Running Loop=1
2013-06-03T18:23:52.799Z,1370283832.799 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:23:52.799Z,1370283832.799 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:23:52.799Z,1370283832.799 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:52.799Z,1370283832.799 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:23:52.799Z,1370283832.799 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:23:52.799Z,1370283832.799 [Default:Iridium] Running Loop=1
2013-06-03T18:23:52.800Z,1370283832.800 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:23:52.800Z,1370283832.800 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:23:52.800Z,1370283832.800 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:52.804Z,1370283832.804 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:23:52.804Z,1370283832.804 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:23:52.806Z,1370283832.806 [Default:CallIridium] Running Loop=1
2013-06-03T18:23:52.806Z,1370283832.806 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:23:52.806Z,1370283832.806 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:23:52.807Z,1370283832.806 [Default:CallIridium:A] Stopped
2013-06-03T18:23:52.807Z,1370283832.807 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:23:52.807Z,1370283832.807 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:23:52.808Z,1370283832.807 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:23:52.808Z,1370283832.808 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:23:52.808Z,1370283832.808 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:23:52.812Z,1370283832.812 [Default:GPS] Running Loop=1
2013-06-03T18:23:52.813Z,1370283832.813 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:23:52.813Z,1370283832.813 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:23:52.813Z,1370283832.813 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:23:52.813Z,1370283832.813 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:23:52.813Z,1370283832.813 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:23:52.814Z,1370283832.814 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:23:52.814Z,1370283832.814 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:23:52.814Z,1370283832.814 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:23:53.194Z,1370283833.194 [DAT](INFO): Powering down
2013-06-03T18:23:53.777Z,1370283833.777 [NAL9602](INFO): Powering up
2013-06-03T18:24:04.373Z,1370283844.372 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:24:32.054Z,1370283872.054 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T18:24:32.054Z,1370283872.055 [NAL9602] Data Fault, FailCount= 1
2013-06-03T18:24:32.054Z,1370283872.055 [NAL9602](ERROR): Data Fault
2013-06-03T18:24:32.188Z,1370283872.188 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T18:24:32.553Z,1370283872.553 [NAL9602](INFO): Powering down
2013-06-03T18:24:33.316Z,1370283873.316 [CBIT](INFO): Clearing failed state for component NAL9602
2013-06-03T18:24:33.317Z,1370283873.316 [NAL9602] No Fault, FailCount= 1
2013-06-03T18:24:37.763Z,1370283877.763 [NAL9602](INFO): Powering up NAL9602
2013-06-03T18:24:48.216Z,1370283888.216 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:25:36.068Z,1370283936.068 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:25:36.069Z,1370283936.069 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:25:36.191Z,1370283936.191 [MissionManager](ERROR): Cannot load Xml file ./Missions/Engineering/Homing_pursuit.xml due to: Error reading end tag.
2013-06-03T18:25:36.199Z,1370283936.199 [MissionManager](CRITICAL): Could not load mission ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:25:36.199Z,1370283936.200 [CommandLine](CRITICAL): Could not run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:26:06.765Z,1370283966.764 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:26:06.765Z,1370283966.765 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:26:06.902Z,1370283966.902 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:26:06.905Z,1370283966.905 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:26:06.907Z,1370283966.907 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:26:06.922Z,1370283966.922 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:26:06.924Z,1370283966.924 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:26:06.926Z,1370283966.926 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:26:06.929Z,1370283966.929 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:26:06.931Z,1370283966.931 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:26:07.014Z,1370283967.014 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:26:07.016Z,1370283967.016 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:26:07.019Z,1370283967.019 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:26:07.049Z,1370283967.049 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:26:07.052Z,1370283967.052 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:26:07.071Z,1370283967.070 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:26:07.089Z,1370283967.089 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:26:07.091Z,1370283967.092 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:26:07.110Z,1370283967.110 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:26:07.112Z,1370283967.112 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:26:07.115Z,1370283967.115 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:26:07.153Z,1370283967.153 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:26:07.156Z,1370283967.156 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:26:07.189Z,1370283967.189 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:26:07.208Z,1370283967.208 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:26:07.262Z,1370283967.262 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:26:07.301Z,1370283967.300 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:26:07.304Z,1370283967.304 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:26:07.307Z,1370283967.307 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T18:26:07.322Z,1370283967.322 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:26:07.379Z,1370283967.379 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:26:07.419Z,1370283967.418 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

  
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>
               
            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

</Mission>


2013-06-03T18:26:07.419Z,1370283967.419 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:26:07.514Z,1370283967.514 [Default] Stopped
2013-06-03T18:26:07.514Z,1370283967.514 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:26:07.514Z,1370283967.514 [Default:GPS] Stopped
2013-06-03T18:26:07.514Z,1370283967.514 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:26:07.515Z,1370283967.514 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:26:07.515Z,1370283967.515 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:26:07.515Z,1370283967.515 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:26:07.515Z,1370283967.515 [Default:Iridium] Stopped
2013-06-03T18:26:07.515Z,1370283967.515 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:26:07.515Z,1370283967.515 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:26:07.515Z,1370283967.515 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:26:07.515Z,1370283967.515 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:26:07.515Z,1370283967.515 [Default:CallIridium] Stopped
2013-06-03T18:26:07.515Z,1370283967.515 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:26:07.515Z,1370283967.515 [Default:CallIridium:B] Stopped
2013-06-03T18:26:07.516Z,1370283967.516 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:26:07.516Z,1370283967.516 [Default:D.SetSpeed] Stopped
2013-06-03T18:26:07.516Z,1370283967.516 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:26:07.524Z,1370283967.524 [Default:E.GoToSurface] Stopped
2013-06-03T18:26:07.524Z,1370283967.524 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:26:07.524Z,1370283967.524 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit] Running Loop=1
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit:A] Running Loop=1
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:26:07.525Z,1370283967.525 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:26:07.526Z,1370283967.526 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:26:07.526Z,1370283967.526 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:26:07.526Z,1370283967.526 [homing_pursuit:E] Running Loop=1
2013-06-03T18:26:07.526Z,1370283967.526 [homing_pursuit:F] Running Loop=1
2013-06-03T18:26:07.526Z,1370283967.526 [homing_pursuit] Running Loop=1
2013-06-03T18:26:07.526Z,1370283967.526 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:26:07.527Z,1370283967.527 [homing_pursuit:F] Running Loop=1
2013-06-03T18:26:07.528Z,1370283967.528 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:26:07.549Z,1370283967.549 [homing_pursuit:E] Running Loop=1
2013-06-03T18:26:07.550Z,1370283967.550 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:26:07.551Z,1370283967.551 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:26:07.564Z,1370283967.564 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:26:07.567Z,1370283967.567 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:26:07.567Z,1370283967.568 [homing_pursuit:A] Running Loop=1
2013-06-03T18:26:07.580Z,1370283967.580 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:26:07.581Z,1370283967.581 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:26:07.581Z,1370283967.582 [homing_pursuit] Stopped
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:A] Stopped
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:E] Stopped
2013-06-03T18:26:07.582Z,1370283967.582 [homing_pursuit:F] Stopped
2013-06-03T18:26:07.911Z,1370283967.911 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:26:07.911Z,1370283967.911 [Default] Running Loop=1
2013-06-03T18:26:07.911Z,1370283967.911 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:26:07.912Z,1370283967.912 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:26:07.912Z,1370283967.912 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:26:07.914Z,1370283967.914 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:26:07.914Z,1370283967.914 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:26:07.915Z,1370283967.915 [Default:Iridium] Running Loop=1
2013-06-03T18:26:07.916Z,1370283967.916 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:26:07.917Z,1370283967.917 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:26:07.917Z,1370283967.917 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:26:07.917Z,1370283967.917 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:26:07.917Z,1370283967.917 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:26:07.919Z,1370283967.918 [Default:CallIridium] Running Loop=1
2013-06-03T18:26:07.919Z,1370283967.919 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:26:07.919Z,1370283967.919 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:26:07.919Z,1370283967.919 [Default:CallIridium:A] Stopped
2013-06-03T18:26:07.919Z,1370283967.920 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:26:07.920Z,1370283967.920 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:26:07.925Z,1370283967.925 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:26:07.925Z,1370283967.925 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:26:07.925Z,1370283967.925 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:26:07.926Z,1370283967.926 [Default:GPS] Running Loop=1
2013-06-03T18:26:07.926Z,1370283967.926 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:26:07.926Z,1370283967.926 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:26:07.926Z,1370283967.926 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:26:07.926Z,1370283967.926 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:26:07.926Z,1370283967.926 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:26:07.927Z,1370283967.927 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:26:07.927Z,1370283967.927 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:26:07.928Z,1370283967.928 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:27:22.241Z,1370284042.240 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:27:22.241Z,1370284042.241 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:27:22.351Z,1370284042.351 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:27:22.353Z,1370284042.353 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:27:22.355Z,1370284042.355 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:27:22.370Z,1370284042.370 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:27:22.373Z,1370284042.372 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:27:22.375Z,1370284042.375 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:27:22.377Z,1370284042.377 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:27:22.380Z,1370284042.380 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:27:22.406Z,1370284042.406 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:27:22.408Z,1370284042.408 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:27:22.411Z,1370284042.411 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:27:22.426Z,1370284042.425 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:27:22.428Z,1370284042.428 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:27:22.430Z,1370284042.430 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:27:22.473Z,1370284042.473 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:27:22.476Z,1370284042.476 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:27:22.498Z,1370284042.498 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:27:22.506Z,1370284042.506 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:27:22.508Z,1370284042.508 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:27:22.511Z,1370284042.511 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:27:22.521Z,1370284042.521 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:27:22.526Z,1370284042.526 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:27:22.570Z,1370284042.569 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:27:22.595Z,1370284042.595 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:27:22.599Z,1370284042.599 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:27:22.631Z,1370284042.631 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:27:22.658Z,1370284042.658 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:27:22.660Z,1370284042.660 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T18:27:22.680Z,1370284042.680 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:27:22.687Z,1370284042.687 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:27:22.722Z,1370284042.722 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Aggregate Id="FireUpDAT">
              <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P30S"></Timeout>
            </Guidance:Wait>
  
          </Aggregate>
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>
               
            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

</Mission>


2013-06-03T18:27:22.723Z,1370284042.723 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:27:22.903Z,1370284042.903 [Default] Stopped
2013-06-03T18:27:22.904Z,1370284042.904 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:27:22.904Z,1370284042.904 [Default:GPS] Stopped
2013-06-03T18:27:22.908Z,1370284042.908 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:27:22.909Z,1370284042.908 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:27:22.909Z,1370284042.908 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:22.909Z,1370284042.909 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:27:22.909Z,1370284042.909 [Default:Iridium] Stopped
2013-06-03T18:27:22.909Z,1370284042.909 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:27:22.909Z,1370284042.909 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:27:22.909Z,1370284042.909 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:22.909Z,1370284042.909 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:27:22.909Z,1370284042.909 [Default:CallIridium] Stopped
2013-06-03T18:27:22.909Z,1370284042.909 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:27:22.909Z,1370284042.909 [Default:CallIridium:B] Stopped
2013-06-03T18:27:22.910Z,1370284042.909 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:27:22.910Z,1370284042.910 [Default:D.SetSpeed] Stopped
2013-06-03T18:27:22.910Z,1370284042.910 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:22.910Z,1370284042.910 [Default:E.GoToSurface] Stopped
2013-06-03T18:27:22.910Z,1370284042.910 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:27:22.910Z,1370284042.910 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:27:22.910Z,1370284042.910 [homing_pursuit] Running Loop=1
2013-06-03T18:27:22.910Z,1370284042.910 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:27:22.910Z,1370284042.910 [homing_pursuit:A] Running Loop=1
2013-06-03T18:27:22.910Z,1370284042.911 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:27:22.911Z,1370284042.911 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:27:22.911Z,1370284042.911 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:27:22.911Z,1370284042.911 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:27:22.911Z,1370284042.911 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:27:22.912Z,1370284042.912 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:27:22.912Z,1370284042.912 [homing_pursuit:E] Running Loop=1
2013-06-03T18:27:22.916Z,1370284042.916 [homing_pursuit:F] Running Loop=1
2013-06-03T18:27:22.916Z,1370284042.916 [homing_pursuit:FireUpDAT] Running Loop=1
2013-06-03T18:27:22.916Z,1370284042.917 [homing_pursuit:FireUpDAT](INFO): Aggregate::initialize homing_pursuit:FireUpDAT
2013-06-03T18:27:22.917Z,1370284042.917 [homing_pursuit:FireUpDAT:A.Wait] Running Loop=1
2013-06-03T18:27:22.917Z,1370284042.917 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:22.926Z,1370284042.926 [homing_pursuit:F] Running Loop=1
2013-06-03T18:27:22.927Z,1370284042.927 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:27:22.948Z,1370284042.948 [homing_pursuit:E] Running Loop=1
2013-06-03T18:27:22.949Z,1370284042.949 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:27:22.950Z,1370284042.950 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:27:22.951Z,1370284042.951 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:27:22.960Z,1370284042.960 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:27:22.961Z,1370284042.961 [homing_pursuit:A] Running Loop=1
2013-06-03T18:27:22.962Z,1370284042.962 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:27:23.287Z,1370284043.287 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:27:23.288Z,1370284043.288 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:27:23.289Z,1370284043.289 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:27:23.763Z,1370284043.763 [DAT](INFO): Powering up
2013-06-03T18:27:25.297Z,1370284045.297 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:27:25.297Z,1370284045.297 [DVL_micro](INFO): Querying output modes
2013-06-03T18:27:25.297Z,1370284045.297 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:27:25.308Z,1370284045.308 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:27:25.308Z,1370284045.308 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:27:25.309Z,1370284045.309 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:27:25.321Z,1370284045.321 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:27:27.837Z,1370284047.837 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:29.601Z,1370284049.602 [NAL9602](INFO): Powering down
2013-06-03T18:27:30.400Z,1370284050.401 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:32.952Z,1370284052.952 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:35.508Z,1370284055.508 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:38.072Z,1370284058.072 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:40.628Z,1370284060.628 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:43.188Z,1370284063.188 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:43.414Z,1370284063.414 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:27:43.414Z,1370284063.414 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:27:43.415Z,1370284063.415 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:43.416Z,1370284063.416 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:27:43.420Z,1370284063.420 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:27:43.420Z,1370284063.420 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:43.430Z,1370284063.430 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:43.470Z,1370284063.470 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:43.479Z,1370284063.479 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:43.492Z,1370284063.492 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:43.502Z,1370284063.502 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:44.580Z,1370284064.580 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:27:43.4Z
2013-06-03T18:27:44.580Z,1370284064.580 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:44.580Z,1370284064.580 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:44.581Z,1370284064.581 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:44.581Z,1370284064.581 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:27:44.581Z,1370284064.581 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:44.583Z,1370284064.583 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:27:44.583Z,1370284064.583 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:27:44.583Z,1370284064.583 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:27:44.583Z,1370284064.583 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:27:44.584Z,1370284064.583 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:27:44.584Z,1370284064.584 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:27:44.584Z,1370284064.584 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:27:44.584Z,1370284064.584 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:44.588Z,1370284064.588 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:27:44.588Z,1370284064.588 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:27:45.191Z,1370284065.191 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:27:45.191Z,1370284065.191 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:27:45.191Z,1370284065.191 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:45.191Z,1370284065.191 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:27:45.191Z,1370284065.191 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:45.192Z,1370284065.192 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:27:45.192Z,1370284065.192 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:45.196Z,1370284065.196 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:45.197Z,1370284065.197 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:45.197Z,1370284065.197 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:27:45.197Z,1370284065.197 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:45.197Z,1370284065.197 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:27:45.197Z,1370284065.197 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:27:45.197Z,1370284065.197 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:45.752Z,1370284065.752 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:46.531Z,1370284066.531 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:27:45.2Z
2013-06-03T18:27:46.531Z,1370284066.531 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:46.531Z,1370284066.531 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:46.531Z,1370284066.531 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:46.531Z,1370284066.532 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:27:46.532Z,1370284066.532 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:46.554Z,1370284066.554 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:27:46.554Z,1370284066.554 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:27:46.554Z,1370284066.555 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:27:46.555Z,1370284066.555 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:27:46.910Z,1370284066.910 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:27:46.910Z,1370284066.910 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:27:46.910Z,1370284066.911 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:46.911Z,1370284066.911 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:27:46.968Z,1370284066.968 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:46.968Z,1370284066.968 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:27:46.969Z,1370284066.968 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:27:46.969Z,1370284066.969 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:47.644Z,1370284067.644 [Reporter](INFO): DAT.homing_target_range 0.600000 m
2013-06-03T18:27:47.644Z,1370284067.644 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T18:27:48.308Z,1370284068.308 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:48.377Z,1370284068.377 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:27:46.0Z
2013-06-03T18:27:48.377Z,1370284068.377 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:48.377Z,1370284068.377 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:48.377Z,1370284068.377 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:48.377Z,1370284068.377 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:27:48.377Z,1370284068.378 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:48.380Z,1370284068.380 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:27:48.384Z,1370284068.384 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:27:48.384Z,1370284068.384 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:27:48.384Z,1370284068.384 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:27:48.384Z,1370284068.384 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:27:48.384Z,1370284068.385 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:27:48.385Z,1370284068.385 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:27:48.385Z,1370284068.385 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:48.385Z,1370284068.385 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:27:48.385Z,1370284068.385 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:27:48.778Z,1370284068.778 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:27:48.778Z,1370284068.778 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:27:48.779Z,1370284068.779 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:48.780Z,1370284068.780 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:27:48.784Z,1370284068.784 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:27:48.784Z,1370284068.784 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:49.996Z,1370284069.996 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:27:48.8Z
2013-06-03T18:27:49.996Z,1370284069.996 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:49.996Z,1370284069.996 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:49.997Z,1370284069.997 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:49.997Z,1370284069.997 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:27:49.997Z,1370284069.997 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:49.999Z,1370284069.999 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:27:49.999Z,1370284069.999 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:27:49.999Z,1370284069.999 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:27:49.999Z,1370284069.999 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:27:49.999Z,1370284069.999 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:27:49.999Z,1370284070.000 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:27:50.004Z,1370284070.004 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:27:50.004Z,1370284070.004 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:50.004Z,1370284070.004 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:27:50.004Z,1370284070.004 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:27:50.485Z,1370284070.485 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:27:50.486Z,1370284070.486 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:27:50.486Z,1370284070.486 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:50.486Z,1370284070.486 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:27:50.486Z,1370284070.486 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:50.487Z,1370284070.487 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:27:50.487Z,1370284070.487 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:50.487Z,1370284070.487 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:50.487Z,1370284070.487 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:50.488Z,1370284070.487 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:27:50.488Z,1370284070.488 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:50.494Z,1370284070.494 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:27:50.494Z,1370284070.494 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:27:50.494Z,1370284070.494 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:50.865Z,1370284070.865 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:51.608Z,1370284071.608 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:27:50.5Z
2013-06-03T18:27:51.608Z,1370284071.608 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:51.612Z,1370284071.612 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:51.612Z,1370284071.612 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:51.613Z,1370284071.612 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:27:51.613Z,1370284071.613 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:27:51.615Z,1370284071.615 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:27:51.716Z,1370284071.716 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:27:51.717Z,1370284071.717 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T18:27:52.059Z,1370284072.059 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:27:52.059Z,1370284072.059 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:27:52.059Z,1370284072.059 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:27:52.059Z,1370284072.059 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:27:52.059Z,1370284072.059 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:27:52.059Z,1370284072.059 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:27:52.060Z,1370284072.059 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:27:52.060Z,1370284072.060 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:52.060Z,1370284072.060 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:27:52.060Z,1370284072.060 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:27:52.060Z,1370284072.060 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:27:52.060Z,1370284072.060 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:27:52.061Z,1370284072.061 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:27:52.061Z,1370284072.061 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:27:53.231Z,1370284073.231 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:27:52.1Z
2013-06-03T18:27:53.231Z,1370284073.231 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:53.231Z,1370284073.231 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:53.231Z,1370284073.231 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:27:53.231Z,1370284073.231 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:27:53.232Z,1370284073.232 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:53.258Z,1370284073.258 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:27:53.258Z,1370284073.258 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:27:53.258Z,1370284073.258 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:27:53.258Z,1370284073.258 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:27:53.258Z,1370284073.258 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:27:53.259Z,1370284073.259 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:27:53.259Z,1370284073.259 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:27:53.259Z,1370284073.259 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:27:53.259Z,1370284073.259 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:27:53.259Z,1370284073.259 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:27:53.268Z,1370284073.268 [homing_pursuit:FireUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:27:22.9Z
2013-06-03T18:27:53.268Z,1370284073.268 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:27:53.268Z,1370284073.268 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:27:53.269Z,1370284073.269 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:27:53.269Z,1370284073.269 [homing_pursuit:FireUpDAT:A.Wait] Stopped
2013-06-03T18:27:53.269Z,1370284073.269 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:27:53.269Z,1370284073.269 [homing_pursuit:FireUpDAT](INFO): Completed homing_pursuit:FireUpDAT
2013-06-03T18:27:53.269Z,1370284073.269 [homing_pursuit:FireUpDAT] Stopped
2013-06-03T18:27:53.269Z,1370284073.269 [homing_pursuit:FireUpDAT](INFO): Aggregate::uninitialize homing_pursuit:FireUpDAT
2013-06-03T18:27:53.271Z,1370284073.271 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:27:53.271Z,1370284073.271 [homing_pursuit] Stopped
2013-06-03T18:27:53.271Z,1370284073.271 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:27:53.271Z,1370284073.272 [homing_pursuit:A] Stopped
2013-06-03T18:27:53.272Z,1370284073.272 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:27:53.272Z,1370284073.272 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:27:53.280Z,1370284073.280 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:27:53.280Z,1370284073.280 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:27:53.280Z,1370284073.280 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:27:53.280Z,1370284073.280 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:27:53.280Z,1370284073.280 [homing_pursuit:E] Stopped
2013-06-03T18:27:53.280Z,1370284073.280 [homing_pursuit:F] Stopped
2013-06-03T18:27:53.428Z,1370284073.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:27:53.468Z,1370284073.468 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:27:53.705Z,1370284073.705 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:27:53.706Z,1370284073.705 [Default] Running Loop=1
2013-06-03T18:27:53.706Z,1370284073.706 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:27:53.706Z,1370284073.706 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:27:53.706Z,1370284073.706 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:53.706Z,1370284073.706 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:27:53.706Z,1370284073.706 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:27:53.706Z,1370284073.706 [Default:Iridium] Running Loop=1
2013-06-03T18:27:53.706Z,1370284073.706 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:27:53.706Z,1370284073.707 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:27:53.707Z,1370284073.707 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:53.707Z,1370284073.707 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:27:53.707Z,1370284073.707 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:27:53.713Z,1370284073.713 [Default:CallIridium] Running Loop=1
2013-06-03T18:27:53.713Z,1370284073.713 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:27:53.714Z,1370284073.714 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:27:53.714Z,1370284073.714 [Default:CallIridium:A] Stopped
2013-06-03T18:27:53.714Z,1370284073.714 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:27:53.714Z,1370284073.714 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:27:53.715Z,1370284073.715 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:27:53.715Z,1370284073.715 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:27:53.715Z,1370284073.715 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:27:53.715Z,1370284073.716 [Default:GPS] Running Loop=1
2013-06-03T18:27:53.716Z,1370284073.716 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:27:53.720Z,1370284073.720 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:27:53.720Z,1370284073.720 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:27:53.720Z,1370284073.720 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:27:53.720Z,1370284073.720 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:27:53.721Z,1370284073.721 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:27:53.721Z,1370284073.721 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:27:53.722Z,1370284073.722 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:27:54.171Z,1370284074.171 [DAT](INFO): Powering down
2013-06-03T18:27:54.715Z,1370284074.715 [NAL9602](INFO): Powering up
2013-06-03T18:28:05.613Z,1370284085.612 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:29:00.081Z,1370284140.081 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:29:00.081Z,1370284140.081 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:29:00.223Z,1370284140.223 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:29:00.225Z,1370284140.225 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:29:00.227Z,1370284140.227 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:29:00.255Z,1370284140.255 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:29:00.258Z,1370284140.258 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:29:00.264Z,1370284140.264 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:29:00.267Z,1370284140.267 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:29:00.278Z,1370284140.278 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:29:00.280Z,1370284140.280 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:29:00.283Z,1370284140.283 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:29:00.285Z,1370284140.285 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:29:00.287Z,1370284140.287 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:29:00.303Z,1370284140.303 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:29:00.305Z,1370284140.305 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:29:00.308Z,1370284140.309 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:29:00.311Z,1370284140.311 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:29:00.318Z,1370284140.318 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:29:00.320Z,1370284140.320 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:29:00.329Z,1370284140.329 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:29:00.331Z,1370284140.331 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:29:00.384Z,1370284140.384 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:29:00.413Z,1370284140.413 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:29:00.420Z,1370284140.420 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:29:00.467Z,1370284140.467 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:29:00.471Z,1370284140.471 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:29:00.489Z,1370284140.489 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:29:00.491Z,1370284140.491 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:29:00.510Z,1370284140.510 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T18:29:00.527Z,1370284140.527 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:29:00.565Z,1370284140.565 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:29:00.609Z,1370284140.609 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

        <Aggregate Id="FireUpDAT">
              <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P30S"></Timeout>
            </Guidance:Wait>
  
          </Aggregate>
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

        <Aggregate Id="Pursuit">

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>
            
            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>
               
            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

</Mission>


2013-06-03T18:29:00.610Z,1370284140.610 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:29:00.855Z,1370284140.855 [Default] Stopped
2013-06-03T18:29:00.855Z,1370284140.855 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:29:00.855Z,1370284140.855 [Default:GPS] Stopped
2013-06-03T18:29:00.856Z,1370284140.856 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:29:00.856Z,1370284140.856 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:29:00.856Z,1370284140.856 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:00.857Z,1370284140.857 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:29:00.857Z,1370284140.857 [Default:Iridium] Stopped
2013-06-03T18:29:00.857Z,1370284140.857 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:29:00.857Z,1370284140.857 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:29:00.857Z,1370284140.857 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:00.857Z,1370284140.857 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:29:00.857Z,1370284140.857 [Default:CallIridium] Stopped
2013-06-03T18:29:00.857Z,1370284140.857 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:29:00.858Z,1370284140.858 [Default:CallIridium:B] Stopped
2013-06-03T18:29:00.858Z,1370284140.858 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:29:00.858Z,1370284140.858 [Default:D.SetSpeed] Stopped
2013-06-03T18:29:00.858Z,1370284140.858 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:00.858Z,1370284140.858 [Default:E.GoToSurface] Stopped
2013-06-03T18:29:00.858Z,1370284140.858 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:29:00.858Z,1370284140.858 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:29:00.858Z,1370284140.858 [homing_pursuit] Running Loop=1
2013-06-03T18:29:00.859Z,1370284140.859 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:29:00.859Z,1370284140.859 [homing_pursuit:A] Running Loop=1
2013-06-03T18:29:00.859Z,1370284140.859 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:29:00.859Z,1370284140.859 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:29:00.859Z,1370284140.859 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:29:00.859Z,1370284140.859 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:29:00.864Z,1370284140.864 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:29:00.864Z,1370284140.864 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:29:00.864Z,1370284140.864 [homing_pursuit:E] Running Loop=1
2013-06-03T18:29:00.864Z,1370284140.864 [homing_pursuit:F] Running Loop=1
2013-06-03T18:29:00.865Z,1370284140.865 [homing_pursuit:FireUpDAT] Running Loop=1
2013-06-03T18:29:00.865Z,1370284140.865 [homing_pursuit:FireUpDAT](INFO): Aggregate::initialize homing_pursuit:FireUpDAT
2013-06-03T18:29:00.865Z,1370284140.865 [homing_pursuit:FireUpDAT:A.Wait] Running Loop=1
2013-06-03T18:29:00.865Z,1370284140.865 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:00.866Z,1370284140.866 [homing_pursuit:F] Running Loop=1
2013-06-03T18:29:00.867Z,1370284140.867 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:29:00.868Z,1370284140.868 [homing_pursuit:E] Running Loop=1
2013-06-03T18:29:00.873Z,1370284140.872 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:29:00.873Z,1370284140.873 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:29:00.874Z,1370284140.874 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:29:00.876Z,1370284140.876 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:29:00.881Z,1370284140.881 [homing_pursuit:A] Running Loop=1
2013-06-03T18:29:00.882Z,1370284140.882 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:29:00.977Z,1370284140.977 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:29:00.977Z,1370284140.977 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:29:00.977Z,1370284140.977 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:29:01.687Z,1370284141.687 [DAT](INFO): Powering up
2013-06-03T18:29:02.984Z,1370284142.984 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:29:02.985Z,1370284142.985 [DVL_micro](INFO): Querying output modes
2013-06-03T18:29:02.985Z,1370284142.985 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:29:02.996Z,1370284142.996 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:29:02.996Z,1370284142.996 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:29:02.997Z,1370284142.997 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:29:03.009Z,1370284143.009 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:29:05.525Z,1370284145.524 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:07.562Z,1370284147.562 [NAL9602](INFO): Powering down
2013-06-03T18:29:08.080Z,1370284148.080 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:10.638Z,1370284150.638 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:13.184Z,1370284153.184 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:15.781Z,1370284155.781 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:18.344Z,1370284158.344 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:20.912Z,1370284160.912 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:21.325Z,1370284161.325 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:29:21.325Z,1370284161.325 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:29:21.325Z,1370284161.325 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:21.325Z,1370284161.325 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:29:21.325Z,1370284161.325 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:29:21.326Z,1370284161.326 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:21.327Z,1370284161.328 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:21.354Z,1370284161.354 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:21.355Z,1370284161.355 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:21.361Z,1370284161.361 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:21.362Z,1370284161.362 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:22.560Z,1370284162.560 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-06-03T18:29:22.561Z,1370284162.560 [ThrusterServo] Communications Fault, FailCount= 1
2013-06-03T18:29:22.561Z,1370284162.560 [ThrusterServo](ERROR): Communications Fault
2013-06-03T18:29:22.563Z,1370284162.563 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-03T18:29:22.971Z,1370284162.971 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:29:21.3Z
2013-06-03T18:29:22.971Z,1370284162.971 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:29:22.971Z,1370284162.971 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:22.976Z,1370284162.976 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:22.976Z,1370284162.976 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:29:22.976Z,1370284162.976 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:22.979Z,1370284162.978 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:29:22.979Z,1370284162.979 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:29:23.189Z,1370284163.189 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-03T18:29:23.189Z,1370284163.189 [ThrusterServo](INFO): Powering down
2013-06-03T18:29:23.454Z,1370284163.454 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:29:23.454Z,1370284163.454 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:29:23.454Z,1370284163.454 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:23.454Z,1370284163.454 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:23.455Z,1370284163.455 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:29:23.456Z,1370284163.456 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:29:23.460Z,1370284163.460 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:23.464Z,1370284163.464 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:24.053Z,1370284164.053 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T18:29:24.173Z,1370284164.173 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T18:29:24.178Z,1370284164.178 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-03T18:29:24.178Z,1370284164.178 [ThrusterServo] No Fault, FailCount= 1
2013-06-03T18:29:24.861Z,1370284164.861 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:29:23.5Z
2013-06-03T18:29:24.861Z,1370284164.861 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:29:24.861Z,1370284164.861 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:24.861Z,1370284164.861 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:24.862Z,1370284164.862 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:29:24.862Z,1370284164.862 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:24.873Z,1370284164.873 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:29:24.873Z,1370284164.873 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:29:24.873Z,1370284164.874 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:29:24.874Z,1370284164.874 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:29:25.365Z,1370284165.365 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:29:25.366Z,1370284165.365 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:29:25.366Z,1370284165.366 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:25.367Z,1370284165.367 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:29:25.367Z,1370284165.367 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:29:25.367Z,1370284165.367 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:25.460Z,1370284165.460 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:29:25.461Z,1370284165.461 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:29:26.024Z,1370284166.024 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:26.620Z,1370284166.620 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:29:25.4Z
2013-06-03T18:29:26.620Z,1370284166.620 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:29:26.621Z,1370284166.621 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:26.621Z,1370284166.621 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:26.621Z,1370284166.621 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:29:26.621Z,1370284166.621 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:26.623Z,1370284166.623 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:29:26.623Z,1370284166.623 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:29:26.623Z,1370284166.623 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:29:26.623Z,1370284166.623 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:29:26.623Z,1370284166.624 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:29:26.623Z,1370284166.624 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:29:26.624Z,1370284166.624 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:29:26.624Z,1370284166.624 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:26.628Z,1370284166.628 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:29:26.628Z,1370284166.628 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:29:27.001Z,1370284167.001 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:29:27.001Z,1370284167.001 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:29:27.001Z,1370284167.001 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:27.001Z,1370284167.001 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:29:27.001Z,1370284167.001 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:27.001Z,1370284167.001 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:29:27.002Z,1370284167.001 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:27.002Z,1370284167.001 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:27.002Z,1370284167.002 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:27.002Z,1370284167.002 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:29:27.002Z,1370284167.002 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:27.002Z,1370284167.002 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:29:27.002Z,1370284167.002 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:29:27.002Z,1370284167.002 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:28.330Z,1370284168.330 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:29:27.0Z
2013-06-03T18:29:28.330Z,1370284168.330 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:29:28.330Z,1370284168.330 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:28.330Z,1370284168.330 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:28.330Z,1370284168.330 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:29:28.330Z,1370284168.330 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:28.357Z,1370284168.357 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:29:28.357Z,1370284168.357 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:29:28.357Z,1370284168.357 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:29:28.357Z,1370284168.358 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:29:28.357Z,1370284168.358 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:29:28.358Z,1370284168.358 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:29:28.358Z,1370284168.358 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:29:28.358Z,1370284168.358 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:28.358Z,1370284168.358 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:29:28.358Z,1370284168.358 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:29:28.596Z,1370284168.596 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:29:28.749Z,1370284168.749 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:28.749Z,1370284168.750 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:28.750Z,1370284168.750 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:28.750Z,1370284168.750 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:29:28.750Z,1370284168.750 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:28.750Z,1370284168.750 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:29:28.750Z,1370284168.750 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:29:28.750Z,1370284168.750 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:29.293Z,1370284169.293 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:29:29.294Z,1370284169.293 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:29:30.060Z,1370284170.060 [homing_pursuit:Pursuit:F.Wait](INFO): Timed out from 2013-06-03T18:29:28.8Z
2013-06-03T18:29:30.060Z,1370284170.060 [homing_pursuit:Pursuit:F.Wait:A_Timeout] Running Loop=1
2013-06-03T18:29:30.061Z,1370284170.061 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:30.061Z,1370284170.061 [homing_pursuit:Pursuit:F.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:F.Wait:A_Timeout
2013-06-03T18:29:30.061Z,1370284170.061 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:29:30.061Z,1370284170.061 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:30.063Z,1370284170.063 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:29:30.063Z,1370284170.063 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:29:30.063Z,1370284170.063 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:29:30.064Z,1370284170.063 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:29:30.064Z,1370284170.064 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:29:30.064Z,1370284170.064 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:29:30.064Z,1370284170.064 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:29:30.068Z,1370284170.068 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:30.068Z,1370284170.068 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:29:30.068Z,1370284170.069 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:29:30.455Z,1370284170.455 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:29:30.455Z,1370284170.455 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:29:30.455Z,1370284170.455 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:29:30.456Z,1370284170.455 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:29:30.456Z,1370284170.456 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:29:30.460Z,1370284170.460 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:29:30.460Z,1370284170.460 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:29:30.460Z,1370284170.460 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:30.461Z,1370284170.461 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:29:30.461Z,1370284170.461 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:29:30.461Z,1370284170.461 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:29:30.461Z,1370284170.461 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:29:30.461Z,1370284170.461 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:29:30.461Z,1370284170.461 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:29:31.148Z,1370284171.148 [DVL_micro](DEBUG): NQ1
2013-06-03T18:29:31.301Z,1370284171.301 [homing_pursuit:FireUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:29:00.9Z
2013-06-03T18:29:31.301Z,1370284171.301 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:29:31.301Z,1370284171.301 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:29:31.302Z,1370284171.302 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:29:31.302Z,1370284171.302 [homing_pursuit:FireUpDAT:A.Wait] Stopped
2013-06-03T18:29:31.302Z,1370284171.302 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:31.302Z,1370284171.302 [homing_pursuit:FireUpDAT](INFO): Completed homing_pursuit:FireUpDAT
2013-06-03T18:29:31.302Z,1370284171.302 [homing_pursuit:FireUpDAT] Stopped
2013-06-03T18:29:31.302Z,1370284171.302 [homing_pursuit:FireUpDAT](INFO): Aggregate::uninitialize homing_pursuit:FireUpDAT
2013-06-03T18:29:31.312Z,1370284171.312 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:A] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:E] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:F] Stopped
2013-06-03T18:29:31.313Z,1370284171.313 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:29:31.314Z,1370284171.314 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:29:31.795Z,1370284171.795 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:29:31.795Z,1370284171.795 [Default] Running Loop=1
2013-06-03T18:29:31.795Z,1370284171.795 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:29:31.795Z,1370284171.795 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:29:31.795Z,1370284171.795 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:31.795Z,1370284171.795 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:29:31.795Z,1370284171.795 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:29:31.795Z,1370284171.796 [Default:Iridium] Running Loop=1
2013-06-03T18:29:31.796Z,1370284171.796 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:29:31.796Z,1370284171.796 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:29:31.800Z,1370284171.800 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:31.800Z,1370284171.800 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:29:31.800Z,1370284171.800 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:29:31.802Z,1370284171.802 [Default:CallIridium] Running Loop=1
2013-06-03T18:29:31.802Z,1370284171.802 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:29:31.802Z,1370284171.802 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:29:31.803Z,1370284171.803 [Default:CallIridium:A] Stopped
2013-06-03T18:29:31.803Z,1370284171.803 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:29:31.803Z,1370284171.803 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:29:31.804Z,1370284171.804 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:29:31.804Z,1370284171.804 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:29:31.808Z,1370284171.808 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:29:31.809Z,1370284171.809 [Default:GPS] Running Loop=1
2013-06-03T18:29:31.809Z,1370284171.809 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:29:31.809Z,1370284171.809 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:29:31.809Z,1370284171.809 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:29:31.809Z,1370284171.809 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:29:31.809Z,1370284171.809 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:29:31.810Z,1370284171.810 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:29:31.810Z,1370284171.810 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:29:31.810Z,1370284171.810 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:29:32.393Z,1370284172.393 [DAT](INFO): Powering down
2013-06-03T18:29:32.978Z,1370284172.978 [NAL9602](INFO): Powering up
2013-06-03T18:29:33.256Z,1370284173.256 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:29:43.589Z,1370284183.589 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:30:44.564Z,1370284244.565 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:30:44.565Z,1370284244.565 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:30:44.685Z,1370284244.685 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:30:44.688Z,1370284244.688 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:30:44.690Z,1370284244.690 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:30:44.692Z,1370284244.692 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:30:44.695Z,1370284244.695 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:30:44.708Z,1370284244.708 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:30:44.714Z,1370284244.714 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:30:44.729Z,1370284244.728 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:30:44.756Z,1370284244.756 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:30:44.758Z,1370284244.759 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:30:44.773Z,1370284244.773 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:30:44.775Z,1370284244.776 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:30:44.787Z,1370284244.787 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:30:44.798Z,1370284244.798 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:30:44.811Z,1370284244.811 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:30:44.818Z,1370284244.818 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:30:44.824Z,1370284244.824 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:30:44.827Z,1370284244.827 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:30:44.849Z,1370284244.849 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:30:44.851Z,1370284244.851 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:30:44.862Z,1370284244.862 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:30:44.875Z,1370284244.875 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:30:44.914Z,1370284244.914 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:30:44.951Z,1370284244.951 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Construct.
2013-06-03T18:30:44.966Z,1370284244.966 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:30:44.978Z,1370284244.978 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Construct.
2013-06-03T18:30:44.985Z,1370284244.986 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Construct.
2013-06-03T18:30:44.995Z,1370284244.995 [homing_pursuit:Pursuit:F.Point](DEBUG): Construct.
2013-06-03T18:30:45.012Z,1370284245.012 [homing_pursuit:Pursuit:G.Wait](DEBUG): Construct Wait.
2013-06-03T18:30:45.018Z,1370284245.018 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:30:45.061Z,1370284245.061 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>


        <Aggregate Id="Pursuit">

            <When><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </When>
            
            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

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

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="FireUpDAT">
              <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P30S"></Timeout>
            </Guidance:Wait>
  
