2013-06-03T23:58:29.209Z,1370303909.209 [Supervisor](DEBUG): Initializing supervisor.
2013-06-03T23:58:29.212Z,1370303909.212 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-03T23:58:29.213Z,1370303909.213 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-03T23:58:29.214Z,1370303909.214 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-03T23:58:29.219Z,1370303909.219 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-03T23:58:29.230Z,1370303909.230 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-03T23:58:29.231Z,1370303909.231 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-03T23:58:29.232Z,1370303909.232 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-03T23:58:29.233Z,1370303909.233 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-03T23:58:29.234Z,1370303909.234 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-03T23:58:29.235Z,1370303909.235 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-03T23:58:29.522Z,1370303909.522 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-03T23:58:29.522Z,1370303909.522 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-03T23:58:29.718Z,1370303909.718 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-03T23:58:29.718Z,1370303909.718 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-03T23:58:29.802Z,1370303909.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-03T23:58:29.803Z,1370303909.803 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-03T23:58:29.945Z,1370303909.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-03T23:58:29.945Z,1370303909.945 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-03T23:58:30.083Z,1370303910.083 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-03T23:58:30.084Z,1370303910.084 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-03T23:58:30.330Z,1370303910.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-03T23:58:30.331Z,1370303910.331 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-03T23:58:30.502Z,1370303910.502 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-03T23:58:30.503Z,1370303910.503 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-03T23:58:30.759Z,1370303910.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-03T23:58:30.759Z,1370303910.759 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-03T23:58:30.859Z,1370303910.859 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-03T23:58:30.859Z,1370303910.859 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-03T23:58:31.262Z,1370303911.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-03T23:58:31.262Z,1370303911.263 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-03T23:58:31.376Z,1370303911.376 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-03T23:58:31.377Z,1370303911.376 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-03T23:58:31.462Z,1370303911.462 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-03T23:58:31.463Z,1370303911.463 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-03T23:58:31.567Z,1370303911.567 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-03T23:58:31.700Z,1370303911.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-03T23:58:31.791Z,1370303911.791 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-03T23:58:31.895Z,1370303911.895 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-03T23:58:31.994Z,1370303911.994 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-03T23:58:32.112Z,1370303912.112 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-03T23:58:32.206Z,1370303912.206 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-03T23:58:32.293Z,1370303912.293 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-03T23:58:32.293Z,1370303912.293 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-06-03T23:58:32.296Z,1370303912.296 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-03T23:58:32.445Z,1370303912.445 [InternalSim] Loaded
2013-06-03T23:58:32.445Z,1370303912.445 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-03T23:58:32.446Z,1370303912.446 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-03T23:58:32.447Z,1370303912.447 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-03T23:58:32.506Z,1370303912.506 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-03T23:58:32.534Z,1370303912.534 [SBIT] Loaded
2013-06-03T23:58:32.534Z,1370303912.534 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-03T23:58:32.535Z,1370303912.535 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-03T23:58:32.563Z,1370303912.563 [IBIT] Loaded
2013-06-03T23:58:32.564Z,1370303912.564 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-03T23:58:32.567Z,1370303912.567 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-03T23:58:32.680Z,1370303912.680 [CBIT] Loaded
2013-06-03T23:58:32.680Z,1370303912.681 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-03T23:58:32.681Z,1370303912.681 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-03T23:58:32.682Z,1370303912.681 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-03T23:58:32.831Z,1370303912.831 [BuoyancyServo] Loaded
2013-06-03T23:58:32.831Z,1370303912.831 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-03T23:58:32.844Z,1370303912.843 [ElevatorServo] Loaded
2013-06-03T23:58:32.844Z,1370303912.844 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-03T23:58:32.855Z,1370303912.855 [MassServo] Loaded
2013-06-03T23:58:32.856Z,1370303912.856 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-03T23:58:32.868Z,1370303912.868 [RudderServo] Loaded
2013-06-03T23:58:32.868Z,1370303912.868 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-03T23:58:32.879Z,1370303912.879 [ThrusterServo] Loaded
2013-06-03T23:58:32.880Z,1370303912.880 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-03T23:58:32.880Z,1370303912.880 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-03T23:58:32.881Z,1370303912.881 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-03T23:58:32.899Z,1370303912.899 [DepthRateCalculator] Loaded
2013-06-03T23:58:32.899Z,1370303912.899 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-03T23:58:35.776Z,1370303915.776 [HFRadarModelCalc] Loaded
2013-06-03T23:58:35.776Z,1370303915.776 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-03T23:58:35.792Z,1370303915.792 [NavChart] Loaded
2013-06-03T23:58:35.792Z,1370303915.792 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-03T23:58:35.798Z,1370303915.798 [PitchRateCalculator] Loaded
2013-06-03T23:58:35.798Z,1370303915.798 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-03T23:58:35.808Z,1370303915.808 [SpeedCalculator] Loaded
2013-06-03T23:58:35.809Z,1370303915.809 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-03T23:58:35.823Z,1370303915.823 [TempGradientCalculator] Loaded
2013-06-03T23:58:35.823Z,1370303915.823 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-03T23:58:35.829Z,1370303915.829 [YawRateCalculator] Loaded
2013-06-03T23:58:35.830Z,1370303915.829 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-03T23:58:35.873Z,1370303915.873 [Navigation] Loaded
2013-06-03T23:58:35.873Z,1370303915.874 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-03T23:58:35.874Z,1370303915.874 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-03T23:58:35.874Z,1370303915.875 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-03T23:58:36.086Z,1370303916.086 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-03T23:58:36.087Z,1370303916.087 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-03T23:58:36.110Z,1370303916.110 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-03T23:58:36.110Z,1370303916.110 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-03T23:58:36.150Z,1370303916.151 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-03T23:58:36.242Z,1370303916.242 [VerticalControl] Loaded
2013-06-03T23:58:36.242Z,1370303916.242 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-03T23:58:36.243Z,1370303916.243 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-03T23:58:36.297Z,1370303916.297 [HorizontalControl] Loaded
2013-06-03T23:58:36.297Z,1370303916.297 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-03T23:58:36.298Z,1370303916.298 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-03T23:58:36.300Z,1370303916.300 [SpeedControl] Loaded
2013-06-03T23:58:36.300Z,1370303916.300 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-03T23:58:36.301Z,1370303916.301 [LoopControl](DEBUG): Construct LoopControl.
2013-06-03T23:58:36.302Z,1370303916.302 [LoopControl] Loaded
2013-06-03T23:58:36.302Z,1370303916.302 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-03T23:58:36.302Z,1370303916.302 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-03T23:58:36.303Z,1370303916.303 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-03T23:58:36.308Z,1370303916.308 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-03T23:58:36.313Z,1370303916.313 [AsyncPiEstimator] Loaded
2013-06-03T23:58:36.313Z,1370303916.313 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-03T23:58:36.315Z,1370303916.315 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-03T23:58:36.315Z,1370303916.315 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-03T23:58:36.316Z,1370303916.316 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-03T23:58:36.456Z,1370303916.456 [AHRS_sp3003D] Loaded
2013-06-03T23:58:36.456Z,1370303916.456 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-03T23:58:36.703Z,1370303916.703 [Batt_Ocean_Server] Loaded
2013-06-03T23:58:36.703Z,1370303916.703 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-03T23:58:36.716Z,1370303916.716 [Depth_Keller] Loaded
2013-06-03T23:58:36.716Z,1370303916.717 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-03T23:58:36.722Z,1370303916.722 [DropWeight] Loaded
2013-06-03T23:58:36.722Z,1370303916.722 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-03T23:58:36.888Z,1370303916.888 [DVL_micro] Loaded
2013-06-03T23:58:36.889Z,1370303916.889 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-03T23:58:36.890Z,1370303916.890 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-03T23:58:36.970Z,1370303916.970 [NAL9602] Loaded
2013-06-03T23:58:36.970Z,1370303916.970 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-03T23:58:37.019Z,1370303917.019 [Onboard] Loaded
2013-06-03T23:58:37.019Z,1370303917.019 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-03T23:58:37.026Z,1370303917.026 [Radio_Freewave] Loaded
2013-06-03T23:58:37.026Z,1370303917.026 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-03T23:58:37.179Z,1370303917.179 [DAT] Loaded
2013-06-03T23:58:37.179Z,1370303917.180 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-03T23:58:37.186Z,1370303917.186 [SCPI] Loaded
2013-06-03T23:58:37.186Z,1370303917.186 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-03T23:58:37.187Z,1370303917.187 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-03T23:58:37.187Z,1370303917.187 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-03T23:58:37.260Z,1370303917.260 [CTD_NeilBrown] Loaded
2013-06-03T23:58:37.260Z,1370303917.260 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-06-03T23:58:37.261Z,1370303917.261 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-03T23:58:37.291Z,1370303917.291 [WetLabsBB2FL] Loaded
2013-06-03T23:58:37.292Z,1370303917.292 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-06-03T23:58:37.293Z,1370303917.293 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407454E0
2013-06-03T23:58:37.293Z,1370303917.293 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-03T23:58:37.296Z,1370303917.296 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-03T23:58:37.296Z,1370303917.296 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-03T23:58:37.303Z,1370303917.303 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-03T23:58:37.304Z,1370303917.304 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407754E0
2013-06-03T23:58:37.309Z,1370303917.309 [Supervisor](DEBUG): Running supervisor.