          </Aggregate>
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->


</Mission>


2013-06-03T18:30:45.062Z,1370284245.062 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:30:45.112Z,1370284245.112 [Default] Stopped
2013-06-03T18:30:45.112Z,1370284245.112 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:30:45.112Z,1370284245.112 [Default:GPS] Stopped
2013-06-03T18:30:45.113Z,1370284245.113 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:30:45.113Z,1370284245.113 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:30:45.113Z,1370284245.113 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:30:45.113Z,1370284245.113 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:30:45.113Z,1370284245.113 [Default:Iridium] Stopped
2013-06-03T18:30:45.113Z,1370284245.113 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:30:45.113Z,1370284245.113 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:30:45.113Z,1370284245.113 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:30:45.113Z,1370284245.113 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:30:45.113Z,1370284245.113 [Default:CallIridium] Stopped
2013-06-03T18:30:45.113Z,1370284245.114 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:30:45.114Z,1370284245.114 [Default:CallIridium:B] Stopped
2013-06-03T18:30:45.114Z,1370284245.114 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:30:45.114Z,1370284245.114 [Default:D.SetSpeed] Stopped
2013-06-03T18:30:45.114Z,1370284245.114 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:30:45.114Z,1370284245.114 [Default:E.GoToSurface] Stopped
2013-06-03T18:30:45.114Z,1370284245.114 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:30:45.114Z,1370284245.114 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:30:45.114Z,1370284245.114 [homing_pursuit] Running Loop=1
2013-06-03T18:30:45.115Z,1370284245.115 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:30:45.115Z,1370284245.115 [homing_pursuit:A] Running Loop=1
2013-06-03T18:30:45.115Z,1370284245.115 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:30:45.115Z,1370284245.115 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:30:45.115Z,1370284245.115 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:30:45.115Z,1370284245.115 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:E] Running Loop=1
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:F] Running Loop=1
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:FireUpDAT] Running Loop=1
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:FireUpDAT](INFO): Aggregate::initialize homing_pursuit:FireUpDAT
2013-06-03T18:30:45.116Z,1370284245.116 [homing_pursuit:FireUpDAT:A.Wait] Running Loop=1
2013-06-03T18:30:45.117Z,1370284245.117 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:30:45.118Z,1370284245.118 [homing_pursuit:F] Running Loop=1
2013-06-03T18:30:45.118Z,1370284245.118 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:30:45.119Z,1370284245.119 [homing_pursuit:E] Running Loop=1
2013-06-03T18:30:45.120Z,1370284245.120 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:30:45.125Z,1370284245.125 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:30:45.126Z,1370284245.126 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:30:45.127Z,1370284245.127 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:30:45.128Z,1370284245.128 [homing_pursuit:A] Running Loop=1
2013-06-03T18:30:45.129Z,1370284245.129 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:30:45.193Z,1370284245.193 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:30:45.193Z,1370284245.193 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:30:45.193Z,1370284245.193 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:30:45.492Z,1370284245.492 [DAT](INFO): Powering up
2013-06-03T18:30:47.201Z,1370284247.201 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:30:47.201Z,1370284247.201 [DVL_micro](INFO): Querying output modes
2013-06-03T18:30:47.201Z,1370284247.201 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:30:47.212Z,1370284247.212 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:30:47.213Z,1370284247.213 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:30:47.213Z,1370284247.213 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:30:47.225Z,1370284247.224 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:30:49.749Z,1370284249.749 [DVL_micro](DEBUG): NQ1
2013-06-03T18:30:52.266Z,1370284252.266 [NAL9602](INFO): Powering down
2013-06-03T18:30:52.312Z,1370284252.312 [DVL_micro](DEBUG): NQ1
2013-06-03T18:30:54.856Z,1370284254.856 [DVL_micro](DEBUG): NQ1
2013-06-03T18:30:57.436Z,1370284257.436 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:00.004Z,1370284260.004 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:02.553Z,1370284262.553 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:05.108Z,1370284265.108 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:05.273Z,1370284265.273 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:31:05.273Z,1370284265.273 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:31:05.273Z,1370284265.273 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:05.273Z,1370284265.273 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:05.274Z,1370284265.274 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:31:05.275Z,1370284265.274 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:05.275Z,1370284265.275 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:31:05.275Z,1370284265.275 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:31:05.275Z,1370284265.275 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:31:05.285Z,1370284265.285 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:05.301Z,1370284265.301 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:05.311Z,1370284265.311 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:05.319Z,1370284265.319 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:05.360Z,1370284265.360 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:05.369Z,1370284265.369 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:05.370Z,1370284265.369 [homing_pursuit:Pursuit:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:31:06.557Z,1370284266.557 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:31:05.3Z
2013-06-03T18:31:06.557Z,1370284266.557 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:06.557Z,1370284266.557 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:06.558Z,1370284266.557 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:06.558Z,1370284266.558 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:31:06.558Z,1370284266.558 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:06.560Z,1370284266.560 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:31:06.560Z,1370284266.560 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:31:06.560Z,1370284266.560 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:31:06.561Z,1370284266.560 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:31:06.561Z,1370284266.560 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:31:06.561Z,1370284266.561 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:31:06.561Z,1370284266.561 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:31:06.561Z,1370284266.561 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:31:06.561Z,1370284266.561 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:31:06.561Z,1370284266.561 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:31:06.561Z,1370284266.561 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:07.078Z,1370284267.078 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:07.079Z,1370284267.079 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:07.079Z,1370284267.079 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:31:07.079Z,1370284267.079 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:07.079Z,1370284267.079 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:31:07.079Z,1370284267.079 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:31:07.079Z,1370284267.079 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:31:07.680Z,1370284267.681 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:08.387Z,1370284268.387 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:31:07.1Z
2013-06-03T18:31:08.387Z,1370284268.387 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:08.387Z,1370284268.387 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:08.387Z,1370284268.388 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:08.388Z,1370284268.388 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:31:08.388Z,1370284268.388 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:08.394Z,1370284268.394 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:31:08.394Z,1370284268.395 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:31:08.395Z,1370284268.395 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:31:08.810Z,1370284268.810 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:31:08.810Z,1370284268.810 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:31:08.811Z,1370284268.810 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:08.811Z,1370284268.811 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:08.811Z,1370284268.811 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:31:08.811Z,1370284268.811 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:08.811Z,1370284268.811 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:31:08.811Z,1370284268.811 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:08.811Z,1370284268.811 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:08.812Z,1370284268.812 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:08.812Z,1370284268.812 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:31:08.812Z,1370284268.812 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:08.816Z,1370284268.816 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:31:08.817Z,1370284268.817 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:31:08.817Z,1370284268.817 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:31:09.552Z,1370284269.552 [Reporter](INFO): DAT.homing_target_range 0.600000 m
2013-06-03T18:31:09.552Z,1370284269.552 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T18:31:10.170Z,1370284270.170 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:31:08.8Z
2013-06-03T18:31:10.170Z,1370284270.170 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:10.170Z,1370284270.171 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:10.173Z,1370284270.173 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:10.173Z,1370284270.173 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:31:10.173Z,1370284270.173 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:10.176Z,1370284270.176 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:31:10.176Z,1370284270.176 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:31:10.176Z,1370284270.176 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:31:10.176Z,1370284270.177 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:31:10.177Z,1370284270.177 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:31:10.240Z,1370284270.240 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:10.591Z,1370284270.591 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:31:10.591Z,1370284270.592 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:10.591Z,1370284270.592 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:10.592Z,1370284270.592 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:10.596Z,1370284270.596 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:31:10.596Z,1370284270.596 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:10.597Z,1370284270.597 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:31:10.597Z,1370284270.597 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:31:10.597Z,1370284270.597 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:31:11.796Z,1370284271.796 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:31:10.6Z
2013-06-03T18:31:11.796Z,1370284271.796 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:11.796Z,1370284271.796 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:11.796Z,1370284271.796 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:11.797Z,1370284271.796 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:31:11.797Z,1370284271.797 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:31:11.799Z,1370284271.799 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:31:11.800Z,1370284271.800 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:31:11.800Z,1370284271.800 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:31:11.800Z,1370284271.800 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:31:12.205Z,1370284272.205 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:12.206Z,1370284272.206 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:12.206Z,1370284272.207 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:31:12.207Z,1370284272.207 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:12.207Z,1370284272.207 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:31:12.207Z,1370284272.207 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:31:12.207Z,1370284272.207 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:31:12.816Z,1370284272.816 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:13.526Z,1370284273.526 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:31:12.2Z
2013-06-03T18:31:13.526Z,1370284273.526 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:13.526Z,1370284273.526 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:13.527Z,1370284273.527 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:13.527Z,1370284273.527 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:31:13.527Z,1370284273.527 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:31:13.550Z,1370284273.550 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:31:13.656Z,1370284273.656 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:31:13.656Z,1370284273.657 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:31:13.922Z,1370284273.922 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:31:13.922Z,1370284273.922 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:31:13.923Z,1370284273.922 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:31:13.923Z,1370284273.922 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:31:13.923Z,1370284273.923 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:31:13.924Z,1370284273.924 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:31:13.928Z,1370284273.928 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:31:13.928Z,1370284273.928 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:31:15.171Z,1370284275.171 [homing_pursuit:FireUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:30:45.1Z
2013-06-03T18:31:15.171Z,1370284275.171 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:15.171Z,1370284275.171 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:31:15.171Z,1370284275.171 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:31:15.171Z,1370284275.171 [homing_pursuit:FireUpDAT:A.Wait] Stopped
2013-06-03T18:31:15.171Z,1370284275.171 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:15.176Z,1370284275.176 [homing_pursuit:FireUpDAT](INFO): Completed homing_pursuit:FireUpDAT
2013-06-03T18:31:15.176Z,1370284275.177 [homing_pursuit:FireUpDAT] Stopped
2013-06-03T18:31:15.177Z,1370284275.177 [homing_pursuit:FireUpDAT](INFO): Aggregate::uninitialize homing_pursuit:FireUpDAT
2013-06-03T18:31:15.177Z,1370284275.177 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:31:13.9Z
2013-06-03T18:31:15.177Z,1370284275.178 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:31:15.178Z,1370284275.178 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:15.178Z,1370284275.178 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:31:15.178Z,1370284275.178 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:31:15.178Z,1370284275.178 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:31:15.185Z,1370284275.185 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:31:15.186Z,1370284275.186 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:31:15.186Z,1370284275.186 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:31:15.186Z,1370284275.186 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:31:15.188Z,1370284275.188 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:31:15.188Z,1370284275.188 [homing_pursuit] Stopped
2013-06-03T18:31:15.192Z,1370284275.192 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:31:15.192Z,1370284275.192 [homing_pursuit:A] Stopped
2013-06-03T18:31:15.192Z,1370284275.192 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:31:15.192Z,1370284275.192 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:31:15.192Z,1370284275.193 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:31:15.193Z,1370284275.193 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:31:15.193Z,1370284275.193 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:31:15.193Z,1370284275.193 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:31:15.193Z,1370284275.193 [homing_pursuit:E] Stopped
2013-06-03T18:31:15.193Z,1370284275.193 [homing_pursuit:F] Stopped
2013-06-03T18:31:15.385Z,1370284275.385 [DVL_micro](DEBUG): NQ1
2013-06-03T18:31:15.426Z,1370284275.425 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:31:15.683Z,1370284275.683 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:31:15.683Z,1370284275.683 [Default] Running Loop=1
2013-06-03T18:31:15.683Z,1370284275.683 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:31:15.683Z,1370284275.684 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:31:15.684Z,1370284275.684 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:15.684Z,1370284275.684 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:31:15.685Z,1370284275.685 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:31:15.685Z,1370284275.685 [Default:Iridium] Running Loop=1
2013-06-03T18:31:15.685Z,1370284275.685 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:31:15.686Z,1370284275.685 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:31:15.686Z,1370284275.686 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:15.687Z,1370284275.687 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:31:15.687Z,1370284275.687 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:31:15.693Z,1370284275.694 [Default:CallIridium] Running Loop=1
2013-06-03T18:31:15.694Z,1370284275.694 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:31:15.694Z,1370284275.694 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:31:15.695Z,1370284275.695 [Default:CallIridium:A] Stopped
2013-06-03T18:31:15.695Z,1370284275.695 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:31:15.695Z,1370284275.695 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:31:15.700Z,1370284275.700 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:31:15.700Z,1370284275.700 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:31:15.701Z,1370284275.701 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:31:15.701Z,1370284275.701 [Default:GPS] Running Loop=1
2013-06-03T18:31:15.701Z,1370284275.701 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:31:15.701Z,1370284275.701 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:31:15.701Z,1370284275.701 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:31:15.702Z,1370284275.702 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:31:15.702Z,1370284275.702 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:31:15.703Z,1370284275.703 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:31:15.703Z,1370284275.703 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:31:15.703Z,1370284275.703 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:31:16.154Z,1370284276.154 [DAT](INFO): Powering down
2013-06-03T18:31:16.747Z,1370284276.747 [NAL9602](INFO): Powering up
2013-06-03T18:31:27.348Z,1370284287.348 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:32:47.569Z,1370284367.569 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:32:47.569Z,1370284367.569 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:32:47.725Z,1370284367.724 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:32:47.727Z,1370284367.727 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:32:47.745Z,1370284367.745 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:32:47.748Z,1370284367.748 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:32:47.755Z,1370284367.755 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:32:47.761Z,1370284367.761 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:32:47.768Z,1370284367.768 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:32:47.771Z,1370284367.771 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:32:47.778Z,1370284367.778 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:32:47.784Z,1370284367.784 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:32:47.787Z,1370284367.787 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:32:47.793Z,1370284367.793 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:32:47.796Z,1370284367.796 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:32:47.814Z,1370284367.814 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:32:47.821Z,1370284367.821 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:32:47.823Z,1370284367.823 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:32:47.854Z,1370284367.854 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:32:47.869Z,1370284367.869 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:32:47.871Z,1370284367.871 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:32:47.886Z,1370284367.886 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:32:47.897Z,1370284367.897 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:32:47.919Z,1370284367.919 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:32:47.966Z,1370284367.966 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:32:48.022Z,1370284368.022 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Construct.
2013-06-03T18:32:48.043Z,1370284368.043 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:32:48.057Z,1370284368.057 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Construct.
2013-06-03T18:32:48.060Z,1370284368.060 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Construct.
2013-06-03T18:32:48.089Z,1370284368.089 [homing_pursuit:Pursuit:F.Point](DEBUG): Construct.
2013-06-03T18:32:48.103Z,1370284368.103 [homing_pursuit:Pursuit:G.Wait](DEBUG): Construct Wait.
2013-06-03T18:32:48.105Z,1370284368.105 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:32:48.130Z,1370284368.130 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>
    
    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>


        <Aggregate Id="Pursuit">

            <While><Universal:homing_target_range/>
                <Ge><Arg Name="MinRange"/></Ge>
            </While>
            
            <Until><Universal:homing_target_range/>
                <Lt><Arg Name="MinRange"/></Lt>
            </Until>

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

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

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="FireUpDAT">
              <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P30S"></Timeout>
            </Guidance:Wait>
  
          </Aggregate>
<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->


</Mission>


2013-06-03T18:32:48.131Z,1370284368.131 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:32:48.260Z,1370284368.260 [Default] Stopped
2013-06-03T18:32:48.261Z,1370284368.260 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:32:48.261Z,1370284368.261 [Default:GPS] Stopped
2013-06-03T18:32:48.261Z,1370284368.261 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:32:48.261Z,1370284368.261 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:32:48.261Z,1370284368.261 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:32:48.261Z,1370284368.261 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:32:48.261Z,1370284368.261 [Default:Iridium] Stopped
2013-06-03T18:32:48.261Z,1370284368.261 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:32:48.261Z,1370284368.261 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:32:48.261Z,1370284368.261 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:32:48.261Z,1370284368.261 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:32:48.261Z,1370284368.261 [Default:CallIridium] Stopped
2013-06-03T18:32:48.262Z,1370284368.262 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:32:48.262Z,1370284368.262 [Default:CallIridium:B] Stopped
2013-06-03T18:32:48.262Z,1370284368.262 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:32:48.262Z,1370284368.262 [Default:D.SetSpeed] Stopped
2013-06-03T18:32:48.262Z,1370284368.262 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:32:48.262Z,1370284368.262 [Default:E.GoToSurface] Stopped
2013-06-03T18:32:48.262Z,1370284368.262 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:32:48.262Z,1370284368.262 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:32:48.262Z,1370284368.263 [homing_pursuit] Running Loop=1
2013-06-03T18:32:48.263Z,1370284368.263 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:32:48.263Z,1370284368.263 [homing_pursuit:A] Running Loop=1
2013-06-03T18:32:48.263Z,1370284368.263 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:32:48.263Z,1370284368.263 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:32:48.263Z,1370284368.263 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:32:48.263Z,1370284368.263 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:E] Running Loop=1
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:F] Running Loop=1
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:32:48.264Z,1370284368.264 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:32:48.265Z,1370284368.265 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:32:48.266Z,1370284368.266 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:32:48.266Z,1370284368.266 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:32:48.266Z,1370284368.266 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:32:48.266Z,1370284368.266 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:32:48.267Z,1370284368.267 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:32:48.268Z,1370284368.268 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:32:48.269Z,1370284368.269 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:32:48.270Z,1370284368.270 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:32:48.271Z,1370284368.271 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:32:48.284Z,1370284368.284 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:32:48.285Z,1370284368.285 [homing_pursuit:Pursuit:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:32:48.286Z,1370284368.286 [homing_pursuit:F] Running Loop=1
2013-06-03T18:32:48.286Z,1370284368.286 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:32:48.287Z,1370284368.287 [homing_pursuit:E] Running Loop=1
2013-06-03T18:32:48.287Z,1370284368.287 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:32:48.288Z,1370284368.288 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:32:48.289Z,1370284368.289 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:32:48.290Z,1370284368.290 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:32:48.292Z,1370284368.292 [homing_pursuit:A] Running Loop=1
2013-06-03T18:32:48.292Z,1370284368.292 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:32:48.409Z,1370284368.409 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:32:48.409Z,1370284368.409 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:32:48.410Z,1370284368.409 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:32:48.593Z,1370284368.593 [DAT](INFO): Powering up
2013-06-03T18:32:49.488Z,1370284369.488 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:32:48.3Z
2013-06-03T18:32:49.488Z,1370284369.488 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:32:49.489Z,1370284369.489 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:32:49.489Z,1370284369.489 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:32:49.489Z,1370284369.489 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:32:49.489Z,1370284369.489 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:32:49.491Z,1370284369.491 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:32:49.491Z,1370284369.491 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:32:49.491Z,1370284369.491 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:32:49.491Z,1370284369.491 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:32:49.491Z,1370284369.491 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:32:49.491Z,1370284369.491 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:32:49.492Z,1370284369.492 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:32:49.492Z,1370284369.492 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:32:49.492Z,1370284369.492 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:32:49.504Z,1370284369.504 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:32:49.504Z,1370284369.504 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:32:49.504Z,1370284369.504 [homing_pursuit:FireUpDAT] Running Loop=1
2013-06-03T18:32:49.504Z,1370284369.504 [homing_pursuit:FireUpDAT](INFO): Aggregate::initialize homing_pursuit:FireUpDAT
2013-06-03T18:32:49.505Z,1370284369.505 [homing_pursuit:FireUpDAT:A.Wait] Running Loop=1
2013-06-03T18:32:49.505Z,1370284369.505 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:32:50.417Z,1370284370.417 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:32:50.417Z,1370284370.417 [DVL_micro](INFO): Querying output modes
2013-06-03T18:32:50.417Z,1370284370.417 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:32:50.428Z,1370284370.428 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:32:50.429Z,1370284370.429 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:32:50.429Z,1370284370.429 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:32:50.455Z,1370284370.455 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:32:52.952Z,1370284372.953 [DVL_micro](DEBUG): NQ1
2013-06-03T18:32:55.374Z,1370284375.374 [NAL9602](INFO): Powering down
2013-06-03T18:32:55.522Z,1370284375.522 [DVL_micro](DEBUG): NQ1
2013-06-03T18:32:58.076Z,1370284378.076 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:00.624Z,1370284380.624 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:03.185Z,1370284383.185 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:05.748Z,1370284385.749 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:08.297Z,1370284388.297 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:08.298Z,1370284388.297 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:08.298Z,1370284388.298 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:08.316Z,1370284388.316 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:09.467Z,1370284389.467 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:08.3Z
2013-06-03T18:33:09.468Z,1370284389.467 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:09.468Z,1370284389.468 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:09.472Z,1370284389.472 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:09.472Z,1370284389.472 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:09.472Z,1370284389.472 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:09.475Z,1370284389.475 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:09.475Z,1370284389.476 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:09.476Z,1370284389.476 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:09.476Z,1370284389.476 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:09.913Z,1370284389.913 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:09.914Z,1370284389.914 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:09.915Z,1370284389.915 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:09.915Z,1370284389.915 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:09.915Z,1370284389.915 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:09.915Z,1370284389.915 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:10.884Z,1370284390.884 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:11.179Z,1370284391.179 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:09.9Z
2013-06-03T18:33:11.179Z,1370284391.180 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:11.180Z,1370284391.180 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:11.180Z,1370284391.180 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:11.180Z,1370284391.180 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:11.180Z,1370284391.180 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:11.183Z,1370284391.183 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:11.184Z,1370284391.184 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:11.574Z,1370284391.574 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:11.574Z,1370284391.574 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:11.574Z,1370284391.574 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:11.574Z,1370284391.574 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:11.574Z,1370284391.574 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:11.575Z,1370284391.575 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:11.576Z,1370284391.576 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:11.576Z,1370284391.576 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:12.462Z,1370284392.462 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:33:12.463Z,1370284392.463 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:33:12.785Z,1370284392.785 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:11.6Z
2013-06-03T18:33:12.785Z,1370284392.785 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:12.785Z,1370284392.786 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:12.786Z,1370284392.786 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:12.786Z,1370284392.786 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:12.786Z,1370284392.786 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:12.791Z,1370284392.791 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:12.791Z,1370284392.791 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:12.791Z,1370284392.791 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:12.791Z,1370284392.792 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:12.791Z,1370284392.792 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:12.792Z,1370284392.792 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:12.792Z,1370284392.792 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:12.792Z,1370284392.792 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:12.792Z,1370284392.792 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:12.792Z,1370284392.792 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:12.792Z,1370284392.792 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:13.106Z,1370284393.106 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:13.107Z,1370284393.107 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:13.108Z,1370284393.108 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:13.456Z,1370284393.456 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:14.306Z,1370284394.306 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:13.1Z
2013-06-03T18:33:14.306Z,1370284394.306 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:14.306Z,1370284394.306 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:14.306Z,1370284394.306 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:14.306Z,1370284394.306 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:14.306Z,1370284394.306 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:14.309Z,1370284394.309 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:14.310Z,1370284394.309 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:14.310Z,1370284394.309 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:14.706Z,1370284394.706 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:14.706Z,1370284394.706 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:14.706Z,1370284394.706 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:14.706Z,1370284394.706 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:14.706Z,1370284394.706 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:14.706Z,1370284394.706 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:14.706Z,1370284394.707 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:14.707Z,1370284394.707 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:15.984Z,1370284395.984 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:14.7Z
2013-06-03T18:33:15.984Z,1370284395.984 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:15.986Z,1370284395.986 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:15.986Z,1370284395.986 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:15.987Z,1370284395.987 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:15.987Z,1370284395.987 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:15.990Z,1370284395.990 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:15.990Z,1370284395.990 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:15.990Z,1370284395.990 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:15.991Z,1370284395.991 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:16.000Z,1370284396.000 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:16.317Z,1370284396.317 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:16.317Z,1370284396.317 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:16.317Z,1370284396.317 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:16.317Z,1370284396.317 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:16.317Z,1370284396.317 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:16.317Z,1370284396.318 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:16.318Z,1370284396.318 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:16.319Z,1370284396.319 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:16.319Z,1370284396.319 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:16.452Z,1370284396.452 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:33:16.455Z,1370284396.455 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:33:17.530Z,1370284397.530 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:16.3Z
2013-06-03T18:33:17.530Z,1370284397.530 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:17.530Z,1370284397.530 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:17.530Z,1370284397.530 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:17.530Z,1370284397.530 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:17.531Z,1370284397.531 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:17.565Z,1370284397.565 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:17.566Z,1370284397.566 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:17.925Z,1370284397.925 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:17.925Z,1370284397.925 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:17.925Z,1370284397.925 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:17.925Z,1370284397.925 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:17.925Z,1370284397.925 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:17.926Z,1370284397.926 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:17.927Z,1370284397.927 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:17.927Z,1370284397.927 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:18.560Z,1370284398.560 [DVL_micro](DEBUG): NQ1
2013-06-03T18:33:19.170Z,1370284399.171 [homing_pursuit:Pursuit:G.Wait](INFO): Timed out from 2013-06-03T18:33:17.9Z
2013-06-03T18:33:19.171Z,1370284399.171 [homing_pursuit:Pursuit:G.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:19.171Z,1370284399.171 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:19.171Z,1370284399.171 [homing_pursuit:Pursuit:G.Wait:A_Timeout](INFO): Completed homing_pursuit:Pursuit:G.Wait:A_Timeout
2013-06-03T18:33:19.171Z,1370284399.171 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:19.171Z,1370284399.171 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:19.174Z,1370284399.174 [homing_pursuit:Pursuit](INFO): Completed homing_pursuit:Pursuit
2013-06-03T18:33:19.175Z,1370284399.174 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:19.175Z,1370284399.175 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:19.531Z,1370284399.531 [homing_pursuit:FireUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:32:49.5Z
2013-06-03T18:33:19.531Z,1370284399.531 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:33:19.531Z,1370284399.531 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:33:19.531Z,1370284399.531 [homing_pursuit:FireUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:FireUpDAT:A.Wait:A_Timeout
2013-06-03T18:33:19.531Z,1370284399.531 [homing_pursuit:FireUpDAT:A.Wait] Stopped
2013-06-03T18:33:19.531Z,1370284399.531 [homing_pursuit:FireUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:19.531Z,1370284399.532 [homing_pursuit:FireUpDAT](INFO): Completed homing_pursuit:FireUpDAT
2013-06-03T18:33:19.532Z,1370284399.532 [homing_pursuit:FireUpDAT] Stopped
2013-06-03T18:33:19.532Z,1370284399.532 [homing_pursuit:FireUpDAT](INFO): Aggregate::uninitialize homing_pursuit:FireUpDAT
2013-06-03T18:33:19.548Z,1370284399.548 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:33:19.548Z,1370284399.548 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:33:19.548Z,1370284399.548 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:33:19.548Z,1370284399.548 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:33:19.548Z,1370284399.548 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:33:19.549Z,1370284399.549 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:33:19.550Z,1370284399.550 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:33:19.550Z,1370284399.550 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit] Stopped
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:A] Stopped
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:33:19.555Z,1370284399.555 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:33:19.555Z,1370284399.556 [homing_pursuit:E] Stopped
2013-06-03T18:33:19.556Z,1370284399.556 [homing_pursuit:F] Stopped
2013-06-03T18:33:19.556Z,1370284399.556 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:33:19.560Z,1370284399.560 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:33:19.561Z,1370284399.560 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:33:19.561Z,1370284399.561 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:33:19.561Z,1370284399.561 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:33:19.561Z,1370284399.561 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:33:19.961Z,1370284399.961 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:33:19.962Z,1370284399.962 [Default] Running Loop=1
2013-06-03T18:33:19.962Z,1370284399.962 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:33:19.962Z,1370284399.962 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:33:19.962Z,1370284399.962 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:19.962Z,1370284399.962 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:33:19.962Z,1370284399.962 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:33:19.962Z,1370284399.963 [Default:Iridium] Running Loop=1
2013-06-03T18:33:19.963Z,1370284399.963 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:33:19.963Z,1370284399.963 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:33:19.963Z,1370284399.963 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:19.963Z,1370284399.963 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:33:19.963Z,1370284399.963 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:33:19.969Z,1370284399.969 [Default:CallIridium] Running Loop=1
2013-06-03T18:33:19.970Z,1370284399.970 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:33:19.970Z,1370284399.970 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:33:19.970Z,1370284399.970 [Default:CallIridium:A] Stopped
2013-06-03T18:33:19.970Z,1370284399.970 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:33:19.970Z,1370284399.970 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:33:19.971Z,1370284399.971 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:33:19.971Z,1370284399.971 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:33:19.971Z,1370284399.971 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:33:19.972Z,1370284399.972 [Default:GPS] Running Loop=1
2013-06-03T18:33:19.976Z,1370284399.976 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:33:19.976Z,1370284399.976 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:33:19.976Z,1370284399.976 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:33:19.976Z,1370284399.977 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:33:19.976Z,1370284399.977 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:33:19.977Z,1370284399.977 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:33:19.977Z,1370284399.977 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:33:19.978Z,1370284399.978 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:33:20.359Z,1370284400.359 [DAT](INFO): Powering down
2013-06-03T18:33:20.666Z,1370284400.666 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:33:20.897Z,1370284400.897 [NAL9602](INFO): Powering up
2013-06-03T18:33:31.738Z,1370284411.738 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:34:52.706Z,1370284492.706 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T18:34:52.706Z,1370284492.706 [NAL9602] Data Fault, FailCount= 2
2013-06-03T18:34:52.706Z,1370284492.706 [NAL9602](ERROR): Data Fault
2013-06-03T18:34:52.788Z,1370284492.787 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T18:34:52.795Z,1370284492.795 [CBIT](CRITICAL): Data Fault in component: NAL9602
2013-06-03T18:34:53.043Z,1370284493.043 [NAL9602](INFO): Powering down
2013-06-03T18:35:30.392Z,1370284530.392 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:35:30.393Z,1370284530.393 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:35:30.570Z,1370284530.570 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:35:30.572Z,1370284530.572 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:35:30.575Z,1370284530.575 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:35:30.578Z,1370284530.578 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:35:30.580Z,1370284530.580 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:35:30.582Z,1370284530.582 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:35:30.585Z,1370284530.585 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:35:30.587Z,1370284530.587 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:35:30.626Z,1370284530.626 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:35:30.628Z,1370284530.628 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:35:30.631Z,1370284530.631 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:35:30.661Z,1370284530.661 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:35:30.663Z,1370284530.663 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:35:30.674Z,1370284530.674 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:35:30.686Z,1370284530.686 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:35:30.688Z,1370284530.688 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:35:30.691Z,1370284530.691 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:35:30.706Z,1370284530.706 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:35:30.713Z,1370284530.713 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:35:30.715Z,1370284530.715 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:35:30.726Z,1370284530.726 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:35:30.731Z,1370284530.731 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:35:30.782Z,1370284530.782 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:35:30.817Z,1370284530.817 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Construct.
2013-06-03T18:35:30.826Z,1370284530.826 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:35:30.849Z,1370284530.849 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Construct.
2013-06-03T18:35:30.851Z,1370284530.851 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Construct.
2013-06-03T18:35:30.871Z,1370284530.871 [homing_pursuit:Pursuit:F.Point](DEBUG): Construct.
2013-06-03T18:35:30.889Z,1370284530.889 [homing_pursuit:Pursuit:G.Wait](DEBUG): Construct Wait.
2013-06-03T18:35:30.891Z,1370284530.891 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:35:30.918Z,1370284530.918 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

        <When><Universal:homing_target_range/>
            <Ge><Arg Name="MinRange"/></Ge>
        </When>

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:35:30.919Z,1370284530.919 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:35:31.296Z,1370284531.296 [Default] Stopped
2013-06-03T18:35:31.296Z,1370284531.296 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:35:31.296Z,1370284531.296 [Default:GPS] Stopped
2013-06-03T18:35:31.296Z,1370284531.296 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:35:31.296Z,1370284531.296 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:35:31.296Z,1370284531.296 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:35:31.296Z,1370284531.296 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:35:31.296Z,1370284531.296 [Default:Iridium] Stopped
2013-06-03T18:35:31.296Z,1370284531.296 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:35:31.296Z,1370284531.296 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:35:31.297Z,1370284531.297 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:35:31.297Z,1370284531.297 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:35:31.297Z,1370284531.297 [Default:CallIridium] Stopped
2013-06-03T18:35:31.297Z,1370284531.297 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:35:31.297Z,1370284531.297 [Default:CallIridium:B] Stopped
2013-06-03T18:35:31.297Z,1370284531.297 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:35:31.297Z,1370284531.297 [Default:D.SetSpeed] Stopped
2013-06-03T18:35:31.297Z,1370284531.297 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:35:31.297Z,1370284531.297 [Default:E.GoToSurface] Stopped
2013-06-03T18:35:31.297Z,1370284531.297 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:35:31.298Z,1370284531.298 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit] Running Loop=1
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit:A] Running Loop=1
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:35:31.298Z,1370284531.298 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:35:31.299Z,1370284531.299 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:35:31.299Z,1370284531.299 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:35:31.299Z,1370284531.299 [homing_pursuit:E] Running Loop=1
2013-06-03T18:35:31.299Z,1370284531.299 [homing_pursuit:F] Running Loop=1
2013-06-03T18:35:31.299Z,1370284531.299 [homing_pursuit:PowerUpDAT] Running Loop=1
2013-06-03T18:35:31.300Z,1370284531.300 [homing_pursuit:PowerUpDAT](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT
2013-06-03T18:35:31.300Z,1370284531.300 [homing_pursuit:PowerUpDAT:A.Wait] Running Loop=1
2013-06-03T18:35:31.300Z,1370284531.300 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:35:31.317Z,1370284531.317 [homing_pursuit:F] Running Loop=1
2013-06-03T18:35:31.317Z,1370284531.318 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:35:31.318Z,1370284531.318 [homing_pursuit:E] Running Loop=1
2013-06-03T18:35:31.319Z,1370284531.319 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:35:31.320Z,1370284531.320 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:35:31.326Z,1370284531.326 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:35:31.327Z,1370284531.327 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:35:31.359Z,1370284531.359 [homing_pursuit:A] Running Loop=1
2013-06-03T18:35:31.360Z,1370284531.360 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:35:31.624Z,1370284531.624 [DAT](INFO): Powering up
2013-06-03T18:35:31.633Z,1370284531.633 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:35:31.633Z,1370284531.633 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:35:31.633Z,1370284531.633 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:35:33.645Z,1370284533.645 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:35:33.645Z,1370284533.645 [DVL_micro](INFO): Querying output modes
2013-06-03T18:35:33.645Z,1370284533.645 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:35:33.656Z,1370284533.656 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:35:33.656Z,1370284533.656 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:35:33.657Z,1370284533.657 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:35:33.668Z,1370284533.668 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:35:36.188Z,1370284536.188 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:38.748Z,1370284538.748 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:41.300Z,1370284541.300 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:43.891Z,1370284543.891 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:46.444Z,1370284546.444 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:49.000Z,1370284549.000 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:35:51.305Z,1370284551.305 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:35:51.306Z,1370284551.306 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:35:51.306Z,1370284551.306 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:35:51.306Z,1370284551.306 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:35:51.306Z,1370284551.306 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:35:51.306Z,1370284551.306 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:35:51.306Z,1370284551.306 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:35:51.307Z,1370284551.307 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:35:51.308Z,1370284551.309 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:35:51.310Z,1370284551.310 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:35:51.311Z,1370284551.311 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:35:51.312Z,1370284551.312 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:35:51.319Z,1370284551.319 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:35:51.320Z,1370284551.320 [homing_pursuit:Pursuit:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:35:51.573Z,1370284551.573 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:54.148Z,1370284554.148 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:55.356Z,1370284555.356 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:35:55.357Z,1370284555.357 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:35:56.725Z,1370284556.724 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:59.292Z,1370284559.292 [DVL_micro](DEBUG): NQ1
2013-06-03T18:35:59.577Z,1370284559.577 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:35:59.577Z,1370284559.578 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:36:01.552Z,1370284561.552 [homing_pursuit:PowerUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:35:31.3Z
2013-06-03T18:36:01.556Z,1370284561.556 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:36:01.556Z,1370284561.556 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T18:36:01.557Z,1370284561.557 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T18:36:01.557Z,1370284561.557 [homing_pursuit:PowerUpDAT:A.Wait] Stopped
2013-06-03T18:36:01.557Z,1370284561.557 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:36:01.557Z,1370284561.557 [homing_pursuit:PowerUpDAT](INFO): Completed homing_pursuit:PowerUpDAT
2013-06-03T18:36:01.557Z,1370284561.557 [homing_pursuit:PowerUpDAT] Stopped
2013-06-03T18:36:01.557Z,1370284561.557 [homing_pursuit:PowerUpDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerUpDAT
2013-06-03T18:36:01.566Z,1370284561.566 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:36:01.566Z,1370284561.566 [homing_pursuit] Stopped
2013-06-03T18:36:01.567Z,1370284561.566 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:A] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:E] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:F] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:36:01.567Z,1370284561.567 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:36:01.567Z,1370284561.568 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:36:01.567Z,1370284561.568 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:36:01.568Z,1370284561.568 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:36:01.568Z,1370284561.568 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:36:01.572Z,1370284561.572 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:36:01.572Z,1370284561.572 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:36:01.572Z,1370284561.572 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:36:01.572Z,1370284561.572 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:36:01.572Z,1370284561.572 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:36:01.572Z,1370284561.572 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:36:01.852Z,1370284561.852 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:01.878Z,1370284561.878 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:36:01.997Z,1370284561.997 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:36:01.997Z,1370284561.997 [Default] Running Loop=1
2013-06-03T18:36:01.997Z,1370284561.997 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:36:01.997Z,1370284561.997 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:36:01.997Z,1370284561.997 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:36:01.998Z,1370284561.997 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:36:01.998Z,1370284561.998 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:36:01.998Z,1370284561.998 [Default:Iridium] Running Loop=1
2013-06-03T18:36:01.998Z,1370284561.998 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:36:01.998Z,1370284561.998 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:36:01.998Z,1370284561.998 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:36:01.998Z,1370284561.998 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:36:01.998Z,1370284561.998 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:36:01.000Z,1370284562.000 [Default:CallIridium] Running Loop=1
2013-06-03T18:36:02.004Z,1370284562.004 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:36:02.004Z,1370284562.004 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:36:02.005Z,1370284562.005 [Default:CallIridium:A] Stopped
2013-06-03T18:36:02.005Z,1370284562.005 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:36:02.005Z,1370284562.005 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:36:02.006Z,1370284562.006 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:36:02.006Z,1370284562.006 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:36:02.006Z,1370284562.006 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:36:02.007Z,1370284562.007 [Default:GPS] Running Loop=1
2013-06-03T18:36:02.007Z,1370284562.007 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:36:02.007Z,1370284562.007 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:36:02.007Z,1370284562.007 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:36:02.007Z,1370284562.007 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:36:02.007Z,1370284562.007 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:36:02.012Z,1370284562.012 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:36:02.012Z,1370284562.012 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:36:02.013Z,1370284562.013 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:36:02.358Z,1370284562.358 [DAT](INFO): Powering down
2013-06-03T18:36:35.356Z,1370284595.356 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:36:35.357Z,1370284595.357 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:36:35.477Z,1370284595.477 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:36:35.480Z,1370284595.480 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:36:35.500Z,1370284595.500 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:36:35.502Z,1370284595.502 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:36:35.517Z,1370284595.517 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:36:35.519Z,1370284595.519 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:36:35.522Z,1370284595.522 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:36:35.572Z,1370284595.572 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:36:35.575Z,1370284595.575 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:36:35.577Z,1370284595.577 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:36:35.580Z,1370284595.579 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:36:35.594Z,1370284595.594 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:36:35.596Z,1370284595.596 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:36:35.599Z,1370284595.599 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:36:35.617Z,1370284595.617 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:36:35.619Z,1370284595.619 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:36:35.622Z,1370284595.622 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:36:35.624Z,1370284595.624 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:36:35.626Z,1370284595.626 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:36:35.669Z,1370284595.669 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:36:35.671Z,1370284595.671 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:36:35.686Z,1370284595.686 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:36:35.729Z,1370284595.729 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:36:35.758Z,1370284595.758 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Construct.
2013-06-03T18:36:35.779Z,1370284595.779 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:36:35.781Z,1370284595.781 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Construct.
2013-06-03T18:36:35.783Z,1370284595.783 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Construct.
2013-06-03T18:36:35.809Z,1370284595.809 [homing_pursuit:Pursuit:F.Point](DEBUG): Construct.
2013-06-03T18:36:35.815Z,1370284595.815 [homing_pursuit:Pursuit:G.Wait](DEBUG): Construct Wait.
2013-06-03T18:36:35.829Z,1370284595.829 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:36:35.855Z,1370284595.855 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

        <When><Universal:homing_target_range/>
            <Ge><Arg Name="MinRange"/></Ge>
        </When>

        <ReadData>
            <Universal:homing_target_range/>
        </ReadData>

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:36:35.855Z,1370284595.855 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:36:35.999Z,1370284595.999 [Default] Stopped
2013-06-03T18:36:35.999Z,1370284595.999 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:36:35.999Z,1370284595.999 [Default:GPS] Stopped
2013-06-03T18:36:35.999Z,1370284595.999 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:36:35.999Z,1370284595.999 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:36:35.999Z,1370284595.999 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:36:35.999Z,1370284596.000 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:36:35.000Z,1370284596.000 [Default:Iridium] Stopped
2013-06-03T18:36:35.000Z,1370284596.000 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:36:36.004Z,1370284596.004 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:36:36.005Z,1370284596.005 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:36:36.005Z,1370284596.005 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:36:36.005Z,1370284596.005 [Default:CallIridium] Stopped
2013-06-03T18:36:36.005Z,1370284596.005 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:36:36.005Z,1370284596.005 [Default:CallIridium:B] Stopped
2013-06-03T18:36:36.005Z,1370284596.005 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:36:36.005Z,1370284596.005 [Default:D.SetSpeed] Stopped
2013-06-03T18:36:36.005Z,1370284596.005 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:36:36.005Z,1370284596.006 [Default:E.GoToSurface] Stopped
2013-06-03T18:36:36.005Z,1370284596.006 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:36:36.006Z,1370284596.006 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:36:36.006Z,1370284596.006 [homing_pursuit] Running Loop=1
2013-06-03T18:36:36.006Z,1370284596.006 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:36:36.006Z,1370284596.006 [homing_pursuit:A] Running Loop=1
2013-06-03T18:36:36.006Z,1370284596.006 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:36:36.006Z,1370284596.006 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:36:36.006Z,1370284596.006 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:36:36.007Z,1370284596.007 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:36:36.007Z,1370284596.007 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:36:36.007Z,1370284596.007 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:36:36.007Z,1370284596.007 [homing_pursuit:E] Running Loop=1
2013-06-03T18:36:36.007Z,1370284596.007 [homing_pursuit:F] Running Loop=1
2013-06-03T18:36:36.008Z,1370284596.008 [homing_pursuit:PowerUpDAT] Running Loop=1
2013-06-03T18:36:36.008Z,1370284596.008 [homing_pursuit:PowerUpDAT](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT
2013-06-03T18:36:36.012Z,1370284596.012 [homing_pursuit:PowerUpDAT:A.Wait] Running Loop=1
2013-06-03T18:36:36.012Z,1370284596.012 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:36:36.014Z,1370284596.014 [homing_pursuit:F] Running Loop=1
2013-06-03T18:36:36.014Z,1370284596.014 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:36:36.015Z,1370284596.015 [homing_pursuit:E] Running Loop=1
2013-06-03T18:36:36.015Z,1370284596.016 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:36:36.021Z,1370284596.021 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:36:36.022Z,1370284596.022 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:36:36.023Z,1370284596.023 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:36:36.028Z,1370284596.028 [homing_pursuit:A] Running Loop=1
2013-06-03T18:36:36.029Z,1370284596.029 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:36:36.217Z,1370284596.217 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:36:36.217Z,1370284596.217 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:36:36.218Z,1370284596.217 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:36:36.327Z,1370284596.328 [DAT](INFO): Powering up
2013-06-03T18:36:38.225Z,1370284598.225 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:36:38.225Z,1370284598.225 [DVL_micro](INFO): Querying output modes
2013-06-03T18:36:38.225Z,1370284598.225 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:36:38.236Z,1370284598.236 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:36:38.236Z,1370284598.236 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:36:38.237Z,1370284598.237 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:36:38.249Z,1370284598.249 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:36:40.768Z,1370284600.768 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:43.328Z,1370284603.328 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:45.884Z,1370284605.884 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:48.436Z,1370284608.436 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:50.988Z,1370284610.988 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:52.905Z,1370284612.905 [CBIT](INFO): Clearing failed count for component NAL9602
2013-06-03T18:36:52.905Z,1370284612.905 [NAL9602] No Fault, FailCount= 2
2013-06-03T18:36:53.219Z,1370284613.219 [NAL9602](INFO): Powering up NAL9602
2013-06-03T18:36:53.535Z,1370284613.535 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:55.889Z,1370284615.889 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:36:55.889Z,1370284615.889 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:36:55.889Z,1370284615.889 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:36:55.890Z,1370284615.889 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:36:55.890Z,1370284615.889 [homing_pursuit:Pursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:E.Pitch](DEBUG): Initialize.
2013-06-03T18:36:55.890Z,1370284615.890 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:36:55.891Z,1370284615.891 [homing_pursuit:Pursuit:F.Point](DEBUG): Initialize.
2013-06-03T18:36:55.891Z,1370284615.891 [homing_pursuit:Pursuit:G.Wait] Running Loop=1
2013-06-03T18:36:55.891Z,1370284615.891 [homing_pursuit:Pursuit:G.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:36:55.892Z,1370284615.892 [homing_pursuit:Pursuit:F.Point] Running Loop=1
2013-06-03T18:36:55.893Z,1370284615.893 [homing_pursuit:Pursuit:E.Pitch] Running Loop=1
2013-06-03T18:36:55.894Z,1370284615.894 [homing_pursuit:Pursuit:D.SetSpeed] Running Loop=1
2013-06-03T18:36:55.895Z,1370284615.895 [homing_pursuit:Pursuit:C.Buoyancy] Running Loop=1
2013-06-03T18:36:55.896Z,1370284615.896 [homing_pursuit:Pursuit:B.Pitch] Running Loop=1
2013-06-03T18:36:55.897Z,1370284615.897 [homing_pursuit:Pursuit:A] Running Loop=1
2013-06-03T18:36:55.898Z,1370284615.898 [homing_pursuit:Pursuit:A](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:36:56.076Z,1370284616.076 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:58.632Z,1370284618.632 [DVL_micro](DEBUG): NQ1
2013-06-03T18:36:59.747Z,1370284619.747 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:36:59.748Z,1370284619.747 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:37:01.196Z,1370284621.196 [DVL_micro](DEBUG): NQ1
2013-06-03T18:37:03.737Z,1370284623.737 [DVL_micro](DEBUG): NQ1
2013-06-03T18:37:03.804Z,1370284623.804 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:37:03.805Z,1370284623.805 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:37:04.065Z,1370284624.065 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:37:06.220Z,1370284626.220 [homing_pursuit:PowerUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:36:36.0Z
2013-06-03T18:37:06.220Z,1370284626.220 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:37:06.224Z,1370284626.224 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T18:37:06.225Z,1370284626.224 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T18:37:06.225Z,1370284626.225 [homing_pursuit:PowerUpDAT:A.Wait] Stopped
2013-06-03T18:37:06.225Z,1370284626.225 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:37:06.225Z,1370284626.225 [homing_pursuit:PowerUpDAT](INFO): Completed homing_pursuit:PowerUpDAT
2013-06-03T18:37:06.225Z,1370284626.225 [homing_pursuit:PowerUpDAT] Stopped
2013-06-03T18:37:06.225Z,1370284626.225 [homing_pursuit:PowerUpDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerUpDAT
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit] Stopped
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:A] Stopped
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:37:06.251Z,1370284626.251 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:37:06.252Z,1370284626.251 [homing_pursuit:E] Stopped
2013-06-03T18:37:06.252Z,1370284626.252 [homing_pursuit:F] Stopped
2013-06-03T18:37:06.252Z,1370284626.252 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:A] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:B.Pitch] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:C.Buoyancy] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:D.SetSpeed] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:E.Pitch] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:F.Point] Stopped
2013-06-03T18:37:06.258Z,1370284626.258 [homing_pursuit:Pursuit:G.Wait] Stopped
2013-06-03T18:37:06.259Z,1370284626.259 [homing_pursuit:Pursuit:G.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:37:06.302Z,1370284626.302 [DVL_micro](DEBUG): NQ1
2013-06-03T18:37:06.368Z,1370284626.368 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:37:06.649Z,1370284626.649 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:37:06.650Z,1370284626.649 [Default] Running Loop=1
2013-06-03T18:37:06.650Z,1370284626.650 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:37:06.650Z,1370284626.650 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:37:06.650Z,1370284626.650 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:37:06.650Z,1370284626.650 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:37:06.650Z,1370284626.650 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:37:06.650Z,1370284626.650 [Default:Iridium] Running Loop=1
2013-06-03T18:37:06.650Z,1370284626.650 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:37:06.650Z,1370284626.650 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:37:06.650Z,1370284626.651 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:37:06.651Z,1370284626.651 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:37:06.651Z,1370284626.651 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:37:06.665Z,1370284626.665 [Default:CallIridium] Running Loop=1
2013-06-03T18:37:06.665Z,1370284626.665 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:37:06.665Z,1370284626.665 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:37:06.665Z,1370284626.665 [Default:CallIridium:A] Stopped
2013-06-03T18:37:06.666Z,1370284626.666 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:37:06.666Z,1370284626.666 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:37:06.666Z,1370284626.667 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:37:06.667Z,1370284626.667 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:37:06.667Z,1370284626.667 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:37:06.667Z,1370284626.667 [Default:GPS] Running Loop=1
2013-06-03T18:37:06.667Z,1370284626.667 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:37:06.667Z,1370284626.667 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:37:06.667Z,1370284626.667 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:37:06.668Z,1370284626.668 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:37:06.668Z,1370284626.668 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:37:06.681Z,1370284626.681 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:37:06.681Z,1370284626.681 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:37:06.681Z,1370284626.681 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:37:07.071Z,1370284627.071 [DAT](INFO): Powering down
2013-06-03T18:38:24.876Z,1370284704.876 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:38:24.877Z,1370284704.877 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:38:24.929Z,1370284704.930 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:38:24.942Z,1370284704.942 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:38:24.945Z,1370284704.945 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:38:24.947Z,1370284704.947 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:38:24.950Z,1370284704.950 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:38:24.953Z,1370284704.953 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:38:24.955Z,1370284704.955 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:38:24.958Z,1370284704.958 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:38:24.960Z,1370284704.960 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:38:24.963Z,1370284704.963 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:38:24.965Z,1370284704.965 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:38:24.968Z,1370284704.968 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:38:24.970Z,1370284704.970 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:38:24.973Z,1370284704.973 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:38:24.975Z,1370284704.975 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:38:24.978Z,1370284704.978 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:38:24.980Z,1370284704.980 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:38:24.982Z,1370284704.982 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:38:24.985Z,1370284704.985 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:38:24.987Z,1370284704.987 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:38:24.989Z,1370284704.990 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:38:24.995Z,1370284704.995 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:38:25.019Z,1370284705.019 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:38:25.029Z,1370284705.029 [homing_pursuit:Pursuit:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:38:25.030Z,1370284705.030 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:38:25.055Z,1370284705.055 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