2013-06-03T23:58:37.310Z,1370303917.310 [CommandLine](INFO): Thread ID is 2733
2013-06-03T23:58:37.313Z,1370303917.313 [controlThread](INFO): Thread ID is 2732
2013-06-03T23:58:37.313Z,1370303917.313 [controlThread](DEBUG): Initializing ControlThread
2013-06-03T23:58:37.313Z,1370303917.313 [CycleStarter](INFO): Thread ID is 2731
2013-06-03T23:58:37.314Z,1370303917.314 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-03T23:58:37.347Z,1370303917.347 [logger](INFO): Thread ID is 2734
2013-06-03T23:58:37.373Z,1370303917.374 [SBIT](INFO): Initialize SBIT Component.
2013-06-03T23:58:37.374Z,1370303917.374 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10401
2013-06-03T23:58:37.374Z,1370303917.374 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-03T23:58:37.375Z,1370303917.375 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-03T23:58:37.375Z,1370303917.375 [IBIT](INFO): Initialize IBIT Component.
2013-06-03T23:58:37.376Z,1370303917.376 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-03T23:58:37.376Z,1370303917.376 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-06-03T23:58:37.376Z,1370303917.376 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-03T23:58:37.387Z,1370303917.387 [AsyncPiEstimator](INFO): Thread ID is 2795
2013-06-03T23:58:37.387Z,1370303917.387 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-03T23:58:37.401Z,1370303917.401 [DVL_micro](INFO): Thread ID is 2796
2013-06-03T23:58:37.407Z,1370303917.407 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-03T23:58:37.408Z,1370303917.408 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-03T23:58:37.408Z,1370303917.408 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-03T23:58:37.409Z,1370303917.409 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-03T23:58:37.409Z,1370303917.409 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-03T23:58:37.411Z,1370303917.411 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-03T23:58:37.411Z,1370303917.411 [Navigation](DEBUG): Initializing Navigation.
2013-06-03T23:58:37.412Z,1370303917.412 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-03T23:58:37.413Z,1370303917.413 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-03T23:58:37.418Z,1370303917.418 [DVL_micro](INFO): Initializing
2013-06-03T23:58:37.419Z,1370303917.419 [DVL_micro](INFO): start:Powering up
2013-06-03T23:58:37.420Z,1370303917.420 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T23:58:37.420Z,1370303917.420 [DVL_micro](INFO): Cycling power to configure device.
2013-06-03T23:58:37.422Z,1370303917.422 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-03T23:58:37.423Z,1370303917.423 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-03T23:58:37.427Z,1370303917.427 [CTD_NeilBrown](INFO): Thread ID is 2797
2013-06-03T23:58:37.427Z,1370303917.427 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-06-03T23:58:37.430Z,1370303917.430 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-06-03T23:58:37.440Z,1370303917.440 [WetLabsBB2FL](INFO): Thread ID is 2798
2013-06-03T23:58:37.440Z,1370303917.440 [WetLabsBB2FL](INFO): Powering down
2013-06-03T23:58:37.483Z,1370303917.483 [NavChartDb](INFO): Thread ID is 2799
2013-06-03T23:58:37.485Z,1370303917.485 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-03T23:58:37.486Z,1370303917.486 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-03T23:58:37.487Z,1370303917.487 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-03T23:58:37.487Z,1370303917.487 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-03T23:58:37.487Z,1370303917.487 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-03T23:58:37.488Z,1370303917.487 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-03T23:58:37.488Z,1370303917.488 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-03T23:58:37.488Z,1370303917.488 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-03T23:58:37.488Z,1370303917.488 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-03T23:58:39.091Z,1370303919.091 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-03T23:58:39.121Z,1370303919.121 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-03T23:58:39.144Z,1370303919.144 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T23:58:39.183Z,1370303919.182 [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>


2013-06-03T23:58:39.183Z,1370303919.183 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-03T23:58:39.269Z,1370303919.269 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-03T23:58:39.271Z,1370303919.272 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-03T23:58:39.307Z,1370303919.307 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T23:58:39.315Z,1370303919.315 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-03T23:58:39.331Z,1370303919.330 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T23:58:39.337Z,1370303919.337 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-03T23:58:39.378Z,1370303919.378 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-03T23:58:39.382Z,1370303919.382 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-03T23:58:39.406Z,1370303919.406 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-03T23:58:39.410Z,1370303919.410 [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>


2013-06-03T23:58:39.415Z,1370303919.415 [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,
2013-06-03T23:58:39.474Z,1370303919.474 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-03T23:58:39.526Z,1370303919.526 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-03T23:58:39.527Z,1370303919.527 [DVL_micro](INFO): Querying output modes
2013-06-03T23:58:39.527Z,1370303919.527 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-03T23:58:39.538Z,1370303919.538 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-03T23:58:39.538Z,1370303919.538 [DVL_micro](INFO): NQ1 output enabled
2013-06-03T23:58:39.539Z,1370303919.539 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-03T23:58:39.550Z,1370303919.550 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-03T23:58:39.555Z,1370303919.555 [DVL_micro](INFO): pause:Powering down
2013-06-03T23:58:39.705Z,1370303919.705 [Radio_Freewave](INFO): Powering up
2013-06-03T23:58:39.725Z,1370303919.724 [DAT](INFO): Powering up
2013-06-03T23:58:39.725Z,1370303919.725 [DAT](DEBUG): Initializing DAT.
2013-06-03T23:58:39.939Z,1370303919.939 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-03T23:58:39.946Z,1370303919.946 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-03T23:58:39.965Z,1370303919.965 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-03T23:58:39.970Z,1370303919.970 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-03T23:58:39.984Z,1370303919.984 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-03T23:58:39.986Z,1370303919.986 [MassServo](DEBUG): Initializing MassServo.
2013-06-03T23:58:40.008Z,1370303920.008 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-03T23:58:40.014Z,1370303920.014 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-03T23:58:40.032Z,1370303920.032 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-03T23:58:40.038Z,1370303920.038 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-03T23:58:42.093Z,1370303922.093 [NAL9602](INFO): Powering up NAL9602
2013-06-03T23:58:52.610Z,1370303932.610 [NAL9602](INFO): NAL9602 initialized
2013-06-03T23:58:53.045Z,1370303933.045 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-03T23:58:53.048Z,1370303933.048 [CBIT](IMPORTANT): Beginning GF scan
2013-06-03T23:58:59.214Z,1370303939.214 [DAT](INFO): Init failed - response: 
2013-06-03T23:58:59.214Z,1370303939.214 [DAT](FAULT): DAT failed to initialize
2013-06-03T23:58:59.214Z,1370303939.214 [DAT] Communications Fault, FailCount= 1
2013-06-03T23:58:59.215Z,1370303939.215 [DAT](ERROR): Communications Fault
2013-06-03T23:58:59.310Z,1370303939.310 [CBIT](ERROR): Communications Fault in component: DAT
2013-06-03T23:58:59.637Z,1370303939.638 [DAT](INFO): Powering down
2013-06-03T23:59:00.578Z,1370303940.578 [CBIT](INFO): Clearing failed state for component DAT
2013-06-03T23:59:00.578Z,1370303940.578 [DAT] No Fault, FailCount= 1
2013-06-03T23:59:02.876Z,1370303942.876 [DAT](INFO): Powering up
2013-06-03T23:59:02.876Z,1370303942.876 [DAT](DEBUG): Initializing DAT.
2013-06-03T23:59:19.779Z,1370303959.779 [CBIT](IMPORTANT): No ground fault detected
2013-06-03T23:59:22.882Z,1370303962.882 [DAT](INFO): Powering down
2013-06-03T23:59:25.603Z,1370303965.602 [CommandLine](IMPORTANT): got command failComponent
2013-06-03T23:59:25.603Z,1370303965.603 [CommandLine](IMPORTANT): Failed components:
2013-06-03T23:59:25.603Z,1370303965.603 [CommandLine](IMPORTANT): No failed Components.
2013-06-03T23:59:46.861Z,1370303986.861 [SBIT](IMPORTANT): SBIT PASSED
2013-06-03T23:59:47.181Z,1370303987.181 [MissionManager](IMPORTANT): Started mission Startup
2013-06-03T23:59:47.181Z,1370303987.181 [Startup] Running Loop=1
2013-06-03T23:59:47.182Z,1370303987.181 [Startup](INFO): Aggregate::initialize Startup
2013-06-03T23:59:47.182Z,1370303987.182 [Startup:A.GoToSurface] Running Loop=1
2013-06-03T23:59:47.182Z,1370303987.182 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-03T23:59:47.188Z,1370303987.188 [Startup:StartupSatComms] Running Loop=1
2013-06-03T23:59:47.188Z,1370303987.188 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-06-03T23:59:47.188Z,1370303987.188 [Startup:StartupSatComms:A] Running Loop=1
2013-06-03T23:59:47.590Z,1370303987.589 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-03T23:59:53.731Z,1370303993.731 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-03T23:59:53.732Z,1370303993.732 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-03T23:59:53.733Z,1370303993.733 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-03T23:59:57.105Z,1370303997.105 [Startup:StartupSatComms:A] Stopped
2013-06-03T23:59:57.106Z,1370303997.106 [Startup:StartupSatComms:B] Running Loop=1
2013-06-03T23:59:57.562Z,1370303997.562 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-04T00:00:01.110Z,1370304001.110 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:00:05.376Z,1370304005.376 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:00:07.731Z,1370304007.731 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:00:11.430Z,1370304011.430 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:00:11.431Z,1370304011.431 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:00:11.477Z,1370304011.477 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:00:11.480Z,1370304011.480 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-04T00:00:11.484Z,1370304011.484 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-04T00:00:11.487Z,1370304011.487 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:00:11.518Z,1370304011.518 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 20.000000 m
2013-06-04T00:00:11.521Z,1370304011.521 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:00:11.525Z,1370304011.524 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:00:11.527Z,1370304011.527 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:00:11.543Z,1370304011.543 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:00:11.546Z,1370304011.546 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:00:11.549Z,1370304011.549 [homing_pursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:00:11.556Z,1370304011.556 [homing_pursuit:D.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:00:11.561Z,1370304011.561 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:00:11.564Z,1370304011.564 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:00:11.569Z,1370304011.569 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:00:11.573Z,1370304011.573 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:00:11.576Z,1370304011.576 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:00:11.582Z,1370304011.582 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:00:11.588Z,1370304011.588 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:00:11.625Z,1370304011.625 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:00:11.628Z,1370304011.628 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:00:11.633Z,1370304011.633 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:00:11.648Z,1370304011.648 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:00:11.651Z,1370304011.651 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:00:11.654Z,1370304011.654 [homing_pursuit:rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:00:11.660Z,1370304011.660 [homing_pursuit:rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:00:11.666Z,1370304011.666 [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. Max is 120
        meters due to maximum sample output from modem in oneway mode.
    </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="Sequence">
            <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>


2013-06-04T00:00:11.667Z,1370304011.667 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:00:12.080Z,1370304012.080 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:00:14.455Z,1370304014.455 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:00:18.808Z,1370304018.808 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:00:18.907Z,1370304018.907 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:00:18.908Z,1370304018.908 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:00:18.909Z,1370304018.908 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-04T00:00:21.962Z,1370304021.962 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:00:21.962Z,1370304021.963 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:00:21.963Z,1370304021.963 [Startup](INFO): Priority 0: Startup:A.GoToSurface
2013-06-04T00:00:21.963Z,1370304021.963 [Startup:StartupSatComms](INFO): Priority 1: Startup:StartupSatComms:B
2013-06-04T00:00:22.384Z,1370304022.384 [Startup:StartupSatComms:B] Stopped
2013-06-04T00:00:22.384Z,1370304022.384 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-06-04T00:00:22.384Z,1370304022.384 [Startup:StartupSatComms] Stopped
2013-06-04T00:00:22.385Z,1370304022.385 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-06-04T00:00:22.386Z,1370304022.385 [Startup](INFO): Completed Startup
2013-06-04T00:00:22.386Z,1370304022.386 [Startup] Stopped
2013-06-04T00:00:22.386Z,1370304022.386 [Startup](INFO): Aggregate::uninitialize Startup
2013-06-04T00:00:22.386Z,1370304022.386 [Startup:A.GoToSurface] Stopped
2013-06-04T00:00:22.386Z,1370304022.386 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:00:22.823Z,1370304022.823 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:00:22.823Z,1370304022.823 [homing_pursuit] Running Loop=1
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit:A] Running Loop=1
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit:B] Running Loop=1
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-04T00:00:22.824Z,1370304022.824 [homing_pursuit:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:E] Running Loop=1
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:00:22.825Z,1370304022.825 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:00:22.826Z,1370304022.826 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:00:22.826Z,1370304022.826 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:00:22.839Z,1370304022.839 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:00:22.845Z,1370304022.845 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:00:22.850Z,1370304022.850 [homing_pursuit:E] Running Loop=1
2013-06-04T00:00:22.851Z,1370304022.851 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:00:22.853Z,1370304022.852 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-04T00:00:22.857Z,1370304022.857 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-04T00:00:22.863Z,1370304022.863 [homing_pursuit:B] Running Loop=1
2013-06-04T00:00:22.864Z,1370304022.864 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:00:22.865Z,1370304022.865 [homing_pursuit:A] Running Loop=1
2013-06-04T00:00:22.866Z,1370304022.866 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:00:23.063Z,1370304023.063 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:00:23.063Z,1370304023.063 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:00:23.064Z,1370304023.063 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:00:23.142Z,1370304023.142 [DAT](INFO): Powering up
2013-06-04T00:00:24.110Z,1370304024.110 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2013-06-04T00:00:24.110Z,1370304024.110 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2013-06-04T00:00:24.110Z,1370304024.110 [ThrusterServo] Communications Fault, FailCount= 1
2013-06-04T00:00:24.111Z,1370304024.111 [ThrusterServo](ERROR): Communications Fault
2013-06-04T00:00:24.113Z,1370304024.113 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-04T00:00:24.352Z,1370304024.352 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T00:00:24.352Z,1370304024.352 [ThrusterServo](INFO): Powering down
2013-06-04T00:00:25.070Z,1370304025.070 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:00:25.071Z,1370304025.071 [DVL_micro](INFO): Querying output modes
2013-06-04T00:00:25.071Z,1370304025.071 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:00:25.082Z,1370304025.082 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:00:25.082Z,1370304025.082 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:00:25.083Z,1370304025.082 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:00:25.094Z,1370304025.094 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:00:25.180Z,1370304025.180 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:00:25.295Z,1370304025.295 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T00:00:25.298Z,1370304025.298 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-04T00:00:25.298Z,1370304025.298 [ThrusterServo] No Fault, FailCount= 1
2013-06-04T00:00:27.622Z,1370304027.622 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:28.336Z,1370304028.336 [NAL9602](INFO): Powering down
2013-06-04T00:00:30.150Z,1370304030.150 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:32.694Z,1370304032.694 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:35.254Z,1370304035.254 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:37.816Z,1370304037.816 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:40.354Z,1370304040.354 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:42.918Z,1370304042.918 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:45.498Z,1370304045.498 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:48.042Z,1370304048.042 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:50.598Z,1370304050.598 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:53.174Z,1370304053.174 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:53.235Z,1370304053.235 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:00:53.235Z,1370304053.235 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:00:53.235Z,1370304053.235 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:00:53.236Z,1370304053.236 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:00:53.236Z,1370304053.236 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:00:53.236Z,1370304053.237 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:00:53.237Z,1370304053.237 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:00:53.238Z,1370304053.238 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:00:53.238Z,1370304053.238 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:00:53.238Z,1370304053.238 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:00:53.238Z,1370304053.238 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:00:53.620Z,1370304053.620 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:00:53.620Z,1370304053.620 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:00:53.620Z,1370304053.620 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:00:53.620Z,1370304053.620 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-04T00:00:53.621Z,1370304053.621 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:00:53.622Z,1370304053.622 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:00:53.622Z,1370304053.622 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:00:53.622Z,1370304053.622 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-04T00:00:53.946Z,1370304053.946 [CommandLine](IMPORTANT): got command report touch homing_target_range
2013-06-04T00:00:54.032Z,1370304054.032 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:00:54.037Z,1370304054.037 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:00:54.042Z,1370304054.042 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:00:55.762Z,1370304055.762 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:57.734Z,1370304057.734 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:00:58.306Z,1370304058.306 [DVL_micro](DEBUG): NQ1
2013-06-04T00:00:58.562Z,1370304058.562 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:00:58.975Z,1370304058.974 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:00:59.330Z,1370304059.330 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:00:59.734Z,1370304059.734 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:00.511Z,1370304060.511 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:00.854Z,1370304060.854 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:00.906Z,1370304060.906 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:01.338Z,1370304061.338 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:01.710Z,1370304061.710 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:02.139Z,1370304062.138 [homing_pursuit:ClosePursuit] Stopped
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:rollout] Running Loop=1
2013-06-04T00:01:02.139Z,1370304062.139 [homing_pursuit:rollout](INFO): Aggregate::initialize homing_pursuit:rollout
2013-06-04T00:01:02.140Z,1370304062.139 [homing_pursuit:rollout:A.SetSpeed] Running Loop=1
2013-06-04T00:01:02.140Z,1370304062.140 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:01:02.140Z,1370304062.140 [homing_pursuit:rollout:B.Pitch] Running Loop=1
2013-06-04T00:01:02.140Z,1370304062.140 [homing_pursuit:rollout:B.Pitch](DEBUG): Initialize.