        <When><Universal:homing_target_range/>
            <Ge><Arg Name="MinRange"/></Ge>
        </When>

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>
-->
        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:38:25.060Z,1370284705.060 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:38:25.716Z,1370284705.716 [Default] Stopped
2013-06-03T18:38:25.716Z,1370284705.716 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:38:25.716Z,1370284705.716 [Default:GPS] Stopped
2013-06-03T18:38:25.716Z,1370284705.716 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:38:25.716Z,1370284705.716 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:38:25.716Z,1370284705.716 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:38:25.716Z,1370284705.717 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:38:25.716Z,1370284705.717 [Default:Iridium] Stopped
2013-06-03T18:38:25.717Z,1370284705.717 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:38:25.717Z,1370284705.717 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:38:25.717Z,1370284705.717 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:38:25.717Z,1370284705.717 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:38:25.717Z,1370284705.717 [Default:CallIridium] Stopped
2013-06-03T18:38:25.717Z,1370284705.717 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:38:25.717Z,1370284705.717 [Default:CallIridium:B] Stopped
2013-06-03T18:38:25.717Z,1370284705.717 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:38:25.717Z,1370284705.717 [Default:D.SetSpeed] Stopped
2013-06-03T18:38:25.717Z,1370284705.717 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:38:25.718Z,1370284705.718 [Default:E.GoToSurface] Stopped
2013-06-03T18:38:25.718Z,1370284705.718 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:38:25.718Z,1370284705.718 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:38:25.718Z,1370284705.718 [homing_pursuit] Running Loop=1
2013-06-03T18:38:25.718Z,1370284705.718 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:38:25.718Z,1370284705.718 [homing_pursuit:A] Running Loop=1
2013-06-03T18:38:25.718Z,1370284705.718 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:38:25.718Z,1370284705.718 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:38:25.719Z,1370284705.719 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:38:25.719Z,1370284705.719 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:38:25.719Z,1370284705.719 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:38:25.719Z,1370284705.719 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:38:25.720Z,1370284705.720 [homing_pursuit:E] Running Loop=1
2013-06-03T18:38:25.720Z,1370284705.720 [homing_pursuit:F] Running Loop=1
2013-06-03T18:38:25.720Z,1370284705.720 [homing_pursuit:PowerUpDAT] Running Loop=1
2013-06-03T18:38:25.720Z,1370284705.720 [homing_pursuit:PowerUpDAT](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT
2013-06-03T18:38:25.720Z,1370284705.720 [homing_pursuit:PowerUpDAT:A.Wait] Running Loop=1
2013-06-03T18:38:25.720Z,1370284705.720 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:38:25.721Z,1370284705.721 [homing_pursuit:F] Running Loop=1
2013-06-03T18:38:25.722Z,1370284705.722 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:38:25.723Z,1370284705.723 [homing_pursuit:E] Running Loop=1
2013-06-03T18:38:25.723Z,1370284705.723 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:38:25.724Z,1370284705.724 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:38:25.725Z,1370284705.725 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:38:25.726Z,1370284705.726 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:38:25.727Z,1370284705.727 [homing_pursuit:A] Running Loop=1
2013-06-03T18:38:25.728Z,1370284705.728 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:38:26.031Z,1370284706.030 [DAT](INFO): Powering up
2013-06-03T18:38:26.037Z,1370284706.037 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:38:26.037Z,1370284706.037 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:38:26.037Z,1370284706.037 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:38:28.044Z,1370284708.044 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:38:28.045Z,1370284708.045 [DVL_micro](INFO): Querying output modes
2013-06-03T18:38:28.045Z,1370284708.045 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:38:28.056Z,1370284708.056 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:38:28.056Z,1370284708.056 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:38:28.056Z,1370284708.056 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:38:28.068Z,1370284708.068 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:38:30.594Z,1370284710.594 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:31.567Z,1370284711.566 [NAL9602](INFO): Powering down
2013-06-03T18:38:33.116Z,1370284713.116 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:35.680Z,1370284715.680 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:38.238Z,1370284718.238 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:40.796Z,1370284720.796 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:43.352Z,1370284723.352 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:45.795Z,1370284725.795 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:38:45.795Z,1370284725.795 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:38:45.796Z,1370284725.796 [homing_pursuit:Pursuit:A.Wait] Running Loop=1
2013-06-03T18:38:45.796Z,1370284725.796 [homing_pursuit:Pursuit:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:38:45.912Z,1370284725.912 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:48.480Z,1370284728.480 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:49.805Z,1370284729.805 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:38:49.805Z,1370284729.806 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:38:51.032Z,1370284731.032 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:53.589Z,1370284733.589 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:53.729Z,1370284733.729 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:38:53.729Z,1370284733.729 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:38:56.125Z,1370284736.125 [homing_pursuit:PowerUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:38:25.7Z
2013-06-03T18:38:56.125Z,1370284736.125 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T18:38:56.125Z,1370284736.125 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T18:38:56.125Z,1370284736.125 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T18:38:56.126Z,1370284736.126 [homing_pursuit:PowerUpDAT:A.Wait] Stopped
2013-06-03T18:38:56.126Z,1370284736.126 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:38:56.126Z,1370284736.126 [homing_pursuit:PowerUpDAT](INFO): Completed homing_pursuit:PowerUpDAT
2013-06-03T18:38:56.126Z,1370284736.126 [homing_pursuit:PowerUpDAT] Stopped
2013-06-03T18:38:56.126Z,1370284736.126 [homing_pursuit:PowerUpDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerUpDAT
2013-06-03T18:38:56.128Z,1370284736.128 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T18:38:56.128Z,1370284736.128 [homing_pursuit] Stopped
2013-06-03T18:38:56.128Z,1370284736.128 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:A] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:E] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:F] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:38:56.129Z,1370284736.129 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:38:56.130Z,1370284736.129 [homing_pursuit:Pursuit:A.Wait] Stopped
2013-06-03T18:38:56.130Z,1370284736.130 [homing_pursuit:Pursuit:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:38:56.136Z,1370284736.136 [DVL_micro](DEBUG): NQ1
2013-06-03T18:38:56.161Z,1370284736.161 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:38:56.544Z,1370284736.544 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:38:56.544Z,1370284736.545 [Default] Running Loop=1
2013-06-03T18:38:56.545Z,1370284736.545 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:38:56.545Z,1370284736.545 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:38:56.545Z,1370284736.545 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:38:56.545Z,1370284736.545 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:38:56.545Z,1370284736.545 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:38:56.545Z,1370284736.545 [Default:Iridium] Running Loop=1
2013-06-03T18:38:56.545Z,1370284736.545 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:38:56.545Z,1370284736.546 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:38:56.545Z,1370284736.546 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:38:56.546Z,1370284736.546 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:38:56.546Z,1370284736.546 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:38:56.547Z,1370284736.547 [Default:CallIridium] Running Loop=1
2013-06-03T18:38:56.547Z,1370284736.547 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:38:56.548Z,1370284736.547 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:38:56.556Z,1370284736.556 [Default:CallIridium:A] Stopped
2013-06-03T18:38:56.556Z,1370284736.556 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:38:56.557Z,1370284736.556 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:38:56.557Z,1370284736.557 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:38:56.557Z,1370284736.557 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:38:56.558Z,1370284736.558 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:38:56.558Z,1370284736.558 [Default:GPS] Running Loop=1
2013-06-03T18:38:56.558Z,1370284736.558 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:38:56.558Z,1370284736.558 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:38:56.558Z,1370284736.558 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:38:56.558Z,1370284736.559 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:38:56.559Z,1370284736.559 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:38:56.559Z,1370284736.559 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:38:56.559Z,1370284736.559 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:38:56.560Z,1370284736.560 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:38:56.916Z,1370284736.916 [DAT](INFO): Powering down
2013-06-03T18:38:57.298Z,1370284737.298 [NAL9602](INFO): Powering up
2013-06-03T18:39:07.837Z,1370284747.837 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:43:21.912Z,1370285001.912 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:43:21.913Z,1370285001.913 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:43:21.967Z,1370285001.967 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:43:21.981Z,1370285001.981 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:43:21.983Z,1370285001.983 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:43:21.986Z,1370285001.986 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:43:21.988Z,1370285001.988 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:43:21.990Z,1370285001.990 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:43:21.993Z,1370285001.993 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:43:21.996Z,1370285001.996 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:43:22.010Z,1370285002.010 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:43:22.017Z,1370285002.017 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:43:22.019Z,1370285002.019 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:43:22.026Z,1370285002.026 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:43:22.033Z,1370285002.033 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:43:22.035Z,1370285002.035 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:43:22.042Z,1370285002.042 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:43:22.049Z,1370285002.049 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:43:22.051Z,1370285002.051 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:43:22.054Z,1370285002.054 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:43:22.056Z,1370285002.056 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:43:22.058Z,1370285002.059 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:43:22.061Z,1370285002.061 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:43:22.067Z,1370285002.066 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:43:22.093Z,1370285002.093 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:43:22.110Z,1370285002.110 [homing_pursuit:Pursuit:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:43:22.112Z,1370285002.112 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:43:22.128Z,1370285002.128 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

        <While><Universal:homing_target_range/>
            <Ge><Arg Name="MinRange"/></Ge>
        </While>
<!--
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>
-->
        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:43:22.129Z,1370285002.129 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:43:22.488Z,1370285002.488 [Default] Stopped
2013-06-03T18:43:22.488Z,1370285002.489 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:43:22.488Z,1370285002.489 [Default:GPS] Stopped
2013-06-03T18:43:22.489Z,1370285002.489 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:43:22.489Z,1370285002.489 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:43:22.489Z,1370285002.489 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:43:22.489Z,1370285002.489 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:43:22.489Z,1370285002.489 [Default:Iridium] Stopped
2013-06-03T18:43:22.489Z,1370285002.489 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:43:22.489Z,1370285002.489 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:43:22.489Z,1370285002.489 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:43:22.489Z,1370285002.489 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:43:22.489Z,1370285002.489 [Default:CallIridium] Stopped
2013-06-03T18:43:22.490Z,1370285002.490 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:43:22.490Z,1370285002.490 [Default:CallIridium:B] Stopped
2013-06-03T18:43:22.490Z,1370285002.490 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:43:22.490Z,1370285002.490 [Default:D.SetSpeed] Stopped
2013-06-03T18:43:22.490Z,1370285002.490 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:43:22.490Z,1370285002.490 [Default:E.GoToSurface] Stopped
2013-06-03T18:43:22.490Z,1370285002.490 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:43:22.490Z,1370285002.490 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:43:22.490Z,1370285002.490 [homing_pursuit] Running Loop=1
2013-06-03T18:43:22.491Z,1370285002.491 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:43:22.491Z,1370285002.491 [homing_pursuit:A] Running Loop=1
2013-06-03T18:43:22.491Z,1370285002.491 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:43:22.491Z,1370285002.491 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:43:22.491Z,1370285002.491 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:43:22.491Z,1370285002.491 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:43:22.500Z,1370285002.500 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:43:22.500Z,1370285002.500 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:43:22.500Z,1370285002.500 [homing_pursuit:E] Running Loop=1
2013-06-03T18:43:22.500Z,1370285002.500 [homing_pursuit:F] Running Loop=1
2013-06-03T18:43:22.501Z,1370285002.500 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:43:22.501Z,1370285002.501 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:43:22.501Z,1370285002.501 [homing_pursuit:Pursuit:A.Wait] Running Loop=1
2013-06-03T18:43:22.501Z,1370285002.501 [homing_pursuit:Pursuit:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:43:22.502Z,1370285002.502 [homing_pursuit:F] Running Loop=1
2013-06-03T18:43:22.502Z,1370285002.502 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:43:22.503Z,1370285002.503 [homing_pursuit:E] Running Loop=1
2013-06-03T18:43:22.504Z,1370285002.504 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:43:22.509Z,1370285002.509 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:43:22.510Z,1370285002.510 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:43:22.511Z,1370285002.511 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:43:22.517Z,1370285002.517 [homing_pursuit:A] Running Loop=1
2013-06-03T18:43:22.518Z,1370285002.518 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:43:22.657Z,1370285002.657 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:43:22.657Z,1370285002.657 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:43:22.657Z,1370285002.657 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:43:23.374Z,1370285003.374 [DAT](INFO): Powering up
2013-06-03T18:43:24.664Z,1370285004.664 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:43:24.665Z,1370285004.665 [DVL_micro](INFO): Querying output modes
2013-06-03T18:43:24.665Z,1370285004.665 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:43:24.676Z,1370285004.676 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:43:24.676Z,1370285004.676 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:43:24.677Z,1370285004.677 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:43:24.688Z,1370285004.688 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:43:27.196Z,1370285007.196 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:29.261Z,1370285009.261 [NAL9602](INFO): Powering down
2013-06-03T18:43:29.764Z,1370285009.764 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:32.324Z,1370285012.324 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:34.888Z,1370285014.888 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:37.432Z,1370285017.432 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:40.016Z,1370285020.016 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:42.576Z,1370285022.576 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:45.137Z,1370285025.137 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:46.959Z,1370285026.959 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:43:46.996Z,1370285026.996 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:43:47.689Z,1370285027.689 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:50.252Z,1370285030.252 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:50.948Z,1370285030.948 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:43:50.949Z,1370285030.949 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:43:52.848Z,1370285032.848 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:54.962Z,1370285034.962 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:43:54.963Z,1370285034.963 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:43:55.412Z,1370285035.412 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:57.968Z,1370285037.968 [DVL_micro](DEBUG): NQ1
2013-06-03T18:43:59.119Z,1370285039.119 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:43:59.120Z,1370285039.120 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:00.524Z,1370285040.524 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:03.011Z,1370285043.011 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:03.011Z,1370285043.011 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:03.088Z,1370285043.088 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:05.641Z,1370285045.641 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:07.051Z,1370285047.050 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:07.051Z,1370285047.051 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:08.212Z,1370285048.212 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:10.764Z,1370285050.764 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:11.159Z,1370285051.159 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:11.159Z,1370285051.159 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:13.320Z,1370285053.320 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:15.131Z,1370285055.131 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:15.132Z,1370285055.132 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:15.876Z,1370285055.876 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:18.428Z,1370285058.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:19.395Z,1370285059.395 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:19.396Z,1370285059.396 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:21.020Z,1370285061.020 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:23.340Z,1370285063.340 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:23.340Z,1370285063.340 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:23.589Z,1370285063.589 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:26.145Z,1370285066.145 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:27.255Z,1370285067.254 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:27.255Z,1370285067.255 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:28.700Z,1370285068.700 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:31.252Z,1370285071.252 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:31.343Z,1370285071.342 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:31.343Z,1370285071.343 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:33.844Z,1370285073.844 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:35.357Z,1370285075.357 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:35.358Z,1370285075.358 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:36.416Z,1370285076.416 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:38.985Z,1370285078.985 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:39.352Z,1370285079.352 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:39.353Z,1370285079.353 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:41.536Z,1370285081.536 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:43.511Z,1370285083.511 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:44:43.512Z,1370285083.512 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T18:44:44.084Z,1370285084.084 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:46.652Z,1370285086.652 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:47.408Z,1370285087.408 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:47.417Z,1370285087.417 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:49.236Z,1370285089.237 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:51.546Z,1370285091.546 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:51.547Z,1370285091.547 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:51.788Z,1370285091.788 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:54.360Z,1370285094.360 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:55.534Z,1370285095.534 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:55.534Z,1370285095.534 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:44:56.913Z,1370285096.913 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:59.481Z,1370285099.481 [DVL_micro](DEBUG): NQ1
2013-06-03T18:44:59.590Z,1370285099.590 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:44:59.591Z,1370285099.591 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:02.067Z,1370285102.067 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:03.531Z,1370285103.531 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:03.536Z,1370285103.536 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:04.636Z,1370285104.636 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:07.189Z,1370285107.188 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:07.535Z,1370285107.536 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:07.541Z,1370285107.541 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:09.736Z,1370285109.736 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:11.536Z,1370285111.536 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:11.537Z,1370285111.537 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:12.312Z,1370285112.312 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:14.864Z,1370285114.864 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:15.646Z,1370285115.645 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:15.646Z,1370285115.646 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:17.416Z,1370285117.416 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:19.566Z,1370285119.566 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:19.567Z,1370285119.567 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:19.996Z,1370285119.996 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:22.540Z,1370285122.540 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:23.539Z,1370285123.539 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:23.540Z,1370285123.540 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:25.100Z,1370285125.100 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:27.561Z,1370285127.561 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:27.562Z,1370285127.562 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:27.656Z,1370285127.656 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:30.233Z,1370285130.233 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:31.535Z,1370285131.534 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:31.535Z,1370285131.535 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:32.824Z,1370285132.824 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:35.373Z,1370285135.373 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:35.628Z,1370285135.628 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:35.629Z,1370285135.629 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:37.916Z,1370285137.916 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:39.552Z,1370285139.552 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:39.557Z,1370285139.557 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:40.476Z,1370285140.476 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:43.056Z,1370285143.056 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:43.538Z,1370285143.538 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:43.539Z,1370285143.539 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:45.624Z,1370285145.624 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:47.535Z,1370285147.536 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:47.536Z,1370285147.536 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:48.209Z,1370285148.209 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:50.776Z,1370285150.776 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:51.650Z,1370285151.650 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:51.650Z,1370285151.650 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:53.320Z,1370285153.320 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:55.634Z,1370285155.634 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:55.635Z,1370285155.635 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:45:55.877Z,1370285155.877 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:58.460Z,1370285158.460 [DVL_micro](DEBUG): NQ1
2013-06-03T18:45:59.632Z,1370285159.632 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:45:59.633Z,1370285159.633 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:01.024Z,1370285161.024 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:03.576Z,1370285163.576 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:03.698Z,1370285163.698 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:03.699Z,1370285163.699 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:06.124Z,1370285166.124 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:07.750Z,1370285167.750 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:07.751Z,1370285167.750 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:08.674Z,1370285168.674 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:11.232Z,1370285171.232 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:11.706Z,1370285171.706 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:11.707Z,1370285171.707 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:13.788Z,1370285173.788 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:15.719Z,1370285175.719 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:15.720Z,1370285175.720 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:16.332Z,1370285176.332 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:18.888Z,1370285178.888 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:19.703Z,1370285179.703 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:19.704Z,1370285179.704 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:21.457Z,1370285181.457 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:23.785Z,1370285183.785 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:23.785Z,1370285183.786 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:24.016Z,1370285184.016 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:26.580Z,1370285186.580 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:27.739Z,1370285187.739 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:27.739Z,1370285187.739 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:29.124Z,1370285189.124 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:31.700Z,1370285191.700 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:31.889Z,1370285191.889 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:31.890Z,1370285191.890 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:34.248Z,1370285194.248 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:35.813Z,1370285195.813 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:35.813Z,1370285195.813 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:36.812Z,1370285196.812 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:39.384Z,1370285199.384 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:39.905Z,1370285199.905 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:39.905Z,1370285199.905 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:41.940Z,1370285201.940 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:43.839Z,1370285203.839 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:43.839Z,1370285203.839 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:44.536Z,1370285204.536 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:47.088Z,1370285207.088 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:47.862Z,1370285207.862 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:46:47.862Z,1370285207.862 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:46:49.644Z,1370285209.644 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:51.845Z,1370285211.845 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:51.846Z,1370285211.846 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:52.208Z,1370285212.208 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:54.776Z,1370285214.776 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:55.936Z,1370285215.936 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:46:55.937Z,1370285215.937 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:46:57.308Z,1370285217.308 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:59.864Z,1370285219.864 [DVL_micro](DEBUG): NQ1
2013-06-03T18:46:59.899Z,1370285219.899 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:46:59.900Z,1370285219.899 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:47:02.428Z,1370285222.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:03.933Z,1370285223.933 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:03.933Z,1370285223.933 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:04.973Z,1370285224.973 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:07.540Z,1370285227.540 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:07.661Z,1370285227.661 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:07.661Z,1370285227.661 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:10.134Z,1370285230.135 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:11.558Z,1370285231.558 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:11.559Z,1370285231.559 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:12.692Z,1370285232.692 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:15.249Z,1370285235.249 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:15.634Z,1370285235.634 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:47:15.635Z,1370285235.635 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:47:17.836Z,1370285237.836 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:19.543Z,1370285239.543 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:19.544Z,1370285239.544 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:20.391Z,1370285240.391 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:22.944Z,1370285242.944 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:23.566Z,1370285243.566 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:23.566Z,1370285243.566 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:25.512Z,1370285245.512 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:27.666Z,1370285247.666 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:27.666Z,1370285247.666 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:28.064Z,1370285248.064 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:30.636Z,1370285250.636 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:31.645Z,1370285251.645 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:31.645Z,1370285251.645 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:33.208Z,1370285253.208 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:35.563Z,1370285255.563 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:35.563Z,1370285255.563 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:35.752Z,1370285255.752 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:38.332Z,1370285258.332 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:39.628Z,1370285259.628 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:47:39.629Z,1370285259.629 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:47:40.888Z,1370285260.888 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:43.204Z,1370285263.204 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#6 STATUS: 65535
2013-06-03T18:47:43.437Z,1370285263.437 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:43.637Z,1370285263.637 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:43.638Z,1370285263.638 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:46.028Z,1370285266.028 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:47.623Z,1370285267.623 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:47.624Z,1370285267.624 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:48.592Z,1370285268.592 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:51.148Z,1370285271.148 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:51.650Z,1370285271.650 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:51.653Z,1370285271.653 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:53.712Z,1370285273.712 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:55.627Z,1370285275.627 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:47:55.628Z,1370285275.628 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:47:56.260Z,1370285276.260 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:58.817Z,1370285278.817 [DVL_micro](DEBUG): NQ1
2013-06-03T18:47:59.629Z,1370285279.629 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:47:59.630Z,1370285279.630 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:48:01.364Z,1370285281.364 [DVL_micro](DEBUG): NQ1
2013-06-03T18:48:03.660Z,1370285283.661 [CommandLine](IMPORTANT): got command stop
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit] Stopped
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:A] Stopped
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:E] Stopped
2013-06-03T18:48:03.903Z,1370285283.903 [homing_pursuit:F] Stopped
2013-06-03T18:48:03.904Z,1370285283.904 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:48:03.904Z,1370285283.904 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:48:03.904Z,1370285283.904 [homing_pursuit:Pursuit:A.Wait] Stopped
2013-06-03T18:48:03.904Z,1370285283.904 [homing_pursuit:Pursuit:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:48:03.924Z,1370285283.924 [DVL_micro](DEBUG): NQ1
2013-06-03T18:48:03.953Z,1370285283.953 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:48:04.007Z,1370285284.007 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:48:04.016Z,1370285284.016 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:48:04.254Z,1370285284.254 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:48:04.254Z,1370285284.254 [Default] Running Loop=1
2013-06-03T18:48:04.254Z,1370285284.254 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:48:04.255Z,1370285284.254 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:48:04.255Z,1370285284.255 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:48:04.255Z,1370285284.255 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:48:04.255Z,1370285284.255 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:48:04.255Z,1370285284.255 [Default:Iridium] Running Loop=1
2013-06-03T18:48:04.255Z,1370285284.255 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:48:04.255Z,1370285284.255 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:48:04.255Z,1370285284.255 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:48:04.255Z,1370285284.256 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:48:04.256Z,1370285284.256 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:48:04.262Z,1370285284.261 [Default:CallIridium] Running Loop=1
2013-06-03T18:48:04.262Z,1370285284.262 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:48:04.262Z,1370285284.262 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:48:04.262Z,1370285284.262 [Default:CallIridium:A] Stopped
2013-06-03T18:48:04.262Z,1370285284.262 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:48:04.262Z,1370285284.263 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:48:04.263Z,1370285284.263 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:48:04.263Z,1370285284.263 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:48:04.264Z,1370285284.263 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:48:04.292Z,1370285284.292 [Default:GPS] Running Loop=1
2013-06-03T18:48:04.292Z,1370285284.292 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:48:04.292Z,1370285284.292 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:48:04.292Z,1370285284.292 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:48:04.293Z,1370285284.293 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:48:04.293Z,1370285284.293 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:48:04.294Z,1370285284.294 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:48:04.294Z,1370285284.294 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:48:04.294Z,1370285284.294 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:48:04.639Z,1370285284.639 [DAT](INFO): Powering down
2013-06-03T18:48:05.066Z,1370285285.066 [NAL9602](INFO): Powering up
2013-06-03T18:48:15.876Z,1370285295.876 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:48:16.685Z,1370285296.685 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T18:48:16.686Z,1370285296.685 [NAL9602] Data Fault, FailCount= 1
2013-06-03T18:48:16.686Z,1370285296.686 [NAL9602](ERROR): Data Fault
2013-06-03T18:48:16.711Z,1370285296.711 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T18:48:17.037Z,1370285297.037 [NAL9602](INFO): Powering down
2013-06-03T18:48:17.858Z,1370285297.858 [CBIT](INFO): Clearing failed state for component NAL9602
2013-06-03T18:48:17.858Z,1370285297.858 [NAL9602] No Fault, FailCount= 1
2013-06-03T18:48:22.237Z,1370285302.237 [NAL9602](INFO): Powering up NAL9602
2013-06-03T18:48:32.780Z,1370285312.780 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:48:51.132Z,1370285331.132 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:48:51.133Z,1370285331.133 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:48:51.306Z,1370285331.306 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:48:51.313Z,1370285331.313 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:48:51.316Z,1370285331.316 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:48:51.320Z,1370285331.320 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:48:51.326Z,1370285331.326 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:48:51.333Z,1370285331.333 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:48:51.340Z,1370285331.341 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:48:51.343Z,1370285331.343 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:48:51.389Z,1370285331.389 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:48:51.391Z,1370285331.391 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.250000 m
2013-06-03T18:48:51.402Z,1370285331.402 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:48:51.413Z,1370285331.413 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:48:51.415Z,1370285331.415 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:48:51.423Z,1370285331.423 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:48:51.426Z,1370285331.426 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:48:51.433Z,1370285331.433 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:48:51.440Z,1370285331.440 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:48:51.443Z,1370285331.443 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:48:51.449Z,1370285331.450 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:48:51.456Z,1370285331.456 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:48:51.459Z,1370285331.459 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:48:51.489Z,1370285331.489 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:48:51.512Z,1370285331.512 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:48:51.538Z,1370285331.538 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:48:51.548Z,1370285331.548 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:48:51.560Z,1370285331.560 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:48:51.567Z,1370285331.566 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T18:48:51.595Z,1370285331.595 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:48:51.625Z,1370285331.625 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:48:51.626Z,1370285331.626 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:48:51.656Z,1370285331.656 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

        <While><Universal:homing_target_range/>
            <Ge><Arg Name="MinRange"/></Ge>
        </While>

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:48:51.657Z,1370285331.657 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:48:52.039Z,1370285332.039 [Default] Stopped
2013-06-03T18:48:52.039Z,1370285332.039 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:48:52.039Z,1370285332.039 [Default:GPS] Stopped
2013-06-03T18:48:52.039Z,1370285332.039 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:48:52.039Z,1370285332.039 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:48:52.039Z,1370285332.039 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:48:52.040Z,1370285332.039 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:48:52.040Z,1370285332.040 [Default:Iridium] Stopped
2013-06-03T18:48:52.040Z,1370285332.040 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:48:52.052Z,1370285332.052 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:48:52.052Z,1370285332.052 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:48:52.052Z,1370285332.052 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:48:52.052Z,1370285332.052 [Default:CallIridium] Stopped
2013-06-03T18:48:52.052Z,1370285332.052 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:48:52.052Z,1370285332.053 [Default:CallIridium:B] Stopped
2013-06-03T18:48:52.053Z,1370285332.053 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:48:52.053Z,1370285332.053 [Default:D.SetSpeed] Stopped
2013-06-03T18:48:52.053Z,1370285332.053 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:48:52.053Z,1370285332.053 [Default:E.GoToSurface] Stopped
2013-06-03T18:48:52.053Z,1370285332.053 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:48:52.053Z,1370285332.053 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:48:52.053Z,1370285332.053 [homing_pursuit] Running Loop=1
2013-06-03T18:48:52.053Z,1370285332.053 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:48:52.054Z,1370285332.053 [homing_pursuit:A] Running Loop=1
2013-06-03T18:48:52.054Z,1370285332.054 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:48:52.054Z,1370285332.054 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:48:52.054Z,1370285332.054 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:48:52.054Z,1370285332.054 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:E] Running Loop=1
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:F] Running Loop=1
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:48:52.055Z,1370285332.055 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:48:52.056Z,1370285332.056 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:48:52.056Z,1370285332.056 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:48:52.056Z,1370285332.056 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:48:52.056Z,1370285332.056 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:48:52.056Z,1370285332.056 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:48:52.056Z,1370285332.056 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:48:52.057Z,1370285332.057 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:48:52.057Z,1370285332.057 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:48:52.057Z,1370285332.057 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:48:52.057Z,1370285332.057 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:48:52.058Z,1370285332.058 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:48:52.059Z,1370285332.059 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:48:52.060Z,1370285332.060 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:48:52.061Z,1370285332.061 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:48:52.062Z,1370285332.062 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:48:52.063Z,1370285332.063 [homing_pursuit:F] Running Loop=1
2013-06-03T18:48:52.063Z,1370285332.063 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:48:52.064Z,1370285332.064 [homing_pursuit:E] Running Loop=1
2013-06-03T18:48:52.065Z,1370285332.065 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:48:52.066Z,1370285332.066 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:48:52.067Z,1370285332.067 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:48:52.115Z,1370285332.115 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:48:52.116Z,1370285332.116 [homing_pursuit:A] Running Loop=1
2013-06-03T18:48:52.117Z,1370285332.117 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:48:52.388Z,1370285332.388 [DAT](INFO): Powering up
2013-06-03T18:48:52.445Z,1370285332.445 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:48:52.445Z,1370285332.445 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:48:52.446Z,1370285332.446 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:48:53.332Z,1370285333.332 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-06-03T18:48:53.332Z,1370285333.332 [ThrusterServo] Communications Fault, FailCount= 1
2013-06-03T18:48:53.332Z,1370285333.332 [ThrusterServo](ERROR): Communications Fault
2013-06-03T18:48:53.335Z,1370285333.335 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-03T18:48:53.867Z,1370285333.867 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-03T18:48:53.867Z,1370285333.867 [ThrusterServo](INFO): Powering down
2013-06-03T18:48:54.455Z,1370285334.455 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:48:54.456Z,1370285334.456 [DVL_micro](INFO): Querying output modes
2013-06-03T18:48:54.456Z,1370285334.456 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:48:54.478Z,1370285334.478 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:48:54.479Z,1370285334.479 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:48:54.479Z,1370285334.479 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:48:54.493Z,1370285334.493 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:48:54.830Z,1370285334.830 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T18:48:54.950Z,1370285334.950 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T18:48:54.954Z,1370285334.954 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-03T18:48:54.954Z,1370285334.954 [ThrusterServo] No Fault, FailCount= 1
2013-06-03T18:48:56.000Z,1370285336.000 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2013-06-03T18:48:56.072Z,1370285336.072 [ThrusterServo](FAULT): Thruster failed to initialize
2013-06-03T18:48:56.072Z,1370285336.072 [ThrusterServo] Communications Fault, FailCount= 2
2013-06-03T18:48:56.072Z,1370285336.072 [ThrusterServo](ERROR): Communications Fault
2013-06-03T18:48:56.075Z,1370285336.075 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-03T18:48:56.355Z,1370285336.355 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-03T18:48:56.355Z,1370285336.355 [ThrusterServo](INFO): Powering down
2013-06-03T18:48:57.008Z,1370285337.008 [DVL_micro](DEBUG): NQ1
2013-06-03T18:48:57.199Z,1370285337.198 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T18:48:57.321Z,1370285337.321 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T18:48:57.323Z,1370285337.323 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-03T18:48:57.323Z,1370285337.323 [ThrusterServo] No Fault, FailCount= 2
2013-06-03T18:48:59.159Z,1370285339.159 [NAL9602](INFO): Powering down
2013-06-03T18:48:59.564Z,1370285339.565 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:02.116Z,1370285342.116 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:04.688Z,1370285344.688 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:07.268Z,1370285347.268 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:09.816Z,1370285349.816 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:12.381Z,1370285352.381 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:14.932Z,1370285354.932 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:16.332Z,1370285356.332 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:49:16.333Z,1370285356.333 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T18:49:17.484Z,1370285357.484 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:20.040Z,1370285360.040 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:20.464Z,1370285360.464 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:20.467Z,1370285360.467 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:22.589Z,1370285362.589 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:24.579Z,1370285364.579 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:24.580Z,1370285364.580 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:25.152Z,1370285365.152 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:27.729Z,1370285367.729 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:28.296Z,1370285368.296 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:28.296Z,1370285368.296 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:30.280Z,1370285370.280 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:32.065Z,1370285372.065 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:32.065Z,1370285372.065 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:32.864Z,1370285372.864 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:35.424Z,1370285375.424 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:35.857Z,1370285375.857 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:35.858Z,1370285375.858 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:37.964Z,1370285377.964 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:39.892Z,1370285379.892 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:39.893Z,1370285379.893 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:40.534Z,1370285380.534 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:43.112Z,1370285383.112 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:44.140Z,1370285384.140 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:44.141Z,1370285384.141 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:45.660Z,1370285385.660 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:47.892Z,1370285387.892 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:49:47.892Z,1370285387.892 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:49:48.225Z,1370285388.225 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:49.253Z,1370285389.253 [CommandLine](IMPORTANT): got command show variable heading
2013-06-03T18:49:49.598Z,1370285389.598 [CommandLine](INFO): homing_target_heading (degree)
2013-06-03T18:49:49.635Z,1370285389.635 [CommandLine](INFO): HorizontalControl.kdHeading (second)
2013-06-03T18:49:49.635Z,1370285389.635 [CommandLine](INFO): HorizontalControl.kiHeading (reciprocal_second)
2013-06-03T18:49:49.635Z,1370285389.635 [CommandLine](INFO): HorizontalControl.kpHeading (none)
2013-06-03T18:49:49.636Z,1370285389.636 [CommandLine](INFO): HorizontalControl.kwpHeading (radian_per_meter)
2013-06-03T18:49:49.641Z,1370285389.641 [CommandLine](INFO): HorizontalControl.kiwpHeading (radian_per_second_per_meter)
2013-06-03T18:49:49.666Z,1370285389.666 [CommandLine](INFO): HorizontalControl.headingCmd (radian)
2013-06-03T18:49:49.667Z,1370285389.667 [CommandLine](INFO): HorizontalControl.headingRateCmd (radian_per_second)
2013-06-03T18:49:49.667Z,1370285389.667 [CommandLine](INFO): HorizontalControl.headingInternal (radian)
2013-06-03T18:49:49.668Z,1370285389.668 [CommandLine](INFO): HorizontalControl.smoothHeadingInternal (radian)
2013-06-03T18:49:49.693Z,1370285389.693 [CommandLine](INFO): HorizontalControl.headingIntegralInternal (radian)
2013-06-03T18:49:49.706Z,1370285389.706 [CommandLine](INFO): DAT.homing_target_heading (degree)
2013-06-03T18:49:49.707Z,1370285389.707 [CommandLine](INFO): DAT.txHeading (degree)
2013-06-03T18:49:50.808Z,1370285390.808 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:51.661Z,1370285391.661 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:51.661Z,1370285391.661 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:53.356Z,1370285393.356 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:55.720Z,1370285395.720 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:55.720Z,1370285395.720 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:49:55.916Z,1370285395.916 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:58.488Z,1370285398.488 [DVL_micro](DEBUG): NQ1
2013-06-03T18:49:59.926Z,1370285399.926 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:49:59.927Z,1370285399.927 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:01.040Z,1370285401.040 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:03.592Z,1370285403.592 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:03.872Z,1370285403.872 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:03.873Z,1370285403.873 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:06.141Z,1370285406.141 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:07.241Z,1370285407.241 [CommandLine](IMPORTANT): got command report touch HorizontalControl.headingCmd
2013-06-03T18:50:07.748Z,1370285407.748 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:07.748Z,1370285407.748 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:08.712Z,1370285408.713 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:11.257Z,1370285411.257 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:11.618Z,1370285411.618 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:50:11.619Z,1370285411.619 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:50:13.816Z,1370285413.816 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:15.756Z,1370285415.756 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:15.757Z,1370285415.757 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:16.364Z,1370285416.364 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:18.960Z,1370285418.960 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:19.624Z,1370285419.624 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:19.624Z,1370285419.625 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:21.516Z,1370285421.516 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:23.432Z,1370285423.432 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:23.432Z,1370285423.432 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:24.060Z,1370285424.060 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:26.629Z,1370285426.629 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:27.248Z,1370285427.248 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:27.249Z,1370285427.249 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:29.188Z,1370285429.188 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:31.464Z,1370285431.464 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:50:31.464Z,1370285431.464 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:50:31.733Z,1370285431.733 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:34.313Z,1370285434.313 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:35.660Z,1370285435.660 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:50:35.661Z,1370285435.661 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:50:36.876Z,1370285436.876 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:39.409Z,1370285439.409 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:39.410Z,1370285439.410 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:39.444Z,1370285439.444 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:42.028Z,1370285442.028 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:43.276Z,1370285443.276 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:43.277Z,1370285443.277 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:44.604Z,1370285444.604 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:47.060Z,1370285447.060 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:50:47.061Z,1370285447.061 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:50:47.189Z,1370285447.189 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:49.734Z,1370285449.734 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:50.860Z,1370285450.860 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:50.860Z,1370285450.861 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:52.350Z,1370285452.351 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:52.849Z,1370285452.849 [CommandLine](IMPORTANT): got command report touch DAT.homing_target_heading 
2013-06-03T18:50:54.692Z,1370285454.692 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:50:54.692Z,1370285454.692 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:50:54.693Z,1370285454.693 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:50:54.924Z,1370285454.924 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:57.476Z,1370285457.476 [DVL_micro](DEBUG): NQ1
2013-06-03T18:50:58.696Z,1370285458.696 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:50:58.697Z,1370285458.697 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:50:58.697Z,1370285458.697 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:51:00.024Z,1370285460.024 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:02.576Z,1370285462.576 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:02.772Z,1370285462.772 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:02.772Z,1370285462.772 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:02.773Z,1370285462.773 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:51:05.136Z,1370285465.136 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:06.773Z,1370285466.773 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:06.774Z,1370285466.774 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:06.775Z,1370285466.775 [Reporter](INFO): DAT.homing_target_heading 169.300003 arcdeg
2013-06-03T18:51:07.685Z,1370285467.685 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:10.261Z,1370285470.261 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:10.981Z,1370285470.981 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:10.981Z,1370285470.981 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:10.982Z,1370285470.982 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:11.825Z,1370285471.825 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd degree
2013-06-03T18:51:11.846Z,1370285471.846 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 298.471207 degree
2013-06-03T18:51:12.832Z,1370285472.832 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:15.010Z,1370285475.010 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:15.010Z,1370285475.010 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:15.011Z,1370285475.011 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:15.400Z,1370285475.400 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:17.952Z,1370285477.953 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:19.151Z,1370285479.151 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:19.151Z,1370285479.151 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:19.152Z,1370285479.152 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:51:20.520Z,1370285480.520 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:21.029Z,1370285481.029 [CommandLine](IMPORTANT): got command report
2013-06-03T18:51:21.029Z,1370285481.029 [Reporter](INFO): DAT.homing_target_range reporting when touched
2013-06-03T18:51:21.029Z,1370285481.029 [Reporter](INFO): homing_target_range reporting when touched
2013-06-03T18:51:21.029Z,1370285481.029 [Reporter](INFO): HorizontalControl.headingCmd reporting when touched
2013-06-03T18:51:21.029Z,1370285481.029 [Reporter](INFO): DAT.homing_target_heading reporting when touched
2013-06-03T18:51:23.084Z,1370285483.084 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:23.252Z,1370285483.252 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:23.253Z,1370285483.253 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:23.254Z,1370285483.254 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:25.644Z,1370285485.644 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:27.356Z,1370285487.356 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:27.356Z,1370285487.356 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:27.358Z,1370285487.358 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:28.204Z,1370285488.204 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:30.740Z,1370285490.740 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:31.292Z,1370285491.292 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:31.293Z,1370285491.293 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:31.294Z,1370285491.294 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:51:33.332Z,1370285493.332 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:35.396Z,1370285495.396 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:35.396Z,1370285495.397 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:35.397Z,1370285495.397 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:35.621Z,1370285495.621 [CommandLine](IMPORTANT): got command show variable horizontalcontrol
2013-06-03T18:51:35.693Z,1370285495.693 [CommandLine](INFO): Config/Control.HorizontalControl_enable (bool)
2013-06-03T18:51:35.694Z,1370285495.694 [CommandLine](INFO): HorizontalControl.kdHeading (second)
2013-06-03T18:51:35.694Z,1370285495.694 [CommandLine](INFO): HorizontalControl.kiHeading (reciprocal_second)
2013-06-03T18:51:35.695Z,1370285495.695 [CommandLine](INFO): HorizontalControl.kpHeading (none)
2013-06-03T18:51:35.695Z,1370285495.695 [CommandLine](INFO): HorizontalControl.kwpHeading (radian_per_meter)
2013-06-03T18:51:35.696Z,1370285495.695 [CommandLine](INFO): HorizontalControl.kiwpHeading (radian_per_second_per_meter)
2013-06-03T18:51:35.700Z,1370285495.700 [CommandLine](INFO): HorizontalControl.maxHdgAccel (angular_degree_per_second_squared)
2013-06-03T18:51:35.701Z,1370285495.701 [CommandLine](INFO): HorizontalControl.maxHdgInt (radian)
2013-06-03T18:51:35.701Z,1370285495.701 [CommandLine](INFO): HorizontalControl.maxHdgRate (angular_degree_per_second)
2013-06-03T18:51:35.702Z,1370285495.702 [CommandLine](INFO): HorizontalControl.maxKxte (angular_degree)
2013-06-03T18:51:35.702Z,1370285495.702 [CommandLine](INFO): HorizontalControl.rudDeadband (angular_degree)
2013-06-03T18:51:35.702Z,1370285495.702 [CommandLine](INFO): HorizontalControl.rudLimit (angular_degree)
2013-06-03T18:51:35.727Z,1370285495.727 [CommandLine](INFO): HorizontalControl.rudderAngleAction (radian)
2013-06-03T18:51:35.727Z,1370285495.727 [CommandLine](INFO): HorizontalControl.horizontalMode (enum)
2013-06-03T18:51:35.732Z,1370285495.732 [CommandLine](INFO): HorizontalControl.rudderAngleCmd (radian)
2013-06-03T18:51:35.735Z,1370285495.736 [CommandLine](INFO): HorizontalControl.latitudeCmd (degree)
2013-06-03T18:51:35.736Z,1370285495.736 [CommandLine](INFO): HorizontalControl.longitudeCmd (degree)
2013-06-03T18:51:35.736Z,1370285495.736 [CommandLine](INFO): HorizontalControl.headingCmd (radian)
2013-06-03T18:51:35.737Z,1370285495.737 [CommandLine](INFO): HorizontalControl.headingRateCmd (radian_per_second)
2013-06-03T18:51:35.737Z,1370285495.737 [CommandLine](INFO): HorizontalControl.headingInternal (radian)
2013-06-03T18:51:35.738Z,1370285495.738 [CommandLine](INFO): HorizontalControl.smoothHeadingInternal (radian)
2013-06-03T18:51:35.738Z,1370285495.738 [CommandLine](INFO): HorizontalControl.headingIntegralInternal (radian)
2013-06-03T18:51:35.739Z,1370285495.739 [CommandLine](INFO): HorizontalControl.xteIntegralInternal (radian)
2013-06-03T18:51:35.739Z,1370285495.739 [CommandLine](INFO): HorizontalControl.xteInternal (meter)
2013-06-03T18:51:35.739Z,1370285495.740 [CommandLine](INFO): HorizontalControl.kxteInternal (radian)
2013-06-03T18:51:35.752Z,1370285495.752 [CommandLine](INFO): HorizontalControl.bearingInternal (radian)
2013-06-03T18:51:35.808Z,1370285495.808 [CommandLine](INFO): HorizontalControl.durationOfLastRun (second)
2013-06-03T18:51:35.888Z,1370285495.888 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:38.444Z,1370285498.444 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:39.595Z,1370285499.595 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:51:39.596Z,1370285499.596 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:51:39.597Z,1370285499.597 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:40.977Z,1370285500.977 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:43.520Z,1370285503.520 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:43.761Z,1370285503.761 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:43.762Z,1370285503.762 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:43.763Z,1370285503.763 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:46.077Z,1370285506.077 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:47.561Z,1370285507.561 [CommandLine](IMPORTANT): got command show variable mode
2013-06-03T18:51:47.587Z,1370285507.587 [CommandLine](INFO): Config/Science.Aanderaa_O2_model (none)
2013-06-03T18:51:47.595Z,1370285507.595 [CommandLine](INFO): VerticalControl.useElevIntInDepthMode (bool)
2013-06-03T18:51:47.610Z,1370285507.610 [CommandLine](INFO): Config/Simulator.oceanModelData (none)
2013-06-03T18:51:47.611Z,1370285507.611 [CommandLine](INFO): Config/Derivation.HFRadarModelCalc_enable (bool)
2013-06-03T18:51:47.622Z,1370285507.622 [CommandLine](INFO): VerticalControl.verticalMode (enum)
2013-06-03T18:51:47.622Z,1370285507.622 [CommandLine](INFO): HorizontalControl.horizontalMode (enum)
2013-06-03T18:51:47.636Z,1370285507.636 [CommandLine](INFO): HFRadarModelCalc.eastward_sea_water_velocity (meter_per_second)
2013-06-03T18:51:47.637Z,1370285507.637 [CommandLine](INFO): HFRadarModelCalc.northward_sea_water_velocity (meter_per_second)
2013-06-03T18:51:47.718Z,1370285507.718 [CommandLine](INFO): HFRadarModelCalc.durationOfLastRun (second)
2013-06-03T18:51:47.785Z,1370285507.785 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:47.785Z,1370285507.786 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:47.786Z,1370285507.786 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:51:48.633Z,1370285508.633 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:51.178Z,1370285511.178 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:51.688Z,1370285511.688 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:51.689Z,1370285511.689 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:51.690Z,1370285511.690 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:51:53.740Z,1370285513.740 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:55.781Z,1370285515.781 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:55.782Z,1370285515.782 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:55.783Z,1370285515.783 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:51:56.312Z,1370285516.312 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:58.209Z,1370285518.209 [CommandLine](IMPORTANT): got command get HorizontalControl.horizontalMode
2013-06-03T18:51:58.209Z,1370285518.209 [CommandLine](IMPORTANT): HorizontalControl.horizontalMode 2.000000 enum
2013-06-03T18:51:58.880Z,1370285518.880 [DVL_micro](DEBUG): NQ1
2013-06-03T18:51:59.732Z,1370285519.732 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:51:59.737Z,1370285519.737 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:51:59.738Z,1370285519.738 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:01.437Z,1370285521.437 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:03.844Z,1370285523.844 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:03.845Z,1370285523.845 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:03.846Z,1370285523.846 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:52:03.988Z,1370285523.989 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:06.560Z,1370285526.560 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:07.794Z,1370285527.794 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:52:07.795Z,1370285527.795 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:52:07.795Z,1370285527.795 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:09.112Z,1370285529.112 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:11.652Z,1370285531.652 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:11.827Z,1370285531.827 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:11.827Z,1370285531.827 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:11.828Z,1370285531.828 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:14.224Z,1370285534.224 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:15.916Z,1370285535.916 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:15.916Z,1370285535.917 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:15.917Z,1370285535.917 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:16.780Z,1370285536.780 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:19.333Z,1370285539.332 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:19.887Z,1370285539.888 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:52:19.896Z,1370285539.896 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:52:19.897Z,1370285539.897 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:21.880Z,1370285541.880 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:23.892Z,1370285543.892 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:23.893Z,1370285543.893 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:23.893Z,1370285543.893 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:52:24.428Z,1370285544.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:27.016Z,1370285547.016 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:28.048Z,1370285548.048 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:52:28.048Z,1370285548.048 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:52:28.049Z,1370285548.049 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:29.560Z,1370285549.560 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:31.992Z,1370285551.992 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:52:31.993Z,1370285551.993 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:52:31.993Z,1370285551.993 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:52:32.128Z,1370285552.128 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:34.676Z,1370285554.676 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:36.128Z,1370285556.128 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:36.128Z,1370285556.128 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:36.129Z,1370285556.129 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:37.225Z,1370285557.225 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:39.765Z,1370285559.765 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:40.091Z,1370285560.092 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:52:40.100Z,1370285560.100 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:52:40.101Z,1370285560.101 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:42.320Z,1370285562.320 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:44.176Z,1370285564.176 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:44.177Z,1370285564.177 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:44.177Z,1370285564.177 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:44.868Z,1370285564.868 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:47.424Z,1370285567.424 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:48.240Z,1370285568.240 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:48.240Z,1370285568.240 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:48.241Z,1370285568.241 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:52:49.976Z,1370285569.976 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:52.283Z,1370285572.283 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:52:52.292Z,1370285572.292 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:52:52.293Z,1370285572.293 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:52:52.524Z,1370285572.524 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:55.076Z,1370285575.076 [DVL_micro](DEBUG): NQ1
2013-06-03T18:52:56.352Z,1370285576.352 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:52:56.353Z,1370285576.353 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:52:56.353Z,1370285576.353 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:52:57.624Z,1370285577.624 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:00.173Z,1370285580.173 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:00.408Z,1370285580.408 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:00.409Z,1370285580.409 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:00.410Z,1370285580.410 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:02.736Z,1370285582.736 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:04.196Z,1370285584.196 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:04.202Z,1370285584.202 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:04.203Z,1370285584.203 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:05.308Z,1370285585.308 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:07.889Z,1370285587.889 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:08.164Z,1370285588.164 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:08.164Z,1370285588.164 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:08.165Z,1370285588.165 [Reporter](INFO): DAT.homing_target_heading 168.899994 arcdeg
2013-06-03T18:53:10.433Z,1370285590.433 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:12.281Z,1370285592.281 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:12.281Z,1370285592.281 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:12.282Z,1370285592.282 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:53:13.000Z,1370285593.000 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:15.548Z,1370285595.548 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:16.364Z,1370285596.364 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:16.364Z,1370285596.365 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:16.365Z,1370285596.365 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:53:18.117Z,1370285598.117 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:20.488Z,1370285600.488 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:20.489Z,1370285600.489 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:20.489Z,1370285600.490 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:20.681Z,1370285600.681 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:23.248Z,1370285603.248 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:24.480Z,1370285604.480 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:24.484Z,1370285604.484 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:24.485Z,1370285604.485 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:53:25.804Z,1370285605.804 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:28.349Z,1370285608.349 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:28.644Z,1370285608.644 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:28.644Z,1370285608.644 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:28.645Z,1370285608.645 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:30.900Z,1370285610.900 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:32.524Z,1370285612.524 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:32.525Z,1370285612.525 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:32.525Z,1370285612.526 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:33.455Z,1370285613.455 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:36.020Z,1370285616.020 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:36.441Z,1370285616.441 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:53:36.442Z,1370285616.442 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:53:36.442Z,1370285616.443 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:53:38.576Z,1370285618.576 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:39.065Z,1370285619.065 [CommandLine](IMPORTANT): got command show variable action
2013-06-03T18:53:39.223Z,1370285619.223 [CommandLine](INFO): SpeedControl.propOmegaAction (radian_per_second)
2013-06-03T18:53:39.223Z,1370285619.223 [CommandLine](INFO): VerticalControl.elevatorAngleAction (radian)
2013-06-03T18:53:39.223Z,1370285619.224 [CommandLine](INFO): HorizontalControl.rudderAngleAction (radian)
2013-06-03T18:53:39.228Z,1370285619.228 [CommandLine](INFO): VerticalControl.massPositionAction (meter)
2013-06-03T18:53:39.231Z,1370285619.231 [CommandLine](INFO): VerticalControl.buoyancyAction (cubic_centimeter)
2013-06-03T18:53:40.800Z,1370285620.800 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:40.801Z,1370285620.801 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:40.802Z,1370285620.802 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:53:41.120Z,1370285621.120 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:43.674Z,1370285623.674 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:44.701Z,1370285624.701 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:44.701Z,1370285624.701 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:44.702Z,1370285624.702 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:46.232Z,1370285626.232 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:48.791Z,1370285628.791 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:48.857Z,1370285628.857 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:48.858Z,1370285628.858 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:48.859Z,1370285628.859 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:53:49.097Z,1370285629.097 [CommandLine](IMPORTANT): got command show variable heading
2013-06-03T18:53:49.098Z,1370285629.099 [CommandLine](INFO): homing_target_heading (degree)
2013-06-03T18:53:49.135Z,1370285629.135 [CommandLine](INFO): HorizontalControl.kdHeading (second)
2013-06-03T18:53:49.136Z,1370285629.136 [CommandLine](INFO): HorizontalControl.kiHeading (reciprocal_second)
2013-06-03T18:53:49.144Z,1370285629.144 [CommandLine](INFO): HorizontalControl.kpHeading (none)
2013-06-03T18:53:49.145Z,1370285629.145 [CommandLine](INFO): HorizontalControl.kwpHeading (radian_per_meter)
2013-06-03T18:53:49.145Z,1370285629.145 [CommandLine](INFO): HorizontalControl.kiwpHeading (radian_per_second_per_meter)
2013-06-03T18:53:49.198Z,1370285629.197 [CommandLine](INFO): HorizontalControl.headingCmd (radian)
2013-06-03T18:53:49.198Z,1370285629.198 [CommandLine](INFO): HorizontalControl.headingRateCmd (radian_per_second)
2013-06-03T18:53:49.199Z,1370285629.198 [CommandLine](INFO): HorizontalControl.headingInternal (radian)
2013-06-03T18:53:49.199Z,1370285629.199 [CommandLine](INFO): HorizontalControl.smoothHeadingInternal (radian)
2013-06-03T18:53:49.199Z,1370285629.199 [CommandLine](INFO): HorizontalControl.headingIntegralInternal (radian)
2013-06-03T18:53:49.231Z,1370285629.231 [CommandLine](INFO): DAT.homing_target_heading (degree)
2013-06-03T18:53:49.237Z,1370285629.237 [CommandLine](INFO): DAT.txHeading (degree)
2013-06-03T18:53:51.332Z,1370285631.332 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:52.896Z,1370285632.895 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:52.901Z,1370285632.901 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:52.901Z,1370285632.901 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:53:53.936Z,1370285633.936 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:56.481Z,1370285636.480 [DVL_micro](DEBUG): NQ1
2013-06-03T18:53:56.988Z,1370285636.988 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:53:56.989Z,1370285636.989 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:53:56.989Z,1370285636.989 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:53:59.041Z,1370285639.040 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:01.127Z,1370285641.127 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:54:01.127Z,1370285641.127 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:54:01.128Z,1370285641.128 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:54:01.588Z,1370285641.588 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:04.128Z,1370285644.128 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:05.068Z,1370285645.068 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:54:05.085Z,1370285645.085 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:54:05.085Z,1370285645.085 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:54:06.688Z,1370285646.688 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:09.097Z,1370285649.097 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:54:09.098Z,1370285649.098 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:54:09.098Z,1370285649.098 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:54:09.237Z,1370285649.237 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:11.800Z,1370285651.800 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:13.083Z,1370285653.083 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:54:13.084Z,1370285653.084 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:54:13.085Z,1370285653.085 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:54:14.364Z,1370285654.364 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:16.936Z,1370285656.936 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:17.162Z,1370285657.162 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T18:54:17.163Z,1370285657.163 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T18:54:17.180Z,1370285657.180 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:54:19.496Z,1370285659.496 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:21.289Z,1370285661.289 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:54:21.291Z,1370285661.291 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:54:21.291Z,1370285661.291 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:54:22.040Z,1370285662.040 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:24.593Z,1370285664.593 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:25.300Z,1370285665.300 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:54:25.301Z,1370285665.301 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:54:25.301Z,1370285665.301 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:54:27.149Z,1370285667.149 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:29.348Z,1370285669.348 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:54:29.348Z,1370285669.348 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:54:29.349Z,1370285669.349 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:54:29.728Z,1370285669.728 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:32.284Z,1370285672.284 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:33.420Z,1370285673.420 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:54:33.421Z,1370285673.421 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:54:33.421Z,1370285673.421 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:54:34.549Z,1370285674.549 [CommandLine](IMPORTANT): got command stop
2013-06-03T18:54:34.840Z,1370285674.840 [DVL_micro](DEBUG): NQ1
2013-06-03T18:54:34.918Z,1370285674.918 [homing_pursuit] Stopped
2013-06-03T18:54:34.918Z,1370285674.918 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:54:34.918Z,1370285674.918 [homing_pursuit:A] Stopped
2013-06-03T18:54:34.919Z,1370285674.918 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:E] Stopped
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:F] Stopped
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:54:34.919Z,1370285674.919 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:54:34.919Z,1370285674.920 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:54:34.919Z,1370285674.920 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:54:34.920Z,1370285674.920 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:54:34.920Z,1370285674.920 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:54:34.925Z,1370285674.925 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:54:34.925Z,1370285674.925 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:54:34.925Z,1370285674.925 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:54:34.925Z,1370285674.925 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:54:34.934Z,1370285674.934 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:54:35.298Z,1370285675.298 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:54:35.298Z,1370285675.298 [Default] Running Loop=1
2013-06-03T18:54:35.298Z,1370285675.298 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:54:35.298Z,1370285675.298 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:54:35.298Z,1370285675.298 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:54:35.298Z,1370285675.298 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:54:35.299Z,1370285675.299 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:54:35.299Z,1370285675.299 [Default:Iridium] Running Loop=1
2013-06-03T18:54:35.299Z,1370285675.299 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:54:35.299Z,1370285675.299 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:54:35.299Z,1370285675.299 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:54:35.299Z,1370285675.299 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:54:35.299Z,1370285675.299 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:54:35.305Z,1370285675.305 [Default:CallIridium] Running Loop=1
2013-06-03T18:54:35.305Z,1370285675.305 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:54:35.305Z,1370285675.305 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:54:35.306Z,1370285675.306 [Default:CallIridium:A] Stopped
2013-06-03T18:54:35.306Z,1370285675.306 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:54:35.306Z,1370285675.306 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:54:35.307Z,1370285675.307 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:54:35.307Z,1370285675.307 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:54:35.307Z,1370285675.307 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:54:35.307Z,1370285675.307 [Default:GPS] Running Loop=1
2013-06-03T18:54:35.308Z,1370285675.307 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:54:35.308Z,1370285675.308 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:54:35.308Z,1370285675.308 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:54:35.312Z,1370285675.312 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:54:35.312Z,1370285675.312 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:54:35.313Z,1370285675.313 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:54:35.313Z,1370285675.313 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:54:35.313Z,1370285675.313 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:54:35.652Z,1370285675.652 [DAT](INFO): Powering down
2013-06-03T18:54:36.132Z,1370285676.132 [NAL9602](INFO): Powering up
2013-06-03T18:54:46.793Z,1370285686.793 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:56:10.812Z,1370285770.812 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:56:10.812Z,1370285770.812 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:56:11.090Z,1370285771.090 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:56:11.101Z,1370285771.101 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:56:11.103Z,1370285771.103 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:56:11.114Z,1370285771.114 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:56:11.123Z,1370285771.123 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:56:11.126Z,1370285771.126 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:56:11.133Z,1370285771.133 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:56:11.135Z,1370285771.135 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:56:11.142Z,1370285771.142 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:56:11.149Z,1370285771.149 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T18:56:11.157Z,1370285771.157 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:56:11.165Z,1370285771.165 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:56:11.168Z,1370285771.168 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:56:11.190Z,1370285771.190 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:56:11.201Z,1370285771.201 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:56:11.203Z,1370285771.203 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:56:11.214Z,1370285771.214 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:56:11.222Z,1370285771.222 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:56:11.228Z,1370285771.228 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:56:11.231Z,1370285771.231 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:56:11.238Z,1370285771.238 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:56:11.248Z,1370285771.247 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:56:11.263Z,1370285771.263 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:56:11.315Z,1370285771.316 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:56:11.345Z,1370285771.345 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:56:11.347Z,1370285771.347 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:56:11.361Z,1370285771.361 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T18:56:11.382Z,1370285771.382 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:56:11.407Z,1370285771.407 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:56:11.425Z,1370285771.425 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:56:11.443Z,1370285771.443 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Sequence">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:56:11.443Z,1370285771.443 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:56:11.723Z,1370285771.723 [Default] Stopped
2013-06-03T18:56:11.724Z,1370285771.724 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:56:11.724Z,1370285771.724 [Default:GPS] Stopped
2013-06-03T18:56:11.724Z,1370285771.724 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:56:11.724Z,1370285771.724 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:56:11.724Z,1370285771.724 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:56:11.724Z,1370285771.724 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:56:11.724Z,1370285771.724 [Default:Iridium] Stopped
2013-06-03T18:56:11.724Z,1370285771.724 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:56:11.724Z,1370285771.724 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:56:11.725Z,1370285771.724 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:56:11.725Z,1370285771.725 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:56:11.725Z,1370285771.725 [Default:CallIridium] Stopped
2013-06-03T18:56:11.725Z,1370285771.725 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:56:11.725Z,1370285771.725 [Default:CallIridium:B] Stopped
2013-06-03T18:56:11.725Z,1370285771.725 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:56:11.725Z,1370285771.725 [Default:D.SetSpeed] Stopped
2013-06-03T18:56:11.725Z,1370285771.725 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:56:11.725Z,1370285771.725 [Default:E.GoToSurface] Stopped
2013-06-03T18:56:11.725Z,1370285771.725 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:56:11.725Z,1370285771.726 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit] Running Loop=1
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit:A] Running Loop=1
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:56:11.726Z,1370285771.726 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:56:11.727Z,1370285771.727 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:56:11.727Z,1370285771.727 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:56:11.727Z,1370285771.727 [homing_pursuit:E] Running Loop=1
2013-06-03T18:56:11.727Z,1370285771.727 [homing_pursuit:F] Running Loop=1
2013-06-03T18:56:11.727Z,1370285771.727 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:56:11.728Z,1370285771.727 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:56:11.728Z,1370285771.728 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:56:11.729Z,1370285771.728 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:56:11.729Z,1370285771.729 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:56:11.729Z,1370285771.729 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:56:11.730Z,1370285771.730 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:56:11.731Z,1370285771.731 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:56:11.744Z,1370285771.744 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:56:11.746Z,1370285771.746 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:56:11.747Z,1370285771.747 [homing_pursuit:F] Running Loop=1
2013-06-03T18:56:11.747Z,1370285771.747 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:56:11.748Z,1370285771.748 [homing_pursuit:E] Running Loop=1
2013-06-03T18:56:11.749Z,1370285771.749 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:56:11.751Z,1370285771.751 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:56:11.752Z,1370285771.752 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:56:11.753Z,1370285771.753 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:56:11.754Z,1370285771.754 [homing_pursuit:A] Running Loop=1
2013-06-03T18:56:11.754Z,1370285771.754 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:56:11.965Z,1370285771.965 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:56:11.965Z,1370285771.965 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:56:11.965Z,1370285771.965 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:56:12.102Z,1370285772.102 [DAT](INFO): Powering up
2013-06-03T18:56:13.973Z,1370285773.973 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:56:13.973Z,1370285773.973 [DVL_micro](INFO): Querying output modes
2013-06-03T18:56:13.973Z,1370285773.973 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:56:13.984Z,1370285773.984 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:56:13.984Z,1370285773.984 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:56:13.985Z,1370285773.985 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:56:13.996Z,1370285773.996 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:56:16.512Z,1370285776.512 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:19.068Z,1370285779.068 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:19.391Z,1370285779.391 [NAL9602](INFO): Powering down
2013-06-03T18:56:21.620Z,1370285781.620 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:24.176Z,1370285784.176 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:26.724Z,1370285786.724 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:29.285Z,1370285789.284 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:31.837Z,1370285791.837 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:34.440Z,1370285794.440 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:36.024Z,1370285796.024 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:56:36.025Z,1370285796.025 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:56:36.025Z,1370285796.026 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:56:37.028Z,1370285797.028 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:39.585Z,1370285799.585 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:39.920Z,1370285799.920 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:56:39.920Z,1370285799.921 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:56:39.921Z,1370285799.921 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:56:42.140Z,1370285802.140 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:43.892Z,1370285803.892 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:56:43.892Z,1370285803.892 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:56:43.893Z,1370285803.893 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:56:44.688Z,1370285804.688 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:47.256Z,1370285807.256 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:48.123Z,1370285808.123 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:56:48.123Z,1370285808.123 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:56:48.128Z,1370285808.128 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:56:49.837Z,1370285809.837 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:51.880Z,1370285811.880 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:56:51.881Z,1370285811.881 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:56:51.881Z,1370285811.881 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:56:52.428Z,1370285812.428 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:55.000Z,1370285815.000 [DVL_micro](DEBUG): NQ1
2013-06-03T18:56:56.072Z,1370285816.072 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:56:56.073Z,1370285816.073 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:56:56.073Z,1370285816.073 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:56:57.538Z,1370285817.538 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:00.123Z,1370285820.123 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:00.127Z,1370285820.128 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:00.134Z,1370285820.134 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:00.134Z,1370285820.134 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:57:02.689Z,1370285822.689 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:04.280Z,1370285824.280 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:04.281Z,1370285824.281 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:04.282Z,1370285824.282 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:57:05.244Z,1370285825.244 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:07.817Z,1370285827.816 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:08.472Z,1370285828.472 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:08.472Z,1370285828.472 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:08.473Z,1370285828.473 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:57:10.380Z,1370285830.380 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:12.332Z,1370285832.332 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:12.332Z,1370285832.332 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:12.333Z,1370285832.333 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:57:12.928Z,1370285832.928 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:15.496Z,1370285835.496 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:16.095Z,1370285836.095 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:16.096Z,1370285836.096 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:16.097Z,1370285836.097 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:57:18.080Z,1370285838.080 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:20.292Z,1370285840.292 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T18:57:20.293Z,1370285840.293 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T18:57:20.294Z,1370285840.293 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:57:20.628Z,1370285840.628 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:23.196Z,1370285843.196 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:23.984Z,1370285843.984 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:23.985Z,1370285843.985 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:23.986Z,1370285843.986 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:57:25.744Z,1370285845.744 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:27.719Z,1370285847.719 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:27.719Z,1370285847.719 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:27.721Z,1370285847.721 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:57:28.320Z,1370285848.320 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:30.877Z,1370285850.877 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:31.616Z,1370285851.616 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:31.618Z,1370285851.618 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:31.618Z,1370285851.618 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:57:33.444Z,1370285853.444 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:35.392Z,1370285855.392 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:57:35.393Z,1370285855.393 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:57:35.393Z,1370285855.393 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:57:36.025Z,1370285856.025 [DVL_micro](DEBUG): NQ1
2013-06-03T18:57:37.721Z,1370285857.721 [CommandLine](IMPORTANT): got command stop
2013-06-03T18:57:37.797Z,1370285857.797 [homing_pursuit] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:A] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:E] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:F] Stopped
2013-06-03T18:57:37.798Z,1370285857.798 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:57:37.799Z,1370285857.799 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:57:38.138Z,1370285858.138 [DVL_micro](INFO): pause:Powering down
2013-06-03T18:57:38.219Z,1370285858.219 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T18:57:38.219Z,1370285858.219 [Default] Running Loop=1
2013-06-03T18:57:38.219Z,1370285858.219 [Default](INFO): Aggregate::initialize Default
2013-06-03T18:57:38.219Z,1370285858.219 [Default:D.SetSpeed] Running Loop=1
2013-06-03T18:57:38.219Z,1370285858.219 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T18:57:38.219Z,1370285858.219 [Default:E.GoToSurface] Running Loop=1
2013-06-03T18:57:38.219Z,1370285858.219 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:57:38.220Z,1370285858.220 [Default:Iridium] Running Loop=1
2013-06-03T18:57:38.224Z,1370285858.224 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T18:57:38.224Z,1370285858.224 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T18:57:38.224Z,1370285858.224 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:57:38.225Z,1370285858.225 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T18:57:38.225Z,1370285858.225 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:57:38.226Z,1370285858.226 [Default:CallIridium] Running Loop=1
2013-06-03T18:57:38.226Z,1370285858.226 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T18:57:38.226Z,1370285858.226 [Default:CallIridium:A] Running Loop=1
2013-06-03T18:57:38.227Z,1370285858.227 [Default:CallIridium:A] Stopped
2013-06-03T18:57:38.227Z,1370285858.227 [Default:CallIridium:B] Running Loop=1
2013-06-03T18:57:38.227Z,1370285858.227 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T18:57:38.232Z,1370285858.232 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T18:57:38.232Z,1370285858.232 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:57:38.232Z,1370285858.232 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T18:57:38.233Z,1370285858.233 [Default:GPS] Running Loop=1
2013-06-03T18:57:38.233Z,1370285858.233 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T18:57:38.233Z,1370285858.233 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T18:57:38.233Z,1370285858.233 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T18:57:38.233Z,1370285858.233 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T18:57:38.233Z,1370285858.233 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T18:57:38.234Z,1370285858.234 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T18:57:38.234Z,1370285858.234 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:57:38.235Z,1370285858.234 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T18:57:38.628Z,1370285858.628 [DAT](INFO): Powering down
2013-06-03T18:57:39.163Z,1370285859.163 [NAL9602](INFO): Powering up
2013-06-03T18:57:49.726Z,1370285869.727 [NAL9602](INFO): NAL9602 initialized
2013-06-03T18:58:28.405Z,1370285908.405 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:58:28.405Z,1370285908.405 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:58:28.555Z,1370285908.555 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T18:58:28.558Z,1370285908.557 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T18:58:28.585Z,1370285908.585 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T18:58:28.587Z,1370285908.587 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T18:58:28.593Z,1370285908.593 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T18:58:28.595Z,1370285908.595 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T18:58:28.610Z,1370285908.610 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T18:58:28.635Z,1370285908.635 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T18:58:28.643Z,1370285908.643 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T18:58:28.665Z,1370285908.665 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T18:58:28.684Z,1370285908.684 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T18:58:28.687Z,1370285908.687 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T18:58:28.710Z,1370285908.710 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T18:58:28.712Z,1370285908.712 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T18:58:28.714Z,1370285908.714 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T18:58:28.730Z,1370285908.730 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T18:58:28.740Z,1370285908.740 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T18:58:28.743Z,1370285908.743 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T18:58:28.758Z,1370285908.758 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T18:58:28.760Z,1370285908.760 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T18:58:28.762Z,1370285908.763 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T18:58:28.812Z,1370285908.812 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T18:58:28.833Z,1370285908.833 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T18:58:28.854Z,1370285908.854 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T18:58:28.899Z,1370285908.899 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T18:58:28.922Z,1370285908.922 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T18:58:28.925Z,1370285908.925 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T18:58:28.958Z,1370285908.958 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T18:58:28.964Z,1370285908.964 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T18:58:29.002Z,1370285909.001 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T18:58:29.043Z,1370285909.043 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="PowerUpDAT">

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P30S"></Timeout>
        </Guidance:Wait>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T18:58:29.043Z,1370285909.043 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T18:58:29.343Z,1370285909.343 [Default] Stopped
2013-06-03T18:58:29.343Z,1370285909.343 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T18:58:29.343Z,1370285909.343 [Default:GPS] Stopped
2013-06-03T18:58:29.343Z,1370285909.343 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T18:58:29.343Z,1370285909.343 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T18:58:29.343Z,1370285909.343 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:58:29.343Z,1370285909.343 [Default:GPS:Read_GPS] Stopped
2013-06-03T18:58:29.343Z,1370285909.343 [Default:Iridium] Stopped
2013-06-03T18:58:29.344Z,1370285909.344 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T18:58:29.349Z,1370285909.349 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T18:58:29.349Z,1370285909.349 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:58:29.349Z,1370285909.349 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T18:58:29.349Z,1370285909.349 [Default:CallIridium] Stopped
2013-06-03T18:58:29.349Z,1370285909.349 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T18:58:29.349Z,1370285909.349 [Default:CallIridium:B] Stopped
2013-06-03T18:58:29.350Z,1370285909.350 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T18:58:29.350Z,1370285909.350 [Default:D.SetSpeed] Stopped
2013-06-03T18:58:29.350Z,1370285909.350 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:58:29.350Z,1370285909.350 [Default:E.GoToSurface] Stopped
2013-06-03T18:58:29.350Z,1370285909.350 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T18:58:29.350Z,1370285909.350 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T18:58:29.350Z,1370285909.350 [homing_pursuit] Running Loop=1
2013-06-03T18:58:29.350Z,1370285909.350 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T18:58:29.350Z,1370285909.351 [homing_pursuit:A] Running Loop=1
2013-06-03T18:58:29.351Z,1370285909.351 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:58:29.351Z,1370285909.351 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T18:58:29.351Z,1370285909.351 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:58:29.351Z,1370285909.351 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T18:58:29.352Z,1370285909.352 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:58:29.352Z,1370285909.352 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T18:58:29.352Z,1370285909.352 [homing_pursuit:E] Running Loop=1
2013-06-03T18:58:29.361Z,1370285909.361 [homing_pursuit:F] Running Loop=1
2013-06-03T18:58:29.361Z,1370285909.361 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T18:58:29.361Z,1370285909.361 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T18:58:29.361Z,1370285909.361 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:58:29.361Z,1370285909.361 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T18:58:29.362Z,1370285909.362 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:58:29.362Z,1370285909.362 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T18:58:29.362Z,1370285909.362 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:58:29.362Z,1370285909.362 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T18:58:29.362Z,1370285909.362 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:58:29.362Z,1370285909.362 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T18:58:29.363Z,1370285909.362 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:58:29.363Z,1370285909.363 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T18:58:29.363Z,1370285909.363 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T18:58:29.363Z,1370285909.363 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:58:29.398Z,1370285909.398 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T18:58:29.399Z,1370285909.399 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T18:58:29.413Z,1370285909.413 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T18:58:29.414Z,1370285909.414 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T18:58:29.415Z,1370285909.415 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T18:58:29.416Z,1370285909.416 [homing_pursuit:F] Running Loop=1
2013-06-03T18:58:29.426Z,1370285909.426 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T18:58:29.427Z,1370285909.427 [homing_pursuit:E] Running Loop=1
2013-06-03T18:58:29.427Z,1370285909.427 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T18:58:29.437Z,1370285909.437 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T18:58:29.438Z,1370285909.438 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T18:58:29.439Z,1370285909.439 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T18:58:29.448Z,1370285909.448 [homing_pursuit:A] Running Loop=1
2013-06-03T18:58:29.449Z,1370285909.449 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T18:58:29.529Z,1370285909.529 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:58:29.530Z,1370285909.530 [DVL_micro](INFO): resume:Powering up
2013-06-03T18:58:29.530Z,1370285909.530 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T18:58:29.720Z,1370285909.720 [DAT](INFO): Powering up
2013-06-03T18:58:31.537Z,1370285911.537 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T18:58:31.537Z,1370285911.537 [DVL_micro](INFO): Querying output modes
2013-06-03T18:58:31.537Z,1370285911.537 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T18:58:31.548Z,1370285911.548 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T18:58:31.548Z,1370285911.548 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T18:58:31.549Z,1370285911.549 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T18:58:31.561Z,1370285911.560 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T18:58:34.076Z,1370285914.076 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:34.818Z,1370285914.818 [NAL9602](INFO): Powering down
2013-06-03T18:58:36.628Z,1370285916.628 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:39.176Z,1370285919.176 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:41.724Z,1370285921.724 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:44.325Z,1370285924.325 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:46.865Z,1370285926.865 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:49.457Z,1370285929.457 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:52.064Z,1370285932.064 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:53.280Z,1370285933.280 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:58:53.281Z,1370285933.281 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:58:53.282Z,1370285933.282 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:58:54.613Z,1370285934.613 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:57.172Z,1370285937.172 [DVL_micro](DEBUG): NQ1
2013-06-03T18:58:57.396Z,1370285937.396 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:58:57.397Z,1370285937.397 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:58:57.397Z,1370285937.397 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:58:59.735Z,1370285939.735 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:01.576Z,1370285941.576 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:01.577Z,1370285941.577 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:01.578Z,1370285941.578 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:02.325Z,1370285942.325 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:04.876Z,1370285944.876 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:05.781Z,1370285945.781 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:05.781Z,1370285945.781 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:05.782Z,1370285945.782 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:07.440Z,1370285947.440 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:09.821Z,1370285949.821 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:09.822Z,1370285949.822 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:09.822Z,1370285949.822 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:59:09.992Z,1370285949.992 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:12.545Z,1370285952.545 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:13.617Z,1370285953.617 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:13.617Z,1370285953.617 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:13.618Z,1370285953.618 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:15.145Z,1370285955.145 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:17.704Z,1370285957.704 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:17.881Z,1370285957.881 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:17.881Z,1370285957.881 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:17.882Z,1370285957.882 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:20.248Z,1370285960.248 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:22.052Z,1370285962.052 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:22.053Z,1370285962.053 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:22.053Z,1370285962.053 [Reporter](INFO): DAT.homing_target_heading 169.300003 arcdeg
2013-06-03T18:59:22.813Z,1370285962.813 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:25.368Z,1370285965.368 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:25.956Z,1370285965.956 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:25.956Z,1370285965.956 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:25.957Z,1370285965.957 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:59:27.920Z,1370285967.920 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit] Stopped
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T18:59:29.931Z,1370285969.931 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T18:59:29.936Z,1370285969.936 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T18:59:29.936Z,1370285969.936 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T18:59:29.937Z,1370285969.937 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T18:59:29.937Z,1370285969.937 [homing_pursuit:PowerUpDAT] Running Loop=1
2013-06-03T18:59:29.937Z,1370285969.937 [homing_pursuit:PowerUpDAT](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT
2013-06-03T18:59:29.937Z,1370285969.937 [homing_pursuit:PowerUpDAT:A.Wait] Running Loop=1
2013-06-03T18:59:29.937Z,1370285969.937 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T18:59:30.048Z,1370285970.048 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:59:30.049Z,1370285970.049 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:59:30.049Z,1370285970.049 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:30.481Z,1370285970.481 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:33.044Z,1370285973.044 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:33.798Z,1370285973.798 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:33.798Z,1370285973.798 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:33.799Z,1370285973.799 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:59:35.604Z,1370285975.604 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:37.846Z,1370285977.846 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:37.847Z,1370285977.847 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:37.847Z,1370285977.847 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:38.180Z,1370285978.180 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:40.748Z,1370285980.748 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:41.758Z,1370285981.758 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T18:59:41.758Z,1370285981.758 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T18:59:41.759Z,1370285981.759 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T18:59:43.296Z,1370285983.296 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:45.529Z,1370285985.529 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:45.530Z,1370285985.530 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:45.531Z,1370285985.531 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:59:45.853Z,1370285985.853 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:48.412Z,1370285988.412 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:49.546Z,1370285989.546 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:49.547Z,1370285989.547 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:49.547Z,1370285989.547 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T18:59:50.961Z,1370285990.961 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:53.338Z,1370285993.338 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:53.339Z,1370285993.339 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:53.339Z,1370285993.339 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:59:53.521Z,1370285993.520 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:56.076Z,1370285996.076 [DVL_micro](DEBUG): NQ1
2013-06-03T18:59:57.318Z,1370285997.318 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T18:59:57.318Z,1370285997.318 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T18:59:57.319Z,1370285997.319 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T18:59:58.612Z,1370285998.612 [DVL_micro](DEBUG): NQ1
2013-06-03T19:00:00.043Z,1370286000.043 [homing_pursuit:PowerUpDAT:A.Wait](INFO): Timed out from 2013-06-03T18:59:29.9Z
2013-06-03T19:00:00.044Z,1370286000.044 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout] Running Loop=1
2013-06-03T19:00:00.052Z,1370286000.052 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Aggregate::initialize homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T19:00:00.052Z,1370286000.053 [homing_pursuit:PowerUpDAT:A.Wait:A_Timeout](INFO): Completed homing_pursuit:PowerUpDAT:A.Wait:A_Timeout
2013-06-03T19:00:00.053Z,1370286000.053 [homing_pursuit:PowerUpDAT:A.Wait] Stopped
2013-06-03T19:00:00.053Z,1370286000.053 [homing_pursuit:PowerUpDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:00:00.053Z,1370286000.053 [homing_pursuit:PowerUpDAT](INFO): Completed homing_pursuit:PowerUpDAT
2013-06-03T19:00:00.053Z,1370286000.053 [homing_pursuit:PowerUpDAT] Stopped
2013-06-03T19:00:00.054Z,1370286000.053 [homing_pursuit:PowerUpDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerUpDAT
2013-06-03T19:00:00.055Z,1370286000.055 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:00:00.056Z,1370286000.056 [homing_pursuit] Stopped
2013-06-03T19:00:00.056Z,1370286000.056 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:00:00.056Z,1370286000.056 [homing_pursuit:A] Stopped
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T19:00:00.065Z,1370286000.065 [homing_pursuit:E] Stopped
2013-06-03T19:00:00.065Z,1370286000.066 [homing_pursuit:F] Stopped
2013-06-03T19:00:00.502Z,1370286000.502 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:00:00.502Z,1370286000.503 [Default] Running Loop=1
2013-06-03T19:00:00.503Z,1370286000.503 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:00:00.503Z,1370286000.503 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:00:00.503Z,1370286000.503 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:00:00.503Z,1370286000.503 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:00:00.503Z,1370286000.503 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:00:00.503Z,1370286000.503 [Default:Iridium] Running Loop=1
2013-06-03T19:00:00.503Z,1370286000.503 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:00:00.503Z,1370286000.503 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:00:00.504Z,1370286000.504 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:00:00.504Z,1370286000.504 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:00:00.504Z,1370286000.504 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:00:00.505Z,1370286000.505 [Default:CallIridium] Running Loop=1
2013-06-03T19:00:00.505Z,1370286000.505 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:00:00.506Z,1370286000.506 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:00:00.506Z,1370286000.506 [Default:CallIridium:A] Stopped
2013-06-03T19:00:00.506Z,1370286000.506 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:00:00.506Z,1370286000.506 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:00:00.507Z,1370286000.507 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:00:00.507Z,1370286000.507 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:00:00.507Z,1370286000.507 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:00:00.508Z,1370286000.508 [Default:GPS] Running Loop=1
2013-06-03T19:00:00.508Z,1370286000.508 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:00:00.508Z,1370286000.508 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:00:00.508Z,1370286000.508 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:00:00.508Z,1370286000.508 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:00:00.508Z,1370286000.508 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:00:00.509Z,1370286000.509 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:00:00.509Z,1370286000.509 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:00:00.509Z,1370286000.509 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:00:00.723Z,1370286000.723 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:00:00.843Z,1370286000.843 [DAT](INFO): Powering down
2013-06-03T19:00:01.263Z,1370286001.263 [NAL9602](INFO): Powering up
2013-06-03T19:00:07.473Z,1370286007.473 [CommandLine](IMPORTANT): got command report
2013-06-03T19:00:07.473Z,1370286007.473 [Reporter](INFO): DAT.homing_target_range reporting when touched
2013-06-03T19:00:07.474Z,1370286007.474 [Reporter](INFO): homing_target_range reporting when touched
2013-06-03T19:00:07.474Z,1370286007.474 [Reporter](INFO): HorizontalControl.headingCmd reporting when touched
2013-06-03T19:00:07.474Z,1370286007.474 [Reporter](INFO): DAT.homing_target_heading reporting when touched
2013-06-03T19:00:11.812Z,1370286011.812 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:00:12.581Z,1370286012.581 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T19:00:12.581Z,1370286012.581 [NAL9602] Data Fault, FailCount= 2
2013-06-03T19:00:12.581Z,1370286012.581 [NAL9602](ERROR): Data Fault
2013-06-03T19:00:12.632Z,1370286012.632 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T19:00:12.633Z,1370286012.633 [CBIT](CRITICAL): Data Fault in component: NAL9602
2013-06-03T19:00:12.953Z,1370286012.953 [NAL9602](INFO): Powering down
2013-06-03T19:01:03.097Z,1370286063.097 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:01:03.097Z,1370286063.097 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:01:03.208Z,1370286063.208 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T19:01:03.210Z,1370286063.210 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T19:01:03.237Z,1370286063.237 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T19:01:03.248Z,1370286063.248 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T19:01:03.260Z,1370286063.260 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T19:01:03.262Z,1370286063.262 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:01:03.273Z,1370286063.273 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:01:03.276Z,1370286063.276 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:01:03.306Z,1370286063.306 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T19:01:03.321Z,1370286063.321 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T19:01:03.323Z,1370286063.323 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:01:03.334Z,1370286063.334 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T19:01:03.343Z,1370286063.343 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:01:03.350Z,1370286063.350 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T19:01:03.356Z,1370286063.356 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T19:01:03.359Z,1370286063.359 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T19:01:03.366Z,1370286063.365 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T19:01:03.368Z,1370286063.368 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T19:01:03.375Z,1370286063.375 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T19:01:03.381Z,1370286063.381 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:01:03.384Z,1370286063.384 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T19:01:03.417Z,1370286063.417 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T19:01:03.446Z,1370286063.446 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T19:01:03.470Z,1370286063.470 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T19:01:03.478Z,1370286063.478 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:01:03.501Z,1370286063.501 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T19:01:03.503Z,1370286063.503 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T19:01:03.528Z,1370286063.528 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T19:01:03.555Z,1370286063.555 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Sequence">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