2013-06-04T00:01:02.140Z,1370304062.140 [homing_pursuit:rollout:C.Wait] Running Loop=1
2013-06-04T00:01:02.140Z,1370304062.140 [homing_pursuit:rollout:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:01:02.210Z,1370304062.210 [Reporter](INFO): homing_target_range 0.100000 m
2013-06-04T00:01:02.433Z,1370304062.433 [homing_pursuit:rollout:B.Pitch] Running Loop=1
2013-06-04T00:01:02.440Z,1370304062.440 [homing_pursuit:rollout:A.SetSpeed] Running Loop=1
2013-06-04T00:01:02.875Z,1370304062.875 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:03.348Z,1370304063.348 [Reporter](INFO): homing_target_range 0.100000 m
2013-06-04T00:01:03.406Z,1370304063.406 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:03.753Z,1370304063.753 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:04.587Z,1370304064.587 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:04.935Z,1370304064.935 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:01:05.334Z,1370304065.334 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:05.734Z,1370304065.734 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:01:05.978Z,1370304065.978 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:06.622Z,1370304066.622 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:06.911Z,1370304066.911 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:01:07.409Z,1370304067.409 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:07.746Z,1370304067.746 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:01:08.507Z,1370304068.507 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:08.519Z,1370304068.519 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:08.907Z,1370304068.907 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:09.306Z,1370304069.306 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:09.706Z,1370304069.706 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:10.535Z,1370304070.535 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:10.942Z,1370304070.942 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:11.070Z,1370304071.070 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:11.334Z,1370304071.334 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:11.713Z,1370304071.713 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:12.694Z,1370304072.694 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:13.031Z,1370304073.031 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:01:13.455Z,1370304073.455 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:13.634Z,1370304073.634 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:13.923Z,1370304073.923 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:01:14.242Z,1370304074.242 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:01:15.034Z,1370304075.034 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:15.423Z,1370304075.423 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:15.838Z,1370304075.838 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:16.202Z,1370304076.202 [DVL_micro](DEBUG): NQ1
2013-06-04T00:01:16.207Z,1370304076.207 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:17.035Z,1370304077.035 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:01:17.070Z,1370304077.070 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:01:17.463Z,1370304077.463 [homing_pursuit] Stopped
2013-06-04T00:01:17.463Z,1370304077.464 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:A] Stopped
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:B] Stopped
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:C.Pitch] Stopped
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:D.Buoyancy] Stopped
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:E] Stopped
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:rollout] Stopped
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:rollout](INFO): Aggregate::uninitialize homing_pursuit:rollout
2013-06-04T00:01:17.464Z,1370304077.464 [homing_pursuit:rollout:A.SetSpeed] Stopped
2013-06-04T00:01:17.465Z,1370304077.464 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:01:17.465Z,1370304077.464 [homing_pursuit:rollout:B.Pitch] Stopped
2013-06-04T00:01:17.465Z,1370304077.465 [homing_pursuit:rollout:C.Wait] Stopped
2013-06-04T00:01:17.465Z,1370304077.465 [homing_pursuit:rollout:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:01:17.574Z,1370304077.574 [Reporter](INFO): homing_target_range 0.300000 m
2013-06-04T00:01:17.854Z,1370304077.854 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:01:17.854Z,1370304077.854 [Default] Running Loop=1
2013-06-04T00:01:17.854Z,1370304077.854 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:01:17.854Z,1370304077.854 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:01:17.854Z,1370304077.854 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:01:17.854Z,1370304077.854 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:01:17.854Z,1370304077.855 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:01:17.855Z,1370304077.855 [Default:Iridium] Running Loop=1
2013-06-04T00:01:17.855Z,1370304077.855 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:01:17.855Z,1370304077.855 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:01:17.855Z,1370304077.855 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:01:17.855Z,1370304077.855 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:01:17.855Z,1370304077.855 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:01:17.856Z,1370304077.856 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:01:17.862Z,1370304077.862 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:01:17.874Z,1370304077.875 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:01:17.875Z,1370304077.875 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:01:17.875Z,1370304077.875 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:01:17.875Z,1370304077.875 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:01:17.881Z,1370304077.881 [Default:GPS] Running Loop=1
2013-06-04T00:01:17.881Z,1370304077.881 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:01:17.882Z,1370304077.882 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:01:17.882Z,1370304077.882 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:01:17.882Z,1370304077.882 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:01:17.882Z,1370304077.882 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:01:17.889Z,1370304077.889 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:01:17.889Z,1370304077.889 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:01:17.890Z,1370304077.889 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:01:17.890Z,1370304077.890 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:01:18.245Z,1370304078.245 [DAT](INFO): Powering down
2013-06-04T00:01:18.304Z,1370304078.304 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:01:18.384Z,1370304078.384 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-04T00:01:18.387Z,1370304078.388 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:01:18.746Z,1370304078.746 [NAL9602](INFO): Powering up
2013-06-04T00:01:29.178Z,1370304089.178 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:01:31.942Z,1370304091.942 [CommandLine](IMPORTANT): got command report touch homing_target_azimuth
2013-06-04T00:01:33.384Z,1370304093.384 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:01:37.737Z,1370304097.737 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:01:42.149Z,1370304102.149 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:01:42.374Z,1370304102.374 [CommandLine](IMPORTANT): got command show variable headingCmd
2013-06-04T00:01:46.003Z,1370304106.003 [CommandLine](IMPORTANT): got command show variable heading
2013-06-04T00:01:46.005Z,1370304106.005 [CommandLine](INFO): homing_target_heading (unknown)
2013-06-04T00:01:46.021Z,1370304106.021 [CommandLine](INFO): HorizontalControl.kdHeading (second)
2013-06-04T00:01:46.022Z,1370304106.022 [CommandLine](INFO): HorizontalControl.kiHeading (reciprocal_second)
2013-06-04T00:01:46.022Z,1370304106.022 [CommandLine](INFO): HorizontalControl.kpHeading (none)
2013-06-04T00:01:46.022Z,1370304106.022 [CommandLine](INFO): HorizontalControl.kwpHeading (radian_per_meter)
2013-06-04T00:01:46.023Z,1370304106.023 [CommandLine](INFO): HorizontalControl.kiwpHeading (radian_per_second_per_meter)
2013-06-04T00:01:46.035Z,1370304106.035 [CommandLine](INFO): HorizontalControl.headingInternal (radian)
2013-06-04T00:01:46.036Z,1370304106.036 [CommandLine](INFO): HorizontalControl.smoothHeadingInternal (radian)
2013-06-04T00:01:46.036Z,1370304106.036 [CommandLine](INFO): HorizontalControl.headingIntegralInternal (radian)
2013-06-04T00:01:46.041Z,1370304106.041 [CommandLine](INFO): DAT.homing_target_heading (degree)
2013-06-04T00:01:46.042Z,1370304106.042 [CommandLine](INFO): DAT.txHeading (degree)
2013-06-04T00:01:46.540Z,1370304106.540 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:01:51.247Z,1370304111.247 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:01:55.608Z,1370304115.608 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:02:00.379Z,1370304120.379 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:02:04.736Z,1370304124.736 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:02:09.181Z,1370304129.181 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:02:13.452Z,1370304133.452 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:02:17.032Z,1370304137.032 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:02:18.067Z,1370304138.066 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:02:18.067Z,1370304138.067 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:02:18.127Z,1370304138.127 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:02:18.130Z,1370304138.130 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-04T00:02:18.132Z,1370304138.132 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-04T00:02:18.136Z,1370304138.136 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:02:18.139Z,1370304138.139 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 20.000000 m
2013-06-04T00:02:18.142Z,1370304138.142 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:02:18.144Z,1370304138.144 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:02:18.152Z,1370304138.152 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:02:18.155Z,1370304138.155 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:02:18.157Z,1370304138.157 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:02:18.160Z,1370304138.160 [homing_pursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:02:18.165Z,1370304138.165 [homing_pursuit:D.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:02:18.168Z,1370304138.168 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:02:18.171Z,1370304138.171 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:02:18.175Z,1370304138.175 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:02:18.178Z,1370304138.178 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:02:18.180Z,1370304138.180 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:02:18.184Z,1370304138.184 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:02:18.189Z,1370304138.189 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:02:18.209Z,1370304138.210 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:02:18.216Z,1370304138.216 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:02:18.225Z,1370304138.224 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:02:18.234Z,1370304138.234 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:02:18.240Z,1370304138.240 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:02:18.244Z,1370304138.244 [homing_pursuit:rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:02:18.256Z,1370304138.256 [homing_pursuit:rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:02:18.263Z,1370304138.263 [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. Max is 120
        meters due to maximum sample output from modem in oneway mode.