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

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T19:01:03.556Z,1370286063.556 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:01:03.646Z,1370286063.645 [Default] Stopped
2013-06-03T19:01:03.646Z,1370286063.646 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:01:03.646Z,1370286063.646 [Default:GPS] Stopped
2013-06-03T19:01:03.646Z,1370286063.646 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:01:03.646Z,1370286063.646 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:01:03.646Z,1370286063.646 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:01:03.646Z,1370286063.646 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:01:03.646Z,1370286063.646 [Default:Iridium] Stopped
2013-06-03T19:01:03.646Z,1370286063.646 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:01:03.646Z,1370286063.647 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:01:03.646Z,1370286063.647 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:01:03.647Z,1370286063.647 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:01:03.647Z,1370286063.647 [Default:CallIridium] Stopped
2013-06-03T19:01:03.647Z,1370286063.647 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:01:03.647Z,1370286063.647 [Default:CallIridium:B] Stopped
2013-06-03T19:01:03.647Z,1370286063.647 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:01:03.647Z,1370286063.647 [Default:D.SetSpeed] Stopped
2013-06-03T19:01:03.647Z,1370286063.647 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:01:03.647Z,1370286063.647 [Default:E.GoToSurface] Stopped
2013-06-03T19:01:03.647Z,1370286063.647 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:01:03.648Z,1370286063.648 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:01:03.648Z,1370286063.648 [homing_pursuit] Running Loop=1
2013-06-03T19:01:03.652Z,1370286063.652 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:01:03.652Z,1370286063.652 [homing_pursuit:A] Running Loop=1
2013-06-03T19:01:03.652Z,1370286063.652 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T19:01:03.652Z,1370286063.652 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T19:01:03.653Z,1370286063.653 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T19:01:03.653Z,1370286063.653 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T19:01:03.653Z,1370286063.653 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:E] Running Loop=1
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:F] Running Loop=1
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T19:01:03.654Z,1370286063.654 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:01:03.655Z,1370286063.655 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T19:01:03.661Z,1370286063.661 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:01:03.662Z,1370286063.662 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:01:03.663Z,1370286063.663 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:01:03.669Z,1370286063.668 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:01:03.670Z,1370286063.670 [homing_pursuit:F] Running Loop=1
2013-06-03T19:01:03.670Z,1370286063.670 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:01:03.671Z,1370286063.671 [homing_pursuit:E] Running Loop=1
2013-06-03T19:01:03.672Z,1370286063.672 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:01:03.681Z,1370286063.681 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T19:01:03.682Z,1370286063.682 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T19:01:03.683Z,1370286063.683 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T19:01:03.696Z,1370286063.696 [homing_pursuit:A] Running Loop=1
2013-06-03T19:01:03.697Z,1370286063.697 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:01:03.793Z,1370286063.793 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:01:03.794Z,1370286063.794 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:01:03.794Z,1370286063.794 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:01:04.112Z,1370286064.112 [DAT](INFO): Powering up
2013-06-03T19:01:05.800Z,1370286065.800 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:01:05.801Z,1370286065.801 [DVL_micro](INFO): Querying output modes
2013-06-03T19:01:05.801Z,1370286065.801 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:01:05.812Z,1370286065.812 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:01:05.812Z,1370286065.812 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:01:05.813Z,1370286065.813 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:01:05.824Z,1370286065.824 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:01:08.348Z,1370286068.348 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:10.904Z,1370286070.904 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:13.456Z,1370286073.456 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:16.004Z,1370286076.004 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:18.557Z,1370286078.556 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:21.140Z,1370286081.140 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:21.917Z,1370286081.917 [CommandLine](IMPORTANT): got command show variable omega
2013-06-03T19:01:22.007Z,1370286082.007 [CommandLine](INFO): Config/Simulator.designOmega (revolution_per_minute)
2013-06-03T19:01:22.026Z,1370286082.026 [CommandLine](INFO): SpeedControl.propOmegaAction (radian_per_second)
2013-06-03T19:01:23.688Z,1370286083.688 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:26.236Z,1370286086.237 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:27.732Z,1370286087.732 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:01:27.733Z,1370286087.733 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:01:27.733Z,1370286087.733 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:01:28.804Z,1370286088.804 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:31.340Z,1370286091.340 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:31.653Z,1370286091.653 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:01:31.654Z,1370286091.654 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:01:31.654Z,1370286091.654 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:01:33.477Z,1370286093.477 [CommandLine](IMPORTANT): got command get SpeedControl.propOmegaAction
2013-06-03T19:01:33.478Z,1370286093.478 [CommandLine](IMPORTANT): SpeedControl.propOmegaAction 31.416014 radian_per_second
2013-06-03T19:01:33.901Z,1370286093.901 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:35.832Z,1370286095.832 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:01:35.833Z,1370286095.833 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:01:35.834Z,1370286095.833 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:01:36.448Z,1370286096.448 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:37.581Z,1370286097.581 [CommandLine](IMPORTANT): got command get SpeedControl.propOmegaAction revolution_per_minute
2013-06-03T19:01:37.581Z,1370286097.581 [CommandLine](IMPORTANT): SpeedControl.propOmegaAction 300.000833 revolution_per_minute
2013-06-03T19:01:39.036Z,1370286099.036 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:39.673Z,1370286099.672 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:01:39.673Z,1370286099.673 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:01:39.674Z,1370286099.674 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:01:41.590Z,1370286101.589 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:43.797Z,1370286103.797 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:01:43.797Z,1370286103.797 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:01:43.798Z,1370286103.798 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:01:44.152Z,1370286104.152 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:46.711Z,1370286106.711 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:47.644Z,1370286107.644 [Reporter](INFO): DAT.homing_target_range 0.400000 m
2013-06-03T19:01:47.645Z,1370286107.645 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:01:47.645Z,1370286107.645 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:01:49.264Z,1370286109.264 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:51.614Z,1370286111.614 [homing_pursuit:Pursuit] Stopped
2013-06-03T19:01:51.614Z,1370286111.614 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T19:01:51.614Z,1370286111.615 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T19:01:51.615Z,1370286111.615 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T19:01:51.615Z,1370286111.615 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:01:51.615Z,1370286111.615 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T19:01:51.615Z,1370286111.615 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:01:51.615Z,1370286111.615 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T19:01:51.615Z,1370286111.615 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T19:01:51.625Z,1370286111.625 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:01:51.625Z,1370286111.625 [homing_pursuit] Stopped
2013-06-03T19:01:51.626Z,1370286111.625 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:A] Stopped
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:E] Stopped
2013-06-03T19:01:51.626Z,1370286111.626 [homing_pursuit:F] Stopped
2013-06-03T19:01:51.865Z,1370286111.865 [DVL_micro](DEBUG): NQ1
2013-06-03T19:01:51.893Z,1370286111.893 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T19:01:51.894Z,1370286111.894 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T19:01:51.894Z,1370286111.894 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:01:51.921Z,1370286111.921 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:01:52.136Z,1370286112.136 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:01:52.144Z,1370286112.144 [Default] Running Loop=1
2013-06-03T19:01:52.145Z,1370286112.145 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:01:52.145Z,1370286112.145 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:01:52.145Z,1370286112.145 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:01:52.145Z,1370286112.145 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:01:52.145Z,1370286112.145 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:01:52.145Z,1370286112.145 [Default:Iridium] Running Loop=1
2013-06-03T19:01:52.145Z,1370286112.145 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:01:52.146Z,1370286112.145 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:01:52.146Z,1370286112.146 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:01:52.146Z,1370286112.146 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:01:52.146Z,1370286112.146 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:01:52.147Z,1370286112.147 [Default:CallIridium] Running Loop=1
2013-06-03T19:01:52.147Z,1370286112.148 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:01:52.148Z,1370286112.148 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:01:52.152Z,1370286112.152 [Default:CallIridium:A] Stopped
2013-06-03T19:01:52.153Z,1370286112.153 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:01:52.153Z,1370286112.153 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:01:52.154Z,1370286112.154 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:01:52.154Z,1370286112.154 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:01:52.154Z,1370286112.154 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:01:52.154Z,1370286112.154 [Default:GPS] Running Loop=1
2013-06-03T19:01:52.154Z,1370286112.154 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:01:52.154Z,1370286112.154 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:01:52.154Z,1370286112.155 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:01:52.155Z,1370286112.155 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:01:52.155Z,1370286112.155 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:01:52.155Z,1370286112.155 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:01:52.156Z,1370286112.156 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:01:52.160Z,1370286112.160 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:01:52.624Z,1370286112.624 [DAT](INFO): Powering down
2013-06-03T19:02:12.857Z,1370286132.857 [CBIT](INFO): Clearing failed count for component NAL9602
2013-06-03T19:02:12.858Z,1370286132.858 [NAL9602] No Fault, FailCount= 2
2013-06-03T19:02:13.190Z,1370286133.190 [NAL9602](INFO): Powering up NAL9602
2013-06-03T19:02:23.753Z,1370286143.753 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:02:25.333Z,1370286145.332 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:02:25.333Z,1370286145.333 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:02:25.537Z,1370286145.537 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T19:02:25.539Z,1370286145.539 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T19:02:25.560Z,1370286145.560 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T19:02:25.563Z,1370286145.563 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T19:02:25.571Z,1370286145.571 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T19:02:25.578Z,1370286145.578 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:02:25.601Z,1370286145.601 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:02:25.603Z,1370286145.603 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:02:25.614Z,1370286145.614 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T19:02:25.621Z,1370286145.621 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T19:02:25.623Z,1370286145.623 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:02:25.638Z,1370286145.638 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T19:02:25.649Z,1370286145.649 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:02:25.651Z,1370286145.651 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T19:02:25.658Z,1370286145.658 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T19:02:25.665Z,1370286145.665 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T19:02:25.667Z,1370286145.667 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T19:02:25.674Z,1370286145.674 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T19:02:25.696Z,1370286145.696 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T19:02:25.698Z,1370286145.698 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:02:25.709Z,1370286145.709 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T19:02:25.735Z,1370286145.735 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T19:02:25.762Z,1370286145.763 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T19:02:25.804Z,1370286145.805 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T19:02:25.829Z,1370286145.829 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:02:25.831Z,1370286145.831 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T19:02:25.842Z,1370286145.842 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T19:02:25.858Z,1370286145.858 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T19:02:25.896Z,1370286145.896 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>-2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Sequence">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

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

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T19:02:25.897Z,1370286145.897 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:02:26.270Z,1370286146.270 [Default] Stopped
2013-06-03T19:02:26.270Z,1370286146.270 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:02:26.270Z,1370286146.270 [Default:GPS] Stopped
2013-06-03T19:02:26.271Z,1370286146.270 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:02:26.271Z,1370286146.270 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:02:26.271Z,1370286146.271 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:02:26.271Z,1370286146.271 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:02:26.271Z,1370286146.271 [Default:Iridium] Stopped
2013-06-03T19:02:26.271Z,1370286146.271 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:02:26.271Z,1370286146.271 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:02:26.271Z,1370286146.271 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:02:26.271Z,1370286146.271 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:02:26.271Z,1370286146.271 [Default:CallIridium] Stopped
2013-06-03T19:02:26.271Z,1370286146.271 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:02:26.271Z,1370286146.271 [Default:CallIridium:B] Stopped
2013-06-03T19:02:26.272Z,1370286146.272 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:02:26.276Z,1370286146.276 [Default:D.SetSpeed] Stopped
2013-06-03T19:02:26.276Z,1370286146.276 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:02:26.276Z,1370286146.276 [Default:E.GoToSurface] Stopped
2013-06-03T19:02:26.276Z,1370286146.276 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:02:26.277Z,1370286146.277 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit] Running Loop=1
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit:A] Running Loop=1
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T19:02:26.277Z,1370286146.277 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T19:02:26.278Z,1370286146.278 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T19:02:26.278Z,1370286146.278 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T19:02:26.278Z,1370286146.278 [homing_pursuit:E] Running Loop=1
2013-06-03T19:02:26.278Z,1370286146.278 [homing_pursuit:F] Running Loop=1
2013-06-03T19:02:26.278Z,1370286146.279 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T19:02:26.279Z,1370286146.279 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:02:26.280Z,1370286146.280 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T19:02:26.304Z,1370286146.304 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:02:26.304Z,1370286146.304 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T19:02:26.305Z,1370286146.305 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:02:26.306Z,1370286146.306 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:02:26.307Z,1370286146.307 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:02:26.313Z,1370286146.313 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:02:26.314Z,1370286146.314 [homing_pursuit:F] Running Loop=1
2013-06-03T19:02:26.315Z,1370286146.315 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:02:26.315Z,1370286146.315 [homing_pursuit:E] Running Loop=1
2013-06-03T19:02:26.321Z,1370286146.321 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:02:26.321Z,1370286146.321 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:02:26.321Z,1370286146.321 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:02:26.324Z,1370286146.324 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:02:26.325Z,1370286146.325 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T19:02:26.326Z,1370286146.326 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T19:02:26.327Z,1370286146.327 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T19:02:26.337Z,1370286146.337 [homing_pursuit:A] Running Loop=1
2013-06-03T19:02:26.337Z,1370286146.337 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:02:26.669Z,1370286146.669 [DAT](INFO): Powering up
2013-06-03T19:02:28.329Z,1370286148.329 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:02:28.330Z,1370286148.330 [DVL_micro](INFO): Querying output modes
2013-06-03T19:02:28.330Z,1370286148.330 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:02:28.346Z,1370286148.346 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:02:28.347Z,1370286148.346 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:02:28.347Z,1370286148.347 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:02:28.361Z,1370286148.361 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:02:30.872Z,1370286150.872 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:33.449Z,1370286153.449 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:33.794Z,1370286153.794 [NAL9602](INFO): Powering down
2013-06-03T19:02:36.053Z,1370286156.053 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:38.605Z,1370286158.605 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:41.160Z,1370286161.160 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:43.720Z,1370286163.720 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:46.268Z,1370286166.268 [DVL_micro](DEBUG): NQ1
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit] Stopped
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T19:02:47.081Z,1370286167.081 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T19:02:47.083Z,1370286167.083 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:02:47.083Z,1370286167.083 [homing_pursuit] Stopped
2013-06-03T19:02:47.083Z,1370286167.083 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:02:47.083Z,1370286167.083 [homing_pursuit:A] Stopped
2013-06-03T19:02:47.084Z,1370286167.084 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T19:02:47.084Z,1370286167.084 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T19:02:47.084Z,1370286167.084 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T19:02:47.108Z,1370286167.108 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T19:02:47.108Z,1370286167.108 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T19:02:47.108Z,1370286167.108 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T19:02:47.108Z,1370286167.109 [homing_pursuit:E] Stopped
2013-06-03T19:02:47.108Z,1370286167.109 [homing_pursuit:F] Stopped
2013-06-03T19:02:47.554Z,1370286167.554 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:02:47.554Z,1370286167.554 [Default] Running Loop=1
2013-06-03T19:02:47.554Z,1370286167.554 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:02:47.554Z,1370286167.554 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:02:47.554Z,1370286167.554 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:02:47.554Z,1370286167.554 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:02:47.554Z,1370286167.554 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:02:47.554Z,1370286167.555 [Default:Iridium] Running Loop=1
2013-06-03T19:02:47.555Z,1370286167.555 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:02:47.555Z,1370286167.555 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:02:47.555Z,1370286167.555 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:02:47.555Z,1370286167.555 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:02:47.555Z,1370286167.555 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:02:47.561Z,1370286167.561 [Default:CallIridium] Running Loop=1
2013-06-03T19:02:47.561Z,1370286167.561 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:02:47.561Z,1370286167.561 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:02:47.562Z,1370286167.562 [Default:CallIridium:A] Stopped
2013-06-03T19:02:47.562Z,1370286167.562 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:02:47.562Z,1370286167.562 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:02:47.563Z,1370286167.563 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:02:47.563Z,1370286167.563 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:02:47.563Z,1370286167.563 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:02:47.563Z,1370286167.563 [Default:GPS] Running Loop=1
2013-06-03T19:02:47.563Z,1370286167.563 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:02:47.564Z,1370286167.564 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:02:47.564Z,1370286167.564 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:02:47.569Z,1370286167.569 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:02:47.569Z,1370286167.569 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:02:47.570Z,1370286167.570 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:02:47.570Z,1370286167.570 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:02:47.570Z,1370286167.570 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:02:48.041Z,1370286168.041 [DAT](INFO): Powering down
2013-06-03T19:02:48.394Z,1370286168.394 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:02:48.451Z,1370286168.451 [NAL9602](INFO): Powering up
2013-06-03T19:02:59.073Z,1370286179.073 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:03:10.292Z,1370286190.292 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:03:10.292Z,1370286190.292 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:03:10.423Z,1370286190.423 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T19:03:10.425Z,1370286190.425 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T19:03:10.428Z,1370286190.428 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T19:03:10.442Z,1370286190.442 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T19:03:10.445Z,1370286190.445 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T19:03:10.447Z,1370286190.447 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:03:10.462Z,1370286190.462 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:03:10.464Z,1370286190.464 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:03:10.467Z,1370286190.467 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T19:03:10.481Z,1370286190.481 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T19:03:10.516Z,1370286190.516 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:03:10.518Z,1370286190.518 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T19:03:10.521Z,1370286190.521 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:03:10.523Z,1370286190.523 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T19:03:10.542Z,1370286190.542 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T19:03:10.553Z,1370286190.553 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T19:03:10.555Z,1370286190.555 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T19:03:10.578Z,1370286190.578 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T19:03:10.597Z,1370286190.597 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T19:03:10.599Z,1370286190.599 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:03:10.615Z,1370286190.615 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-06-03T19:03:10.653Z,1370286190.653 [homing_pursuit:C.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-06-03T19:03:10.676Z,1370286190.676 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2013-06-03T19:03:10.709Z,1370286190.709 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T19:03:10.721Z,1370286190.721 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:03:10.732Z,1370286190.732 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T19:03:10.734Z,1370286190.734 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T19:03:10.749Z,1370286190.749 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T19:03:10.780Z,1370286190.780 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>-2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Sequence">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

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

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T19:03:10.781Z,1370286190.781 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:03:10.909Z,1370286190.909 [Default] Stopped
2013-06-03T19:03:10.910Z,1370286190.910 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:03:10.910Z,1370286190.910 [Default:GPS] Stopped
2013-06-03T19:03:10.910Z,1370286190.910 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:03:10.910Z,1370286190.910 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:03:10.910Z,1370286190.910 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:03:10.910Z,1370286190.910 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:03:10.910Z,1370286190.910 [Default:Iridium] Stopped
2013-06-03T19:03:10.910Z,1370286190.910 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:03:10.910Z,1370286190.910 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:03:10.910Z,1370286190.911 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:03:10.910Z,1370286190.911 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:03:10.911Z,1370286190.911 [Default:CallIridium] Stopped
2013-06-03T19:03:10.911Z,1370286190.911 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:03:10.911Z,1370286190.911 [Default:CallIridium:B] Stopped
2013-06-03T19:03:10.911Z,1370286190.911 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:03:10.911Z,1370286190.911 [Default:D.SetSpeed] Stopped
2013-06-03T19:03:10.911Z,1370286190.911 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:03:10.911Z,1370286190.911 [Default:E.GoToSurface] Stopped
2013-06-03T19:03:10.911Z,1370286190.911 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:03:10.911Z,1370286190.911 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:03:10.912Z,1370286190.912 [homing_pursuit] Running Loop=1
2013-06-03T19:03:10.921Z,1370286190.921 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:03:10.921Z,1370286190.921 [homing_pursuit:A] Running Loop=1
2013-06-03T19:03:10.921Z,1370286190.921 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T19:03:10.921Z,1370286190.921 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2013-06-03T19:03:10.921Z,1370286190.921 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T19:03:10.921Z,1370286190.921 [homing_pursuit:C.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2013-06-03T19:03:10.923Z,1370286190.922 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:E] Running Loop=1
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:F] Running Loop=1
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:03:10.923Z,1370286190.923 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T19:03:10.924Z,1370286190.924 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:03:10.924Z,1370286190.924 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:03:10.924Z,1370286190.924 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:03:10.932Z,1370286190.932 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T19:03:10.932Z,1370286190.932 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:03:10.933Z,1370286190.932 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T19:03:10.933Z,1370286190.933 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:03:10.933Z,1370286190.933 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T19:03:10.935Z,1370286190.935 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:03:10.937Z,1370286190.937 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:03:10.938Z,1370286190.938 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:03:10.939Z,1370286190.939 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:03:10.945Z,1370286190.945 [homing_pursuit:F] Running Loop=1
2013-06-03T19:03:10.946Z,1370286190.946 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:03:10.947Z,1370286190.947 [homing_pursuit:E] Running Loop=1
2013-06-03T19:03:10.947Z,1370286190.947 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:03:10.952Z,1370286190.953 [homing_pursuit:D.OffshoreEnvelope] Running Loop=1
2013-06-03T19:03:10.954Z,1370286190.954 [homing_pursuit:C.DepthEnvelope] Running Loop=1
2013-06-03T19:03:10.955Z,1370286190.955 [homing_pursuit:B.AltitudeEnvelope] Running Loop=1
2013-06-03T19:03:10.956Z,1370286190.956 [homing_pursuit:A] Running Loop=1
2013-06-03T19:03:10.961Z,1370286190.961 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:03:11.029Z,1370286191.029 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:03:11.029Z,1370286191.029 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:03:11.030Z,1370286191.030 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:03:11.800Z,1370286191.800 [DAT](INFO): Powering up
2013-06-03T19:03:13.037Z,1370286193.037 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:03:13.037Z,1370286193.037 [DVL_micro](INFO): Querying output modes
2013-06-03T19:03:13.037Z,1370286193.037 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:03:13.048Z,1370286193.048 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:03:13.048Z,1370286193.048 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:03:13.049Z,1370286193.049 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:03:13.062Z,1370286193.062 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:03:15.576Z,1370286195.576 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:17.891Z,1370286197.891 [NAL9602](INFO): Powering down
2013-06-03T19:03:18.152Z,1370286198.152 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:20.700Z,1370286200.700 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:23.248Z,1370286203.248 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:25.792Z,1370286205.792 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:28.348Z,1370286208.348 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:30.891Z,1370286210.891 [DVL_micro](DEBUG): NQ1
2013-06-03T19:03:31.654Z,1370286211.654 [homing_pursuit:Pursuit] Stopped
2013-06-03T19:03:31.654Z,1370286211.654 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T19:03:31.654Z,1370286211.654 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T19:03:31.654Z,1370286211.654 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T19:03:31.654Z,1370286211.654 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:03:31.655Z,1370286211.655 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T19:03:31.655Z,1370286211.655 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:03:31.655Z,1370286211.655 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T19:03:31.655Z,1370286211.655 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T19:03:31.663Z,1370286211.663 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:03:31.663Z,1370286211.663 [homing_pursuit] Stopped
2013-06-03T19:03:31.664Z,1370286211.664 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:03:31.664Z,1370286211.664 [homing_pursuit:A] Stopped
2013-06-03T19:03:31.664Z,1370286211.664 [homing_pursuit:B.AltitudeEnvelope] Stopped
2013-06-03T19:03:31.670Z,1370286211.671 [homing_pursuit:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2013-06-03T19:03:31.671Z,1370286211.671 [homing_pursuit:C.DepthEnvelope] Stopped
2013-06-03T19:03:31.671Z,1370286211.671 [homing_pursuit:C.DepthEnvelope](DEBUG): Uninitialize.
2013-06-03T19:03:31.671Z,1370286211.671 [homing_pursuit:D.OffshoreEnvelope] Stopped
2013-06-03T19:03:31.671Z,1370286211.671 [homing_pursuit:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2013-06-03T19:03:31.671Z,1370286211.671 [homing_pursuit:E] Stopped
2013-06-03T19:03:31.671Z,1370286211.671 [homing_pursuit:F] Stopped
2013-06-03T19:03:32.550Z,1370286212.550 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:03:32.550Z,1370286212.550 [Default] Running Loop=1
2013-06-03T19:03:32.550Z,1370286212.550 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:03:32.550Z,1370286212.550 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:03:32.550Z,1370286212.550 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:03:32.551Z,1370286212.551 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:03:32.551Z,1370286212.551 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:03:32.551Z,1370286212.551 [Default:Iridium] Running Loop=1
2013-06-03T19:03:32.551Z,1370286212.551 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:03:32.551Z,1370286212.551 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:03:32.551Z,1370286212.551 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:03:32.551Z,1370286212.551 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:03:32.552Z,1370286212.552 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:03:32.569Z,1370286212.569 [Default:CallIridium] Running Loop=1
2013-06-03T19:03:32.569Z,1370286212.569 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:03:32.570Z,1370286212.570 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:03:32.571Z,1370286212.571 [Default:CallIridium:A] Stopped
2013-06-03T19:03:32.571Z,1370286212.571 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:03:32.571Z,1370286212.571 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:03:32.574Z,1370286212.574 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:03:32.574Z,1370286212.574 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:03:32.574Z,1370286212.574 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:03:32.574Z,1370286212.574 [Default:GPS] Running Loop=1
2013-06-03T19:03:32.575Z,1370286212.575 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:03:32.575Z,1370286212.575 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:03:32.575Z,1370286212.575 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:03:32.575Z,1370286212.575 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:03:32.575Z,1370286212.575 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:03:32.581Z,1370286212.580 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:03:32.581Z,1370286212.581 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:03:32.581Z,1370286212.581 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:03:32.990Z,1370286212.990 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:03:33.232Z,1370286213.232 [DAT](INFO): Powering down
2013-06-03T19:03:33.690Z,1370286213.690 [NAL9602](INFO): Powering up
2013-06-03T19:03:44.517Z,1370286224.517 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:04:17.831Z,1370286257.831 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:04:17.831Z,1370286257.831 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:04:17.980Z,1370286257.980 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T19:04:17.983Z,1370286257.983 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T19:04:18.010Z,1370286258.010 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T19:04:18.016Z,1370286258.016 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T19:04:18.019Z,1370286258.019 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T19:04:18.021Z,1370286258.021 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:04:18.023Z,1370286258.023 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:04:18.044Z,1370286258.044 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:04:18.046Z,1370286258.046 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T19:04:18.061Z,1370286258.061 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T19:04:18.063Z,1370286258.063 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:04:18.065Z,1370286258.065 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T19:04:18.068Z,1370286258.068 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:04:18.119Z,1370286258.119 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T19:04:18.133Z,1370286258.133 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T19:04:18.135Z,1370286258.135 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T19:04:18.138Z,1370286258.138 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T19:04:18.152Z,1370286258.152 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T19:04:18.155Z,1370286258.155 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T19:04:18.162Z,1370286258.161 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:04:18.176Z,1370286258.176 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T19:04:18.182Z,1370286258.182 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:04:18.198Z,1370286258.198 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T19:04:18.209Z,1370286258.209 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T19:04:18.216Z,1370286258.216 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T19:04:18.250Z,1370286258.250 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

<!--
    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>
-->

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Sequence">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

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

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T19:04:18.251Z,1370286258.251 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:04:18.519Z,1370286258.519 [Default] Stopped
2013-06-03T19:04:18.519Z,1370286258.519 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:04:18.519Z,1370286258.519 [Default:GPS] Stopped
2013-06-03T19:04:18.520Z,1370286258.520 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:04:18.520Z,1370286258.520 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:04:18.520Z,1370286258.520 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:04:18.520Z,1370286258.520 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:04:18.524Z,1370286258.524 [Default:Iridium] Stopped
2013-06-03T19:04:18.525Z,1370286258.524 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:04:18.525Z,1370286258.525 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:04:18.525Z,1370286258.525 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:04:18.525Z,1370286258.525 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:04:18.525Z,1370286258.525 [Default:CallIridium] Stopped
2013-06-03T19:04:18.525Z,1370286258.525 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:04:18.525Z,1370286258.525 [Default:CallIridium:B] Stopped
2013-06-03T19:04:18.525Z,1370286258.525 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:04:18.526Z,1370286258.526 [Default:D.SetSpeed] Stopped
2013-06-03T19:04:18.526Z,1370286258.526 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:04:18.526Z,1370286258.526 [Default:E.GoToSurface] Stopped
2013-06-03T19:04:18.526Z,1370286258.526 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:04:18.526Z,1370286258.526 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:04:18.526Z,1370286258.526 [homing_pursuit] Running Loop=1
2013-06-03T19:04:18.526Z,1370286258.526 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:04:18.526Z,1370286258.526 [homing_pursuit:A] Running Loop=1
2013-06-03T19:04:18.526Z,1370286258.526 [homing_pursuit:B] Running Loop=1
2013-06-03T19:04:18.526Z,1370286258.526 [homing_pursuit:C] Running Loop=1
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:04:18.527Z,1370286258.527 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T19:04:18.528Z,1370286258.528 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:04:18.528Z,1370286258.528 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T19:04:18.532Z,1370286258.532 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:04:18.533Z,1370286258.533 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T19:04:18.534Z,1370286258.534 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:04:18.535Z,1370286258.535 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:04:18.538Z,1370286258.537 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:04:18.540Z,1370286258.540 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:04:18.541Z,1370286258.541 [homing_pursuit:C] Running Loop=1
2013-06-03T19:04:18.542Z,1370286258.542 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:04:18.543Z,1370286258.543 [homing_pursuit:B] Running Loop=1
2013-06-03T19:04:18.549Z,1370286258.549 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:04:18.550Z,1370286258.550 [homing_pursuit:A] Running Loop=1
2013-06-03T19:04:18.551Z,1370286258.551 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:04:18.713Z,1370286258.713 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:04:18.713Z,1370286258.713 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:04:18.714Z,1370286258.714 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:04:19.351Z,1370286259.351 [DAT](INFO): Powering up
2013-06-03T19:04:20.720Z,1370286260.720 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:04:20.721Z,1370286260.721 [DVL_micro](INFO): Querying output modes
2013-06-03T19:04:20.721Z,1370286260.721 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:04:20.732Z,1370286260.732 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:04:20.733Z,1370286260.733 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:04:20.733Z,1370286260.733 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:04:20.744Z,1370286260.744 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:04:23.256Z,1370286263.256 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:25.219Z,1370286265.219 [NAL9602](INFO): Powering down
2013-06-03T19:04:25.808Z,1370286265.808 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:28.352Z,1370286268.352 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:30.920Z,1370286270.920 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:33.461Z,1370286273.461 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:36.028Z,1370286276.028 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:38.612Z,1370286278.612 [DVL_micro](DEBUG): NQ1
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit] Stopped
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T19:04:39.005Z,1370286279.005 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T19:04:39.006Z,1370286279.006 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:04:39.006Z,1370286279.006 [homing_pursuit] Stopped
2013-06-03T19:04:39.006Z,1370286279.006 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:04:39.006Z,1370286279.006 [homing_pursuit:A] Stopped
2013-06-03T19:04:39.007Z,1370286279.007 [homing_pursuit:B] Stopped
2013-06-03T19:04:39.007Z,1370286279.007 [homing_pursuit:C] Stopped
2013-06-03T19:04:39.363Z,1370286279.363 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:04:39.363Z,1370286279.363 [Default] Running Loop=1
2013-06-03T19:04:39.363Z,1370286279.363 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:04:39.363Z,1370286279.364 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:04:39.364Z,1370286279.364 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:04:39.364Z,1370286279.364 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:04:39.369Z,1370286279.369 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:04:39.369Z,1370286279.369 [Default:Iridium] Running Loop=1
2013-06-03T19:04:39.369Z,1370286279.369 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:04:39.369Z,1370286279.369 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:04:39.369Z,1370286279.369 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:04:39.370Z,1370286279.370 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:04:39.370Z,1370286279.370 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:04:39.371Z,1370286279.371 [Default:CallIridium] Running Loop=1
2013-06-03T19:04:39.371Z,1370286279.371 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:04:39.371Z,1370286279.371 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:04:39.372Z,1370286279.372 [Default:CallIridium:A] Stopped
2013-06-03T19:04:39.377Z,1370286279.377 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:04:39.377Z,1370286279.377 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:04:39.378Z,1370286279.378 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:04:39.378Z,1370286279.378 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:04:39.378Z,1370286279.378 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:04:39.378Z,1370286279.378 [Default:GPS] Running Loop=1
2013-06-03T19:04:39.378Z,1370286279.378 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:04:39.378Z,1370286279.378 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:04:39.379Z,1370286279.378 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:04:39.379Z,1370286279.379 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:04:39.379Z,1370286279.379 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:04:39.380Z,1370286279.380 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:04:39.380Z,1370286279.380 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:04:39.380Z,1370286279.380 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:04:39.817Z,1370286279.817 [DAT](INFO): Powering down
2013-06-03T19:04:40.218Z,1370286280.218 [NAL9602](INFO): Powering up
2013-06-03T19:04:40.714Z,1370286280.714 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:04:50.776Z,1370286290.776 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:05:25.269Z,1370286325.269 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:05:25.269Z,1370286325.269 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:05:25.406Z,1370286325.406 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T19:05:25.409Z,1370286325.409 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T19:05:25.411Z,1370286325.411 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T19:05:25.426Z,1370286325.425 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T19:05:25.428Z,1370286325.428 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T19:05:25.430Z,1370286325.430 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:05:25.445Z,1370286325.445 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:05:25.447Z,1370286325.447 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:05:25.449Z,1370286325.450 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T19:05:25.452Z,1370286325.452 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T19:05:25.472Z,1370286325.471 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:05:25.474Z,1370286325.474 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T19:05:25.505Z,1370286325.505 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:05:25.507Z,1370286325.507 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T19:05:25.510Z,1370286325.510 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T19:05:25.532Z,1370286325.532 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T19:05:25.535Z,1370286325.534 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T19:05:25.537Z,1370286325.537 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T19:05:25.539Z,1370286325.539 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T19:05:25.555Z,1370286325.555 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:05:25.577Z,1370286325.577 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T19:05:25.599Z,1370286325.599 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:05:25.613Z,1370286325.613 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T19:05:25.615Z,1370286325.615 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T19:05:25.641Z,1370286325.641 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T19:05:25.655Z,1370286325.655 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T19:05:25.679Z,1370286325.679 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

<!--
    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>
-->

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T19:05:25.679Z,1370286325.679 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:05:26.006Z,1370286326.006 [Default] Stopped
2013-06-03T19:05:26.007Z,1370286326.007 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:05:26.007Z,1370286326.007 [Default:GPS] Stopped
2013-06-03T19:05:26.007Z,1370286326.007 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:05:26.007Z,1370286326.007 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:05:26.007Z,1370286326.007 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:05:26.007Z,1370286326.007 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:05:26.007Z,1370286326.007 [Default:Iridium] Stopped
2013-06-03T19:05:26.007Z,1370286326.007 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:05:26.007Z,1370286326.007 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:05:26.007Z,1370286326.007 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:05:26.007Z,1370286326.007 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:05:26.008Z,1370286326.008 [Default:CallIridium] Stopped
2013-06-03T19:05:26.008Z,1370286326.008 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:05:26.020Z,1370286326.020 [Default:CallIridium:B] Stopped
2013-06-03T19:05:26.020Z,1370286326.020 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:05:26.020Z,1370286326.020 [Default:D.SetSpeed] Stopped
2013-06-03T19:05:26.020Z,1370286326.020 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:05:26.020Z,1370286326.020 [Default:E.GoToSurface] Stopped
2013-06-03T19:05:26.021Z,1370286326.020 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:05:26.021Z,1370286326.021 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:05:26.021Z,1370286326.021 [homing_pursuit] Running Loop=1
2013-06-03T19:05:26.021Z,1370286326.021 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:05:26.021Z,1370286326.021 [homing_pursuit:A] Running Loop=1
2013-06-03T19:05:26.021Z,1370286326.021 [homing_pursuit:B] Running Loop=1
2013-06-03T19:05:26.021Z,1370286326.021 [homing_pursuit:C] Running Loop=1
2013-06-03T19:05:26.021Z,1370286326.021 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:05:26.022Z,1370286326.022 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T19:05:26.023Z,1370286326.023 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:05:26.023Z,1370286326.023 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T19:05:26.023Z,1370286326.023 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T19:05:26.023Z,1370286326.023 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:05:26.024Z,1370286326.024 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:05:26.025Z,1370286326.025 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:05:26.026Z,1370286326.026 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:05:26.027Z,1370286326.027 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:05:26.028Z,1370286326.028 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:05:26.029Z,1370286326.029 [homing_pursuit:C] Running Loop=1
2013-06-03T19:05:26.030Z,1370286326.030 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:05:26.031Z,1370286326.031 [homing_pursuit:B] Running Loop=1
2013-06-03T19:05:26.031Z,1370286326.031 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:05:26.033Z,1370286326.033 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:05:26.033Z,1370286326.033 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:05:26.033Z,1370286326.033 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:05:26.036Z,1370286326.036 [homing_pursuit:A] Running Loop=1
2013-06-03T19:05:26.037Z,1370286326.037 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:05:26.307Z,1370286326.307 [DAT](INFO): Powering up
2013-06-03T19:05:28.041Z,1370286328.041 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:05:28.041Z,1370286328.041 [DVL_micro](INFO): Querying output modes
2013-06-03T19:05:28.041Z,1370286328.041 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:05:28.057Z,1370286328.057 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:05:28.057Z,1370286328.057 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:05:28.057Z,1370286328.057 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:05:28.069Z,1370286328.069 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:05:30.580Z,1370286330.580 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:31.631Z,1370286331.631 [NAL9602](INFO): Powering down
2013-06-03T19:05:33.140Z,1370286333.141 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:35.693Z,1370286335.693 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:38.252Z,1370286338.252 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:40.811Z,1370286340.810 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:43.376Z,1370286343.376 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:45.940Z,1370286345.940 [DVL_micro](DEBUG): NQ1
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit] Stopped
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T19:05:46.133Z,1370286346.133 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T19:05:46.133Z,1370286346.134 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:05:46.134Z,1370286346.134 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:05:46.134Z,1370286346.134 [homing_pursuit] Stopped
2013-06-03T19:05:46.134Z,1370286346.135 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:05:46.135Z,1370286346.135 [homing_pursuit:A] Stopped
2013-06-03T19:05:46.135Z,1370286346.135 [homing_pursuit:B] Stopped
2013-06-03T19:05:46.135Z,1370286346.135 [homing_pursuit:C] Stopped
2013-06-03T19:05:46.544Z,1370286346.544 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:05:46.544Z,1370286346.544 [Default] Running Loop=1
2013-06-03T19:05:46.544Z,1370286346.545 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:05:46.545Z,1370286346.545 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:05:46.545Z,1370286346.545 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:05:46.545Z,1370286346.545 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:05:46.545Z,1370286346.545 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:05:46.545Z,1370286346.545 [Default:Iridium] Running Loop=1
2013-06-03T19:05:46.545Z,1370286346.545 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:05:46.545Z,1370286346.545 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:05:46.545Z,1370286346.545 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:05:46.546Z,1370286346.546 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:05:46.546Z,1370286346.546 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:05:46.547Z,1370286346.547 [Default:CallIridium] Running Loop=1
2013-06-03T19:05:46.547Z,1370286346.547 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:05:46.547Z,1370286346.547 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:05:46.548Z,1370286346.548 [Default:CallIridium:A] Stopped
2013-06-03T19:05:46.552Z,1370286346.552 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:05:46.552Z,1370286346.552 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:05:46.553Z,1370286346.553 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:05:46.553Z,1370286346.553 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:05:46.553Z,1370286346.553 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:05:46.554Z,1370286346.554 [Default:GPS] Running Loop=1
2013-06-03T19:05:46.554Z,1370286346.554 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:05:46.554Z,1370286346.554 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:05:46.554Z,1370286346.554 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:05:46.554Z,1370286346.554 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:05:46.554Z,1370286346.555 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:05:46.555Z,1370286346.555 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:05:46.555Z,1370286346.555 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:05:46.555Z,1370286346.556 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:05:47.025Z,1370286347.025 [DAT](INFO): Powering down
2013-06-03T19:05:47.506Z,1370286347.506 [NAL9602](INFO): Powering up
2013-06-03T19:05:48.055Z,1370286348.055 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:05:58.069Z,1370286358.069 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:11:27.700Z,1370286687.700 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:11:27.701Z,1370286687.701 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:11:27.771Z,1370286687.772 [MissionManager](ERROR): Cannot load Xml file ./Missions/Engineering/Homing_pursuit.xml due to: Error reading end tag.
2013-06-03T19:11:27.775Z,1370286687.774 [MissionManager](CRITICAL): Could not load mission ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:11:27.775Z,1370286687.775 [CommandLine](CRITICAL): Could not run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:12:27.545Z,1370286747.545 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T19:12:27.545Z,1370286747.545 [NAL9602] Data Fault, FailCount= 1
2013-06-03T19:12:27.545Z,1370286747.545 [NAL9602](ERROR): Data Fault
2013-06-03T19:12:27.653Z,1370286747.653 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T19:12:27.902Z,1370286747.902 [NAL9602](INFO): Powering down
2013-06-03T19:12:28.775Z,1370286748.776 [CBIT](INFO): Clearing failed state for component NAL9602
2013-06-03T19:12:28.775Z,1370286748.776 [NAL9602] No Fault, FailCount= 1
2013-06-03T19:12:33.073Z,1370286753.073 [NAL9602](INFO): Powering up NAL9602
2013-06-03T19:12:43.557Z,1370286763.556 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:13:50.301Z,1370286830.300 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:13:50.301Z,1370286830.301 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:13:50.417Z,1370286830.417 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLat = 36.814100 arcdeg
2013-06-03T19:13:50.419Z,1370286830.419 [MissionManager](INFO): DefineArg homing_pursuit.WpCloseLon = -121.827730 arcdeg
2013-06-03T19:13:50.430Z,1370286830.430 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLat = 36.818606 arcdeg
2013-06-03T19:13:50.436Z,1370286830.436 [MissionManager](INFO): DefineArg homing_pursuit.WpFarLon = -121.827730 arcdeg
2013-06-03T19:13:50.439Z,1370286830.439 [MissionManager](INFO): DefineArg homing_pursuit.Altitude = 10.000000 m
2013-06-03T19:13:50.445Z,1370286830.445 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:13:50.457Z,1370286830.457 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:13:50.469Z,1370286830.469 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:13:50.471Z,1370286830.471 [MissionManager](INFO): DefineArg homing_pursuit.NumberOfLaps = 0.000000 count
2013-06-03T19:13:50.481Z,1370286830.481 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.300000 m
2013-06-03T19:13:50.516Z,1370286830.516 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:13:50.518Z,1370286830.519 [MissionManager](INFO): DefineArg homing_pursuit.ApproachDepth = 10.000000 m
2013-06-03T19:13:50.530Z,1370286830.530 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:13:50.549Z,1370286830.549 [MissionManager](INFO): DefineArg homing_pursuit.ApproachTimeout = 30.000000 min
2013-06-03T19:13:50.551Z,1370286830.551 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 180.000000 min
2013-06-03T19:13:50.558Z,1370286830.558 [MissionManager](INFO): DefineArg homing_pursuit.WaitDuration = 0.500000 min
2013-06-03T19:13:50.564Z,1370286830.564 [MissionManager](INFO): DefineArg homing_pursuit.kpAltitude = -0.080000 n/a
2013-06-03T19:13:50.567Z,1370286830.567 [MissionManager](INFO): DefineArg homing_pursuit.kiAltitude = 0.000000 n/a
2013-06-03T19:13:50.573Z,1370286830.573 [MissionManager](INFO): DefineArg homing_pursuit.kdAltitude = 0.000000 n/a
2013-06-03T19:13:50.576Z,1370286830.576 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:13:50.617Z,1370286830.617 [homing_pursuit:PowerOnDAT:A.Wait](DEBUG): Construct Wait.
2013-06-03T19:13:50.631Z,1370286830.631 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Construct.
2013-06-03T19:13:50.644Z,1370286830.644 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:13:50.650Z,1370286830.650 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Construct.
2013-06-03T19:13:50.658Z,1370286830.658 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Construct.
2013-06-03T19:13:50.665Z,1370286830.665 [homing_pursuit:Pursuit:E.Point](DEBUG): Construct.
2013-06-03T19:13:50.676Z,1370286830.676 [homing_pursuit:Pursuit:F.Wait](DEBUG): Construct Wait.
2013-06-03T19:13:50.717Z,1370286830.717 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Waypoint list -->

    <DefineArg Name="WpCloseLat"><Description>
        Latitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>36.8141</Value></DefineArg>

    <DefineArg Name="WpCloseLon"><Description>
        Longitude of waypoint closest to MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

    <DefineArg Name="WpFarLat"><Description>
        Latitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>36.818605551593215</Value></DefineArg>

    <DefineArg Name="WpFarLon"><Description>
        Longitude of waypoint farthest from MBARI.
    </Description><Units:degree/><Value>-121.82773</Value></DefineArg>

<!-- 
     Close & far waypoints are separated by 500 m at bearing 0
-->

    <DefineArg Name="Altitude"><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="NumberOfLaps"><Description>
        2 pursuit homings per lap. One from each approach waypoint.
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>0.3</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

<!-- Approach Settings -->

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

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:minute/><Value>30</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Time allowed for actual pursuit homing.
    </Description><Units:minute/><Value>.5</Value></DefineArg>

    <DefineArg Name="kpAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>-0.08</Value></DefineArg>

    <DefineArg Name="kiAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="kdAltitude"><Description>
        PID loop parameter for following the bottom.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

<!--
    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>
-->

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

  <Aggregate Id="PowerOnDAT">
            <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
        </Guidance:Wait>

    </Aggregate>  	

    <Aggregate Id="Pursuit">

<!--
        <While><Universal:homing_target_range/>
            <Gt><Arg Name="MinRange"/></Gt>
        </While>
-->
        
        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>        

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

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

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

<!--
        <Aggregate Id="ApproachNear">

            <Description>
                Get to near waypoint.
            </Description>

            <Timeout Duration="ApproachTimeout"/>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Waypoint Id="WpApproach" RunIn="Sequence">
                <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCloseLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCloseLon"/></Setting>
            </Guidance:Waypoint>

            <Call RefId="SURFACECOMMS"/>

        </Aggregate>
-->

</Mission>


2013-06-03T19:13:50.718Z,1370286830.718 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:13:50.879Z,1370286830.879 [Default] Stopped
2013-06-03T19:13:50.879Z,1370286830.879 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:13:50.879Z,1370286830.879 [Default:GPS] Stopped
2013-06-03T19:13:50.879Z,1370286830.879 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:13:50.880Z,1370286830.880 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:13:50.880Z,1370286830.880 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:13:50.900Z,1370286830.900 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:13:50.900Z,1370286830.900 [Default:Iridium] Stopped
2013-06-03T19:13:50.900Z,1370286830.900 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:13:50.900Z,1370286830.900 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:13:50.900Z,1370286830.900 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:13:50.900Z,1370286830.901 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:13:50.901Z,1370286830.901 [Default:CallIridium] Stopped
2013-06-03T19:13:50.901Z,1370286830.901 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:13:50.901Z,1370286830.901 [Default:CallIridium:B] Stopped
2013-06-03T19:13:50.901Z,1370286830.901 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:13:50.901Z,1370286830.901 [Default:D.SetSpeed] Stopped
2013-06-03T19:13:50.901Z,1370286830.901 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:13:50.901Z,1370286830.901 [Default:E.GoToSurface] Stopped
2013-06-03T19:13:50.901Z,1370286830.901 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:13:50.901Z,1370286830.901 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit] Running Loop=1
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit:A] Running Loop=1
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit:B] Running Loop=1
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit:C] Running Loop=1
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-03T19:13:50.902Z,1370286830.902 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-03T19:13:50.903Z,1370286830.903 [homing_pursuit:PowerOnDAT:A.Wait] Running Loop=1
2013-06-03T19:13:50.903Z,1370286830.903 [homing_pursuit:PowerOnDAT:A.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:13:50.933Z,1370286830.933 [homing_pursuit:C] Running Loop=1
2013-06-03T19:13:50.933Z,1370286830.933 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:13:50.935Z,1370286830.935 [homing_pursuit:B] Running Loop=1
2013-06-03T19:13:50.935Z,1370286830.935 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:13:50.945Z,1370286830.945 [homing_pursuit:A] Running Loop=1
2013-06-03T19:13:50.946Z,1370286830.946 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:13:51.025Z,1370286831.025 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:13:51.026Z,1370286831.026 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:13:51.026Z,1370286831.026 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:13:51.275Z,1370286831.275 [DAT](INFO): Powering up
2013-06-03T19:13:53.033Z,1370286833.033 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:13:53.033Z,1370286833.033 [DVL_micro](INFO): Querying output modes
2013-06-03T19:13:53.033Z,1370286833.033 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:13:53.044Z,1370286833.044 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:13:53.045Z,1370286833.045 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:13:53.045Z,1370286833.045 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:13:53.057Z,1370286833.057 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:13:55.572Z,1370286835.572 [DVL_micro](DEBUG): NQ1
2013-06-03T19:13:57.164Z,1370286837.164 [NAL9602](INFO): Powering down
2013-06-03T19:13:58.124Z,1370286838.124 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:00.669Z,1370286840.668 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:03.228Z,1370286843.228 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:05.772Z,1370286845.772 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:08.376Z,1370286848.376 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:10.929Z,1370286850.929 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:13.480Z,1370286853.480 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:15.076Z,1370286855.076 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:15.077Z,1370286855.077 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:15.078Z,1370286855.078 [Reporter](INFO): DAT.homing_target_heading 168.899994 arcdeg
2013-06-03T19:14:16.028Z,1370286856.028 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:18.576Z,1370286858.576 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:19.011Z,1370286859.011 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:19.012Z,1370286859.011 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:19.025Z,1370286859.025 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:14:20.910Z,1370286860.910 [homing_pursuit:PowerOnDAT:A.Wait](INFO): Done Waiting.
2013-06-03T19:14:20.910Z,1370286860.910 [homing_pursuit:PowerOnDAT:A.Wait] Stopped
2013-06-03T19:14:20.910Z,1370286860.910 [homing_pursuit:PowerOnDAT:A.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:14:20.910Z,1370286860.910 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-03T19:14:20.910Z,1370286860.911 [homing_pursuit:PowerOnDAT] Stopped
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit] Running Loop=1
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit](INFO): Aggregate::initialize homing_pursuit:Pursuit
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit:A.Pitch](DEBUG): Initialize.
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:14:20.911Z,1370286860.911 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:14:20.912Z,1370286860.912 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Initialize.
2013-06-03T19:14:20.916Z,1370286860.916 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:14:20.916Z,1370286860.916 [homing_pursuit:Pursuit:D.Pitch](DEBUG): Initialize.
2013-06-03T19:14:20.916Z,1370286860.917 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:14:20.917Z,1370286860.917 [homing_pursuit:Pursuit:E.Point](DEBUG): Initialize.
2013-06-03T19:14:20.917Z,1370286860.917 [homing_pursuit:Pursuit:F.Wait] Running Loop=1
2013-06-03T19:14:20.917Z,1370286860.917 [homing_pursuit:Pursuit:F.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:14:21.137Z,1370286861.137 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:21.407Z,1370286861.407 [homing_pursuit:Pursuit:E.Point] Running Loop=1
2013-06-03T19:14:21.408Z,1370286861.408 [homing_pursuit:Pursuit:D.Pitch] Running Loop=1
2013-06-03T19:14:21.409Z,1370286861.409 [homing_pursuit:Pursuit:C.SetSpeed] Running Loop=1
2013-06-03T19:14:21.410Z,1370286861.410 [homing_pursuit:Pursuit:B.Buoyancy] Running Loop=1
2013-06-03T19:14:21.411Z,1370286861.411 [homing_pursuit:Pursuit:A.Pitch] Running Loop=1
2013-06-03T19:14:21.444Z,1370286861.444 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:21.835Z,1370286861.835 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:22.188Z,1370286862.188 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:22.808Z,1370286862.807 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:23.199Z,1370286863.199 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:23.200Z,1370286863.200 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:23.201Z,1370286863.201 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:23.202Z,1370286863.202 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:14:23.676Z,1370286863.676 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:23.692Z,1370286863.692 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:24.244Z,1370286864.244 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:24.656Z,1370286864.656 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:25.129Z,1370286865.129 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:25.536Z,1370286865.536 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:25.945Z,1370286865.945 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:26.264Z,1370286866.264 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:26.396Z,1370286866.396 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:26.733Z,1370286866.733 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:27.132Z,1370286867.132 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:27.133Z,1370286867.133 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:27.134Z,1370286867.134 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:27.134Z,1370286867.134 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:14:27.544Z,1370286867.544 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:28.003Z,1370286868.003 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:28.396Z,1370286868.396 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:28.772Z,1370286868.772 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:28.836Z,1370286868.836 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:29.224Z,1370286869.224 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:29.541Z,1370286869.541 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:30.044Z,1370286870.044 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:30.356Z,1370286870.356 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:30.812Z,1370286870.812 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:31.292Z,1370286871.292 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:31.293Z,1370286871.293 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:31.293Z,1370286871.293 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:31.294Z,1370286871.294 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:14:31.417Z,1370286871.417 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:31.704Z,1370286871.704 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:32.040Z,1370286872.040 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:32.448Z,1370286872.448 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:32.816Z,1370286872.816 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:33.320Z,1370286873.320 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:33.703Z,1370286873.703 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:33.972Z,1370286873.972 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:34.164Z,1370286874.164 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:34.544Z,1370286874.544 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:34.932Z,1370286874.932 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:35.532Z,1370286875.532 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:35.533Z,1370286875.533 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:35.533Z,1370286875.533 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:35.534Z,1370286875.534 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:14:35.904Z,1370286875.904 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:36.244Z,1370286876.244 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:36.536Z,1370286876.536 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:36.656Z,1370286876.656 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:37.048Z,1370286877.048 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:37.508Z,1370286877.508 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:37.880Z,1370286877.880 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:38.240Z,1370286878.240 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:38.616Z,1370286878.616 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:39.065Z,1370286879.065 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:39.092Z,1370286879.092 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:39.516Z,1370286879.516 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:39.516Z,1370286879.516 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:39.517Z,1370286879.517 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:39.518Z,1370286879.518 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:14:39.880Z,1370286879.880 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:40.392Z,1370286880.392 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:40.768Z,1370286880.768 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:41.206Z,1370286881.206 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:41.625Z,1370286881.625 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:41.652Z,1370286881.652 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:42.090Z,1370286882.090 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:42.417Z,1370286882.417 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:42.807Z,1370286882.807 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:43.232Z,1370286883.232 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:43.233Z,1370286883.233 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:43.233Z,1370286883.233 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:43.234Z,1370286883.234 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:14:43.633Z,1370286883.633 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:44.045Z,1370286884.045 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:44.204Z,1370286884.204 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:44.437Z,1370286884.437 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:44.811Z,1370286884.811 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:45.199Z,1370286885.199 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:45.708Z,1370286885.708 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:46.029Z,1370286886.029 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:46.459Z,1370286886.459 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:46.770Z,1370286886.770 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:46.872Z,1370286886.872 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:47.391Z,1370286887.391 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:47.392Z,1370286887.392 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:47.393Z,1370286887.393 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:47.393Z,1370286887.393 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:14:47.760Z,1370286887.760 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:48.252Z,1370286888.252 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:48.599Z,1370286888.599 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:49.004Z,1370286889.003 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:49.345Z,1370286889.345 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:49.408Z,1370286889.408 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:49.796Z,1370286889.796 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:50.160Z,1370286890.160 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:50.794Z,1370286890.794 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:51.204Z,1370286891.204 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:51.204Z,1370286891.204 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:51.205Z,1370286891.205 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:51.206Z,1370286891.205 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:14:51.608Z,1370286891.608 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:51.908Z,1370286891.908 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:51.956Z,1370286891.956 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:52.344Z,1370286892.344 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:52.748Z,1370286892.748 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:53.104Z,1370286893.104 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:53.564Z,1370286893.564 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:54.068Z,1370286894.068 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:54.465Z,1370286894.464 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:54.535Z,1370286894.535 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:54.910Z,1370286894.910 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:55.312Z,1370286895.312 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:55.312Z,1370286895.312 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:55.313Z,1370286895.313 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:55.313Z,1370286895.313 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:14:55.848Z,1370286895.848 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:56.203Z,1370286896.203 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:56.576Z,1370286896.576 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:57.016Z,1370286897.016 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:57.114Z,1370286897.114 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:57.472Z,1370286897.472 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:57.893Z,1370286897.894 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:58.303Z,1370286898.303 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:58.648Z,1370286898.648 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:59.113Z,1370286899.113 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:59.558Z,1370286899.558 [DVL_micro](DEBUG): NQ1
2013-06-03T19:14:59.563Z,1370286899.563 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:14:59.564Z,1370286899.564 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:14:59.565Z,1370286899.565 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:14:59.565Z,1370286899.565 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:15:00.064Z,1370286900.064 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:00.437Z,1370286900.437 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:00.964Z,1370286900.964 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:01.303Z,1370286901.303 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:01.712Z,1370286901.712 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:02.108Z,1370286902.108 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:02.120Z,1370286902.120 [DVL_micro](DEBUG): NQ1
2013-06-03T19:15:02.499Z,1370286902.499 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:02.896Z,1370286902.895 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:03.328Z,1370286903.328 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:15:03.329Z,1370286903.329 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:15:03.329Z,1370286903.329 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:03.330Z,1370286903.330 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:15:03.856Z,1370286903.856 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:04.208Z,1370286904.208 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:04.689Z,1370286904.689 [DVL_micro](DEBUG): NQ1
2013-06-03T19:15:04.703Z,1370286904.703 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:05.029Z,1370286905.029 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:05.412Z,1370286905.412 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:05.977Z,1370286905.977 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:06.312Z,1370286906.312 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:06.804Z,1370286906.804 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:07.199Z,1370286907.199 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:15:07.204Z,1370286907.204 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:15:07.205Z,1370286907.205 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:07.205Z,1370286907.205 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:15:07.240Z,1370286907.240 [DVL_micro](DEBUG): NQ1
2013-06-03T19:15:07.656Z,1370286907.656 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:08.008Z,1370286908.008 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:08.709Z,1370286908.709 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:09.076Z,1370286909.076 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:09.417Z,1370286909.417 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:09.800Z,1370286909.800 [DVL_micro](DEBUG): NQ1
2013-06-03T19:15:09.808Z,1370286909.808 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:10.303Z,1370286910.303 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:10.637Z,1370286910.637 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:11.204Z,1370286911.204 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:15:11.213Z,1370286911.213 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:15:11.213Z,1370286911.213 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:11.214Z,1370286911.214 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:15:11.577Z,1370286911.577 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:12.040Z,1370286912.040 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:12.348Z,1370286912.348 [DVL_micro](DEBUG): NQ1
2013-06-03T19:15:12.372Z,1370286912.372 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:12.836Z,1370286912.836 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:13.328Z,1370286913.328 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:13.676Z,1370286913.676 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:14.079Z,1370286914.079 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:14.440Z,1370286914.440 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:14.882Z,1370286914.882 [Reporter](INFO): HorizontalControl.headingCmd 5.175924 rad
2013-06-03T19:15:14.904Z,1370286914.904 [DVL_micro](DEBUG): NQ1
2013-06-03T19:15:15.202Z,1370286915.202 [homing_pursuit:Pursuit] Stopped
2013-06-03T19:15:15.202Z,1370286915.202 [homing_pursuit:Pursuit](INFO): Aggregate::uninitialize homing_pursuit:Pursuit
2013-06-03T19:15:15.202Z,1370286915.202 [homing_pursuit:Pursuit:A.Pitch] Stopped
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:B.Buoyancy] Stopped
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:C.SetSpeed] Stopped
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:C.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:D.Pitch] Stopped
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:E.Point] Stopped
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:F.Wait] Stopped
2013-06-03T19:15:15.203Z,1370286915.203 [homing_pursuit:Pursuit:F.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:15:15.204Z,1370286915.204 [homing_pursuit](INFO): Completed homing_pursuit
2013-06-03T19:15:15.212Z,1370286915.212 [homing_pursuit] Stopped
2013-06-03T19:15:15.212Z,1370286915.212 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:15:15.212Z,1370286915.212 [homing_pursuit:A] Stopped
2013-06-03T19:15:15.212Z,1370286915.212 [homing_pursuit:B] Stopped
2013-06-03T19:15:15.213Z,1370286915.213 [homing_pursuit:C] Stopped
2013-06-03T19:15:15.348Z,1370286915.348 [Reporter](INFO): DAT.homing_target_range 0.200000 m
2013-06-03T19:15:15.349Z,1370286915.349 [Reporter](INFO): homing_target_range 0.200000 m
2013-06-03T19:15:15.349Z,1370286915.349 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:15:15.574Z,1370286915.574 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:15:15.574Z,1370286915.574 [Default] Running Loop=1
2013-06-03T19:15:15.574Z,1370286915.574 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:15:15.574Z,1370286915.574 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:15:15.574Z,1370286915.574 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:15:15.574Z,1370286915.574 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:15:15.575Z,1370286915.575 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:15:15.575Z,1370286915.575 [Default:Iridium] Running Loop=1
2013-06-03T19:15:15.575Z,1370286915.575 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:15:15.575Z,1370286915.575 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:15:15.575Z,1370286915.575 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:15:15.575Z,1370286915.575 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:15:15.575Z,1370286915.575 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:15:15.581Z,1370286915.581 [Default:CallIridium] Running Loop=1
2013-06-03T19:15:15.581Z,1370286915.581 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:15:15.581Z,1370286915.582 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:15:15.582Z,1370286915.582 [Default:CallIridium:A] Stopped
2013-06-03T19:15:15.582Z,1370286915.582 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:15:15.582Z,1370286915.582 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:15:15.583Z,1370286915.583 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:15:15.583Z,1370286915.583 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:15:15.583Z,1370286915.583 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:15:15.584Z,1370286915.584 [Default:GPS] Running Loop=1
2013-06-03T19:15:15.584Z,1370286915.584 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:15:15.608Z,1370286915.608 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:15:15.608Z,1370286915.608 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:15:15.608Z,1370286915.608 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:15:15.609Z,1370286915.609 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:15:15.609Z,1370286915.609 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:15:15.609Z,1370286915.609 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:15:15.609Z,1370286915.609 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:15:16.139Z,1370286916.139 [DAT](INFO): Powering down
2013-06-03T19:15:16.634Z,1370286916.634 [NAL9602](INFO): Powering up
2013-06-03T19:15:17.034Z,1370286917.034 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:15:27.329Z,1370286927.329 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:22:47.161Z,1370287367.161 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T19:22:47.162Z,1370287367.162 [NAL9602] Data Fault, FailCount= 2
2013-06-03T19:22:47.162Z,1370287367.162 [NAL9602](ERROR): Data Fault
2013-06-03T19:22:47.265Z,1370287367.265 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T19:22:47.267Z,1370287367.267 [CBIT](CRITICAL): Data Fault in component: NAL9602
2013-06-03T19:22:47.558Z,1370287367.558 [NAL9602](INFO): Powering down
2013-06-03T19:24:47.331Z,1370287487.331 [CBIT](INFO): Clearing failed count for component NAL9602
2013-06-03T19:24:47.331Z,1370287487.331 [NAL9602] No Fault, FailCount= 2
2013-06-03T19:24:47.557Z,1370287487.557 [NAL9602](INFO): Powering up NAL9602
2013-06-03T19:24:58.373Z,1370287498.373 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:33:32.544Z,1370288012.545 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:33:32.545Z,1370288012.545 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:33:32.667Z,1370288012.667 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:33:32.674Z,1370288012.674 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:33:32.678Z,1370288012.678 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:33:32.682Z,1370288012.682 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-03T19:33:32.690Z,1370288012.690 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 20.000000 m
2013-06-03T19:33:32.694Z,1370288012.694 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:33:32.698Z,1370288012.698 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:33:32.704Z,1370288012.704 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-03T19:33:32.707Z,1370288012.707 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:33:32.714Z,1370288012.714 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-03T19:33:32.721Z,1370288012.721 [homing_pursuit:C.Pitch](DEBUG): Construct.
2013-06-03T19:33:32.730Z,1370288012.730 [homing_pursuit:D.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:33:32.772Z,1370288012.772 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:33:32.775Z,1370288012.776 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-03T19:33:32.794Z,1370288012.793 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-03T19:33:32.814Z,1370288012.814 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:33:32.817Z,1370288012.817 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-03T19:33:32.840Z,1370288012.840 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-03T19:33:32.877Z,1370288012.878 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-03T19:33:32.881Z,1370288012.881 [homing_pursuit:ClosePursuit:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:33:32.897Z,1370288012.898 [homing_pursuit:ClosePursuit:B.Pitch](DEBUG): Construct.
2013-06-03T19:33:32.913Z,1370288012.913 [homing_pursuit:ClosePursuit:C.Point](DEBUG): Construct.
2013-06-03T19:33:32.924Z,1370288012.924 [homing_pursuit:ClosePursuit:D.Wait](DEBUG): Construct Wait.
2013-06-03T19:33:32.943Z,1370288012.943 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:33:32.952Z,1370288012.952 [homing_pursuit:rollout:B.Pitch](DEBUG): Construct.
2013-06-03T19:33:32.985Z,1370288012.986 [homing_pursuit:rollout:C.Wait](DEBUG): Construct Wait.
2013-06-03T19:33:33.016Z,1370288013.016 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>.2</Value></DefineArg>

    <DefineArg Name="OnewayRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>20.0</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Units:minute/><Value>7</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

<!--
    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>
-->

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

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

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

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="PowerOnDAT">

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Units:second/><Value>60</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="InitialPursuit">

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="OnewayRange"/></Lt>
        </Until>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="ClosePursuit">

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="rollout">

        <Timeout Duration="RolloutTimeout"/>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

</Mission>


2013-06-03T19:33:33.016Z,1370288013.016 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:33:33.127Z,1370288013.127 [Default] Stopped
2013-06-03T19:33:33.127Z,1370288013.127 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:33:33.127Z,1370288013.127 [Default:GPS] Stopped
2013-06-03T19:33:33.127Z,1370288013.128 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:33:33.128Z,1370288013.128 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:33:33.128Z,1370288013.128 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:33:33.128Z,1370288013.128 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:33:33.132Z,1370288013.132 [Default:Iridium] Stopped
2013-06-03T19:33:33.132Z,1370288013.132 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:33:33.132Z,1370288013.132 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:33:33.132Z,1370288013.132 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:33:33.133Z,1370288013.133 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:33:33.133Z,1370288013.133 [Default:CallIridium] Stopped
2013-06-03T19:33:33.133Z,1370288013.133 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:33:33.133Z,1370288013.133 [Default:CallIridium:B] Stopped
2013-06-03T19:33:33.133Z,1370288013.133 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:33:33.133Z,1370288013.133 [Default:D.SetSpeed] Stopped
2013-06-03T19:33:33.133Z,1370288013.133 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:33:33.133Z,1370288013.133 [Default:E.GoToSurface] Stopped
2013-06-03T19:33:33.133Z,1370288013.133 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:33:33.133Z,1370288013.134 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit] Running Loop=1
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit:A] Running Loop=1
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit:B] Running Loop=1
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit:C.Pitch](DEBUG): Initialize.
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-03T19:33:33.134Z,1370288013.134 [homing_pursuit:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:33:33.134Z,1370288013.135 [homing_pursuit:E] Running Loop=1
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-03T19:33:33.135Z,1370288013.135 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-03T19:33:33.136Z,1370288013.136 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:33:33.169Z,1370288013.169 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-03T19:33:33.183Z,1370288013.183 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-03T19:33:33.196Z,1370288013.196 [homing_pursuit:E] Running Loop=1
2013-06-03T19:33:33.205Z,1370288013.205 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:33:33.206Z,1370288013.206 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-03T19:33:33.215Z,1370288013.215 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-03T19:33:33.228Z,1370288013.228 [homing_pursuit:B] Running Loop=1
2013-06-03T19:33:33.229Z,1370288013.229 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:33:33.230Z,1370288013.230 [homing_pursuit:A] Running Loop=1
2013-06-03T19:33:33.230Z,1370288013.230 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:33:33.445Z,1370288013.445 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:33:33.445Z,1370288013.445 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:33:33.446Z,1370288013.446 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:33:33.529Z,1370288013.529 [DAT](INFO): Powering up
2013-06-03T19:33:34.440Z,1370288014.440 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2013-06-03T19:33:34.440Z,1370288014.440 [ThrusterServo] Communications Fault, FailCount= 1
2013-06-03T19:33:34.440Z,1370288014.440 [ThrusterServo](ERROR): Communications Fault
2013-06-03T19:33:34.443Z,1370288014.443 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-03T19:33:34.874Z,1370288014.874 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-03T19:33:34.874Z,1370288014.874 [ThrusterServo](INFO): Powering down
2013-06-03T19:33:35.453Z,1370288015.453 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:33:35.453Z,1370288015.453 [DVL_micro](INFO): Querying output modes
2013-06-03T19:33:35.453Z,1370288015.453 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:33:35.464Z,1370288015.464 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:33:35.464Z,1370288015.464 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:33:35.465Z,1370288015.465 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:33:35.477Z,1370288015.477 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:33:35.726Z,1370288015.726 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T19:33:35.858Z,1370288015.858 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T19:33:35.861Z,1370288015.861 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-03T19:33:35.861Z,1370288015.861 [ThrusterServo] No Fault, FailCount= 1
2013-06-03T19:33:38.000Z,1370288018.000 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:38.951Z,1370288018.951 [NAL9602](INFO): Powering down
2013-06-03T19:33:40.569Z,1370288020.569 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:43.127Z,1370288023.127 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:45.684Z,1370288025.684 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:48.236Z,1370288028.236 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:50.804Z,1370288030.805 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:53.368Z,1370288033.368 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:55.924Z,1370288035.924 [DVL_micro](DEBUG): NQ1
2013-06-03T19:33:57.396Z,1370288037.396 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:33:57.397Z,1370288037.397 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:33:57.397Z,1370288037.397 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:33:58.477Z,1370288038.477 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:01.038Z,1370288041.037 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:01.600Z,1370288041.600 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:01.601Z,1370288041.601 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:01.601Z,1370288041.601 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:03.628Z,1370288043.628 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:05.608Z,1370288045.608 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:05.609Z,1370288045.609 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:05.609Z,1370288045.609 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:06.177Z,1370288046.177 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:08.748Z,1370288048.748 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:09.467Z,1370288049.467 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:09.467Z,1370288049.467 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:09.468Z,1370288049.468 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:11.304Z,1370288051.304 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:13.732Z,1370288053.732 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:13.732Z,1370288053.732 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:13.733Z,1370288053.733 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:34:13.860Z,1370288053.860 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:16.417Z,1370288056.417 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:17.765Z,1370288057.765 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T19:34:17.766Z,1370288057.766 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:34:17.767Z,1370288057.767 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:18.973Z,1370288058.973 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:21.529Z,1370288061.529 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:22.049Z,1370288062.049 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:22.049Z,1370288062.049 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:22.050Z,1370288062.050 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:24.121Z,1370288064.121 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:25.888Z,1370288065.888 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:25.889Z,1370288065.889 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:25.890Z,1370288065.890 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:34:26.704Z,1370288066.704 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:29.260Z,1370288069.260 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:30.004Z,1370288070.004 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:30.005Z,1370288070.005 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:30.006Z,1370288070.006 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:34:31.812Z,1370288071.812 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:33.316Z,1370288073.316 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-03T19:34:33.320Z,1370288073.320 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-03T19:34:33.320Z,1370288073.320 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:34:33.321Z,1370288073.321 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:PowerOnDAT] Stopped
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-03T19:34:33.322Z,1370288073.322 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:34:33.323Z,1370288073.323 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-03T19:34:33.323Z,1370288073.323 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T19:34:33.323Z,1370288073.323 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-03T19:34:33.323Z,1370288073.323 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-03T19:34:33.323Z,1370288073.323 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-03T19:34:33.323Z,1370288073.323 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit] Stopped
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-03T19:34:33.886Z,1370288073.886 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:34:33.887Z,1370288073.886 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit:A.SetSpeed] Running Loop=1
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit:B.Pitch] Running Loop=1
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit:C.Point] Running Loop=1
2013-06-03T19:34:33.887Z,1370288073.887 [homing_pursuit:ClosePursuit:C.Point](DEBUG): Initialize.
2013-06-03T19:34:33.888Z,1370288073.888 [homing_pursuit:ClosePursuit:D.Wait] Running Loop=1
2013-06-03T19:34:33.892Z,1370288073.892 [homing_pursuit:ClosePursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:34:33.952Z,1370288073.952 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:33.953Z,1370288073.953 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:33.953Z,1370288073.954 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:34:34.272Z,1370288074.272 [homing_pursuit:ClosePursuit:C.Point] Running Loop=1
2013-06-03T19:34:34.286Z,1370288074.286 [homing_pursuit:ClosePursuit:B.Pitch] Running Loop=1
2013-06-03T19:34:34.299Z,1370288074.299 [homing_pursuit:ClosePursuit:A.SetSpeed] Running Loop=1
2013-06-03T19:34:34.372Z,1370288074.372 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:34.492Z,1370288074.492 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:34.875Z,1370288074.875 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:35.186Z,1370288075.186 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:35.760Z,1370288075.760 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:36.124Z,1370288076.124 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:36.585Z,1370288076.585 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:36.924Z,1370288076.924 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:37.048Z,1370288077.048 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:37.592Z,1370288077.592 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:38.004Z,1370288078.004 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:38.005Z,1370288078.005 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:38.006Z,1370288078.006 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:38.007Z,1370288078.007 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:34:38.584Z,1370288078.584 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:38.960Z,1370288078.960 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:39.365Z,1370288079.365 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:39.533Z,1370288079.533 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:39.736Z,1370288079.736 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:40.280Z,1370288080.280 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:40.609Z,1370288080.609 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:41.032Z,1370288081.032 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:41.432Z,1370288081.432 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:41.924Z,1370288081.924 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:42.121Z,1370288082.121 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:42.396Z,1370288082.396 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:42.396Z,1370288082.396 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:42.397Z,1370288082.397 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:42.398Z,1370288082.398 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:34:42.945Z,1370288082.945 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:43.385Z,1370288083.385 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:43.896Z,1370288083.896 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:44.337Z,1370288084.337 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:44.676Z,1370288084.676 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:44.683Z,1370288084.683 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:45.104Z,1370288085.104 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:45.509Z,1370288085.509 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:45.910Z,1370288085.909 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:46.344Z,1370288086.344 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:46.344Z,1370288086.344 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:46.345Z,1370288086.345 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:46.346Z,1370288086.346 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:46.804Z,1370288086.804 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:47.119Z,1370288087.119 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:47.226Z,1370288087.226 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:47.524Z,1370288087.524 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:47.904Z,1370288087.904 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:48.412Z,1370288088.412 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:48.900Z,1370288088.900 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:49.360Z,1370288089.360 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:49.676Z,1370288089.676 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:49.800Z,1370288089.800 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:50.236Z,1370288090.236 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T19:34:50.237Z,1370288090.237 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:34:50.237Z,1370288090.237 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:50.238Z,1370288090.238 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:50.607Z,1370288090.607 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:50.976Z,1370288090.976 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:51.440Z,1370288091.440 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:51.776Z,1370288091.776 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:52.167Z,1370288092.167 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:52.372Z,1370288092.372 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:52.576Z,1370288092.576 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:53.012Z,1370288093.012 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:53.404Z,1370288093.404 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:53.932Z,1370288093.932 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:54.205Z,1370288094.205 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd degree
2013-06-03T19:34:54.205Z,1370288094.205 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 137.738920 degree
2013-06-03T19:34:54.281Z,1370288094.281 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:54.281Z,1370288094.281 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:54.282Z,1370288094.282 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:54.282Z,1370288094.283 [Reporter](INFO): DAT.homing_target_heading 169.300003 arcdeg
2013-06-03T19:34:54.704Z,1370288094.704 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:54.936Z,1370288094.936 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:55.080Z,1370288095.080 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:55.513Z,1370288095.513 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:55.888Z,1370288095.888 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:56.424Z,1370288096.424 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:56.756Z,1370288096.756 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:57.188Z,1370288097.188 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:57.517Z,1370288097.517 [DVL_micro](DEBUG): NQ1
2013-06-03T19:34:57.556Z,1370288097.556 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:57.967Z,1370288097.967 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:58.404Z,1370288098.404 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:34:58.405Z,1370288098.405 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:34:58.405Z,1370288098.405 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:58.406Z,1370288098.406 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:34:58.900Z,1370288098.900 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:59.212Z,1370288099.212 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:34:59.676Z,1370288099.676 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:00.104Z,1370288100.104 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:00.119Z,1370288100.119 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:00.578Z,1370288100.578 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:00.932Z,1370288100.932 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:01.417Z,1370288101.417 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:01.740Z,1370288101.740 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:02.221Z,1370288102.221 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:02.221Z,1370288102.221 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:02.222Z,1370288102.222 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:02.223Z,1370288102.223 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:35:02.572Z,1370288102.572 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:02.668Z,1370288102.668 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:03.016Z,1370288103.016 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:03.352Z,1370288103.352 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:03.869Z,1370288103.869 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:04.200Z,1370288104.200 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:04.580Z,1370288104.580 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:04.980Z,1370288104.980 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:05.261Z,1370288105.261 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:05.436Z,1370288105.436 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:05.804Z,1370288105.804 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:06.276Z,1370288106.276 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:06.276Z,1370288106.276 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:06.277Z,1370288106.277 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:06.278Z,1370288106.278 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:35:06.620Z,1370288106.620 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:07.044Z,1370288107.044 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:07.396Z,1370288107.396 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:07.836Z,1370288107.836 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:07.892Z,1370288107.892 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:08.252Z,1370288108.252 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:08.669Z,1370288108.669 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:08.975Z,1370288108.975 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:09.476Z,1370288109.476 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:09.769Z,1370288109.769 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:10.184Z,1370288110.184 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:10.184Z,1370288110.184 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:10.185Z,1370288110.185 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:10.185Z,1370288110.185 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:35:10.424Z,1370288110.424 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:10.644Z,1370288110.644 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:11.067Z,1370288111.067 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:11.744Z,1370288111.744 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:12.324Z,1370288112.324 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:12.733Z,1370288112.733 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:13.012Z,1370288113.012 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:13.108Z,1370288113.108 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:13.496Z,1370288113.496 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:13.541Z,1370288113.541 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd degree
2013-06-03T19:35:13.541Z,1370288113.541 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 137.738920 degree
2013-06-03T19:35:13.940Z,1370288113.940 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:14.409Z,1370288114.409 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:14.410Z,1370288114.410 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:14.410Z,1370288114.410 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:14.411Z,1370288114.411 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:35:14.776Z,1370288114.776 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:15.136Z,1370288115.136 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:15.572Z,1370288115.572 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:15.572Z,1370288115.572 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:15.992Z,1370288115.992 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:16.413Z,1370288116.413 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:16.804Z,1370288116.804 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:17.269Z,1370288117.269 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:17.616Z,1370288117.616 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:18.036Z,1370288118.036 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:18.137Z,1370288118.136 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:18.412Z,1370288118.412 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:18.413Z,1370288118.413 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:18.413Z,1370288118.413 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:18.414Z,1370288118.414 [Reporter](INFO): DAT.homing_target_heading 169.000000 arcdeg
2013-06-03T19:35:18.803Z,1370288118.803 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:19.248Z,1370288119.248 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:19.700Z,1370288119.700 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:20.008Z,1370288120.008 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:20.467Z,1370288120.467 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:20.725Z,1370288120.725 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:20.852Z,1370288120.852 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:21.292Z,1370288121.292 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:21.660Z,1370288121.660 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:22.224Z,1370288122.224 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:22.608Z,1370288122.608 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:22.608Z,1370288122.608 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:22.609Z,1370288122.609 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:22.609Z,1370288122.609 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:35:22.960Z,1370288122.960 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:23.301Z,1370288123.300 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:23.372Z,1370288123.372 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:23.768Z,1370288123.768 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:24.161Z,1370288124.161 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:24.693Z,1370288124.694 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:25.096Z,1370288125.096 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:25.504Z,1370288125.504 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:25.820Z,1370288125.820 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:25.861Z,1370288125.861 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:26.273Z,1370288126.273 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:26.736Z,1370288126.736 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:26.737Z,1370288126.737 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:26.737Z,1370288126.737 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:26.738Z,1370288126.738 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:35:27.168Z,1370288127.168 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:27.612Z,1370288127.612 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:27.936Z,1370288127.936 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:28.344Z,1370288128.344 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:28.416Z,1370288128.416 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:28.812Z,1370288128.812 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:29.152Z,1370288129.152 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:29.563Z,1370288129.563 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:30.060Z,1370288130.060 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:30.538Z,1370288130.538 [Reporter](INFO): DAT.homing_target_range 0.300000 m
2013-06-03T19:35:30.539Z,1370288130.539 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:35:30.539Z,1370288130.539 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:30.540Z,1370288130.540 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:35:30.924Z,1370288130.924 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:30.972Z,1370288130.972 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:31.384Z,1370288131.384 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:31.700Z,1370288131.700 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:32.164Z,1370288132.164 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:32.501Z,1370288132.501 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:32.909Z,1370288132.909 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:33.280Z,1370288133.280 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:33.516Z,1370288133.516 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:33.710Z,1370288133.710 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:34.065Z,1370288134.065 [CommandLine](IMPORTANT): got command show stack
2013-06-03T19:35:34.065Z,1370288134.065 [CommandLine](INFO): Behavior Stack:

2013-06-03T19:35:34.066Z,1370288134.066 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-03T19:35:34.066Z,1370288134.066 [homing_pursuit](INFO): Priority 1: homing_pursuit:B
2013-06-03T19:35:34.066Z,1370288134.066 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.Pitch
2013-06-03T19:35:34.067Z,1370288134.067 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.Buoyancy
2013-06-03T19:35:34.067Z,1370288134.067 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-03T19:35:34.067Z,1370288134.067 [homing_pursuit:ClosePursuit](INFO): Priority 5: homing_pursuit:ClosePursuit:A.SetSpeed
2013-06-03T19:35:34.068Z,1370288134.068 [homing_pursuit:ClosePursuit](INFO): Priority 6: homing_pursuit:ClosePursuit:B.Pitch
2013-06-03T19:35:34.068Z,1370288134.068 [homing_pursuit:ClosePursuit](INFO): Priority 7: homing_pursuit:ClosePursuit:C.Point
2013-06-03T19:35:34.069Z,1370288134.069 [homing_pursuit:ClosePursuit](INFO): Priority 8: homing_pursuit:ClosePursuit:D.Wait
2013-06-03T19:35:34.140Z,1370288134.140 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:34.567Z,1370288134.567 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:34.572Z,1370288134.572 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:34.573Z,1370288134.573 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:34.573Z,1370288134.573 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:35:35.101Z,1370288135.101 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:35.416Z,1370288135.416 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:35.808Z,1370288135.808 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:36.088Z,1370288136.088 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:36.284Z,1370288136.284 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:36.716Z,1370288136.716 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:37.094Z,1370288137.094 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:37.520Z,1370288137.520 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:37.976Z,1370288137.976 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:38.400Z,1370288138.400 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:38.628Z,1370288138.628 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:38.721Z,1370288138.721 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:38.722Z,1370288138.722 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:38.728Z,1370288138.728 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:38.730Z,1370288138.730 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:35:39.152Z,1370288139.152 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:39.528Z,1370288139.528 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:40.081Z,1370288140.081 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:40.414Z,1370288140.414 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:40.813Z,1370288140.813 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:41.228Z,1370288141.228 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:41.248Z,1370288141.248 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:41.764Z,1370288141.764 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:42.120Z,1370288142.120 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:42.613Z,1370288142.613 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:42.613Z,1370288142.614 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:42.614Z,1370288142.614 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:42.615Z,1370288142.615 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:35:43.092Z,1370288143.092 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:43.406Z,1370288143.406 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:43.801Z,1370288143.801 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:43.849Z,1370288143.849 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:44.212Z,1370288144.212 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:44.627Z,1370288144.628 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:45.197Z,1370288145.197 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:45.512Z,1370288145.512 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:45.969Z,1370288145.969 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:46.372Z,1370288146.372 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:46.568Z,1370288146.568 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:46.569Z,1370288146.569 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:46.569Z,1370288146.569 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:46.570Z,1370288146.570 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:35:47.020Z,1370288147.020 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:47.388Z,1370288147.388 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:47.836Z,1370288147.836 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:48.332Z,1370288148.332 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:48.668Z,1370288148.668 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:48.920Z,1370288148.920 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:49.064Z,1370288149.063 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:49.464Z,1370288149.464 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:50.021Z,1370288150.021 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:50.388Z,1370288150.388 [Reporter](INFO): DAT.homing_target_range 0.500000 m
2013-06-03T19:35:50.389Z,1370288150.388 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:35:50.389Z,1370288150.389 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:50.390Z,1370288150.390 [Reporter](INFO): DAT.homing_target_heading 169.199997 arcdeg
2013-06-03T19:35:50.832Z,1370288150.832 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:51.224Z,1370288151.224 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:51.505Z,1370288151.505 [DVL_micro](DEBUG): NQ1
2013-06-03T19:35:51.696Z,1370288151.696 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:51.953Z,1370288151.953 [CommandLine](IMPORTANT): got command stop
2013-06-03T19:35:52.004Z,1370288152.004 [Reporter](INFO): HorizontalControl.headingCmd 2.403998 rad
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit] Stopped
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:A] Stopped
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:B] Stopped
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:C.Pitch] Stopped
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:D.Buoyancy] Stopped
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:E] Stopped
2013-06-03T19:35:52.350Z,1370288152.350 [homing_pursuit:ClosePursuit] Stopped
2013-06-03T19:35:52.350Z,1370288152.351 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-03T19:35:52.350Z,1370288152.351 [homing_pursuit:ClosePursuit:A.SetSpeed] Stopped
2013-06-03T19:35:52.351Z,1370288152.351 [homing_pursuit:ClosePursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:35:52.351Z,1370288152.351 [homing_pursuit:ClosePursuit:B.Pitch] Stopped
2013-06-03T19:35:52.351Z,1370288152.351 [homing_pursuit:ClosePursuit:C.Point] Stopped
2013-06-03T19:35:52.351Z,1370288152.351 [homing_pursuit:ClosePursuit:D.Wait] Stopped
2013-06-03T19:35:52.351Z,1370288152.351 [homing_pursuit:ClosePursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:35:52.488Z,1370288152.487 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-03T19:35:52.736Z,1370288152.736 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:35:52.736Z,1370288152.736 [Default] Running Loop=1
2013-06-03T19:35:52.737Z,1370288152.737 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:35:52.737Z,1370288152.737 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:35:52.737Z,1370288152.737 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:35:52.737Z,1370288152.737 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:35:52.737Z,1370288152.737 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:35:52.737Z,1370288152.737 [Default:Iridium] Running Loop=1
2013-06-03T19:35:52.737Z,1370288152.737 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:35:52.737Z,1370288152.737 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:35:52.738Z,1370288152.737 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:35:52.738Z,1370288152.738 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:35:52.738Z,1370288152.738 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:35:52.739Z,1370288152.739 [Default:CallIridium] Running Loop=1
2013-06-03T19:35:52.739Z,1370288152.739 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:35:52.739Z,1370288152.739 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:35:52.744Z,1370288152.744 [Default:CallIridium:A] Stopped
2013-06-03T19:35:52.744Z,1370288152.744 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:35:52.744Z,1370288152.744 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:35:52.745Z,1370288152.745 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:35:52.745Z,1370288152.745 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:35:52.746Z,1370288152.746 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:35:52.746Z,1370288152.746 [Default:GPS] Running Loop=1
2013-06-03T19:35:52.746Z,1370288152.746 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:35:52.746Z,1370288152.746 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:35:52.746Z,1370288152.746 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:35:52.746Z,1370288152.746 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:35:52.747Z,1370288152.747 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:35:52.747Z,1370288152.747 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:35:52.747Z,1370288152.747 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:35:52.748Z,1370288152.747 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:35:53.134Z,1370288153.135 [DAT](INFO): Powering down
2013-06-03T19:35:53.607Z,1370288153.606 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:35:53.663Z,1370288153.663 [NAL9602](INFO): Powering up
2013-06-03T19:36:04.349Z,1370288164.349 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:36:05.154Z,1370288165.154 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T19:36:05.155Z,1370288165.155 [NAL9602] Data Fault, FailCount= 1
2013-06-03T19:36:05.155Z,1370288165.155 [NAL9602](ERROR): Data Fault
2013-06-03T19:36:05.337Z,1370288165.337 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T19:36:05.539Z,1370288165.539 [NAL9602](INFO): Powering down
2013-06-03T19:36:06.459Z,1370288166.459 [CBIT](INFO): Clearing failed state for component NAL9602
2013-06-03T19:36:06.459Z,1370288166.459 [NAL9602] No Fault, FailCount= 1
2013-06-03T19:36:10.820Z,1370288170.819 [NAL9602](INFO): Powering up NAL9602
2013-06-03T19:36:21.336Z,1370288181.336 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:41:01.403Z,1370288461.403 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#10 STATUS: 65535
2013-06-03T19:43:45.352Z,1370288625.352 [CommandLine](IMPORTANT): got command report
2013-06-03T19:43:45.353Z,1370288625.353 [Reporter](INFO): DAT.homing_target_range reporting when touched
2013-06-03T19:43:45.353Z,1370288625.353 [Reporter](INFO): homing_target_range reporting when touched
2013-06-03T19:43:45.354Z,1370288625.354 [Reporter](INFO): HorizontalControl.headingCmd reporting when touched
2013-06-03T19:43:45.354Z,1370288625.354 [Reporter](INFO): DAT.homing_target_heading reporting when touched
2013-06-03T19:43:49.041Z,1370288629.041 [CommandLine](IMPORTANT): got command help report
2013-06-03T19:44:09.805Z,1370288649.805 [CommandLine](IMPORTANT): got command report remove DAT.homing_target_range
2013-06-03T19:44:16.685Z,1370288656.685 [CommandLine](IMPORTANT): got command show variable DAT
2013-06-03T19:44:16.691Z,1370288656.691 [CommandLine](INFO): Config/vehicle.sendDataToShore (bool)
2013-06-03T19:44:16.693Z,1370288656.694 [CommandLine](INFO): Config/vehicle.DAT_card (none)
2013-06-03T19:44:16.694Z,1370288656.694 [CommandLine](INFO): Config/vehicle.DAT_uart (none)
2013-06-03T19:44:16.694Z,1370288656.694 [CommandLine](INFO): Config/vehicle.DAT_baud (bit_per_second)
2013-06-03T19:44:16.697Z,1370288656.697 [CommandLine](INFO): Config/Sensor.DAT_enable (bool)
2013-06-03T19:44:16.697Z,1370288656.697 [CommandLine](INFO): Config/Sensor.DAT_useHardware (bool)
2013-06-03T19:44:16.698Z,1370288656.698 [CommandLine](INFO): Config/Sensor.DAT_remoteAddress (count)
2013-06-03T19:44:16.698Z,1370288656.698 [CommandLine](INFO): Config/Sensor.DAT_rotationOffset (degree)
2013-06-03T19:44:16.741Z,1370288656.741 [CommandLine](INFO): Config/Simulator.oceanModelData (none)
2013-06-03T19:44:16.746Z,1370288656.746 [CommandLine](INFO): Navigation.useHFRadarData (bool)
2013-06-03T19:44:16.808Z,1370288656.808 [CommandLine](INFO): DAT.onewayRequestedCmd (bool)
2013-06-03T19:44:16.809Z,1370288656.809 [CommandLine](INFO): DAT.homing_target_range (meter)
2013-06-03T19:44:16.809Z,1370288656.809 [CommandLine](INFO): DAT.homing_target_azimuth (degree)
2013-06-03T19:44:16.809Z,1370288656.809 [CommandLine](INFO): DAT.homing_target_elevation (degree)
2013-06-03T19:44:16.810Z,1370288656.810 [CommandLine](INFO): DAT.homing_target_heading (degree)
2013-06-03T19:44:16.810Z,1370288656.810 [CommandLine](INFO): DAT.LVL1 (count)
2013-06-03T19:44:16.811Z,1370288656.811 [CommandLine](INFO): DAT.LVL2 (count)
2013-06-03T19:44:16.811Z,1370288656.811 [CommandLine](INFO): DAT.LVL3 (count)
2013-06-03T19:44:16.811Z,1370288656.811 [CommandLine](INFO): DAT.LVL4 (count)
2013-06-03T19:44:16.812Z,1370288656.812 [CommandLine](INFO): DAT.AGC (count)
2013-06-03T19:44:16.812Z,1370288656.812 [CommandLine](INFO): DAT.IDXPeak (count)
2013-06-03T19:44:16.812Z,1370288656.812 [CommandLine](INFO): DAT.IDXFit (degree)
2013-06-03T19:44:16.813Z,1370288656.813 [CommandLine](INFO): DAT.IDXPhase (degree)
2013-06-03T19:44:16.813Z,1370288656.813 [CommandLine](INFO): DAT.phaseA (degree)
2013-06-03T19:44:16.814Z,1370288656.814 [CommandLine](INFO): DAT.phaseB (degree)
2013-06-03T19:44:16.814Z,1370288656.814 [CommandLine](INFO): DAT.phaseC (degree)
2013-06-03T19:44:16.814Z,1370288656.814 [CommandLine](INFO): DAT.vectorMagnitude (degree)
2013-06-03T19:44:16.815Z,1370288656.815 [CommandLine](INFO): DAT.rawAzimuth (degree)
2013-06-03T19:44:16.815Z,1370288656.815 [CommandLine](INFO): DAT.rawElevation (degree)
2013-06-03T19:44:16.816Z,1370288656.816 [CommandLine](INFO): DAT.calibratedAzimuth (degree)
2013-06-03T19:44:16.832Z,1370288656.832 [CommandLine](INFO): DAT.calibratedElevation (degree)
2013-06-03T19:44:16.833Z,1370288656.833 [CommandLine](INFO): DAT.rotatedAzimuth (degree)
2013-06-03T19:44:16.833Z,1370288656.833 [CommandLine](INFO): DAT.rotatedElevation (degree)
2013-06-03T19:44:16.834Z,1370288656.833 [CommandLine](INFO): DAT.txHeading (degree)
2013-06-03T19:44:16.834Z,1370288656.834 [CommandLine](INFO): DAT.txAddress (count)
2013-06-03T19:44:16.834Z,1370288656.834 [CommandLine](INFO): DAT.rxAddress (count)
2013-06-03T19:44:16.835Z,1370288656.835 [CommandLine](INFO): DAT.range (meter)
2013-06-03T19:44:16.835Z,1370288656.835 [CommandLine](INFO): DAT.azimuth_instrumentCoordinates (degree)
2013-06-03T19:44:16.835Z,1370288656.835 [CommandLine](INFO): DAT.elevation_instrumentCoordinates (degree)
2013-06-03T19:44:16.836Z,1370288656.836 [CommandLine](INFO): DAT.azimuth_vehicleCoordinates (degree)
2013-06-03T19:44:16.836Z,1370288656.836 [CommandLine](INFO): DAT.elevation_vehicleCoordinates (degree)
2013-06-03T19:44:16.837Z,1370288656.837 [CommandLine](INFO): DAT.azimuth_navigationCoordinates (degree)
2013-06-03T19:44:16.837Z,1370288656.837 [CommandLine](INFO): DAT.elevation_navigationCoordinates (degree)
2013-06-03T19:44:16.843Z,1370288656.843 [CommandLine](INFO): DAT.direction_instrumentCoordinates (none)
2013-06-03T19:44:16.850Z,1370288656.850 [CommandLine](INFO): DAT.direction_vehicleCoordinates (none)
2013-06-03T19:44:16.851Z,1370288656.851 [CommandLine](INFO): DAT.direction_navigationCoordinates (none)
2013-06-03T19:44:16.855Z,1370288656.855 [CommandLine](INFO): DAT.durationOfLastRun (second)
2013-06-03T19:44:16.867Z,1370288656.867 [CommandLine](INFO): DAT.component_voltage (volt)
2013-06-03T19:44:16.867Z,1370288656.867 [CommandLine](INFO): DAT.component_avgVoltage (volt)
2013-06-03T19:44:16.867Z,1370288656.867 [CommandLine](INFO): DAT.component_current (milliampere)
2013-06-03T19:44:16.868Z,1370288656.868 [CommandLine](INFO): DAT.component_avgCurrent (milliampere)
2013-06-03T19:44:52.973Z,1370288692.973 [CommandLine](IMPORTANT): got command report touch DAT.homing_target_heading
2013-06-03T19:44:54.716Z,1370288694.716 [CommandLine](IMPORTANT): got command report
2013-06-03T19:44:54.717Z,1370288694.717 [Reporter](INFO): homing_target_range reporting when touched
2013-06-03T19:44:54.717Z,1370288694.717 [Reporter](INFO): HorizontalControl.headingCmd reporting when touched
2013-06-03T19:44:54.717Z,1370288694.717 [Reporter](INFO): DAT.homing_target_heading reporting when touched
2013-06-03T19:45:11.237Z,1370288711.237 [CommandLine](IMPORTANT): got command show variable azimuth
2013-06-03T19:45:11.239Z,1370288711.239 [CommandLine](INFO): homing_target_azimuth (unknown)
2013-06-03T19:45:11.367Z,1370288711.367 [CommandLine](INFO): DAT.homing_target_azimuth (degree)
2013-06-03T19:45:11.393Z,1370288711.393 [CommandLine](INFO): DAT.rawAzimuth (degree)
2013-06-03T19:45:11.394Z,1370288711.394 [CommandLine](INFO): DAT.calibratedAzimuth (degree)
2013-06-03T19:45:11.394Z,1370288711.394 [CommandLine](INFO): DAT.rotatedAzimuth (degree)
2013-06-03T19:45:11.395Z,1370288711.395 [CommandLine](INFO): DAT.azimuth_instrumentCoordinates (degree)
2013-06-03T19:45:11.396Z,1370288711.395 [CommandLine](INFO): DAT.azimuth_vehicleCoordinates (degree)
2013-06-03T19:45:11.400Z,1370288711.400 [CommandLine](INFO): DAT.azimuth_navigationCoordinates (degree)
2013-06-03T19:45:32.037Z,1370288732.037 [CommandLine](IMPORTANT): got command report touch homing_target_azimuth
2013-06-03T19:45:49.329Z,1370288749.329 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:45:49.329Z,1370288749.329 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:45:49.467Z,1370288749.467 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:45:49.474Z,1370288749.474 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:45:49.489Z,1370288749.489 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:45:49.491Z,1370288749.491 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-03T19:45:49.498Z,1370288749.498 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 20.000000 m
2013-06-03T19:45:49.521Z,1370288749.521 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:45:49.523Z,1370288749.523 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:45:49.530Z,1370288749.530 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-03T19:45:49.536Z,1370288749.536 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:45:49.544Z,1370288749.544 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-03T19:45:49.554Z,1370288749.554 [homing_pursuit:C.Pitch](DEBUG): Construct.
2013-06-03T19:45:49.563Z,1370288749.563 [homing_pursuit:D.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:45:49.566Z,1370288749.566 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:45:49.609Z,1370288749.609 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-03T19:45:49.613Z,1370288749.613 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-03T19:45:49.629Z,1370288749.629 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:45:49.631Z,1370288749.631 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-03T19:45:49.636Z,1370288749.636 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-03T19:45:49.641Z,1370288749.641 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-03T19:45:49.643Z,1370288749.644 [MissionManager](CRITICAL): Unable to find MissionComponent with name Setting at homing_pursuit:ClosePursuit:A
2013-06-03T19:45:49.644Z,1370288749.644 [homing_pursuit:ClosePursuit](CRITICAL): Error!!!! no component for child behavior.
2013-06-03T19:45:49.657Z,1370288749.657 [homing_pursuit:ClosePursuit:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:45:49.659Z,1370288749.659 [homing_pursuit:ClosePursuit:B.Pitch](DEBUG): Construct.
2013-06-03T19:45:49.663Z,1370288749.663 [homing_pursuit:ClosePursuit:C.Point](DEBUG): Construct.
2013-06-03T19:45:49.712Z,1370288749.712 [homing_pursuit:ClosePursuit:D.Wait](DEBUG): Construct Wait.
2013-06-03T19:45:49.715Z,1370288749.715 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:45:49.717Z,1370288749.717 [homing_pursuit:rollout:B.Pitch](DEBUG): Construct.
2013-06-03T19:45:49.742Z,1370288749.742 [homing_pursuit:rollout:C.Wait](DEBUG): Construct Wait.
2013-06-03T19:45:49.757Z,1370288749.757 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>.2</Value></DefineArg>

    <DefineArg Name="OnewayRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>20.0</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Units:minute/><Value>7</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

<!--
    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>
-->

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

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

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

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="PowerOnDAT">

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="InitialPursuit">

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="OnewayRange"/></Lt>
        </Until>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="ClosePursuit">

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>

        <Setting><Sensor:DAT.onewayRequestedCmd/><True/></Setting>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="rollout">

        <Timeout Duration="RolloutTimeout"/>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

</Mission>


2013-06-03T19:45:49.758Z,1370288749.758 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:45:49.767Z,1370288749.767 [Default] Stopped
2013-06-03T19:45:49.767Z,1370288749.767 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:45:49.767Z,1370288749.767 [Default:GPS] Stopped
2013-06-03T19:45:49.767Z,1370288749.767 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:45:49.767Z,1370288749.767 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:45:49.767Z,1370288749.767 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:45:49.768Z,1370288749.768 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:45:49.768Z,1370288749.768 [Default:Iridium] Stopped
2013-06-03T19:45:49.805Z,1370288749.805 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:45:49.805Z,1370288749.805 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:45:49.805Z,1370288749.805 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:45:49.805Z,1370288749.805 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:45:49.805Z,1370288749.805 [Default:CallIridium] Stopped
2013-06-03T19:45:49.805Z,1370288749.805 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:45:49.805Z,1370288749.805 [Default:CallIridium:B] Stopped
2013-06-03T19:45:49.805Z,1370288749.805 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:45:49.805Z,1370288749.805 [Default:D.SetSpeed] Stopped
2013-06-03T19:45:49.805Z,1370288749.806 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:45:49.806Z,1370288749.806 [Default:E.GoToSurface] Stopped
2013-06-03T19:45:49.806Z,1370288749.806 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:45:49.806Z,1370288749.806 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:45:49.806Z,1370288749.806 [homing_pursuit] Running Loop=1
2013-06-03T19:45:49.806Z,1370288749.806 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:45:49.806Z,1370288749.806 [homing_pursuit:A] Running Loop=1
2013-06-03T19:45:49.806Z,1370288749.806 [homing_pursuit:B] Running Loop=1
2013-06-03T19:45:49.806Z,1370288749.806 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-03T19:45:49.807Z,1370288749.806 [homing_pursuit:C.Pitch](DEBUG): Initialize.
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:E] Running Loop=1
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-03T19:45:49.807Z,1370288749.807 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:45:49.808Z,1370288749.807 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-03T19:45:49.808Z,1370288749.808 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-03T19:45:49.808Z,1370288749.808 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-03T19:45:49.808Z,1370288749.808 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:45:49.809Z,1370288749.809 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-03T19:45:49.810Z,1370288749.810 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-03T19:45:49.811Z,1370288749.811 [homing_pursuit:E] Running Loop=1
2013-06-03T19:45:49.836Z,1370288749.836 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:45:49.837Z,1370288749.837 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-03T19:45:49.838Z,1370288749.838 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-03T19:45:49.839Z,1370288749.839 [homing_pursuit:B] Running Loop=1
2013-06-03T19:45:49.840Z,1370288749.840 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:45:49.840Z,1370288749.841 [homing_pursuit:A] Running Loop=1
2013-06-03T19:45:49.841Z,1370288749.841 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:45:49.961Z,1370288749.961 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:45:49.961Z,1370288749.961 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:45:49.961Z,1370288749.961 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:45:50.148Z,1370288750.148 [DAT](INFO): Powering up
2013-06-03T19:45:50.197Z,1370288750.197 [homing_pursuit] Stopped
2013-06-03T19:45:50.198Z,1370288750.198 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:45:50.198Z,1370288750.198 [homing_pursuit:A] Stopped
2013-06-03T19:45:50.198Z,1370288750.198 [homing_pursuit:B] Stopped
2013-06-03T19:45:50.198Z,1370288750.198 [homing_pursuit:C.Pitch] Stopped
2013-06-03T19:45:50.199Z,1370288750.198 [homing_pursuit:D.Buoyancy] Stopped
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:E] Stopped
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT] Stopped
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-03T19:45:50.199Z,1370288750.199 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:45:50.568Z,1370288750.568 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:45:50.568Z,1370288750.569 [Default] Running Loop=1
2013-06-03T19:45:50.569Z,1370288750.569 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:45:50.569Z,1370288750.569 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:45:50.569Z,1370288750.569 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:45:50.569Z,1370288750.569 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:45:50.569Z,1370288750.569 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:45:50.569Z,1370288750.569 [Default:Iridium] Running Loop=1
2013-06-03T19:45:50.569Z,1370288750.569 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:45:50.570Z,1370288750.569 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:45:50.570Z,1370288750.569 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:45:50.570Z,1370288750.570 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:45:50.570Z,1370288750.570 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:45:50.571Z,1370288750.571 [Default:CallIridium] Running Loop=1
2013-06-03T19:45:50.571Z,1370288750.571 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:45:50.572Z,1370288750.572 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:45:50.596Z,1370288750.596 [Default:CallIridium:A] Stopped
2013-06-03T19:45:50.596Z,1370288750.596 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:45:50.596Z,1370288750.596 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:45:50.597Z,1370288750.597 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:45:50.597Z,1370288750.597 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:45:50.598Z,1370288750.598 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:45:50.598Z,1370288750.598 [Default:GPS] Running Loop=1
2013-06-03T19:45:50.598Z,1370288750.598 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:45:50.598Z,1370288750.598 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:45:50.598Z,1370288750.598 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:45:50.598Z,1370288750.598 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:45:50.598Z,1370288750.598 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:45:50.599Z,1370288750.599 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:45:50.599Z,1370288750.599 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:45:50.600Z,1370288750.599 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:45:51.969Z,1370288751.969 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:45:51.969Z,1370288751.969 [DVL_micro](INFO): Querying output modes
2013-06-03T19:45:51.969Z,1370288751.969 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:45:51.987Z,1370288751.987 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:45:51.987Z,1370288751.987 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:45:51.987Z,1370288751.987 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:45:52.001Z,1370288752.000 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:45:52.003Z,1370288752.003 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:46:10.733Z,1370288770.733 [DAT](INFO): Powering down
2013-06-03T19:46:24.322Z,1370288784.322 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-03T19:46:24.322Z,1370288784.322 [NAL9602] Data Fault, FailCount= 2
2013-06-03T19:46:24.322Z,1370288784.322 [NAL9602](ERROR): Data Fault
2013-06-03T19:46:24.424Z,1370288784.424 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-03T19:46:24.424Z,1370288784.424 [CBIT](CRITICAL): Data Fault in component: NAL9602
2013-06-03T19:46:24.710Z,1370288784.710 [NAL9602](INFO): Powering down
2013-06-03T19:48:24.643Z,1370288904.643 [CBIT](INFO): Clearing failed count for component NAL9602
2013-06-03T19:48:24.643Z,1370288904.644 [NAL9602] No Fault, FailCount= 2
2013-06-03T19:48:24.915Z,1370288904.915 [NAL9602](INFO): Powering up NAL9602
2013-06-03T19:48:35.353Z,1370288915.353 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:49:22.741Z,1370288962.741 [CommandLine](IMPORTANT): got command show stack
2013-06-03T19:49:22.741Z,1370288962.741 [CommandLine](INFO): Behavior Stack:

2013-06-03T19:49:22.741Z,1370288962.741 [Default:GPS](INFO): Priority 0: Default:GPS:A.SetSpeed
2013-06-03T19:49:22.741Z,1370288962.741 [Default:GPS](INFO): Priority 1: Default:GPS:Read_GPS
2013-06-03T19:49:22.742Z,1370288962.742 [Default:Iridium](INFO): Priority 2: Default:Iridium:A.SetSpeed
2013-06-03T19:49:22.742Z,1370288962.742 [Default:Iridium](INFO): Priority 3: Default:Iridium:Read_Iridium
2013-06-03T19:49:22.742Z,1370288962.742 [Default](INFO): Priority 4: Default:D.SetSpeed
2013-06-03T19:49:22.743Z,1370288962.743 [Default](INFO): Priority 5: Default:E.GoToSurface
2013-06-03T19:49:59.305Z,1370288999.305 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:49:59.306Z,1370288999.306 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:49:59.438Z,1370288999.438 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-03T19:49:59.445Z,1370288999.445 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-03T19:49:59.447Z,1370288999.447 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-03T19:49:59.454Z,1370288999.454 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-03T19:49:59.501Z,1370288999.501 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 20.000000 m
2013-06-03T19:49:59.503Z,1370288999.503 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-03T19:49:59.514Z,1370288999.514 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-03T19:49:59.516Z,1370288999.516 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-03T19:49:59.518Z,1370288999.519 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-03T19:49:59.534Z,1370288999.534 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-03T19:49:59.540Z,1370288999.540 [homing_pursuit:C.Pitch](DEBUG): Construct.
2013-06-03T19:49:59.556Z,1370288999.556 [homing_pursuit:D.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-03T19:49:59.565Z,1370288999.565 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:49:59.568Z,1370288999.568 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-03T19:49:59.572Z,1370288999.572 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-03T19:49:59.595Z,1370288999.595 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:49:59.604Z,1370288999.604 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-03T19:49:59.617Z,1370288999.617 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-03T19:49:59.626Z,1370288999.626 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-03T19:49:59.636Z,1370288999.636 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-03T19:49:59.643Z,1370288999.643 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-03T19:49:59.673Z,1370288999.673 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-03T19:49:59.717Z,1370288999.717 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-03T19:49:59.719Z,1370288999.719 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Construct.
2013-06-03T19:49:59.735Z,1370288999.735 [homing_pursuit:rollout:B.Pitch](DEBUG): Construct.
2013-06-03T19:49:59.755Z,1370288999.755 [homing_pursuit:rollout:C.Wait](DEBUG): Construct Wait.
2013-06-03T19:49:59.788Z,1370288999.788 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MinRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>.2</Value></DefineArg>

    <DefineArg Name="OnewayRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>20.0</Value></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Set either this or PeakDetectChlActive to True in order to sample from
        the Neil Brown CTD.
    </Description><CustomUri Uri="Config/Science.CTD_NeilBrown_enable"/></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Units:minute/><Value>7</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

<!--
    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
    </Guidance:OffshoreEnvelope>
-->

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

<!--    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" /> -->

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

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

    <ReadData>
        <Universal:homing_target_range/>
    </ReadData>

    <Aggregate Id="PowerOnDAT">

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="InitialPursuit">

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="OnewayRange"/></Lt>
        </Until>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="ClosePursuit">

        <Until><Universal:homing_target_range/>
            <Lt><Arg Name="MinRange"/></Lt>
        </Until>

        <Assign RunIn="Parallel"><Sensor:DAT.onewayRequestedCmd/><Units:bool/><Value>1</Value></Assign>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Point RunIn="Parallel">
            <Setting><Guidance:Point.heading /><Universal:homing_target_azimuth/></Setting>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="rollout">

        <Timeout Duration="RolloutTimeout"/>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="HomingDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