    </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="Sequence">
            <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>


2013-06-04T00:02:18.264Z,1370304138.264 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:02:18.281Z,1370304138.281 [Default] Stopped
2013-06-04T00:02:18.281Z,1370304138.281 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:02:18.281Z,1370304138.281 [Default:GPS] Stopped
2013-06-04T00:02:18.282Z,1370304138.282 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:02:18.282Z,1370304138.282 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:02:18.282Z,1370304138.282 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:02:18.282Z,1370304138.282 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:02:18.282Z,1370304138.282 [Default:Iridium] Stopped
2013-06-04T00:02:18.282Z,1370304138.282 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:02:18.282Z,1370304138.282 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:02:18.282Z,1370304138.282 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:02:18.282Z,1370304138.282 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:02:18.282Z,1370304138.283 [Default:D.SetSpeed] Stopped
2013-06-04T00:02:18.282Z,1370304138.283 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:02:18.283Z,1370304138.283 [Default:E.GoToSurface] Stopped
2013-06-04T00:02:18.283Z,1370304138.283 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:02:18.283Z,1370304138.283 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:02:18.283Z,1370304138.283 [homing_pursuit] Running Loop=1
2013-06-04T00:02:18.283Z,1370304138.283 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:02:18.283Z,1370304138.283 [homing_pursuit:A] Running Loop=1
2013-06-04T00:02:18.283Z,1370304138.283 [homing_pursuit:B] Running Loop=1
2013-06-04T00:02:18.283Z,1370304138.283 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-04T00:02:18.283Z,1370304138.283 [homing_pursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:E] Running Loop=1
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:02:18.284Z,1370304138.284 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:02:18.285Z,1370304138.284 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:02:18.285Z,1370304138.285 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:02:18.285Z,1370304138.285 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:02:18.285Z,1370304138.285 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:02:18.286Z,1370304138.286 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:02:18.288Z,1370304138.288 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:02:18.289Z,1370304138.289 [homing_pursuit:E] Running Loop=1
2013-06-04T00:02:18.289Z,1370304138.289 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:02:18.306Z,1370304138.306 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-04T00:02:18.307Z,1370304138.307 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-04T00:02:18.308Z,1370304138.308 [homing_pursuit:B] Running Loop=1
2013-06-04T00:02:18.309Z,1370304138.309 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:02:18.310Z,1370304138.310 [homing_pursuit:A] Running Loop=1
2013-06-04T00:02:18.314Z,1370304138.314 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:02:18.540Z,1370304138.540 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:02:18.540Z,1370304138.540 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:02:18.540Z,1370304138.540 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:02:18.766Z,1370304138.766 [DAT](INFO): Powering up
2013-06-04T00:02:20.557Z,1370304140.557 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:02:20.557Z,1370304140.557 [DVL_micro](INFO): Querying output modes
2013-06-04T00:02:20.557Z,1370304140.557 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:02:20.570Z,1370304140.570 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:02:20.570Z,1370304140.570 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:02:20.570Z,1370304140.570 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:02:20.582Z,1370304140.582 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:02:21.338Z,1370304141.339 [CommandLine](IMPORTANT): got command show variable heading
2013-06-04T00:02:21.340Z,1370304141.340 [CommandLine](INFO): homing_target_heading (unknown)
2013-06-04T00:02:21.368Z,1370304141.368 [CommandLine](INFO): HorizontalControl.kdHeading (second)
2013-06-04T00:02:21.368Z,1370304141.368 [CommandLine](INFO): HorizontalControl.kiHeading (reciprocal_second)
2013-06-04T00:02:21.369Z,1370304141.369 [CommandLine](INFO): HorizontalControl.kpHeading (none)
2013-06-04T00:02:21.369Z,1370304141.369 [CommandLine](INFO): HorizontalControl.kwpHeading (radian_per_meter)
2013-06-04T00:02:21.369Z,1370304141.369 [CommandLine](INFO): HorizontalControl.kiwpHeading (radian_per_second_per_meter)
2013-06-04T00:02:21.381Z,1370304141.381 [CommandLine](INFO): HorizontalControl.headingCmd (radian)
2013-06-04T00:02:21.382Z,1370304141.382 [CommandLine](INFO): HorizontalControl.headingRateCmd (radian_per_second)
2013-06-04T00:02:21.383Z,1370304141.383 [CommandLine](INFO): HorizontalControl.headingInternal (radian)
2013-06-04T00:02:21.383Z,1370304141.383 [CommandLine](INFO): HorizontalControl.smoothHeadingInternal (radian)
2013-06-04T00:02:21.384Z,1370304141.384 [CommandLine](INFO): HorizontalControl.headingIntegralInternal (radian)
2013-06-04T00:02:21.389Z,1370304141.389 [CommandLine](INFO): DAT.homing_target_heading (degree)
2013-06-04T00:02:21.390Z,1370304141.390 [CommandLine](INFO): DAT.txHeading (degree)
2013-06-04T00:02:23.106Z,1370304143.106 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:25.068Z,1370304145.068 [NAL9602](INFO): Powering down
2013-06-04T00:02:25.670Z,1370304145.670 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:28.234Z,1370304148.234 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:30.798Z,1370304150.798 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:32.882Z,1370304152.882 [CommandLine](IMPORTANT): got command report mod HorizontalControl.headingCmd
2013-06-04T00:02:33.210Z,1370304153.210 [Reporter](INFO): HorizontalControl.headingCmd 2.406551 rad
2013-06-04T00:02:33.354Z,1370304153.354 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:35.914Z,1370304155.914 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:36.014Z,1370304156.014 [CommandLine](IMPORTANT): got command report
2013-06-04T00:02:36.015Z,1370304156.015 [Reporter](INFO): homing_target_range reporting when touched
2013-06-04T00:02:36.015Z,1370304156.015 [Reporter](INFO): homing_target_azimuth reporting when touched
2013-06-04T00:02:36.015Z,1370304156.015 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2013-06-04T00:02:38.482Z,1370304158.482 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:41.038Z,1370304161.038 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:41.053Z,1370304161.053 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:02:41.053Z,1370304161.053 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:02:41.054Z,1370304161.054 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-04T00:02:41.057Z,1370304161.057 [homing_pursuit](INFO): Priority 1: homing_pursuit:B
2013-06-04T00:02:41.057Z,1370304161.057 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.Pitch
2013-06-04T00:02:41.057Z,1370304161.057 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.Buoyancy
2013-06-04T00:02:41.058Z,1370304161.058 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:02:41.058Z,1370304161.058 [homing_pursuit:PowerOnDAT](INFO): Priority 5: homing_pursuit:PowerOnDAT:A.SetSpeed
2013-06-04T00:02:41.058Z,1370304161.058 [homing_pursuit:PowerOnDAT](INFO): Priority 6: homing_pursuit:PowerOnDAT:B.Pitch
2013-06-04T00:02:41.059Z,1370304161.059 [homing_pursuit:PowerOnDAT](INFO): Priority 7: homing_pursuit:PowerOnDAT:C.Wait
2013-06-04T00:02:43.610Z,1370304163.610 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:46.166Z,1370304166.166 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:48.421Z,1370304168.421 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:02:48.421Z,1370304168.421 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:02:48.421Z,1370304168.421 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:02:48.423Z,1370304168.423 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:02:48.423Z,1370304168.423 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:02:48.423Z,1370304168.423 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:02:48.423Z,1370304168.423 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:02:48.423Z,1370304168.423 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:02:48.423Z,1370304168.423 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:02:48.424Z,1370304168.424 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:02:48.425Z,1370304168.425 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:02:48.425Z,1370304168.425 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:02:48.750Z,1370304168.750 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:02:48.825Z,1370304168.825 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:02:48.826Z,1370304168.826 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-04T00:02:48.826Z,1370304168.826 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-04T00:02:48.826Z,1370304168.826 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:02:48.826Z,1370304168.826 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:02:48.826Z,1370304168.826 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-04T00:02:48.826Z,1370304168.826 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:02:48.827Z,1370304168.827 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:02:48.827Z,1370304168.827 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:02:48.827Z,1370304168.827 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-04T00:02:49.265Z,1370304169.265 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:02:49.267Z,1370304169.267 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:02:49.268Z,1370304169.268 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:02:49.431Z,1370304169.431 [Reporter](INFO): HorizontalControl.headingCmd 2.489444 rad
2013-06-04T00:02:51.314Z,1370304171.314 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:53.879Z,1370304173.879 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:56.454Z,1370304176.454 [DVL_micro](DEBUG): NQ1
2013-06-04T00:02:59.018Z,1370304179.018 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:01.570Z,1370304181.570 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:04.122Z,1370304184.122 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:06.682Z,1370304186.682 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:08.299Z,1370304188.299 [CommandLine](IMPORTANT): got command report
2013-06-04T00:03:08.299Z,1370304188.299 [Reporter](INFO): homing_target_range reporting when touched
2013-06-04T00:03:08.299Z,1370304188.299 [Reporter](INFO): homing_target_azimuth reporting when touched
2013-06-04T00:03:08.299Z,1370304188.299 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2013-06-04T00:03:09.254Z,1370304189.254 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:11.810Z,1370304191.810 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:13.234Z,1370304193.234 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:03:13.235Z,1370304193.234 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:03:13.235Z,1370304193.235 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-04T00:03:13.235Z,1370304193.235 [homing_pursuit](INFO): Priority 1: homing_pursuit:B
2013-06-04T00:03:13.236Z,1370304193.236 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.Pitch
2013-06-04T00:03:13.236Z,1370304193.236 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.Buoyancy
2013-06-04T00:03:13.236Z,1370304193.236 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:03:13.237Z,1370304193.237 [homing_pursuit:ClosePursuit](INFO): Priority 5: homing_pursuit:ClosePursuit:A
2013-06-04T00:03:13.237Z,1370304193.237 [homing_pursuit:ClosePursuit](INFO): Priority 6: homing_pursuit:ClosePursuit:B.SetSpeed
2013-06-04T00:03:13.237Z,1370304193.237 [homing_pursuit:ClosePursuit](INFO): Priority 7: homing_pursuit:ClosePursuit:C.Pitch
2013-06-04T00:03:13.237Z,1370304193.237 [homing_pursuit:ClosePursuit](INFO): Priority 8: homing_pursuit:ClosePursuit:D.Point
2013-06-04T00:03:14.358Z,1370304194.358 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:16.922Z,1370304196.922 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:19.491Z,1370304199.491 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:22.058Z,1370304202.058 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:24.614Z,1370304204.614 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:27.182Z,1370304207.182 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:29.738Z,1370304209.738 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:32.286Z,1370304212.286 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:34.834Z,1370304214.834 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:37.402Z,1370304217.402 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:39.954Z,1370304219.954 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:42.522Z,1370304222.522 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:45.098Z,1370304225.098 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:47.650Z,1370304227.650 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:50.199Z,1370304230.199 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:52.750Z,1370304232.750 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:55.298Z,1370304235.298 [DVL_micro](DEBUG): NQ1
2013-06-04T00:03:57.866Z,1370304237.866 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:00.438Z,1370304240.438 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:02.986Z,1370304242.986 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:05.526Z,1370304245.526 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:08.082Z,1370304248.082 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:10.634Z,1370304250.634 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:13.206Z,1370304253.206 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:15.767Z,1370304255.767 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:16.970Z,1370304256.970 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:04:17.126Z,1370304257.126 [homing_pursuit] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:A] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:B] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:C.Pitch] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:D.Buoyancy] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:E] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:ClosePursuit] Stopped
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-04T00:04:17.127Z,1370304257.127 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-04T00:04:17.127Z,1370304257.128 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-04T00:04:17.127Z,1370304257.128 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:04:17.128Z,1370304257.128 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-04T00:04:17.128Z,1370304257.128 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-04T00:04:17.234Z,1370304257.234 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:04:17.520Z,1370304257.520 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:04:17.520Z,1370304257.520 [Default] Running Loop=1
2013-06-04T00:04:17.520Z,1370304257.520 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:04:17.520Z,1370304257.520 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:04:17.520Z,1370304257.520 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:04:17.520Z,1370304257.520 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:04:17.520Z,1370304257.520 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:04:17.520Z,1370304257.520 [Default:Iridium] Running Loop=1
2013-06-04T00:04:17.521Z,1370304257.520 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:04:17.521Z,1370304257.521 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:04:17.521Z,1370304257.521 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:04:17.521Z,1370304257.521 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:04:17.521Z,1370304257.521 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:04:17.523Z,1370304257.523 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:04:17.523Z,1370304257.523 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:04:17.523Z,1370304257.523 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:04:17.524Z,1370304257.524 [Default:GPS] Running Loop=1
2013-06-04T00:04:17.524Z,1370304257.524 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:04:17.524Z,1370304257.524 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:04:17.524Z,1370304257.524 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:04:17.524Z,1370304257.524 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:04:17.524Z,1370304257.524 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:04:17.525Z,1370304257.525 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:04:17.525Z,1370304257.525 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:04:17.525Z,1370304257.525 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:04:17.856Z,1370304257.856 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:04:17.957Z,1370304257.957 [DAT](INFO): Powering down
2013-06-04T00:04:18.435Z,1370304258.435 [NAL9602](INFO): Powering up
2013-06-04T00:04:28.214Z,1370304268.214 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:04:28.215Z,1370304268.215 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:04:28.281Z,1370304268.281 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:04:28.283Z,1370304268.283 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = 0.000000 n/a
2013-06-04T00:04:28.286Z,1370304268.286 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000450 n/a
2013-06-04T00:04:28.288Z,1370304268.288 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:04:28.307Z,1370304268.307 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 20.000000 m
2013-06-04T00:04:28.309Z,1370304268.309 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:04:28.316Z,1370304268.316 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:04:28.323Z,1370304268.323 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:04:28.326Z,1370304268.326 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:04:28.339Z,1370304268.339 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:04:28.345Z,1370304268.345 [homing_pursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:04:28.349Z,1370304268.349 [homing_pursuit:D.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:04:28.353Z,1370304268.353 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:04:28.356Z,1370304268.356 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:04:28.360Z,1370304268.360 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:04:28.364Z,1370304268.364 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:04:28.366Z,1370304268.366 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:04:28.370Z,1370304268.370 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:04:28.376Z,1370304268.376 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:04:28.380Z,1370304268.380 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:04:28.382Z,1370304268.382 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:04:28.386Z,1370304268.386 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:04:28.407Z,1370304268.408 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:04:28.410Z,1370304268.410 [homing_pursuit:rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:04:28.417Z,1370304268.417 [homing_pursuit:rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:04:28.425Z,1370304268.425 [homing_pursuit:rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:04:28.449Z,1370304268.449 [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. Max is 120
        meters due to maximum sample output from modem in oneway mode.