</Mission>


2013-06-03T19:49:59.789Z,1370288999.789 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-03T19:50:00.212Z,1370289000.212 [Default] Stopped
2013-06-03T19:50:00.212Z,1370289000.212 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:50:00.212Z,1370289000.212 [Default:GPS] Stopped
2013-06-03T19:50:00.212Z,1370289000.212 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:50:00.212Z,1370289000.212 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:50:00.212Z,1370289000.212 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:50:00.212Z,1370289000.212 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:50:00.212Z,1370289000.212 [Default:Iridium] Stopped
2013-06-03T19:50:00.213Z,1370289000.213 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:50:00.213Z,1370289000.213 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:50:00.213Z,1370289000.213 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:50:00.213Z,1370289000.213 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:50:00.213Z,1370289000.213 [Default:CallIridium] Stopped
2013-06-03T19:50:00.213Z,1370289000.213 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:50:00.213Z,1370289000.213 [Default:CallIridium:B] Stopped
2013-06-03T19:50:00.213Z,1370289000.213 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:50:00.213Z,1370289000.213 [Default:D.SetSpeed] Stopped
2013-06-03T19:50:00.213Z,1370289000.213 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:50:00.213Z,1370289000.213 [Default:E.GoToSurface] Stopped
2013-06-03T19:50:00.213Z,1370289000.214 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:50:00.214Z,1370289000.214 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit] Running Loop=1
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit:A] Running Loop=1
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit:B] Running Loop=1
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit:C.Pitch](DEBUG): Initialize.
2013-06-03T19:50:00.214Z,1370289000.214 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:E] Running Loop=1
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-03T19:50:00.215Z,1370289000.215 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-03T19:50:00.216Z,1370289000.216 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-03T19:50:00.216Z,1370289000.216 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:50:00.217Z,1370289000.217 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-03T19:50:00.218Z,1370289000.218 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-03T19:50:00.219Z,1370289000.219 [homing_pursuit:E] Running Loop=1
2013-06-03T19:50:00.220Z,1370289000.220 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-03T19:50:00.229Z,1370289000.229 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-03T19:50:00.230Z,1370289000.230 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-03T19:50:00.231Z,1370289000.231 [homing_pursuit:B] Running Loop=1
2013-06-03T19:50:00.232Z,1370289000.232 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-03T19:50:00.233Z,1370289000.233 [homing_pursuit:A] Running Loop=1
2013-06-03T19:50:00.234Z,1370289000.234 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-03T19:50:00.393Z,1370289000.393 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:50:00.393Z,1370289000.393 [DVL_micro](INFO): resume:Powering up
2013-06-03T19:50:00.393Z,1370289000.393 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T19:50:01.027Z,1370289001.027 [DAT](INFO): Powering up
2013-06-03T19:50:02.400Z,1370289002.401 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T19:50:02.401Z,1370289002.401 [DVL_micro](INFO): Querying output modes
2013-06-03T19:50:02.401Z,1370289002.401 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T19:50:02.424Z,1370289002.424 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T19:50:02.424Z,1370289002.424 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T19:50:02.425Z,1370289002.425 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T19:50:02.437Z,1370289002.437 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T19:50:04.960Z,1370289004.960 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:07.206Z,1370289007.206 [NAL9602](INFO): Powering down
2013-06-03T19:50:07.512Z,1370289007.512 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:10.068Z,1370289010.068 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:12.645Z,1370289012.645 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:15.240Z,1370289015.240 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:17.800Z,1370289017.800 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:20.352Z,1370289020.352 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:22.933Z,1370289022.933 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:25.092Z,1370289025.092 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:50:25.093Z,1370289025.093 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:50:25.093Z,1370289025.093 [Reporter](INFO): homing_target_azimuth 141.151733 arcdeg
2013-06-03T19:50:25.504Z,1370289025.504 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:28.088Z,1370289028.088 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:28.921Z,1370289028.921 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-03T19:50:28.921Z,1370289028.921 [Reporter](INFO): DAT.homing_target_heading 169.100006 arcdeg
2013-06-03T19:50:28.922Z,1370289028.922 [Reporter](INFO): homing_target_azimuth 295.403523 arcdeg
2013-06-03T19:50:30.350Z,1370289030.351 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-03T19:50:30.351Z,1370289030.351 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-03T19:50:30.351Z,1370289030.351 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:50:30.356Z,1370289030.356 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-03T19:50:30.356Z,1370289030.356 [homing_pursuit:PowerOnDAT] Stopped
2013-06-03T19:50:30.356Z,1370289030.356 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-03T19:50:30.357Z,1370289030.357 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:50:30.357Z,1370289030.358 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-03T19:50:30.357Z,1370289030.358 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-03T19:50:30.358Z,1370289030.358 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-03T19:50:30.358Z,1370289030.358 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-03T19:50:30.358Z,1370289030.358 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-03T19:50:30.358Z,1370289030.358 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:50:30.633Z,1370289030.633 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:30.762Z,1370289030.762 [homing_pursuit:InitialPursuit] Stopped
2013-06-03T19:50:30.762Z,1370289030.763 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-03T19:50:30.763Z,1370289030.763 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-03T19:50:30.764Z,1370289030.764 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-03T19:50:30.764Z,1370289030.764 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-03T19:50:30.768Z,1370289030.769 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-03T19:50:30.769Z,1370289030.769 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-03T19:50:30.769Z,1370289030.769 [homing_pursuit:ClosePursuit:E.Wait] Running Loop=1
2013-06-03T19:50:30.769Z,1370289030.769 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Initialize Wait Component.
2013-06-03T19:50:31.169Z,1370289031.169 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-03T19:50:31.202Z,1370289031.202 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-03T19:50:31.227Z,1370289031.227 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-03T19:50:31.242Z,1370289031.242 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-03T19:50:31.533Z,1370289031.533 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:32.000Z,1370289032.000 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:32.410Z,1370289032.410 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:32.721Z,1370289032.721 [DAT](ERROR): Unexpected response:21:17:13.2086 , LVL= 18672, 14833, 19330, 26259, AGC=  63, IDX= 62 0.08,-1.328, PHS= 0.001, 0.013, 0.008, |v|= 0.007, RAW= 295.3,-36.6, CAL= 307.6,-34.8, ROT=  26.6,-34.8
Com
2013-06-03T19:50:32.891Z,1370289032.891 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:33.137Z,1370289033.137 [DAT](FAULT): Parse Failed - Received:pass 169.1
Range 1 to 0 : 0.5 m
2013-06-03T19:50:33.137Z,1370289033.137 [DAT] Communications Fault, FailCount= 1
2013-06-03T19:50:33.137Z,1370289033.137 [DAT](ERROR): Communications Fault
2013-06-03T19:50:33.189Z,1370289033.189 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:33.331Z,1370289033.331 [CBIT](ERROR): Communications Fault in component: DAT
2013-06-03T19:50:33.333Z,1370289033.333 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:33.545Z,1370289033.545 [DAT](INFO): Powering down
2013-06-03T19:50:33.825Z,1370289033.825 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:34.296Z,1370289034.296 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:34.740Z,1370289034.740 [CBIT](INFO): Clearing failed state for component DAT
2013-06-03T19:50:34.740Z,1370289034.740 [DAT] No Fault, FailCount= 1
2013-06-03T19:50:34.741Z,1370289034.741 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:35.104Z,1370289035.103 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:35.556Z,1370289035.556 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:35.796Z,1370289035.796 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:36.048Z,1370289036.048 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:36.392Z,1370289036.392 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:36.686Z,1370289036.686 [DAT](INFO): Powering up
2013-06-03T19:50:36.686Z,1370289036.686 [DAT](DEBUG): Initializing DAT.
2013-06-03T19:50:36.803Z,1370289036.803 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:37.304Z,1370289037.304 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:37.630Z,1370289037.630 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:38.023Z,1370289038.023 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:38.352Z,1370289038.352 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:38.436Z,1370289038.436 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:38.941Z,1370289038.941 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:39.312Z,1370289039.312 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:39.760Z,1370289039.760 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:40.276Z,1370289040.276 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:40.625Z,1370289040.625 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:40.980Z,1370289040.980 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:41.040Z,1370289041.040 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:41.429Z,1370289041.429 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:41.844Z,1370289041.844 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:42.496Z,1370289042.496 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:42.848Z,1370289042.848 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:43.236Z,1370289043.236 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:43.564Z,1370289043.564 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:43.644Z,1370289043.644 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:44.032Z,1370289044.032 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:44.469Z,1370289044.469 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:44.888Z,1370289044.888 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:45.289Z,1370289045.289 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:45.701Z,1370289045.701 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:46.123Z,1370289046.123 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:46.156Z,1370289046.156 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:46.584Z,1370289046.584 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:47.144Z,1370289047.144 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:47.716Z,1370289047.716 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:48.176Z,1370289048.176 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:48.632Z,1370289048.632 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:48.732Z,1370289048.732 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:48.988Z,1370289048.988 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:49.416Z,1370289049.416 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:49.799Z,1370289049.799 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:50.188Z,1370289050.188 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:50.580Z,1370289050.580 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:50.992Z,1370289050.991 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:51.284Z,1370289051.284 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:51.401Z,1370289051.401 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:51.808Z,1370289051.808 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:52.400Z,1370289052.400 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:52.792Z,1370289052.792 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:53.316Z,1370289053.316 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:53.712Z,1370289053.712 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:53.836Z,1370289053.836 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:54.119Z,1370289054.119 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:54.568Z,1370289054.568 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:54.968Z,1370289054.968 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:55.328Z,1370289055.328 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:55.738Z,1370289055.738 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:56.252Z,1370289056.252 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:56.397Z,1370289056.397 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:56.682Z,1370289056.681 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:57.033Z,1370289057.033 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:57.649Z,1370289057.648 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:57.988Z,1370289057.988 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:58.460Z,1370289058.460 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:58.795Z,1370289058.795 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:58.956Z,1370289058.957 [DVL_micro](DEBUG): NQ1
2013-06-03T19:50:59.215Z,1370289059.215 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:59.629Z,1370289059.629 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:50:59.630Z,1370289059.630 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:50:59.631Z,1370289059.631 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:50:59.631Z,1370289059.631 [Reporter](INFO): homing_target_azimuth 158.003094 arcdeg
2013-06-03T19:51:00.085Z,1370289060.085 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:00.086Z,1370289060.086 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:00.086Z,1370289060.086 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:00.087Z,1370289060.087 [Reporter](INFO): homing_target_azimuth 130.953701 arcdeg
2013-06-03T19:51:00.496Z,1370289060.496 [Reporter](INFO): homing_target_range 320.500000 m
2013-06-03T19:51:00.496Z,1370289060.496 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:00.497Z,1370289060.497 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:00.498Z,1370289060.498 [Reporter](INFO): homing_target_azimuth 146.925798 arcdeg
2013-06-03T19:51:00.897Z,1370289060.897 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:00.897Z,1370289060.898 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:00.898Z,1370289060.898 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:00.899Z,1370289060.899 [Reporter](INFO): homing_target_azimuth 197.833766 arcdeg
2013-06-03T19:51:01.291Z,1370289061.291 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:01.512Z,1370289061.512 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:01.795Z,1370289061.795 [Reporter](INFO): homing_target_range 320.500000 m
2013-06-03T19:51:01.795Z,1370289061.795 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:01.800Z,1370289061.800 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:01.801Z,1370289061.801 [Reporter](INFO): homing_target_azimuth 130.249959 arcdeg
2013-06-03T19:51:02.280Z,1370289062.280 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:02.280Z,1370289062.280 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:02.281Z,1370289062.281 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:02.282Z,1370289062.282 [Reporter](INFO): homing_target_azimuth 287.605414 arcdeg
2013-06-03T19:51:02.888Z,1370289062.888 [Reporter](INFO): homing_target_range 320.600006 m
2013-06-03T19:51:02.889Z,1370289062.889 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:02.889Z,1370289062.889 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:02.890Z,1370289062.890 [Reporter](INFO): homing_target_azimuth 134.509647 arcdeg
2013-06-03T19:51:03.384Z,1370289063.384 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:03.385Z,1370289063.385 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:03.385Z,1370289063.385 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:03.386Z,1370289063.386 [Reporter](INFO): homing_target_azimuth 132.112429 arcdeg
2013-06-03T19:51:03.948Z,1370289063.948 [Reporter](INFO): homing_target_range 320.600006 m
2013-06-03T19:51:03.948Z,1370289063.948 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:03.949Z,1370289063.949 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:03.950Z,1370289063.950 [Reporter](INFO): homing_target_azimuth 284.731107 arcdeg
2013-06-03T19:51:04.069Z,1370289064.069 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:04.391Z,1370289064.391 [Reporter](INFO): homing_target_range 320.600006 m
2013-06-03T19:51:04.396Z,1370289064.397 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:04.397Z,1370289064.397 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:04.398Z,1370289064.398 [Reporter](INFO): homing_target_azimuth 299.464262 arcdeg
2013-06-03T19:51:04.880Z,1370289064.880 [Reporter](INFO): homing_target_range 320.500000 m
2013-06-03T19:51:04.881Z,1370289064.881 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:04.881Z,1370289064.881 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:04.882Z,1370289064.882 [Reporter](INFO): homing_target_azimuth 283.931401 arcdeg
2013-06-03T19:51:05.324Z,1370289065.324 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:05.324Z,1370289065.324 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:05.325Z,1370289065.325 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:05.326Z,1370289065.326 [Reporter](INFO): homing_target_azimuth 309.219493 arcdeg
2013-06-03T19:51:05.705Z,1370289065.705 [Reporter](INFO): homing_target_range 320.500000 m
2013-06-03T19:51:05.706Z,1370289065.706 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:05.706Z,1370289065.706 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:05.707Z,1370289065.707 [Reporter](INFO): homing_target_azimuth 127.694075 arcdeg
2013-06-03T19:51:06.170Z,1370289066.170 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:06.171Z,1370289066.171 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:06.172Z,1370289066.172 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:06.173Z,1370289066.173 [Reporter](INFO): homing_target_azimuth 195.109039 arcdeg
2013-06-03T19:51:06.621Z,1370289066.621 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:06.633Z,1370289066.633 [Reporter](INFO): homing_target_range 320.600006 m
2013-06-03T19:51:06.634Z,1370289066.634 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:06.635Z,1370289066.635 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:06.635Z,1370289066.635 [Reporter](INFO): homing_target_azimuth 130.221190 arcdeg
2013-06-03T19:51:07.221Z,1370289067.221 [Reporter](INFO): homing_target_range 320.600006 m
2013-06-03T19:51:07.222Z,1370289067.222 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:07.223Z,1370289067.223 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:07.223Z,1370289067.224 [Reporter](INFO): homing_target_azimuth 143.923028 arcdeg
2013-06-03T19:51:07.772Z,1370289067.772 [Reporter](INFO): homing_target_range 320.500000 m
2013-06-03T19:51:07.773Z,1370289067.773 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:07.773Z,1370289067.773 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:07.774Z,1370289067.774 [Reporter](INFO): homing_target_azimuth 134.570204 arcdeg
2013-06-03T19:51:08.321Z,1370289068.321 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:08.321Z,1370289068.321 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:08.322Z,1370289068.322 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:08.322Z,1370289068.322 [Reporter](INFO): homing_target_azimuth 124.048830 arcdeg
2013-06-03T19:51:08.732Z,1370289068.732 [Reporter](INFO): homing_target_range 320.500000 m
2013-06-03T19:51:08.733Z,1370289068.733 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:08.733Z,1370289068.733 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:08.734Z,1370289068.734 [Reporter](INFO): homing_target_azimuth 163.157783 arcdeg
2013-06-03T19:51:09.101Z,1370289069.101 [Reporter](INFO): homing_target_range 320.799988 m
2013-06-03T19:51:09.101Z,1370289069.101 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:09.102Z,1370289069.102 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:09.102Z,1370289069.102 [Reporter](INFO): homing_target_azimuth 292.408349 arcdeg
2013-06-03T19:51:09.192Z,1370289069.192 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:09.544Z,1370289069.544 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:09.908Z,1370289069.908 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:10.404Z,1370289070.404 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:10.716Z,1370289070.716 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:11.188Z,1370289071.188 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:11.517Z,1370289071.517 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:11.757Z,1370289071.757 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:11.988Z,1370289071.987 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:11.988Z,1370289071.989 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:11.989Z,1370289071.989 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:11.990Z,1370289071.990 [Reporter](INFO): homing_target_azimuth 138.178839 arcdeg
2013-06-03T19:51:12.424Z,1370289072.424 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:12.425Z,1370289072.425 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:12.425Z,1370289072.425 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:12.426Z,1370289072.426 [Reporter](INFO): homing_target_azimuth 167.749829 arcdeg
2013-06-03T19:51:13.024Z,1370289073.024 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:13.025Z,1370289073.025 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:13.025Z,1370289073.026 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:13.026Z,1370289073.026 [Reporter](INFO): homing_target_azimuth 128.310308 arcdeg
2013-06-03T19:51:13.405Z,1370289073.405 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:13.405Z,1370289073.405 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:13.406Z,1370289073.406 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:13.407Z,1370289073.407 [Reporter](INFO): homing_target_azimuth 287.258140 arcdeg
2013-06-03T19:51:13.916Z,1370289073.916 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:14.345Z,1370289074.345 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:14.368Z,1370289074.368 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:14.368Z,1370289074.368 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:14.369Z,1370289074.369 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:14.370Z,1370289074.370 [Reporter](INFO): homing_target_azimuth 281.795300 arcdeg
2013-06-03T19:51:14.804Z,1370289074.804 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:14.804Z,1370289074.804 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:14.805Z,1370289074.805 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:14.805Z,1370289074.805 [Reporter](INFO): homing_target_azimuth 263.263959 arcdeg
2013-06-03T19:51:15.205Z,1370289075.205 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:15.206Z,1370289075.206 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:15.206Z,1370289075.207 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:15.207Z,1370289075.207 [Reporter](INFO): homing_target_azimuth 298.424789 arcdeg
2013-06-03T19:51:15.621Z,1370289075.621 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:15.622Z,1370289075.622 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:15.623Z,1370289075.623 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:15.624Z,1370289075.624 [Reporter](INFO): homing_target_azimuth 271.381202 arcdeg
2013-06-03T19:51:16.122Z,1370289076.122 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:16.123Z,1370289076.123 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:16.123Z,1370289076.123 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:16.132Z,1370289076.132 [Reporter](INFO): homing_target_azimuth 156.938623 arcdeg
2013-06-03T19:51:16.601Z,1370289076.601 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:16.602Z,1370289076.602 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:16.603Z,1370289076.603 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:16.604Z,1370289076.604 [Reporter](INFO): homing_target_azimuth 130.218759 arcdeg
2013-06-03T19:51:16.929Z,1370289076.929 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:17.105Z,1370289077.105 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:17.106Z,1370289077.106 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:17.106Z,1370289077.106 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:17.113Z,1370289077.113 [Reporter](INFO): homing_target_azimuth 130.303467 arcdeg
2013-06-03T19:51:17.565Z,1370289077.565 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:17.566Z,1370289077.566 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:17.566Z,1370289077.566 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:17.567Z,1370289077.567 [Reporter](INFO): homing_target_azimuth 133.546208 arcdeg
2013-06-03T19:51:18.049Z,1370289078.049 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:18.050Z,1370289078.050 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:18.051Z,1370289078.051 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:18.052Z,1370289078.052 [Reporter](INFO): homing_target_azimuth 261.016827 arcdeg
2013-06-03T19:51:18.436Z,1370289078.436 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:18.436Z,1370289078.436 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:18.437Z,1370289078.437 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:18.438Z,1370289078.438 [Reporter](INFO): homing_target_azimuth 271.696647 arcdeg
2013-06-03T19:51:18.795Z,1370289078.795 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:19.384Z,1370289079.384 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:19.385Z,1370289079.385 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:19.385Z,1370289079.385 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:19.386Z,1370289079.386 [Reporter](INFO): homing_target_azimuth 261.285799 arcdeg
2013-06-03T19:51:19.492Z,1370289079.492 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:19.869Z,1370289079.869 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:19.870Z,1370289079.870 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:19.870Z,1370289079.870 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:19.871Z,1370289079.871 [Reporter](INFO): homing_target_azimuth 241.461831 arcdeg
2013-06-03T19:51:20.541Z,1370289080.541 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:20.542Z,1370289080.542 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:20.543Z,1370289080.543 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:20.544Z,1370289080.544 [Reporter](INFO): homing_target_azimuth 298.195459 arcdeg
2013-06-03T19:51:21.045Z,1370289081.045 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:21.046Z,1370289081.046 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:21.046Z,1370289081.046 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:21.047Z,1370289081.047 [Reporter](INFO): homing_target_azimuth 300.999060 arcdeg
2013-06-03T19:51:21.517Z,1370289081.517 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:21.517Z,1370289081.517 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:21.518Z,1370289081.518 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:21.518Z,1370289081.519 [Reporter](INFO): homing_target_azimuth 286.938979 arcdeg
2013-06-03T19:51:21.948Z,1370289081.948 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:21.949Z,1370289081.949 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:21.949Z,1370289081.949 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:21.950Z,1370289081.950 [Reporter](INFO): homing_target_azimuth 255.825391 arcdeg
2013-06-03T19:51:22.044Z,1370289082.044 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:22.412Z,1370289082.412 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:22.897Z,1370289082.897 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:23.316Z,1370289083.316 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:23.716Z,1370289083.716 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:24.166Z,1370289084.166 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:24.608Z,1370289084.608 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:24.694Z,1370289084.694 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:24.695Z,1370289084.695 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:24.700Z,1370289084.700 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:24.701Z,1370289084.701 [Reporter](INFO): homing_target_azimuth 120.985846 arcdeg
2013-06-03T19:51:25.221Z,1370289085.221 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:25.222Z,1370289085.222 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:25.222Z,1370289085.222 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:25.223Z,1370289085.223 [Reporter](INFO): homing_target_azimuth 288.258981 arcdeg
2013-06-03T19:51:25.744Z,1370289085.744 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:25.745Z,1370289085.745 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:25.746Z,1370289085.746 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:25.746Z,1370289085.746 [Reporter](INFO): homing_target_azimuth 295.670174 arcdeg
2013-06-03T19:51:26.296Z,1370289086.296 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:26.297Z,1370289086.297 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:26.298Z,1370289086.298 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:26.298Z,1370289086.298 [Reporter](INFO): homing_target_azimuth 300.452099 arcdeg
2013-06-03T19:51:26.768Z,1370289086.768 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:26.769Z,1370289086.769 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:26.770Z,1370289086.770 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:26.771Z,1370289086.771 [Reporter](INFO): homing_target_azimuth 291.976189 arcdeg
2013-06-03T19:51:27.181Z,1370289087.181 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:27.280Z,1370289087.280 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:27.289Z,1370289087.289 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:27.289Z,1370289087.289 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:27.290Z,1370289087.290 [Reporter](INFO): homing_target_azimuth 302.408975 arcdeg
2013-06-03T19:51:27.860Z,1370289087.860 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:27.860Z,1370289087.861 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:27.861Z,1370289087.861 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:27.862Z,1370289087.862 [Reporter](INFO): homing_target_azimuth 125.127071 arcdeg
2013-06-03T19:51:28.455Z,1370289088.455 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:28.455Z,1370289088.455 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:28.456Z,1370289088.456 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:28.457Z,1370289088.457 [Reporter](INFO): homing_target_azimuth 137.146155 arcdeg
2013-06-03T19:51:28.820Z,1370289088.820 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:28.820Z,1370289088.820 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:28.821Z,1370289088.821 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:28.822Z,1370289088.822 [Reporter](INFO): homing_target_azimuth 292.735815 arcdeg
2013-06-03T19:51:29.398Z,1370289089.398 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:29.399Z,1370289089.399 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:29.399Z,1370289089.399 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:29.400Z,1370289089.400 [Reporter](INFO): homing_target_azimuth 132.563754 arcdeg
2013-06-03T19:51:29.745Z,1370289089.745 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:29.832Z,1370289089.832 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:29.832Z,1370289089.832 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:29.833Z,1370289089.833 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:29.834Z,1370289089.834 [Reporter](INFO): homing_target_azimuth 134.076969 arcdeg
2013-06-03T19:51:30.216Z,1370289090.216 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:30.217Z,1370289090.217 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:30.218Z,1370289090.217 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:30.218Z,1370289090.218 [Reporter](INFO): homing_target_azimuth 288.383455 arcdeg
2013-06-03T19:51:30.712Z,1370289090.712 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:30.713Z,1370289090.713 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:30.713Z,1370289090.713 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:30.714Z,1370289090.714 [Reporter](INFO): homing_target_azimuth 271.521958 arcdeg
2013-06-03T19:51:31.089Z,1370289091.089 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:31.090Z,1370289091.090 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:31.090Z,1370289091.090 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:31.091Z,1370289091.091 [Reporter](INFO): homing_target_azimuth 305.463654 arcdeg
2013-06-03T19:51:31.534Z,1370289091.533 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:31.534Z,1370289091.534 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:31.535Z,1370289091.535 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:31.536Z,1370289091.536 [Reporter](INFO): homing_target_azimuth 292.744804 arcdeg
2013-06-03T19:51:31.964Z,1370289091.964 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:31.965Z,1370289091.965 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:31.965Z,1370289091.966 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:31.966Z,1370289091.966 [Reporter](INFO): homing_target_azimuth 300.483080 arcdeg
2013-06-03T19:51:32.296Z,1370289092.296 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:32.428Z,1370289092.428 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:32.428Z,1370289092.428 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:32.429Z,1370289092.429 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:32.430Z,1370289092.430 [Reporter](INFO): homing_target_azimuth 300.218943 arcdeg
2013-06-03T19:51:32.763Z,1370289092.763 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:33.320Z,1370289093.320 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:33.321Z,1370289093.321 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:33.321Z,1370289093.321 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:33.322Z,1370289093.322 [Reporter](INFO): homing_target_azimuth 296.662382 arcdeg
2013-06-03T19:51:33.804Z,1370289093.804 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-03T19:51:33.805Z,1370289093.805 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:33.806Z,1370289093.806 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:33.806Z,1370289093.806 [Reporter](INFO): homing_target_azimuth 150.614018 arcdeg
2013-06-03T19:51:34.172Z,1370289094.172 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:34.173Z,1370289094.173 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:34.173Z,1370289094.173 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:34.174Z,1370289094.174 [Reporter](INFO): homing_target_azimuth 155.514747 arcdeg
2013-06-03T19:51:34.572Z,1370289094.572 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:34.868Z,1370289094.868 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:34.936Z,1370289094.936 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:35.348Z,1370289095.348 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:35.860Z,1370289095.860 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:36.256Z,1370289096.256 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:36.621Z,1370289096.621 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:37.208Z,1370289097.208 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:37.209Z,1370289097.209 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:37.210Z,1370289097.210 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:37.211Z,1370289097.211 [Reporter](INFO): homing_target_azimuth 272.079247 arcdeg
2013-06-03T19:51:37.424Z,1370289097.424 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:37.589Z,1370289097.589 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:37.590Z,1370289097.590 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:37.591Z,1370289097.591 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:37.591Z,1370289097.591 [Reporter](INFO): homing_target_azimuth 303.039702 arcdeg
2013-06-03T19:51:37.974Z,1370289097.974 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:37.975Z,1370289097.975 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:37.976Z,1370289097.977 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:37.977Z,1370289097.977 [Reporter](INFO): homing_target_azimuth 308.913364 arcdeg
2013-06-03T19:51:38.493Z,1370289098.493 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:38.494Z,1370289098.494 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:38.495Z,1370289098.495 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:38.495Z,1370289098.496 [Reporter](INFO): homing_target_azimuth 295.535701 arcdeg
2013-06-03T19:51:38.868Z,1370289098.868 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:38.869Z,1370289098.869 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:38.869Z,1370289098.869 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:38.870Z,1370289098.870 [Reporter](INFO): homing_target_azimuth 149.519999 arcdeg
2013-06-03T19:51:39.268Z,1370289099.268 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:39.692Z,1370289099.692 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:39.693Z,1370289099.693 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:39.693Z,1370289099.693 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:39.694Z,1370289099.694 [Reporter](INFO): homing_target_azimuth 143.083420 arcdeg
2013-06-03T19:51:40.005Z,1370289100.005 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:40.193Z,1370289100.193 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:40.193Z,1370289100.193 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:40.194Z,1370289100.194 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:40.195Z,1370289100.195 [Reporter](INFO): homing_target_azimuth 141.427413 arcdeg
2013-06-03T19:51:40.593Z,1370289100.593 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:40.594Z,1370289100.594 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:40.595Z,1370289100.595 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:40.596Z,1370289100.596 [Reporter](INFO): homing_target_azimuth 115.136936 arcdeg
2013-06-03T19:51:41.077Z,1370289101.077 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:41.078Z,1370289101.078 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:41.079Z,1370289101.079 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:41.079Z,1370289101.079 [Reporter](INFO): homing_target_azimuth 123.994079 arcdeg
2013-06-03T19:51:41.494Z,1370289101.494 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:41.495Z,1370289101.495 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:41.495Z,1370289101.495 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:41.502Z,1370289101.501 [Reporter](INFO): homing_target_azimuth 282.395100 arcdeg
2013-06-03T19:51:42.056Z,1370289102.056 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:42.057Z,1370289102.057 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:42.057Z,1370289102.057 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:42.058Z,1370289102.058 [Reporter](INFO): homing_target_azimuth 293.338402 arcdeg
2013-06-03T19:51:42.432Z,1370289102.432 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:42.433Z,1370289102.433 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:42.433Z,1370289102.433 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:42.434Z,1370289102.434 [Reporter](INFO): homing_target_azimuth 303.550272 arcdeg
2013-06-03T19:51:42.589Z,1370289102.589 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:42.884Z,1370289102.884 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:42.885Z,1370289102.885 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:42.886Z,1370289102.886 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:42.886Z,1370289102.886 [Reporter](INFO): homing_target_azimuth 292.270543 arcdeg
2013-06-03T19:51:43.238Z,1370289103.238 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:43.856Z,1370289103.856 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:43.857Z,1370289103.857 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:43.857Z,1370289103.857 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:43.858Z,1370289103.858 [Reporter](INFO): homing_target_azimuth 293.508446 arcdeg
2013-06-03T19:51:44.293Z,1370289104.293 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-03T19:51:44.294Z,1370289104.293 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:44.294Z,1370289104.294 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:44.295Z,1370289104.295 [Reporter](INFO): homing_target_azimuth 288.822499 arcdeg
2013-06-03T19:51:44.767Z,1370289104.767 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:44.768Z,1370289104.768 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:44.769Z,1370289104.769 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:44.769Z,1370289104.769 [Reporter](INFO): homing_target_azimuth 278.856243 arcdeg
2013-06-03T19:51:45.152Z,1370289105.152 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:45.188Z,1370289105.188 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-03T19:51:45.189Z,1370289105.188 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:45.189Z,1370289105.189 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:45.190Z,1370289105.190 [Reporter](INFO): homing_target_azimuth 197.404789 arcdeg
2013-06-03T19:51:45.677Z,1370289105.677 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:45.678Z,1370289105.678 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:45.679Z,1370289105.679 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:45.679Z,1370289105.679 [Reporter](INFO): homing_target_azimuth 218.392485 arcdeg
2013-06-03T19:51:46.073Z,1370289106.073 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-03T19:51:46.074Z,1370289106.074 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:46.075Z,1370289106.075 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:46.075Z,1370289106.075 [Reporter](INFO): homing_target_azimuth 140.009370 arcdeg
2013-06-03T19:51:46.469Z,1370289106.469 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:46.470Z,1370289106.470 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:46.470Z,1370289106.470 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:46.472Z,1370289106.472 [Reporter](INFO): homing_target_azimuth 125.642559 arcdeg
2013-06-03T19:51:46.868Z,1370289106.868 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:47.189Z,1370289107.189 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:47.636Z,1370289107.636 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:47.712Z,1370289107.712 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:48.004Z,1370289108.004 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:48.664Z,1370289108.664 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:49.017Z,1370289109.017 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:49.514Z,1370289109.514 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:49.515Z,1370289109.515 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:49.516Z,1370289109.516 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:49.517Z,1370289109.517 [Reporter](INFO): homing_target_azimuth 138.443290 arcdeg
2013-06-03T19:51:50.124Z,1370289110.124 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:50.125Z,1370289110.125 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:50.126Z,1370289110.126 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:50.126Z,1370289110.126 [Reporter](INFO): homing_target_azimuth 128.637474 arcdeg
2013-06-03T19:51:50.284Z,1370289110.284 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:50.493Z,1370289110.493 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:51:50.494Z,1370289110.494 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:50.494Z,1370289110.494 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:50.495Z,1370289110.495 [Reporter](INFO): homing_target_azimuth 185.679376 arcdeg
2013-06-03T19:51:50.896Z,1370289110.896 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:50.896Z,1370289110.896 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:50.897Z,1370289110.897 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:50.898Z,1370289110.898 [Reporter](INFO): homing_target_azimuth 136.794141 arcdeg
2013-06-03T19:51:51.267Z,1370289111.267 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:51.743Z,1370289111.743 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:51.753Z,1370289111.753 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:51.753Z,1370289111.753 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:51.754Z,1370289111.754 [Reporter](INFO): homing_target_azimuth 122.510453 arcdeg
2013-06-03T19:51:52.356Z,1370289112.356 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:52.356Z,1370289112.356 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:52.357Z,1370289112.357 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:52.358Z,1370289112.358 [Reporter](INFO): homing_target_azimuth 126.976222 arcdeg
2013-06-03T19:51:52.769Z,1370289112.769 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:52.770Z,1370289112.770 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:52.770Z,1370289112.770 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:52.771Z,1370289112.771 [Reporter](INFO): homing_target_azimuth 298.703078 arcdeg
2013-06-03T19:51:52.848Z,1370289112.848 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:53.268Z,1370289113.268 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-03T19:51:53.269Z,1370289113.269 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:53.269Z,1370289113.269 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:53.270Z,1370289113.270 [Reporter](INFO): homing_target_azimuth 231.095571 arcdeg
2013-06-03T19:51:53.769Z,1370289113.769 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:53.769Z,1370289113.769 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:53.770Z,1370289113.770 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:53.771Z,1370289113.770 [Reporter](INFO): homing_target_azimuth 298.949457 arcdeg
2013-06-03T19:51:54.236Z,1370289114.236 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-03T19:51:54.236Z,1370289114.236 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:54.237Z,1370289114.237 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:54.238Z,1370289114.238 [Reporter](INFO): homing_target_azimuth 296.186946 arcdeg
2013-06-03T19:51:54.657Z,1370289114.657 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:54.658Z,1370289114.658 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:54.659Z,1370289114.659 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:54.660Z,1370289114.660 [Reporter](INFO): homing_target_azimuth 292.235354 arcdeg
2013-06-03T19:51:55.206Z,1370289115.206 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-03T19:51:55.207Z,1370289115.207 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:55.213Z,1370289115.213 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:55.213Z,1370289115.213 [Reporter](INFO): homing_target_azimuth 130.449469 arcdeg
2013-06-03T19:51:55.396Z,1370289115.396 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:55.673Z,1370289115.673 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:55.673Z,1370289115.673 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:55.674Z,1370289115.674 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:55.674Z,1370289115.674 [Reporter](INFO): homing_target_azimuth 132.490794 arcdeg
2013-06-03T19:51:56.078Z,1370289116.078 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:56.079Z,1370289116.079 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:56.080Z,1370289116.080 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:56.089Z,1370289116.089 [Reporter](INFO): homing_target_azimuth 216.957667 arcdeg
2013-06-03T19:51:56.589Z,1370289116.589 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:56.590Z,1370289116.590 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:56.591Z,1370289116.591 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:56.592Z,1370289116.592 [Reporter](INFO): homing_target_azimuth 179.356150 arcdeg
2013-06-03T19:51:56.990Z,1370289116.990 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:56.991Z,1370289116.991 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:57.041Z,1370289117.041 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:57.042Z,1370289117.042 [Reporter](INFO): homing_target_azimuth 138.504010 arcdeg
2013-06-03T19:51:57.557Z,1370289117.557 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:57.558Z,1370289117.558 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:57.558Z,1370289117.559 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:57.559Z,1370289117.559 [Reporter](INFO): homing_target_azimuth 121.488438 arcdeg
2013-06-03T19:51:58.009Z,1370289118.009 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:58.010Z,1370289118.010 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:58.010Z,1370289118.010 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:58.011Z,1370289118.011 [Reporter](INFO): homing_target_azimuth 225.790549 arcdeg
2013-06-03T19:51:58.024Z,1370289118.024 [DVL_micro](DEBUG): NQ1
2013-06-03T19:51:58.505Z,1370289118.505 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:51:58.506Z,1370289118.506 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:58.507Z,1370289118.507 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:58.507Z,1370289118.507 [Reporter](INFO): homing_target_azimuth 289.341375 arcdeg
2013-06-03T19:51:58.998Z,1370289118.998 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:51:58.999Z,1370289118.999 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:59.005Z,1370289119.005 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:51:59.005Z,1370289119.006 [Reporter](INFO): homing_target_azimuth 285.055459 arcdeg
2013-06-03T19:51:59.388Z,1370289119.388 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:51:59.704Z,1370289119.704 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:00.155Z,1370289120.155 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:00.592Z,1370289120.592 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:00.616Z,1370289120.616 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:00.972Z,1370289120.972 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:01.408Z,1370289121.408 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:01.839Z,1370289121.839 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:01.842Z,1370289121.842 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:01.843Z,1370289121.843 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:01.843Z,1370289121.843 [Reporter](INFO): homing_target_azimuth 296.700904 arcdeg
2013-06-03T19:52:02.228Z,1370289122.228 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:02.732Z,1370289122.732 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:52:02.732Z,1370289122.732 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:02.733Z,1370289122.733 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:02.734Z,1370289122.734 [Reporter](INFO): homing_target_azimuth 151.702381 arcdeg
2013-06-03T19:52:03.160Z,1370289123.160 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:03.161Z,1370289123.161 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:03.161Z,1370289123.161 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:03.162Z,1370289123.162 [Reporter](INFO): homing_target_azimuth 134.982447 arcdeg
2013-06-03T19:52:03.164Z,1370289123.164 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:03.597Z,1370289123.597 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:52:03.598Z,1370289123.598 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:03.599Z,1370289123.599 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:03.600Z,1370289123.600 [Reporter](INFO): homing_target_azimuth 301.360241 arcdeg
2013-06-03T19:52:04.125Z,1370289124.125 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:04.126Z,1370289124.126 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:04.126Z,1370289124.126 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:04.127Z,1370289124.127 [Reporter](INFO): homing_target_azimuth 294.465738 arcdeg
2013-06-03T19:52:04.553Z,1370289124.553 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:52:04.554Z,1370289124.554 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:04.554Z,1370289124.555 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:04.555Z,1370289124.555 [Reporter](INFO): homing_target_azimuth 294.901996 arcdeg
2013-06-03T19:52:04.993Z,1370289124.993 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:04.994Z,1370289124.994 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:04.994Z,1370289124.994 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:04.995Z,1370289124.995 [Reporter](INFO): homing_target_azimuth 293.812772 arcdeg
2013-06-03T19:52:05.493Z,1370289125.493 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:52:05.494Z,1370289125.494 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:05.494Z,1370289125.494 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:05.495Z,1370289125.495 [Reporter](INFO): homing_target_azimuth 306.911299 arcdeg
2013-06-03T19:52:05.720Z,1370289125.720 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:05.904Z,1370289125.904 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:05.905Z,1370289125.905 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:05.906Z,1370289125.906 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:05.906Z,1370289125.906 [Reporter](INFO): homing_target_azimuth 314.004615 arcdeg
2013-06-03T19:52:06.296Z,1370289126.296 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:52:06.297Z,1370289126.297 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:06.298Z,1370289126.298 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:06.298Z,1370289126.298 [Reporter](INFO): homing_target_azimuth 133.935529 arcdeg
2013-06-03T19:52:06.735Z,1370289126.735 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:07.160Z,1370289127.160 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:07.394Z,1370289127.394 [DAT](ERROR): Unexpected response:21:18:48.1571 , LVL= 15552, 13153, 15858, 25587, AGC=  60, IDX= 62-0.11,-1.169, PHS= 0.002, 0.000, 0.010, |v|= 0.006, RAW= 199.5,-22.9, CAL= 209.2,-25.5, ROT= 2.7 m
2013-06-03T19:52:07.590Z,1370289127.590 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:08.097Z,1370289128.097 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:52:08.098Z,1370289128.098 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:08.098Z,1370289128.098 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:08.099Z,1370289128.099 [Reporter](INFO): homing_target_azimuth 133.867801 arcdeg
2013-06-03T19:52:08.288Z,1370289128.288 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:08.884Z,1370289128.884 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:08.885Z,1370289128.885 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:08.886Z,1370289128.886 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:08.887Z,1370289128.887 [Reporter](INFO): homing_target_azimuth 128.225505 arcdeg
2013-06-03T19:52:09.577Z,1370289129.577 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:52:09.578Z,1370289129.578 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:09.578Z,1370289129.579 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:09.579Z,1370289129.579 [Reporter](INFO): homing_target_azimuth 125.700329 arcdeg
2013-06-03T19:52:09.981Z,1370289129.981 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:09.982Z,1370289129.982 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:09.983Z,1370289129.983 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:09.983Z,1370289129.983 [Reporter](INFO): homing_target_azimuth 296.679430 arcdeg
2013-06-03T19:52:10.468Z,1370289130.468 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:52:10.469Z,1370289130.469 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:10.470Z,1370289130.470 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:10.471Z,1370289130.471 [Reporter](INFO): homing_target_azimuth 298.406921 arcdeg
2013-06-03T19:52:10.836Z,1370289130.836 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:10.867Z,1370289130.867 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-03T19:52:10.867Z,1370289130.867 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:10.868Z,1370289130.868 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:10.869Z,1370289130.869 [Reporter](INFO): homing_target_azimuth 291.845760 arcdeg
2013-06-03T19:52:11.332Z,1370289131.332 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:52:11.332Z,1370289131.332 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:11.333Z,1370289131.333 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:11.334Z,1370289131.334 [Reporter](INFO): homing_target_azimuth 297.729612 arcdeg
2013-06-03T19:52:11.868Z,1370289131.868 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-03T19:52:11.868Z,1370289131.868 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:11.869Z,1370289131.869 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:11.870Z,1370289131.870 [Reporter](INFO): homing_target_azimuth 334.321422 arcdeg
2013-06-03T19:52:12.363Z,1370289132.363 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-03T19:52:12.372Z,1370289132.372 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:12.373Z,1370289132.373 [Reporter](INFO): DAT.homing_target_heading nan arcdeg
2013-06-03T19:52:12.373Z,1370289132.374 [Reporter](INFO): homing_target_azimuth 302.771330 arcdeg
2013-06-03T19:52:12.804Z,1370289132.804 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:13.148Z,1370289133.148 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:13.428Z,1370289133.428 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:13.572Z,1370289133.572 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:14.096Z,1370289134.096 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:14.520Z,1370289134.520 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:14.882Z,1370289134.882 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:15.308Z,1370289135.308 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:15.884Z,1370289135.884 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:16.013Z,1370289136.013 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:16.093Z,1370289136.093 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd degree
2013-06-03T19:52:16.093Z,1370289136.093 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 295.403523 degree
2013-06-03T19:52:16.288Z,1370289136.288 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:16.644Z,1370289136.644 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:17.054Z,1370289137.053 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:17.400Z,1370289137.400 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:17.848Z,1370289137.848 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:18.268Z,1370289138.268 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:18.588Z,1370289138.588 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:18.726Z,1370289138.726 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:19.257Z,1370289139.257 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:19.587Z,1370289139.588 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:19.992Z,1370289139.992 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:20.371Z,1370289140.371 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:20.856Z,1370289140.856 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:21.160Z,1370289141.160 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:21.228Z,1370289141.228 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:21.688Z,1370289141.688 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:22.088Z,1370289142.088 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:22.460Z,1370289142.460 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:22.832Z,1370289142.832 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:23.296Z,1370289143.296 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:23.701Z,1370289143.701 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:23.720Z,1370289143.720 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:24.320Z,1370289144.320 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:24.668Z,1370289144.668 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:25.048Z,1370289145.048 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:25.568Z,1370289145.568 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:25.896Z,1370289145.896 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:26.269Z,1370289146.269 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:26.284Z,1370289146.284 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:26.724Z,1370289146.724 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:27.122Z,1370289147.122 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:27.496Z,1370289147.496 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:28.123Z,1370289148.124 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:28.564Z,1370289148.565 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:28.856Z,1370289148.856 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:29.032Z,1370289149.032 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:29.163Z,1370289149.163 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd degree
2013-06-03T19:52:29.169Z,1370289149.168 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 295.403523 degree
2013-06-03T19:52:29.492Z,1370289149.492 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:29.797Z,1370289149.797 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:30.196Z,1370289150.195 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:30.640Z,1370289150.640 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:31.033Z,1370289151.033 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:31.392Z,1370289151.392 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:31.441Z,1370289151.441 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:31.896Z,1370289151.896 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:32.200Z,1370289152.200 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:32.604Z,1370289152.604 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:33.136Z,1370289153.136 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:33.429Z,1370289153.429 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:33.837Z,1370289153.837 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:33.965Z,1370289153.965 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:34.386Z,1370289154.386 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:34.704Z,1370289154.704 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:35.133Z,1370289155.133 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:35.460Z,1370289155.460 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:35.889Z,1370289155.889 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:36.260Z,1370289156.260 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:36.524Z,1370289156.524 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:36.700Z,1370289156.700 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:37.068Z,1370289157.068 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:37.464Z,1370289157.464 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:37.855Z,1370289157.855 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:38.404Z,1370289158.404 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:38.708Z,1370289158.708 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:39.093Z,1370289159.092 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:39.116Z,1370289159.115 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:39.633Z,1370289159.633 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:39.932Z,1370289159.932 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:40.328Z,1370289160.328 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:40.768Z,1370289160.768 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:41.136Z,1370289161.136 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:41.568Z,1370289161.568 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:41.652Z,1370289161.652 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:41.971Z,1370289161.971 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:42.372Z,1370289162.372 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:42.732Z,1370289162.732 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:43.122Z,1370289163.122 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:43.524Z,1370289163.524 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:43.924Z,1370289163.924 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:44.196Z,1370289164.196 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:44.464Z,1370289164.464 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:44.840Z,1370289164.840 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:45.168Z,1370289165.168 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:45.568Z,1370289165.568 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:45.968Z,1370289165.968 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:46.328Z,1370289166.328 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:46.733Z,1370289166.733 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:46.780Z,1370289166.780 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:47.168Z,1370289167.168 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:47.564Z,1370289167.564 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:48.068Z,1370289168.068 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:48.359Z,1370289168.359 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:48.761Z,1370289168.761 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:49.140Z,1370289169.141 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:49.332Z,1370289169.332 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:49.756Z,1370289169.756 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:50.076Z,1370289170.076 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:50.440Z,1370289170.440 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:50.897Z,1370289170.897 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:51.336Z,1370289171.336 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:51.656Z,1370289171.656 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:51.888Z,1370289171.888 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:52.041Z,1370289172.041 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:52.517Z,1370289172.517 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:52.869Z,1370289172.869 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:53.255Z,1370289173.255 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:53.592Z,1370289173.592 [CommandLine](IMPORTANT): got command show stack
2013-06-03T19:52:53.593Z,1370289173.593 [CommandLine](INFO): Behavior Stack:

2013-06-03T19:52:53.598Z,1370289173.598 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-03T19:52:53.598Z,1370289173.598 [homing_pursuit](INFO): Priority 1: homing_pursuit:B
2013-06-03T19:52:53.599Z,1370289173.599 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.Pitch
2013-06-03T19:52:53.599Z,1370289173.599 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.Buoyancy
2013-06-03T19:52:53.599Z,1370289173.599 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-03T19:52:53.600Z,1370289173.599 [homing_pursuit:ClosePursuit](INFO): Priority 5: homing_pursuit:ClosePursuit:A
2013-06-03T19:52:53.600Z,1370289173.600 [homing_pursuit:ClosePursuit](INFO): Priority 6: homing_pursuit:ClosePursuit:B.SetSpeed
2013-06-03T19:52:53.601Z,1370289173.601 [homing_pursuit:ClosePursuit](INFO): Priority 7: homing_pursuit:ClosePursuit:C.Pitch
2013-06-03T19:52:53.601Z,1370289173.601 [homing_pursuit:ClosePursuit](INFO): Priority 8: homing_pursuit:ClosePursuit:D.Point
2013-06-03T19:52:53.601Z,1370289173.601 [homing_pursuit:ClosePursuit](INFO): Priority 9: homing_pursuit:ClosePursuit:E.Wait
2013-06-03T19:52:53.656Z,1370289173.656 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:54.076Z,1370289174.076 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:54.456Z,1370289174.456 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:54.643Z,1370289174.643 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:54.961Z,1370289174.961 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:55.368Z,1370289175.368 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:55.840Z,1370289175.840 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:56.156Z,1370289176.156 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:56.537Z,1370289176.537 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:56.967Z,1370289176.967 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:57.020Z,1370289177.020 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:57.412Z,1370289177.412 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:57.764Z,1370289177.764 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:58.175Z,1370289178.175 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:58.312Z,1370289178.312 [CommandLine](IMPORTANT): got command failComponent
2013-06-03T19:52:58.313Z,1370289178.313 [CommandLine](IMPORTANT): Failed components:
2013-06-03T19:52:58.313Z,1370289178.313 [CommandLine](IMPORTANT): No failed Components.
2013-06-03T19:52:58.620Z,1370289178.620 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:58.968Z,1370289178.968 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:59.377Z,1370289179.377 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:52:59.576Z,1370289179.576 [DVL_micro](DEBUG): NQ1
2013-06-03T19:52:59.856Z,1370289179.856 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:00.168Z,1370289180.168 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:00.633Z,1370289180.633 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:00.965Z,1370289180.964 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:01.360Z,1370289181.360 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:01.732Z,1370289181.732 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:02.124Z,1370289182.124 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:02.209Z,1370289182.209 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:02.533Z,1370289182.533 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:02.928Z,1370289182.928 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:03.372Z,1370289183.372 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:03.840Z,1370289183.840 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:04.212Z,1370289184.212 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:04.573Z,1370289184.573 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:04.693Z,1370289184.693 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:05.060Z,1370289185.060 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:05.366Z,1370289185.366 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:05.756Z,1370289185.756 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:06.136Z,1370289186.136 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:06.555Z,1370289186.556 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:06.948Z,1370289186.948 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:07.255Z,1370289187.256 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:07.412Z,1370289187.412 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:07.768Z,1370289187.769 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:08.137Z,1370289188.137 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:08.609Z,1370289188.609 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:09.001Z,1370289189.001 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:09.373Z,1370289189.372 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:09.734Z,1370289189.734 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:09.836Z,1370289189.836 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:10.336Z,1370289190.336 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:10.669Z,1370289190.668 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:11.071Z,1370289191.071 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:11.536Z,1370289191.536 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:11.932Z,1370289191.932 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:12.324Z,1370289192.323 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:12.388Z,1370289192.388 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:12.760Z,1370289192.760 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:13.126Z,1370289193.126 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:13.618Z,1370289193.618 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:13.802Z,1370289193.802 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd degree
2013-06-03T19:53:13.802Z,1370289193.802 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 295.403523 degree
2013-06-03T19:53:14.022Z,1370289194.022 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:14.364Z,1370289194.364 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:14.716Z,1370289194.716 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:14.936Z,1370289194.936 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:15.303Z,1370289195.303 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:15.628Z,1370289195.628 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:15.980Z,1370289195.980 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:16.368Z,1370289196.368 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:16.861Z,1370289196.861 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:17.221Z,1370289197.220 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:17.488Z,1370289197.488 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:17.628Z,1370289197.628 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:18.016Z,1370289198.016 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:18.375Z,1370289198.375 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:18.824Z,1370289198.824 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:19.216Z,1370289199.216 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:19.629Z,1370289199.629 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:20.036Z,1370289200.036 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:20.160Z,1370289200.160 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:20.465Z,1370289200.465 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:20.856Z,1370289200.856 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:21.256Z,1370289201.256 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:21.664Z,1370289201.664 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:22.060Z,1370289202.060 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:22.512Z,1370289202.512 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:22.592Z,1370289202.592 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:22.936Z,1370289202.936 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:23.415Z,1370289203.415 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:23.908Z,1370289203.908 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:24.321Z,1370289204.321 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:24.768Z,1370289204.768 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:25.136Z,1370289205.136 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:25.204Z,1370289205.204 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:25.697Z,1370289205.697 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:26.071Z,1370289206.071 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:26.508Z,1370289206.508 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:26.970Z,1370289206.970 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:27.508Z,1370289207.508 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:27.700Z,1370289207.700 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:27.874Z,1370289207.874 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:28.276Z,1370289208.276 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:28.699Z,1370289208.699 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:29.068Z,1370289209.068 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:29.475Z,1370289209.475 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:29.940Z,1370289209.940 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:30.264Z,1370289210.264 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:30.387Z,1370289210.387 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:30.967Z,1370289210.967 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:31.332Z,1370289211.332 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:31.776Z,1370289211.776 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:32.271Z,1370289212.271 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:32.624Z,1370289212.624 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:32.816Z,1370289212.816 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:33.112Z,1370289213.112 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:33.520Z,1370289213.520 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:34.012Z,1370289214.012 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:34.404Z,1370289214.404 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:34.820Z,1370289214.820 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:35.193Z,1370289215.193 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:35.372Z,1370289215.372 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:35.772Z,1370289215.773 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:36.224Z,1370289216.224 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:36.633Z,1370289216.633 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:36.983Z,1370289216.983 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:37.364Z,1370289217.365 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:37.812Z,1370289217.812 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:37.941Z,1370289217.941 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:38.164Z,1370289218.164 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:38.628Z,1370289218.628 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:39.013Z,1370289219.013 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:39.440Z,1370289219.441 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:39.876Z,1370289219.876 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:40.236Z,1370289220.236 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:40.492Z,1370289220.492 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:40.668Z,1370289220.668 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:41.188Z,1370289221.188 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:41.540Z,1370289221.540 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:41.960Z,1370289221.960 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:42.296Z,1370289222.296 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:42.804Z,1370289222.804 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:43.040Z,1370289223.040 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:43.225Z,1370289223.224 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:43.663Z,1370289223.663 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:44.068Z,1370289224.068 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:44.420Z,1370289224.420 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:44.816Z,1370289224.816 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:45.232Z,1370289225.232 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:45.608Z,1370289225.608 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:45.625Z,1370289225.625 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:46.272Z,1370289226.272 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:46.625Z,1370289226.625 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:47.168Z,1370289227.168 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:47.528Z,1370289227.528 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:47.940Z,1370289227.940 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:48.196Z,1370289228.196 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:48.325Z,1370289228.325 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:48.704Z,1370289228.704 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:49.216Z,1370289229.216 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:49.657Z,1370289229.657 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:50.024Z,1370289230.024 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:50.471Z,1370289230.471 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:50.736Z,1370289230.736 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:50.829Z,1370289230.829 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:51.424Z,1370289231.424 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:51.816Z,1370289231.816 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:52.416Z,1370289232.416 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:52.904Z,1370289232.904 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:53.280Z,1370289233.280 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:53.296Z,1370289233.296 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:53.679Z,1370289233.680 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:54.163Z,1370289234.163 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:54.573Z,1370289234.573 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:55.058Z,1370289235.057 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:55.437Z,1370289235.437 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:55.848Z,1370289235.848 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:55.889Z,1370289235.889 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:56.496Z,1370289236.496 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:56.916Z,1370289236.916 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:57.224Z,1370289237.224 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:57.616Z,1370289237.616 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:58.012Z,1370289238.012 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:58.389Z,1370289238.389 [DVL_micro](DEBUG): NQ1
2013-06-03T19:53:58.397Z,1370289238.397 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:58.876Z,1370289238.876 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:59.228Z,1370289239.228 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:53:59.616Z,1370289239.616 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:00.016Z,1370289240.016 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:00.400Z,1370289240.400 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:00.818Z,1370289240.818 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:00.950Z,1370289240.950 [DVL_micro](DEBUG): NQ1
2013-06-03T19:54:01.324Z,1370289241.324 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:01.631Z,1370289241.631 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:02.123Z,1370289242.122 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:02.444Z,1370289242.444 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:02.838Z,1370289242.838 [Reporter](INFO): HorizontalControl.headingCmd 5.155764 rad
2013-06-03T19:54:02.860Z,1370289242.860 [CommandLine](IMPORTANT): got command stop
2013-06-03T19:54:03.178Z,1370289243.178 [homing_pursuit] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:A] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:B] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:C.Pitch] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:D.Buoyancy] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:E] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:ClosePursuit] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-03T19:54:03.179Z,1370289243.179 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-03T19:54:03.179Z,1370289243.180 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:54:03.180Z,1370289243.180 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-03T19:54:03.180Z,1370289243.180 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-03T19:54:03.180Z,1370289243.180 [homing_pursuit:ClosePursuit:E.Wait] Stopped
2013-06-03T19:54:03.180Z,1370289243.180 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Uninitialize Wait Component.
2013-06-03T19:54:03.261Z,1370289243.260 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-03T19:54:03.500Z,1370289243.500 [DVL_micro](DEBUG): NQ1
2013-06-03T19:54:03.542Z,1370289243.542 [DVL_micro](INFO): pause:Powering down
2013-06-03T19:54:03.597Z,1370289243.597 [MissionManager](IMPORTANT): Started mission Default
2013-06-03T19:54:03.597Z,1370289243.597 [Default] Running Loop=1
2013-06-03T19:54:03.598Z,1370289243.598 [Default](INFO): Aggregate::initialize Default
2013-06-03T19:54:03.598Z,1370289243.598 [Default:D.SetSpeed] Running Loop=1
2013-06-03T19:54:03.598Z,1370289243.598 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-03T19:54:03.598Z,1370289243.598 [Default:E.GoToSurface] Running Loop=1
2013-06-03T19:54:03.598Z,1370289243.598 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:54:03.598Z,1370289243.598 [Default:Iridium] Running Loop=1
2013-06-03T19:54:03.598Z,1370289243.598 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-03T19:54:03.598Z,1370289243.598 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-03T19:54:03.598Z,1370289243.598 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:54:03.599Z,1370289243.599 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-03T19:54:03.599Z,1370289243.599 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:54:03.612Z,1370289243.612 [Default:CallIridium] Running Loop=1
2013-06-03T19:54:03.616Z,1370289243.616 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-03T19:54:03.616Z,1370289243.616 [Default:CallIridium:A] Running Loop=1
2013-06-03T19:54:03.618Z,1370289243.618 [Default:CallIridium:A] Stopped
2013-06-03T19:54:03.618Z,1370289243.618 [Default:CallIridium:B] Running Loop=1
2013-06-03T19:54:03.618Z,1370289243.618 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-03T19:54:03.625Z,1370289243.625 [Default:Iridium:B.GoToSurface] Stopped
2013-06-03T19:54:03.625Z,1370289243.625 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:54:03.625Z,1370289243.625 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-03T19:54:03.625Z,1370289243.625 [Default:GPS] Running Loop=1
2013-06-03T19:54:03.632Z,1370289243.632 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-03T19:54:03.632Z,1370289243.632 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-03T19:54:03.632Z,1370289243.632 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-03T19:54:03.632Z,1370289243.632 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-03T19:54:03.633Z,1370289243.633 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T19:54:03.633Z,1370289243.634 [Default:GPS:B.GoToSurface] Stopped
2013-06-03T19:54:03.634Z,1370289243.634 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:54:03.634Z,1370289243.634 [Default:GPS:Read_GPS] Running Loop=1
2013-06-03T19:54:03.953Z,1370289243.953 [DAT](INFO): Powering down
2013-06-03T19:54:04.431Z,1370289244.431 [NAL9602](INFO): Powering up
2013-06-03T19:54:15.233Z,1370289255.233 [NAL9602](INFO): NAL9602 initialized
2013-06-03T19:56:57.960Z,1370289417.960 [CommandLine](IMPORTANT): got command report
2013-06-03T19:56:57.961Z,1370289417.961 [Reporter](INFO): homing_target_range reporting when touched
2013-06-03T19:56:57.961Z,1370289417.961 [Reporter](INFO): HorizontalControl.headingCmd reporting when touched
2013-06-03T19:56:57.961Z,1370289417.961 [Reporter](INFO): DAT.homing_target_heading reporting when touched
2013-06-03T19:56:57.961Z,1370289417.961 [Reporter](INFO): homing_target_azimuth reporting when touched
2013-06-03T19:57:03.473Z,1370289423.473 [CommandLine](IMPORTANT): got command quit
2013-06-03T19:57:04.616Z,1370289424.616 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-03T19:57:04.616Z,1370289424.616 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-03T19:57:04.636Z,1370289424.636 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-06-03T19:57:04.876Z,1370289424.876 [WetLabsBB2FL](INFO): Powering down
2013-06-03T19:57:04.878Z,1370289424.878 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-06-03T19:57:04.908Z,1370289424.908 [CTD_NeilBrown](INFO): Powering down
2013-06-03T19:57:04.920Z,1370289424.920 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-03T19:57:05.244Z,1370289425.244 [DVL_micro](INFO): uninitialize:Powering down
2013-06-03T19:57:05.256Z,1370289425.256 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-03T19:57:05.448Z,1370289425.448 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-03T19:57:05.461Z,1370289425.461 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-03T19:57:05.472Z,1370289425.472 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-03T19:57:05.485Z,1370289425.485 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-03T19:57:05.501Z,1370289425.500 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-03T19:57:05.501Z,1370289425.501 [AHRS_sp3003D](INFO): Powering down
2013-06-03T19:57:05.594Z,1370289425.593 [NAL9602](INFO): Powering down
2013-06-03T19:57:05.595Z,1370289425.595 [DAT](INFO): Powering down
2013-06-03T19:57:05.596Z,1370289425.596 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-03T19:57:05.597Z,1370289425.597 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-03T19:57:05.598Z,1370289425.598 [Default] Stopped
2013-06-03T19:57:05.598Z,1370289425.598 [Default](INFO): Aggregate::uninitialize Default
2013-06-03T19:57:05.598Z,1370289425.598 [Default:GPS] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-03T19:57:05.599Z,1370289425.599 [Default:GPS:A.SetSpeed] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:57:05.599Z,1370289425.599 [Default:GPS:Read_GPS] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:Iridium] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-03T19:57:05.599Z,1370289425.599 [Default:Iridium:A.SetSpeed] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:57:05.599Z,1370289425.599 [Default:Iridium:Read_Iridium] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:CallIridium] Stopped
2013-06-03T19:57:05.599Z,1370289425.599 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-03T19:57:05.599Z,1370289425.599 [Default:CallIridium:B] Stopped
2013-06-03T19:57:05.600Z,1370289425.599 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-03T19:57:05.600Z,1370289425.600 [Default:D.SetSpeed] Stopped
2013-06-03T19:57:05.600Z,1370289425.600 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-03T19:57:05.600Z,1370289425.600 [Default:E.GoToSurface] Stopped
2013-06-03T19:57:05.600Z,1370289425.600 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-03T19:57:05.604Z,1370289425.604 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-03T19:57:05.605Z,1370289425.605 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-03T19:57:05.605Z,1370289425.605 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-03T19:57:05.605Z,1370289425.605 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-03T19:57:05.605Z,1370289425.605 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-03T19:57:05.606Z,1370289425.606 [BuoyancyServo](INFO): Powering down
2013-06-03T19:57:05.621Z,1370289425.621 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-03T19:57:05.621Z,1370289425.621 [ElevatorServo](INFO): Powering down
2013-06-03T19:57:05.622Z,1370289425.622 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-03T19:57:05.622Z,1370289425.622 [MassServo](INFO): Powering down
2013-06-03T19:57:05.623Z,1370289425.622 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-03T19:57:05.623Z,1370289425.623 [RudderServo](INFO): Powering down
2013-06-03T19:57:05.623Z,1370289425.623 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-03T19:57:05.624Z,1370289425.624 [ThrusterServo](INFO): Powering down
2013-06-03T19:57:05.624Z,1370289425.625 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-03T19:57:05.625Z,1370289425.625 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-03T19:57:05.625Z,1370289425.625 [CBIT](DEBUG): Uninitialize CBIT Component.