    </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="Sequence">
            <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>


2013-06-04T00:04:28.458Z,1370304268.458 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:04:28.464Z,1370304268.464 [Default] Stopped
2013-06-04T00:04:28.464Z,1370304268.464 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:04:28.464Z,1370304268.464 [Default:GPS] Stopped
2013-06-04T00:04:28.464Z,1370304268.464 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:04:28.464Z,1370304268.464 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:04:28.464Z,1370304268.464 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:04:28.464Z,1370304268.464 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:04:28.464Z,1370304268.464 [Default:Iridium] Stopped
2013-06-04T00:04:28.465Z,1370304268.464 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:04:28.465Z,1370304268.465 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:04:28.465Z,1370304268.465 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:04:28.465Z,1370304268.465 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:04:28.465Z,1370304268.465 [Default:D.SetSpeed] Stopped
2013-06-04T00:04:28.465Z,1370304268.465 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:04:28.465Z,1370304268.465 [Default:E.GoToSurface] Stopped
2013-06-04T00:04:28.465Z,1370304268.465 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:04:28.465Z,1370304268.465 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:04:28.465Z,1370304268.465 [homing_pursuit] Running Loop=1
2013-06-04T00:04:28.466Z,1370304268.466 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:04:28.466Z,1370304268.466 [homing_pursuit:A] Running Loop=1
2013-06-04T00:04:28.466Z,1370304268.466 [homing_pursuit:B] Running Loop=1
2013-06-04T00:04:28.466Z,1370304268.466 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-04T00:04:28.466Z,1370304268.466 [homing_pursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:D.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:E] Running Loop=1
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:04:28.467Z,1370304268.467 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:04:28.468Z,1370304268.468 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:04:28.468Z,1370304268.468 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:04:28.469Z,1370304268.469 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:04:28.471Z,1370304268.471 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:04:28.472Z,1370304268.472 [homing_pursuit:E] Running Loop=1
2013-06-04T00:04:28.472Z,1370304268.472 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:04:28.473Z,1370304268.473 [homing_pursuit:D.Buoyancy] Running Loop=1
2013-06-04T00:04:28.475Z,1370304268.474 [homing_pursuit:C.Pitch] Running Loop=1
2013-06-04T00:04:28.475Z,1370304268.476 [homing_pursuit:B] Running Loop=1
2013-06-04T00:04:28.476Z,1370304268.476 [homing_pursuit:B](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:04:28.477Z,1370304268.477 [homing_pursuit:A] Running Loop=1
2013-06-04T00:04:28.477Z,1370304268.477 [homing_pursuit:A](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:04:28.557Z,1370304268.557 [Reporter](INFO): HorizontalControl.headingCmd 2.489444 rad
2013-06-04T00:04:28.767Z,1370304268.767 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:04:28.767Z,1370304268.767 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:04:28.768Z,1370304268.768 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:04:28.878Z,1370304268.878 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:04:28.890Z,1370304268.889 [DAT](INFO): Powering up
2013-06-04T00:04:30.774Z,1370304270.774 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:04:30.775Z,1370304270.775 [DVL_micro](INFO): Querying output modes
2013-06-04T00:04:30.775Z,1370304270.775 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:04:30.786Z,1370304270.786 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:04:30.786Z,1370304270.786 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:04:30.786Z,1370304270.786 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:04:30.798Z,1370304270.798 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:04:33.303Z,1370304273.303 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:34.847Z,1370304274.847 [NAL9602](INFO): Powering down
2013-06-04T00:04:35.274Z,1370304275.274 [CommandLine](IMPORTANT): got command report
2013-06-04T00:04:35.275Z,1370304275.275 [Reporter](INFO): homing_target_range reporting when touched
2013-06-04T00:04:35.275Z,1370304275.275 [Reporter](INFO): homing_target_azimuth reporting when touched
2013-06-04T00:04:35.275Z,1370304275.275 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2013-06-04T00:04:35.874Z,1370304275.874 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:38.442Z,1370304278.442 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:40.986Z,1370304280.986 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:43.554Z,1370304283.554 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:46.106Z,1370304286.106 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:46.523Z,1370304286.523 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#4 STATUS: 65535
2013-06-04T00:04:48.658Z,1370304288.658 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:51.235Z,1370304291.234 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:53.806Z,1370304293.806 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:56.358Z,1370304296.358 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:58.544Z,1370304298.543 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:04:58.544Z,1370304298.544 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:04:58.544Z,1370304298.544 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:04:58.545Z,1370304298.545 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:04:58.545Z,1370304298.545 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:04:58.545Z,1370304298.545 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:04:58.545Z,1370304298.545 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:04:58.545Z,1370304298.545 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:04:58.545Z,1370304298.545 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:04:58.545Z,1370304298.546 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:04:58.546Z,1370304298.546 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:04:58.552Z,1370304298.552 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:04:58.552Z,1370304298.552 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:04:58.552Z,1370304298.552 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:04:58.552Z,1370304298.552 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:04:58.553Z,1370304298.553 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:04:58.553Z,1370304298.553 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:04:58.553Z,1370304298.553 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:04:58.553Z,1370304298.553 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:04:58.906Z,1370304298.906 [DVL_micro](DEBUG): NQ1
2013-06-04T00:04:59.014Z,1370304299.014 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:04:59.014Z,1370304299.014 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:04:59.014Z,1370304299.014 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:04:59.014Z,1370304299.014 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:04:59.014Z,1370304299.014 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:04:59.014Z,1370304299.014 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-04T00:04:59.015Z,1370304299.015 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:04:59.015Z,1370304299.016 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:04:59.016Z,1370304299.016 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:04:59.016Z,1370304299.016 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-04T00:04:59.364Z,1370304299.365 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:04:59.366Z,1370304299.366 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:04:59.371Z,1370304299.371 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:05:01.475Z,1370304301.475 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:04.034Z,1370304304.034 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:06.614Z,1370304306.614 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:09.162Z,1370304309.162 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:11.714Z,1370304311.714 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:14.274Z,1370304314.274 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:16.822Z,1370304316.822 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:19.386Z,1370304319.386 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:21.954Z,1370304321.954 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:24.510Z,1370304324.510 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:27.062Z,1370304327.062 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:29.610Z,1370304329.610 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:32.170Z,1370304332.170 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:34.714Z,1370304334.714 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:37.262Z,1370304337.262 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:39.810Z,1370304339.810 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:42.362Z,1370304342.362 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:44.910Z,1370304344.910 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:47.458Z,1370304347.458 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:50.006Z,1370304350.006 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:52.559Z,1370304352.559 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:55.118Z,1370304355.118 [DVL_micro](DEBUG): NQ1
2013-06-04T00:05:57.666Z,1370304357.667 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:00.222Z,1370304360.222 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:02.767Z,1370304362.767 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:05.314Z,1370304365.314 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:07.878Z,1370304367.878 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:10.434Z,1370304370.434 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:12.978Z,1370304372.978 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:15.530Z,1370304375.530 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:18.082Z,1370304378.082 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:18.726Z,1370304378.726 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:06:18.726Z,1370304378.727 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:06:18.727Z,1370304378.727 [homing_pursuit](INFO): Priority 0: homing_pursuit:A
2013-06-04T00:06:18.727Z,1370304378.727 [homing_pursuit](INFO): Priority 1: homing_pursuit:B
2013-06-04T00:06:18.728Z,1370304378.728 [homing_pursuit](INFO): Priority 2: homing_pursuit:C.Pitch
2013-06-04T00:06:18.728Z,1370304378.728 [homing_pursuit](INFO): Priority 3: homing_pursuit:D.Buoyancy
2013-06-04T00:06:18.728Z,1370304378.728 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:06:18.729Z,1370304378.729 [homing_pursuit:ClosePursuit](INFO): Priority 5: homing_pursuit:ClosePursuit:A
2013-06-04T00:06:18.729Z,1370304378.729 [homing_pursuit:ClosePursuit](INFO): Priority 6: homing_pursuit:ClosePursuit:B.SetSpeed
2013-06-04T00:06:18.729Z,1370304378.729 [homing_pursuit:ClosePursuit](INFO): Priority 7: homing_pursuit:ClosePursuit:C.Pitch
2013-06-04T00:06:18.729Z,1370304378.730 [homing_pursuit:ClosePursuit](INFO): Priority 8: homing_pursuit:ClosePursuit:D.Point
2013-06-04T00:06:20.646Z,1370304380.646 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:23.182Z,1370304383.182 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:25.752Z,1370304385.752 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:26.803Z,1370304386.803 [CommandLine](IMPORTANT): got command get homing_target_range
2013-06-04T00:06:26.804Z,1370304386.804 [CommandLine](IMPORTANT): homing_target_range 0.300000 meter
2013-06-04T00:06:28.306Z,1370304388.306 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:30.092Z,1370304390.092 [CommandLine](IMPORTANT): got command get homing_target_range
2013-06-04T00:06:30.092Z,1370304390.092 [CommandLine](IMPORTANT): homing_target_range 0.300000 meter
2013-06-04T00:06:30.850Z,1370304390.850 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:33.398Z,1370304393.398 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:35.950Z,1370304395.950 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:37.882Z,1370304397.882 [CommandLine](IMPORTANT): got command get homing_target_azimuth
2013-06-04T00:06:37.883Z,1370304397.883 [CommandLine](IMPORTANT): homing_target_azimuth 142.634663 degree
2013-06-04T00:06:38.510Z,1370304398.510 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:39.766Z,1370304399.766 [CommandLine](IMPORTANT): got command get homing_target_azimuth
2013-06-04T00:06:39.767Z,1370304399.767 [CommandLine](IMPORTANT): homing_target_azimuth 142.634663 degree
2013-06-04T00:06:41.058Z,1370304401.058 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:41.707Z,1370304401.707 [CommandLine](IMPORTANT): got command get homing_target_azimuth
2013-06-04T00:06:41.708Z,1370304401.708 [CommandLine](IMPORTANT): homing_target_azimuth 142.634663 degree
2013-06-04T00:06:43.598Z,1370304403.598 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:44.070Z,1370304404.070 [CommandLine](IMPORTANT): got command get homing_target_azimuth
2013-06-04T00:06:44.071Z,1370304404.071 [CommandLine](IMPORTANT): homing_target_azimuth 142.634663 degree
2013-06-04T00:06:45.639Z,1370304405.639 [CommandLine](IMPORTANT): got command get homing_target_azimuth
2013-06-04T00:06:45.640Z,1370304405.640 [CommandLine](IMPORTANT): homing_target_azimuth 142.634663 degree
2013-06-04T00:06:46.148Z,1370304406.148 [DVL_micro](DEBUG): NQ1
2013-06-04T00:06:47.738Z,1370304407.738 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:06:47.922Z,1370304407.921 [homing_pursuit] Stopped
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:A] Stopped
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:B] Stopped
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:C.Pitch] Stopped
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:D.Buoyancy] Stopped
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:D.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:E] Stopped
2013-06-04T00:06:47.922Z,1370304407.922 [homing_pursuit:ClosePursuit] Stopped
2013-06-04T00:06:47.923Z,1370304407.923 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-04T00:06:47.923Z,1370304407.923 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-04T00:06:47.923Z,1370304407.923 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-04T00:06:47.923Z,1370304407.923 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:06:47.923Z,1370304407.923 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-04T00:06:47.923Z,1370304407.923 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-04T00:06:47.969Z,1370304407.969 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:06:48.244Z,1370304408.244 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:06:48.325Z,1370304408.325 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:06:48.325Z,1370304408.325 [Default] Running Loop=1
2013-06-04T00:06:48.325Z,1370304408.325 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:06:48.325Z,1370304408.325 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:06:48.325Z,1370304408.325 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:06:48.326Z,1370304408.326 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:06:48.326Z,1370304408.326 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:06:48.326Z,1370304408.326 [Default:Iridium] Running Loop=1
2013-06-04T00:06:48.326Z,1370304408.326 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:06:48.326Z,1370304408.326 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:06:48.326Z,1370304408.326 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:06:48.326Z,1370304408.326 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:06:48.327Z,1370304408.327 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:06:48.328Z,1370304408.328 [Default:CallIridium] Running Loop=1
2013-06-04T00:06:48.328Z,1370304408.328 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:06:48.328Z,1370304408.328 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:06:48.331Z,1370304408.330 [Default:CallIridium:A] Stopped
2013-06-04T00:06:48.331Z,1370304408.331 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:06:48.331Z,1370304408.331 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:06:48.332Z,1370304408.332 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:06:48.332Z,1370304408.332 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:06:48.332Z,1370304408.332 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:06:48.332Z,1370304408.332 [Default:GPS] Running Loop=1
2013-06-04T00:06:48.332Z,1370304408.332 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:06:48.333Z,1370304408.332 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:06:48.333Z,1370304408.333 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:06:48.333Z,1370304408.333 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:06:48.333Z,1370304408.333 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:06:48.334Z,1370304408.334 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:06:48.334Z,1370304408.334 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:06:48.334Z,1370304408.334 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:06:48.709Z,1370304408.709 [DAT](INFO): Powering down
2013-06-04T00:06:49.248Z,1370304409.248 [NAL9602](INFO): Powering up
2013-06-04T00:06:53.630Z,1370304413.630 [CommandLine](IMPORTANT): got command restart application
2013-06-04T00:06:54.686Z,1370304414.686 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-04T00:06:54.686Z,1370304414.686 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-04T00:06:54.950Z,1370304414.950 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-06-04T00:06:55.211Z,1370304415.211 [WetLabsBB2FL](INFO): Powering down
2013-06-04T00:06:55.214Z,1370304415.214 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-06-04T00:06:55.474Z,1370304415.474 [CTD_NeilBrown](INFO): Powering down
2013-06-04T00:06:55.499Z,1370304415.499 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-04T00:06:55.518Z,1370304415.518 [DVL_micro](INFO): uninitialize:Powering down
2013-06-04T00:06:55.538Z,1370304415.538 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-04T00:06:55.722Z,1370304415.722 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-04T00:06:55.743Z,1370304415.743 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-04T00:06:55.803Z,1370304415.803 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-04T00:06:55.804Z,1370304415.804 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-04T00:06:55.814Z,1370304415.814 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-04T00:06:55.815Z,1370304415.815 [AHRS_sp3003D](INFO): Powering down
2013-06-04T00:06:55.903Z,1370304415.903 [NAL9602](INFO): Powering down
2013-06-04T00:06:55.905Z,1370304415.905 [DAT](INFO): Powering down
2013-06-04T00:06:55.906Z,1370304415.906 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T00:06:55.907Z,1370304415.907 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-04T00:06:55.908Z,1370304415.908 [Default] Stopped
2013-06-04T00:06:55.908Z,1370304415.908 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:06:55.908Z,1370304415.908 [Default:GPS] Stopped
2013-06-04T00:06:55.908Z,1370304415.908 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:06:55.908Z,1370304415.908 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:06:55.908Z,1370304415.908 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:06:55.908Z,1370304415.908 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:06:55.908Z,1370304415.908 [Default:Iridium] Stopped
2013-06-04T00:06:55.909Z,1370304415.908 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:06:55.909Z,1370304415.909 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:06:55.909Z,1370304415.909 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:06:55.909Z,1370304415.909 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:06:55.909Z,1370304415.909 [Default:CallIridium] Stopped
2013-06-04T00:06:55.909Z,1370304415.909 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:06:55.909Z,1370304415.909 [Default:CallIridium:B] Stopped
2013-06-04T00:06:55.909Z,1370304415.909 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:06:55.909Z,1370304415.909 [Default:D.SetSpeed] Stopped
2013-06-04T00:06:55.909Z,1370304415.909 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:06:55.909Z,1370304415.909 [Default:E.GoToSurface] Stopped
2013-06-04T00:06:55.910Z,1370304415.909 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:06:55.914Z,1370304415.914 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-04T00:06:55.914Z,1370304415.914 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-04T00:06:55.914Z,1370304415.914 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-04T00:06:55.915Z,1370304415.915 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-04T00:06:55.915Z,1370304415.915 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-04T00:06:55.916Z,1370304415.916 [BuoyancyServo](INFO): Powering down
2013-06-04T00:06:55.934Z,1370304415.934 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-04T00:06:55.934Z,1370304415.934 [ElevatorServo](INFO): Powering down
2013-06-04T00:06:55.935Z,1370304415.935 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-04T00:06:55.935Z,1370304415.935 [MassServo](INFO): Powering down
2013-06-04T00:06:55.936Z,1370304415.936 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-04T00:06:55.936Z,1370304415.936 [RudderServo](INFO): Powering down
2013-06-04T00:06:55.937Z,1370304415.937 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T00:06:55.937Z,1370304415.937 [ThrusterServo](INFO): Powering down
2013-06-04T00:06:55.938Z,1370304415.938 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-04T00:06:55.939Z,1370304415.939 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-04T00:06:55.939Z,1370304415.939 [CBIT](DEBUG): Uninitialize CBIT Component.